CN107199332B - The signal transmitter of continuous casting production line of aluminum ingots slag hitting robot - Google Patents
The signal transmitter of continuous casting production line of aluminum ingots slag hitting robot Download PDFInfo
- Publication number
- CN107199332B CN107199332B CN201710338097.0A CN201710338097A CN107199332B CN 107199332 B CN107199332 B CN 107199332B CN 201710338097 A CN201710338097 A CN 201710338097A CN 107199332 B CN107199332 B CN 107199332B
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- hole
- slag hitting
- sensor
- signal transmitter
- robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D43/00—Mechanical cleaning, e.g. skimming of molten metals
- B22D43/005—Removing slag from a molten metal surface
- B22D43/007—Removing slag from a molten metal surface by using scrapers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/10—Supplying or treating molten metal
- B22D11/11—Treating the molten metal
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to aluminium-ingot continuous casting production equipment fields.In order to improve the efficiency of slag hitting robot scarfing cinder operation, accuracy and safety that slag hitting robot carries out scarfing cinder operation are improved, the invention discloses a kind of signal transmitters of continuous casting production line of aluminum ingots slag hitting robot.The signal transmitter, including fixed frame, sender set and first sensor；The sender set is connect with the fixed frame；The sender set includes sprocket wheel and counting scale, and the sprocket wheel is fixedly and coaxially connected with the counting scale；The sprocket wheel engages connection with conveyer chain；The counting scale is equipped with multiple first through hole；The first sensor is connect with the fixed frame, and is correspondingly arranged with the first through hole.Signal transmitter of the invention is not only simple in structure, is easily installed use, and can positional relationship to mold and quantity detect, auxiliary slag hitting robot carries out stable and safety scarfing cinder operation.
Description
Technical field
The invention belongs to aluminium-ingot continuous casting production equipment fields, and in particular to a kind of continuous casting production line of aluminum ingots slag hitting
The signal transmitter of robot.
Background technique
Multiple workers will be arranged to cooperate production line on aluminium ingot production industry, each continuous casting production line of aluminum ingots
Production work.It is not only harmful to the own health of worker for the work for needing worker to carry out post on duty for a long time, and
And production accident is easy to happen after long-time continuous production process.Wherein, it in needing post on duty for a long time, more endangers
Danger is molten aluminum scarfing cinder post, and scarfing cinder post needs to have personnel to carry out post on duty always, in order to the miscellaneous slag in mold into
Row timely quickly cleans, to guarantee the quality of production of aluminium ingot.
Using it is artificial carry out slag hitting operation when, operator not only needs to dress special protection clothes, and will be long when
Between endure molten aluminum high-temperature baking and by molten aluminum splash and caused by danger of personal injury.Therefore, it is continuously cast in aluminium ingot at present
It makes on production line, scarfing cinder operation is gradually substituted manually by robot, to reduce manpower, improves the safety of production process.By
It is to carry out carrying operation in real time to mold by conveyer chain in the continuous casting product line of aluminium ingot.Therefore, Cinder crusher is being used
When device people carries out scarfing cinder operation, it is necessary to which the movement position of accurate judgement mold is capable of in slag hitting robot, guarantees scarfing cinder operation
Stability and veracity.If mistake occurs in the movement of slag hitting robot, such as slag shovel extended position shifts, and may cause
Collision between mold, causes the equipment damage of robot, or even overthrowing mold makes high temperature molten aluminum topple, and causes production safety
Accident.
Summary of the invention
In order to improve the efficiency of slag hitting robot scarfing cinder automatic operation, the standard that slag hitting robot carries out scarfing cinder operation is improved
True property and safety, the invention proposes a kind of signal transmitters of continuous casting production line of aluminum ingots slag hitting robot, for assisting
Control the scarfing cinder operation of slag hitting robot.The signal transmitter, including fixed frame, sender set and first sensor；The fixed frame
One end it is static with respect to ground be fixedly connected, the other end is connect with the sender set, and the sender set is around central axis
Line can be freely rotated；The sender set includes sprocket wheel and counting scale, and the sprocket wheel is fixedly and coaxially connected with the counting scale；
The sprocket wheel engages connection with conveyer chain；The counting scale is equipped with multiple first through hole, and the first through hole is evenly arranged on
With the counting scale on concentric circle；The first sensor is connect with the fixed frame, and corresponding with the first through hole is set
It sets.
It preferably, is integral multiple relation between the first through hole quantity in the number of teeth and the counting scale on the sprocket wheel.
It is further preferred that the first through hole uses arc-shaped through-hole structure.
It is further preferred that each described first through hole is corresponding with two teeth on the sprocket wheel.
Preferably, which further includes second sensor, and the counting scale is equipped with multiple second through-holes；Described
Two through-holes are evenly arranged on the concentric circles of the first through hole, and the quantity of the first through hole is the integer of second number of openings
Times；The second sensor is connect with the fixed frame, and is correspondingly arranged with second through-hole.
It is further preferred that second through-hole uses arc-shaped through-hole structure.
It is further preferred that each described second through-hole is corresponding with four continuous first through hole.
Preferably, the first sensor and the second sensor are all made of proximity sensor.
Preferably, the fixed frame is equipped with the first arc corresponding with the first through hole and second through-hole respectively
Slot and the second arc groove, for installing the first sensor and the second sensor respectively.
Preferably, the counting scale is equipped with arc-shaped bolt hole, for wearing connection bolt.
Using the signal transmitter of continuous casting production line of aluminum ingots slag hitting of the present invention robot, auxiliary controls slag hitting robot
Scarfing cinder operation has the advantages that
1, signal transmitter of the invention is by being arranged co-axially fixed sprocket wheel and counting scale, making counting scale by sprocket wheel and passing
It send chain to move synchronously, and is detected by rotational angle of the first sensor to counting scale, realized to conveyer chain trussell
Position and quantity detection.The signal for characterizing molding position and quantity is sent to by Cinder crusher by first sensor again in this way
Device people, auxiliary slag hitting robot treats the molding position of scarfing cinder operation and quantity carries out Statistic analysis, guarantees that slag hitting robot can
Once to carry out accurate scarfing cinder operation to multiple molds, the efficiency operated to mold scarfing cinder is improved.
2, in the present invention, by the way that the first through hole being located on concentric circles and the second through-hole are arranged on counting scale, solid
Determine that corresponding first sensor and second sensor are arranged on frame, and the quantity of first through hole is the integral multiple of the second through-hole.
In this way, slag hitting robot can not only count the mold quantity passed through on conveyer chain by first through hole and first sensor
Number, and the positional relationship between mold is detected by the second through-hole and second sensor before carrying out scarfing cinder operation,
Judge whether it is continuous casting mold, so that avoiding the occurrence of slag hitting robot carries out remote dislocation scarfing cinder operation, improves slag hitting machine
The safety and stability of people's progress scarfing cinder operating process.
Detailed description of the invention
Fig. 1 is the signal transmitter structural schematic diagram of continuous casting production line of aluminum ingots slag hitting of the present invention robot；
Fig. 2 is the structural schematic diagram in the direction F in Fig. 1.
Specific embodiment
It describes in detail with reference to the accompanying drawing to the technical solution in the present invention.
Referring to figs. 1 and 2, the signal transmitter of continuous casting production line of aluminum ingots slag hitting robot, including fixed frame 1,
Sender set 2 and first sensor 31.One end of fixed frame 1 it is opposite with ground is static is fixedly connected, the other end and sender set 2
Connection, and sender set 2 can be rotated around center axis.In the present invention, fixed frame 1 uses metal structure and lower end
It is directly fixedly connected with conveyer chain bracket by welding manner, can also equally lead to foundation bolt and be fixedly connected with the ground.It is fixed
The upper end of frame 1 is equipped with rotation axis 11 and bearing block 12, and rotation axis 11 is threaded through the inside of bearing block 12, and one end is along level side
It can be freely rotated to stretching out.
Sender set 2, including sprocket wheel 21 and counting scale 22.It is evenly equipped on the excircle of sprocket wheel 21 and engages connection with conveyer chain
Sprocket 211.Counting scale 22 is equipped with multiple first through hole 221, and first through hole 221 is evenly arranged on the circle concentric with counting scale 22
On.Sprocket wheel 21 and counting scale 22 are coaxially fixed by connection bolt 4, and at the same time being set on the extension end of rotation axis 11.This
Sample is rotated by the intermeshing band movable sprocket 21 and counting scale 22 of between cog around rotation axis 11 when transmitting chain movement.
First sensor 31 is fixedly connected with fixed frame 1, and first in the height of vertical direction and counting scale 22
The position of through-hole 221 is corresponding.Wherein, in the present invention, counting scale 22 is processed using metal material, and first sensor 31
Select induction type proximity sensor.
In this way, conveyer chain synchronizes rotation with movable sprocket 21 simultaneously, in turn in conveyer chain during transfer molds
Counting scale 22 is set to synchronize rotation with sprocket wheel 21.When the metal connection between first through hole 221 two neighboring on counting scale 22
When part passes through first sensor 31, first sensor 31 will generate the signal for being used to characterize mold quantity or position,
And it is sent to the control section of slag hitting robot, it is acted accordingly for controlling slag hitting robot.
Preferably, in the present invention, first through hole 221 uses arc-shaped through-hole, and the quantity and chain of first through hole 221
The quantity of tooth 211 at integral multiple relationship.It can make a complete first through hole 221 and one or more complete chains in this way
Tooth 211 is corresponding, and the spacing between sprocket 211 and the pitch of conveyer chain correspond, the arc chord angle of final first through hole 221
It is corresponding with the length dimension of conveyer chain.It is further preferred that according to the actual conditions of production scene, if be located on conveyer chain
The distance between two neighboring mold is the length of two pitches, it is possible to be evenly equipped with 16 on the excircle of sprocket wheel 21
A sprocket 211 is evenly equipped with eight arc-shaped first through hole 221 on counting scale 22.In this way, each first through hole 221 corresponding two
A sprocket 211, and on the corresponding conveyer chains of two sprockets 211 two pitches length, i.e., on conveyer chain two mold spacing away from
From that is, each first through hole 221 corresponds to the mold on a conveyer chain.At this point, there is a mold to pass through on conveyer chain every time
When, counting scale 22 will turn over the corresponding angle of 221 arc chord angle of first through hole simultaneously, and first sensor 31 will detect adjacent
Metal part passes through between two first through hole 221, generates and sends one and represents signal that a mold passes through to slag hitting
Robot.
Using the signal transmitter of continuous casting production line of aluminum ingots slag hitting of the present invention robot, slag hitting robot is assisted to carry out clear
When slag operation, firstly, carrying out installation fixation to signal transmitter, and the initial position of slag hitting robot is set, make slag hitting robot
Scarfing cinder operation directly can be carried out to the mold for completing to count.Then, start the counting operation of signal transmitter, and generate signal hair
It send to slag hitting robot.If slag hitting robot is to multiple molds while to carry out scarfing cinder operation, such as slag hitting robot is equipped with
Four slag hitting shovels, and scarfing cinder operation is carried out to four molds simultaneously.In this way, slag hitting robot is after receiving first signal, it is first
Counting operation is first carried out, when accumulative four molds pass through, i.e., slag hitting robot adds up after receiving four signals, and slag hitting robot is again
It according to the movement velocity of conveyer chain, controls slag hitting shovel and scarfing cinder operation is carried out simultaneously to four current molds, and complete scarfing cinder
Initial position is returned to after operation.At the same time, first sensor 31 continues to send letter by being detected and being generated to mold
Number, after slag hitting robot adds up to receive four signals again, slag hitting robot controls slag hitting shovel again and carries out scarfing cinder operation.Weight
The multiple above process, signal transmitter through the invention can assist slag hitting robot to carry out counting operation, realize to multiple castings
Scarfing cinder operates while mould, improves the efficiency that slag hitting robot operates mold scarfing cinder.
But during slag hitting robot carries out scarfing cinder operation, if carrying out hesitation, the scarfing cinder behaviour of slag hitting shovel
It will continue to be finished to return to initial position, but the counting procedure of slag hitting robot can then suspend at once.In this way, when being again started up
When slag hitting robot, continue counting operation in the number of signals that slag hitting robot can add up before shutdown, and according at this time
Counting situation and conveyer chain speed carry out scarfing cinder operation.It is counted before being likely to occur shutdown at this time and is ready for scarfing cinder operation
Mold with conveyer chain far from slag hitting robot, if according to current count situation continued carry out scarfing cinder operation, belong to
Remote dislocation scarfing cinder operation needs to carry out scarfing cinder operation across mold of multiple molds to distant place, slag hitting may occur in this way
The collision situation of shovel and mold causes hidden danger of keeping the safety in production.
Therefore, it in order to further increase the safety that slag hitting machine is manually made, is additionally provided on counting scale 22 of the invention
Multiple second through-holes 222.Wherein, the second through-hole 222 selects arc-shaped through-hole structure, is evenly arranged on concentric with first through hole 221
On circle, and the quantity of first through hole 221 is the integral multiple of 222 quantity of the second through-hole.For example, when slag hitting robot is once to four
A mold carries out scarfing cinder operation, and when being evenly equipped with eight first through hole 221 on counting scale 22, if each first through hole 221
A corresponding mold, then set the quantity of first through hole 221 to four times of 222 quantity of the second through-hole, i.e., on counting scale 22
Uniformly distributed two the second through-holes 222, the corresponding four continuous whole first through hole 221 of each second through-hole 222, as shown in Figure 1.Such as
Corresponding two molds of each first through hole 221 of fruit, then set the two of 222 quantity of the second through-hole for the quantity of first through hole 221
Times, i.e., uniformly distributed four the second through-holes 222 on counting scale 22, each second through-hole 222 corresponding two continuous whole first are logical
Hole 221.In short, being integral multiple relation between the quantity of the second through-hole 222 and the quantity of first through hole 221, to guarantee second
Head and the tail both ends are mutually aligned with first through hole 221 at the head and the tail both ends of circumferencial direction through-hole 222 in the circumferential direction, while when meter
When number disks 22 turn over 222 arc chord angle of the second through-hole corresponding angle, adding up the mold quantity passed through on conveyer chain is slag hitting machine
People carries out corresponding mold quantity when scarfing cinder operation.In addition, being additionally provided on fixed frame 1 corresponding with the second through-hole 222
Second sensor 32, second sensor 32 equally use inductive proximity sensor.In this way, second sensor 32 passes through adjacent two
When metal part between a second through-hole 222, second sensor 32, which will generate and send a signal, gives slag hitting robot.
At this point, being detected whether simultaneously when slag hitting robot receives the 4th signal that first sensor 31 is sent
The signal that second sensor 32 is sent is received simultaneously.If receiving the signal that second sensor 32 is sent simultaneously, show first
Four signals that sensor 31 is sent are continuous signal, and the robot of slag hitting at this time controls slag hitting shovel and carries out to four continuous casting molds
Scarfing cinder operation.If not receiving the signal that second sensor 32 is sent simultaneously, show four that first sensor 31 is sent
Signal is discontinuous signal, and the counting operation that the robot of slag hitting at this time sends signal to first sensor 31 is adjusted, until
When the signal that first sensor 31 and second sensor 32 are sent is mutually matched, just controls slag hitting shovel and carry out scarfing cinder operation.Pass through
Second through-hole 222 is set and second sensor 32 cooperates slag hitting robot to carry out scarfing cinder operation, it is interim to solve slag hitting robot
The remote dislocation scarfing cinder operational circumstances for stopping and occurring after being again started up, to avoid that touching between slag hitting shovel and mold occurs
It hits, improves the safety of scarfing cinder operating process.
In addition, the connecting hole 223 of arc-shaped structure is equipped on counting scale 22, for wearing connection sprocket wheel 21 and counting scale
22 connection bolt 4.In this way, can be adjusted when being fixedly connected to sprocket wheel 21 and counting scale 22 by rotating counting scale 22
Positional relationship between whole counting scale 22 and sprocket wheel 21 in a circumferential direction keeps first through hole 221 opposite with the position of sprocket 211
It answers, to guarantee the accuracy of corresponding position when first through hole 221 and sprocket wheel 21 move.
In addition, being respectively equipped with the first arc groove 13 and the second arc groove 14 on fixed frame 1, the first biography is fixed for installing
Sensor 31 and second sensor 32.In this way, can be sensed in the range of the first arc groove 13 and the second arc groove 14 to first
The fixation position of device 31 and second sensor 32 is finely adjusted, and keeps sensor and the lead to the hole site on counting scale 22 accurately corresponding,
And then keeping sensor with the molding position relationship on sprocket wheel accurately corresponding when generating signal, guarantee sensor can promptly and accurately
It generates and sends signal.
Claims (9)
1. a kind of signal transmitter of continuous casting production line of aluminum ingots slag hitting robot, which is characterized in that the signal transmitter includes solid
Determine frame, sender set and first sensor；One end of the fixed frame is static with respect to ground to be fixedly connected, the other end and the hair
Disk connection is interrogated, and the sender set can be freely rotated around center axis；The sender set includes sprocket wheel and counting scale, and
The sprocket wheel is fixedly and coaxially connected with the counting scale；The sprocket wheel engages connection with conveyer chain；The counting scale is equipped with more
A first through hole, and the first through hole is evenly arranged on the circle concentric with the counting scale；The first sensor with it is described
Fixed frame connection, and be correspondingly arranged with the first through hole；The signal transmitter further includes second sensor, is set on the counting scale
There are multiple second through-holes；Second through-hole is evenly arranged on the concentric circles of the first through hole, and the quantity of the first through hole is
The integral multiple of second number of openings；The second sensor is connect with the fixed frame, and corresponding with second through-hole
Setting.
2. the signal transmitter of continuous casting production line of aluminum ingots slag hitting according to claim 1 robot, which is characterized in that institute
It states between the first through hole quantity in the number of teeth and the counting scale on sprocket wheel as integral multiple relation.
3. the signal transmitter of continuous casting production line of aluminum ingots slag hitting according to claim 2 robot, which is characterized in that institute
First through hole is stated using arc-shaped through-hole structure.
4. the signal transmitter of continuous casting production line of aluminum ingots slag hitting according to claim 3 robot, which is characterized in that every
One first through hole is corresponding with two teeth on the sprocket wheel.
5. the signal transmitter of continuous casting production line of aluminum ingots slag hitting according to claim 1 robot, which is characterized in that institute
The second through-hole is stated using arc-shaped through-hole structure.
6. the signal transmitter of continuous casting production line of aluminum ingots slag hitting according to claim 5 robot, which is characterized in that every
One second through-hole is corresponding with four continuous first through hole.
7. the signal transmitter of continuous casting production line of aluminum ingots slag hitting according to claim 1 robot, which is characterized in that institute
It states first sensor and the second sensor is all made of proximity sensor.
8. the signal transmitter of continuous casting production line of aluminum ingots slag hitting according to claim 7 robot, which is characterized in that institute
It states fixed frame and is equipped with the first arc groove corresponding with the first through hole and second through-hole and the second arc groove respectively, use
In installing the first sensor and the second sensor respectively.
9. the signal transmitter of continuous casting production line of aluminum ingots slag hitting according to claim 1 robot, which is characterized in that institute
Counting scale is stated equipped with arc-shaped bolt hole, for wearing connection bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710338097.0A CN107199332B (en) | 2017-05-15 | 2017-05-15 | The signal transmitter of continuous casting production line of aluminum ingots slag hitting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710338097.0A CN107199332B (en) | 2017-05-15 | 2017-05-15 | The signal transmitter of continuous casting production line of aluminum ingots slag hitting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107199332A CN107199332A (en) | 2017-09-26 |
| CN107199332B true CN107199332B (en) | 2019-11-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710338097.0A Active CN107199332B (en) | 2017-05-15 | 2017-05-15 | The signal transmitter of continuous casting production line of aluminum ingots slag hitting robot |
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| CN (1) | CN107199332B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115338398A (en) * | 2022-09-26 | 2022-11-15 | 云南云铝海鑫铝业有限公司 | Method for reducing fault rate of automatic aluminum liquid slagging manipulator based on energy conservation and environmental protection |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD283704A7 (en) * | 1988-11-09 | 1990-10-24 | Veb Mansfeld-Kombinat "Wilhelm Pieck",Dd | SAFETY DEVICE FOR A DEVICE FOR DETOXIFYING THE SURFACE OF MELT-FLUID METALS |
| ITMI20041602A1 (en) * | 2004-08-04 | 2004-11-04 | Meccano System S R L | AUTOMATIC SCORIFICATION EQUIPMENT ESPECIALLY FOR NON-FERROUS METAL WORKING PLANTS |
| DE102008008033A1 (en) * | 2007-08-04 | 2009-02-05 | Sms Demag Ag | Device for slag-free tapping or for transferring a melt |
| CN201505279U (en) * | 2009-04-09 | 2010-06-16 | 延吉喜来健实业有限公司 | Countable transmission control system |
| CN104785769B (en) * | 2015-04-27 | 2017-05-10 | 兰州爱赛特机电科技有限公司 | Residue striking device used for continuous casting production line of aluminium ingot |
| CN204842965U (en) * | 2015-07-07 | 2015-12-09 | 云南云铝润鑫铝业有限公司 | Automatic scarfing cinder machine slag scraping device of ingot casting |
| CN104915711B (en) * | 2015-07-10 | 2017-11-14 | 江苏理工学院 | Absolute angle counter |
| CN106475532B (en) * | 2016-11-17 | 2019-06-28 | 李启狄 | Full-automatic cadmia removing machine |
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- 2017-05-15 CN CN201710338097.0A patent/CN107199332B/en active Active
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| CB03 | Change of inventor or designer information |
Inventor after: Luo Dechun Inventor after: Feng Ruicheng Inventor after: Ma Guangyu Inventor after: Li Baojian Inventor after: Wu Fengming Inventor after: Li Jianhua Inventor after: Rui Zhiyuan Inventor after: Lei Chunli Inventor after: Ling Penglu Inventor after: Ren Lina Inventor after: Shen Hao Inventor after: Xin Zhou Inventor after: Guo Junfeng Inventor before: Li Jianhua Inventor before: Rui Zhiyuan Inventor before: Lei Chunli Inventor before: Ling Penglu Inventor before: Ren Lina Inventor before: Shen Hao Inventor before: Xin Zhou Inventor before: Guo Junfeng Inventor before: Feng Ruicheng |
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Effective date of registration: 20180427 Address after: 730050 287 LAN Gong Ping Road, Qilihe District, Lanzhou, Gansu. Applicant after: Lanzhou University Of Technology Applicant after: Qingtongxia Aluminum Limited by Share Ltd Ningdong aluminum branch Address before: 730050 287 LAN Gong Ping Road, Qilihe District, Lanzhou, Gansu. Applicant before: Lanzhou University Of Technology |
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