CN215790895U

CN215790895U - Be used for calcination positive pole carbon block surface cleaning device

Info

Publication number: CN215790895U
Application number: CN202120928521.9U
Authority: CN
Inventors: 王伟钢
Original assignee: Henan Amite Robot Technology Co ltd
Current assignee: Henan Amite Robot Technology Co ltd
Priority date: 2021-04-30
Filing date: 2021-04-30
Publication date: 2022-02-11
Anticipated expiration: 2031-04-30

Abstract

The utility model discloses a device for cleaning the surface of a baked anode carbon block, which belongs to the technical field of carbon block cleaning tools and comprises a 3D machine vision camera for acquiring the position information of the carbon block, a controller for receiving the position information acquired by the 3D machine vision camera and analyzing and processing the position information, and a carbon block cleaning mechanism for cleaning the carbon block by executing a control instruction issued by the controller, wherein the signal output end of the 3D machine vision camera is connected with the signal input end of the controller; the carbon block cleaning mechanism comprises a six-axis robot, a mechanical arm of the six-axis robot is connected with a cleaning tool through a connecting seat, and the cleaning tool comprises a cleaning part I for cleaning a carbon bowl and a spiral groove in the carbon block, a cleaning part II for cleaning the side surfaces around the carbon block, and a cleaning part III for cleaning the upper surface of the carbon block and a boss. The utility model has high execution efficiency and good carbon block cleaning effect.

Description

Be used for calcination positive pole carbon block surface cleaning device

Technical Field

The utility model belongs to the technical field of carbon block cleaning tools, and particularly relates to a surface cleaning device for a baked anode carbon block.

Background

In the roasting process and roasting process of the aluminum anode carbon block, roasting fillers and the like can be adhered to carbon bowls, bosses, spiral grooves, outer surfaces and other parts of the carbon block. The process needs to carry out cleaning operation on the carbon bowl, the spiral groove, the upper lug boss, the upper surface, the long surface and the end surface of the carbon block so as to meet the use requirements of electrolysis and anode assembly. The cleaning operation of the discharged carbon blocks is finished manually, the labor intensity is high, and the cleaning operation is influenced by the high-temperature and high-dust environment, so that the protection of workers is challenging. In addition, manual cleaning is mostly carried out in an off-line mode, namely, the carbon blocks are lifted off from a production line by a stacking crown block, manual cleaning is carried out in a specific area, and warehouse stacking is carried out by the stacking crown block after cleaning is finished. The space is occupied, and meanwhile, the stacking crown block needs to frequently perform the stacking operation, so that the workload is increased.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a cleaning device for the surface of a baked anode carbon block, which has high execution efficiency and good cleaning effect.

In order to achieve the purpose, the utility model adopts the following technical scheme: a cleaning device for the surface of a baked anode carbon block comprises a 3D machine vision camera for collecting position information of the carbon block, a controller for receiving the position information collected by the 3D machine vision camera and carrying out analysis processing, and a carbon block cleaning mechanism for cleaning the carbon block by executing a control instruction sent by the controller, wherein the signal output end of the 3D machine vision camera is connected with the signal input end of the controller, and the signal output end of the controller is connected with the control signal input end of the carbon block cleaning mechanism; the carbon block cleaning mechanism comprises a six-axis robot, a mechanical arm of the six-axis robot is connected with a cleaning tool through a connecting seat, and the cleaning tool comprises a cleaning part I for cleaning a carbon bowl in the carbon block, a cleaning part II for cleaning the side surfaces around the carbon block and a cleaning part III for cleaning the upper surface of the carbon block and a boss.

Preferably, the cleaning part I comprises a cleaning motor I arranged on the connecting seat, a vibrator mounting plate fixedly connected to the bottom of the connecting seat, vibrators arranged on the vibrator mounting plate and distributed and in the same number with thread grooves on the carbon blocks, a cutter frame connected with a power output shaft I of the cleaning motor I, and a carbon bowl cleaning cutter head connected on the cutter frame in a floating manner, wherein the power output shaft I of the cleaning motor I vertically penetrates through the vibrator mounting plate and then is connected with the cutter frame, at least 2 groups of mounting plates I used for mounting the carbon bowl cleaning cutter head are arranged along the circumferential direction, the mounting plate I is provided with a pin hole I, the carbon bowl cleaning tool bit is provided with a strip hole matched with the pin hole I for use, the carbon bowl cleaning tool bit is connected to the mounting plate I through a pin shaft, float around charcoal bowl clearance tool bit I can take place for mounting panel I relatively under the drive of cleaning motor I to make charcoal bowl clearance tool bit I hug closely I inner wall of charcoal bowl.

Preferably, the vibrator comprises a vibrator barrel, a vibrator shaft sleeved in the vibrator barrel, and a vibrating shovel connected with the vibrator shaft, the vibrator barrel is mounted on a vibrator mounting plate, the vibrating shovel penetrates through the vibrator mounting plate and extends downwards, the vibrating shovel is a strip-shaped threaded tool with a flexible piece, the flexible piece is a spring I, and the spring I is arranged at the connecting position of the vibrator shaft and the vibrating shovel.

Preferably, cleaning portion II is including installing cleaning motor II on the connecting seat, installing planet case on the connecting seat, setting in the planet incasement with clean II power output shaft connection driving gears of motor II, set up in the planet incasement and with a plurality of driven gear that driving gear meshing is connected, be connected with corresponding driven gear's pivot be used for installing facade clearance tool bit mounting panel II, 4 mounting grooves are seted up to II all edge positions of mounting panel, 2 adjacent mounting grooves mutually perpendicular in 4 mounting grooves, pilot hole I has been seted up to the mounting groove, have seted up pilot hole II on the facade clearance tool bit, and facade clearance tool bit passes through in the corresponding mounting groove of locking bolt fixed connection on mounting panel II.

Preferably, the planetary box is arranged on the left side face of the connecting seat, a power output shaft II of the cleaning motor II extends into the planetary box from the top of the planetary box and is connected with a driving gear in the planetary box, a rotating shaft of a driven gear extends out of the bottom of the planetary box and is fixedly connected with the turntable, and the mounting plate II is fixedly connected to the turntable; the top of the planetary box is provided with an accommodating hole for accommodating the rotating shaft at a position corresponding to the rotating shaft, and one end of the rotating shaft, which is far away from the rotating disc, extends out of the planetary box from the accommodating hole; the rotating shaft of the driven gear can stretch and move relative to the accommodating hole so that the vertical surface cleaning tool bit has flexible action at the upper position and the lower position; and a cutter head position detector for detecting the floating position of the vertical cleaning cutter head is arranged at the accommodating hole.

Preferably, the cleaning part III comprises a polishing wheel in a cone structure and a cleaning motor III for driving the polishing wheel to rotate, the polishing wheel is matched with a boss on the carbon block, two sides of the polishing wheel are respectively rotatably connected with frames on two sides of a polishing wheel mounting frame in a U-shaped structure, and the polishing wheel mounting frame is fixedly mounted on the front side face of the connecting seat through a spring cushion block.

The device further comprises a carbon block conveying mechanism for conveying the carbon block, a carbon block position detector for detecting whether the carbon block moves to a specified position, and a carbon block jacking positioning mechanism which is arranged below the carbon block conveying mechanism and used for jacking and fixing the carbon block moving to the specified position, wherein the signal output end of the carbon block position detector is connected with the signal input end of a controller, and the signal output end of the controller is connected with the execution signal input ends of the carbon block conveying mechanism and the carbon block jacking positioning mechanism.

Furthermore, the carbon block conveying mechanism comprises a conveying frame, a conveying roller and a conveying motor, wherein the conveying roller is rotatably connected to the conveying frame, and the conveying motor drives the conveying roller to rotate.

Furthermore, the carbon block jacking positioning mechanism comprises a jacking lower frame and a lifting cylinder, wherein the jacking lower frame is arranged below the conveying frame, the lifting cylinder is arranged on the jacking lower frame, the power output end of the lifting cylinder is connected with a jacking upper frame of an inverted U-shaped structure, and the widths of vertical plates on two sides of the jacking upper frame are smaller than the distance between adjacent conveying rollers.

Compared with the prior art, the utility model has the beneficial effects that:

1. the utility model adopts a 3D machine vision camera to carry out vision measurement and positioning, the 3D machine vision camera is used for measuring the position of the carbon bowl, the position of the spiral groove, the height of the carbon block and the peripheral outline dimension, and guiding the carbon block cleaning mechanism to accurately measure and position each cleaning part, the carbon block cleaning mechanism adopts a six-axis industrial robot as a motion execution mechanism and is designed by matching a combined type multi-cutter-head tool, the cutter head drive adopts compressed air power, the safety and the reliability are sufficient, the controller adopts PLC for centralized control, the design fully considers the working beat and the working efficiency of the system, and the utility model has the advantages of high reliability, high action speed and strong flexibility.

2. The utility model has small overall occupied space and compact structure arrangement and is matched with the carbon block conveying mechanism and the carbon block jacking and positioning mechanism, after the carbon block is cleaned, the carbon block jacking and positioning mechanism is reset to release the carbon block, and the carbon block is conveyed to the next station by the carbon block conveying mechanism, thereby greatly improving the working efficiency and having high intelligent automation degree.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view of A in FIG. 1;

FIG. 3 is a schematic structural diagram of the connecting socket of the present invention;

FIG. 4 is a schematic structural view of the connection of the cleaning part I, the cleaning part II and the cleaning part III with the connecting base;

FIG. 5 is a schematic view of the cleaning part I and the connecting seat of the present invention;

FIG. 6 is a schematic view showing the structure of a blade holder in the cleaning part I of the present invention;

FIG. 7 is a schematic view of the assembly of the tool holder and the carbon bowl cleaning head of the present invention;

FIG. 8 is a schematic view showing the internal structure of a planetary box in the cleaning part II according to the present invention;

FIG. 9 is a schematic structural view of a turntable according to the present invention;

FIG. 10 is a schematic view of the connection between the cleaning part III and the connecting base;

FIG. 11 is a schematic structural view of a carbon block jacking positioning mechanism in the present invention;

in the figure: carbon block 001, carbon bowl 0011, outer vertical surface 0013, carbon block upper surface 0014, boss 0015, carbon block conveying mechanism 100, conveying frame 101, conveying roller 102, carbon block jacking positioning mechanism 200, jacking lower frame 201, jacking upper frame 202, lifting cylinder 203, 3D machine vision camera 300, camera support 301, six-axis robot 400, robot base 401, connecting seat 500, cleaning part I-600, cleaning motor I-601, vibrator mounting plate 602, vibrator 603, vibrator cylinder 6031, vibrating shovel 6032, tool rest 604, mounting plate I-6041, carbon bowl cleaning tool bit 605, cleaning part II-700, cleaning motor II-701, planetary box 702, driving gear 703, driven gear 704, rotary table 705, mounting plate II-706, outer vertical surface cleaning tool bit 707, cleaning part III-800, cleaning motor III-801, polishing wheel 802, polishing wheel mounting frame 803, spring spacer 804, tool bit position detector 900.

Detailed Description

As shown in fig. 1 to 11, a device for cleaning the surface of a baked anode carbon block comprises a carbon block conveying mechanism 100 for conveying a carbon block 001, a carbon block position detector for detecting whether the carbon block 001 moves to a specified position, a carbon block jacking positioning mechanism 200 arranged below the carbon block conveying mechanism 100 for jacking and fixing the carbon block 001 moving to the specified position, a 3D machine vision camera 300 for acquiring the position information of the carbon block 001 jacked by the carbon block jacking positioning mechanism 200, a controller for receiving the position information of the carbon block 001 acquired by the 3D machine vision camera 300 and analyzing and processing the position information, a carbon block cleaning mechanism for cleaning the carbon block 001 by executing a control instruction issued by the controller, wherein the signal output ends of the carbon block position detector, the 3D machine vision camera 300 are connected with the signal input end of the controller, and the signal output end of the controller is connected with the carbon block conveying mechanism 100, A carbon block jacking positioning mechanism 200 and a control signal input end of a carbon block cleaning mechanism.

As a preferred embodiment of this embodiment, carbon block conveying mechanism 100 comprises a conveying frame 101, conveying rollers 102 rotatably connected to the conveying frame, and a conveying motor (not shown) for driving conveying rollers 102 to rotate, and carbon block conveying mechanism 100 may be a commercially available finished product or a fixed product.

As a preferred embodiment of this embodiment, the carbon block position detector is an infrared proximity switch, the carbon block position detector is installed on the transportation frame 101, and when the carbon block position detector detects that the carbon block 001 moves to a specified position (carbon block cleaning station), the carbon block position detector sends a detected signal to the controller, and the controller controls the transportation motor to stop running and controls the carbon block jacking positioning mechanism 200 to act at the same time, so as to jack the carbon block 001 to a specified height.

As a preferred embodiment of this embodiment, as shown in fig. 11, the carbon block jacking positioning mechanism 200 includes a lower jacking frame 201 disposed below the conveying frame 101, and a lifting cylinder 203 disposed on the lower jacking frame 201 and having upward power output, the carbon block jacking positioning mechanism 200 is disposed right below the carbon block cleaning station in the carbon block conveying mechanism 100, the power output end of the lifting cylinder 203 is connected to an upper jacking frame 202 having an inverted U-shaped structure, and the widths of the risers on both sides of the upper jacking frame 202 are smaller than the distance between adjacent conveying rollers 102. The carbon block jacking and positioning mechanism 200 adopts a pneumatic jacking device for positioning and limiting the carbon block 001 to be cleaned, so that the carbon block 001 at the carbon block cleaning station can be cleaned conveniently by the carbon block cleaning mechanism, and the carbon block 001 is ensured not to be moved during cleaning.

When the carbon block jacking and positioning mechanism 200 receives an action instruction of the controller, a piston rod of the lifting cylinder 203 extends out, vertical plates on two sides of the jacking upper rack 202 extend out from a gap between adjacent conveying rollers 102, after the piston rod of the lifting cylinder 203 extends in place, the jacking upper rack 202 jacks up the carbon block 001 at the carbon block cleaning station to a specified height and positions, then the 3D machine vision camera 300 measures and positions the appearance profile of the carbon block 001 at the carbon block cleaning station, the measured central coordinate of the carbon bowl 0011 and the data information of the distribution coordinate value of the spiral groove are sent to the controller, and after the controller receives the data information uploaded by the 3D machine vision camera, the controller controls the carbon block cleaning mechanism to clean the outer vertical surface 0013 (peripheral side surface), the upper carbon block 0014, the boss 0015, the carbon bowl 0011 and the spiral groove of the carbon block 001. When the spiral groove is formed in the carbon bowl, the spiral groove can be cleaned together when the carbon bowl is cleaned.

As a preferred embodiment of the present embodiment, the 3D machine vision camera 300 is disposed on one side of the conveying frame 101 through the camera support 301, and the camera of the 3D machine vision camera 300 is located right above the carbon block cleaning station, so that the 3D machine vision camera 300 can conveniently acquire the position information of the carbon block 001 jacked up by the carbon block jacking and positioning mechanism 200.

3D machine vision camera measurement point location:

(1) carbon bowl center coordinates; (2) the coordinate position of the carbon bowl spiral groove; (3) the height and plane coordinate values of the upper surface and the upper boss of the carbon block; (4) the coordinate values of the long surface and the end surface of the carbon block.

The vision area of the 3D machine vision camera is in a light beam diffusion type, can cover the carbon block position area at the carbon block cleaning station and the cleaning area of the carbon block cleaning mechanism, and is convenient for the controller to operate the robot to complete cleaning operation.

Adopt 3D machine vision camera 300 to carry out the measurement and the location of appearance outline to the charcoal piece 001 of charcoal piece clearance station department, in order to ensure that 3D machine vision camera 300 can reliably operate in the high-temperature high powder environment after the charcoal piece goes out of the stove, the vision camera of 3D machine vision camera 300 in this embodiment adopts closed malleation design, namely, leads to pure compressed air in the lens group encapsulation, makes it keep outside malleation all the time, makes the dust be unlikely to get into in the lens group, and the dust protective effect is good. In addition, the positive pressure compressed air has a certain forced air cooling effect, and the lens can work within the rated working temperature by adjusting the ventilation volume and the pressure of the compressed air according to the temperature condition in field work.

The 3D machine vision camera 300 in this embodiment has an embedded self-learning algorithm, a redundant boundary control and algorithm, and a bottom-layer image recognition algorithm. The self-learning algorithm is a special measurement algorithm developed according to the characteristics of the carbon block 001, and the precision and the accuracy of key measurement points are guaranteed. And the boundary control and algorithm redundancy are realized, the size deviation of the carbon block is determined to be in an empirical range according to the multi-sensor measurement data and the boundary threshold value, and the operation action range of the robot is prevented from being out of range. The bottom image recognition technology algorithm is changed through the bottom algorithm, and the algorithm design aiming at the image characteristics of the carbon block product is an important factor for the 3D machine vision to have the application of working conditions. The 3D machine vision camera 300 system algorithm adopts a multi-dimensional and multi-data comparison mode and is provided with a plurality of threshold values, so that even if measurement errors occur, the measurement errors can be limited in a reasonable error range, measurement data exceeding the threshold values are measured by the system for a plurality of times, and the system gives an alarm if the measurement errors do not exist in the threshold value range for a plurality of times.

As a preferred embodiment of the embodiment, the carbon block cleaning mechanism comprises a six-axis robot 400, each joint of the six-axis robot is flexibly designed to stretch, a connecting seat 500 is connected to a mechanical arm of the six-axis robot 400, a cleaning tool is connected to the connecting seat 500, and the cleaning tool comprises a cleaning part I-600 for cleaning carbon bowls and spiral grooves in carbon blocks, a cleaning part II-700 for cleaning outer vertical surfaces (peripheral side surfaces) of the carbon blocks, and a cleaning part III-800 for cleaning the upper surfaces and bosses of the carbon blocks.

The six-axis robot 400 in this embodiment is mounted on a robot base 401, and the robot base 401 is disposed at the other side of the carriage 101 and is symmetrically disposed with respect to the camera mount 301. Wherein robot base 401 adopts chemical crab-bolt snap-on to be in workshop subaerial, simple to operate, and is firm reliable.

As shown in fig. 5, the cleaning part i-600 includes a cleaning motor i-601 mounted on the connecting base 500, a vibrator mounting plate 602 fixedly connected to the bottom of the connecting base 500, vibrators 603 arranged on the vibrator mounting plate 602 and distributed and numbered in accordance with the thread grooves on the carbon block 001, a tool rest 604 connected to the power output shaft i of the cleaning motor i-601, and a carbon bowl cleaning tool head 605 floatingly connected to the tool rest 604, wherein there are 6 groups of spiral grooves at the inner wall of each carbon bowl 0011, and thus, the vibrators 603 in this embodiment are six groups.

As a preferred embodiment of the present embodiment, the vibrator 603 includes a vibrator barrel 6031, a vibrator shaft sleeved in the vibrator barrel 6031, and a vibrating shovel 6032 connected to the vibrator shaft, the vibrator barrel 6031 is mounted on the vibrator mounting plate 602, the vibrating shovel 6032 vertically penetrates through the vibrator mounting plate 602 and extends downward, the vibrating shovel 6032 is a long threaded tool with a flexible member, the flexible member is a spring i, and the spring i is disposed at a connection position of the vibrator shaft and the vibrating shovel 6032.

Adopt vibrator 603 clearance helicla flute, vibration shovel 6032 has up-and-down motion and the state of vibrating motion during the clearance, is equipped with the flexible piece, ensures cleaning effect and cleaning efficiency to the helicla flute.

A power output shaft I of the cleaning motor I-601 vertically penetrates through the center of the vibrator mounting plate 602 and then is connected with the tool rest 604, and at least 2 groups of mounting plates I-6041 used for mounting the carbon bowl cleaning tool bit 605 are arranged along the circumferential direction of the tool rest 604.

As shown in fig. 6-7, the mounting plates i-6041 in this embodiment have three sets, pin holes i are formed in the three sets of mounting plates i-6041, long holes matched with the pin holes i are formed in the carbon bowl cleaning head 605, the carbon bowl cleaning head 605 is connected to the mounting plates i-6041 through pin shafts, the carbon bowl cleaning head 605 is thrown outward by centrifugal force under the driving of the cleaning motor i-601, the carbon bowl cleaning head 605 can float back and forth relative to the mounting plates i-6041, and even if the thickness distribution of slag on the inner wall of the carbon bowl is different, the carbon bowl cleaning head 605 can still be tightly attached to the inner wall of the carbon bowl 001.

The carbon bowl cleaning tool bit 605 is made of a coated tool material, and a hard alloy or high-speed steel tool is coated with a layer of refractory metal compound with good wear resistance on the upper surface by a chemical or physical method, so that the wear resistance of the tool material can be improved, and the toughness of the tool material is not reduced.

The connection mode of the charcoal bowl cleaning tool bit 605 and the mounting plate I-6041 adopts an axis pin type rotation self-adaptive design, namely, when the charcoal bowl cleaning tool bit 605 rotates in the charcoal bowl 001, the charcoal bowl cleaning tool bit 605 automatically opens by means of centrifugal force and clings to the inner wall of the charcoal bowl 001, the cleaning effect of the charcoal bowl 001 is guaranteed, and the effect of cleaning refractory slag is better.

Meanwhile, the compensation effect of abrasion of the carbon bowl cleaning tool bit 605 is considered, and the self-adaptive design is adopted, namely the carbon bowl cleaning tool bit 605 can still be tightly attached to the inner wall of the carbon bowl 0011 to be cleaned after being abraded, so that the cleaning effect is not influenced by abrasion.

The carbon bowl and spiral groove cleaning tool adopts pneumatic power output, the cleaning motor I-601 is a pneumatic motor, and the carbon bowl cleaning tool bit 605 is driven by the pneumatic motor through a speed reducer.

According to the utility model, the cleaning parts I-601 are specially designed according to the structural characteristics of the carbon block 001, and the carbon bowl and the spiral groove are cleaned synchronously, so that one-time completion is realized, and repeated multi-channel reciprocating motion is not needed, thereby saving the cleaning time.

In a preferred embodiment of the present invention, the cleaning unit ii-701 includes a cleaning motor ii-701 mounted on the mounting frame 500, a planetary box 702 disposed on the left side of the mounting frame 500, a driving gear 703 and a plurality of driven gears 704 engaged with the driving gear 703 disposed in the planetary box 702, a power output shaft ii of the cleaning motor ii-701 extends into the planetary box 702 from the top of the planetary box 702 and is connected to the driving gear 703 to drive the driving gear 703 to rotate, so that the driven gears 704 rotate with the driving gear 703, the planetary box 702 includes an upper planetary box casing and a lower planetary box casing, and the driving gear 703 and the driven gears 704 are disposed in a chamber formed by the upper planetary box casing and the lower planetary box casing.

As shown in fig. 8, the number of the driven gears 704 in this embodiment is five, five driven gears 704 are uniformly distributed along the circumference of the driving gear 703, and the rotating shafts of the five driven gears 704 are all correspondingly connected with five corresponding rotating discs 705 through the bottom of the gear box 702 to drive the rotating discs 705 to rotate.

The turntable 705 is fixedly connected with mounting plates II-706, preferably, as shown in FIG. 9, the turntable 705 and the mounting plates II-706 are of an integral structure, the mounting plates II-706 are of a square structure, 4 mounting grooves are formed in the periphery of the mounting plates II-706 close to the edges of the mounting plates II-706, 2 adjacent mounting grooves in the 4 mounting grooves are perpendicular to each other, mounting holes I are formed in the mounting grooves, mounting holes II are formed in the facade cleaning tool bits 707, and the facade cleaning tool bits 707 are fixedly connected in the corresponding mounting grooves in the mounting plates II-706 through locking bolts.

As a preferred embodiment of this embodiment, the top of the planetary box 702 has an accommodating hole for accommodating the rotating shaft at a position corresponding to the rotating shaft, and one end of the rotating shaft, which is far away from the turntable 705, extends out of the planetary box 702 from the accommodating hole; the rotating shaft of the driven gear can stretch and move relative to the accommodating hole, so that the vertical surface cleaning cutter head has flexible action at the upper position and the lower position. The accommodating hole is provided with a tool bit position detector 900 for detecting a floating position of the corresponding rotary shaft, and the floating position of the corresponding facade cleaning tool bit 707 is determined by the floating position of the rotary shaft. The number of the bit position detectors 900 in this embodiment is three, and the three bit position detectors 900 are provided at intervals at the corresponding receiving holes.

The facade cleaning tool bit 707 in this embodiment is designed in a suspension manner, preferably, a spring ii is connected to a rotating shaft of each driven gear 704, the spring ii can press the facade cleaning tool bit 707 to be always in close contact with the facade of the carbon block 001 (a rotating shaft sleeve is sleeved on the rotating shaft, the rotating shaft sleeve is connected with the rotating shaft key, the rotating shaft can move up and down in a certain range relative to the rotating shaft sleeve, the rotating shaft is further sleeved with the spring ii, the spring ii can press the facade cleaning tool bit to be always in close contact with the facade of the carbon block), each group of facade cleaning tool bits 707 has a flexible action of floating up and down in a certain range, and during cleaning operation, the facade cleaning tool bit 707 floats to clean according to the distribution condition and cleaning power of the slag until the cleaning is thorough.

The signal output of the tool bit position detector 900 is connected with the signal input of the controller, the controller receives the detection data uploaded by the tool bit position detector 900, the data is analyzed and processed, and the pressure of the six-axis robot 400 on the facade cleaning tool bit 707 is controlled according to the analysis result, so that the cleaning effect and the cleaning efficiency are both considered.

Due to the structural design of the cleaning parts II-701, the six-axis robot 400 drives the cleaning parts II-701 to move around the carbon block 001 for a circle to complete the cleaning operation of the outer vertical surface of the carbon block 001, and multiple times of multi-channel reciprocating motion is not needed, so that the cleaning time is saved.

As a preferred embodiment of this embodiment, as shown in fig. 10, the cleaning part iii-800 includes a grinding wheel 802 in a cone structure adapted to a boss on the carbon block 001 and a cleaning motor iii-801 driving the grinding wheel 802 to rotate, two sides of the grinding wheel 802 are respectively rotatably connected to two side frames of a grinding wheel mounting bracket 803 in a U-shaped structure, and the grinding wheel mounting bracket 803 is fixedly mounted on the front side surface of the connecting base 500 through a spring spacer 804. Specifically, the cleaning motor iii-801 is mounted on a frame of the polishing wheel mounting frame 803, a power output shaft iii of the cleaning motor iii-801 is connected with a driving rotating rod on the polishing wheel 802, and a driven rotating rod on the polishing wheel 802 is rotatably connected with the frame on the polishing wheel mounting frame 803.

The boss 0015 structure adaptation on grinding wheel 802 and the charcoal piece 001, six axis robot 400 only need once around boss 0015 a week motion, can accomplish, has practiced thrift the clearing time greatly, has improved cleaning efficiency and clearance quality.

The grinding wheel 802 is made of a coated tool material, and a hard alloy or high-speed steel tool is coated with a layer of refractory metal compound with good wear resistance on the surface by a chemical or physical method, so that the wear resistance of the tool material can be improved without reducing the toughness of the tool material.

In the embodiment, the 3D machine vision camera 300 is used for vision measurement and positioning, the six-axis industrial robot is used as a motion executing mechanism, the controller adopts the PLC for centralized control, the system working beat and the working efficiency are fully considered in design, and the device has the advantages of high reliability, high action speed and high flexibility.

The working principle is as follows: the carbon block conveying mechanism 100 conveys carbon blocks 001 to be cleaned to a designated position (carbon block cleaning station), when the carbon block position detector detects that the carbon blocks 001 move to the carbon block cleaning station, the controller starts the carbon block jacking and positioning mechanism 200, the carbon block jacking and positioning mechanism 200 jacks the carbon blocks 001 to a certain height and fixes the carbon blocks, and the carbon block jacking and positioning mechanism 200 is structurally designed and has a limiting function and is used for fixing the positions of the carbon blocks during cleaning.

After the carbon block 001 is jacked in place by the carbon block jacking and positioning mechanism 200, the controller controls the 3D machine vision camera 300 to start shooting, position data such as carbon bowl center distance coordinates, carbon bowl spiral groove coordinates, carbon block upper boss coordinates and carbon block outer vertical face coordinates are obtained after the photos are calculated, the position data of each cleaning point calculated by the 3D machine vision camera 300 is transmitted to the controller (a robot control system) for controlling the carbon bowl cleaning mechanism, and the controller operates and controls the robot to start corresponding cleaning parts according to the coordinate values to clean the carbon bowl 0011, the spiral groove, the carbon block upper 0014, the boss 0015 and the outer vertical face 0013. After the carbon block cleaning mechanism cleans all cleaning surfaces of the carbon block 001, the carbon block jacking positioning mechanism 200 resets, the carbon block 001 descends to the conveying roller 102, and the controller controls the carbon block conveying mechanism 100 to act to convey the carbon block 001 to the next workstation.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A cleaning device for the surface of a baked anode carbon block is characterized in that: the device comprises a 3D machine vision camera (300) for collecting the position information of the carbon block (001), a controller for receiving the position information collected by the 3D machine vision camera (300) and analyzing and processing the position information, and a carbon block cleaning mechanism for cleaning the carbon block (001) by executing a control instruction issued by the controller, wherein the signal output end of the 3D machine vision camera (300) is connected with the signal input end of the controller, and the signal output end of the controller is connected with the control signal input end of the carbon block cleaning mechanism; the carbon block cleaning mechanism comprises a six-axis robot, a mechanical arm of the six-axis robot is connected with a cleaning tool through a connecting seat (500), the cleaning tool comprises a cleaning part I (600) used for cleaning a carbon bowl (0011) in the carbon block, a cleaning part II (700) used for cleaning the side face around the carbon block, and a cleaning part III (800) used for cleaning the upper surface (0014) and the boss (0015) of the carbon block.

2. The cleaning device for the surface of the baking anode carbon block as claimed in claim 1, wherein: the cleaning part I (600) comprises a cleaning motor I (601) arranged on a connecting seat (500), a vibrator mounting plate (602) fixedly connected to the bottom of the connecting seat (500), vibrators (603) which are arranged on the vibrator mounting plate (602) and are consistent with the distribution and number of thread grooves on the carbon block (001), a tool rest (604) connected with a power output shaft I of the cleaning motor I (601), and a carbon bowl cleaning tool bit (605) which is connected on the tool rest (604) in a floating manner, wherein the power output shaft I of the cleaning motor I (601) vertically penetrates through the vibrator mounting plate (602) and then is connected with the tool rest (604), at least 2 groups of mounting plates I (6041) used for mounting the carbon bowl cleaning tool bit (605) are arranged along the circumferential direction of the tool rest (604), a pin hole I is formed in the mounting plate I (6041), a long hole matched with the pin hole I is formed in the carbon bowl cleaning tool bit (605), charcoal bowl clearance tool bit (605) is through round pin hub connection on mounting panel I (6041), and charcoal bowl clearance tool bit (605) can take place to float around relative mounting panel I (6041) under the drive of cleaning motor I (601) to make charcoal bowl clearance tool bit (605) hug closely charcoal bowl (0011) inner wall.

3. The cleaning device for the surface of the baking anode carbon block as claimed in claim 2, wherein: the vibrator (603) comprises a vibrator barrel (6031), a vibrator shaft sleeved in the vibrator barrel (6031) and a vibrating shovel (6032) connected with the vibrator shaft, the vibrator barrel (6031) is installed on a vibrator mounting plate (602), the vibrating shovel (6032) penetrates through the vibrator mounting plate (602) and extends downwards, the vibrating shovel (6032) is a long-strip-shaped threaded tool with a flexible piece, the flexible piece is a spring I, and the spring I is arranged at the joint of the vibrator shaft and the vibrating shovel (6032).

4. The cleaning device for the surface of the baking anode carbon block as claimed in claim 3, wherein: the cleaning part II (700) comprises a cleaning motor II (701) arranged on the connecting seat (500), a planetary box (702) arranged on the connecting seat (500), a driving gear (703) arranged in the planetary box (702) and connected with a power output shaft II of the cleaning motor II (701), a plurality of driven gears (704) arranged in the planetary box and meshed with the driving gear (703), and a mounting plate II (706) connected with rotating shafts of the corresponding driven gears (704) and used for mounting a facade cleaning tool bit (707), 4 mounting grooves are seted up to mounting panel II (706) edge position all around, 2 adjacent mounting groove mutually perpendicular in 4 mounting grooves, pilot hole I has been seted up to the mounting groove, has seted up pilot hole II on facade clearance tool bit (707), and facade clearance tool bit (707) is through locking bolt fixed connection in the corresponding mounting groove on mounting panel II (706).

5. The cleaning device for the surface of the baking anode carbon block as claimed in claim 4, wherein: the planetary box (702) is arranged on the left side face of the connecting seat (500), a power output shaft II of the cleaning motor II (701) extends into the planetary box (702) from the top and is connected with a driving gear (703) in the planetary box (702), a rotating shaft of a driven gear (704) extends out of the bottom of the planetary box (702) and is fixedly connected with a turntable (705), and a mounting plate II (706) is fixedly connected to the turntable (705); the top of the planetary box (702) is provided with a containing hole for containing the rotating shaft at a position corresponding to the rotating shaft, and one end of the rotating shaft, which is far away from the rotating disc (705), extends out of the planetary box (702) from the containing hole; the rotating shaft of the driven gear (704) can stretch and move relative to the accommodating hole, and a cutter head position detector (900) for detecting the floating position of the facade cleaning cutter head (707) is arranged at the accommodating hole.

6. The cleaning device for the surface of the baking anode carbon block as claimed in claim 5, wherein: cleaning portion III (800) include with boss (0015) on carbon block (001) boss be the grinding wheel (802) of cone structure and drive grinding wheel (802) pivoted clean motor III (801), the both sides of grinding wheel (802) are connected with the both sides frame rotation of the grinding wheel mounting bracket (803) of U type structure respectively, and grinding wheel mounting bracket (803) is through spring cushion (804) fixed mounting on the leading flank of connecting seat (500).

7. A cleaning device for the surfaces of baked anode carbon blocks as claimed in any one of claims 1 to 6, wherein: the device comprises a carbon block conveying mechanism (100) for conveying the carbon block (001), a carbon block position detector for detecting whether the carbon block (001) moves to a specified position, and a carbon block jacking positioning mechanism (200) which is arranged below the carbon block conveying mechanism (100) and used for jacking and fixing the carbon block (001) moving to the specified position, wherein the signal output end of the carbon block position detector is connected with the signal input end of a controller, and the signal output end of the controller is connected with the carbon block conveying mechanism (100) and the execution signal input end of the carbon block jacking positioning mechanism.

8. The cleaning device for the surface of the baking anode carbon block as claimed in claim 7, wherein: the carbon block conveying mechanism (100) comprises a conveying frame (101), conveying rollers (102) rotatably connected to the conveying frame (101), and a conveying motor for driving the conveying rollers (102) to rotate.

9. The cleaning device for the surface of the baking anode carbon block as claimed in claim 8, wherein: the carbon block jacking positioning mechanism (200) comprises a jacking lower frame (201) arranged below the conveying frame (101), and a lifting cylinder (203) arranged on the jacking lower frame (201) and with upward power output, wherein the power output end of the lifting cylinder (203) is connected with a jacking upper frame (202) of an inverted U-shaped structure, and the widths of vertical plates on two sides of the jacking upper frame (202) are smaller than the distance between adjacent conveying rollers (102).