Automatic zinc ingot adding system and method for hot galvanizing

Abstract

The invention relates to an automatic zinc ingot adding system and method for hot galvanizing, and belongs to the technical field of hot galvanizing. Comprising a robot used for clamping zinc ingots, a slide way conveying device used for conveying the zinc ingots, a visual monitoring assembly and a laser ranging liquid level sensor installed in a zinc pot and used for monitoring the liquid level of the zinc pot. The slideway conveying device comprises a slideway body, a blocking mechanism and a releasing mechanism, the slideway body is made of a high-temperature-resistant material, one side of the slideway body is close to a robot operation area, and the other side of the slideway body extends to the position above zinc liquid in the zinc pot; the zinc ingot automatically slides to the tail end of the slide way main body under the action of self gravity on the slide way main body; the blocking mechanism is located at the tail end of the sliding way body and used for temporarily blocking the zinc ingot above zinc liquid in the zinc pot to be dried, and the zinc ingot is released through operation of the robot after the zinc ingot is dried. The automatic sliding-in and drying device realizes automatic sliding-in and drying of zinc ingots, is suitable for large-scale hot galvanizing production, and has the advantages of high efficiency, safety and continuous operation.

Description

Technical Field

[0001] The present invention relates to the technical field of hot-dip galvanizing, and particularly relates to an automatic zinc ingot adding system and method for hot-dip galvanizing, especially applicable to a system in which a robot grabs zinc ingots and enables the zinc ingots to automatically slide into a zinc pot. Background Art

[0002] In the process of hot-dip galvanizing production, timely replenishing zinc ingots into the zinc pot for melting is a key link to ensure the continuous progress of the galvanizing process. The addition of zinc ingots has a direct impact on the temperature of the zinc pot and the quality of galvanizing. To avoid the phenomena of "zinc explosion" and "zinc splashing" caused by temperature fluctuations and uneven plating solution components, when adding zinc ingots, the zinc ingots should be first placed on the edge of the zinc pot for preheating and drying (the edge temperature is about 200 °C), and then slowly put into the zinc pot to ensure stable temperature and uniform composition. The traditional manual method of adding zinc ingots has problems such as low efficiency, high labor intensity, and high safety hazards. In recent years, with the development of automation technology, robots have gradually been introduced into the zinc ingot adding system to improve efficiency and safety. However, in the existing technology, the method of directly putting the zinc ingots grabbed by the robot into the zinc pot has the following problems: 1. Insufficient drying of zinc ingots: The zinc ingots need to be fully dried before entering the zinc pot to avoid safety hazards such as explosion caused by water entering the zinc pot.

[0003] 2. Limited liquid level measurement: The laser ranging sensor is strongly reflected by the surface of the zinc liquid and interfered by dust, resulting in inaccurate measurement. In the existing literature, a filter mechanism is used to solve the problem of specular reflection. However, in the high-temperature and multi-dust environment of the zinc pot, the filter is easily contaminated by zinc vapor or oxides, resulting in a decrease in light transmittance and frequent maintenance. In addition, the filter mechanism may cause signal distortion due to the fluctuation of the zinc liquid surface or the change of vapor concentration.

[0004] 3. Limited robot operation: Due to the high-temperature environment of the zinc pot (the temperature of the zinc pot can reach 450 °C or higher), the robot needs to keep a certain distance from the zinc pot, resulting in the zinc ingots not being able to be directly and accurately placed. In addition, excessive addition of zinc ingots may cause the zinc explosion phenomenon, resulting in more serious safety accidents.

[0005] 4. Difficulty in continuous operation: In the traditional system, the processes of adding and drying zinc ingots cannot be efficiently connected, affecting production efficiency.

[0006] Therefore, there is an urgent need for an automatic zinc ingot adding system and method for hot-dip galvanizing that can solve the above problems, and realize the efficient, safe, and continuous addition of zinc ingots. Summary of the Invention

[0007] The object of the present invention is to provide an automatic zinc ingot adding system and method for hot-dip galvanizing. Through the chute conveying device, the zinc ingots are dried and automatically slide into the zinc pot, and the control unit of the robot is used to solve the problems of insufficient drying of zinc ingots, limited operation of the robot, and difficulty in continuous operation in the prior art.

[0008] To achieve the above object, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides an automatic zinc ingot adding system for hot-dip galvanizing, including a robot for gripping zinc ingots, a chute conveying device for conveying zinc ingots, a visual monitoring component, and a laser ranging liquid level sensor installed in the zinc pot for monitoring the liquid level of the zinc pot; The chute conveying device includes a chute main body, a blocking mechanism, and a releasing mechanism; The chute main body is made of high-temperature resistant material, with one side close to the robot operation area and the other side extending above the zinc liquid in the zinc pot; the zinc ingots automatically slide towards the end of the chute main body under the action of their own gravity; The blocking mechanism is located at the end of the chute main body and is used to temporarily block the zinc ingots above the zinc liquid in the zinc pot for drying; The releasing mechanism is linked with the blocking mechanism and is used to release the zinc ingots by the operation of the robot after the zinc ingots are dried; The laser ranging liquid level sensor is linked and controlled with the robot. The laser ranging liquid level sensor transmits the real-time data of the zinc pot liquid level to the control unit of the robot at a set time interval, and the control unit determines whether to issue an instruction to supplement zinc ingots according to the set upper and lower limits of the liquid level threshold; The visual monitoring component is used to identify the position, direction, and surface state of the zinc ingots in the zinc stack; The control unit is electrically connected to the visual monitoring component and determines whether the robot grabs the monitored zinc ingots according to the detection results of the visual monitoring component.

[0009] Further, the front and back of the chute main body are supported by a chute support structure. The chute support structure includes a front support structure close to the robot operation area, a rear support structure close to the zinc pot, and a fixed bracket. The front support structure and the rear support structure have the same structure but different heights, forming a height difference, so that the chute main body presents a slope shape; a plurality of rollers are provided on the chute main body, and one end of the chute main body facing the zinc pot is lower than the end facing the robot operation area, and the zinc ingots automatically slide towards the end of the chute main body through the rollers.

[0010] Further, the height difference between the front and rear support structures can be freely adjusted.

[0011] Further, the blocking mechanism and the releasing mechanism are linked by a steel wire. Loosening or tightening the steel wire by the releasing mechanism can cause the baffle of the blocking mechanism to drop or lift. The robot controls the steel wire connecting the releasing mechanism and the blocking mechanism to loosen or tighten through the execution component, and further controls the blocking mechanism to drop or lift to achieve the blocking or releasing of the zinc ingots.

[0012] Further, the system further includes a nitrogen protection air curtain device. The nitrogen protection air curtain device is fixed directly below the lens of the laser ranging liquid level sensor through a bracket. The nitrogen protection air curtain device includes a hollow nitrogen distribution pipe and a closed circular pipe. The closed circular pipe is sleeved outside the nitrogen distribution pipe, and the two ends of the area between the nitrogen distribution pipe and the closed circular pipe are sealed. An annular air intake cavity is formed between the nitrogen distribution pipe and the closed circular pipe. An air intake interface is provided in the middle of the closed circular pipe. A plurality of small hole nozzles with the nozzle direction towards the inside of the nitrogen distribution pipe are arranged in the height direction of the nitrogen distribution pipe, and each group is evenly arranged with a plurality of small hole nozzles along the circumferential direction of the nitrogen distribution pipe.

[0013] Further, the bracket is a structure that allows fine adjustment of the position and angle of the nitrogen distribution pipe.

[0014] Further, the system further includes a cloud, and the cloud includes a cloud server, a user access interface, a cloud database, a statistics module, and a time series prediction model. The cloud database includes a liquid level data table, a zinc ingot usage log table, and a visual image information table. The liquid level data table stores the time stamp and the real-time liquid level value. The zinc ingot usage log table records the number of zinc ingots added each time and the corresponding time. The statistics module is used to automatically summarize the zinc usage. The time series prediction model is used to predict the future zinc ingot consumption trend according to the historical zinc usage data. It communicates with the terminal or the user through the user access interface.

[0015] In a second aspect, the present invention provides an automatic zinc ingot adding method for hot-dip galvanizing. The method uses the automatic zinc ingot adding system for hot-dip galvanizing, and includes the following steps: Calculate the inclination angle of the slideway main body when the zinc ingot can automatically slide to the bottom end of the slideway main body by using the self-weight of the zinc ingot to be grabbed and the rolling friction coefficient of the sliding main body, and adjust the slideway main body to the calculated inclination angle. At the same time, calculate the time t1 when the zinc ingot reaches the blocking mechanism. The laser ranging liquid level sensor transmits the real-time zinc pot liquid level data to the control unit of the robot at a set time interval. The control unit compares the real-time data of the zinc pot liquid level with the upper and lower limits of the set liquid level threshold. If the real-time data of the zinc pot liquid level is greater than the upper limit of the liquid level threshold, it sends an instruction to the robot to supplement zinc ingots. When the robot receives the instruction to supplement zinc ingots, the control unit obtains the data of the visual monitoring component in real time to determine whether to grasp the current zinc ingot. If the requirements are met, the zinc ingot is grasped. In the initial state, the blocking mechanism remains in the lowered state, the passage of the zinc ingot in the blocking mechanism is closed, and the passage of the zinc ingot in the release mechanism is open. The grasped zinc ingot is placed on the slideway main body of the slideway conveying device by the robot, and the initial time t0 when the zinc ingot is placed on the slideway main body is recorded. Then the zinc ingot automatically slides towards the zinc pot under its own gravity. During this process, the time is continuously recorded. When the time pointer of the control unit reaches t0 + t1, at this time the zinc ingot reaches the end of the slideway main body and is blocked from entering the zinc pot by the blocking mechanism. Set the drying time t3. When the time pointer of the control unit reaches t0 + t1 + t3, at this time the zinc ingot is effectively dried using the waste heat of the zinc liquid at the current position, and the drying is completed. The robot controls the release mechanism to work to lift the blocking mechanism and release the dried zinc ingot. After the zinc ingot falls into the zinc pot, the robot releases the release mechanism and returns to the initial state, the time is cleared, and it continues to judge whether zinc ingots need to be supplemented. When the real-time data of the zinc pot liquid level is less than the lower limit of the liquid level threshold, the robot stops adding zinc ingots and the robot resets.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. Automatic operation: The system of the present invention combines the control unit of the robot with visual monitoring, the work of the release mechanism, and the laser ranging liquid level sensor. The visual monitoring, laser ranging liquid level sensor, slideway conveying device and the robot work together to realize the automatic grasping, sliding and release of zinc ingots, reduce manual intervention and improve production efficiency.

[0017] 2. Precise measurement: Adopt a nitrogen protection air curtain to protect the optical path with the nitrogen protection air curtain to form a "gas isolation layer", and solve the core problem of specular reflection of zinc liquid through active protection, improving the stability and accuracy of liquid level measurement. In addition, it has more reliability and maintenance advantages in the high-temperature and multi-polluted zinc pot environment, especially suitable for long-term continuous working conditions.

[0018] 3. Efficient drying: The slideway conveying device in the present invention relies on the height difference to make the zinc ingot automatically slide down to the blocking mechanism, and the zinc ingot stays above the zinc pot and is dried, ensuring that the moisture of the zinc ingot is fully removed before entering the zinc pot and improving safety.

[0019] 4. Continuous operation: Through the overall control of the control unit in the present invention, the processes of adding zinc ingots and drying are seamlessly connected, supporting continuous operation and meeting the requirements of large-scale production.

[0020] 5. Simple and reliable structure: The entire slide conveyor device of the present invention is made of high-temperature resistant materials, and the control of the lifting and lowering of the blocking mechanism can be achieved without introducing additional electrical components such as sensors and motors, reducing the assembly cost of the system. The structure is simple and durable, and it is more suitable for high-temperature environments.

[0021] The system and method of the present invention greatly reduce manual operations, can utilize advanced equipment such as robotics, laser ranging liquid level sensors, and visual recognition to intelligently supplement zinc liquid in real time throughout the process, improve production efficiency, and eliminate safety hazards. In addition, on the one hand, the laser ranging liquid level sensor can monitor the zinc liquid level in real time and trigger the robot to supplement zinc in a timely manner, ensuring the stability of the zinc liquid and avoiding the problems of excessive or insufficient zinc liquid. On the other hand, the dried zinc ingots are slowly released into the pot (on the one hand, the inclination angle of the slide can be optimally adjusted according to the specifications of the zinc ingots; on the other hand, the zinc ingots are blocked at the end of the slide and released after drying. At this time, the zinc ingots start to slide into the zinc pot from a stationary state, and can slide slowly into the zinc pot) to avoid zinc explosion, reduce the fluctuation of the liquid level in the zinc pot, and effectively ensure the uniformity of the zinc liquid coating. Description of the Drawings

[0022] Figure 1 It is a schematic structural diagram of an embodiment of the automatic zinc ingot adding system for hot-dip galvanizing according to the present invention.

[0023] Figure 2 It is a schematic structural diagram of the slide conveyor device of an embodiment in the present invention.

[0024] Figure 3 It is a schematic diagram of the front support structure of the slide of an embodiment in the present invention.

[0025] Figure 4 It is a front structural schematic diagram of the blocking mechanism of an embodiment in the present invention.

[0026] Figure 5 It is a side structural schematic diagram of the blocking mechanism of an embodiment in the present invention.

[0027] Figure 6 It is a front structural schematic diagram of the release mechanism of an embodiment in the present invention.

[0028] Figure 7 It is a side structural schematic diagram of the release mechanism of an embodiment in the present invention.

[0029] Figure 8 It is a schematic diagram of the overall structure of the nitrogen protection air curtain device of an embodiment in the present invention.

[0030] Figure 9 Schematic structural diagram of the nitrogen distribution pipe of the nitrogen protection air curtain device in one embodiment of the present invention.

[0031] Figure 10 Perspective structural schematic diagram of the nitrogen protection air curtain device in one embodiment of the present invention.

[0032] Among them, 1 is a zinc pot, 2 is a visual monitoring component, 3 is a slide conveyor device, 4 is a robot, 5 is a zinc stack, and 6 is a fixture; 31 is a slide main body, 32 is a slide support structure, 33 is a blocking mechanism, and 34 is a release mechanism; 311 is a roller; 321 is a base, 322 is a support column, 323 is an adjustment component, 324 is a connection component, 3221 is a large hollow square steel pipe, 3231 is a small hollow square steel pipe, 3232 is a screw lift platform; 3233 is a handwheel; 331 is a small support frame, 332 is a baffle, 333 is a pulley, and 334 is a rotating screw component; 3341 is a screw, 3342 is a screw bearing, 3343 is a screw cover plate; 3321 is a steel plate; 342 is a pressing plate, 341 is a pressing plate connecting part, and 3411 is a wire hole; 71 is a nitrogen distribution pipe; 711 is a small hole nozzle; 72 is a closed circular pipe; 721 is an air inlet interface. Specific implementation mode

[0033] The present invention will be described in detail below in conjunction with embodiments and drawings, but this is not used as a limitation on the protection scope of the present application.

[0034] Embodiment 1: This embodiment is used for an automatic zinc ingot adding system for hot-dip galvanizing (refer to Figure 1 ), and includes a robot 4 for clamping zinc ingots, a slide conveyor device 3 for transporting zinc ingots, a visual monitoring component 2, and a laser ranging liquid level sensor (not shown in the figure) installed in the zinc pot 1 for monitoring the liquid level of the zinc pot.

[0035] The slide conveyor device (see Figure 2 ) includes a slide main body 31, a blocking mechanism 33, and a release mechanism 34; The slide main body is made of high-temperature resistant material, with one side close to the robot operation area and the other side extending above the zinc liquid in the zinc pot; the zinc ingots slide automatically towards the end of the slide main body under the action of their own gravity; The blocking mechanism is located at the end of the slide main body and is used to temporarily block the zinc ingots above the zinc liquid in the zinc pot for drying; The release mechanism is linked with the blocking mechanism and is used to release the zinc ingots by the robot operating the release mechanism after the zinc ingots are dried; The laser ranging liquid level sensor is linked with the robot for control. The laser ranging liquid level sensor transmits the real-time data of the zinc pot liquid level to the control unit of the robot at set time intervals. The control unit determines whether to issue an instruction to supplement zinc ingots according to the set upper and lower limits of the liquid level threshold. The visual monitoring component is used to identify the position, orientation and surface state of the zinc ingots in the zinc stack 5. The control unit is electrically connected to the visual monitoring component and determines whether the robot grabs the monitored zinc ingots according to the detection results of the visual monitoring component.

[0036] Embodiment 2: In this embodiment, the slideway conveying device includes a slideway main body 31, a slideway support structure 32, a blocking mechanism 33 and a release mechanism 34.

[0037] The slideway main body 31 is made of high-temperature resistant material, with one side connected to the robot operation area and the other side extending above the zinc liquid in the zinc pot; roller 311 is arranged on the slideway main body 31 for automatically sliding the zinc ingots to the end of the slideway; the blocking mechanism 33 is arranged at the end of the slideway for temporarily blocking the zinc ingots 5 above the zinc pot and drying the zinc ingots by using the hot air flow above the zinc liquid in the zinc pot. The temperature of the zinc liquid in the zinc pot is about 450 °C, and the temperature of the convective hot air above it is usually about 200 - 300 °C; the release mechanism 34 is linked with the blocking mechanism 33 for releasing the zinc ingots after drying is completed.

[0038] Supported by the slideway support structure, the end of the slideway main body facing the zinc pot is lower than the end facing the robot operation area, and the zinc ingots automatically slide to the end of the slideway main body through the roller 311.

[0039] Embodiment 3: In this embodiment, the slideway support structure 32 (see Figure 2 and Figure 3 ) includes a front support structure near the robot operation area, a rear support structure near the zinc pot and a fixing bracket. The structures of the two end support structures are the same but the heights are different. By forming a certain height difference, the slideway main body presents a slope shape, which is convenient for the zinc ingots to slide automatically along the slideway main body by gravity. The front support structure and the rear support structure are connected by the fixing bracket for strengthening the connection between the slideway main body and the support structure.

[0040] The front support structure includes a base 321, a support column 322, an adjusting component 323 and a connecting component 324. The base is fixed to the ground or the working platform by bolts.

[0041] The support column 322 includes a large hollow square steel pipe 3221 fixedly connected to the base. The lower end of the support column 322 is connected to the base 321, and the upper end is docked with the adjusting member 323. The adjusting member includes a small hollow square steel pipe 3231 and a lead screw lifting table 3232. The small hollow square steel pipe 3231 is telescopically inserted into the large hollow square steel pipe 3221. The lead screw lifting table 3232 is driven by rotating a handwheel and can precisely adjust the depth of the small hollow square steel pipe 3231 extending into the large hollow square steel pipe 3221, thereby realizing flexible adjustment of the height of the support structure. The upper ends of the two small hollow square steel pipes 3231 are connected with a connecting member 324 for fixing to the slideway main body.

[0042] Specifically, the driving is realized by rotating the handwheel. The rotation of the handwheel 3233 drives the linear movement of the lead screw connected to the handwheel, thereby precisely controlling the depth of the small hollow square steel pipe 3231 extending into the large hollow square steel pipe 3221. This nested structure not only ensures the stability of the structure but also provides a sufficient adjustment range to meet the height requirements of different working environments. The lead screw lifting table is manually adjusted by the handwheel, avoiding the increase in high-temperature resistance cost caused by introducing precision instruments such as electronic control during automatic adjustment.

[0043] The slideway support structure of the present invention realizes flexible adjustment of the height through the telescopic cooperation of the large and small hollow square steel pipes and the precise drive of the lead screw lifting table. It has a clever design and simple operation. It can not only accurately adapt to the height requirements of different working environments but also ensure the stability and reliability of the slideway main body during the sliding process of zinc ingots. In the initial stage of using the galvanizing production line, the height of the front and rear support structures is adjusted according to the positions of the zinc pot and the robot operation area on the production line, and no further adjustment is made to its height during the later feeding process.

[0044] Embodiment 4: In this embodiment, the blocking mechanism 33 (see Figure 4 and Figure 5It includes a small support frame 331, a baffle 332, pulleys 333 and a rotating lead screw component 334. The small support frame 331 is made of high-temperature resistant stainless steel material, has an n-shaped structure, and is fixedly connected to the chute main body through the bottom of the small support frame. Two pulleys 333 are symmetrically installed at the upper end of the small support frame 331 to reduce the frictional resistance of the steel wire. A rotatable rotating lead screw component 334 is provided in the middle part of the small support frame 331 in the vertical direction. The rotating lead screw component 334 is composed of a lead screw 3341, a lead screw bearing 3342 and a lead screw cover plate 3343. The lead screw cover plate 3343 semi-covers the lead screw bearing 3342 and the lead screw 3341, playing a role of protection and fixation. The upper end of the lead screw cover plate 3343 extends towards the zinc pot and is fixedly connected to the baffle 332. One end of the baffle 332 is connected to the lead screw cover plate 3343, and the other end is vertically connected to a steel plate 3321 of equal width. The lower end of the steel plate 3321 is used to block the zinc ingot, and there is a through hole for connecting the steel wire at the upper end. This through hole is aligned with the two pulleys in the horizontal direction.

[0045] Specifically, the blocking mechanism is arranged at the end of the chute main body, and the position of the base of the small support frame is fixed according to the length of the zinc ingot, so that when the baffle falls, the zinc ingot is located inside the baffle and will not fall into the zinc pot. The baffle 332 temporarily blocks the zinc ingot at the end of the chute by its own gravity under the condition of no force, so that it stays above the zinc pot for a period of time, and the hot air flow above the zinc liquid is used to dry the zinc ingot.

[0046] The pulleys on the small support frame, the through hole on the baffle and the release mechanism are connected together by a steel wire. Loosening or tightening the steel wire by the release mechanism can make the baffle fall or lift. After the zinc ingot is dried, by pulling the steel wire, the baffle can be driven to lift, thus realizing the free sliding of the zinc ingot. The structure is simple and reliable, can effectively control the sliding timing of the zinc ingot, and ensure the accurate positioning and release of the zinc ingot in the chute main body.

[0047] The initial state is that the lower part of the baffle fits on the chute main body, and at this time, the passage of the zinc ingot in the blocking mechanism is closed.

[0048] Embodiment 5: In this embodiment, the release mechanism (see Figure 6 and Figure 7 also includes a small support frame, pulleys installed on the small support frame, and a rotating lead screw component installed in the middle of the small support frame. In addition, it also includes a pressing plate 342 and a pressing plate connecting piece 341.

[0049] The small support frame of the release mechanism has the same structure as the small support frame 331 of the blocking mechanism, and maintains an equal-height and parallel configuration; the lower end of the small support frame of the release mechanism is fixedly connected to the chute main body 31 to ensure the overall stability, and two pulleys are symmetrically installed at the upper end, aiming to reduce the frictional resistance during the operation of the steel wire, thereby improving the smoothness and efficiency of the mechanism operation; The upper part of the lead screw cover plate in the lead screw component of the release mechanism is fixed to the pressing plate connecting piece. The pressing plate connecting piece extends towards the robot operation area, and wire holes for guiding are symmetrically arranged on the pressing plate connecting piece. The pressing plate connecting piece is fixedly connected to the pressing plate; one end of each of the two wires is fixed to the wire hole 3411 on the pressing plate connecting piece, and the other end passes through two pulleys along the length direction of the slideway main body and is fixed to the through hole on the baffle, ensuring the stable connection and guiding of the wires. The pressing plate 342 is made of high-temperature resistant stainless steel material to ensure its durability in high-temperature environments. The robot presses the pressing plate 342 to achieve the lifting and lowering of the baffle 332 of the blocking mechanism 33, thereby controlling the retention and release of the zinc ingots.

[0050] Specifically: The wire passes through the blocking mechanism and the release mechanism. When the zinc ingots complete the drying operation, the robot presses the pressing plate to achieve the linkage of the blocking mechanism and the release mechanism, enabling the baffle to effectively control the release of the zinc ingots. At this time, the pressing plate is the execution component.

[0051] Embodiment 6: The method for automatically adding zinc ingots for hot-dip galvanizing in this embodiment uses the above system, including a robot for gripping zinc ingots, a slideway conveying device for conveying zinc ingots, a visual monitoring component, and a laser ranging liquid level sensor installed in the zinc pot for monitoring the liquid level of the zinc pot. Each part is controlled by the control unit of the robot. The slideway conveying device includes a slideway main body 31, a slideway support structure 32, a blocking mechanism 33, and a release mechanism 34; The slideway main body 31 is made of high-temperature resistant material, with one end connected to the robot operation area and the other end extending above the zinc liquid in the zinc pot. A plurality of rollers 311 are provided on the slideway main body, and the zinc ingots automatically slide towards the end of the slideway main body through the rollers 311.

[0052] The slideway support structure 32 includes a front support structure near the robot operation area, a rear support structure near the zinc pot, and a fixing bracket. The structures of the two end support structures are the same, but the heights are different. By forming a certain height difference, the slideway main body presents a slope shape to facilitate the automatic sliding of the zinc ingots by gravity. The fixing bracket connects the two end support structures to strengthen the connection between the slideway main body and the support structure.

[0053] The front support structure includes a base 321, a support column 322, and an adjustment component 323. The base is fixed to the ground or the working platform by bolts.

[0054] The control unit is electrically connected to the robot. The robot is responsible for gripping the zinc ingots and controlling the blocking mechanism through the release mechanism. By controlling the lifting or lowering of the blocking mechanism, the release or blocking of the zinc ingots is achieved, realizing fully automated operation.

[0055] All components in the present invention are selected from high-temperature resistant materials, preferably high-temperature resistant materials that can withstand 400 - 500 °C. The information flow between the slide conveyor device, the robot, and the laser ranging liquid level sensor is real-time, ensuring that the zinc ingots can be released and added to the zinc pot in the best state for subsequent galvanizing processes. The specific working process is as follows: I. Interlocking control between the laser ranging liquid level sensor and the robot Working principle: The laser ranging liquid level sensor uses laser ranging technology. By emitting a laser beam to the surface of the zinc liquid and receiving the reflected light, it calculates the round-trip time of the laser to determine the liquid level height. The laser ranging liquid level sensor is equipped with a high-temperature protection cover to ensure normal operation in a high-temperature environment, avoid external interference, and improve the stability and accuracy of measurement. The laser ranging liquid level sensor is placed in the zinc pot and above the zinc liquid, and will not be immersed in the zinc liquid during the entire use process.

[0056] Control process: 1. Data acquisition The laser ranging liquid level sensor continuously obtains and calculates the height of the zinc liquid surface, and sends the data to the control unit of the robot at a set time interval (such as every 1 second).

[0057] 2. Threshold judgment The control unit sets the upper limit and lower limit of the liquid level threshold (in this embodiment, the lower limit of the liquid level threshold (the lowest threshold) is 1.5 m, and the upper limit of the liquid level threshold (the maximum threshold) is 1.6 m). That is, when the liquid level value is greater than 1.6 m, the system will consider that zinc needs to be replenished, and when the liquid level value is less than 1.5 m, zinc does not need to be replenished.

[0058] The control unit compares the real-time liquid level data with the upper and lower limits of the liquid level threshold, and automatically judges whether to issue an instruction to replenish zinc ingots.

[0059] 3. Automatic instruction generation: Once it is detected that the liquid level value is greater than 1.6 m, the control unit immediately generates an instruction of "replenish zinc ingots" and sends the instruction to the robot.

[0060] 4. Status feedback and monitoring The control unit ensures that the instruction is not accidentally triggered under liquid level fluctuations by repeatedly checking the liquid level data. That is, when it is detected that zinc ingots need to be replenished, at least three consecutive samplings are performed again before the set time interval is reached. If the fluctuations of the liquid level values in multiple samplings do not exceed 5%, it is considered a false alarm, and the instruction of "replenish zinc ingots" is cancelled; otherwise, the instruction of "replenish zinc ingots" continues to be executed.

[0061] II. Interlocking control between the visual monitoring component and the robot Working principle The visual monitoring component 2 monitors the zinc stack 5 in real time through a 3D industrial camera, and uses advanced image processing algorithms and deep learning models to identify the position, orientation, and surface condition of the zinc ingots.

[0062] 1. Photographing and Recognition After the control unit of the robot issues an instruction to replenish the zinc ingots, the robot first moves to the designated position and immediately sends an instruction to the visual monitoring component to activate the 3D industrial camera of the visual monitoring component to photograph the zinc stack area.

[0063] The 3D industrial camera captures the position data of the zinc ingots at a high frequency, supports multi-angle photographing, and ensures accurate recognition.

[0064] 2. Target Detection: Analyze the photographed image to identify the specific position coordinate information and status data of each zinc ingot. The status data refers to whether the zinc ingot is facing up or down.

[0065] 3. Data Transmission and Processing Quickly transmit the identified specific position coordinate information and status data of the zinc ingots back to the control unit of the robot through a high-bandwidth channel.

[0066] If the identified information is insufficient (such as the returned coordinate information is 0), then send a "re-photograph" request to ensure the acquisition of the most accurate data.

[0067] 4. Gripping Decision: The control unit of the robot judges the feasibility of gripping based on the data transmitted back by the visual monitoring component and selects a suitable fixture 6 (in this embodiment, a high-temperature adjustable fixture, which is a product already owned by the applicant's company).

[0068] III. Linkage Control between the Slide Conveyor Device and the Robot Control Principle: The slide conveyor device ensures the effective transportation and drying of the zinc ingots through gravity and mechanical design. A blocking mechanism 33 and a release mechanism 34 are provided on the slide main body to ensure that the zinc ingots can stay appropriately when reaching above the zinc pot for high-temperature drying.

[0069] 1. Gripping and Placing of Zinc Ingots: The robot grips the zinc ingots through the fixture and places them stably on the slide main body. Under the action of the roller 311 on the slide main body, the zinc ingots can slide automatically towards the zinc pot under their own gravity. The presence of the roller effectively reduces the friction between the zinc ingots and the slide main body, ensuring smooth movement of the zinc ingots.

[0070] 2. Drying Treatment: When the zinc ingots reach the end of the slide main body, the baffle 332 of the blocking mechanism 33 blocks them and uses the residual heat of the zinc liquid for effective drying.

[0071] 3. Release mechanism: Once the set drying time t3 is reached, the robot activates the release mechanism 34, and the robot presses the pressing plate 342 of the release mechanism 34. The pressing action of the pressing plate 342 is linked to the blocking mechanism 33 through a wire, causing the baffle 332 to be lifted, thereby releasing the dried zinc ingots. The drying time is directly related to the temperature inside the pot and the specifications of the zinc ingots, and can be set according to actual production requirements. Usually, the average drying time of the zinc ingots is taken as a reference. For example, when the zinc liquid temperature is maintained at 450 °C, the temperature of the convective hot air above it is between 200 - 300 °C. For 10 Kg zinc ingots, drying can usually be completed within 1 - 5 minutes. If the zinc ingots are not very wet, 2 minutes can be taken as a working cycle according to the production rhythm. If the zinc ingots are slightly wet, 5 minutes can be taken as a working cycle. The specific drying time can be determined according to the actual production line situation.

[0072] 4. Reset of the baffle and the next cycle: When the zinc ingots are released, the robot releases the pressing plate 342. The passage for the zinc ingots in the release mechanism opens, and the baffle 332 automatically falls under the action of gravity and returns to its initial position, that is, it adheres to the slideway body, closing the passage for the zinc ingots in the blocking mechanism. The reset of the baffle 332 enables it to block the next newly placed zinc ingot, thus starting a new round of drying and release process.

[0073] 5. Overall coordination: The control unit compares the relative magnitudes of the real-time data of the zinc pot liquid level with the set upper and lower limits of the liquid level threshold. When the real-time data of the zinc pot liquid level is less than the lower limit of the liquid level threshold by 1.5 m, do not replenish the zinc ingots, and the robot stops adding zinc ingots.

[0074] 6. Robot reset: The robot receives the instruction to stop adding zinc ingots, ends the adding work, and moves to the designated position to standby.

[0075] In the present invention, in the initial state, the wire is not stressed, the baffle fits on the slideway body, and the passage for the zinc ingots in the blocking mechanism is closed. When the pressing plate receives a downward pressure, the wire is tensioned, lifting the baffle, opening the passage for the zinc ingots in the blocking mechanism, causing the zinc ingots to slide. After the zinc ingots slide, the pressing plate is released and the wire returns to the initial state of not being stressed, and the passage for the zinc ingots in the release mechanism opens.

[0076] Example 7: The process of the method in this example is as follows: Calculate the inclination angle of the slideway body when the zinc ingots can automatically slide to the bottom end of the slideway body using the self-weight of the zinc ingots to be grabbed and the rolling friction coefficient of the sliding body, and adjust the slideway body to the calculated inclination angle. At the same time, calculate the time t1 for the zinc ingots to reach the blocking mechanism; The laser ranging liquid level sensor transmits the real-time data of the zinc pot liquid level to the control unit of the robot at set time intervals. The control unit compares the real-time data of the zinc pot liquid level with the upper and lower limits of the set liquid level threshold. If the real-time data of the zinc pot liquid level is greater than the upper limit of the liquid level threshold, it sends an instruction to the robot to supplement zinc ingots. When the robot receives the instruction to supplement zinc ingots, the control unit obtains the data of the visual monitoring component in real time to determine whether to grasp the current zinc ingot. If the requirements are met, the zinc ingot is grasped. In the initial state, the blocking mechanism remains in the lowered state, that is, it contacts the slideway main body. The passage of the zinc ingot in the blocking mechanism is closed, and the passage of the zinc ingot in the release mechanism is opened. The grasped zinc ingot is placed on the slideway main body of the slideway conveying device by the robot, and the initial time t0 when the zinc ingot is placed on the slideway main body is recorded. After that, the zinc ingot automatically slides towards the zinc pot under its own gravity. During this process, the time is continuously recorded. When the time pointer of the control unit reaches t0 + t1, at this time the zinc ingot reaches the end of the slideway main body and is blocked by the blocking mechanism from entering the zinc pot. Set the drying time t3. When the time pointer of the control unit reaches t0 + t1 + t3, at this time the zinc ingot is effectively dried using the waste heat of the zinc liquid at the current position, and the drying is completed. The robot controls the release mechanism to work to lift the blocking mechanism, release the dried zinc ingot and let it fall into the zinc pot. After the zinc ingot falls into the zinc pot, the robot releases the release mechanism and returns to the initial state, clears the time, and continues to judge whether zinc ingots need to be supplemented. When the real-time data of the zinc pot liquid level is less than the lower limit of the liquid level threshold, zinc ingots do not need to be supplemented, the robot stops adding zinc ingots, and the robot resets. Generally, there is only one zinc ingot on the slideway main body. After the current zinc ingot falls into the zinc pot, the next zinc ingot is placed on the slideway main body.

[0077] The drying time is directly related to the specification of the zinc ingot and can be set according to actual production requirements. Usually, the average drying time of the zinc ingot is taken as a reference.

[0078] Example 8: In this embodiment, the selection of the robot mainly considers the rated load, working radius, repeat positioning accuracy, environmental adaptability, etc. of the robot. Among them, the rated load ≥ 1.5 × the maximum weight of the zinc ingot, the working radius ≥ 1.2 × the maximum movement diameter of the working condition, and the repeat positioning accuracy ≤ ±0.15 mm (zinc ingot grasping position). Since the robot is placed near the zinc pot and its temperature can reach about 50 °C, a robot with high temperature resistance and anti-corrosion coating needs to be selected. For example, if the weight of the commonly used zinc ingot ≤ 20 kg and the maximum movement diameter is about 1.5 m, a high temperature resistant and anti-corrosion robot body with a rated load of 50 kg, an arm span (working radius) of 2 m, and a repeat positioning accuracy ≤ ±0.15 mm (zinc ingot grasping position) can be selected.

[0079] The clamp in this embodiment is an adjustable high temperature resistant clamp for grabbing zinc ingots of different specifications at high temperature. It can grab zinc ingots of different specifications under high temperature conditions, which is conducive to realizing the automation of the entire process from destacking and grabbing to unloading of zinc ingots.

[0080] The visual monitoring component can add lighting components such as LED light sources, adjustable light sources, etc. when necessary according to the working conditions. The 3D industrial camera of the visual monitoring component is placed at the end of the robot arm, and can also be placed at an appropriate position outside the robot through a mounting bracket according to the working conditions.

[0081] When destacking and grabbing, the zinc ingots are stacked in such a way that the first layer is placed with the convex and concave surfaces facing upwards, and from the second layer onwards, the flat surfaces are facing upwards (hereinafter defined as the convex and concave surfaces as the front side and the flat surface as the back side), or the front and back sides are stacked crosswise. The front and back surface features are quite different, resulting in inconsistent grabbing surfaces. The adapter fixture needs to be adjusted according to the front and back sides of the current zinc ingots.

[0082] Specifically, the visual monitoring component identifies the size, position and surface features (convex and concave surfaces and flat surfaces) of the zinc ingot, transmits the acquired information to the robot's control unit, determines whether the surface of the zinc ingot to be grasped is the front or back side, and controls the vacuum suction cup at the corresponding position of the clamp to match the grasping position on the zinc ingot to be grasped, thereby driving the clamp for precise grasping.

[0083] The laser ranging liquid level sensor is placed directly above the zinc liquid in the zinc pot, about 1.5 meters away from the surface of the zinc liquid, to ensure that the emitted light is perpendicular to the surface of the zinc liquid. A protective cover is provided on the outside of the laser ranging liquid level sensor to ensure that it can still work normally in a high temperature environment.

[0084] The present invention can set the operation time of each part in the control unit according to actual production needs. In the galvanizing operation, the general robot operation area is about 2-3m away from the zinc pot, and there are many equipments arranged around the zinc pot. The existing equipment cannot automatically load in the narrow high-temperature space. The present invention does not need to set complex motors, sensors and other electronic control equipment on the slide body, and can automatically add zinc ingots. It has the advantages of efficient automation, precise control of zinc ingot sliding, zinc ingot drying function, adjustable height, high temperature resistance and durability, simple and reliable structure, continuous operation ability, high safety, strong flexible adaptability and easy operation. The robot grabs the zinc ingot and cooperates with the slide conveyor to realize full-automatic addition. The blocking mechanism is combined to accurately control the stay and release of the zinc ingot, and the hot air flow above the zinc liquid is used to dry the zinc ingot, reducing safety hazards. The slide support structure can flexibly adjust the height to adapt to different working environments. The overall structure is simple and durable, suitable for large-scale continuous production, and significantly improves the efficiency and safety of the hot-dip galvanizing production line.

[0085] Embodiment 9: To solve the problem that the laser rangefinder is interfered by strong reflected light on the surface of zinc liquid, dust, etc. during the liquid level measurement in the hot-dip galvanized zinc pot, the system of this embodiment further includes a nitrogen protection air curtain device. The nitrogen protection air curtain device is as shown in Figures 8 - 10 and includes: a) A hollow nitrogen distribution pipe 71 with a diameter of about 10 mm. The nitrogen distribution pipe is longitudinally and evenly provided with multiple groups of small hole nozzles 711, and the aperture of the small hole nozzles is 0.5 mm; the nozzles of the small hole nozzles all face the inside of the nitrogen distribution pipe; b) A closed circular pipe 72 with a diameter of about 50 mm. The closed circular pipe is sleeved outside the nitrogen distribution pipe, and both ends of the closed circular pipe are sealed except for the position where the nitrogen distribution pipe is located, forming an annular intake cavity surrounding the nitrogen distribution pipe between the nitrogen distribution pipe and the closed circular pipe; an intake interface 721 is provided in the middle of the closed circular pipe; c) Nitrogen enters the annular cavity of the closed circular pipe through the intake interface 721, is evenly distributed longitudinally around the nitrogen distribution pipe through the cavity, and then is sprayed inward by the small hole nozzles of the nitrogen distribution pipe to form a nitrogen protection air curtain along the height direction of the nitrogen distribution pipe; d) The overall height of the nitrogen protection air curtain device is 150 mm, which is suitable for the protection of the optical path of the laser rangefinder.

[0086] The aperture of the small hole nozzles 711 is preferably 0.5 mm, and multiple groups are evenly distributed along the height direction of the nitrogen distribution pipe. Each group is evenly distributed with multiple small hole nozzles 711 along the circumferential direction of the nitrogen distribution pipe.

[0087] The material of the closed circular pipe is high-temperature resistant stainless steel, and the wall thickness is about 1 mm.

[0088] The intake interface 721 is provided on the side wall of the closed circular pipe to ensure that nitrogen enters the annular cavity evenly from the side.

[0089] The nitrogen protection air curtain device is fixed directly below the lens of the laser ranging liquid level sensor through a bracket. The bottom is 100 mm away from the surface of the zinc liquid (at this time, the zinc liquid is the liquid level height in the state where no zinc ingots need to be added). The bracket is a structure that allows fine adjustment of the position and angle of the nitrogen distribution pipe. The upper end of the nitrogen protection air curtain device does not contact the laser ranging liquid level sensor. The inclination angle or position of the overall structure composed of the nitrogen distribution pipe and the closed circular pipe is adjusted through the bracket to ensure that the laser can pass through the hollow structure of the nitrogen distribution pipe, so as to adapt to different rangefinder models and on-site working conditions, and make the nitrogen protection air curtain inside the nitrogen distribution pipe evenly cover the target ranging laser channel.

[0090] Example 10: The system of this embodiment further includes a cloud, and the cloud includes a cloud server, a cloud database, a statistical module, and a time series prediction model. The process of the hot-dip galvanizing method is as follows: 1. Data collection The laser ranging liquid level sensor measures the liquid level height in the zinc pot in real time and sends the liquid level information to the control unit of the robot. The control unit of the robot determines whether zinc ingots need to be added based on the upper and lower limits of the liquid level threshold, performs corresponding operations, and synchronously uploads the liquid level and the judgment result to the cloud.

[0091] The vision monitoring component takes pictures of the zinc stack at the request of the control unit of the robot, and its image and recognition result are uploaded to the cloud through the control unit of the robot, associating the operation time and the grasping state.

[0092] The control unit of the robot details the zinc ingot addition actions (position, time, quantity) and uploads them to the cloud to form a complete operation log.

[0093] 2. Data secure transmission The control unit of the robot uses the transmission module to transmit the collected key production data to the cloud server in real time through a secure network protocol (TCP / IP). The transmission module supports breakpoint resumption and retry mechanisms to ensure the integrity and real-time nature of the data.

[0094] 3. Cloud data storage and management A distributed cloud database is established, including a liquid level data table, a zinc ingot usage log table, and a vision image information table.

[0095] The liquid level data table stores the time stamp and the real-time liquid level value. The zinc ingot usage log table records the quantity of each zinc ingot addition and the corresponding time, supporting fast aggregation query.

[0096] 4. Zinc usage statistics and time series prediction: The statistical module automatically summarizes the zinc usage every day, supports real-time query of the cumulative zinc usage in the current hour, on the current day, and in the current month, and allows users to customize and query and export within any time period.

[0097] Combined with a time series prediction model (such as deep learning models like ARIMA, LSTM, etc.), according to the historical zinc usage data, predict the future zinc ingot consumption trend to assist in formulating a scientific and reasonable material procurement and production plan.

[0098] 5. Remote access and interface: There are user access interfaces based on browsers and mobile APPs, supporting multi-terminal and multi-user logins.

[0099] The interface provides intuitive data display, including real-time liquid level monitoring, zinc usage statistical chart, historical data query interface, and prediction trend curve.

[0100] Users can query and view statistical reports according to time periods and export data in formats such as xlsx.

[0101] In the attached drawings of the disclosed embodiments of the present invention, only the core innovative points of the present invention are involved. The subsequent hot-dip galvanizing process can be implemented with reference to the prior art. Without conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

[0102] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

[0103] Matters not described in the present invention are applicable to the prior art.

Claims

1. An automatic zinc ingot adding system for hot dip galvanizing, comprising a robot for clamping zinc ingots, a chute conveying device for conveying zinc ingots, a visual monitoring component, and a laser ranging liquid level sensor installed in the zinc pot for monitoring the liquid level of the zinc pot, characterized in that: The chute conveying device includes a chute main body, a blocking mechanism, and a release mechanism; The chute main body is made of high-temperature resistant material, with one side close to the robot operation area and the other side extending above the zinc liquid in the zinc pot; the zinc ingots automatically slide to the end of the chute main body under the action of their own gravity on the chute main body; The blocking mechanism is located at the end of the chute main body and is used to temporarily block the zinc ingots above the zinc liquid in the zinc pot for drying; The release mechanism is linked with the blocking mechanism and is used to release the zinc ingots by the robot operating the release mechanism after the zinc ingots are dried; The laser ranging liquid level sensor is linked and controlled with the robot. The laser ranging liquid level sensor transmits the real-time data of the zinc pot liquid level to the control unit of the robot at set time intervals, and the control unit determines whether to issue an instruction to supplement zinc ingots according to the set upper and lower limits of the liquid level threshold; The visual monitoring component is used to identify the position, direction, and surface state of the zinc ingots in the zinc stack; The control unit is electrically connected to the visual monitoring component and determines whether the robot grabs the monitored zinc ingots according to the detection results of the visual monitoring component.

2. The automatic zinc ingot adding system for hot dip galvanizing according to claim 1, wherein, The front and back of the chute main body are supported by a chute support structure. The chute support structure includes a front support structure close to the robot operation area, a rear support structure close to the zinc pot, and a fixed bracket. The front support structure and the rear support structure have the same structure but different heights, forming a height difference, so that the chute main body presents a slope shape; a plurality of rollers are provided on the chute main body, and one end of the chute main body facing the zinc pot is lower than the end facing the robot operation area, and the zinc ingots automatically slide to the end of the chute main body through the rollers.

3. The automatic zinc ingot adding system for hot-dip galvanizing according to claim 2, wherein The height difference between the front and rear support structures can be freely adjusted.

4. The automatic zinc ingot adding system for hot-dip galvanizing according to claim 2, wherein, The blocking mechanism and the release mechanism are linked by a steel wire. Loosening or tightening the steel wire of the release mechanism can cause the baffle of the blocking mechanism to fall or lift; the robot controls the steel wire connecting the release mechanism and the blocking mechanism to loosen or tighten through an execution component, and then controls the blocking mechanism to fall or lift to realize the blocking or release of the zinc ingots.

5. The automatic zinc ingot adding system for hot-dip galvanizing according to claim 1, wherein, The system further includes a nitrogen protection air curtain device. The nitrogen protection air curtain device is fixed below the lens of the laser ranging liquid level sensor through a bracket. The nitrogen protection air curtain device includes a hollow nitrogen distribution pipe and a closed circular pipe. The closed circular pipe is sleeved outside the nitrogen distribution pipe, and the two ends of the area between the nitrogen distribution pipe and the closed circular pipe are sealed. An annular air intake cavity is formed between the nitrogen distribution pipe and the closed circular pipe; An air intake interface is provided in the middle of the closed circular pipe; A plurality of small hole nozzles with the nozzle direction facing the inside of the nitrogen distribution pipe are arranged in multiple groups in the height direction of the nitrogen distribution pipe, and each group is evenly arranged with a plurality of small hole nozzles along the circumference of the nitrogen distribution pipe.

6. The automatic zinc ingot adding system for hot dip galvanizing according to claim 5, characterized in that, The bracket is a structure that allows fine adjustment of the position and angle of the nitrogen distribution pipe.

7. The automatic zinc ingot adding system for hot-dip galvanizing according to claim 1, wherein, The system further includes a cloud, and the cloud includes a cloud server, a user access interface, a cloud database, a statistics module, and a time series prediction model; The cloud database includes a liquid level data table, a zinc ingot consumption log table, and a visual image information table; The liquid level data table stores timestamps and real-time liquid level values, and the zinc ingot consumption log table records the quantity of zinc ingots added each time and the corresponding time; The statistics module is used to automatically summarize the zinc consumption; The time series prediction model is used to predict the future trend of zinc ingot consumption based on historical zinc consumption data; It communicates with the terminal or user through the user access interface.

8. An automatic zinc ingot adding method for hot dip galvanizing, characterized in that, The method uses the automatic zinc ingot adding system for hot-dip galvanizing according to any one of claims 1-7, and includes the following steps: Calculate the inclination angle of the slideway main body when the zinc ingot can automatically slide to the bottom end of the slideway main body by using the self-weight of the zinc ingot to be grabbed and the rolling friction coefficient of the sliding body, and adjust the slideway main body to the calculated inclination angle, and at the same time calculate the time t1 when the zinc ingot reaches the blocking mechanism; The laser ranging liquid level sensor transmits the real-time data of the zinc pot liquid level to the control unit of the robot at a set time interval, The control unit compares the real-time data of the zinc pot liquid level with the upper and lower limits of the set liquid level threshold. If the real-time data of the zinc pot liquid level is greater than the upper limit of the liquid level threshold, it sends an instruction to the robot to supplement the zinc ingot; When the robot receives the instruction to supplement the zinc ingot, the control unit obtains the data of the visual monitoring component in real time to determine whether to grab the current zinc ingot. If the requirements are met, the zinc ingot is grabbed; In the initial state, the blocking mechanism remains in the lowered state, the passage of the zinc ingot in the blocking mechanism is closed, and the passage of the zinc ingot in the release mechanism is open; The grabbed zinc ingot is placed on the slideway main body of the slideway conveying device by the robot, and the initial time t0 when the zinc ingot is placed on the slideway main body is recorded. Then the zinc ingot automatically slides towards the zinc pot under its own gravity. During this process, the time is continuously recorded. When the time pointer of the control unit reaches t0 + t1, at this time the zinc ingot reaches the end of the slideway main body and is blocked by the blocking mechanism from entering the zinc pot; Set the drying time t3. When the time pointer of the control unit reaches t0 + t1 + t3, at this time the zinc ingot is effectively dried by using the waste heat of the zinc liquid at the current position, and the drying is completed. The robot controls the release mechanism to work to lift the blocking mechanism and release the dried zinc ingot; After the zinc ingot falls into the zinc pot, the robot releases the release mechanism and returns to the initial state, clears the time, and continues to judge whether zinc ingots need to be supplemented. When the real-time data of the zinc pot liquid level is less than the lower limit of the liquid level threshold, the robot stops adding zinc ingots and the robot resets.

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