Slag salvaging device for molten aluminum transfer ladle

Abstract

The utility model discloses a slag salvaging device for a molten aluminum transfer ladle, which relates to the field of aluminum product production and comprises a slag knocking and receiving component, a slag salvaging robot, a slag removing robot and a 3D (three-dimensional) visual mechanism. The slag knocking and receiving assembly comprises a slag receiving disc, a slag receiving disc mounting frame is arranged on the slag receiving disc, an air cylinder fixing support is arranged on the slag receiving disc mounting frame, an air cylinder is arranged on the air cylinder fixing support, and a knocking hammer is arranged at the movable end of the air cylinder; a slag salvaging mechanism is arranged on the slag salvaging robot; a deslagging blowing mechanism is arranged on the deslagging robot; the slag knocking and receiving assembly, the slag salvaging robot, the slag removing robot, the 3D vision mechanism and the slag removing and blowing mechanism are all in control connection with electric control equipment through pipelines, and a programmable logic controller (PLC) is arranged in the electric control equipment. According to the utility model, the influence of severe environment on personnel is solved, the labor intensity is low, the safety is high, and the production efficiency is high.

Description

Technical Field

[0001] The utility model relates to the field of aluminum product production, in particular to a slag scooping device for aluminum liquid transfer bags. Background Art

[0002] Aluminum liquid is a common metal liquid with the characteristics of low density, high thermal conductivity and good plasticity. However, since aluminum liquid smelting and aluminum liquid casting are often not in the same place, the two places are often hundreds of meters or even thousands of meters apart. Therefore, the aluminum liquid needs to be loaded into a secondary bag and transported from the smelting furnace to the casting machine.

[0003] Due to the technological characteristics of aluminum liquid smelting, there are a lot of impurities in the aluminum liquid poured into the transfer bag. These impurities will affect the quality of the castings. Therefore, it is necessary to remove these impurities after the aluminum liquid is poured into the transfer bag and before the transfer begins.

[0004] At present, the slag removal work is done manually with a scoop. The whole process includes six steps: initial removal, slag shoveling, final removal, purging, scraping, and lid cleaning. Initial removal is to remove large and obvious aluminum slag impurities; slag shoveling is to shovel away the aluminum slag that drips on the bag mouth during the aluminum liquid filling and initial removal process; final removal is to remove all the aluminum slag that falls into the shoveling process and the aluminum slag that is not removed cleanly in the initial removal; purging is to blow away the dust particles and other debris at the bag mouth; scraping is to remove the thin oxide layer on the surface of the aluminum liquid and the dust that falls in; the final lid cleaning is to lock the lid of the shipping bag and blow away the dust again to clean the transfer bag body. The temperature of the aluminum liquid is about 700℃, and the diameter of the bag mouth of the transfer bag is about 400mm. For manual operation, first of all, it must be subjected to high temperature roasting. In addition, the splashing of 700℃ aluminum liquid during slag removal is very dangerous. The most dangerous thing is that if the employee accidentally falls into the transfer bag during the operation, there will be a direct risk of life. Therefore, this work urgently needs machines to replace manual labor. Utility Model Content

[0005] The utility model aims to provide a slag scooping device for an aluminum liquid transfer bag, so as to solve the problem mentioned in the background technology that the slag scooping working environment poses a safety risk to the workers and requires machinery to replace manual slag scooping work.

[0006] The utility model adopts the following technical solutions:

[0007] The utility model discloses a slag scooping device for an aluminum liquid transfer bag, comprising a slag knocking and connecting component, a slag scooping robot, a slag removing robot and a 3D vision mechanism.

[0008] The slag knocking and slag receiving assembly includes a slag receiving tray, on which a slag receiving tray mounting frame is provided. On the slag tray mounting frame, a cylinder fixing bracket is provided, and on the cylinder fixing bracket, a cylinder is provided. A hammer is provided at the movable end of the cylinder.

[0009] The slag fishing robot is arranged on the slag fishing frame platform, and a slag fishing mechanism is provided on the slag fishing robot.

[0010] The 3D vision mechanism is arranged above the transfer package.

[0011] The slag removal robot is arranged on the slag removal frame platform, and a slag removal and purging mechanism is provided on the slag removal robot.

[0012] The slag knocking and slag receiving assembly, the slag fishing robot, the slag removal robot, the 3D vision mechanism, and the slag removal and purging mechanism are all connected to the electric control equipment through pipeline control. A programmable logic controller PLC is arranged in the electric control equipment.

[0013] Further, the slag fishing mechanism includes a connecting flange, which includes a first connecting flange and a second connecting flange. The first connecting flange is fixedly connected to the robotic arm of the slag fishing robot, and the second connecting flange is fixedly connected to a slag fishing rod. The first connecting flange and the second connecting flange are connected by a number of flat head tension springs. A micro motion sensor is arranged between the first connecting flange and the second connecting flange. The other end of the slag fishing rod is bolted with a front flat eaves ladle through a fixing plate.

[0014] Further, a number of leakage holes are provided at the bottom of the front flat eaves ladle.

[0015] Further, the 3D vision mechanism includes a mounting platform, on which a mounting column is provided. The mounting column is in an inverted "L" shape, and a 3D camera is arranged at the other end of the mounting column. A light source is arranged around the 3D camera.

[0016] Further, the slag removal and purging mechanism includes a rotating connecting flange, which is connected to the robotic arm of the slag removal robot. A high-speed motor is arranged at the top of the rotating connecting flange, and a slag removal rod is arranged at the bottom of the rotating connecting flange. A purging air pipe and a rotating shaft are arranged in the slag removal rod. The upper end of the rotating shaft is power-connected to the high-speed motor, and a wire brush is fixedly connected to the lower end of the rotating shaft.

[0017] The end of the purging air pipe is bent at a right angle to one side, and a protective cover is arranged on the rotating shaft between the wire brush and the bent part of the purging air pipe.

[0018] Further, the purging air pipe is connected to an external air pump through a pipeline.

[0019] Furthermore, safety protection fences are provided outside the slag knocking and slag receiving assembly, the slag fishing frame platform, the slag removal frame platform, the electric control equipment and the transfer ladle.

[0020] Compared with the prior art, the beneficial technical effects of the present utility model are as follows:

[0021] The key technical point of the present utility model lies in that a programmable logic controller (PLC) is provided inside the electric control equipment. Through the logic control of the PLC, after the transfer ladle is in place, the 3D vision mechanism takes pictures. The slag fishing robot automatically fishes slag through a program, the slag removal robot and the slag removal and purging mechanism automatically grind and remove slag and purge, and the slag fishing robot and the slag fishing mechanism automatically scrape the surface and cover the lid. The present utility model solves the influence of the harsh environment on personnel, reduces the labor intensity of manual work, and solves the safety problem of personnel during manual work. Compared with the current working method, it has low labor intensity, high safety, and high production efficiency. Description of the Drawings

[0022] The present utility model will be further described below in conjunction with the description of the drawings.

[0023] Figure 1 It is a schematic structural diagram of a slag fishing device for an aluminum liquid transfer ladle of the present utility model;

[0024] Figure 2 It is a main structural diagram of a slag fishing device for an aluminum liquid transfer ladle of the present utility model;

[0025] Figure 3 It is a structural diagram of the slag knocking and slag receiving assembly of the present utility model;

[0026] Figure 4 It is a front view of the slag fishing mechanism of the present utility model;

[0027] Figure 5 It is a main structural diagram of the slag fishing mechanism of the present utility model;

[0028] Figure 6 It is a front view of the micro motion sensor of the present utility model;

[0029] Figure 7 It is a side view of the micro motion sensor of the present utility model;

[0030] Figure 8 It is an effect diagram of the use of the micro motion sensor and the flat head tension spring of the present utility model;

[0031] Figure 9 It is a main structural diagram of the 3D vision mechanism of the present utility model;

[0032] Figure 10 It is a front view of the slag removal and purging mechanism of the present utility model;

[0033] Figure 11 This is the main structural diagram of the slag removal and purging mechanism of the present utility model.

[0034] Explanation of reference numerals in the drawings: 1. Slag knocking and slag receiving assembly; 101. Slag receiving tray; 102. Slag knocking hammer; 103. Cylinder; 104. Cylinder fixing bracket; 105. Slag receiving tray mounting frame; 2. Slag fishing frame platform; 3. Slag fishing robot; 4. Slag fishing mechanism; 401. Connecting flange; 401-1. First connecting flange; 401-2. Second connecting flange; 402. Flat head tension spring; 403. Micro motion sensor; 404. Slag fishing rod; 405. Front flat eaves ladle; 406. Fixed plate; 5. Slag removal frame platform; 6. Slag removal robot; 7. 3D vision mechanism; 701. Installation platform; 702. Installation column; 703. Light source; 704. 3D camera; 8. Electric control equipment; 9. Slag removal and purging mechanism; 901. High-speed motor; 902. Rotary connecting flange; 903. Slag removal rod; 904. Purging air pipe; 905. Protective cover; 906. Rotating shaft; 907. Wire brush; 10. Safety protection fence; 11. Transfer package. Specific embodiments

[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present utility model clearer, the present utility model will be further described in detail below with reference to the drawings and embodiments.

[0036] As Figure 1 and Figure 2 shown, a slag fishing device for an aluminum liquid transfer package is disclosed in this embodiment, including: a slag knocking and slag receiving assembly 1, a slag fishing robot 3, a slag removal robot 6, and a 3D vision mechanism 7.

[0037] As Figure 3 shown, the slag knocking and slag receiving assembly 1 includes a slag receiving tray 101, a slag receiving tray mounting frame 105 is arranged on the slag receiving tray 101, a cylinder fixing bracket 104 is arranged on the slag tray mounting frame 105, a cylinder 103 is arranged on the cylinder fixing bracket 104, and a slag knocking hammer 102 is arranged at the movable end of the cylinder 103. When the cylinder 103 is started, the slag knocking hammer 102 can perform a knocking action.

[0038] As Figure 2 and Figures 4 to 8As shown, the slag skimming robot 3 is arranged on the slag skimming frame platform 2, and a slag skimming mechanism 4 is arranged on the slag skimming robot 3. The slag skimming mechanism 4 includes a connecting flange 401, and the connecting flange 401 includes a first connecting flange 401-1 and a second connecting flange 401-2. The first connecting flange 401-1 is fixedly connected to the robotic arm of the slag skimming robot 3, and the second connecting flange 401-2 is fixedly connected to the slag skimming rod 404. The first connecting flange 401-1 and the second connecting flange 401-2 are connected by a number of flat head tension springs 402. In this embodiment, internal threads are provided at both ends of the flat head tension spring 402, and both ends of the flat head tension spring 402 are fixedly connected to the first connecting flange 401-1 and the second connecting flange 401-2 respectively by bolts in a threaded manner. A micro motion sensor 403 is arranged between the first connecting flange 401-1 and the second connecting flange 401-2, and the micro motion sensor 403 is triggered when a slight relative displacement occurs between the first connecting flange 401-1 and the second connecting flange 401-2. The other end of the slag skimming rod 404 is bolted with a front flat eaves ladle 405 through a fixing plate 406. A number of leakage holes are provided at the bottom of the front flat eaves ladle 405.

[0039] As Figure 2 and Figure 9 shown, the 3D vision mechanism 7 is arranged above the transfer package 11. The 3D vision mechanism 7 includes a mounting platform 701, and a mounting column 702 is arranged on the mounting platform 701. The mounting column 702 is in an inverted "L" shape, and a 3D camera 704 is arranged at the other end of the mounting column 702. A light source 703 is arranged around the 3D camera 704.

[0040] As Figure 2 , Figure 10 and Figure 11 shown, the slag removal robot 6 is arranged on the slag removal frame platform 5, and a slag removal and purging mechanism 9 is arranged on the slag removal robot 6.

[0041] The slag removal and purging mechanism 9 includes a rotating connecting flange 902, and the rotating connecting flange 902 is connected to the robotic arm of the slag removal robot 6. A high-speed motor 901 is arranged at the top of the rotating connecting flange 902, and a slag removal rod 903 is arranged at the bottom of the rotating connecting flange 902. The slag removal rod 903 is a hollow rod-shaped mounting frame for the main installation and support of the slag removal mechanism. A purging air pipe 904 and a rotating shaft 906 are arranged inside the slag removal rod 903. The rotating shaft 906 is power-connected to the high-speed motor 901. The end of the purging air pipe 904 is bent at a right angle to one side. A wire brush 907 is fixedly connected to the end of the rotating shaft 906. The high-speed motor 901 provides rotational power to drive the wire brush 907 to rotate and polish. A protective cover 905 is arranged on the rotating shaft 906 between the wire brush 907 and the bent part of the purging air pipe 904 to prevent aluminum slag from splashing during polishing.

[0042] The slag fishing device further includes an external air pump. The purging air pipe 904 is connected to the external air pump through a pipeline, and a solenoid valve is also arranged on the purging air pipe 904 to control the passage of the air source.

[0043] As Figure 1 and Figure 2 shown, in this embodiment, the slag knocking and receiving assembly 1, the slag fishing robot 3, the slag removing robot 6, the 3D vision mechanism 7, and the slag removing and purging mechanism 9 are all connected to the electric control device 8 through pipeline control. A programmable logic controller PLC is arranged in the electric control device 8.

[0044] Safety protection fences 10 are arranged outside the slag knocking and receiving assembly 1, the slag fishing frame platform 2, the slag removing frame platform 5, the electric control device 8, and the transfer package 11.

[0045] The working process of the present utility model is as follows:

[0046] 1) First, the transfer package 11 filled with molten aluminum is placed at the designated position by a forklift. The 3D vision mechanism 7 scans and detects that the transfer package 11 is in place, the cover opening of the transfer package 11 is in the open position, and the forklift leaves the working range.

[0047] 2) The 3D vision mechanism 7 scans the transfer package 11 and transmits the information to the programmable logic controller PLC of the electric control device 8. The electric control device 8 analyzes and detects the position information of the transfer package 11 and the height of the molten aluminum liquid level, and transmits the processed information to the slag fishing robot 3. The slag fishing robot 3 starts the slag fishing operation by retrieving the corresponding slag fishing program according to the received information.

[0048] 3) The electric control device 8 issues an instruction, and the slag fishing robot 3 conducts the initial slag fishing. Slag fishing process: The slag fishing robot 3 inserts the front flat eaves ladle 405 into the transfer package 11, and through a rotating action, fishes out the aluminum slag impurities in batches; after each time the aluminum slag is fished out, the slag fishing robot 3 extends the front flat eaves ladle 405 to the receiving tray 101 of the slag knocking and receiving assembly 1; the cylinder 103 is started, and the hammer 102 starts to work, knocking on the front flat eaves ladle 405, so as to quickly knock the aluminum slag into the receiving tray 101. After 2 - 3 times of slag fishing, the initial slag fishing work is completed, and the slag fishing robot 3 resets.

[0049] 4) After the slag scraping robot 3 finishes the initial slag scraping, it sends an instruction of initial completion to the programmable logic controller PLC in the electric control device 8. After receiving the signal, the electric control device 8 sends an instruction to the 3D vision mechanism 7 to take a photo and detect foreign objects at the ladle opening. The 3D vision mechanism 7 scans again, detects the position of the aluminum slag dripping at the ladle opening and transmits the position information to the PLC of the electric control device 8. The PLC processes this information and transmits the processed information to the slag removal robot 6. The slag removal robot 6 starts the slag removal operation by retrieving the corresponding slag removal program according to the received information. The slag removal robot 6 moves the slag removal and purging mechanism 9 to the required position, starts the high-speed motor 901, and the wire brush 907 will rotate. The aluminum slag is ground off by relying on the rotation of the wire brush. After the slag removal operation is completed, the slag removal robot 6 resets and sends information of slag removal completion to the PLC of the electric control device 8.

[0050] 5) After the slag removal is completed, the electric control device 8 receives the information of slag removal completion and issues an instruction. The slag scraping robot 3 starts the final slag scraping operation to fish out all the aluminum slag that dropped during the slag removal process and the aluminum slag that was not completely fished out during the initial slag scraping. Its actions are the same as those of the initial slag scraping. After the final slag scraping work is completed, the slag scraping robot 3 resets and sends the completion information to the PLC of the electric control device 8.

[0051] 6) The electric control device 8 sends a purging instruction to the slag removal robot 6. The slag removal robot 6 moves the slag removal and purging mechanism 9 to the required position to clean the ladle opening, starts the air pump, adjusts its posture, rotates the purging air pipe 904 to an angle so that the air outlet of the purging air pipe 904 is aligned with the position to be purged, and blows through the air outlet of the purging air pipe 904 to blow away the sundries such as dust particles at the ladle opening. The slag removal robot 6 purges along the set trajectory. After the trajectory is completed, the purging work is completed. The slag removal robot 6 resets and sends the information of purging completion.

[0052] 7) After the electric control device 8 receives the information of purging completion, it issues a scraping instruction to the slag scraping robot 3. The slag scraping robot 3 moves the slag scraping mechanism 4 to the required position for scraping the surface. The edge of the front flat eaves ladle 405 gently sweeps across the liquid surface, scraping off the thin oxide layer on the surface of the aluminum liquid and the dust that fell during the purging work. Then the front flat eaves ladle 405 pushes the thermal insulation cover of the transfer ladle, causing the thermal insulation cover of the transfer ladle to rotate and fall to achieve the effect of covering the lid.

[0053] 8) After the above actions are completed, the electric control device 8 gives an audible and visual prompt, and the operator forks away the transfer ladle 11 manually and completes the work of locking the lid and the final cleaning.

[0054] 9) Repeat the above steps 1-8 to achieve continuous production work.

[0055] The embodiments described above are only descriptions of the preferred embodiments of the present utility model, and do not limit the scope of the present utility model. Without departing from the design spirit of the present utility model, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present utility model shall fall within the protection scope determined by the claims of the present utility model.

Claims

1. A slag skimming device for an aluminum liquid transfer ladle, characterized in that: Including: slag knocking and slag receiving assembly (1), slag fishing robot (3), slag removing robot (6) and 3D vision mechanism (7); The slag knocking and slag receiving assembly (1) includes a slag receiving tray (101). Above the slag receiving tray (101), there is a slag receiving tray mounting frame (105). On the slag tray mounting frame (105), there is a cylinder fixing bracket (104). On the cylinder fixing bracket (104), there is a cylinder (103). The movable end of the cylinder (103) is provided with a knocking hammer (102); The slag fishing robot (3) is arranged on the slag fishing frame platform (2), and a slag fishing mechanism (4) is arranged on the slag fishing robot (3); The 3D vision mechanism (7) is arranged above the transfer package (11); The slag removing robot (6) is arranged on the slag removing frame platform (5), and a slag removing and purging mechanism (9) is arranged on the slag removing robot (6); The slag knocking and slag receiving assembly (1), the slag fishing robot (3), the slag removing robot (6), the 3D vision mechanism (7), and the slag removing and purging mechanism (9) are all connected to the electric control device (8) through pipeline control. A programmable logic controller PLC is arranged in the electric control device (8).

2. The slag skimming device for the molten aluminum transfer ladle according to claim 1, characterized in that: The slag fishing mechanism (4) includes a connecting flange (401). The connecting flange (401) includes a first connecting flange (401-1) and a second connecting flange (401-2). The first connecting flange (401-1) is fixedly connected to the robotic arm of the slag fishing robot (3). The second connecting flange (401-2) is fixedly connected to a slag fishing rod (404). Between the first connecting flange (401-1) and the second connecting flange (401-2), there are several flat head tension springs (402). A micro motion sensor (403) is arranged between the first connecting flange (401-1) and the second connecting flange (401-2). The other end of the slag fishing rod (404) is bolted with a front flat eaves ladle (405) through a fixing plate (406).

3. The slag skimming device for the molten aluminum transfer ladle according to claim 2, characterized in that: The bottom of the front flat eaves ladle (405) is provided with several leakage holes.

4. The slag skimming device for the molten aluminum transfer ladle according to claim 1, characterized in that: The 3D vision mechanism (7) includes an installation platform (701). On the installation platform (701), there is an installation column (702). The installation column (702) is in an inverted "L" shape. The other end of the installation column (702) is provided with a 3D camera (704). A light source (703) is arranged around the 3D camera (704).

5. The slag skimming device for the molten aluminum transfer ladle according to claim 1, wherein: The slag removing and purging mechanism (9) includes a rotating connecting flange (902). The rotating connecting flange (902) is connected to the robotic arm of the slag removing robot (6). At the top of the rotating connecting flange (902), there is a high-speed motor (901). At the bottom of the rotating connecting flange (902), there is a slag removing rod (903). Inside the slag removing rod (903), there are a purging air pipe (904) and a rotating shaft (906). The upper end of the rotating shaft (906) is power-connected to the high-speed motor (901). The lower end of the rotating shaft (906) is fixedly connected with a wire brush (907); The end of the purging air pipe (904) is bent at a right angle to one side, and a protective cover (905) is provided on the rotating shaft (906) between the wire brush (907) and the bent portion of the purging air pipe (904).

6. The slag skimming device for the molten aluminum transfer ladle according to claim 5, characterized in that: The purging air pipe (904) is connected to an external air pump through a pipeline.

7. The slag skimming device for the molten aluminum transfer ladle according to claim 1, characterized in that: A safety protection fence (10) is provided outside the slag knocking and slag receiving assembly (1), the slag fishing frame platform (2), the slag removal frame platform (5), the electric control equipment (8), and the transfer package (11).

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