Research On The Removal Technology Of Sticky Slag In The Process Of Robot Slag Removal In Aluminum Ingot Production Line

When the aluminum ingot is cast,scum will appear on the surface of the liquid aluminum,and if it is not removed in time,it will affect the quality of the aluminum produced.After the application of industrial robots to remove slag,the aluminum slag will stick to the surface of the slag shovel.If the aluminum slag attached to the surface of the slag shovel is not removed in time,the slag shovel will affect the surface quality of the aluminum ingot during the subsequent slag removal process.Therefore,how to make industrial robots quickly and smoothly remove aluminum slag attached to the slag shovel is the research content of automated slag removal operations.In view of the problem of strong adhesion between the slag shovel and the aluminum slag,inorganic phosphate coating materials have been studied and experimentally verified that the attachment of solid anti-stick coatings can significantly reduce the binding strength of the adhesive surface.After adding a solid anti-stick coating to the surface of the slag shovel,the aluminum slag removal process on the surface of the slag shovel is regarded as a cutting process.Based on the mechanical properties of the aluminum slag itself,the driving force required by the robot during the slag removal process is calculated,and the maximum load at the end of the IRB 4600 robot is matched and calculated.In order to further reduce the time period of the slag cleaning stroke,the interpolation polynomial is used to plan a reasonable slag cleaning trajectory for the robot.Applying the principles of robot kinematics and dynamics,the planned slag-clearing trajectory through simulation,calculation and analysis can meet the smoothness requirements of the robot during operation,and the maximum value of the robot joint torque meets the limiting conditions,and the rationality of the slag-clearing trajectory planning is verified.This paper proposes two innovative content for automated slag cleaning operation technology: the application of solid anti-stick coating to significantly reduce the binding strength of the steel-aluminum binding surface from the original 7.25 MPa to1.13 MPa,to improve the robot’s removal rate of surface aluminum slag;according to the calculation results of kinematics and dynamics simulation,time is used as the optimization goal,and joint torque is used as the boundary condition to improve the slag cleaning trajectory,reducing the total time of the slag cleaning trajectory from the original 6s to 5s,and improving the work efficiency of the slag cleaning stroke robot.It has certain practical application value for realizing the automated production of aluminum ingots.