Electrolytic tank anode horizontal bus milling processing equipment

Abstract

The application discloses a kind of milling processing equipment of electrolytic cell anode horizontal bus, including: milling cutter disc, for milling processing electrolytic cell anode horizontal bus contact surface;Robot body is used to adjust the processing angle of the milling cutter disc;Mobile car is used to carry the robot body, and the milling cutter disc is moved to processing position.This equipment can improve the repair efficiency and precision of anode bus.

Description

Technical Field

[0001] This application relates to the field of electrolytic aluminum production equipment, and more particularly to a milling machine for the horizontal busbar of the anode in an electrolytic cell. Background Technology

[0002] In the electrolytic aluminum production process, the anode busbar and the anode conductive rod of the electrolytic cell are connected by crimping to conduct electricity. As the anode is continuously consumed, the position of the anode busbar drops accordingly. When the anode busbar drops to its limit position, it needs to be lifted back to its original position, while the anode remains stationary to ensure that the electrode distance of the electrolytic cell does not change.

[0003] During the lifting process, the anode busbar slides relative to the anode conductive rod while maintaining sufficient surface contact. During repeated pressing and energized sliding contact between the anode busbar and the anode conductive rod, or due to inadequate pressing, the contact surface between the anode busbar and the anode conductive rod frequently experiences ablation and scratching. This results in unevenness at the ablated and scratched areas of the contact surface, directly leading to increased voltage, resistance, and temperature at the contact surface, severely affecting the production parameters of the electrolytic cell and the safe and efficient operation of the equipment.

[0004] To avoid the above situations, the anode busbar must be repaired during electrolytic cell overhauls to achieve a surface roughness of 12.5 μm on the contact surface. The repair process involves using an arc welding machine to repair damaged areas of the anode busbar contact surface, followed by mechanical repair using milling equipment to bring the welded contact surface up to standard. However, currently used anode busbar milling machines are complex in structure, and manually clamping the anode busbar for milling repair is cumbersome, resulting in low efficiency for anode busbar repair during overhauls. Utility Model Content

[0005] The embodiments of this application provide a milling equipment for the horizontal busbar of an electrolytic cell anode, which can improve the repair efficiency and accuracy of the anode busbar.

[0006] The embodiments of this application employ the following technical solutions:

[0007] In a first aspect, embodiments of this application provide a milling machine for the horizontal busbar of an electrolytic cell anode, comprising: a milling cutter disc for milling the contact surface of the horizontal busbar of the electrolytic cell anode; a robot body for adjusting the machining angle of the milling cutter disc; and a moving vehicle for carrying the robot body and moving the milling cutter disc to the machining position.

[0008] In this embodiment, the traditional method of manually clamping and milling the anode busbar is complex and time-consuming. The use of a robot for automatic adjustment and a moving carriage for precise positioning significantly improves repair efficiency, making the entire repair process faster. The robot controls the angle and position of the milling cutter head, achieving a uniform milling effect on the anode busbar surface, avoiding uneven or over-repairing caused by human error. Furthermore, the robot can automatically execute preset repair programs, ensuring that each repair meets standard requirements and significantly improving repair accuracy. The automated repair process reduces the need for manual intervention, lowers the difficulty and error of manual operation, reduces fatigue and mistakes caused by humans, and improves the overall safety and stability of the operation. Compared to traditional anode busbar milling equipment, this solution uses a combination of robot and moving carriage, simplifying the structure. Traditional equipment typically requires complex clamping and debugging, while this solution, through flexible mechanical equipment and an automated control system, reduces operating steps, making the equipment structure simpler and easier to maintain. The automated system is more stable than manual operation when performing tasks and can maintain efficient operation for longer periods. This reduces equipment failures and wear caused by improper operation or prolonged manual intervention. An automated control system can better control every step of the anode busbar repair process, avoiding equipment damage or personnel injury caused by human error and improving overall production safety.

[0009] In one feasible implementation, the milling cutter head is mounted on the end of the robot body, and a laser sensor is also mounted on the end of the robot body. The laser sensor is used to scan and identify the repair position of the anode busbar, so that the robot body controls the milling cutter head to perform milling processing on the position of the anode busbar to be repaired.

[0010] In this embodiment, by installing a milling cutter and a laser sensor at the end of the robot body, combined with an automated control system, the accuracy, efficiency, and safety of the anode busbar repair process are effectively improved. The precise scanning and real-time data feedback from the laser sensor make the repair process more intelligent, ensuring the accuracy and high quality of each repair. This solution not only improves repair efficiency but also reduces manual intervention, lowering equipment failure rates and operating costs, and has significant industrial application potential.

[0011] As one possible implementation, the robot body is also equipped with a vision sensor for accurate identification of the busbar groove of the anode busbar.

[0012] In this embodiment, by installing vision sensors on the robot body, the problem of accurate identification of the anode busbar trunking is effectively solved, improving the automation level of the repair process. The vision sensors can identify the shape and position of the busbar trunking in real time and accurately, providing the robot with crucial spatial data support, thereby ensuring high precision and efficiency in the repair operation. Furthermore, this solution is highly adaptable, capable of handling different repair needs, reducing manual intervention, and effectively improving repair quality and safety, thus possessing significant industrial application value.

[0013] As one possible implementation, the milling cutter disc includes a power spindle and a milling cutter, the milling cutter being detachably connected to the power spindle through a Morse taper hole.

[0014] In this embodiment, by using a Morse taper hole connection method, the technical solution significantly improves disassembly convenience and production efficiency while ensuring a robust connection. It not only reduces tool change time and complexity but also ensures stability and reliability under high-speed, high-load conditions. This design makes the milling cutter head easier and more flexible to operate, while reducing equipment maintenance costs, and has high industrial application value.

[0015] As one possible implementation, the mobile vehicle includes a frame and wheels disposed at the bottom of the frame; wherein the frame is a cage-type box girder base frame; and the wheels are solid tire wheels.

[0016] In this embodiment, the combination of a cage-type box girder frame and solid tire wheels achieves advantages in terms of high structural strength, light weight, high durability, and convenient maintenance. The cage-type box girder design of the frame provides high strength and stability, while the solid tire wheel design greatly improves the vehicle's operational reliability in harsh environments and reduces maintenance costs. This combination is ideal for mobile vehicles that need to operate under long-term high loads and complex environments, offering significant performance advantages and economic benefits.

[0017] As one feasible implementation, the wheels of the mobile vehicle are hydraulically braked.

[0018] In this embodiment, the application of a hydraulic braking system in a mobile vehicle primarily utilizes liquid pressure to transmit braking force, offering numerous advantages such as high efficiency, reliability, safety, and durability. Its precise braking force distribution, strong high-temperature resistance, and good adaptability make the hydraulic braking system highly suitable for mobile vehicles that need to withstand high loads and operate for extended periods in complex environments. The hydraulic braking system improves the overall performance and safety of the vehicle while reducing maintenance costs.

[0019] As one feasible implementation, a hydraulic drive motor is provided at the wheel, and a steering axle assembly is provided at the bottom of the mobile vehicle, the steering axle assembly being used to adjust the rotation angle of the wheel to 80°.

[0020] In this embodiment, the combination of a hydraulic drive motor and a steering axle assembly enables the mobile vehicle to achieve high-precision and high-efficiency steering control in complex environments, especially in situations requiring large-angle steering (such as an 80° steering angle), exhibiting high maneuverability and flexibility. This technical solution not only improves operational efficiency but also enhances the vehicle's adaptability, safety, and durability, making it perform better in narrow and complex working environments.

[0021] As one feasible implementation, the mobile vehicle is also equipped with multiple telescopic hydraulic outriggers around its perimeter, which are used to improve the milling stability of the mobile vehicle.

[0022] In this embodiment, by equipping the mobile vehicle with telescopic hydraulic outriggers, the technical solution effectively improves stability and precision during the milling process. The hydraulic outriggers can automatically adjust the support height and strength, reducing vehicle vibration and tilting, improving machining accuracy and surface quality, extending equipment lifespan, and enhancing work efficiency and safety. This technology has significant advantages in heavy-duty milling and precision machining, and particularly has broad application prospects in industrial production requiring high stability and precision.

[0023] As one feasible implementation, the mobile vehicle is equipped with a robot body control cabinet, a hydraulic drive control system, an electrical control cabinet, and a battery.

[0024] In this implementation, by integrating the robot body control cabinet and the electrical control cabinet, the system can achieve precise control of the mobile vehicle, ensuring that the robot's movement and operation conform to the predetermined trajectory and task requirements. The flexible adjustment of the electrical control system ensures that every movement of the robot is precise and stable, reducing human intervention and improving the degree of automation. The hydraulic drive control system provides the robot with powerful performance, especially suitable for heavy-load, high-intensity tasks. For example, when moving heavy objects or handling high-load operations, the hydraulic system provides higher efficiency and stability than traditional electric systems, ensuring the mobile vehicle has sufficient power to complete complex tasks. Powered by a battery, the mobile vehicle can operate independently without relying on an external power source, making it particularly suitable for tasks operating in environments without power outlets. For example, in complex environments such as construction sites and hazardous work areas, the mobile vehicle's flexibility and autonomy significantly improve operational efficiency. The combined use of the battery and hydraulic system enables efficient energy management. The battery provides power to the electrical control and robot body, while the hydraulic system avoids energy waste by efficiently transmitting power. The battery pack and hydraulic system together optimize the mobile vehicle's energy use, allowing the equipment to maintain high operating efficiency for extended periods. This system configuration enables the mobile robot to adapt to various working environments, including high-load, large-area operations, and high-intensity tasks. Whether it's construction, material handling, or cleaning, the mobile robot can flexibly respond to various task requirements by adjusting the robot's movements and hydraulic system control. The automated control system significantly reduces reliance on manual operation. The robot can autonomously complete many dangerous, repetitive, or high-precision tasks, reducing human error and workload, while also lowering worker safety risks. For example, in hazardous environments (such as high temperatures or toxic gases), the mobile robot can replace manual labor, ensuring worker safety. The mobile robot's electrical control cabinet and robot control cabinet typically have remote monitoring and control capabilities. Through wireless communication technology, operators can remotely control the robot, monitor operations, and troubleshoot faults, ensuring smooth workflow. Real-time data acquisition and feedback systems help operators adjust work strategies promptly. The automated control and hydraulic drive systems enable the mobile robot to perform tasks efficiently. Compared to traditional manual operation, the automated system can complete tasks faster and with higher precision, especially in continuous work and complex operating environments, significantly improving the mobile robot's efficiency. The mobile vehicle's control system can be customized and expanded to meet different task requirements. The modular design of the robot's control cabinet, electrical control cabinet, and hydraulic system allows the system to be flexibly adjusted, with additional functions added or modified as needed to meet the requirements of different operating scenarios.

[0025] Secondly, this application also provides a method for milling the horizontal busbar of an electrolytic cell anode, comprising the following steps: S1, a mobile vehicle travels to the busbar milling station; S2, a vision sensor scans and aligns the busbar; S3, the robot body drives the milling cutter to mill the busbar; S4, after milling, a disc of sandpaper is installed to polish the milled area; S5, the vehicle travels to the next station for scanning and milling.

[0026] This application provides a milling machine for horizontal busbars of electrolytic cells anodes. Utilizing a robot to adjust the angle of the milling cutter head and a moving carriage for precise positioning, it significantly improves the efficiency and accuracy of the anode busbar repair process. It not only simplifies the operation process and reduces manual intervention, but also improves repair quality while reducing equipment failures and human error in production, demonstrating significant industrial application value. Attached Figure Description

[0027] The accompanying drawings used in the description of the embodiments are briefly introduced below.

[0028] In the various figures, the same elements are represented by similar reference numerals. For clarity, the various parts in the figures are not drawn to scale, and certain features may be exaggerated or omitted to more clearly illustrate and explain this application.

[0029] Figure 1 This illustration shows a state diagram of milling machining of a horizontal busbar anode of an electrolytic cell provided in an embodiment of this application.

[0030] Figure 2 This paper shows a three-dimensional structural schematic diagram of a milling machine for the horizontal busbar of an electrolytic cell anode provided in an embodiment of this application;

[0031] Figure 3 This illustration shows a three-dimensional structural diagram of a milling machine for the horizontal busbar of an electrolytic cell anode provided in an embodiment of this application, viewed from another perspective.

[0032] Figure 4 This illustration shows a three-dimensional structural diagram of a milling machine for the horizontal busbar of an electrolytic cell anode provided in an embodiment of this application, from another perspective.

[0033] Figure 5 A schematic flowchart of a method for milling the horizontal busbar of an electrolytic cell anode, provided in an embodiment of this application, is shown.

[0034] In the diagram, 1. Frame; 2. Steering axle assembly; 3. Battery; 5. Wheel; 6. Telescopic hydraulic outriggers; 7. Electrical control cabinet; 8. Hydraulic drive control system box; 9. Control cabinet; 10. Robot body; 11. Milling cutter head; 12. Laser sensor; 13. Vision sensor; 15. Electrolytic cell anode horizontal busbar. Detailed Implementation

[0035] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0036] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0039] In the description of this specification, the references to terms such as "some implementations," "some embodiments," "exemplary," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0040] This application provides a milling machine for horizontal busbars of electrolytic cells, designed to improve repair efficiency and precision, avoiding the high labor intensity and low efficiency problems of traditional repair processes. Key features include: employing a mobile onboard robot in conjunction with a powered spindle cutter head for repair milling of the anode busbars; using laser sensors to scan the repair location for accurate identification of the busbar grooves; and designing a novel milling machine specifically for the electrolytic aluminum industry, supporting automated processing. The core of the solution is the combination of an intelligent hydraulic trolley and a robot, utilizing a powered spindle and laser sensors to improve the precision and efficiency of anode busbar milling repair.

[0041] To further illustrate this application, the technical solutions provided by this application are described in detail below with reference to the embodiments, but they should not be construed as limiting the scope of protection of this application.

[0042] Figure 1 This diagram illustrates the milling process of a horizontal busbar milling machine for an electrolytic cell anode, as provided in an embodiment of this application. Figure 2 This illustration shows a three-dimensional structural diagram of a milling machine for the horizontal busbar of an electrolytic cell anode provided in an embodiment of this application. Figure 3 This illustration shows a three-dimensional structural diagram of a milling machine for the horizontal busbar of an electrolytic cell provided in an embodiment of this application, viewed from another perspective. (See also...) Figure 1-3 This busbar milling equipment is used for milling the busbar channels of the anode busbar in an electrolytic cell. It mainly includes a moving carriage, a robot body 10, and a milling cutter head 11. For ease of understanding, Figure 1 The anode busbar of the electrolytic cell is shown. It should be noted that the anode busbar of the electrolytic cell is not part of the structure in the milling equipment for the horizontal busbar of the electrolytic cell anode 15.

[0043] Figure 4 This illustration shows a three-dimensional structural diagram of a milling machine for the horizontal busbar of an electrolytic cell anode, provided in an embodiment of this application, from yet another perspective. (See also...) Figures 2 to 4The milling cutter disc 11 is a key tool in this equipment, used for milling the contact surface of the horizontal busbar 15 of the electrolytic cell anode. The milling cutter disc 11 is finely designed and can efficiently process and repair damaged contact surfaces as needed. Because the milling cutter disc 11 can be replaced with different cutting tools, it can adapt to various types of damage repair work. For example, the milling cutter disc 11 includes a disc cutter 111 and a power spindle 112, with the disc cutter 111 detachably connected to the power spindle 112 via a Morse taper hole. It is understood that the power spindle 112 is one of the core components of the milling cutter disc 11, possessing high rigidity, high precision, and high rotational speed. Optionally, the power spindle 112 is driven by a motor, providing rotational power. The function of the power spindle 112 is to transmit power to the disc cutter for cutting operations. In this embodiment, the power spindle 112 is mounted on the robot's working part to ensure power transmission to the milling cutter disc 11. The disc cutter 111 is the cutting tool, mounted on the power spindle 112, which cuts the workpiece by rotation. The design and application of the disc cutter 111 may vary depending on different processing requirements (such as milling, cutting, etc.). In this embodiment, the form of the disc cutter 111 is not strictly limited.

[0044] It is worth mentioning that the Morse Taper is a connection method with a tapered joint used to connect tools (such as milling cutters) to the spindle. Through this connection, the disc cutter 111 and the power spindle 112 are tightly connected via a tapered interface. The tapered structure provides strong friction between the disc cutter 111 and the spindle, ensuring efficient transmission and stable operation. For example, the disc cutter 111 has a Morse Taper internally, while the power spindle 112 has a matching tapered portion on its exterior. Through the tapered connection, the disc cutter 111 and the spindle can be connected or disconnected via a simple plug-and-play method, which is convenient and ensures a secure connection. A key feature of the Morse Taper connection is that it eliminates the need for additional fixing devices (such as bolts or clamps); a secure connection is achieved simply by inserting and applying slight pressure, saving assembly time and reducing maintenance complexity. Another advantage of the Morse Taper connection is its ease of disassembly. Since no screws or other complex fasteners are used, operators can easily disassemble and replace the disc cutter 111 without tools to adapt to the machining needs of different workpieces.

[0045] In one specific embodiment, the cutting speed of the disc cutter 111 can be adjusted by the spindle speed according to the actual working conditions, and the power spindle 112 can rotate in a certain spatial range according to the motion characteristics of the 6-axis robot body 10. In this embodiment, the cutting speed is 300-600 m / min; the milling depth is 2 mm; the milling is completed in 2 passes, and at least 6 generatrices are milled per hour.

[0046] Optionally, the spindle head of the power spindle 112 adopts a labyrinthine waterproof structure design to prevent cutting fluid and dust from entering the spindle head during production. The spindle housing of the power spindle 112 is made of high-toughness cast iron and undergoes both artificial and natural aging treatment. The spindle itself is precision forged from high-quality alloy steel. The bearings are P5 grade angular contact mating bearings; the product roundness is less than 0.005mm, and the maximum speed is 4500 rpm. The disc cutter 111, as the power head, uses a Morse taper connection with the tool holder of the power spindle 112 to ensure connection accuracy and rigidity while accommodating various tool installations.

[0047] For example, the robot body 10 is responsible for adjusting the machining angle of the milling cutter head 11 to ensure that the milling cutter head 11 can be accurately aligned with the contact surface of the anode busbar. During the repair process, the robot can automatically adjust the angle of the milling cutter according to the position change of the anode busbar, making the milling process more precise and reducing human error. This automated adjustment greatly improves the efficiency and accuracy of the repair. Optionally, the robot body 10 is a robot equipped with 6 degrees of freedom, capable of high-precision movement, with a maximum load capacity of 472 kg and an arm span ≥ 2800 mm. The robot can adjust the cutting speed and milling depth according to the actual working conditions to ensure fine milling results. To this end, the robot is also equipped with a laser sensor 12 and a vision sensor 13. The laser sensor 12 scans and identifies the repair position, and the vision sensor 13 scans and identifies the target area before milling, thereby achieving high-precision repair. Correspondingly, a control cabinet 9 is installed on the mobile vehicle to control the robot body 10, and a control system configured in the controller (e.g., an industrial-grade programmable logic controller (PLC)) inside the control cabinet 9 realizes highly integrated control of the robot body 10. In addition, a vision detection and tracking system can be configured in the controller to work with the vision sensor 13 to scan and identify the milling target area.

[0048] In this embodiment, the laser sensor 12 emits a laser beam and receives reflected signals, enabling real-time scanning of the anode busbar surface, including its geometry, surface damage, and uneven areas. The high precision of the laser sensor 12 accurately detects the repair location and damage level of the anode busbar, generating detailed surface data. The data scanned by the laser sensor 12 is transmitted to the control system of the robot body 10. Based on the sensor feedback, the robot control system calculates the actions and machining paths that the milling cutter 11 should take to ensure precise milling operations on the repair location of the anode busbar. Based on the real-time scanning data provided by the laser sensor 12, the robot body 10 precisely controls the milling cutter 11 to perform corresponding milling operations, ensuring that the milling depth, angle, and position meet the repair requirements. Throughout the repair process, the milling cutter 11 remains aligned with the target area and performs fine repairs, ensuring a smooth contact surface that meets the required roughness standards.

[0049] In this embodiment, the vision sensor 13 is a 3D vision sensor. Specifically, the vision sensor 13 is a sensor equipped with a camera, capable of capturing images of the busbar channel and then using computer vision technology to analyze the shape, position, size, and other features of the busbar channel. The vision inspection and tracking system adapted to this sensor integrates image processing algorithms (such as edge detection, contour extraction, depth estimation, etc.) to accurately identify the busbar channel. For example, it generates a 3D point cloud of the busbar surface to identify the depth / contour of the ablation area. The vision sensor 13 transmits the captured image data to the control system of the robot body 10, and the control system performs accurate analysis of the busbar channel using image processing algorithms. The system can identify the specific location, depth, width, shape, and surface condition of the busbar channel, including any damage, cracks, or deposits. In addition, the vision sensor 13 can provide three-dimensional spatial information to accurately locate the position and angle of the busbar channel in the robot's workspace. The robot control system processes the image data provided by the vision sensor 13 to calculate the repair path and motion planning in real time. This data is used to control the robot and other additional tools (such as the milling cutter head 11, laser sensor 12, etc.) to accurately perform the repair work. For example, the robot can determine the location of the slot that needs repair through visual recognition and adjust the milling path of the milling cutter head 11 according to the location to ensure that the repair operation is precisely aligned with the shape and position of the busbar. More specifically, the milling path is generated through point cloud data, and the robot body 10 adaptively adjusts the feed / cutting depth (layer milling 2mm × 2 times). In addition, the vision sensor 13 and the laser sensor 12 can work together. The laser sensor 12 can provide surface shape and spatial position information of the busbar, while the vision sensor 13 can help identify the specific shape and degree of damage of the busbar. Combining the information from both, the control system can more accurately judge and execute the repair operation. It is worth mentioning that in this embodiment, the lenses of both the milling cutter head 11 and the vision sensor 13 are IP67 protected (resistant to cutting fluid / dust).

[0050] In this embodiment, the parameters of the robot body are shown in Table 1:

[0051] Table 1 Robot Parameter Table

[0052]

[0053]

[0054] For example, the mobile vehicle includes a frame 1 and wheels 5 disposed at the bottom of the frame 1. The frame 1 is a cage-type box girder base frame 1; a cage-type box girder is a structural form composed of multiple beams and intersecting connections, forming a robust frame structure. This structure can effectively distribute loads and possesses high strength and rigidity. The cage-type box girder frame 1 is characterized by its robust structure, light weight, and excellent resistance to bending and torsion, making it suitable for bearing large loads and ensuring vehicle stability.

[0055] Wheel 5 is a solid tire. As the name suggests, a solid tire is an uninflated tire made of rubber or other synthetic materials. Solid tires have high wear resistance and puncture resistance. Since solid tires do not have inner tubes, there is no need to worry about air pressure during use, and they will not burst, making them suitable for high-intensity, long-term operations. Wheel 5 is mounted at the bottom of the frame 1, supporting the entire vehicle body and undertaking the vehicle's running and steering functions.

[0056] In this embodiment, a hydraulic drive motor is provided at each wheel 5, and a hydraulic drive control system box 8 for controlling the movement of the mobile vehicle is mounted on the mobile vehicle. The wheels 5 are hydraulically braked through the hydraulic drive control system box 8. It is worth mentioning that there are four wheels 5, which are connected in pairs to form a group through the steering axle assembly 2. The two groups of wheels 5 are located on the front and rear sides of the bottom of the frame 1, respectively. Correspondingly, a battery 3 for providing power to the mobile vehicle is also mounted on the bottom of the mobile vehicle.

[0057] In this embodiment, a hydraulic drive motor is installed at each wheel 5, which is powered by a hydraulic drive control system box 8. When liquid flows into the motor from the hydraulic drive control system box 8, the motor converts hydraulic energy into mechanical energy, driving the wheel 5 to rotate. The hydraulic drive motor has a high power density, providing strong driving force and operating stably even under high loads. The steering axle assembly 2 is a hydraulically driven and mechanically connected system installed at the bottom of the mobile vehicle, responsible for controlling the steering angle of the wheels 5. This steering axle assembly 2 can precisely control the rotation angle of the wheels 5, achieving a maximum steering range of 80°. In this embodiment, the steering axle assembly 2 mainly consists of a hydraulic cylinder, connecting rods, and a steering mechanism. The extension and retraction of the hydraulic cylinder can adjust the steering angle of the wheels 5. During operation, the hydraulic system precisely adjusts the angle of the steering axle by controlling the flow direction and pressure of the liquid in the hydraulic cylinder, thereby controlling the rotation angle of the wheels 5. The wheels 5 can rotate freely within an 80° range, giving the mobile vehicle greater maneuverability and flexibility, making it easier to turn in narrow spaces.

[0058] It should be noted that hydraulic braking is a braking system that transmits braking force through a liquid (usually brake fluid). It mainly consists of a hydraulic pump, brake lines, brake calipers, and brake pads. Its working principle is as follows: When the hydraulic drive control system box 8 starts the hydraulic pump, the pump compresses the brake fluid (usually specialized brake oil) to create sufficient hydraulic pressure in the system. The hydraulic pressure generated by the pump is transmitted to the brake calipers through the brake lines. The liquid pressure is evenly distributed in the lines and transmitted to the braking system of each wheel 5. Each wheel 5 has a brake caliper with a piston inside. When the hydraulic pressure is transmitted to the caliper, the piston is pushed, pressing the contact surface between the brake pads and the brake disc. This friction generates braking force, slowing the rotation of the wheel 5 and ultimately bringing it to a stop. The friction between the brake pads and the brake disc converts the vehicle's kinetic energy into heat energy, slowing the vehicle's speed and completing the braking process. Because hydraulic braking systems use liquid to transmit braking force, they can achieve strong braking force output in a short time. This allows hydraulic braking to react more quickly, improve braking efficiency, and rapidly decelerate during emergency braking, reducing the vehicle's braking distance.

[0059] In this embodiment, the mobile cart, acting as an intelligent hydraulic trolley, weighs approximately 3 tons and has a load capacity of 2 tons. The hydraulic drive provides strong torque and stability, making it suitable for heavy loads and complex working conditions. The mobile cart's platform dimensions are 2500mm*1800mm, supporting the loading of the robot body 10 and the milling spindle. The hydraulic drive control system box 8 and the battery pack of the storage battery 3 provide long-term continuous operation capability, ensuring efficient equipment operation.

[0060] Optionally, the mobile cart's work platform supports high-precision positioning, ensuring no displacement during milling via hydraulic drive. For example, the mobile cart is also equipped with multiple telescopic hydraulic outriggers 6 around its perimeter. These outriggers enhance the cart's milling stability. It should be noted that the telescopic hydraulic outriggers 6 are also controlled by the hydraulic drive control system box 8 on the mobile cart. Driven by the hydraulic drive control system box 8, the telescopic hydraulic outriggers 6 can extend or retract their length. The hydraulic drive control system box 8 adjusts the extension or retraction of the outriggers by controlling the flow of hydraulic oil. Each telescopic hydraulic outrigger 6 can automatically adjust its height and position according to working conditions, improving the stability of the mobile cart through evenly distributed support force. During milling, vertical, horizontal, or lateral vibrations of the cart body may affect milling accuracy and surface quality. The hydraulic outriggers reduce cart body sway, ensuring precise fixation of the cart body's position during milling.

[0061] When the mobile carriage moves to the busbar milling station, the four telescopic hydraulic outriggers 6 first extend horizontally and then lift the mobile carriage's working platform, making it less likely for the robot body 10 to move during milling with the power spindle 112 and milling cutter head 11, thus improving the stability of the mobile carriage platform and ensuring milling quality. The mobile carriage controls the movement of mechanical components by changing the flow direction and flow rate of hydraulic oil, enabling multi-directional, high-precision, and high-speed operation.

[0062] In one embodiment, the mobile vehicle is also equipped with an electrical control cabinet 97, which is mainly responsible for the power supply and electrical control of the robot and the mobile vehicle as a whole. The electrical control cabinet 97 includes an electrical drive system, sensor interfaces, actuator interfaces, etc., coordinating the work of various parts to ensure the normal operation of the robot system. This electrical control cabinet 97 can convert instructions from the robot body 10 control cabinet 9 and the hydraulic drive system into electrical signals, enabling precise control of each component through electrical equipment and achieving collaborative work with other parts. The battery 3, as the main power supply device for the mobile vehicle, provides necessary power support to ensure the continuous operation of the robot body 10 control system, electrical control system, and hydraulic system. The battery 3 uses a rechargeable battery pack, providing a long working time and enabling rapid charging when needed. This configuration allows the mobile vehicle to operate independently without an external power source, increasing the robot's flexibility and mobility, and making it suitable for operation in various working environments.

[0063] Table 2 shows the parameters of the mobile vehicle in this embodiment, as follows:

[0064] Table 2 Parameter Table of Mobile Vehicle

[0065] Serial Number name Technical parameters Remark 1 Load capacity 2t 2 Chassis structure cage box girder structure 3 Ground requirements Ordinary road surface 4 Countertop size 2500*1800 5 Table height 850mm 6 Climbing ability 10°-20° 7 Minimum turning radius 3000mm 8 Power supply method lead-acid battery pack 72V100Ah 9 Turning function 80° turn 10 Turning electrical control method Button control 11 Steering mechanism Hydraulic Steering 12 Operation method Wireless remote control 13 Braking method hydraulic brakes 14 running speed 0-5km / h 15 Battery capacity 100AH 16 Charger function Fully automatic intelligent charging 17 Charger installation method Integrated 18 Full load continuous running time Approximately 4 hours 19 Full charge driving range about 8km 20 Charging time 8h 21 Safety devices Audible and visual warning lights + emergency stop

[0066] Figure 5 A schematic flowchart of a method for milling the horizontal busbar of an electrolytic cell anode, provided in an embodiment of this application, is shown. Figure 5 As shown in the embodiments of this application, a method for milling the horizontal busbar of the anode of an electrolytic cell is also provided, including the following steps:

[0067] S1. The mobile vehicle travels to the busbar milling station.

[0068] In this step, the mobile vehicle, under automatic control, is precisely positioned at the milling location of the busbar groove.

[0069] S2. The vision sensor scans and aligns the busbar.

[0070] In this step, vision sensors scan and locate the busbar groove to ensure that the robot accurately performs the milling operation.

[0071] S3. The robot body drives the milling cutter head to mill the busbar groove.

[0072] In this step, based on the scanning results, the robot drives the power spindle to mill and repair the busbar groove, ensuring that the repaired surface is flat and meets technical requirements. A second scan is performed after milling to verify the surface roughness (target Ra≤12.5μm).

[0073] S4. After milling, replace the milling area with disc sandpaper to polish the milled area.

[0074] In this step, after milling, the surface is further smoothed using disc sandpaper to improve contact quality.

[0075] S5. Move to the next workstation for scanning and milling.

[0076] In this step, after the repair of one workstation is completed, the mobile vehicle automatically moves to the next workstation and repeats the above process.

[0077] Verification has shown that using the above method can shorten the overhaul cycle of the horizontal busbar of the electrolytic cell anode by more than 50% (based on a series of 200 electrolytic cells, this saves more than 10 million yuan in downtime losses). Furthermore, programmed control ensures the flatness of the contact surface (reducing voltage drop by 15-20%), while keeping manual operations away from high-temperature / strong magnetic field areas, thus improving operational safety and efficiency.

[0078] This application provides a method and equipment for milling the horizontal busbar of an electrolytic cell anode based on a mobile robot and a powered spindle, solving the problems of low repair efficiency and unstable repair quality in electrolytic aluminum production. Through intelligent and high-precision technologies, the automation level of the repair process is improved, the complexity of manual operation is reduced, and the overall reliability and production efficiency of the equipment are enhanced.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application. Those skilled in the art should understand that although this application has been described in detail with reference to the foregoing embodiments, modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions in the embodiments of this application.

Claims

1. A milling machine for the horizontal busbar of an electrolytic cell anode, characterized in that, include: Milling cutter head, used for milling the contact surface of the horizontal busbar of the anode in an electrolytic cell; The robot body is used to adjust the machining angle of the milling cutter head; A mobile vehicle is used to carry the robot body and move the milling cutter head to the machining position.

2. The equipment according to claim 1, characterized in that, The milling cutter head is installed at the end of the robot body, and a laser sensor is also installed at the end of the robot body. The laser sensor is used to scan and identify the repair position of the anode busbar, so that the robot body controls the milling cutter head to perform milling processing on the position of the anode busbar to be repaired.

3. The equipment according to claim 1, characterized in that, The robot body is also equipped with a vision sensor, which is used to accurately identify the busbar groove of the anode busbar.

4. The equipment according to claim 1, characterized in that, The milling cutter disc includes a power spindle and a milling cutter, and the milling cutter is detachably connected to the power spindle through a Morse taper hole.

5. The equipment according to any one of claims 1-4, characterized in that, The mobile vehicle includes a frame and wheels disposed at the bottom of the frame; wherein the frame is a cage-type box girder base frame; and the wheels are solid tire wheels.

6. The equipment according to claim 5, characterized in that, The wheels of the mobile vehicle are hydraulically braked.

7. The equipment according to claim 5, characterized in that, A hydraulic drive motor is provided at the wheel, and a steering axle assembly is provided at the bottom of the mobile vehicle. The steering axle assembly is used to adjust the rotation angle of the wheel to 80°.

8. The equipment according to claim 5, characterized in that, The mobile vehicle is also equipped with multiple telescopic hydraulic outriggers around its perimeter, which are used to improve the milling stability of the mobile vehicle.

9. The equipment according to any one of claims 1-4, characterized in that, The mobile vehicle is equipped with a robot body control cabinet, a hydraulic drive control system, an electrical control cabinet, and a battery.

Images