A two-level measuring device for an electrolytic cell

Abstract

This utility model discloses a two-level measuring device for an electrolytic cell, belonging to the field of aluminum electrolysis technology. Specifically, it includes a mobile vehicle; a robotic arm mounted on the mobile vehicle; an actuator for performing the clamping and opening / closing actions of the measuring rod and the cell gate; a mechanical gripper detachably connected to the end of the robotic arm; and a machine vision system for identifying the electrolytic cell's identity information and measuring the horizontal boundaries on the measuring rod. This utility model achieves human-machine separation, completely avoiding direct safety risks to operators such as high-temperature burns and aluminum molten metal splashes, significantly reducing the workplace accident rate. It not only enables 24-hour uninterrupted operation and fully automatic operation, greatly improving work efficiency, but also eliminates subjective errors, ensuring objective and consistent measurement results and improving the accuracy of the measurement data.

Description

Technical Field

[0001] This utility model belongs to the field of aluminum electrolysis technology, specifically relating to a two-level measuring device for an electrolytic cell. Background Technology

[0002] In the electrolytic aluminum production process, the aluminum liquid level and electrolyte level (referred to as "two levels") in the electrolytic cell are crucial process parameters. Their accurate measurement is of decisive significance for stabilizing the electrolytic process, improving current efficiency, reducing energy consumption, and ensuring safe production.

[0003] Currently, the industry generally uses manual measurement, typically involving two operators. One operator holds a metal measuring rod (usually a steel rod) and inserts it into the electrolytic cell. After the measuring rod is heated by the high-temperature aluminum liquid and electrolyte, it is removed. The other operator uses a steel ruler to manually measure the obvious color difference or oxide layer boundary formed on the measuring rod due to the temperature difference between the aluminum liquid and the electrolyte, thereby calculating the height of the two levels. The measured data is recorded manually. The above-mentioned manual measurement method has problems such as extremely high safety risks, high labor intensity and low efficiency, and subjective and unreliable measurement data. Therefore, there is a need to provide a two-level measuring device for electrolytic cells to solve the above-mentioned technical problems. Utility Model Content

[0004] To address the problems mentioned in the background section, this invention provides a two-level measuring device for electrolytic cells. This device replaces manual measurement, reducing risks and labor intensity while improving work efficiency and measurement accuracy.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a two-level measuring device for an electrolytic cell, comprising a moving vehicle; A robotic arm, which is mounted on a mobile vehicle; The actuator is used to perform the opening and closing actions of clamping the measuring rod and the slot gate; A mechanical gripper is detachably connected to the end of a robotic arm. The mechanical gripper includes a clamping frame. Two gripper bodies are rotatably connected to both sides of one end of the clamping frame via a linkage mechanism. The two gripper bodies are driven to open and close by a drive mechanism on the clamping frame. A machine vision system is used to identify the identity information of electrolytic cells and measure the horizontal boundary lines on measuring rods.

[0006] Preferably, the mobile vehicle adopts a fusion navigation method that combines laser SLAM navigation and vision-assisted navigation to achieve autonomous positioning and path planning in the complex environment of the electrolysis workshop.

[0007] Preferably, the robotic arm is a six-axis collaborative robot.

[0008] Preferably, a torque sensor is also provided between the robotic arm and the robotic gripper to sense the contact between the measuring rod and the bottom of the electrolytic cell.

[0009] Preferably, the machine vision system includes a first vision unit for identifying the identification code of the electrolytic cell to determine the cell number; and a second vision unit, which is a vehicle-mounted fixed industrial camera, for acquiring images of the removed measuring rod and automatically analyzing and calculating the aluminum liquid level and electrolyte level through image processing algorithms.

[0010] Preferably, the linkage mechanism includes a driven rod, a driving rod, and a drive rod. One end of the driven rod is hinged to the clamping frame, and the other end of the driven rod is hinged to the gripper body. The driving rod is located on one side of the gripper body and is hinged to the gripper body. The other end of the driving rod is hinged to one end of the drive rod.

[0011] Preferably, the driving mechanism includes an electric push rod, which is fixedly connected inside the clamping frame. The movable end of the electric push rod is fixedly connected to a driving plate, and the driving plate is hinged to the driving rods on both sides.

[0012] Preferably, the clamping frame is provided with a moving groove for the drive rod to move.

[0013] Preferably, the actuator includes a clamping block and a clamping plate. The clamping block is fixedly connected to the clamping plate at both ends. The clamping block and the clamping plate are provided with mounting grooves for fixing measuring rods at their axes. The clamping block is provided with a slot on its outer side. The slot and the clamping plates at both ends together form a clamping cavity structure.

[0014] Preferably, it also includes a central control system, which is responsible for coordinating and controlling the movement of the mobile vehicle, the actions of the robotic arm, the triggering and data processing of the vision system, and automatically uploading the measurement results and corresponding slot numbers to the background database via a wireless network. The central control system is integrated inside the mobile vehicle.

[0015] Compared with the prior art, the beneficial effects of this utility model are: This invention achieves separation of human and machine, completely avoiding direct safety risks to operators such as high-temperature burns and aluminum molten splashes, significantly reducing the rate of workplace accidents. It can not only work 24 hours a day without interruption and operate fully automatically, greatly improving work efficiency, but also eliminates subjective errors, making the measurement results objective and consistent, and improving the accuracy of measurement data. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the main structure of this utility model; Figure 3 This is a three-dimensional structural diagram of the actuator of this utility model; Figure 4 This is a schematic cross-sectional view of the actuator of this utility model; In the diagram: 1. Moving vehicle; 2. Robotic arm; 3. Clamping block; 4. Pallet; 5. Slot; 6. Grip frame; 7. Gripper body; 8. Driven rod; 9. Active rod; 10. Drive rod; 11. Electric push rod; 12. Drive plate; 13. Moving slot; 14. Machine vision system; 15. Measuring rod. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] Example Please see Figure 1-4 This embodiment provides the following technical solution: a two-level measuring device for an electrolytic cell, a mobile vehicle 1, the mobile vehicle adopts the form of an AGV, and the mobile vehicle 1 adopts a fusion navigation method that combines laser SLAM navigation and vision-assisted navigation to realize autonomous positioning and path planning in the complex environment of the electrolysis workshop.

[0019] In some embodiments, the main structure of the vehicle body is made of stainless steel to resist strong magnetic field interference, and the wheels are made of high-temperature resistant composite materials to ensure stable operation in the complex environment of high temperature and strong magnetic field in the electrolysis workshop.

[0020] Robotic arm 2 is mounted on mobile vehicle 1. In some embodiments, robotic arm 2 is a six-axis collaborative robot with high flexibility and collision detection capabilities to adapt to complex operating environments and ensure safety.

[0021] The actuator is used to perform the opening and closing actions of clamping the measuring rod 15 and the slot door. The actuator includes a clamping block 3 and a clamping plate 4. The clamping plate 4 is fixedly connected to both ends of the clamping block 3. The clamping block 3 and the clamping plate 4 are provided with mounting grooves for fixing the measuring rod 15. The clamping block 3 is provided with a slot 5 on its outer side. The slot 5 and the clamping plates 4 at both ends together form a clamping cavity structure. By providing the mounting groove, the measuring rod 15 can be fixedly connected to the actuator. By providing the slot 5, it can cooperate with the opening mechanism on the electrolytic cell door, such as a latch or handle, so that the opening action can be completed without changing tools.

[0022] A mechanical gripper is detachably connected to the end of the robotic arm 2. A torque sensor is also provided between the robotic arm 2 and the mechanical gripper to sense the contact between the measuring rod 15 and the bottom of the electrolytic cell. In some embodiments, a first connecting plate is fixedly connected to the end of the mechanical gripper, and the first connecting plate is fixedly connected to one end of the torque sensor, while the other end of the torque sensor is fixedly connected to a second connecting plate. The second connecting plate is fixedly connected to the actuator, and the torque sensor is used to detect the force on the end of the robotic arm 2 in the Z-axis direction in real time.

[0023] The mechanical gripper includes a clamping frame 6. A gripper body 7 is rotatably connected to both sides of one end of the clamping frame 6 via a linkage mechanism. The linkage mechanism includes a driven rod 8, a driving rod 9, and a driving rod 10. One end of the driven rod 8 is hinged to the clamping frame 6, and the other end is hinged to the gripper body 7. The driving rod 9 is located on one side of the gripper body 7 and hinged to it. The other end of the driving rod 9 is hinged to one end of the driving rod 10. In some embodiments, the driven rod 8 is hinged to the lower part of the gripper body 7 to provide stable swing support for the gripper body 7. The driving rod 9 is located on the outside of the gripper body 7. Under the driving action of the driving rod 10, the driving rod 9 causes the gripper body 7 to rotate inward or outward around its hinge point with the driven rod 8.

[0024] The two gripper bodies 7 are driven by the drive mechanism on the clamping frame 6 to perform opening and closing operations. The drive mechanism includes an electric push rod 11, which is fixedly connected inside the clamping frame 6. The movable end of the electric push rod 11 is fixedly connected to a drive plate 12. The drive plate 12 is hinged to the drive rods 10 on both sides. When the electric push rod 11 is in the extension or retraction state, the drive plate 12 is pushed outward, which drives the drive rod 10 and the active rod 9 to make the gripper body 7 rotate inward around the driven rod 8, so that the two gripper bodies 7 clamp the actuator. Alternatively, the drive plate 12 is pulled inward, which drives the drive rod 10 and the active rod 9 to make the gripper body 7 rotate outward around the driven rod 8, so that the two gripper bodies 7 release the actuator.

[0025] The clamping frame 6 is provided with a moving groove 13 for the drive rod 10 to move. The moving groove 13 can limit the drive rod 10 and prevent the drive rod 10 from swinging during the movement, thus affecting the stability of the structure.

[0026] The machine vision system 14 is used to identify the identity information of the electrolytic cell and measure the horizontal boundary on the measuring rod 15. The machine vision system 14 includes a first vision unit for identifying the identification code of the electrolytic cell to determine the cell number; and a second vision unit, which is a vehicle-mounted fixed industrial camera, for acquiring images of the removed measuring rod 15 and automatically analyzing and calculating the aluminum liquid level and electrolyte level through image processing algorithms.

[0027] It also includes a central control system (not shown in the figure), which is responsible for coordinating and controlling the movement of the mobile vehicle 1, the action of the robotic arm 2, the data reading of the torque sensor, the triggering and data processing of the vision system, and automatically uploading the measurement results and corresponding slot numbers to the background database via a wireless network. The central control system is integrated inside the mobile vehicle 1.

[0028] The working principle of this utility model is as follows: The central control system receives the measurement task, the mobile vehicle 1 autonomously navigates to the target electrolytic cell, the first vision unit identifies and confirms the electrolytic cell number, the robotic arm 2 moves, and opens the cell door using the slot 5 structure on the actuator. The robotic arm 2 vertically inserts the measuring rod 15 into the electrolytic cell. After the torque sensor detects the bottom of the cell, it stops and remains for several seconds. The robotic arm 2 then pulls out the measuring rod 15 at a constant speed. The robotic arm 2 moves the measuring rod 15 to the second vision unit for image acquisition and analysis. The analysis results are bound to the cell number and automatically uploaded to the server database.

[0029] Finally, it should be noted that the above are merely preferred embodiments of this utility model and are not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A two-level measuring device for an electrolytic cell, characterized in that: Including the mobile vehicle (1); A robotic arm (2) is mounted on a mobile vehicle (1); An actuator is used to perform the opening and closing actions of clamping the measuring rod (15) and the slot door; A mechanical gripper is detachably connected to the end of a robotic arm (2). The mechanical gripper includes a clamping frame (6). Two gripper bodies (7) are rotatably connected to each other on one side of the clamping frame (6) via a linkage mechanism. The two gripper bodies (7) are driven by a drive mechanism on the clamping frame (6) to perform opening and closing operations. A machine vision system (14) is used to identify the identity information of the electrolytic cell and measure the horizontal boundary on the measuring rod (15).

2. The electrolytic cell two-level measuring device according to claim 1, characterized in that: The mobile vehicle (1) adopts a fusion navigation method that combines laser SLAM navigation and vision-assisted navigation to achieve autonomous positioning and path planning in the complex environment of the electrolysis workshop.

3. The electrolytic cell two-level measuring device according to claim 1, characterized in that: The robotic arm (2) is a six-axis collaborative robot.

4. The electrolytic cell two-level measuring device according to claim 3, characterized in that: A torque sensor is also provided between the robotic arm (2) and the robotic gripper to sense the contact between the measuring rod (15) and the bottom of the electrolytic cell.

5. The electrolytic cell two-level measuring device according to claim 1, characterized in that: The machine vision system (14) includes a first vision unit for identifying the identification code of the electrolytic cell to determine the cell number; and a second vision unit, which is a vehicle-mounted fixed industrial camera, for acquiring images of the removed measuring rod (15) and automatically analyzing and calculating the aluminum liquid level and electrolyte level through image processing algorithms.

6. The electrolytic cell two-level measuring device according to claim 1, characterized in that: The linkage mechanism includes a driven rod (8), a driving rod (9), and a drive rod (10). One end of the driven rod (8) is hinged to the clamping frame (6), and the other end of the driven rod (8) is hinged to the gripper body (7). The driving rod (9) is located on one side of the gripper body (7) and is hinged to the gripper body (7). The other end of the driving rod (9) is hinged to one end of the drive rod (10).

7. The electrolytic cell two-level measuring device according to claim 6, characterized in that: The driving mechanism includes an electric push rod (11), which is fixedly connected inside the clamping frame (6). The movable end of the electric push rod (11) is fixedly connected to a driving plate (12), which is hinged to the driving rods (10) on both sides.

8. The electrolytic cell two-level measuring device according to claim 7, characterized in that: The clamping frame (6) is provided with a moving groove (13) for the drive rod (10) to move.

9. The electrolytic cell two-level measuring device according to claim 1, characterized in that: The actuator includes a clamping block (3) and a clamping plate (4). The clamping block (3) is fixedly connected to the clamping plate (4) at both ends. The clamping block (3) and the clamping plate (4) are provided with mounting grooves for fixing measuring rods (15) at their axes. The clamping block (3) is provided with a slot (5) on its outer side. The slot (5) and the clamping plates (4) at both ends together form a clamping cavity structure.

10. The electrolytic cell two-level measuring device according to claim 1, characterized in that: It also includes a central control system, which is responsible for coordinating and controlling the movement of the mobile vehicle (1), the movement of the robotic arm (2), the triggering and data processing of the vision system, and automatically uploading the measurement results and corresponding slot numbers to the background database via a wireless network. The central control system is integrated inside the mobile vehicle (1).

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