CN108334023B - Automatic control system and control method for special projectile robot for metallurgy - Google Patents
Automatic control system and control method for special projectile robot for metallurgy Download PDFInfo
- Publication number
- CN108334023B CN108334023B CN201810141204.5A CN201810141204A CN108334023B CN 108334023 B CN108334023 B CN 108334023B CN 201810141204 A CN201810141204 A CN 201810141204A CN 108334023 B CN108334023 B CN 108334023B
- Authority
- CN
- China
- Prior art keywords
- contactor
- crystal oscillator
- projectile
- control
- switches
- 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.)
- Expired - Fee Related
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
Abstract
An automatic control system and a control method of a projectile robot special for metallurgy. The product comprises contactor switches, wherein the contactor switches comprise contactor switches KA1, contactor switches KA2, contactor switches KA3, contactor switches KA4, contactor switches KA5, contactor switches KA6, contactor switches KA7 and contactor switches KA8, the contactor switches KA1 control the projectile mechanism A to be elastically connected with a crystal oscillator Y0, the contactor switches KA2 control the projectile mechanism A to be elastically withdrawn to be connected with the crystal oscillator Y1, the contactor switches KA3 control the projectile mechanism A to be launched to be connected with the crystal oscillator Y2, the contactor switches KA4 control the projectile mechanism A to be elastically returned to be connected with the crystal oscillator Y3, the contactor switches KA5 control the projectile mechanism B to be elastically withdrawn to be connected with the crystal oscillator Y4, the contactor switches KA6 control the projectile mechanism B to be elastically withdrawn to be connected with the crystal oscillator Y5, the contactor switches KA7 control the projectile mechanism B to be launched to be connected with the crystal oscillator Y6, and the contactor switches KA8 control the projectile mechanism B to be elastically. The invention is used for special steel enterprises, stainless steel enterprises, machinery manufacturing and military enterprises.
Description
The technical field is as follows:
the invention relates to an automatic control system and a control method of a special projectile robot for metallurgy.
Background art:
because the projectile body needs to be shot into the molten steel at a high speed in a very short time, the control system requires high shooting speed, accurate control and large force, the control without the projectile method cannot meet the requirements, and the effect cannot meet the requirements.
The invention content is as follows:
the invention aims to provide an automatic control system and a control method of a special projectile robot for metallurgy, wherein the stability, the effectiveness and the realizability of the whole system are controlled and realized by all functions of a PLC (programmable logic controller).
The above purpose is realized by the following technical scheme:
an automatic control system of a projectile robot special for metallurgy comprises contactor switches, wherein the contactor switches comprise contactor switches KA1, contactor switches KA2, contactor switches KA3, contactor switches KA4, contactor switches KA5, contactor switches KA6, contactor switches KA7 and contactor switches KA8, the contactor switches KA1 control the projectile mechanism A to pop up, the contactor switches KA2 control the projectile mechanism A to bounce, the contactor switches KA3 control the projectile mechanism A to launch, the contactor switches KA4 control the projectile mechanism A to reset, the contactor switches KA5 control the projectile mechanism B to pop up, the contactor switches KA6 control the projectile mechanism B to pop up, the contactor switches KA7 control the projectile mechanism B to launch, the contactor switches KA8 control the projectile mechanism B to reset, the projectile mechanism A is popped up and connected with a crystal oscillator Y0, the projectile mechanism A is connected with a crystal oscillator Y1 in a retreating mode, the projectile mechanism A is connected with a crystal oscillator Y2 in a launching mode, the projectile mechanism A is connected with a crystal oscillator Y3 in a resetting mode, the projectile mechanism B is connected with a crystal oscillator Y4 in an upward bouncing mode, the projectile mechanism B is connected with a crystal oscillator Y5 in a retreating mode, the projectile mechanism B is connected with a crystal oscillator Y6 in a launching mode, the projectile mechanism B is connected with a crystal oscillator Y7 in a resetting mode, and the crystal oscillator Y0, the crystal oscillator Y1, the crystal oscillator Y2, the crystal oscillator Y3, the crystal oscillator Y4, the crystal oscillator Y5, the crystal oscillator Y6 and the crystal oscillator Y7 are all connected with a power supply, a grounding COM and a power supply module PLC-Y.
The automatic control system for the special projectile robot for metallurgy is characterized in that a power supply module PLC-Y is connected with a direct-current power supply 220V/24V, the power supply module PLC-Y is connected with a temperature measuring instrument L3, the temperature measuring instrument L3 is connected with a system power indicator LM1, the system power indicator LM1 is connected with a system power button ST1, the system power button ST1 is connected with an inductor L2, the inductor L2 is connected with a fuse FU1, the fuse FU1 is connected with a contactor Q1, and the contactor Q1 is connected with a 220V power supply.
The automatic control system for the special projectile robot for metallurgy is characterized in that the crystal oscillator Y series also comprises a crystal oscillator Y8, a crystal oscillator Y9, a crystal oscillator YA, a crystal oscillator YB, a crystal oscillator YC, a crystal oscillator YD, a crystal oscillator YE and a crystal oscillator YF.
According to the automatic control system for the metallurgical special projectile robot, the contactor switch is arranged on a master control platform, the power supply module PLC-Y is arranged in the programmable controller, and the programmable controller is connected with the initialization control part, the sensing part and the detection part.
The automatic control system for the special projectile robot for metallurgy comprises a bottom shell, wherein the top of the bottom shell is connected with a supporting plate ring, a group of through holes are formed in the supporting plate ring, one side of the bottom of each through hole is connected with an oblique elastic sheet and fixed through screws, the oblique elastic sheet is connected with a lower oblique elastic sheet, a magnetic sheet is bonded to the top of the lower oblique elastic sheet, the length of the lower oblique elastic sheet is larger than the diameter of each through hole, an inserted rod is inserted into each through hole, the bottom of each inserted rod is connected with a fixed magnetic plate, the magnetic sheets are fixed through the through holes and the inserted rods in a suction mode, the top of each inserted rod is connected with a circular plate, and the circular plate is fixedly connected to the bottom of a console.
Metallurgical special projectile robot automatic control system, the control platform open and to have a set of control hole, the bottom of control hole bond end magnetic ring, the control hole in insert the elastic sleeve, the top of elastic sleeve open and to have 3 contained angles to be 120 incisions, the incision will the top of elastic sleeve split into 3 elastic sheets, the elastic sheet bond the control bench, the control hole in insert contactor switch KA1, contactor switch KA2, contactor switch KA3, contactor switch KA4, contactor switch KA5, contactor switch KA6, contactor switch KA7, contactor switch KA 8's switch casing respectively, the lower part of casing bond the magnetic ring, the magnetic ring actuation end magnetic ring fixed, the elastic sleeve squeeze the switch casing.
A control method of an automatic control system of a projectile robot special for metallurgy is characterized in that a programmable controller automatically controls the whole projectile process, and can also control the work start or stop of the whole system through a contactor switch KA1, a contactor switch KA2, a contactor switch KA3, a contactor switch KA4, a contactor switch KA5, a contactor switch KA6, a contactor switch KA7 and a contactor switch KA8 by manual single shot regulation; important data required by the system is known through a detection mechanism, and the normal operation of the whole system is realized through the data and software; the important data needs a sensing mechanism to detect and transmit the data to a detection mechanism; the related data are matched through the control of a programmable controller, namely PLC, so that the whole control mechanism can normally and effectively run.
According to the control method of the automatic control system of the projectile robot special for metallurgy, the whole working process of a programmable controller is carried out in a cyclic scanning mode; the cyclic scanning mode is that in the period of the program execution process, the program samples input signals of each process, calculates and processes the sampled signals, and outputs the calculation result to an execution mechanism of the production process; during this execution cycle, some input variables are unchanged, some output variables are changed accordingly, and some output variables are unchanged; in the programmable controller, a cyclic scanning mode is adopted to continuously sample and output input and output variables, so that corresponding output is timely provided to enable an execution mechanism to act when the variables meet program conditions.
According to the control method of the automatic control system of the special projectile robot for metallurgy, if the variable condition of the scanning period is not met, the program is continuously executed, and when the variable condition is met in the next scanning period, the operation result meeting the condition is executed; in the cyclic scanning mode, as the scanning period is short, as long as the time for the variable to meet the condition is longer than the scanning period, the variable meeting the condition can be executed by the program of the programmable controller.
Has the advantages that:
1. the invention has high automation degree, convenient operation and stable and reliable operation; and continuous shooting can be carried out until the set number of the bullets is reached through PLC control.
2. The invention has the advantages of full-automatic control, low investment cost, simple and convenient operation, high equipment operation safety, and accurate and coordinated control.
3. The projectile body is injected into molten steel at different speeds and different positions, the reaction is sufficient, the alloy yield is obviously improved, the components of special steel types can be accurately and finely adjusted, the point component control is realized, for example, sulfur-containing free-cutting steel, the C yield can reach 100 percent, the S yield can reach more than 95 percent, and the economic benefit is obvious.
4. The projectile body is injected into molten steel at high speed, so that the stirring of the molten steel is small, the splashing is reduced, the yield of easily oxidized elements and easily burnt elements is obviously improved, and the environmental pollution is reduced for sulfur-containing and lead-containing steel.
5. The invention has the advantages of high emission speed, short required time, reduced temperature loss and low energy consumption.
6. The equipment of the invention can operate independently, and can also carry out wireless data transmission in a master control system, thereby realizing remote monitoring.
Description of the drawings:
fig. 1 is a control diagram of the product.
Fig. 2 is a control loop diagram of the product.
Fig. 3 is a simple working principle diagram of the product.
Fig. 4 is a schematic structural diagram of the product general control table.
The same symbols in the control diagram and the control loop diagram have connection relations.
The specific implementation mode is as follows:
the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Example 1:
an automatic control system of a projectile robot special for metallurgy comprises contactor switches, wherein the contactor switches comprise contactor switches KA1, contactor switches KA2, contactor switches KA3, contactor switches KA4, contactor switches KA5, contactor switches KA6, contactor switches KA7 and contactor switches KA8, the contactor switches KA1 control the projectile mechanism A to pop up, the contactor switches KA2 control the projectile mechanism A to bounce, the contactor switches KA3 control the projectile mechanism A to launch, the contactor switches KA4 control the projectile mechanism A to reset, the contactor switches KA5 control the projectile mechanism B to pop up, the contactor switches KA6 control the projectile mechanism B to pop up, the contactor switches KA7 control the projectile mechanism B to launch, the contactor switches KA8 control the projectile mechanism B to reset, the projectile mechanism A is popped up and connected with a crystal oscillator Y0, the projectile mechanism A is connected with a crystal oscillator Y1 in a retreating mode, the projectile mechanism A is connected with a crystal oscillator Y2 in a launching mode, the projectile mechanism A is connected with a crystal oscillator Y3 in a resetting mode, the projectile mechanism B is connected with a crystal oscillator Y4 in an upward bouncing mode, the projectile mechanism B is connected with a crystal oscillator Y5 in a retreating mode, the projectile mechanism B is connected with a crystal oscillator Y6 in a launching mode, the projectile mechanism B is connected with a crystal oscillator Y7 in a resetting mode, and the crystal oscillator Y0, the crystal oscillator Y1, the crystal oscillator Y2, the crystal oscillator Y3, the crystal oscillator Y4, the crystal oscillator Y5, the crystal oscillator Y6 and the crystal oscillator Y7 are all connected with a power supply, a grounding COM and a power supply module PLC-Y.
Example 2:
the automatic control system of the special projectile robot for metallurgy, according to embodiment 1, the power module PLC-Y is connected with a direct current power supply 220V/24V, the power module PLC-Y is connected with a temperature measuring instrument L3, the temperature measuring instrument L3 is connected with a system power indicator LM1, the system power indicator LM1 is connected with a system power button ST1, the system power button ST1 is connected with an inductor L2, the inductor L2 is connected with a fuse FU1, the fuse FU1 is connected with a contactor Q1, and the contactor Q1 is connected with a 220V power supply.
Example 3:
in the automatic control system for the dedicated projectile robot for metallurgy described in embodiment 1, the crystal oscillator Y series further includes a crystal oscillator Y8, a crystal oscillator Y9, a crystal oscillator YA, a crystal oscillator YB, a crystal oscillator YC, a crystal oscillator YD, a crystal oscillator YE, and a crystal oscillator YF.
Example 4:
the automatic control system of the special projectile robot for metallurgy in embodiment 1 is characterized in that the contactor switch is installed on a main control console, the power supply module PLC-Y is installed in a programmable controller, and the programmable controller is connected with an initialization control (the contactor switch), a sensing component (an inductor L2, a system power indicator light LM1, a fuse FU1 and the like) and a detection component (a temperature measuring instrument L3). The input end of the programmable controller is connected with a system power button ST1, a system power indicator LM1 and a detection part, and a sensing part is fixedly arranged on the detection part.
Example 5:
The lower oblique elastic sheet is inserted into the through hole at the inserted link, and the fixed magnetic plate is used for attracting the magnetic sheet to enable the lower oblique elastic sheet to bounce and seal the through hole, so that the connection between the inserted link and the through hole can be tightly fixed, and the bottom shell and the control platform are ensured to be connected firmly, safely and reliably.
Example 6:
the automatic control system of the special projectile robot for metallurgy, according to embodiment 5, the console is provided with a group of control holes 11, bottom magnetic rings 12 are bonded to the bottoms of the control holes, elastic sleeves 13 are inserted into the control holes, 3 notches with included angles of 120 degrees are formed in the tops of the elastic sleeves, the top of each elastic sleeve is divided into 3 elastic pieces 14, the elastic pieces are bonded to the console, a contactor switch KA1, a contactor switch KA2, a contactor switch KA3, a contactor switch KA4, a contactor switch KA5, a contactor switch KA6, a contactor switch KA7 and a switch housing 15 of the contactor switch KA8 are respectively inserted into the control holes, magnetic rings 16 are bonded to the lower portion of the housing, and the magnetic rings are fixed by attracting the bottom magnetic rings, so that the automatic control system is reasonable in structure and firm in connection; the elastic sleeve extrudes the switch shell, the connection between the switch shell and the console is reinforced, the touch switch is ensured to be safe when being continuously pressed down, and the service life of the touch switch is greatly prolonged.
Example 7:
a control method of an automatic control system of a projectile robot special for metallurgy is characterized in that a programmable controller automatically controls the whole projectile process, and can also control the work start or stop of the whole system through a contactor switch KA1, a contactor switch KA2, a contactor switch KA3, a contactor switch KA4, a contactor switch KA5, a contactor switch KA6, a contactor switch KA7 and a contactor switch KA8 by manual single shot regulation; important data required by the system is known through a detection mechanism, and the normal operation of the whole system is realized through the data and software; the important data needs a sensing mechanism to detect and transmit the data to a detection mechanism; the related data are matched through the control of a programmable controller, namely PLC, so that the whole control mechanism can normally and effectively run.
Example 8:
the robot automatic control system for the special projectile for metallurgy described in embodiment 7, the programmable controller automatically controls the whole projectile process, and the robot automatic control system can also be adjusted by a single shot manually. The work start or stop of the whole system is controlled by a switch (the continuous control is when the conditions are met, such as a ladle reaches a specified position, and the single control can be started at any time to control the operation of the whole system). Important data (such as equipment operating temperature, liquid surface slag layer state and the like) required by the system can be known through a detection mechanism, and the normal operation of the whole system is realized through the data and software. These important data are detected by a sensor and transmitted to a detector. The related data can be matched through the control of the programmable controller, namely the PLC, so that the whole control mechanism can normally and effectively run. The stability, effectiveness and realizability of the whole system are all realized by each function of the PLC.
Example 9:
in the automatic control system of the projectile robot special for metallurgy described in embodiment 7, the whole working process of the programmable controller is performed in a cyclic scanning manner. The cyclic scanning mode is that in the period of the program execution process, the program samples each process input signal, calculates and processes the sampled signals, and outputs the calculation result to the execution mechanism of the production process. During this execution cycle, some input variables may not change, and accordingly some output variables may change, and some output variables may not change. In the programmable controller, a cyclic scanning mode is adopted to continuously sample and output input and output variables, so that corresponding output is timely provided to enable an execution mechanism to act when the variables meet program conditions. Here, the difference from the computer-implemented process is that, in the operation of the computer, if the condition of the variable is not satisfied, the program waits until the condition is satisfied. In the programmable controller, when the program is executed, if the variable condition of the scanning period is not satisfied, the program is continuously executed, and when the variable condition is satisfied in the next scanning period, the operation result satisfying the condition is executed. In the cyclic scanning mode, as the scanning period is short, as long as the time for the variable to meet the condition is longer than the scanning period, the variable meeting the condition can be executed by the program of the programmable controller.
The input and output processing of the programmable controller is also different from the processing of a computer because the programmable controller adopts a cyclic scanning working mode. I.e. sampling is only performed when the program has scanned the variable, which may have changed some time before the scan. In order to obtain the variable information instantly, shortening the scanning period is a measure that can be taken, or only an input/output module, which has an independent microprocessor and a memory, and a language central processing unit for processing respectively, is available.
The projectile robot is a refining apparatus newly developed by a projectile method of an external refining process, which is a refining method of injecting an alloying additive into molten steel in the form of a projectile at a high speed. The method is used for fine adjustment of molten steel alloy components, has good effect on special steel types which are small in addition amount and need to accurately regulate and control the molten steel components, and is particularly suitable for special steel enterprises, stainless steel enterprises, mechanical manufacturing and military enterprises.
Claims (9)
1. An automatic control system of a projectile robot special for metallurgy comprises contactor switches and is characterized in that the contactor switches comprise contactor switches KA1, contactor switches KA2, contactor switches KA3, contactor switches KA4, contactor switches KA5, contactor switches KA6, contactor switches KA7 and contactor switches KA8, the contactor switches KA1 control the projectile mechanism A to pop up, the contactor switches KA2 control the projectile mechanism A to pop back, the contactor switches KA3 control the projectile mechanism A to launch, the contactor switches KA4 control the projectile mechanism A to reset, the contactor switches KA5 control the projectile mechanism B to pop up, the contactor switches KA6 control the projectile mechanism B to pop back, the contactor switches KA7 control the projectile mechanism B to launch, the contactor switches KA8 control the projectile mechanism B to reset, the projectile mechanism A is popped up and connected with a crystal oscillator Y0, the projectile mechanism A is connected with a crystal oscillator Y1 in a retreating mode, the projectile mechanism A is connected with a crystal oscillator Y2 in a launching mode, the projectile mechanism A is connected with a crystal oscillator Y3 in a resetting mode, the projectile mechanism B is connected with a crystal oscillator Y4 in an upward bouncing mode, the projectile mechanism B is connected with a crystal oscillator Y5 in a retreating mode, the projectile mechanism B is connected with a crystal oscillator Y6 in a launching mode, the projectile mechanism B is connected with a crystal oscillator Y7 in a resetting mode, and the crystal oscillator Y0, the crystal oscillator Y1, the crystal oscillator Y2, the crystal oscillator Y3, the crystal oscillator Y4, the crystal oscillator Y5, the crystal oscillator Y6 and the crystal oscillator Y7 are all connected with a power supply, a grounding COM and a power supply module PLC-Y.
2. The automatic control system of the special projectile robot for metallurgy as claimed in claim 1, wherein the power module PLC-Y is connected with a DC power supply 220V/24V, the power module PLC-Y is connected with a temperature measuring instrument L3, the temperature measuring instrument L3 is connected with a system power indicator LM1, the system power indicator LM1 is connected with a system power button ST1, the system power button ST1 is connected with an inductor L2, the inductor L2 is connected with a fuse FU1, the fuse FU1 is connected with a contactor Q1, and the contactor Q1 is connected with a 220V power supply.
3. The automatic control system of the projectile robot special for metallurgy as claimed in claim 1, wherein the crystal oscillator Y series further comprises a crystal oscillator Y8, a crystal oscillator Y9, a crystal oscillator YA, a crystal oscillator YB, a crystal oscillator YC, a crystal oscillator YD, a crystal oscillator YE and a crystal oscillator YF.
4. The automatic control system of the projectile robot special for metallurgy according to claim 1, wherein the contactor switch is installed on a main control platform, the power supply module PLC-Y is installed in a programmable controller, and the programmable controller is connected with an initialization control part, a sensing part and a detection part.
5. The automatic control system of the projectile robot special for metallurgy is characterized in that the main control platform comprises a bottom shell, the top of the bottom shell is connected with a supporting plate ring, the supporting plate ring is provided with a group of through holes, one side of the bottom of each through hole is connected with an oblique elastic sheet and fixed through a screw, the oblique elastic sheet is connected with a lower oblique elastic sheet, the top of each lower oblique elastic sheet is bonded with a magnetic sheet, the length of each lower oblique elastic sheet is larger than the diameter of each through hole, an inserted rod is inserted into each through hole, the bottom of each inserted rod is connected with a fixed magnetic plate, the fixed magnetic plates attract the magnetic sheets to fix the through holes and the inserted rods, the top of each inserted rod is connected with a circular plate, and the circular plate is fixedly connected to the bottom of the control platform.
6. The automatic control system of the special projectile robot for metallurgy as claimed in claim 5, wherein the console is provided with a group of control holes, bottom magnetic rings are bonded to the bottoms of the control holes, elastic sleeves are inserted into the control holes, 3 notches with included angles of 120 degrees are formed in the tops of the elastic sleeves, the top of each elastic sleeve is divided into 3 elastic pieces by the notches, the elastic pieces are bonded to the console, switch shells of a contactor switch KA1, a contactor switch KA2, a contactor switch KA3, a contactor switch KA4, a contactor switch KA5, a contactor switch KA6, a contactor switch KA7 and a contactor switch KA8 are respectively inserted into the control holes, magnetic rings are bonded to the lower portions of the shells, the magnetic rings attract the bottom magnetic rings to fix the bottom magnetic rings, and the elastic sleeves squeeze the switch shells.
7. A control method of an automatic control system of a projectile robot special for metallurgy is characterized in that a programmable controller automatically controls the whole projectile process, can also be adjusted by manual single shot, and controls the work start or stop of the whole system through a contactor switch KA1, a contactor switch KA2, a contactor switch KA3, a contactor switch KA4, a contactor switch KA5, a contactor switch KA6, a contactor switch KA7 and a contactor switch KA 8; important data required by the system is known through a detection mechanism, and the normal operation of the whole system is realized through the data and software; the important data needs a sensing mechanism to detect and transmit the data to a detection mechanism; the related data are matched through the control of a programmable controller, namely PLC, so that the whole control mechanism can normally and effectively run.
8. The control method of the automatic control system of the projectile robot special for metallurgy according to claim 7, wherein the whole working process of the programmable controller is carried out in a cyclic scanning mode; the cyclic scanning mode is that in the period of the program execution process, the program samples input signals of each process, calculates and processes the sampled signals, and outputs the calculation result to an execution mechanism of the production process; during this execution cycle, some input variables are unchanged, some output variables are changed accordingly, and some output variables are unchanged; in the programmable controller, a cyclic scanning mode is adopted to continuously sample and output input and output variables, so that corresponding output is timely provided to enable an execution mechanism to act when the variables meet program conditions.
9. The control method of the automatic control system of the robot of the special projectile for metallurgy according to claim 8, wherein if the variable condition of the scanning period is not satisfied, the program is continuously executed, and when the variable condition is satisfied in the next scanning period, the operation result satisfying the condition is executed; in the cyclic scanning mode, as the scanning period is short, as long as the time for the variable to meet the condition is longer than the scanning period, the variable meeting the condition can be executed by the program of the programmable controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810141204.5A CN108334023B (en) | 2018-02-11 | 2018-02-11 | Automatic control system and control method for special projectile robot for metallurgy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810141204.5A CN108334023B (en) | 2018-02-11 | 2018-02-11 | Automatic control system and control method for special projectile robot for metallurgy |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108334023A CN108334023A (en) | 2018-07-27 |
| CN108334023B true CN108334023B (en) | 2020-06-26 |
Family
ID=62929373
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810141204.5A Expired - Fee Related CN108334023B (en) | 2018-02-11 | 2018-02-11 | Automatic control system and control method for special projectile robot for metallurgy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108334023B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110616287A (en) * | 2019-09-09 | 2019-12-27 | 贵阳白云合金熔铸厂 | Spheroidizing treatment process |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5867817A (en) * | 1981-10-20 | 1983-04-22 | Kawasaki Steel Corp | Heating method of molten steel |
| US4746360A (en) * | 1985-07-18 | 1988-05-24 | Giw Industries, Inc. | Iron alloys, process and apparatus for introducing highly reactive metals into molten metal and process and product for removing impurities from molten metal |
| KR20030095009A (en) * | 2002-06-11 | 2003-12-18 | 주식회사 포스코 | Device for analysis molten steel sample of blast furnace |
| CN101476014A (en) * | 2009-02-06 | 2009-07-08 | 北京北科创新科技发展有限公司 | Whole process dynamic monitoring method for converter steel melting |
| KR20090123316A (en) * | 2008-05-27 | 2009-12-02 | 주식회사 포스코 | Apparatus for throwing refinery melted iron into ladle |
| CN103074464A (en) * | 2013-01-05 | 2013-05-01 | 夏俊双 | Intelligent transmitting device for essential safety of slag stopping balls in converter |
| CN103160640A (en) * | 2013-02-26 | 2013-06-19 | 河北钢铁股份有限公司邯郸分公司 | Method of dynamically detecting contents of manganese, phosphorus and sulphur of slag in converter steelmaking process |
| CN104325100A (en) * | 2014-11-18 | 2015-02-04 | 上海东震冶金工程技术有限公司 | Novel method for feeding material to center of crystallizer for continuous casting |
-
2018
- 2018-02-11 CN CN201810141204.5A patent/CN108334023B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5867817A (en) * | 1981-10-20 | 1983-04-22 | Kawasaki Steel Corp | Heating method of molten steel |
| US4746360A (en) * | 1985-07-18 | 1988-05-24 | Giw Industries, Inc. | Iron alloys, process and apparatus for introducing highly reactive metals into molten metal and process and product for removing impurities from molten metal |
| KR20030095009A (en) * | 2002-06-11 | 2003-12-18 | 주식회사 포스코 | Device for analysis molten steel sample of blast furnace |
| KR20090123316A (en) * | 2008-05-27 | 2009-12-02 | 주식회사 포스코 | Apparatus for throwing refinery melted iron into ladle |
| CN101476014A (en) * | 2009-02-06 | 2009-07-08 | 北京北科创新科技发展有限公司 | Whole process dynamic monitoring method for converter steel melting |
| CN103074464A (en) * | 2013-01-05 | 2013-05-01 | 夏俊双 | Intelligent transmitting device for essential safety of slag stopping balls in converter |
| CN103160640A (en) * | 2013-02-26 | 2013-06-19 | 河北钢铁股份有限公司邯郸分公司 | Method of dynamically detecting contents of manganese, phosphorus and sulphur of slag in converter steelmaking process |
| CN104325100A (en) * | 2014-11-18 | 2015-02-04 | 上海东震冶金工程技术有限公司 | Novel method for feeding material to center of crystallizer for continuous casting |
Non-Patent Citations (1)
| Title |
|---|
| 炉外精炼用射弹机构的研制;张伟东;《黑龙江冶金》;20160131;第36卷(第1期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108334023A (en) | 2018-07-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108334023B (en) | Automatic control system and control method for special projectile robot for metallurgy | |
| EP2932809B1 (en) | Portable equipment for monitoring and controlling the level of oxygen in reflow oven atmosphere | |
| CN204474741U (en) | A kind of galvanizing zinc-melting device | |
| CN202008614U (en) | Control system for radio frequency power of etching machine | |
| CN210128892U (en) | Device for automatically extracting water sample | |
| CN104458249A (en) | Transmission automatic gear selecting and shifting mechanism for automatic transmission calibration table | |
| JPS55142999A (en) | Vane controller | |
| CN102360905B (en) | Automatic vibration frequency tinning machine for inductance pin | |
| CN103088175B (en) | Temperature measuring equipment for blast furnace molten iron | |
| CN101936660B (en) | Spray gun control device | |
| CN104527931B (en) | A kind of speed limit puts anchor control system | |
| CN204128872U (en) | A kind of sample separating apparatus of metallographic specimen | |
| CN203870091U (en) | Polycarboxylate superplasticizer mother liquor concentration rapid determination instrument | |
| CN104217640A (en) | Electronic Geneva wheel type experiment table for teaching | |
| CN112857621A (en) | Novel high and low temperature testing device for temperature sensor | |
| CN202195713U (en) | Deoxidizing agent electromagnetic stirring device | |
| CN202735087U (en) | Substantial-vehicle gear-change apparatus for bench simulation manual speed changer | |
| CN104801808B (en) | A kind of copper solder automatic charging device | |
| CN206879228U (en) | A kind of SMT chip mounters PCB control systems | |
| CN202862212U (en) | Material transfer robot | |
| CN102853880B (en) | Oil level detection alarming device during vacuum oil injection of transformer | |
| CN103472861A (en) | Macro-micro control system for space servo-actuated constant tension | |
| CN214098197U (en) | Rotary kiln coal feeding electrical control system | |
| CN220631887U (en) | Linear type feeding device of intelligent cooking robot | |
| JPS576373A (en) | Setting and testing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200626 Termination date: 20210211 |