CN110026547A - A kind of robot automatic collector of residue control method for ingot casting production line - Google Patents
A kind of robot automatic collector of residue control method for ingot casting production line Download PDFInfo
- Publication number
- CN110026547A CN110026547A CN201810566543.8A CN201810566543A CN110026547A CN 110026547 A CN110026547 A CN 110026547A CN 201810566543 A CN201810566543 A CN 201810566543A CN 110026547 A CN110026547 A CN 110026547A
- Authority
- CN
- China
- Prior art keywords
- slag
- fishing
- fishing slag
- ingot casting
- ingot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B22D7/00—Casting ingots, e.g. from ferrous metals
- B22D7/12—Appurtenances, e.g. for sintering, for preventing splashing
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot automatic collector of residue control methods for ingot casting production line, it is characterized in that, after fishing out the arrival of slag moment, industrial robot carries out fishing slag according to the fishing slag method of setting, fishing slag during main control unit according to acquisition ingot casting linear velocity signal adjustment industrial robot make to be mounted on the fishing slag tooling on industrial robot follow ingot casting line speed carry out fishing slag process, fish out slag process after the completion of industrial robot according to the slag method of setting make dregs be detached from fishing slag plate.A kind of robot automatic collector of residue control method for ingot casting production line of the invention can replace artificial fishing slag, have fishing juice effect good, reduce production cost, reduce security risk, can be widely applied to the fishing such as aluminium ingot, zinc ingot metal, lead pig and alloy pig slag field.
Description
Technical field
The invention belongs to aluminium ingot ingot casting line automation field, in particular to a kind of aluminium ingot device for automatically control thickness.
Background technique
Aluminium ingot in process of production, due to alloying component, additive classification, the reasons such as groove structure and casting drop, aluminium
The surface of ingot easily forms aluminium slag, and every block of aluminium ingot requires to carry out fishing slag, currently, ingot casting line aluminium ingot fishing slag be by being accomplished manually,
Dregs are picked up from molten aluminum by dedicated fishing slag tool and are lost into residue receiving box by operator, and slag tool is fished out during fishing out slag will be with
The speed sync of ingot casting line.
There are two drawbacks for artificial fishing slag: on the one hand artificial fishing slag is close apart from molten aluminum, and operating ambient temperature is high and easily by aluminium
Liquid scald, very big to human injury, there are more security risks；On the other hand artificial fishing slag fatiguability, fishing slag hold in the process
It is also easy to produce burr, aluminium ingot high rejection rate.
Summary of the invention
The object of the present invention is to provide a kind of robot automatic collector of residue control method for ingot casting production line, feature exists
In, after the fishing slag moment reaches, industrial robot carries out fishing slag according to the fishing slag method of setting, fish out during slag main control unit according to
Making to be mounted on the fishing slag tooling on industrial robot according to the ingot casting linear velocity signal adjustment industrial robot of acquisition follows ingot casting raw
Producing line speed carries out fishing slag process, and industrial robot makes dregs be detached from fishing slag according to the slag method of setting after the completion of fishing slag process
Plate.
The fishing slag moment determines the fishing slag moment along testing agency using mold side.
Equipped with fishing slag plate in the fishing slag tooling.
The fishing slag method, using fishing slag plate from ingot mold both ends to centre move toward one another by the way of carry out fishing slag or
Person carries out fishing slag using the fishing slag method that fishing slag plate is moved from one end of ingot mold to the other end of ingot mold.
The slag method makes dregs be detached from fishing slag by self weight in such a way that industrial robot rapidly changes position
Plate.
Advantages of the present invention: the present invention fishing slag moment is accurate, and fishing out slag tooling during fishing out slag can run with ingot casting line locking,
Fishing juice effect is good, instead of artificial fishing slag, eliminates part labour, avoids by the hair of the industrial accidents such as molten aluminum scald
It is raw.
Detailed description of the invention
The robot automatic collector of residue control method of Fig. 1 ingot casting production line.
1- main control unit, 2- mold side fish out slag along testing agency, 3- ingot casting linear velocity signal, 4- industrial robot, 5-
Tooling
Specific embodiment
The invention will be further described for description and attached drawing below by way of specific embodiment.
As shown in Figure 1, a kind of robot automatic collector of residue control method for ingot casting production line, mainly by main control unit
1, mold side is formed along testing agency 2, ingot casting linear velocity signal 3, industrial robot 4, fishing slag tooling 5.
Main control unit is collectively formed by SIEMENS PLC ST30 and one piece of AM06 analog module in this example, PLC ST30
Edge signal, the AM06 analog module for the ingot mold that reception mold side is detected along testing agency collect the life of ingot casting line
Producing line velocity amplitude, main control unit send out starting fishing slag order to industrial robot, and industrial robot uses Kawasaki RS050, matches
Standby SERVO CONTROL cabinet and teaching machine, industrial robot carry out data exchange by dedicated I O board card and main control unit；Ingot casting line
The frequency values of velocity sensor acquisition ingot casting line frequency converter give the AM06 unit of PLC, and the frequency values of frequency converter are bigger, ingot casting line
Speed it is faster, fishing slag tooling the dregs picked up are lost into residue receiving box, residue receiving box is welded by 6 thick ordinary carbon steels.
A kind of robot automatic collector of residue control method for ingot casting production line, which is characterized in that after the fishing slag moment reaches,
Industrial robot carries out fishing slag according to the fishing slag method of setting, fishes out ingot casting linear velocity of the main control unit according to acquisition during slag
Signal adjustment industrial robot makes to be mounted on the fishing slag tooling on industrial robot and ingot casting line speed is followed to carry out fishing slag mistake
Journey, fish out slag process after the completion of industrial robot according to the slag method of setting make dregs be detached from fishing slag plate.
The fishing slag moment determines the fishing slag moment along testing agency using mold side.
Equipped with fishing slag plate in the fishing slag tooling.
The fishing slag method, using fishing slag plate from ingot mold both ends to centre move toward one another by the way of carry out fishing slag or
Person carries out fishing slag using the fishing slag method that fishing slag plate is moved from one end of ingot mold to the other end of ingot mold.
The slag method makes dregs be detached from fishing slag by self weight in such a way that industrial robot rapidly changes position
Plate.
A kind of robot automatic collector of residue control method for ingot casting production line of the present invention is:
Main control unit 1 receives mold side after the signal that testing agency 2 detects, opens to the sending of industrial robot 4
Begin fishing slag signal；Industrial robot 4 starts to fish out slag after driving fishing slag tooling 5 to run to fishing slag position；Main control list during fishing slag
Member 1 calculates the synchronization value of industrial robot 4 according to ingot casting linear velocity signal 3；Industrial robot 4 follows casting according to synchronization value
The operation of ingot line locking, while fishing out the fishing slag plate in slag tooling 5 and moving toward one another from ingot mold both ends, by dregs from ingot mold
Middle position folder is walked, and industrial robot 4 rapidly changes position and so that dregs is detached from fishing slag plate by self weight and fall into above slag case
Residue receiving box, the fishing slag plate then fished out in slag tooling 5 are gone opposite to each other from the middle position of fishing slag tooling 5, run to fishing slag tooling 5
End positions, industrial robot 4, which returns to, waits position waiting is next to start to fish out slag signal, circuits sequentially continuous fishing slag.
Ingot casting linear velocity signal is from frequency acquisition signal on ingot casting line frequency converter as velocity amplitude in this example.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in of the invention
Within protection scope.
Claims (5)
1. a kind of robot automatic collector of residue control method for ingot casting production line, which is characterized in that after the fishing slag moment reaches, work
Industry robot carries out fishing slag according to the fishing slag method of setting, fishes out ingot casting linear velocity letter of the main control unit according to acquisition during slag
Number adjustment industrial robot makes to be mounted on the fishing slag tooling on industrial robot and ingot casting line speed is followed to carry out fishing slag process,
Industrial robot makes dregs be detached from fishing slag plate according to the slag method of setting after the completion of fishing slag process.
2. the robot automatic collector of residue control method according to claim 1 for ingot casting production line, it is characterised in that: institute
The fishing slag moment stated determines the fishing slag moment along testing agency using mold side.
3. the robot automatic collector of residue control method according to claim 1 for ingot casting production line, it is characterised in that: institute
Equipped with fishing slag plate in the fishing slag tooling stated.
4. the robot automatic collector of residue control method according to claim 1 for ingot casting production line, it is characterised in that: institute
The fishing slag method stated carries out fishing slag or using fishing slag in such a way that fishing slag plate is moved toward one another from ingot mold both ends to centre
The fishing slag method that plate is moved from one end of ingot mold to the other end of ingot mold carries out fishing slag.
5. the robot automatic collector of residue control method according to claim 1 for ingot casting production line, it is characterised in that: institute
The slag method stated makes dregs be detached from fishing slag plate by self weight in such a way that industrial robot rapidly changes position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810566543.8A CN110026547A (en) | 2018-05-27 | 2018-05-27 | A kind of robot automatic collector of residue control method for ingot casting production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810566543.8A CN110026547A (en) | 2018-05-27 | 2018-05-27 | A kind of robot automatic collector of residue control method for ingot casting production line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110026547A true CN110026547A (en) | 2019-07-19 |
Family
ID=67234906
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810566543.8A Pending CN110026547A (en) | 2018-05-27 | 2018-05-27 | A kind of robot automatic collector of residue control method for ingot casting production line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110026547A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100865236B1 (en) * | 2007-05-17 | 2008-10-23 | 주식회사 포스코 | Apparatus for elimating the slags |
| CN101745633A (en) * | 2008-12-09 | 2010-06-23 | 沈阳铝镁设计研究院 | Aluminum liquid submerged slag conveyor and slag conveying method |
| CN104057079A (en) * | 2014-07-08 | 2014-09-24 | 沈阳市汇丰机械厂 | Rectangular coordinate slag-off robot for aluminum pig casting machine |
| CN104785769A (en) * | 2015-04-27 | 2015-07-22 | 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 |
| CN104923774A (en) * | 2015-07-07 | 2015-09-23 | 云南云铝润鑫铝业有限公司 | Automatic slag removal machine for ingot casting |
| CN105195727A (en) * | 2014-06-26 | 2015-12-30 | 沈阳铝镁设计研究院有限公司 | Control system and method of molten aluminum slag conveyor |
| CN107008891A (en) * | 2017-05-16 | 2017-08-04 | 云南驰宏锌锗股份有限公司 | A kind of efficient ingot casting deslagging device and application method |
-
2018
- 2018-05-27 CN CN201810566543.8A patent/CN110026547A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100865236B1 (en) * | 2007-05-17 | 2008-10-23 | 주식회사 포스코 | Apparatus for elimating the slags |
| CN101745633A (en) * | 2008-12-09 | 2010-06-23 | 沈阳铝镁设计研究院 | Aluminum liquid submerged slag conveyor and slag conveying method |
| CN105195727A (en) * | 2014-06-26 | 2015-12-30 | 沈阳铝镁设计研究院有限公司 | Control system and method of molten aluminum slag conveyor |
| CN104057079A (en) * | 2014-07-08 | 2014-09-24 | 沈阳市汇丰机械厂 | Rectangular coordinate slag-off robot for aluminum pig casting machine |
| CN104785769A (en) * | 2015-04-27 | 2015-07-22 | 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 |
| CN104923774A (en) * | 2015-07-07 | 2015-09-23 | 云南云铝润鑫铝业有限公司 | Automatic slag removal machine for ingot casting |
| CN107008891A (en) * | 2017-05-16 | 2017-08-04 | 云南驰宏锌锗股份有限公司 | A kind of efficient ingot casting deslagging device and application method |
Non-Patent Citations (1)
| Title |
|---|
| 邬宽明: "《现场总线技术应用技术选编3》", 31 August 2005, 北京航空航天大学出版社 * |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20190719 |