A device for EB furnace titanium smelting ingot casting

Abstract

The present application relates to the technical field of titanium smelting ingot casting, and specifically discloses a device for EB furnace titanium smelting ingot casting, which comprises a pretreatment system, a smelting system and an ingot forming system; the pretreatment system is subjected to spectral sorting, shaping, cleaning, drying and closed transfer, and is screened, impurities are removed and it is cleaned and protected; the smelting system takes the multi-gun coordinated EB furnace as the core, melts, refines and keeps the titanium liquid under vacuum environment; the ingot forming system realizes directional solidification of the titanium liquid and eliminates defects, and after anti-oxidation cooling and transfer, multi-dimensional flaw detection and automatic classification and transfer are completed by the post-processing device; through full-process automatic coordinated design, full-process impurity removal and cleaning protection from sorting to drying of raw materials are realized, the problem of performance degradation of the ingot caused by impurities is solved, and through automatic transfer and multi-dimensional accurate flaw detection, the problems of secondary oxidation of the ingot, detection omission and low efficiency in the post-processing process are solved.

Description

Technical Field

[0001] This invention relates to the field of titanium melting and casting technology, specifically to an apparatus for titanium melting and casting in an EB furnace. Background Technology

[0002] Titanium and titanium alloys, with their superior properties such as high strength, low density, corrosion resistance, and good biocompatibility, occupy an irreplaceable position in key fields such as aerospace, marine engineering, medical devices, and high-end equipment manufacturing. The quality of high-purity titanium ingot preparation directly determines the performance of the end product. EB furnace (electron beam cold hearth furnace) melting technology, due to its advantages such as high vacuum, good purification effect, and uniform ingot composition, has become the core technology path for high-end titanium ingot production. The corresponding EB furnace titanium melting and casting equipment is the key equipment for the implementation of this technology. Currently, the industry suffers from insufficient cleanliness protection in the raw material pretreatment stage, which can easily lead to secondary oxidation or dust contamination of raw materials during transportation, thereby affecting the purity of subsequent smelting. Furthermore, the detection methods for ingots are mostly single-dimensional, which can easily lead to the omission of defects. At the same time, the coordination between detection and subsequent classification and transportation is poor, resulting in low post-processing efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide an apparatus for titanium melting and casting ingots in an EB furnace to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a titanium melting and casting ingot device for an EB furnace, comprising: a pretreatment system, a melting system, and an ingot forming system; the pretreatment system performs spectral sorting, shaping, cleaning, drying, and closed-loop transfer to screen components, remove impurities, and provide clean protection to avoid secondary oxidation or contamination of raw materials, ensuring the purity and consistency of the melting raw materials; the melting system uses a multi-gun EB furnace as its core, melting, refining, and maintaining the temperature of the titanium liquid in a vacuum environment, and ensuring high purity and stability of the titanium liquid through coordinated temperature control and liquid level monitoring; the ingot forming system achieves directional solidification of the titanium liquid, eliminates defects, and after anti-oxidation cooling and transfer, the post-treatment device completes multi-dimensional flaw detection and automated classification and transfer.

[0005] Preferably, the post-processing device includes: a working area, a post-processing mechanism, a transfer mechanism, a controller, and a handling robotic arm; the number of post-processing mechanisms is two, and the two post-processing mechanisms are respectively arranged at the left and right ends of the rear side inside the working area; the transfer mechanism is arranged inside the working area and outside the post-processing mechanisms; the controller is installed inside the left rear side of the working area; the handling robotic arm is fixedly installed inside the right side of the working area, and the handling robotic arm and the controller are electrically connected.

[0006] Preferably, the post-processing mechanism includes: a vertical tank housing, annular guide rails, an external gear ring, an electric lifting chuck, a vertical roller frame, a drive gear, and a first motor; the vertical tank housing is fixedly installed inside the working area along the vertical direction; there are two annular guide rails, which are respectively installed in the middle of the upper and lower sides of the inner cavity of the vertical tank housing; the external gear ring is installed circumferentially on the outer side of the bottom end of the lower annular guide rail; the electric lifting chuck is fixedly installed at the bottom end of the inner cavity of the vertical tank housing and is located in the middle of the inner side of the lower annular guide rail, and the electric lifting chuck is electrically connected to the controller; the number of vertical roller frames... There are two vertical roller frames, which are respectively engaged with the left and right ends of the outer inner side of the upper and lower annular guide rails in the vertical direction. The two vertical roller frames are arranged in opposite directions. There are two drive gears, which are respectively rotatably mounted on the front and rear ends of the outer bottom of the two vertical roller frames through bearing seats. The drive gears are meshed with the external gear ring. There are two first motors, which are respectively fixedly mounted on the inner bottom of the two vertical roller frames. The rotating ends of the two first motors are respectively meshed with the shafts of the two drive gears. The first motors are electrically connected to the controller.

[0007] Preferably, the post-processing mechanism further includes a first limiting component, a double-ended lead screw assembly, a first ball screw assembly, and a second motor; the number of first limiting components is two, and the two first limiting components are respectively installed on the front and rear sides of the outer surface of the left and right vertical roller frames in the vertical direction; the double-ended lead screw assembly is rotatably installed inside the right vertical roller frame through a bearing seat in the vertical direction; the first ball screw assembly is rotatably installed inside the left vertical roller frame through a bearing seat in the vertical direction; the number of second motors is two, and the two second motors are respectively installed at the bottom of the inside of the left and right vertical roller frames in the vertical direction, the rotating ends of the two second motors are respectively connected to the bottom of the lead screw shaft of the double-ended lead screw assembly and the first ball screw assembly, and the second motors are electrically connected to the controller.

[0008] Preferably, the post-processing mechanism further includes: a first mounting plate, a second limiting assembly, a second ball screw assembly, and a third motor; the number of first mounting plates is three, two of the three first mounting plates are respectively installed at the upper and lower ends of the front limit end of the right first limiting assembly and connected to the upper and lower screw nuts of the double-ended screw assembly, and the other first mounting plate is installed at the rear end of the limit end of the left first limiting assembly and connected to the screw nut of the first ball screw assembly; the number of second limiting assemblies is three, the three second limiting assemblies are respectively installed at the front of the outer surfaces of the upper and lower first mounting plates on the right and at the rear of the outer surface of the left first mounting plate; the second mounting plate The number of third motors is three. The three second mounting plates are respectively installed on the front side of the limiting end of the upper and lower second limiting components on the right side, and on the rear side of the limiting end of the first mounting plate on the left side. The number of second ball screw assemblies is three. The screw threads of the three second ball screw assemblies are rotatably installed on the bottom of the three first mounting plates in the left and right directions through bearing seats. The screw threads of the three second ball screw assemblies are respectively connected to the bottom of the three second mounting plates. The number of third motors is three. The three third motors are respectively installed on the outer side of the bottom end of the outer surface of the three first mounting plates. The rotating ends of the three third motors are respectively connected to the screw threads of the three second ball screw assemblies. The third motors are electrically connected to the controller.

[0009] Preferably, the post-processing mechanism further includes an electric turntable, a first flaw detection sensor, a dual-axis moving stage, and a second flaw detection sensor; the number of electric turntables is three, and the three electric turntables are respectively embedded in the middle of the outer surface of three second mounting plates, and the electric turntables are electrically connected to the controller; the number of first flaw detection sensors is two, and the two first flaw detection sensors are respectively fixedly mounted on the front side of the rotating end of the upper and lower electric turntables on the right side by brackets, and the first flaw detection sensors are electrically connected to the controller; the dual-axis moving stage is fixedly mounted on the rear side of the rotating end of the electric turntable on the left side, and the dual-axis moving stage is electrically connected to the controller; the second flaw detection sensor is fixedly mounted on the rear side of the moving end of the dual-axis moving stage, and the second flaw detection sensor is electrically connected to the controller.

[0010] Preferably, the post-processing mechanism further includes: a small tank housing, an electric scissor-type telescopic frame, a bracket, a rotating seat, a first electric telescopic rod, a fixing frame, and a connecting frame; the small tank housing is embedded in the middle of the rear side of the inner cavity of the vertical tank housing; the electric scissor-type telescopic frame is fixedly installed in the middle of the rear side of the inner cavity of the small tank housing, and the electric scissor-type telescopic frame is electrically connected to the controller; the bracket is fixedly installed in the vertical direction in front of the telescopic end of the electric scissor-type telescopic frame; the rotating seat is in two sets, with two rotating seats in each set, and the two sets of rotating seats are respectively installed on the left and right sides of the bracket. The bracket has two sets of first electric telescopic rods, with two first electric telescopic rods in each set. The two sets of first electric telescopic rods are respectively installed on the outer side of the rotating end of the two sets of rotating seats. The first electric telescopic rods are electrically connected to the controller. The bracket has two fixed frames, which are respectively rotatably installed on the left and right ends of the front side of the bracket via a rotating shaft. The bracket has two connecting frames, which are respectively fixedly installed on the telescopic ends of the left and right sets of first electric telescopic rods. The outer sides of the two connecting frames are rotatably connected to the inner sides of the two fixed frames via a rotating shaft.

[0011] Preferably, the transfer mechanism includes: a load-bearing AGV, a sub-control module, a rotating base, a second electric telescopic rod, and a support frame; the load-bearing AGV is arranged inside the working area along the left-right direction and located outside the post-processing mechanism; the sub-control module is fixedly installed on the left side of the outer surface of the load-bearing AGV, the sub-control module and the controller are remotely network connected, and the load-bearing AGV and the sub-control module are electrically connected; the rotating base is fixedly installed on the top of the load-bearing AGV along the left-right direction; there are two second electric telescopic rods, which are rotatably installed in the mounting slots opened on the front and rear sides of the top of the load-bearing AGV through rotating shaft seats, and the telescopic ends of the two second electric telescopic rods are rotatably connected to the front and rear ends of the bottom of the rotating end of the rotating base through rotating shaft seats, and the second electric telescopic rods are electrically connected to the sub-control module; the support frame is fixedly installed on the right side of the rotating end of the rotating base; wherein, fixing components are installed on both the left and right sides of the top of the rotating end of the rotating base.

[0012] Preferably, the fixing component includes: a fixed base frame, an arc-shaped groove frame, limiting rollers, a semi-annular rack, a base platform, a rotating cylinder rod, and a first gear; the fixed base frame is fixedly installed on the top of the rotating end of the rotating base frame; the arc-shaped groove frame is fixedly installed on the top inner side of the fixed base frame; the number of limiting rollers is several, and the several limiting rollers are respectively circumferentially spaced and rotatably installed in the inner cavity of the arc-shaped groove frame via a rotating shaft; the number of semi-annular racks is two, and the two semi-annular racks are respectively circumferentially arranged on the left and right sides of the inner cavity of the arc-shaped groove frame, and the outer sides of the two semi-annular racks are respectively engaged with the left and right sides of the outer walls of the several limiting rollers; the base platform is fixedly installed on the top of the rotating end of the rotating base frame and is located on the right side of the fixed base frame; the rotating cylinder rod is rotatably installed on the top left side of the base platform via a bearing seat, and the left end of the rotating cylinder rod extends into the lower part of the inner cavity of the arc-shaped groove frame; the first gear is fixedly installed on the left end of the outer wall of the rotating cylinder rod, and the outer side of the first gear meshes with the right semi-annular rack.

[0013] Preferably, the fixing component further includes a first bevel gear, a drive shaft, a second gear, a fourth motor, and a third bevel gear; the first bevel gear is fixedly installed on the right end of the outer wall of the rotating cylinder rod; the drive shaft is rotatably installed inside the rotating cylinder rod via bearings in the left-right direction, and both ends of the drive shaft extend out of the rotating cylinder rod; the second gear is fixedly installed on the left end of the outer wall of the drive shaft, and the outer side of the second gear meshes with the left semi-annular rack; the fourth motor is fixedly installed on the right side of the top of the base platform, and the rotating end of the fourth motor is fixedly connected to the right side of the drive shaft, and the fourth motor is electrically connected to the sub-control module; the second bevel gear is fixedly installed on the right end of the outer wall of the drive shaft; the third bevel gear is rotatably installed on the left side of the top of the base platform via a rotating shaft, and the left and right sides of the third bevel gear mesh with the first bevel gear and the second bevel gear, respectively.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. The composition is detected online by a spectral sorter, and waste materials are automatically sorted and diverted to a waste recycling device for centralized recycling. Qualified raw materials are conveyed to a shaping machine via a belt conveyor for CNC cutting and grinding. The shaped raw materials are sent to an ultrasonic cleaning and drying machine to remove surface oil stains. The vacuum drying kiln dries the raw materials under vacuum. After drying, the raw materials are conveyed to the raw material buffer bin by a closed raw material conveying line. The titanium liquid is then melted into titanium liquid by a multi-gun EB furnace body. The titanium liquid overflows into a replaceable multi-functional crystallizer and is then formed. The servo ingot pulling machine pulls the ingot down at a uniform speed. During the ingot solidification process, the ingot feeding device automatically replenishes the titanium liquid according to the solidification shrinkage. After the ingot is drawn, the intelligent trolley in the automatic ingot cooling and transfer device moves the ingot into a closed cooling hood, which is protected by argon gas and cooled by water.

[0015] 2. The robotic arm clamps and moves the workpiece from the temporary storage station to the inner sides of the two arc-shaped slots in the transfer mechanism. The fourth motor drives the transmission shaft to rotate the second bevel gear and the second gear synchronously. The third bevel gear rotates under the rotational force of the second bevel gear. The first bevel gear, under the action of the third bevel gear, drives the rotating cylinder rod to rotate the first gear and the second gear in opposite directions. The two semi-annular racks on both sides rotate in opposite directions under the action of the first gear and the second gear, respectively. This causes the two semi-annular racks to extend from one side of the arc-shaped slot and insert into the other side, thus forming a complete ring around the workpiece. The first electric telescopic rod secures the workpiece. The heavy-duty AGV moves along a predetermined route to the designated workstation outside the post-processing mechanism. The second electric telescopic rod drives the rotating end of the rotating base to rotate upward from horizontal to vertical. The support frame lifts the bottom of the workpiece. The electric scissor telescopic frame extends and drives the bracket to pass through the two vertical roller frames on the left and right, and move out of the inner cavity of the vertical tank shell, so that the inner side of the bracket contacts the outer wall of the workpiece. The two sets of first electric telescopic rods on the left and right extend themselves, pushing the connecting frame at the corresponding position to move forward, so that the connecting frames on the left and right sides drive the fixed frames at the corresponding positions on the left and right sides to rotate inward, so that the two fixed frames on the left and right sides clamp and fix the inner workpiece.

[0016] 3. The first motors on both sides drive the corresponding drive gears to rotate. Because the drive gears mesh with the external gear ring, the drive gears rotate while simultaneously moving circumferentially along the outer side of the external gear ring, causing the two vertical roller frames on the left and right to move circumferentially along the upper and lower annular guide rails. The second motors on both sides drive the corresponding double-ended lead screw assembly or first ball screw assembly to rotate clockwise or counterclockwise, causing the original upper and lower first mounting plates on the right side to move synchronously outward or inward under the cooperation of the lead screw and nut of the double-ended lead screw assembly and the limiting action of the first limiting assembly at the corresponding position. The original first mounting plate on the left side moves upward or downward under the cooperation of the lead screw and nut of the first ball screw assembly and the limiting action of the first limiting assembly at the corresponding position. Once the workpiece reaches a designated height, the three third motors drive the screws in the second ball screw assembly at their respective positions to rotate. This causes the screw nut in the second ball screw assembly to drive the second mounting plate at its corresponding position. Under the constraint of the second limit assembly at its corresponding position, the second mounting plate moves to the left or right. The three electric turntables drive the first flaw detection sensors at their respective positions to rotate up or down to a designated tilt angle, or drive the dual-axis moving stage to rotate 180 degrees. The first, second, and third motors, along with the electric turntables, work together to drive the dual-axis moving stage to the upper and lower ends of the workpiece in sequence. The dual-axis moving stage further adjusts the position of the second flaw detection sensors, which then detect the workpiece ends and upload the data to the controller.

[0017] In summary, this invention achieves impurity removal and cleanliness protection throughout the entire process from raw material sorting to drying through fully automated collaborative design, solving the problem of ingot performance degradation caused by impurities. Furthermore, through automated transfer and multi-dimensional precise flaw detection, it solves the problems of secondary oxidation of ingots, missed detections, and low efficiency in the post-processing stage. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the post-processing device structure of the present invention; Figure 2 for Figure 1 Exploded view of the post-processing mechanism; Figure 3 for Figure 2 Enlarged view of point A; Figure 4 for Figure 2 Enlarged view of point B; Figure 5 for Figure 1 A diagram illustrating the transfer mechanism; Figure 6 for Figure 5 Exploded view of the transfer mechanism; Figure 7 for Figure 6 Enlarged view of point C in the image.

[0019] In the diagram: 1. Working area; 2. Post-processing mechanism; 21. Vertical tank shell; 22. Circular guide rail; 23. External gear ring; 24. Electric lifting chuck; 25. Vertical roller frame; 26. Drive gear; 27. First motor; 28. First limit assembly; 29. ​​Double-ended lead screw assembly; 210. First ball screw assembly; 211. Second motor; 212. First mounting plate; 213. Second limit assembly; 214. Second mounting plate; 215. Second ball screw assembly; 216. Third motor; 217. Electric turntable; 218. First flaw detection sensor; 219. Dual-axis moving stage; 220. Second flaw detection sensor; 221. Small tank shell; 222 1. Electric scissor-type telescopic frame; 223. Bracket; 224. Rotating seat; 225. First electric telescopic rod; 226. Fixed frame; 227. Connecting frame; 3. Transfer mechanism; 31. Load-bearing AGV; 32. Sub-control module; 33. Rotating base frame; 34. Second electric telescopic rod; 35. Support frame; 36. Fixed base frame; 37. Arc-shaped groove frame; 38. Limiting roller; 39. Semi-circular rack; 310. Base platform; 311. Rotating cylinder rod; 312. First gear; 313. First bevel gear; 314. Drive shaft; 315. Second gear; 316. Fourth motor; 317. Second bevel gear; 318. Third bevel gear; 4. Controller; 5. Handling robotic arm. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figures 1-7 The present invention provides a technical solution: an apparatus for titanium melting and casting ingots in an EB furnace, comprising: a pretreatment system, a melting system and an ingot forming system; The pretreatment system performs spectral sorting, shaping, cleaning, drying, and closed-loop transport to screen components, remove impurities, and provide clean protection, preventing secondary oxidation or contamination of raw materials and ensuring the purity and consistency of smelting raw materials. The smelting system uses a multi-gun EB furnace as its core, melting, refining, and holding the titanium liquid in a vacuum environment. Through coordinated temperature control and liquid level monitoring, it ensures the high purity and stability of the titanium liquid. The ingot forming system achieves directional solidification of the titanium liquid and eliminates defects. After anti-oxidation cooling and transport, the post-processing device completes multi-dimensional flaw detection and automated classification and transport, solving problems of secondary oxidation, detection omissions, and efficiency, and ensuring the quality of the ingots. The pretreatment system quantitatively delivers clean raw materials, after sorting, shaping, cleaning, and drying, to the smelting system via a sealed conveyor. The smelting system melts the raw materials into high-purity titanium liquid in a vacuum environment, and then precisely introduces it into the ingot forming system through overflow to achieve directional solidification and feeding. After the ingot forming system completes the cooling and transfer of the ingots, the unqualified ingots that have passed the post-processing inspection can be returned to the pretreatment system for reprocessing. The three systems form a closed loop through sealed material transfer and coordinated parameter control, ensuring the high purity and processing efficiency of titanium raw materials and ingots throughout the process.

[0022] The pretreatment system includes: a spectral sorting machine, a waste recycling device, a shaping machine, an integrated ultrasonic cleaning and drying machine, a vacuum drying kiln, and a raw material buffer silo. The discharge port of the spectral sorting machine and the inlet of the shaping machine are connected by a belt conveyor. The spectral sorting machine uses laser-induced breakdown spectral sorting technology, which can perform online component detection on sponge titanium raw materials and titanium alloy return materials based on laser-induced breakdown spectroscopy technology. It can accurately identify the content of key impurities such as oxygen, nitrogen, and iron, and automatically sort and remove unqualified waste materials with excessive components, ensuring the consistency of raw material composition. In addition, unqualified raw materials inside the spectral sorting machine are diverted to the waste recycling system. The waste recycling device uses a negative pressure adsorption type waste recycling machine, which can centrally collect unqualified waste screened by the spectral separator and titanium powder and small particle waste generated by the shaping machine. High-efficiency collection is achieved through negative pressure pipelines. The collected waste can be compressed into blocks and returned to the spectral separator for secondary testing and reuse, improving raw material utilization. The outlet of the shaping machine is connected to the inlet of the ultrasonic cleaning and drying integrated machine through a sealed chute. The shaping machine uses a CNC precision shaping machine to perform CNC cutting and surface grinding of irregular raw materials. Employing a diamond cutting head, it can process raw materials to preset dimensions while removing surface burrs. Oxide scale is removed, and a built-in dust removal device is installed to prevent cutting dust from contaminating the raw materials. The discharge port of the ultrasonic cleaning and drying integrated machine is transferred to the vacuum drying kiln via a mechanical gripper. The ultrasonic cleaning and drying integrated machine can remove oil and residual dust from the surface of the raw materials, using a neutral and environmentally friendly solvent as the cleaning medium for ultrasonic cleaning. After cleaning, it is quickly dried with hot air to ensure the cleanliness of the raw materials. The discharge port of the vacuum drying kiln is connected to the raw material buffer bin via a closed raw material conveying line. The vacuum drying kiln is a double-layer vacuum drying kiln to achieve deep dehydration and degassing of the raw materials. The inner layer is a 304 stainless steel cavity, and the outer layer is insulated. The insulation layer is equipped with a hot air circulation system and a vacuum extraction system, which can achieve temperature regulation of 120-200℃ to avoid porosity defects during melting. The raw material buffer bin uses an inert gas-protected buffer bin, which can temporarily store pre-treated clean raw materials to ensure continuous and stable feeding for subsequent melting. It is equipped with a radar level gauge to monitor the material level in real time. When the material level is lower than the threshold, the pre-treatment module is automatically triggered to replenish the material. Argon can be filled into the bin to maintain a slight positive pressure to prevent secondary oxidation of the raw materials. The closed raw material conveying line adopts stainless steel sealed pipes and a screw conveying mechanism, with internal argon gas slight positive pressure protection, which can be linked and adjusted with the subsequent feeding rate.

[0023] The smelting system includes a multi-gun coordinated EB furnace body. The feed hopper and the raw material buffer hopper outlet of the multi-gun coordinated EB furnace body are connected by a variable frequency screw feeder. The multi-gun coordinated EB furnace body adopts a multi-gun coordinated electron beam cold hearth furnace, which can realize raw material melting, refining and titanium liquid heat preservation. The furnace body adopts a double-layer water-cooled wall structure and is equipped with 6 high-power electron guns. The electron guns can rotate and move 360° for positioning. The cold hearth adopts a stepped adjustable structure, which can adjust the effective smelting area according to the ingot production. The furnace body is equipped with a multi-stage composite vacuum unit to ensure the smelting vacuum environment. The variable frequency screw feeder can quantitatively transport the raw material in the raw material buffer hopper to the EB furnace feed hopper. The feeding rate is adjustable and linked to the EB furnace smelting rate to avoid instability of the molten pool due to too much or too little feeding. The feed hopper and the raw material buffer hopper outlet of the multi-gun coordinated EB furnace body are rigidly connected by a variable frequency screw feeder. The connection is sealed with a sealing flange to prevent air from entering the furnace body and affecting the vacuum degree.

[0024] The ingot forming system includes: a replaceable multi-functional crystallizer, an ingot feeding device, a servo ingot pulling machine, an automatic ingot cooling and transfer device, and a post-processing device. The replaceable multi-functional crystallizer is connected to the overflow port of the cooling bed of the multi-gun EB furnace body, and the overflow port is equipped with a flow regulating valve. The replaceable multi-functional crystallizer can realize the directional solidification and forming of titanium liquid, adopts a copper water-cooled cavity, and the inner wall is nitrided to reduce the adhesion of titanium liquid. It can replace round, square, and flat ingot molds and is equipped with a zoned temperature control cooling system that can adjust the temperature of different zones. The cooling water volume is controlled to regulate the solidification rate gradient and ensure uniform ingot microstructure. The ingot feeding device is installed above the crystallizer and is connected to the overflow port of the cooling bed of the multi-gun EB furnace body. The ingot feeding device can supplement the shrinkage during the ingot solidification process, eliminate shrinkage cavities and porosity defects, and is equipped with an independent electron gun and titanium liquid buffer chamber. The feeding amount can be precisely adjusted and is linked to the ingot solidification state for control. The servo pulling mechanism is installed directly below the multi-functional crystallizer, and the pulling plate of the servo pulling mechanism extends into the bottom of the multi-functional crystallizer. Inside the sealed guide sleeve, and with the upper surface of the ingot pulling tray fitting against the bottom of the multi-functional crystallizer cavity, serving as the initial bearing surface for ingot forming, the servo-driven ingot pulling machine can achieve uniform ingot pulling. Driven by a servo motor and equipped with a tension sensor, it provides real-time feedback on solidification resistance. When the resistance is abnormal, it automatically adjusts the pulling speed or stops the machine. The ingot pulling tray is detachable to accommodate ingots of different specifications. The automatic ingot cooling and transfer device moves the ingot, after pulling by the servo-driven ingot pulling machine, into its own internal cooling hood for cooling. The device then transfers the cooled ingot to the post-processing unit. This device uses an integrated intelligent cooling and transfer system to achieve anti-oxidation cooling and precise transfer of the ingot. It includes a sealed cooling hood and an intelligent trolley. The sealed cooling hood can be filled with argon gas for protection and cooled with water, reducing the cooling temperature to below 200℃. The intelligent trolley is servo-driven, equipped with a handling robotic arm and adjustable gripper, adaptable to ingots of different specifications. The track covers the cooling hood and post-processing unit area, achieving seamless transfer.

[0025] As a preferred option, further, such as Figure 1As shown, the post-processing unit includes: a working area 1, a post-processing mechanism 2, a transfer mechanism 3, a controller 4, and a handling robotic arm 5. The working area 1 adopts a stainless steel frame and tempered glass enclosure structure, with heat-insulating baffles on the inside to prevent high-temperature radiation. The bottom is laid with wear-resistant and non-slip flooring and dust guide troughs. The interior is divided into ingot temporary storage station, flaw detection station, and transfer transition station. Each station is distinguished by directional signs to ensure orderly operation. There are two post-processing mechanisms 2, which are respectively located at the left and right ends of the rear side inside the working area 1. The transfer mechanism 3 is located inside the working area 1, outside the post-processing mechanisms 2. The controller 4 is installed inside the working area 1. At the left rear, controller 4 is an industrial-grade integrated controller equipped with a high-performance PLC chip, supporting real-time data monitoring and parameter setting. It integrates multiple signal input and output interfaces to realize automated linkage of the detection process. The handling robot arm 5 is fixedly installed on the right side inside the working area 1. The handling robot arm 5 is electrically connected to controller 4. The handling robot arm 5 is a multi-axis industrial robot arm, which can realize the precise clamping and transfer of ingots between the temporary storage station and the transfer mechanism 3. It is equipped with an adjustable heavy-duty clamp and can receive the handling instructions issued by controller 4 to complete the automatic gripping, transfer, and placement of ingots. The operation process is matched with the transfer rhythm of transfer mechanism 3 to ensure the continuity of the post-processing process.

[0026] As a preferred option, further, such as Figure 2 , Figure 3 and Figure 4As shown, the post-processing mechanism 2 includes: a vertical tank housing 21, an annular guide rail 22, an external gear ring 23, an electric lifting chuck 24, a vertical roller frame 25, a drive gear 26, a first motor 27, a first limiting assembly 28, a double-ended lead screw assembly 29, a first ball screw assembly 210, a second motor 211, a first mounting plate 212, a second limiting assembly 213, a second mounting plate 214, a second ball screw assembly 215, a third motor 216, an electric turntable 217, a first flaw detection sensor 218, a dual-axis moving table 219, a second flaw detection sensor 220, a small tank housing 221, an electric scissor-type telescopic frame 222, and a bracket 2. 23. Rotating seat 224, first electric telescopic rod 225, fixing frame 226, and connecting frame 227; The vertical tank shell 21 is fixedly installed inside the working area 1 along the vertical direction. The vertical tank shell 21 is made of stainless steel vertical protective shell. The shell is made of stainless steel, the inner wall is coated with anti-radiation coating, and the bottom is equipped with shock-absorbing pads. It is fixedly installed inside the working area 1 along the vertical direction by expansion bolts. A maintenance door is reserved at the top for easy maintenance by operation and maintenance personnel; There are two annular guide rails 22. The two annular guide rails 22 are respectively installed in the middle of the upper and lower sides of the inner cavity of the vertical tank shell 21; The external gear ring 23 is installed circumferentially on the lower annular guide rail 22. On the outer side of the bottom end, the external gear ring 23 meshes with the drive gear 26, providing power transmission for the circumferential movement of the vertical roller frame 25. The surface of the external gear ring 23 is marked with graduations along the circumferential direction for easy observation by personnel. The electric lifting chuck 24 is fixedly installed at the bottom of the inner cavity of the vertical tank housing 21 and located in the middle of the inner side of the lower annular guide rail 22. The electric lifting chuck 24 is electrically connected to the controller 4. The electric lifting chuck 24 can receive controller commands to achieve automatic clamping and lifting actions, enabling precise clamping and lifting positioning of the bottom of the ingot, ensuring the stability of the ingot during flaw detection. There are two vertical roller frames 25, each positioned along the circumferential direction. The upper and lower circular guide rails 22 are engaged with the left and right ends of the outer inner side of the upper and lower circular guide rails 22 in the vertical direction. The two vertical roller frames 25 are arranged in opposite directions. The two vertical roller frames 25 are engaged with the left and right ends of the outer inner side of the upper and lower circular guide rails 22 in the vertical direction through rollers. The rollers are made of polyurethane to avoid damaging the surface of the guide rails. The two vertical roller frames 25 are arranged in opposite directions to ensure that the flaw detection component can cover the ingot detection range from different directions. There are two drive gears 26. The two drive gears 26 are rotatably installed at the front and rear ends of the outer bottom of the two vertical roller frames 25 through bearing seats. The drive gears 26 mesh with the outer gear ring 23.There are two first motors 27, which are fixedly installed on the inner bottom of the left and right vertical roller frames 25 respectively. The rotating ends of the two first motors 27 mesh with the shafts of the two drive gears 26 respectively. The first motors 27 are electrically connected to the controller 4. The first motors 27 are servo geared motors, which can achieve precise control of speed and direction by the controller 4, driving the vertical roller frames 25 to move smoothly along the annular guide rail 22. There are also two first limiting components 28, which are installed on the front and rear sides of the outer surface of the left and right vertical roller frames 25 respectively in the vertical direction. The first limiting components 28 adopt a guide rail slider combination, which can realize the constraint and limitation of the first mounting plate 212. The double-ended lead screw assembly 29 is rotatably mounted inside the right-side vertical roller frame 25 via a bearing seat in the vertical direction. The double-ended lead screw assembly 29 uses a double-ended reverse ball screw and a lead screw nut assembly, with the upper and lower sides having opposite screw thread directions, enabling the two first mounting plates 212 to move synchronously closer or further apart. The first ball screw assembly 210 is rotatably mounted inside the left-side vertical roller frame 25 via a bearing seat in the vertical direction. The first ball screw assembly 210 uses a single-ended ball screw and a lead screw nut assembly, which can drive the left-side first mounting plate 212 to move up and down, achieving precise adjustment of the lifting position of the first mounting plate 212. There are two second motors 211, which are respectively mounted in the vertical direction on the left and right sides. Inside the bottom of the vertical roller frame 25, the rotating ends of two second motors 211 are respectively connected to the bottom of the screw shaft of the double-ended lead screw assembly 29 and the first ball screw assembly 210. The second motors 211 are electrically connected to the controller 4. The second motors 211 are servo geared motors, which can provide power for the rotation of the double-ended lead screw assembly 29 and the first ball screw assembly 210, and can accurately control the rotation speed and angle of the lead screw to achieve smooth movement of the first mounting plate 212. There are three first mounting plates 212. Two of the three first mounting plates 212 are respectively installed on the upper and lower ends of the front limit end of the right first limit assembly 28, and are connected to the upper and lower screw shafts of the double-ended lead screw assembly 29. The first mounting plate 212 is connected to the female phase, and another first mounting plate 212 is installed on the rear side of the limiting end of the left first limiting component 28 and connected to the screw nut of the first ball screw assembly 210; there are three second limiting components 213, which are respectively installed on the front side of the outer surface of the upper and lower first mounting plates 212 on the right side and on the rear side of the outer surface of the left first mounting plate 212. The second limiting components 213 adopt a guide rail slider combination, which can realize the constraint and limiting function of the second mounting plate 214; there are three second mounting plates 214, which are respectively installed on the front side of the limiting end of the upper and lower second limiting components 213 on the right side and on the rear side of the limiting end of the left first mounting plate 212.There are three second ball screw assemblies 215. The screws of each second ball screw assembly 215 are rotatably mounted on the bottom of the three first mounting plates 212 via bearing seats in the left-right direction. The screws of the three second ball screw assemblies 215 are connected to the bottom of the three second mounting plates 214. Each second ball screw assembly 215 uses a single-end ball screw and screw nut, enabling the second mounting plate 214 to move left and right, allowing for precise adjustment of the flaw detection spacing. There are also three third motors 216. The three third motors 216 are respectively mounted on the outer bottom surface of the three first mounting plates 212. The rotating ends of the three third motors 216 are connected to the screws of the three second ball screw assemblies 215. The screw shafts are connected, and the third motor 216 and controller 4 are electrically connected. The third motor 216 is a servo geared motor, controlled by controller 4, which can precisely control the moving speed and position of the second mounting plate 214. There are three electric turntables 217, which are embedded in the middle of the outer surface of the three second mounting plates 214. The electric turntables 217 are electrically connected to controller 4. The electric turntables 217 are high-precision electric turntables, controlled by controller 4, which can achieve precise angle adjustment according to the detection requirements and adapt to the flaw detection requirements of ingots of different specifications. There are two first flaw detection sensors 218, which are fixedly mounted on the upper and lower electric turntables on the right side by brackets. On the front side of the rotating end of the turntable 217, the first flaw detection sensor 218 is electrically connected to the controller 4. The first flaw detection sensor 218 is a telescopic laser surface flaw detection sensor, which can detect surface defects such as cracks, cold shuts, and slag inclusions on the outer wall of the ingot, and upload the detection data to the controller 4 in real time for analysis and processing. The dual-axis moving stage 219 is fixedly installed on the rear side of the rotating end of the left electric turntable 217. The dual-axis moving stage 219 is electrically connected to the controller 4. The dual-axis moving stage 219 can drive the second flaw detection sensor 220 to achieve precise two-dimensional movement, adapting to the detection of complex shapes at the ingot end. The second flaw detection sensor 220 is fixedly installed on the rear side of the moving end of the dual-axis moving stage 219. The second flaw detection sensor 220, electrically connected to the controller 4, is a high-frequency ultrasonic flaw detection sensor capable of detecting defects such as shrinkage cavities, porosity, and internal inclusions at the ingot end and inside. It can collect and upload internal defect data in real time. The small tank shell 221 is embedded in the middle of the rear side of the inner cavity of the vertical tank shell 21. The electric scissor-type telescopic frame 222 is fixedly installed in the middle of the rear side of the inner cavity of the small tank shell 221. The electric scissor-type telescopic frame 222 is electrically connected to the controller 4. The electric scissor-type telescopic frame 222 is controlled by the controller 4 to achieve telescopic movement, which can drive the bracket 223 and the ingot to telescopically move back and forth, completing the picking, placing, and transferring of the ingot. The bracket 223 is fixedly installed in the vertical direction on the front side of the telescopic end of the electric scissor-type telescopic frame 222.There are two sets of rotating seats 224, with two seats in each set. The two sets of rotating seats 224 are respectively installed on the left and right sides and the upper and lower ends of the bracket 223. The rotating seats 224 provide rotational support for the first electric telescopic rod 225, ensuring its smooth rotation of the fixed frame 226. There are also two sets of first electric telescopic rods 225, with two rods in each set. The two sets of first electric telescopic rods 225 are respectively installed on the outer side of the rotating ends of the two sets of rotating seats 224. The first electric telescopic rods 225 and the control... The device 4 is electrically connected. The first electric telescopic rod 225 is controlled by the controller 4 to achieve synchronous control of its telescopic movement, pushing the fixed frame 226 to achieve opening and closing. There are two fixed frames 226, which are respectively mounted on the left and right ends of the front side of the bracket 223 via rotating shafts. There are also two connecting frames 227, which are respectively fixedly mounted on the telescopic ends of the left and right sets of the first electric telescopic rods 225. The outer sides of the two connecting frames 227 are rotatably connected to the inner sides of the two fixed frames 226 via rotating shafts.

[0027] As a preferred option, further, such as Figure 5 , Figure 6 and Figure 7As shown, the transfer mechanism 3 includes: a load-bearing AGV 31, a sub-control module 32, a rotating base 33, a second electric telescopic rod 34, and a support frame 35. The load-bearing AGV 31 is arranged inside the working area 1 along the left-right direction and is located outside the post-processing mechanism 2. The load-bearing AGV 31 and the sub-control module 32 are electrically connected. The load-bearing AGV 31 is a heavy-duty, submerged AGV trolley that realizes the automated movement and transfer of ingots between various workstations in the working area 1. As the mobile carrier of the entire transfer mechanism, it adopts a dual navigation method of magnetic strips and QR codes, adapts to the preset route of the working area 1, and is equipped with anti-collision sensors and an emergency stop button to ensure operational safety. The sub-control module 32 is fixedly installed on the left side of the outer surface of the load-bearing AGV 31. The sub-control module 32 is remotely network connected to the controller 4. The sub-control module 32 uses an industrial-grade distributed control module, which can receive remote commands from the controller 4, coordinate the coordinated action of the internal electrical components of the transfer mechanism 3, and simultaneously feed back the operating status data of each component. The rotating base... The rotating base 33 is fixedly installed on the top of the load-bearing AGV 31 along the left-right direction. The rotating base 33 is a heavy-duty tiltable base, whose core function is to support the support frame 35 and the fixed components, realizing the tilting adjustment of the ingot from a horizontal to a vertical state, and adapting to the vertical detection requirements of the post-processing mechanism 2. There are two second electric telescopic rods 34. The two second electric telescopic rods 34 are respectively rotatably installed in the mounting slots opened on the front and rear sides of the top of the load-bearing AGV 31 through the rotating shaft seat. The telescopic ends of the two second electric telescopic rods 34 are respectively rotatably connected to the front and rear ends of the bottom of the rotating end of the rotating base 33 through the rotating shaft seat. The second electric telescopic rods 34 are electrically connected to the sub-control module 32. The second electric telescopic rods 34 are heavy-duty electric telescopic rods, which can provide power for the tilting action of the rotating base 33 and drive the base angle adjustment through telescopic drive. The support frame 35 is fixedly installed on the right side of the rotating end of the rotating base 33. Fixed components are installed on both the left and right sides of the top of the rotating end of the rotating base 33.

[0028] More specifically, the fixed components include: a fixed base frame 36, an arc-shaped groove frame 37, limiting rollers 38, a semi-annular rack 39, a base platform 310, a rotating cylinder rod 311, a first gear 312, a first bevel gear 313, a drive shaft 314, a second gear 315, a fourth motor 316, a second bevel gear 317, and a third bevel gear 318; the fixed base frame 36 is fixedly installed on the top of the rotating end of the rotating base frame 33; the arc-shaped groove frame 37 is fixedly installed on the top inner side of the fixed base frame 36, and the arc-shaped groove frame 37 is made of stainless steel, which can provide installation and movement guidance for the semi-annular rack 39, and at the same time form an annular clamping space with the semi-annular rack 39; the number of limiting rollers 38 is several, and the several limiting rollers 38 are spaced apart circumferentially. The rotating shaft is mounted rotatably within the inner cavity of the arc-shaped slot frame 37. The limiting rollers 38 are made of polyurethane and can limit and guide the moving semi-annular rack 39, ensuring smooth sliding along the arc-shaped slot frame 37 and preventing deviation. Two semi-annular racks 39 are arranged circumferentially on the left and right sides of the inner cavity of the arc-shaped slot frame 37, respectively. The outer sides of the two semi-annular racks 39 are engaged with the outer walls of several limiting rollers 38 on the left and right sides. The base platform 310 is fixedly mounted on the top of the rotating end of the rotating base frame 33 and is located on the right side of the fixed base frame 36. The rotating cylinder rod 311 is rotatably mounted on the top left side of the base platform 310 via a bearing seat, with its left end extending into the lower part of the inner cavity of the arc-shaped slot frame 37. The first gear 312 is fixed... A first gear 312 is fixedly installed on the left end of the outer wall of the rotating drum rod 311, and its outer side meshes with the right semi-annular rack 39. A first bevel gear 313 is fixedly installed on the right end of the outer wall of the rotating drum rod 311. The first bevel gear 313 can change the direction of power transmission, transmitting the horizontal rotational power of the rotating drum rod 311 to the third bevel gear 318. A transmission shaft 314 is rotatably installed inside the rotating drum rod 311 via bearings in the left-right direction, with both ends of the transmission shaft 314 extending out of the rotating drum rod 311. A second gear 315 is fixedly installed on the left end of the outer wall of the transmission shaft 314, and its outer side meshes with the left semi-annular rack 39. A fourth motor 316 is fixedly installed on the right side of the top of the base platform 310, and its rotating end meshes with the right side of the base platform 310. The right side of the drive shaft 314 is fixedly connected to the fourth motor 316 and the sub-control module 32. The fourth motor 316 is a servo geared motor, controlled by the sub-control module 32, which can achieve precise speed and direction. The second bevel gear 317 is fixedly installed on the right end of the outer wall of the drive shaft 314. The third bevel gear 318 is rotatably installed on the top left side of the base 310 via a rotating shaft. The left and right sides of the third bevel gear 318 mesh with the first bevel gear 313 and the second bevel gear 317 respectively. The third bevel gear 318 serves as an intermediate transmission component, realizing the power connection between the first bevel gear 313 and the second bevel gear 317, driving the rotating cylinder rod 311 to rotate in the opposite direction to the drive shaft 314, thereby causing the two semi-annular racks 39 to move closer or further away synchronously.

[0029] The specific work steps are as follows: Step 1: The raw materials for sponge titanium and recycled titanium alloy are batched into the spectral sorting machine of the pretreatment system. The spectral sorting machine uses laser-induced breakdown spectroscopy technology to perform online component detection on the raw materials, detecting the content of key impurities such as oxygen, nitrogen, and iron. It automatically identifies and sorts out unqualified waste materials with excessive components. The unqualified waste materials are diverted to the waste recycling device for centralized collection. They can be compressed into blocks and returned to the sorting machine for secondary testing and reuse. The raw materials with qualified components are conveyed to the shaping machine via belt conveyor. The shaping machine performs CNC precision cutting and surface grinding on the irregular raw materials according to the preset block specifications, removing physical impurities such as burrs and oxide scale from the surface of the raw materials, and avoiding uneven melting problems during subsequent feeding. After shaping, the raw materials are conveyed to the ultrasonic cleaning and drying stage through a closed chute. The integrated machine first uses a neutral and environmentally friendly solvent for ultrasonic cleaning to thoroughly remove oil stains from the surface of the raw materials. Then, it uses a built-in hot air system for rapid drying to avoid cleaning agent residue. After drying, the raw materials are transferred to a vacuum drying kiln by a mechanical gripper. The kiln is first evacuated and then heated to 120-200℃ for 4-8 hours of deep drying to remove the moisture and hydrogen adsorbed inside the raw materials and prevent porosity defects during melting. After drying, the raw materials are transported to the raw material buffer bin by a closed raw material conveyor line. The conveyor line is filled with argon to maintain a slight positive pressure protection to prevent the clean raw materials from contacting air and causing secondary oxidation. The buffer bin is equipped with a radar level gauge to monitor the material level in real time. When the material level is lower than the preset threshold, the system will automatically trigger the feeding process of the pretreatment module to ensure continuous and stable feeding in the subsequent melting process. Step 2: The multi-stage composite vacuum unit inside the multi-gun EB furnace is activated to evacuate the furnace body. Simultaneously, the cooling circulation system is started to supply stable cooling water to key components such as the double-layer water-cooled walls and electron guns. The electron gun fault warning system is activated concurrently to monitor key parameters such as filament temperature and anode current in real time. Once ready, raw materials in the raw material buffer bin are fed in small quantities into the cooling bed of the EB furnace via a variable frequency screw feeder as a base material. Subsequently, the six electron guns inside the EB furnace are activated according to a preset program, scanning the bottom of the cooling bed at low power to gradually melt the base material, forming a 5-10mm thick titanium alloy solidified shell. After the solidified shell is prepared... The system adjusts the feed rate and electron gun power according to the real-time temperature of the molten pool to achieve multi-gun coordinated operation: Guns 1 and 2 use high-power focused heating to melt the continuously fed raw materials in batches; Guns 3 and 4 are responsible for primary refining, promoting the flotation and separation of large particle inclusions through precise temperature control; Guns 5 and 6 maintain the uniformity of the molten pool temperature to ensure good fluidity of the titanium liquid. The laser liquid level sensor in the furnace monitors the liquid level of the molten pool in real time. When the liquid level is too high and there is a risk of overflow, or too low and there is a risk of flow interruption, the system automatically adjusts the feed rate or electron gun power to ensure the stability of the molten pool. The titanium liquid stays in the cooling bed for 30-60 minutes to fully complete degassing and purification, and finally obtains high-purity titanium liquid. Step 3: The refined titanium liquid flows into the replaceable multi-functional crystallizer through the overflow port at the end of the cooling bed. The external cooling system connected to the crystallizer is started simultaneously. By adjusting the cooling water volume in different areas, a reasonable temperature gradient is constructed to ensure the directional solidification of the titanium liquid. At the same time, the dedicated electron gun above the crystallizer is started to preheat the bottom of the crystallizer to avoid local rapid cooling of the titanium liquid when it comes into contact with the low temperature bottom. Finally, a dense ingot base is formed. After the base is formed, the servo ingot pulling machine is started to pull the ingot downward at a uniform speed. The ingot pulling speed is precisely matched with the overflow rate of the titanium liquid to ensure the high stability of the titanium liquid level in the crystallizer. During the ingot solidification process, the ingot feeding device installed above the crystallizer automatically replenishes titanium liquid from the overflow port of the cooling bed according to the solidification shrinkage of the ingot, effectively eliminating defects such as shrinkage cavities and porosity inside the ingot. After the ingot is drawn, the electron gun is closed in the order of feeding area, refining area and crystallizer area, while the feeding device is kept working for 3-5 minutes to complete the final feeding. Then, the intelligent trolley in the automatic ingot cooling and transfer device is started, accurately grabbing the high temperature ingot and moving it into the sealed cooling hood. Argon gas is first filled into the cooling hood to form a protective atmosphere, and then the water cooling system is started to perform gradient cooling of the ingot. After the ingot temperature drops below 200℃, the intelligent trolley transfers the cooled ingot to the temporary storage station of the post-processing device to wait for subsequent testing. Step 4: The post-processing unit detects surface cracks and cold shuts in the ingot, scans internal defects, marks non-conforming parts in real time and uploads them to the factory's internal control system. After marking, the ingot is returned to the pre-processing system for reprocessing and smelting. Once the product passes the pre-processing, all process data, including raw material information, smelting parameters, and test data, is entered into the database. The specific operation is as follows: A1. When flaw detection is required on the finished ingot, the controller 4 calls the preset program and simultaneously starts the sub-control module 32 of the handling robot arm 5 and the transfer mechanism 3. The sub-control module 32 controls the load-bearing AGV 31 to move precisely to the handling station of the handling robot arm 5 according to the preset route. The handling robot arm 5 clamps the ingot on the temporary storage station and places it inside the two arc-shaped slots 37 on the left and right sides of the transfer mechanism 3. After placement, the sub-control module 32 controls the fourth motor 316 of the fixed parts on both sides to start. The fourth motor 316 drives the transmission shaft 314 to rotate, thereby driving the second bevel gear 317 and the second gear 315 to rotate. As the first bevel gear 313 rotates, the third bevel gear 318 rotates passively under the drive of the second bevel gear 317. Since the first bevel gear 313 meshes with the third bevel gear 318, the first bevel gear 313 drives the rotating cylinder rod 311 to drive the first gear 312 and the second gear 315 to rotate in opposite directions. The semi-annular racks 39 on both sides rotate clockwise or counterclockwise under the drive of the first gear 312 and the second gear 315, respectively. At the same time, under the limiting and guiding action of several limiting rollers 38, they extend from one side of the arc-shaped slot frame 37 and insert into the other side, finally splicing with the arc-shaped slot frame 37 to form a complete ring, tightly fitted inside. The ingot is securely fixed to the outside. After fixing, the load-bearing AGV 31 moves to the designated position outside the post-processing mechanism 2 according to the predetermined route, ensuring that it is directly facing the vertical tank shell 21 in the front-to-back direction. The sub-control module 32 controls the extension of the second electric telescopic rod 34, driving the rotating end of the rotating base 33 to rotate from the horizontal state to the vertical state. At this time, the support frame 35 simultaneously supports the bottom of the ingot to prevent the ingot from tilting. The controller 4 controls the electric scissor telescopic frame 222 and the first electric telescopic rod 225 of the post-processing mechanism 2 at the corresponding position to start. The electric scissor telescopic frame 222 extends, driving the bracket 223 to pass through. Two vertical roller frames 25 extend from the inner cavity of the vertical tank shell 21 until the inner side of the bracket 223 is in contact with the outer wall of the ingot. The two sets of first electric telescopic rods 225 on the left and right extend synchronously, pushing the connecting frame 227 at the corresponding position to move forward, thereby driving the two fixed frames 226 on the left and right to rotate inward, finally clamping the ingot. The two fourth motors 316 of the transfer mechanism 3 rotate in opposite directions, causing the semi-annular rack 39 to reset and release the fixing of the ingot. The electric scissor telescopic frame 222 shortens, driving the bracket 223 to move the ingot to the middle position inside the upper and lower annular guide rails 22, completing the transfer of the ingot to the inspection station. A2. After the ingot is in place, the controller 4 calls the preset program and starts the first motor 27, the second motor 211, the third motor 216, the electric turntable 217, the dual-axis moving table 219, the second flaw detection sensor 220, the electric lifting chuck 24, and the first flaw detection sensor 218. The first motors 27 on both sides drive the corresponding drive gears 26 to rotate. Since the drive gears 26 mesh with the external gear ring 23, the drive gears 26 move circumferentially along the external gear ring 23 while rotating, driving the two vertical roller frames 25 on the left and right to move circumferentially along the upper and lower annular guide rails 22. The second motors 211 on both sides drive the double-ended lead screw assembly 29 or the first ball screw assembly 218 respectively. 10. Rotation causes the two upper and lower first mounting plates 212 on the right side to move synchronously inward and outward under the cooperation of the double-ended screw assembly 29 and the first limiting assembly 28. The first mounting plate 212 on the left side moves up and down to the specified height under the cooperation of the first ball screw assembly 210 and the first limiting assembly 28. The three third motors 216 drive the second ball screw assemblies 215 at the corresponding positions to rotate, causing the second mounting plate 214 to move left and right under the constraint of the second limiting assembly 213. The three electric turntables 217 drive the first flaw detection sensors 218 at the corresponding positions to adjust to the specified tilt angle, or drive the dual-axis moving table 219 to rotate 180 degrees. This is achieved through the first motor 27, the second motor 218, and the third motor 219. The coordinated operation of motor 211, third motor 216, and electric turntable 217 moves the dual-axis moving table 219 sequentially to the upper and lower ends of the ingot. The dual-axis moving table 219 further fine-tunes the position of the second flaw detection sensor 220, which performs precise flaw detection on the ingot ends and uploads the detection data to the controller 4 in real time. After the end detection is completed, the electric lifting chuck 24 extends and clamps the bottom of the ingot, achieving stable positioning. Subsequently, the electric scissor-type telescopic frame 222 and the first electric telescopic rod 225 cooperate to release the clamp on the ingot and return to the initial position. The first flaw detection sensor 218 then begins to perform full-circumferential, full-length flaw detection on the outer wall of the ingot. Flaw detection is performed, and the detection data is synchronously uploaded to the controller 4. After the detection is completed, the controller 4 analyzes the detection data, marks the unqualified parts, and uploads them to the factory's central control system. Then, the electric scissor telescopic frame 222 and the first electric telescopic rod 225 re-clamp the ingot, the electric lifting chuck 24 is released and reset, the electric scissor telescopic frame 222 puts the ingot back to the transfer mechanism 3, and the semi-annular rack 39 of the transfer mechanism 3 splices and fixes the ingot again. Finally, the load-bearing AGV 31 transfers the ingot to the designated location. Qualified ingots will be stored after the entire process information, such as raw material information, smelting parameters, and detection data, is recorded. Unqualified ingots will be marked and returned to the pre-processing system for reprocessing and smelting.

[0030] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An apparatus for titanium melting and casting ingots in an EB furnace, characterized in that, include: Pretreatment system, smelting system and ingot forming system; The pretreatment system performs spectral sorting, shaping, cleaning, drying, and closed-loop transport to screen components, remove impurities, and provide clean protection to prevent secondary oxidation or contamination of raw materials, ensuring the purity and consistency of the smelting raw materials. The smelting system is based on a multi-gun EB furnace, which melts, refines, and holds the titanium liquid in a vacuum environment. Through coordinated temperature control and liquid level monitoring, it ensures the high purity and stability of the titanium liquid. The ingot forming system achieves directional solidification of the titanium liquid and eliminates defects. After anti-oxidation cooling and transport, the post-processing device completes multi-dimensional flaw detection and automated classification and transport. The post-processing device includes: Work area (1); The post-processing mechanism (2) is two in number, and the two post-processing mechanisms (2) are respectively located at the left and right ends of the rear side inside the working area (1); The transfer mechanism (3) is located inside the working area (1) and outside the post-processing mechanism (2); The controller (4) is installed inside the working area (1) on the left rear side; A handling robotic arm (5) is fixedly installed inside the right side of the work area (1), and the handling robotic arm (5) is electrically connected to the controller (4); The post-processing mechanism (2) includes: The vertical tank shell (21) is fixedly installed inside the working area (1) along the vertical direction; Two annular guide rails (22) are installed on the upper and lower sides of the inner cavity of the vertical groove shell (21). The external gear ring (23) is circumferentially mounted on the outer side of the bottom end of the annular guide rail (22) described below; An electric lifting chuck (24) is fixedly installed at the bottom of the inner cavity of the vertical trough shell (21) and located in the middle of the inner side of the lower annular guide rail (22). The electric lifting chuck (24) and the controller (4) are electrically connected. Vertical roller frame (25), the number of vertical roller frames (25) is two, the two vertical roller frames (25) are respectively snapped into the left and right ends of the outer inner side of the upper and lower two annular guide rails (22) in the up and down direction, and the left and right vertical roller frames (25) are arranged in opposite directions; The number of drive gears (26) is two. The two drive gears (26) are respectively rotatably mounted on the front and rear ends of the outer bottom of the left and right vertical roller frames (25) through bearing seats. The drive gears (26) mesh with the external gear ring (23). The first motor (27) has two motors (27). The two motors (27) are fixedly installed on the inner bottom of the left and right vertical roller frames (25). The rotating ends of the two motors (27) mesh with the shafts of the two drive gears (26). The first motor (27) and the controller (4) are electrically connected. The first limiting component (28) has two components, and the two first limiting components (28) are respectively installed on the front and rear sides of the outer surface of the left and right vertical roller frames (25) in the up and down direction; The double-ended lead screw assembly (29) is rotatably mounted inside the vertical roller frame (25) on the right side via a bearing seat in the vertical direction; The first ball screw assembly (210) is rotatably mounted inside the vertical roller frame (25) on the left side via a bearing seat in the up-down direction; The second motor (211) has two motors. The two second motors (211) are installed at the bottom of the two vertical roller frames (25) in the vertical direction. The rotating ends of the two second motors (211) are connected to the bottom of the screw shaft of the double-ended screw assembly (29) and the first ball screw assembly (210). The second motor (211) is electrically connected to the controller (4). The first mounting plate (212) has three components. Two of the three first mounting plates (212) are respectively installed on the upper and lower ends of the front side of the limiting end of the right first limiting component (28) and connected to the upper and lower screw nuts of the double-ended screw assembly (29). The other first mounting plate (212) is installed on the rear side of the limiting end of the left first limiting component (28) and connected to the screw nut of the first ball screw assembly (210). The number of the second limiting components (213) is three. The three second limiting components (213) are respectively installed on the front side of the outer surface of the upper and lower first mounting plates (212) on the right side and the rear side of the outer surface of the first mounting plate (212) on the left side. The second mounting plate (214) has three parts. The three second mounting plates (214) are respectively installed on the front side of the limiting end of the upper and lower second limiting components (213) on the right side and on the rear side of the limiting end of the first mounting plate (212) on the left side. The second ball screw assembly (215) consists of three parts. The screws of the three second ball screw assemblies (215) are rotatably mounted on the bottom of the three first mounting plates (212) in the left and right directions through bearing seats. The screws of the three second ball screw assemblies (215) are connected to the bottom of the three second mounting plates (214) respectively. The third motor (216) has three motors. The three motors (216) are respectively installed on the outer side of the bottom end of the outer surface of the three first mounting plates (212). The rotating ends of the three motors (216) are respectively connected to the screw shaft of the three second ball screw assemblies (215). The third motor (216) is electrically connected to the controller (4). Electric turntable (217), the number of electric turntable (217) is three, the three electric turntables (217) are respectively embedded in the middle of the outer surface of three second mounting plates (214), and the electric turntable (217) and controller (4) are electrically connected; The first flaw detection sensor (218) has two components. The two first flaw detection sensors (218) are fixedly installed on the front side of the rotating end of the two electric turntables (217) on the right side by brackets. The first flaw detection sensor (218) and the controller (4) are electrically connected. A dual-axis moving stage (219) is fixedly installed on the rear side of the rotating end of the electric turntable (217) on the left side. The dual-axis moving stage (219) and the controller (4) are electrically connected. The second flaw detection sensor (220) is fixedly installed on the rear side of the moving end of the dual-axis moving stage (219), and the second flaw detection sensor (220) and the controller (4) are electrically connected. The small tank housing (221) is embedded in the middle of the rear side of the inner cavity of the vertical tank housing (21); An electric scissor telescopic frame (222) is fixedly installed in the middle of the rear side of the inner cavity of the small tank shell (221), and the electric scissor telescopic frame (222) is electrically connected to the controller (4); The bracket (223) is fixedly installed in the vertical direction on the front side of the telescopic end of the electric scissor telescopic frame (222); Rotary seat (224), the number of the rotating seats (224) is two sets, the number of the rotating seats (224) in each set is two, and the two sets of rotating seats (224) are respectively installed on the left and right sides and the upper and lower ends of the bracket (223); The first electric telescopic rod (225) has two sets, with two sets of the first electric telescopic rod (225) in each set. The two sets of the first electric telescopic rod (225) are respectively installed on the outside of the rotating end of the two sets of rotating seats (224). The first electric telescopic rod (225) is electrically connected to the controller (4). The fixing frame (226) is two in number, and the two fixing frames (226) are respectively rotatably installed on the left and right ends of the front side of the bracket (223) via a rotating shaft; Connecting frame (227), there are two connecting frames (227), the two connecting frames (227) are respectively fixedly installed on the telescopic ends of the left and right sets of first electric telescopic rods (225), and the outer sides of the two connecting frames (227) are rotatably connected to the inner sides of the two fixed frames (226) through a rotating shaft.

2. The apparatus for titanium smelting and casting ingots in an EB furnace according to claim 1, characterized in that, The transfer mechanism (3) includes: The load-bearing AGV (31) is arranged inside the working area (1) in the left-right direction and is located outside the post-processing mechanism (2); The sub-control module (32) is fixedly installed on the left side of the outer surface of the load-bearing AGV (31). The sub-control module (32) and the controller (4) are remotely connected via a network. The load-bearing AGV (31) and the sub-control module (32) are electrically connected. Rotate the base frame (33) and fix it on the top of the load-bearing AGV (31) in the left-right direction; The second electric telescopic rod (34) has two components. The two second electric telescopic rods (34) are rotatably installed in the mounting slots opened on the front and rear sides of the top of the load-bearing AGV (31) through a rotating shaft seat. The telescopic ends of the two second electric telescopic rods (34) are rotatably connected to the front and rear ends of the bottom of the rotating end of the rotating base frame (33) through a rotating shaft seat. The second electric telescopic rod (34) is electrically connected to the sub-control module (32). The support frame (35) is fixedly installed on the right side of the rotating end of the rotating base frame (33); Among them, the rotating base (33) has fixed components installed on the top left and right sides of the rotating end.

3. The apparatus for titanium smelting and casting ingots in an EB furnace according to claim 2, characterized in that, The fixing component includes: A fixed base frame (36) is fixedly installed on the top of the rotating end of the rotating base frame (33); The arc-shaped groove frame (37) is fixedly installed on the top inner side of the fixed base frame (36); The limiting rollers (38) are a plurality of each other, and the plurality of the limiting rollers (38) are respectively installed in the inner cavity of the arc-shaped slot frame (37) at circumferential intervals through a rotating shaft; The semi-annular rack (39) has two components. The two semi-annular racks (39) are respectively arranged circumferentially on the left and right sides of the inner cavity of the arc-shaped slot frame (37). The outer sides of the two semi-annular racks (39) are respectively engaged with the outer walls of several limiting rollers (38) on the left and right sides. The base (310) is fixedly installed on the top of the rotating end of the rotating base (33) and located on the right side of the fixed base (36); The rotating cylinder rod (311) is rotatably mounted on the top left side of the base platform (310) via a bearing seat, and the left end of the rotating cylinder rod (311) extends into the lower part of the inner cavity of the arc-shaped slot frame (37); The first gear (312) is fixedly installed on the left end of the outer wall of the rotating cylinder rod (311), and the outer side of the first gear (312) meshes with the right semi-annular rack (39).

4. The apparatus for titanium smelting and casting ingots in an EB furnace according to claim 3, characterized in that, The fixing component also includes: The first bevel gear (313) is fixedly installed on the right end of the outer wall of the rotating cylinder (311); The drive shaft (314) is rotatably mounted inside the rotating drum rod (311) via bearings in the left-right direction, and both the left and right ends of the drive shaft (314) extend out of the rotating drum rod (311). The second gear (315) is fixedly installed on the left end of the outer wall of the transmission shaft (314), and the outer side of the second gear (315) meshes with the left semi-annular rack (39); The fourth motor (316) is fixedly installed on the top right side of the base (310). The rotating end of the fourth motor (316) is fixedly connected to the right side of the transmission shaft (314). The fourth motor (316) is electrically connected to the sub-control module (32). The second bevel gear (317) is fixedly installed on the right end of the outer wall of the transmission shaft (314); The third bevel gear (318) is rotatably mounted on the top left side of the base (310) via a rotating shaft. The left and right sides of the third bevel gear (318) mesh with the first bevel gear (313) and the second bevel gear (317) respectively.

Images