Full-process metal ingot intelligent casting system

Abstract

The utility model discloses a full-process intelligent metal ingot casting system, which relates to the technical field of non-ferrous metallurgical equipment and comprises a linear casting machine. A scooping spoon is arranged at the hand part of the casting robot; the scum removing robot is arranged on one side of the linear casting machine, and a scum removing plate is mounted on the hand of the scum removing robot; the input end of the chain conveyor corresponds to the lower part of the output end of the linear casting machine; the input end of the chain scraper conveyor corresponds to the output end of the chain conveyor; a laser coding machine, an appearance quality detection device, a trimming robot and a stacking robot are sequentially arranged on the side of the chain conveyor in the conveying direction. The palletizing robot corresponds to the output end of the chain conveyor; a full-automatic packaging machine, an automatic weighing device and an automatic labeling device are sequentially arranged on the chain scraper conveyor in the conveying direction; and the controller controls the operation of the casting system. According to the utility model, the ingot casting precision and the product quality can be improved, and unattended operation and automation and intelligentization of the whole process in the ingot casting process are realized.

Description

Technical Field

[0001] The utility model relates to the technical field of non-ferrous metallurgy equipment, in particular to an intelligent casting system for full-process metal ingots. Background Art

[0002] In the production process of ingot forming of tin and other non-ferrous metals (such as zinc, lead, aluminum, etc.), the following steps are generally required: ① Pouring molten metal into a mold; ② Removing the oxidation slag on the surface of the molten metal in the mold; ③ Rapidly cooling and solidifying the molten metal by means of air cooling or water cooling; ④ Demolding the solidified metal ingot; ⑤ Coding on the surface of the metal ingot (brand and product production information); ⑥ Removing unqualified products; ⑦ Removing flash and burrs on the surface of qualified metal ingots; ⑧ Stacking; ⑨ Strapping; ⑩ Weighing and labeling, and finally the qualified metal ingots are taken offline for external sales. In the prior art, during the production process of metal ingots, the molten metal is generally poured into the mold by means of a metering pump and a rotary drum. The generated oxidation slag is removed manually with a special tool, the removal of unqualified products is judged by manual experience, and the flash and burrs of qualified products need to be removed manually with a spatula. This production method will cause a large deviation in the amount of molten metal added, resulting in uneven thickness of metal ingots, high labor intensity of manual operation, high safety risk, and at the same time, it is easy to mix waste ingots into qualified products if not noticed, affecting the final product quality and sales, and reducing the product competitiveness.

[0003] Therefore, how to provide an intelligent casting system for full-process metal ingots, which can improve the casting accuracy, reduce the manual labor intensity, reduce the scrap rate and improve the product quality, and has good safety is an urgent problem to be solved by those skilled in the art. Summary of the Utility Model

[0004] In view of this, the utility model provides an intelligent casting system for full-process metal ingots, aiming to solve the technical problems of large deviation in the amount of molten metal added, manual slag removal, low casting accuracy, high manual labor intensity and high safety risk in the existing casting system.

[0005] In order to achieve the above object, the utility model adopts the following technical scheme:

[0006] The utility model provides an intelligent casting system for full-process metal ingots, including:

[0007] A straight-line casting machine, on which a mold is installed;

[0008] A casting robot, which is arranged on one side of the straight-line casting machine, and a ladle for quantitatively scooping molten metal and pouring it into the cavity of the mold is installed on its hand;

[0009] The dross skimming robot is arranged on one side of the straight casting machine, and its manipulator is equipped with a dross skimming plate capable of skimming the dross on the surface of the molten metal in the mold cavity.

[0010] A chain conveyor and a chain plate conveyor. The input end of the chain conveyor corresponds to the lower part of the output end of the straight casting machine to receive the demolded formed metal ingots. The input end of the chain plate conveyor is arranged corresponding to the output end of the chain conveyor. Along the conveying direction on the side of the chain conveyor, a laser coding machine, an appearance quality inspection device, a trimming robot and a palletizing robot are arranged in sequence to perform coding, appearance inspection, trimming and palletizing on the formed metal ingots output by the straight casting machine in sequence, so as to produce qualified formed metal ingots. The palletizing robot is arranged corresponding to the output end of the chain conveyor to stack the formed metal ingots on the output end of the chain conveyor onto the input end of the chain plate conveyor. Along the conveying direction of the chain plate conveyor, a full-automatic bundling machine, an automatic weighing device and an automatic labeling device are arranged in sequence to bundle, weigh and label the metal ingot stacks in sequence, and then output the finished metal ingot stacks.

[0011] A controller, which is electrically connected to and controls the operation of the straight casting machine, the chain conveyor, the chain plate conveyor, the casting robot, the dross skimming robot, the laser coding machine, the appearance quality inspection device, the trimming robot, the palletizing robot, the full-automatic bundling machine, the automatic weighing device and the automatic labeling device.

[0012] When the intelligent casting system for full-process metal ingots of the present utility model is working, the casting robot can control the ladle installed on its hand to quantitatively scoop up the molten metal to be cast from the pot containing the molten metal, and slowly pour the molten metal into the mold cavity of the mold running linearly on the linear casting machine. The casting robot can flexibly adapt to the traveling speed of the mold to ensure that the molten metal in the ladle steadily flows into the mold cavity, reducing the rejection rate and improving the ingot casting accuracy and product quality; the slag skimming robot can control the slag skimming plate installed on its hand to embed into the mold cavity of the mold running linearly to skim the slag on the surface of the molten metal out of the mold cavity, reducing the manual labor intensity and having good safety; the chain conveyor is used to receive and convey the solid formed metal ingots falling off from the mold at the output end of the linear casting machine; the chain plate conveyor is used to convey the qualified formed metal ingot stacks produced; the laser coding machine is used to code and mark information such as the trademark, grade, production batch, etc. of the product on the surface of the formed metal ingot, and this information can be sent from the in-plant production information management system to the control system of the laser coding machine; the appearance quality detection device is used to detect the surface color, surface laser coding information, texture (slag), three-dimensional size measurement, contour arc, and concavity and convexity of the upper surface of the formed metal ingot to determine whether the formed metal ingot is qualified; the trimming robot is used to trim and deburr the formed metal ingot to further improve the product appearance quality; the palletizing robot is used to carry and palletize the formed metal ingots; after the metal ingot stacks are placed at the input end of the chain plate conveyor, they continue to be conveyed, and the metal ingot stacks are packed by the fully automatic packing machine, weighed by the automatic weighing device, and labeled by the automatic labeling device to further indicate information such as the weight, trademark, grade, production batch number, etc. of the metal ingot stack products. The controller is used to control the signal interaction between the devices in the above casting process, and through time control, step sequence control, etc., to realize the periodic and uninterrupted metal ingot casting operation. The structure of the intelligent casting system of the present utility model is more perfect, which can realize the full process from liquid metal casting to the output of the final qualified metal ingots without human participation, completely eliminating the safety hazards of manual operation, greatly reducing the manual labor intensity, reducing the rejection rate, improving the product quality, and enhancing the intelligent and automatic equipment level of the industry.

[0013] As a further improvement of the above technical solution, the ladle has a plurality of chambers arranged in parallel; along the conveying direction at the upper end of the linear casting machine, there are a plurality of molds arranged horizontally in parallel in sequence; the casting robot can drive the ladle to move so as to pour the molten metal into the mold cavities of a plurality of the molds through the plurality of chambers at the same time.

[0014] The beneficial effect of the above technical solution is that the ladle with a plurality of chambers can be adapted to pour the mold cavities of a plurality of molds at one time, greatly improving the processing efficiency.

[0015] As a further improvement of the above technical solution, the casting robot and the slag removal robot are symmetrically arranged on both sides of the linear casting machine; the slag removal plate has a plurality of slag removal plates arranged horizontally at intervals; the slag removal robot can drive the slag removal plate to move so that the plurality of slag removal plates are correspondingly embedded in the mold cavities of the plurality of casting molds to remove the slag on the surface of the molten metal.

[0016] The beneficial effects of the above technical solution are: the slag removal plate with multiple slag removal plates can simultaneously remove slag from the molten metal in multiple casting mold cavities, thereby further improving the slag removal efficiency; the robot can accurately control the depth of the slag removal plate embedded in the molten metal layer, thereby improving the quality of the slag removal operation.

[0017] As a further improvement of the above technical solution, the chain conveyor includes two horizontally arranged conveying chains; the top ends of the two conveying chains are support ends corresponding to the two ends of the formed metal ingot after demolding, so as to support and convey the formed metal ingot; between the two conveying chains, corresponding to the laser coding machine, the appearance quality inspection device, the trimming robot and the stacking robot, there are ingot blocking and lifting devices to locate, intercept and lift the formed metal ingot upward, so that the formed metal ingot is separated from the top end of the conveying chain.

[0018] The beneficial effects of the above technical solution are: the two ends of the formed metal ingot can be adapted to be movably placed on the top of the two conveyor chains respectively, and can be conveyed by the two synchronously running conveyor chains; the ingot blocking and lifting device is arranged between the two conveyor chains and will not interfere with the conveyor chains; the formed metal ingots need to be positioned and kept in a static state when the laser coding machine performs laser coding, the appearance quality inspection device performs appearance inspection, the trimming robot performs trimming, and the stacking robot performs stacking; however, in order to maintain continuous production operations, the conveyor chain needs to maintain a continuous conveying state to avoid the accumulation of formed metal ingots under the output end of the linear casting machine, and the formed metal ingot can be intercepted and positioned by the ingot blocking and lifting device and lifted upward to make it upward away from the conveyor chain, which can avoid the running conveyor chain scratching the positioned static formed metal ingot.

[0019] As a further improvement of the above technical solution, a clamping fixture is provided on the outer side of the chain conveyor corresponding to the trimming robot to clamp and fix the lower parts of the two ends of the formed metal ingot in the jacking state.

[0020] The beneficial effects of the above technical solution are as follows: After the ingot blocking and lifting device intercepts the formed metal ingot from the conveying chain and lifts it to a predetermined height, in order to ensure that the formed metal ingot does not shift when the trimming robot trims and deburrs the formed metal ingot, the formed metal ingot in the lifted state is further clamped and fixed by the clamping fixture, which plays a role in preventing displacement; the clamping fixture clamps the lower parts of both ends of the formed metal ingot and does not interfere with the trimming operation of the trimming robot on the top of the formed metal ingot.

[0021] As a further improvement of the above technical solution, the appearance quality detection device includes a 2D industrial camera, a 3D industrial camera and a quality analysis system. The 2D industrial camera and the 3D industrial camera are both vertically installed above the ingot blocking and lifting device to take pictures and collect the appearance data of the formed metal ingot; the quality analysis system is electrically connected to the 2D industrial camera and the 3D industrial camera to receive the appearance data and perform appearance quality comparison detection and processing, and then judge whether the formed metal ingot is qualified.

[0022] The beneficial effects of the above technical solution are as follows: After the ingot blocking and lifting device intercepts the formed metal ingot from the conveying chain and lifts it to a predetermined height; the 2D industrial camera can take pictures of the formed metal ingot for comparison detection of surface color, surface laser coding information, and texture (scum) to judge whether the product is qualified; the 3D industrial camera can perform three-dimensional dimension measurement, contour arc measurement, and upper surface concavity and convexity measurement on the formed metal ingot to judge whether the product is qualified.

[0023] As a further improvement of the above technical solution, a pusher cylinder is arranged on one side of the chain conveyor corresponding to the appearance quality detection device, and a waste ingot receiving tray is arranged on the other side corresponding to the pusher cylinder; the controller is electrically connected to the quality analysis system and the pusher cylinder to control the pusher cylinder to push the formed metal ingot in the positioning and lifting state and with unqualified appearance quality detection onto the waste ingot receiving tray.

[0024] The beneficial effects of the above technical solution are as follows: After the 2D industrial camera detects unqualified results, the pusher cylinder pushes the unqualified metal ingot from the ingot blocking and lifting device onto the waste ingot receiving tray; if the 2D industrial camera detects qualified results, the 3D industrial camera continues to detect; if the 3D industrial camera detects unqualified results, the pusher cylinder pushes the unqualified metal ingot from the ingot blocking and lifting device onto the waste ingot receiving tray; if the 3D industrial camera detects qualified results, the ingot blocking and lifting device places the qualified formed metal ingot on the conveying chain and continues to convey it backward.

[0025] As a further improvement of the above technical solution, a trimming tool and a metal chip recovery suction pipe are installed on the hand of the trimming robot; the metal chip recovery suction pipe is arranged corresponding to the upper end of the trimming tool to suck and recover the metal chips cut off by the trimming tool from the formed metal ingot.

[0026] The beneficial effects of the above technical solution are as follows: The trimming robot controls the trimming tool installed on the hand to be positioned at the edge of the formed metal ingot, and drives the trimming tool to go around the edge of the formed metal ingot along a preset trajectory for one week to repair the flash burrs on the edge of the metal ingot; the cut-off flash burr debris is sucked away by the metal chip recovery suction pipe and centrally recovered.

[0027] As a further improvement of the above technical solution, the automatic weighing device includes a weighing platform arranged on the side of the chain conveyor for weighing the metal ingot stack and an ingot stack handling fork mechanism arranged corresponding to the weighing platform to move the packed metal ingot stack back and forth between the chain conveyor and the weighing platform.

[0028] The beneficial effects of the above technical solution are as follows: When the metal ingot stack stacked on the chain conveyor is transported to the corresponding automatic weighing device, the ingot stack handling fork mechanism can move the metal ingot stack from the chain conveyor to the weighing platform for weighing. After weighing, the ingot stack handling fork mechanism can move the metal ingot stack back from the weighing platform to the chain conveyor and continue to transport it backward.

[0029] As a further improvement of the above technical solution, the automatic labeling device includes a label printer, a labeling robot, and a label suction cup; the label printer is electrically connected to the weighing platform to collect the weighing data of the metal ingot stack and print a label with the product information of the metal ingot stack; the hand of the labeling robot is installed with the label suction cup to drive the label suction cup to suck the printed label from the label output end of the label printer and transfer and paste the label onto the surface of the metal ingot stack.

[0030] The beneficial effects of the above technical solution are as follows: The label printer can print a label containing the weight information of the metal ingot stack; the labeling robot controls the label suction cup to realize flexible labeling at a suitable position on the surface of the metal ingot stack.

[0031] It can be seen from the above technical solutions that compared with the prior art, the present invention discloses and provides an intelligent casting system for metal ingots in the whole process, having the following advantages and beneficial effects:

[0032] 1. The entire metal ingot production and casting process of the present invention truly realizes unmanned participation, not only reducing the labor consumption cost, but also completely eliminating the safety hazards of manual operation, realizing automation and intelligence in the whole process; realizing a metal ingot casting system with a more complete structure.

[0033] 2. During the production process of metal ingots, the utility model controls a ladle with multiple quantitative volume chambers through a casting robot to simultaneously pour molten metal into multiple mold cavities of casting molds in a quantitative manner, and uses a slag skimming robot to control a slag skimming plate with multiple slag skimming sub - plates to simultaneously remove the oxidized slag generated on the surface of the molten metal in the corresponding multiple mold cavities, greatly improving the casting accuracy and operation efficiency, enhancing the product quality, and at the same time reducing the labor intensity and operation risk of manual work.

[0034] 3. The utility model can achieve the accurate positioning of the formed metal ingot and the up - and - down separation from the conveying chain through a ingot blocking and lifting device, which is convenient for coding, appearance inspection, trimming and palletizing operations; through the appearance quality inspection device in cooperation with the ingot pushing cylinder and the waste ingot receiving tray, the automatic detection and elimination of waste ingots are realized, which can improve the product qualification rate, competitiveness and brand image of the product; the trimming robot improves the trimming operation efficiency and can recycle metal chips during trimming, avoiding the random scattering of metal chips and effectively ensuring the cleanliness of the on - site environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0036] Figure 1 Overall structural schematic diagram of an intelligent casting system for full - process metal ingots of the present utility model;

[0037] Figure 2 Structural schematic diagram of the casting robot of an intelligent casting system for full - process metal ingots of the present utility model;

[0038] Figure 3 Structural schematic diagram of the slag skimming robot of an intelligent casting system for full - process metal ingots of the present utility model;

[0039] Figure 4 Schematic diagram of the working state of the laser coding machine when the ingot blocking and lifting device of an intelligent casting system for full - process metal ingots of the present utility model lifts the formed metal ingot;

[0040] Figure 5 Schematic diagram of the working state of the appearance quality inspection device when the ingot blocking and lifting device of an intelligent casting system for full - process metal ingots of the present utility model lifts the formed metal ingot;

[0041] Figure 6 Structural schematic diagram of the trimming robot of an intelligent casting system for full - process metal ingots of the present utility model;

[0042] Figure 7 Schematic diagram of the palletizing robot structure of an intelligent casting system for full-process metal ingots of the present utility model;

[0043] Figure 8 Schematic diagram of the automatic weighing device structure of an intelligent casting system for full-process metal ingots of the present utility model;

[0044] Figure 9 Schematic diagram of the automatic labeling device structure of an intelligent casting system for full-process metal ingots of the present utility model;

[0045] Figure 10 Schematic diagram of the metal ingot flipping mechanism structure of an intelligent casting system for full-process metal ingots of the present utility model;

[0046] In the figure: 1. Linear casting machine; 101. Ring conveyor chain; 102. Mold; 1021. Formed metal ingot; 103. Casting end; 104. Flipping and demolding end; 105. Cooling air hood; 106. Exhaust duct; 107. Cooling spray water pipe; 108. Demolding vibration mechanism; 109. Conveyor chain drive mechanism; 1091. Drive motor; 1092. Driving wheel; 1093. Driven wheel; 2. Chain conveyor; 21. Conveyor chain; 22. Chain drive mechanism; 3. Chain plate conveyor; 4. Casting robot; 41. Dipper; 411. Chamber; 5. Skimming robot; 51. Skimming plate; 511. Skimming sub-plate; 52. Skim pan; 6. Laser coding machine; 7. Appearance quality inspection device; 8. Trimming robot; 81. Trimming tool; 9. Palletizing robot; 91. Fixture; 10. Full-automatic strapping machine; 11. Automatic weighing device; 111. Weighing table; 112. Ingot stack handling fork mechanism; 1121. Fork; 1122. Lifting and translation drive mechanism; 1123. Gantry frame; 12. Automatic labeling device; 121. Label printer; 122. Labeling robot; 123. Label suction cup; 1231. Vacuum suction cup; 1232. Vacuum pump; 1233. Spring; 13. Ingot blocking and lifting device; 131. Ingot blocking vertical plate; 132. Lifting support plate; 133. Lifting mechanism; 134. Position detection sensor; 14. Clamping fixture; 141. Clamping cylinder; 142. Clamping plate; 15. Ingot pushing cylinder; 16. Scrap ingot receiving pan; 17. Molten metal pot; 18. Ingot stack; 19. Metal ingot flipping mechanism; 191. Ingot blocking cylinder; 1911. Ingot blocking plate; 192. Ingot flipping cylinder; 1921. Flipping plate; 193. Photoelectric position sensor. Detailed implementation method

[0047] Embodiments of the present utility model will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present utility model and should not be construed as limiting the present utility model.

[0048] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

[0049] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, "a plurality" means two or more unless otherwise specifically defined.

[0050] In the present utility model, unless otherwise clearly defined and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be an installation or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0051] As Figures 1 to 10 shown, an intelligent casting system for the whole process of metal ingots includes:

[0052] The linear casting machine 1 includes a vertical sprocket conveyor mechanism. A plurality of casting molds 102 are fixedly installed on the annular conveyor chain 101 of the vertical sprocket conveyor mechanism; the plurality of casting molds 102 are arranged side by side in sequence along the annular conveying direction; the casting molds 102 on the upper horizontal conveying section of the annular conveyor chain 101 all have their openings facing upwards and can receive the poured molten metal. The starting end of the conveying direction on the horizontal conveying section is the casting end 103 of the linear casting machine 1 for receiving the poured molten metal. The section between the starting end and the ending end of the horizontal conveying section is the cooling and solidification section. The molten metal in the casting mold 102 gradually cools and solidifies into ingots during the operation on the cooling and solidification section; the section corresponding to the ending end of the conveying direction of the horizontal conveying section on the annular conveyor chain 101 is an arc-shaped turning section, and the arc-shaped turning section is the turning and demolding end 104 for the linear casting machine 1 to output the formed metal ingots; when the solidified and shaped metal ingots run to the arc-shaped turning section of the annular conveyor chain 101, as the cavity opening of the casting mold 102 gradually turns downwards, the formed metal ingots in the cavity will automatically fall out under the action of gravity;

[0053] The casting robot 4 is arranged on one side of the linear casting machine 1, and a ladle 41 capable of quantitatively scooping molten metal and pouring it into the cavity of the casting mold 102 is installed on its hand;

[0054] The slag skimming robot 5 is arranged on one side of the linear casting machine 1, and a slag skimming plate 51 capable of skimming the floating slag on the surface of the molten metal in the cavity is installed on its hand;

[0055] The chain conveyor 2 and the chain plate conveyor 3. The input end of the chain conveyor 2 corresponds to the lower part of the output end of the linear casting machine 1 to receive the demolded formed metal ingots; the input end of the chain plate conveyor 3 corresponds to the output end of the chain conveyor 2. A laser coding machine 6, an appearance quality inspection device 7, a trimming robot 8 and a palletizing robot 9 are arranged in sequence along the conveying direction on the side of the chain conveyor 2 to sequentially code, inspect the appearance, trim and palletize the formed metal ingots output by the linear casting machine 1, and then produce qualified formed metal ingots; the palletizing robot 9 corresponds to the output end of the chain conveyor 2 to stack the formed metal ingots on the output end of the chain conveyor 2 onto the input end of the chain plate conveyor 3; the chain plate conveyor 3 is provided with a full-automatic bundling machine 10, an automatic weighing device 11 and an automatic labeling device 12 in sequence along the conveying direction to sequentially bundle, weigh and label the metal ingot stack, and then output the finished metal ingot stack;

[0056] The controller is electrically connected to and controls the operations of the linear casting machine 1, the chain conveyor 2, the chain plate conveyor 3, the casting robot 4, the slag skimming robot 5, the laser coding machine 6, the appearance quality inspection device 7, the trimming robot 8, the palletizing robot 9, the full-automatic bundling machine 10, the automatic weighing device 11 and the automatic labeling device 12.

[0057] When the intelligent casting system for full-process metal ingots in this embodiment is working, the casting robot 4 can control the ladle 41 installed on its hand to quantitatively scoop up the molten metal to be cast from the pot containing the molten metal, and slowly pour the molten metal into the mold cavity of the mold 102 running linearly on the linear casting machine 1. The casting robot 4 can flexibly adapt to the traveling speed of the mold 102 to ensure that the molten metal in the ladle 41 steadily flows into the mold cavity of the mold 102, reducing the reject rate and improving the ingot casting accuracy and product quality; the slag skimming robot 5 can control the slag skimming plate 51 installed on its hand to embed into the mold cavity of the mold 102 running linearly to skim the slag on the surface of the molten metal out of the mold cavity, reducing the manual labor intensity and having good safety; the chain conveyor 2 is used to receive and convey the solid formed metal ingots falling off from the mold 102 at the output end of the linear casting machine 1; the chain plate conveyor 3 is used to convey the qualified formed metal ingot stacks produced; the laser coding machine 6 is used to code and mark information such as the trademark, grade, production batch, etc. of the product on the surface of the formed metal ingot, and this information can be sent from the in-plant production information management system to the control system of the laser coding machine; the appearance quality detection device 7 is used to detect the surface color, surface laser coding information, texture slag, three-dimensional size measurement, contour arc, and concavity and convexity of the upper surface of the formed metal ingot to determine whether the formed metal ingot is qualified; the trimming robot 8 is used to trim and deburr the formed metal ingot to further improve the product appearance quality; the palletizing robot 9 is used to carry and palletize the formed metal ingots; after the metal ingot stacks are placed at the input end of the chain plate conveyor 3, they continue to be conveyed, and the metal ingot stacks are packed by the fully automatic bundling machine 10, weighed by the automatic weighing device 11, and labeled by the automatic labeling device 12 to further indicate information such as the weight, trademark, grade, production batch number, etc. of the metal ingot stack products. The controller is used to control the signal interaction between the devices in the above casting process and realize the periodic and uninterrupted metal ingot casting operation through time control, step sequence control, etc. The structure of the intelligent casting system of the present utility model is more perfect, and it can realize the full process from liquid metal casting to the output of the final qualified metal ingots without human participation, completely eliminating the safety hazards of manual operation, greatly reducing the manual labor intensity, reducing the reject rate, improving the product quality, and enhancing the intelligent and automated equipment level of the industry.

[0058] It should be noted that: the linear casting machine 1 includes a frame, and a vertical sprocket conveying mechanism is installed on the frame. The vertical sprocket conveying mechanism includes an endless conveying chain 101 and a conveying chain driving mechanism 109; the conveying chain driving mechanism 109 includes a driving motor 1091, a driving sprocket 1092 and a driven sprocket 1093; the vertical sprocket conveying mechanism can select existing products or be designed by referring to the existing technology by itself, and the specific structure will not be elaborated here.

[0059] Specifically, the casting robot 4 consists of a ladle 41, a six-axis robot, and a robot control system. The ladle is installed on the robot's hand. The robot control system is used to control the robot to scoop molten metal from the molten metal pot 17, control the movement trajectory, and pour the molten metal into the mold 102.

[0060] In some embodiments, the ladle 41 has a plurality of chambers 411 arranged side by side; along the conveying direction at the upper end of the straight casting machine 1, there are a plurality of molds 102 arranged horizontally side by side in sequence; the casting robot 4 can drive the ladle 41 to move so as to pour molten metal into the mold cavities of a plurality of molds 102 simultaneously through the plurality of chambers 411.

[0061] The ladle 41 with a plurality of chambers 411 can adapt to pour into the mold cavities of a plurality of molds 102 at one time, greatly improving the processing efficiency.

[0062] Specifically, the ladle 41 has three chambers 411 with the same volume arranged side by side (for tin liquid, each chamber can hold about 25 kg of molten metal by weight); the casting robot 4 can drive the ladle 41 to move to quantitatively scoop the heated liquid metal from the nearby molten metal pot 17, and run to above the casting end 103 according to the set operation trajectory, so as to pour the molten metal into the mold cavities of three molds 102 arranged in parallel and at equal intervals on the straight casting machine 1 running at a low speed slowly through the three chambers 411 at the same time. After the pouring is completed, the casting robot continues to perform this action periodically to carry out continuous casting operations.

[0063] In some embodiments, the casting robot 4 and the slag skimming robot 5 are symmetrically arranged on both sides of the straight casting machine 1; the slag skimming plate 51 has a plurality of slag skimming sub-plates 511 arranged horizontally at intervals; the slag skimming robot 5 can drive the slag skimming plate 51 to move so that the plurality of slag skimming sub-plates 511 are correspondingly embedded into the mold cavities of a plurality of molds 102 to skim the floating slag on the surface of the molten metal.

[0064] By using the slag skimming plate 51 with a plurality of slag skimming sub-plates 511 to synchronously skim the molten metal in the mold cavities of a plurality of molds 102, the slag skimming operation efficiency is further improved; through the robot, the depth of the slag skimming sub-plate 511 embedded in the molten metal layer can be accurately controlled, improving the quality of the slag skimming operation.

[0065] Specifically, an optoelectronic switch is installed on the frame of the straight casting machine 1 corresponding to the slag skimming robot 5 to monitor whether the mold 102 containing molten metal runs to the slag skimming station.

[0066] Specifically, the casting mold 102 is strip-shaped and arranged vertically in the conveying direction; a slag pan 52 is fixedly installed on one side of the casting mold 102 in the length direction at the casting end 103 on the frame of the linear casting machine 1, and under the control of the slag removal robot 5, the slag removal plate 511 can remove the slag on the surface of the molten metal in the mold cavity of the casting mold 102 according to a preset trajectory and throw it into the slag pan 52 for centralized recovery.

[0067] Specifically, the slag scraping robot 5 is composed of a slag scraping plate, a six-axis robot, and a robot control system. The slag scraping plate is installed on the robot hand. The robot control system is used to control the robot to scrape the surface slag from the mold 102, control the motion trajectory, and throw the slag into the slag pan 52.

[0068] In some embodiments, in order to improve the cooling efficiency of the mold 102 filled with molten metal on the cooling and solidifying section of the circular conveyor chain 101, a cooling device is installed on the frame of the linear casting machine 1 corresponding to the cooling and solidifying section of the circular conveyor chain 101; the cooling device includes a cooling air hood 105 arranged above the corresponding cooling and solidifying section, an exhaust pipe 106 connected to the cooling air hood 105, and a cooling spray water pipe 107 arranged on one side of the corresponding circular conveyor chain 101; the cooling air hood 105 gathers and collects the heat emitted by the cast molten metal, and the exhaust pipe 106 is connected to the cooling air hood 105 to quickly extract and discharge the heat; the cooling spray water pipe 107 is used to spray cooling water onto the surface of the mold 102 on the cooling and solidifying section to accelerate the solidification and molding of the molten metal.

[0069] Specifically, the casting mold 102 after the scum is removed from the surface continues to run backward at a low speed, and after running to the cooling spray area, the cooling air hood 105 is used for air cooling and the cooling spray water pipe 107 is used for water cooling, so that the liquid metal in the casting mold 102 can be cooled and solidified into a solid metal ingot with a temperature of about 30°C to 40°C.

[0070] In some embodiments, when the mold 102 containing the solid metal ingot runs to the flip demolding end 104 of the linear casting machine 1, in order to achieve smooth demolding of the solid metal ingot, a demolding vibration mechanism 108 is installed on the frame of the linear casting machine 1 corresponding to the flip demolding end 104; the demolding vibration mechanism 108 includes a vibration cylinder and a connecting rod; one end of the connecting rod is fixedly connected to the piston rod of the vibration cylinder, and the other end can abut against the outer wall of the mold 102 at the flip demolding end 104, and the vibration cylinder drives the connecting rod to rotate reciprocatingly to drive the mold 102 to vibrate, thereby making the solid formed metal ingot in the mold 102 quickly and smoothly demolded.

[0071] In some embodiments, a non-powered flipping device for flipping the molded metal ingot 19 after flipping and demolding is installed on the frame of the linear casting machine 1 corresponding to the flipping and demolding end 104. The design can refer to the Chinese patent: Energy-saving non-powered flipping device for ingots in continuous casting machines (authorization announcement number: CN201871718U).

[0072] In some embodiments, the chain conveyor 2 includes two horizontally arranged conveying chains 21 that face each other; the top ends of the two conveying chains 21 are support ends that correspondingly support both ends of the formed metal ingot after demolding to support and convey the formed metal ingot; between the two conveying chains 21, a ingot blocking and lifting device 13 is provided corresponding to the laser marking machine 6, the appearance quality inspection device 7, the trimming robot 8, and the palletizing robot 9 to position, intercept, and lift the formed metal ingot upward so that the formed metal ingot is separated from the top end of the conveying chain 21.

[0073] Both ends of the formed metal ingot can be respectively adapted to be movably placed on the top ends of the two conveying chains 21 and can be conveyed by the two synchronously running conveying chains 21; the ingot blocking and lifting device 13 is arranged between the two conveying chains 21 and does not interfere with the conveying chain 21; when the laser marking machine 6 performs laser marking, when the appearance quality inspection device 7 performs appearance inspection, when the trimming robot 8 performs trimming, and when the palletizing robot 9 performs palletizing, it is necessary to position the formed metal ingot and keep it in a static state; however, in order to maintain continuous production operations, the conveying chain 21 needs to maintain a continuous conveying state to prevent the formed metal ingot from piling up below the output end of the straight casting machine 1, and the ingot blocking and lifting device 13 can intercept, position, and lift the formed metal ingot upward so that it is separated from the conveying chain 21 upward, which can prevent the running conveying chain 21 from scratching the static formed metal ingot after positioning.

[0074] Specifically, both of the two conveying chains 21 are endless chains, the two conveying chains 21 are coaxially and oppositely arranged, and both are driven and operated by a chain drive mechanism 22; the chain drive mechanism 22 adopts the prior art, and its specific structure will not be described in detail here.

[0075] In some embodiments, the ingot blocking and lifting device 13 includes an ingot blocking vertical plate 131 arranged perpendicular to the conveying direction of the conveying chain 21, a horizontally arranged lifting support plate 132, a lifting mechanism 133, and a position detection sensor 134; the fixed end of the lifting mechanism 133 is fixed on the frame of the chain conveyor 2, and the lifting end of the lifting mechanism 133 is vertically fixed at the bottom end of the lifting support plate 132; the ingot blocking vertical plate 131 is vertically fixed at the upper rear side of the lifting support plate 132 to form an L-shaped ingot blocking and lifting structure; the position detection sensor 134 is fixed on the frame of the chain conveyor 2 and corresponds to the front side of the lifting support plate 132. The position detection sensor 134 and the lifting mechanism 133 are both electrically connected to the controller.

[0076] Specifically, the position detection sensor 134 can be an optoelectronic sensor; the lifting mechanism 133 can be a cylinder. When the formed metal ingot conveyed on the conveying chain 21 moves to the position detection sensor 134, it can be detected. The position detection sensor 134 sends a signal indicating that the metal ingot has reached the position to the controller, and the controller can control the lifting of the lifting mechanism 133 to drive the retaining vertical plate 131 to move upward and extend above the conveying chain 21 to position and intercept the formed metal ingot. The intercepted formed metal ingot corresponds to the upper end of the lifting support plate 132. The lifting mechanism 133 continues to drive the lifting support plate 132 to rise. The lifting support plate 132 can abut against the middle of the bottom end of the formed metal ingot and lift it upward, so that the formed metal ingot is separated from the upper end of the conveying chain 21; the length of the lifting support plate 132 is less than the length of the formed metal ingot.

[0077] It should be noted that: the formed metal ingot has a T-shaped structure, and both ends in the length direction of the formed metal ingot can be adaptively lapped on the tops of the two conveying chains 21; the lower side in the middle of the length direction of the formed metal ingot can be adaptively embedded between the two conveying chains 21 to achieve stable positioning and conveying.

[0078] Specifically, the laser coding machine 6 is composed of four parts: a laser source, an optical system, a scanning control system, and a computer control system.

[0079] In some embodiments, after the metal ingot is demolded by the demolding vibration mechanism, the upper end surface of the tin ingot is attached to the conveying chain. It is necessary to turn the metal ingot by 180 degrees through the metal ingot turning device so that the upper end surface of the tin ingot faces upward, and subsequent steps such as laser coding, detection, trimming, and palletizing of the metal ingot can proceed normally. In addition to setting an unpowered turning device corresponding to the turning demolding end 104 on the straight-line casting machine to turn the formed metal ingot after turning demolding upright, other technical methods can also be used, such as turning the formed metal ingot upright on the chain conveyor 2.

[0080] Specifically, a metal ingot flipping mechanism 19 is provided between the flipping and demolding end 104 of the corresponding straight-line casting machine 1 and the laser coding machine 6, and the metal ingot flipping mechanism 19 is arranged between two conveying chains 21. The metal ingot flipping mechanism 19 includes a ingot-blocking cylinder 191, a ingot-flipping cylinder 192, and a photoelectric position sensor 193; the photoelectric position sensor 193 is arranged on the frame of the chain conveyor 2 and corresponds to the upper end of the conveying chain 21; the ingot-blocking cylinder 191 and the ingot-flipping cylinder 192 are arranged below between the two conveying chains 21; a ingot-blocking plate 1911 is fixed to the telescopic end of the ingot-blocking cylinder 191; the telescopic end of the ingot-flipping cylinder 192 is hinged with a flipping plate, and one end of the flipping plate is hinged to the frame of the chain conveyor 2; when the photoelectric position sensor 193 detects that a formed metal ingot passes through this position, the ingot-blocking cylinder 191 pushes the ingot-blocking plate 1911 above the conveying chain 21 and corresponds to 1 / 4 of the height of the formed metal ingot. At the same time, the ingot-flipping cylinder 192 drives the flipping plate 1921 to rotate, so that the flipping plate rotates 90 degrees, and the flipping plate pushes from the lower end face of the formed metal ingot to flip the formed metal ingot 180 degrees to achieve righting.

[0081] In some embodiments, clamping holders 14 are fixedly installed on the outer sides of the two conveying chains 21 of the frame of the chain conveyor 2 corresponding to the trimming robot 8 to clamp and fix the lower parts of both ends of the formed metal ingot in the jacking state.

[0082] After the ingot-blocking and jacking device 13 intercepts and jacks up the formed metal ingot from the conveying chain 21 to a predetermined height, in order to ensure that the formed metal ingot does not shift when the trimming robot 8 trims and deburrs the formed metal ingot, the formed metal ingot in the jacking state is further clamped and fixed by the clamping holders 14, which plays a role in preventing displacement; the clamping holders 14 clamp the lower parts of both ends of the formed metal ingot and will not interfere with the trimming operation of the trimming robot 8 on the top of the formed metal ingot.

[0083] Specifically, the clamping holders 14 include two clamping cylinders 141 and clamping plates 142 symmetrically arranged on the outer sides of the two conveying chains 21; the two clamping cylinders 141 are horizontally installed on the frame of the chain conveyor 2, the piston rods of the two clamping cylinders 141 are coaxially arranged, and clamping plates 142 are installed at the opposite ends of the two piston rods; the two clamping plates 142 are parallel to each other and arranged at intervals, and the tops of the two clamping plates 142 can correspondingly clamp the middle and lower parts of both ends in the length direction of the formed metal ingot.

[0084] In some embodiments, the appearance quality detection device 7 includes a 2D industrial camera, a 3D industrial camera, and a quality analysis system. The 2D industrial camera and the 3D industrial camera are both vertically installed above the ingot-blocking and jacking device 13 to photograph and collect the appearance data of the formed metal ingot; the quality analysis system is electrically connected to the 2D industrial camera and the 3D industrial camera to receive the appearance data and perform appearance quality comparison detection and processing, and then judge whether the formed metal ingot is qualified.

[0085] After the ingot blocking and lifting device 13 intercepts and lifts the formed metal ingot to a predetermined height from the conveying chain 21, the 2D industrial camera can take pictures of the formed metal ingot for comparative detection of surface color, surface laser marking information, and texture scum to determine whether the product is qualified; the 3D industrial camera can perform three-dimensional dimension measurement, contour arc measurement, and upper surface concavity and convexity measurement on the formed metal ingot to determine whether the product is qualified.

[0086] In some embodiments, a pusher cylinder 15 is arranged on one side of the chain conveyor 2 corresponding to the appearance quality detection device 7, and a waste ingot receiving tray 16 is arranged on the other side corresponding to the pusher cylinder 15; the controller is electrically connected to the quality analysis system and the pusher cylinder 15 to control the pusher cylinder 15 to push the formed metal ingot in the positioning and lifting state and with unqualified appearance quality onto the waste ingot receiving tray 16.

[0087] After the 2D industrial camera detects unqualified results, the pusher cylinder 15 pushes the unqualified metal ingot from the ingot blocking and lifting device 13 onto the waste ingot receiving tray 16; if the 2D industrial camera detects qualified results, the 3D industrial camera continues to detect; if the 3D industrial camera detects unqualified results, the pusher cylinder 15 pushes the unqualified metal ingot from the ingot blocking and lifting device 13 onto the waste ingot receiving tray 16; if the 3D industrial camera detects qualified results, the ingot blocking and lifting device 13 places the qualified formed metal ingot on the conveying chain 21 and continues to convey it backward.

[0088] In some embodiments, a trimming tool 81 and a metal chip recovery suction pipe are installed on the hand of the trimming robot 8; the metal chip recovery suction pipe is arranged corresponding to the upper end of the trimming tool 81 to suck and recover the metal chips cut off by the trimming tool 81 from the formed metal ingot.

[0089] The trimming robot 8 controls the trimming tool 81 installed on its hand to be positioned at the edge of the formed metal ingot, and drives the trimming tool 81 to go around the edge of the formed metal ingot once along a preset trajectory to trim the flash and burrs on the edge of the metal ingot; the cut-off flash and burr debris are sucked away by the metal chip recovery suction pipe and centrally recovered.

[0090] Specifically, the trimming robot 8 consists of a trimming tool 81, a metal chip recovery suction pipe, a six-axis robot, and a robot control system. The trimming tool 81 can be a scraping knife. The robot control system is used to control the movement trajectory of the scraping knife to scrape off the flash and burrs on the surface of the metal ingot.

[0091] Specifically, the palletizing robot 9 consists of a fixture 91, a six-axis robot, and a robot control system. The fixture 91 is installed on the hand of the palletizing robot 9, and the robot control system is used to control the robot to pick up metal ingots, palletize metal ingots, and control its movement trajectory.

[0092] Specifically, the fully automatic strapping machine 10 is composed of a steel belt conveying device, a steel belt tensioning device, a steel belt buckling assembly, a frame, a rotating table and an electrical control system; the fully automatic strapping machine 10 can select existing products, and the specific model is VS31 L-0.

[0093] In some embodiments, the automatic weighing device 11 includes a weighing platform 111 arranged on the side of the chain plate conveyor 3 for weighing the metal ingot stack and an ingot stack handling fork mechanism 112 arranged corresponding to the weighing platform 111 for moving the strapped metal ingot stack back and forth between the chain plate conveyor 3 and the weighing platform 111.

[0094] When the metal ingot stack stacked on the chain plate conveyor 3 is conveyed to the corresponding automatic weighing device 11, the ingot stack handling fork mechanism 112 can move the metal ingot stack from the chain plate conveyor 3 to the weighing platform 111 for weighing. After weighing, the ingot stack handling fork mechanism 112 can move the metal ingot stack back from the weighing platform 111 to the chain plate conveyor 3 and continue to convey it backward.

[0095] Specifically, the automatic weighing device 11 further includes an electric control system; the weighing platform 111 is a 1.5-ton electronic platform scale; the ingot stack handling fork mechanism 112 includes a fork 1121, a lifting and translation drive mechanism 1122 and a gantry frame 1123; the gantry frame 1123 is arranged across the chain plate conveyor 3 and the weighing platform 111; the lifting and translation drive mechanism 1122 is installed on the gantry frame 1123, and the fork 1121 is horizontally and fixedly installed at the driving end of the lifting and translation drive mechanism 1122; the lifting and translation drive mechanism 1122 is used to drive the fork 1121 to lift and move horizontally, so that the fork 1121 can extend into the bottom of the metal ingot stack (fork at the bottom ingot ears of the stack) and carry out lifting and handling. The lifting and translation drive mechanism 1122 can be designed with reference to the prior art, and the specific structure and installation method will not be elaborated here.

[0096] In some embodiments, the automatic labeling device 12 includes a label printer 121, a labeling robot 122 and a label suction cup 123; the label printer 121 is electrically connected to the weighing platform 111 to collect the weighing data of the metal ingot stack and print a label with the product information of the metal ingot stack; the labeling robot 122 is equipped with the label suction cup 123 at its hand to drive the label suction cup 123 to suck the printed label from the label output end of the label printer 121 and transfer and paste the label onto the surface of the metal ingot stack.

[0097] The label printer 121 can print a label containing the weight information of the metal ingot stack; the labeling robot 122 controls the label suction cup 123 to realize flexible labeling at a suitable position on the surface of the metal ingot stack.

[0098] Specifically, the automatic labeling device 12 consists of a label printer 121, a label suction cup 123, a photoelectric switch, a six-axis robot, and a robot control system. The label suction cup 123 consists of a vacuum suction cup 1231, a vacuum pump 1232, and a spring 1233; the vacuum pump 1232 is connected to the vacuum suction cup 1231 through a pipeline to pump air to generate negative pressure; the photoelectric switch is electrically connected to the robot control system and is installed on the chain conveyor 3 to detect and feedback the actual position of the metal ingot stack; one end of the spring 1233 is connected to the label suction cup 123, and the other end is connected to the six-axis robot hand to prevent over-torque during labeling and ensure accurate and reliable sticking position of the label on the surface of the ingot stack.

[0099] Specifically, the controller is a PLC controller, which consists of a communication card, a power supply, a CPU controller, a digital input / output card, and an analog input / output card, and is mainly used for signal interaction and transmission control between various devices and mechanisms.

[0100] Specifically, after appropriately modifying the relevant parameters of devices such as molds, cooling devices, laser marking machines, and palletizing robot fixtures according to different types of casting metals, this intelligent casting system can be used for intelligent casting of metals such as tin, aluminum, zinc, and alloys.

[0101] The working process of an intelligent casting system for metal ingots in the whole process is as follows:

[0102] The casting robot scoops up the heated and liquefied liquid metal from the molten metal pot, runs along the set running track to above the casting end, and slowly pours the metal liquid in the three-chamber ladle into the three molds of the straight-line casting machine running at a low speed. After the pouring is completed, the casting robot continues to perform this action periodically; when the photoelectric switch of the straight-line casting machine monitors that the mold containing the metal liquid runs to the slag skimming station, the slag skimming robot starts to skim the scum on the surface of the liquid metal tin in the mold according to the preset track, and throws the scum scraped on the three slag skimming plates into the slag pan according to the preset track action. The slag skimming robot performs this action periodically; the mold with the scum skimmed on the surface continues to run backward at a low speed, and when it runs to the cooling spray area, it adopts the cooling method of fan and cold water spray to cool and solidify the liquid metal tin in the mold into a solid metal ingot with a temperature of about 30°C to 40°C; when the mold containing the solid metal ingot runs to the demolding position, the mold is demolded by vibrating and flipping; the demolded metal ingot runs to the laser coding position along with the conveying chain. The ingot blocking and lifting device intercepts the metal ingot from the conveying chain and lifts it to a predetermined height for laser coding by the laser coder. The coding information mainly includes the metal ingot trademark, metal ingot grade, metal ingot production batch and other information. This information can be sent from the in-plant production information management system to the laser coder control system; the metal ingot after laser coding runs to the appearance quality inspection position along with the conveying chain. The ingot blocking and lifting device intercepts the metal ingot from the conveying chain and lifts it to a predetermined height. First, a 2D industrial camera takes pictures for surface color, surface laser coding information, and texture (scum) comparison detection. If the detection is unqualified, the pusher cylinder pushes the metal ingot off the casting line into the waste ingot receiving tray 16. If the detection is qualified, a 3D industrial camera continues to perform three-dimensional dimension measurement, arc measurement, and upper surface concavity and convexity measurement. If the 3D industrial camera detection is unqualified, the pusher cylinder pushes the metal ingot off the casting line into the waste ingot receiving tray. The qualified metal ingot continues to run to the trimming station along with the conveying chain; when the qualified metal ingot runs to the trimming station, the ingot blocking and lifting device 13 and the clamping fixture 14 intercept the metal ingot from the conveying chain and clamp it firmly. The trimming robot lowers the scraper to the edge of the metal ingot, and the scraper scrapes the flash and burrs on the edge of the metal ingot around the edge of the metal ingot according to the preset track; after trimming, the ingot blocking, lifting and fixing device returns the metal ingot to the conveying chain. When the metal ingot runs to the stacking position, the ingot blocking and lifting device intercepts and lifts the metal ingot from the conveying chain. When there are five metal ingots in the stacking position, the stacking robot simultaneously clamps the five metal ingots through the fixture and places them at the stacking position for stacking. The stacking method of the metal ingots can be adjusted by rotating the direction of the robot fixture. The ingot stack is divided into 8 layers, with 5 metal ingots in each layer; when the ingot stack is stacked according to the fixed stacking method, it runs to the packing station along with the conveying chain plate machine. The packing machine performs steel belt threading, tensioning, buckling, cutting and other steel belt packing work. Two steel belts are passed through each side of the ingot stack. After the two steel belts are buckled, the rotating table rotates 90 degrees to perform steel belt packing work on the other two sides of the ingot stack. The four steel belts are distributed in a "well" shape;After the ingot stack is packed, it runs to the automatic weighing station along the conveyor chain plate machine. The fork lift takes the ingot stack under the drive of the servo motor and places it on the electronic platform scale for weighing. After weighing, the fork lift puts the ingot stack back on the chain plate conveyor. At the same time, the weighing data is transmitted from the secondary instrument of the electronic scale to the automatic labeling device. After the ingot stack is steel-belt packed, it runs to the automatic labeling station along the conveyor chain. The label printer prints the labels to be pasted (the label information mainly includes information such as weight, trademark, brand, production batch number, etc.). The label printer prints two labels each time. After the label printing is completed, the labeling robot runs to the label position and sucks two labels through the vacuum suction cup. After the label sucking is completed, the robot runs to the ingot stack according to the preset trajectory for label pasting work. The two labels are respectively pasted on the adjacent two side faces of the ingot stack. After the ingot stack is labeled, it runs to the product off-line position along the conveyor chain plate machine. The AGV transport vehicle picks up the metal ingot for subsequent work such as product warehousing. Thus, the entire intelligent casting production process of the metal ingot is completed.;

[0103] During the above metal ingot casting process, the signal interaction control between devices is unified and centralized in the PLC control system, and periodic and uninterrupted metal ingot casting is realized through time control, step sequence control, etc.

[0104] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0105] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0106] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.

Claims

1. An intelligent casting system for the whole process of metal ingots, characterized in that, Including: A straight-line casting machine (1) with a mold (102) mounted thereon; A casting robot (4) arranged on one side of the straight-line casting machine (1), and a ladle (41) capable of quantitatively scooping molten metal and pouring it into the mold cavity of the mold (102) is mounted on its hand; A slag-skimming robot (5) arranged on one side of the straight-line casting machine (1), and a slag-skimming plate (51) capable of skimming the slag on the surface of the molten metal in the mold cavity is mounted on its hand; A chain conveyor (2) and a chain-plate conveyor (3). The input end of the chain conveyor (2) corresponds to the lower part of the output end of the straight-line casting machine (1) to receive the demolded formed metal ingots. The input end of the chain-plate conveyor (3) is arranged corresponding to the output end of the chain conveyor (2). A laser coding machine (6), an appearance quality inspection device (7), a trimming robot (8), and a palletizing robot (9) are arranged in sequence along the conveying direction on the side of the chain conveyor (2) to perform coding, appearance inspection, trimming, and palletizing on the formed metal ingots output by the straight-line casting machine (1) in sequence, thereby producing qualified formed metal ingots. The palletizing robot (9) is arranged corresponding to the output end of the chain conveyor (2) to stack the formed metal ingots on the output end of the chain conveyor (2) onto the input end of the chain-plate conveyor (3). The chain-plate conveyor (3) is provided with a full-automatic bundling machine (10), an automatic weighing device (11), and an automatic labeling device (12) in sequence along the conveying direction to bundle, weigh, and label the metal ingot stack in sequence, thereby outputting the finished metal ingot stack; A controller electrically connected to and controlling the operations of the straight-line casting machine (1), the chain conveyor (2), the chain-plate conveyor (3), the casting robot (4), the slag-skimming robot (5), the laser coding machine (6), the appearance quality inspection device (7), the trimming robot (8), the palletizing robot (9), the full-automatic bundling machine (10), the automatic weighing device (11), and the automatic labeling device (12).

2. The intelligent casting system for the whole process of metal ingots according to claim 1, wherein The ladle (41) has a plurality of chambers (411) arranged in parallel; the upper end of the straight-line casting machine (1) has a plurality of molds (102) arranged horizontally in parallel in sequence along the conveying direction; the casting robot (4) can drive the ladle (41) to move so as to pour molten metal into the mold cavities of the plurality of molds (102) through the plurality of chambers (411) simultaneously.

3. The intelligent casting system for the whole process of metal ingots according to claim 2, characterized in that, The casting robot (4) and the slag-skimming robot (5) are symmetrically arranged on both sides of the straight-line casting machine (1); the slag-skimming plate (51) has a plurality of slag-skimming sub-plates (511) arranged at horizontal intervals; the slag-skimming robot (5) can drive the slag-skimming plate (51) to move so that the plurality of slag-skimming sub-plates (511) are correspondingly inserted into the mold cavities of the plurality of molds (102) to skim the slag on the surface of the molten metal.

4. The intelligent casting system for the whole-process metal ingot according to claim 1, characterized in that The chain conveyor (2) includes two horizontally arranged conveying chains (21) opposite to each other; the top ends of the two conveying chains (21) are support ends corresponding to support the two ends of the formed metal ingot after demolding, so as to support and convey the formed metal ingot; between the two conveying chains (21), a ingot blocking and lifting device (13) is provided corresponding to the laser coding machine (6), the appearance quality inspection device (7), the trimming robot (8) and the palletizing robot (9), so as to position, intercept and lift the formed metal ingot upward, so that the formed metal ingot is separated from the top end of the conveying chain (21).

5. The intelligent casting system for the whole-process metal ingot according to claim 4, wherein A clamping fixture (14) is provided outside the chain conveyor (2) corresponding to the trimming robot (8), so as to clamp and fix the lower parts of the two ends of the formed metal ingot in the lifting state.

6. The intelligent casting system for the whole-process metal ingot according to claim 4, wherein The appearance quality inspection device (7) includes a 2D industrial camera, a 3D industrial camera and a quality analysis system. The 2D industrial camera and the 3D industrial camera are both vertically installed above the ingot blocking and lifting device (13) to photograph and collect the appearance data of the formed metal ingot; the quality analysis system is electrically connected to the 2D industrial camera and the 3D industrial camera to receive the appearance data and perform appearance quality comparison detection and processing, and then judge whether the formed metal ingot is qualified.

7. The intelligent casting system for the whole process of metal ingots according to claim 6, characterized in that, A pusher cylinder (15) is arranged on one side of the chain conveyor (2) corresponding to the appearance quality inspection device (7), and a waste ingot receiving tray (16) is arranged on the other side corresponding to the pusher cylinder (15); the controller is electrically connected to the quality analysis system and the pusher cylinder (15) to control the pusher cylinder (15) to push the formed metal ingot in the positioning and lifting state and with unqualified appearance quality onto the waste ingot receiving tray (16).

8. The intelligent casting system for the whole process of metal ingots according to claim 1, characterized in that, A trimming tool (81) and a metal chip recovery suction pipe are installed on the hand of the trimming robot (8); the metal chip recovery suction pipe is arranged corresponding to the upper end of the trimming tool (81) to suck and recover the metal chips cut from the formed metal ingot by the trimming tool (81).

9. The intelligent casting system for the whole process of metal ingots according to claim 1, characterized in that, The automatic weighing device (11) includes a weighing platform (111) arranged on the side of the chain plate conveyor (3) for weighing the metal ingot stack and an ingot stack handling fork mechanism (112) arranged corresponding to the weighing platform (111) to move the packed metal ingot stack back and forth between the chain plate conveyor (3) and the weighing platform (111).

10. The intelligent casting system for the whole-process metal ingot according to claim 9, characterized in that, The automatic labeling device (12) includes a label printer (121), a labeling robot (122) and a label suction cup (123); the label printer (121) is electrically connected to the weighing platform (111) to collect the weighing data of the metal ingot stack and print a label with the product information of the metal ingot stack; the labeling robot (122) installs the label suction cup (123) on its hand to drive the label suction cup (123) to suck the printed label from the label output end of the label printer (121) and transfer and paste the label onto the surface of the metal ingot stack.

Images