System for matching material pit with grabbed material in electrolytic aluminum roasting workshop

Abstract

The utility model discloses a system for matching a material pit with a grabbed material in an electrolytic aluminum roasting workshop, which comprises a matching unit, and the matching unit comprises a triangular mounting frame, a closed screw rod sliding table mechanism, a pneumatic rotating platform, a distance measuring radar and a processing module, and is used for receiving data of the distance measuring radar and data of an anode aluminum material; when the size of the internally tangent cuboid of the material pit is larger than the size of the outer surface of the anode aluminum material, a feeding signal is sent, so that the crown block advances towards the material pit, and the anode aluminum material clamped by the clamp is put into the material pit; according to the utility model, the labor intensity of workers is reduced while the production efficiency is improved, and the material feeding precision of a complex workshop is improved; the data acquisition efficiency is greatly improved, and the material pit identification error is less than or equal to 2cm.

Description

Technical Field

[0001] This utility model belongs to the field of unmanned overhead crane material matching, and in particular relates to a system for matching the material pit with the material being grabbed in an electrolytic aluminum roasting workshop. Background Technology

[0002] In roasting workshops in metallurgy, chemical engineering, and other fields, overhead cranes are responsible for transporting and placing materials. Current overhead crane operations largely rely on manual labor, which has several drawbacks. The working environment in roasting workshops is harsh; high temperatures, dust, and poor lighting easily lead to low efficiency and safety hazards in manual operations. Due to thermal expansion and contraction, the material pits deform, making it difficult for traditional vision systems to accurately identify their positions, resulting in poor positioning accuracy. Existing radar-assisted feeding technologies mostly use fixed static radar, which has scanning blind spots and cannot adapt to the dynamic positioning requirements of deformed material pits, leading to distorted scanning data. Furthermore, radar scanning and overhead crane movement operate independently, resulting in low coordination efficiency and significant material placement errors.

[0003] Currently, the main way overhead cranes in the anode baking workshops of domestic electrolytic aluminum production operate is for workers to observe the position of the material pit and clamps through the glass in the crane cab, and then manually move the crane to put the material into the pit. This method is highly dependent on manual labor and seriously restricts the improvement of production efficiency. Utility Model Content

[0004] The purpose of this invention is to provide a system for matching the material pit with the material being picked up in an electrolytic aluminum roasting workshop, in order to solve the problems of high dependence on manual labor, low precision, and inability to match the material pit with the material according to the dynamic changes in the size of the material pit of the anode aluminum material in the existing technology.

[0005] This utility model adopts the following technical solution: a system for matching the material pit with the material being grasped in an electrolytic aluminum roasting workshop, comprising:

[0006] Includes matching units, which include:

[0007] The triangular mounting bracket is a right-angled mounting bracket, with its first right-angled side fixedly connected to the main beam of the unmanned overhead crane, and its second right-angled side set horizontally and parallel to the ground;

[0008] The enclosed screw slide mechanism is located on the lower side of the triangular mounting bracket, and its upper end is fixedly connected to the bottom of the second right-angle side of the triangular mounting bracket.

[0009] A pneumatic rotary platform is fixedly connected to the lower side of the slide table of a closed screw slide mechanism; the pneumatic rotary platform is used to slide along the direction of the second right-angle side of the triangular mounting bracket.

[0010] The ranging radar is installed on the lower side of the pneumatic rotating platform and above the clamp of the unmanned crane; it is used to rotate vertically around the pneumatic rotating platform and driven by the pneumatic rotating platform, so as to facilitate the observation of the dimensions of the inscribed cuboid of the anode aluminum material pit.

[0011] The processing module receives data from the ranging radar and data from the anode aluminum material. When the size of the inscribed cuboid in the material pit is larger than the size of the outer surface of the anode aluminum material, it sends a feeding signal, which causes the overhead crane to move to the location of the material pit and put the anode aluminum material held by the clamp into the material pit.

[0012] The beneficial effects of this utility model are:

[0013] This invention improves production efficiency while reducing the labor intensity of workers and increasing the accuracy of material delivery in complex workshops; data acquisition efficiency is greatly improved and the material pit identification error is ≤2cm.

[0014] This invention, by setting up a pneumatic rotating platform and a closed screw slide mechanism, enables the ranging radar to rotate and slide along the triangular mounting frame, thereby allowing the ranging radar to completely cover the overhead crane's operating area and reducing blind spots by 90%; it can meet the automated feeding operation requirements in high-temperature and dusty environments, thus reducing manual intervention. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model;

[0016] Figure 2 The length, width, and height errors of the material pit are determined by manual measurement and ranging radar identification in this utility model.

[0017] Figure 3 This is a diagram showing the changes in materials fed into the experimental material pit of this utility model;

[0018] Figure 4 This is a schematic diagram of the fixed housing of this utility model.

[0019] Among them: 10. Triangular mounting bracket; 11. Pneumatic rotating platform; 12. Ranging radar; 13. Main beam; 14. Clamp; 15. Fixed housing; 16. Protective housing; 17. Enclosed screw slide mechanism. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0021] This utility model discloses a system for matching the material pit with the material being grasped in an electrolytic aluminum roasting workshop, such as... Figure 1 and Figure 4As shown, it includes a matching unit, which includes: a triangular mounting bracket 10, a closed screw slide mechanism 17, a pneumatic rotary platform 11, a ranging radar 12, and a processing module.

[0022] The triangular mounting frame 10 is a right-angled mounting frame. The first right-angled side of the triangular mounting frame 10 is fixedly connected to the main beam 13 of the unmanned overhead crane. The second right-angled side of the triangular mounting frame 10 is set horizontally and parallel to the ground.

[0023] The enclosed screw slide mechanism 17 is located on the lower side of the triangular mounting bracket 10, and the upper end of the enclosed screw slide mechanism 17 is fixedly connected to the bottom of the second right-angle side of the triangular mounting bracket 10.

[0024] The pneumatic rotary platform 11 is fixedly connected to the lower side of the slide table of the enclosed screw slide mechanism 17; the pneumatic rotary platform 11 is used to slide along the direction of the second right-angle side of the triangular mounting bracket 10.

[0025] The ranging radar 12 is installed on the lower side of the pneumatic rotating platform 11 and above the clamp 14 of the unmanned overhead crane. The ranging radar 12 is used to rotate vertically around the pneumatic rotating platform 11, thereby facilitating the observation of the dimensions of the inscribed cuboid of the anode aluminum material pit.

[0026] The processing module is used to receive data from the ranging radar 12 and the data of the anode aluminum material. Then, when the size of the inner cuboid of the material pit is larger than the size of the outer surface of the anode aluminum material, a feeding signal is sent, which causes the overhead crane to move to the position of the material pit and put the anode aluminum material held by the clamp 14 into the material pit.

[0027] There are two matching units, which are installed on both sides of the main beam 13 of the unmanned crane. The two matching units are symmetrically arranged, and the span of the two matching units covers the width of the workshop.

[0028] The ranging radar 12 has a scanning radius of 8m, is a dual 16-line non-contact lidar scanner, has a 30-degree vertical viewing angle, an adjustable range of ±15°, and a point cloud range of 100 meters.

[0029] The ranging radar 12 can operate at 300℃ and with a dust concentration of 200mg / m³. 3 Run in the environment.

[0030] The ranging radar 12 is surrounded by a fixed housing 15 and a protective housing 16 from top to bottom. The fixed housing 15 is fixedly connected to the lower side of the pneumatic rotating platform 11. The fixed housing 15 is a housing with openings at both the top and bottom. The upper end of the protective housing 16 is fixedly connected to the lower end of the fixed housing 15. The lower end of the protective housing 16 is arc-shaped, thus cooperating with the inner cavity of the fixed housing 15 to form a receiving cavity. The receiving cavity is used to house and protect the ranging radar 12.

[0031] Due to the unique working conditions and processes of the electrolytic aluminum industry, to ensure the smooth implementation of this invention, the crane operator's cab is moved to a ground platform for remote operation. For safety, this invention enables semi-automatic material unloading and loading, and fully automated one-button ash unloading, all under worker supervision.

[0032] The crane motion control system utilizes a Beckhoff PLC control system, with sensors connected to the Beckhoff PLC via an industrial bus for coordinated control. The crane's moving platform motors are driven by support drivers, which can be connected to the Beckhoff PLC for control via communication protocols. The ranging radar 12 is connected to the Beckhoff PLC system via analog input terminals; other devices, including digital emergency stop buttons and indicator lights, are also connected to the Beckhoff PLC system via digital input terminals.

[0033] During the operation of the overhead crane system, the PLC monitors the operating status and parameters of each piece of equipment on site in real time to ensure the safe and reliable execution of the overhead crane system. The industrial control computer sends interactive signals to each piece of equipment according to the program instructions, and they coordinate with each other to complete the entire process.

[0034] Due to the remote operation of the overhead crane, this invention employs an industrial wireless control system. This system consists of a ground control room and an overhead crane control system, with data transmission relying on wireless transmission. This invention selects a multi-pass wireless transmission scheme, constructing a 90-degree integrated base station, which is installed in a corner of the workshop to achieve wireless coverage throughout the entire workshop and effectively receive data from the overhead crane. To ensure reliable data transmission, the control center is connected to the base station via a wired connection. A vehicle-mounted unit equipped with a 360-degree omnidirectional antenna is used on the overhead crane. This configuration ensures a stable connection with the base station regardless of the crane's location within the workshop. Furthermore, the wireless transmission system is designed to withstand the harsh conditions of the industrial environment, employing a 300Mbps broadband transmission capability and an IP68 protection rating. It can operate stably within a temperature range of -40 to 70 degrees Celsius, simultaneously transmitting video and control signals, making it particularly suitable for the high-temperature roasting workshop environment. To ensure signal transmission stability, the system employs a dual wireless redundancy system; when one system fails, it automatically switches to the other.

[0035] The triangular mounting frame 10 and the rotating mounting frame of this utility model are welded from steel pipes. The triangular mounting frame 10 is welded to the main beam 13 of the overhead crane, and the bottom edge extends to the overhead crane working area, with a span covering the width of the workshop. The interior of the triangular mounting frame 10 is hollow, with built-in cable pipes and heat dissipation ducts. A multi-degree-of-freedom track is formed by using a fully enclosed screw slide and a pneumatic rotating platform 11.

[0036] The ranging radar 12 is installed on the pneumatic rotating platform 11. The two ranging radars 12 work together to scan and collect data from the material pit, thereby enabling the scanning radius of the two ranging radars 12 to reach 8m and the blind zone to be ≤0.1m.

[0037] The processing module performs time synchronization, coordinate registration and weighted average fusion on the scanning data of the ranging radar 12, and then drives the crane to move through the X / Y / Z three-axis servo motor. The clamp 14 is equipped with a material suction and filling device and moves along the main beam 13 of the unmanned crane in the Z direction to grab and put the material, thus solving the problem of material pit positioning under extreme working conditions.

[0038] The system matches material pits using the scanned 3D point cloud information. If no matching pit is found, the system will display a message indicating that no pit was scanned and requesting adjustment and rescanning. After a successful matching, the clamp 14 interface displays in real time whether there is a collision risk and provides the distance between the clamp 14 and the pit end face, as well as the pit height. The crane position is adjusted based on the distance to ensure that the clamp 14 can be safely placed into the pit. When the clamp 14 is in a position without collision risk, the red warning bar on the interface will turn green. In addition, the 3D point cloud interface can display a detailed point cloud map of the upper surface pit and a diagram showing the pit entry process.

[0039] The clamp 14 is first moved directly above the furnace opening where material needs to be picked up or placed. The ranging radar 12 scans the material pit in real time. The processing module processes the point cloud and extracts features to identify the material pit. If no material pit information is identified, the crane continues to move until the interface displays that the material pit information has been scanned. The registered point cloud is segmented, and the point cloud of the upper surface is extracted for analysis. The relative positional relationship between the clamp 14 and the roasting furnace is calculated, and the distance to be moved is displayed on the interface. The position of the crane is adjusted more precisely, and the risk of collision is judged in real time until the collision danger is eliminated. Finally, the material is placed into the material pit according to the current height information of the material pit.

[0040] During crane operation, accurately identifying the height and position of the material pit is fundamental to ensuring the correct placement of materials into the designated pit and is a key step in achieving efficient material placement. This step directly affects the efficiency and accuracy of material placement into the pit. Therefore, the accuracy and efficiency of pit identification need to be considered. There is a trade-off between the accuracy and time required for pit identification: higher accuracy often means longer time. Therefore, finding a method for pit location identification that is both accurate and efficient is particularly important. The most important factor affecting the accuracy of pit location information is the identification of the inscribed cuboid. After segmenting the pit point cloud onto the upper surface, it is projected into a two-dimensional space. The identification of the inscribed cuboid in the two-dimensional space depends on the number of cuboids. The more squares segmented, i.e., the more pixels, the more standard the inscribed cuboid is, and consequently, the longer the calculation time. To find the pixel size that satisfies the requirements for pit location identification, this invention selected eight sets of comparative experiments, scanning the same pit width. The width of the pit is where the deformation is relatively large, and the accuracy requirement is high.

[0041] Table 1. Two-dimensional pixel comparison experiment table

[0042] pixel size Width measurement (cm) Actual value of material pit (cm) Time used Meets requirements 100×100 65 70.5 0.1s Not satisfied 200×200 66 70.5 0.15s Not satisfied 300×300 68 70.5 0.19s Not satisfied 400×400 69 70.5 0.24s satisfy 500×500 70 70.5 0.27s satisfy 600×600 70.5 70.5 0.32s satisfy 700×700 70.5 70.5 0.37s satisfy 800×800 70.5 70.5 0.41s satisfy

[0043] Based on the experimental comparison, it can be seen that as the number of pixels increases, the measured width gradually approaches the true value, while the recognition time also increases. The code works because more pixels result in more inscribed cuboids, and finding the largest inscribed cuboid through iteration takes longer. Based on the accuracy of the final comprehensive measurement data and the time taken, a 500×500 pixel grid is selected for extracting the material pit location.

[0044] To ensure a more intuitive view of the relative positional relationship between the clamps and the roasting furnace during manual scanning, and to guide the crane's next movement, this utility model displays the relative positional relationship between the crane's clamps 14 and the roasting furnace. While displaying the minimum distance between the clamps 14 and the edge of the roasting furnace, it can also display the furnace loading height. In addition, if there is a risk of collision between the clamps 14 and the furnace end face, an alarm message will be displayed on the interface.

[0045] For material pits of different sizes after deformation treatment, the results were compared through manual measurement and identification by the ranging radar 12, as shown in Table 2. These experiments aimed to verify various changes that material pits might undergo in actual working environments, thereby ensuring that this invention can accurately identify material pits under diverse conditions.

[0046] Table 2. Sinkhole Scanning Parameters

[0047]

[0048]

[0049] The errors in the length, width, and height of the material pit as determined by manual measurement and ranging radar 12 are as follows: Figure 2 As shown, from Figure 2 It can be seen that the width measurement results of the material pit show a maximum error of no more than 1 cm, which is sufficient for the material pit constructed by the building to meet the requirements of the clamps for loading materials. The length measurement error is also within the centimeter range, meeting the requirements. However, the height measurement data shows an error of approximately 3 cm, which is significantly different compared to the width and length. Based on the actual condition of the material pit, this error may stem from the unevenness of the pit bottom, consistent with the conditions of material pits in the actual operating environment. Despite this height error, a 3 cm error in the height direction is still sufficient to meet the actual needs of the material pit.

[0050] After obtaining the actual measured location information of the material pit, the overhead crane is moved to ensure that the clamp 14 can be accurately placed into the material pit based on the distance between the clamp 14 and the end face of the material pit. Material pits were placed in groups of 40 per area, and the results of 80 placements in two groups were recorded. The number of successful point cloud positioning of the material pits, the number of successful placements, the success rate of point cloud positioning, and the success rate of placement were calculated. The experimental data are shown in the table.

[0051] Table 3. Statistical results of material input and clamping in the experiment.

[0052] First set of material pits Second set of material pits Total deployment Number of successful point cloud positioning tests during material placement 40 39 79 Number of successful material pit placements 32 30 62 Success rate of point cloud positioning of material pit during deployment 100％ 97.5％ 98.5％ Material pit placement success rate 80％ 75％ 77.5％ Number of successful point cloud positioning of material pit during clamping 40 40 80 Number of successful material clamping operations 40 40 80 Success rate of point cloud positioning of material pit during clamping 100％ 100％ 100％ Material pit clamping success rate 100％ 100％ 100％

[0053] Draw according to the table. Figure 3 The experimental results, shown in the material loading diagram of the experimental pit, indicate a success rate of 98.5% when using point cloud recognition for positioning. However, in stark contrast, the success rate of material loading within the pit is relatively low. In-depth on-site investigation and analysis revealed the underlying reasons for this phenomenon. During the initial gripping of the material block by the crane, it was found that the material was not always centered in clamp 14. The positions of clamp 14 and the material varied each time it was gripped, leading to a situation where, despite successful positioning in the pit, loading always failed when converting coordinates to the standard position. Sometimes, the material shifts from the center of the clamps during transport. This positional deviation is unstable, adding uncertainty to the entire material loading process. This shift is not systematic but random, significantly affecting the accuracy of material loading.

[0054] To improve the accuracy of material delivery, this invention extracts the material's position information from a point cloud, finds the offset distance of the material relative to the center of the clamp 14, and uses this offset distance as a compensation value, incorporating it into the control system. Even if the material is not accurately positioned during clamping, this deviation can be corrected by adjusting the crane's movement path, significantly improving the accuracy of material delivery and thus enhancing the efficiency and reliability of the entire system.

[0055] The material point cloud is segmented, and the average value along its width is calculated to determine the material's current position. This calculated position is then compared to a preset standard position. Specifically, if the material's position exceeds the standard position, the system automatically adjusts the movement path to reduce the distance by this average difference; conversely, if the material's position is below the standard position, the system increases the movement distance by adding the average difference. This dynamic adjustment mechanism plays a crucial compensatory role, improving the accuracy of material handling.

[0056] To objectively evaluate performance, it is necessary to conduct experiments to test the accuracy of material delivery by the overhead crane after compensation was added. Forty delivery experiments were performed on 40 material pits with and without compensation. The experimental results are as follows:

[0057] As shown in the table.

[0058] Table 4 Results of Material Delivery by Overhead Crane

[0059] Additional compensation No compensation Successful deployment times 39 32 Failed deployment times 1 8

[0060] like

[0061] The data in the table confirms that a significant improvement in material delivery success rate was observed by implementing precise position compensation measures in the automated material delivery system. These data, collected after meticulous adjustments to the system's compensation mechanism, clearly demonstrate the importance of the compensation strategy in improving delivery success. Before implementing the compensation mechanism, the success rate of material delivery was affected by the positional offset of the material during the initial gripping process. However, through analysis and real-time adjustments of point cloud data, these offsets were effectively compensated, ensuring accurate material delivery with a delivery error ≤1.2cm.

[0062] In this embodiment, the dimensions of the calcined material pit are 5.5 meters long × 1 meter wide × 6 meters high, the width of the overhead crane main beam 13 is 1.6 meters, the track height of the ranging radar 12 is 10 meters, and the distance between the ranging radar 12 and the surface of the material pit is 4 meters.

[0063] Therefore, the scanning boundary length of the ranging radar 12 is:

[0064] L=1.6+2×(2+4tan15°)≈7.7m

[0065] Therefore, the scanning boundary of the ranging radar 12, 7.7m > 5.5m, meets the scanning requirements.

[0066] The surface overlap of the material pit is:

[0067]

[0068] The overlap of the scan at the bottom of the material pit is:

[0069]

[0070] Therefore, the scanning interval overlap of the ranging radar 12 is 9.88% at the top and 68.3% at the bottom, with ample point cloud data acquisition, representing a qualitative improvement over static radar.

[0071] Preferably, the triangular mounting bracket 10 is made of 80mm steel pipe welded into a triangular rigid support, installed on the main beams 13 on both sides of the crane, with the bottom extending to the track detection area; its triangular structure can enhance vibration resistance and load capacity, and adapt to the impact of frequent start and stop of the crane.

[0072] The ranging radar 12 uses a Velodyne VIP-16, a dual 16-line non-contact LiDAR scanner. Each radar weighs 830 grams, consumes 8W of power, has a 30-degree vertical viewing angle, an adjustable range of ±15°, and a point cloud coverage range of 100 meters. It measures the environment using laser ranging. The ranging radar 12 is fixed to a pneumatic rotating platform 11 by a protective housing, and achieves scanning path coverage of the material pit through helical motion. The housing adopts a double-layer stainless steel sandwich structure, with circulating nitrogen gas inside at a flow rate of 5L / min, and integrates a semiconductor cooling chip for temperature protection. The spacing error between the two ranging radars 12 is ≤5mm. The overlap of the scanning areas of the two ranging radars 12 is not less than 30%.

[0073] Thermal cycling test: The ranging radar 12 was placed in a high-temperature test chamber and heated from 25°C to 300°C at a rate of 10°C / min. After holding for 2 hours, it was cooled down. Radar performance was monitored: the ranging error increased from 0.3mm at 25°C to 1.2mm at 300°C. The radar module was found to meet the usage requirements.

[0074] Verification of air curtain effectiveness: Actual workshop operation tested the rangefinder radar 12 at a dust concentration of 200 mg / m³. 3 After 8 hours of continuous operation in the environment, disassembly of the ranging radar 12 revealed lens deposits of <0.1 mg / cm³. 2 This meets the scanning visibility requirements of the workshop.

[0075] The processing module uses an embedded industrial computer to process point cloud data in real time. It communicates with the crane PLC via EtherCAT bus to perform time synchronization, coordinate registration and weighted average fusion on the scanning data of the ranging radar 12. The point cloud matching accuracy is optimized by ICP algorithm to realize fuzzy control of the unmanned crane's movement position, material pit positioning and delivery path correction.

[0076] The enclosed screw slide mechanism 17 has a stroke of 2000mm, a repeatability of ±0.05mm, is made of 310S material, and has an aluminum-plated surface. It adopts a fully enclosed slide shell, and the slide is rigidly connected to the triangular mounting bracket 10 through flange bolts. The slide integrates a pneumatic rotating platform 11, which has a rotation angle of 0-270° and a torque of 3N·m.

[0077] The enclosed screw slide mechanism 17 has a slide feed speed of 100 mm / s, ensuring motion stability and speed along the X-axis. The pneumatic rotary platform 11 is fixed on the slide of the enclosed screw slide mechanism 17, supporting the ranging radar 12 to rotate 360° along the Y-axis with a rotation accuracy of 0.1° to 0.4°. Through the coordinated control of the enclosed screw slide mechanism 17 and the pneumatic rotary platform 11, the ranging radar 12 rotates synchronously during linear movement, generating a helical scanning trajectory.

[0078] Finite element analysis of its structural stiffness shows that the deformation of the triangular mounting bracket 10 is less than 0.5 mm when bearing a 20 kg matching unit, which is suitable for the vibration conditions of frequent start-stop operation of the overhead crane.

[0079] First, cut and weld 80 steel pipes into a triangular mounting frame 10 with a bottom edge of 2.4m and a height of 0.7m. Then, add steel pipes horizontally in the middle and add foot support plates at the right-angle connection of the bottom edge to enhance the overall stability of the support. Finally, weld and fix the entire frame to the main beams 13 on both sides of the crane.

[0080] The enclosed screw slide mechanism 17 is fixed to the lower end of the triangular mounting bracket 10 with high-strength flange bolts of grade 12.9. The bolt spacing is ≤100mm, and double locking with anti-loosening washers and thread-locking adhesive is used to prevent connection failure due to crane vibration. The connecting flange is ≥15mm thick, and the surface is nitrided to achieve a hardness of HRC60, making it suitable for high-temperature environments. The bolt hole positions have a reserved adjustment margin of ±2mm to facilitate fine-tuning of the slide's levelness during installation. The end of the slide is connected to the pneumatic rotary platform 11 with M6 bolts. The ranging radar 12 is fixed through a protective shell and connected to the pneumatic rotary platform 11 with bolts.

[0081] The enclosed ball screw slide mechanism 17 uses a fully enclosed ball screw slide, with the ball screw and guide rail completely encased in a stainless steel shell, leaving only the motor shaft and load connection end exposed. The shell is made of 304 stainless steel and is filled with a high-temperature resistant silicone sealing strip that can withstand 300℃. The joints are coated with high-temperature sealant. The front end of the slide is equipped with a removable dust cover with a multi-layer metal filter screen with a pore size ≤0.05mm to prevent dust from entering the ball screw.

[0082] During normal operation in the workshop, as the overhead crane starts, the central system sends a scanning command, and the lead screw slide moves the ranging radar 12 along the track direction. At the same time, the pneumatic rotating platform 11 rotates at a speed of 10° / s. The ranging radar 12 emits laser at a frequency of 80Hz to collect the three-dimensional point cloud data of the track in real time and transmits it to the central system through the EtherCAT bus. The single scanning cycle is ≤30s, covering the entire track detection of the overhead crane.

[0083] After actual working tests in the workshop, this utility model operated continuously for 72 hours in the electrolytic aluminum roasting workshop with a radar data loss rate of <0.1% and a point cloud positioning success rate of 98.5% during material delivery.

[0084] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A system for matching a material pit with the material being grasped in an electrolytic aluminum roasting workshop, characterized in that, Includes a matching unit, the matching unit comprising: The triangular mounting bracket (10) is a right-angled mounting bracket. Its first right-angled side is fixedly connected to the main beam (13) of the unmanned crane, and its second right-angled side is set horizontally and parallel to the ground. The enclosed screw slide mechanism (17) is located on the lower side of the triangular mounting bracket (10), and its upper end is fixedly connected to the bottom of the second right-angle side of the triangular mounting bracket (10); A pneumatic rotary platform (11) is fixedly connected to the lower side of the slide table of the enclosed screw slide mechanism (17); the pneumatic rotary platform (11) is used to slide along the direction of the second right-angle side of the triangular mounting bracket (10); The ranging radar (12) is installed on the lower side of the pneumatic rotating platform (11) and above the clamp (14) of the unmanned crane; it is used to rotate vertically around the pneumatic rotating platform (11) and driven by the pneumatic rotating platform (11), so as to facilitate the observation of the size of the inner cuboid of the anode aluminum material pit. The processing module is used to receive data from the ranging radar (12) and the data of the anode aluminum material. Then, when the size of the inner cuboid of the material pit is greater than the size of the outer surface of the anode aluminum material, a feeding signal is sent, which causes the crane to move to the position of the material pit and put the anode aluminum material held by the clamp (14) into the material pit.

2. The system for matching the material pit with the material being grasped in an electrolytic aluminum roasting workshop according to claim 1, characterized in that, Two matching units are provided and are respectively installed on both sides of the main beam (13) of the unmanned crane. The two matching units are symmetrically arranged and the span of the two matching units covers the width of the workshop.

3. The system for matching the material pit with the material being grasped in an electrolytic aluminum roasting workshop according to claim 1, characterized in that, The ranging radar (12) has a scanning radius of 8m, is a dual 16-line non-contact laser radar scanner, has a 30-degree vertical viewing angle, an adjustable range of ±15°, and a point cloud range of 100 meters.

4. The system for matching the material pit with the material being grasped in an electrolytic aluminum roasting workshop according to claim 1, characterized in that, The ranging radar (12) can operate at 300℃ and a dust concentration of 200mg / m³. 3 Run in the environment.

5. A system for matching a material pit with the material being grasped in an electrolytic aluminum roasting workshop according to claim 1, characterized in that, The ranging radar (12) is further provided with a fixed housing (15) and a protective housing (16) from top to bottom. The fixed housing (15) is fixedly connected to the lower side of the pneumatic rotating platform (11). The fixed housing (15) is a housing with openings at both the top and bottom. The upper end of the protective housing (16) is fixedly connected to the lower end of the fixed housing (15). The lower end of the protective housing (16) is arc-shaped, and thus cooperates with the inner cavity of the fixed housing (15) to form a receiving cavity. The receiving cavity is used to accommodate and protect the ranging radar (12).

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