CN109382204A - It is a kind of for recycling the robot of the Ferrous particles in slag - Google Patents
It is a kind of for recycling the robot of the Ferrous particles in slag Download PDFInfo
- Publication number
- CN109382204A CN109382204A CN201811348655.2A CN201811348655A CN109382204A CN 109382204 A CN109382204 A CN 109382204A CN 201811348655 A CN201811348655 A CN 201811348655A CN 109382204 A CN109382204 A CN 109382204A
- Authority
- CN
- China
- Prior art keywords
- slag
- robot
- inclined plate
- heap
- sensor
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B03—SEPARATION OF SOLID MATERIALS USING LIQUIDS OR USING PNEUMATIC TABLES OR JIGS; MAGNETIC OR ELECTROSTATIC SEPARATION OF SOLID MATERIALS FROM SOLID MATERIALS OR FLUIDS; SEPARATION BY HIGH-VOLTAGE ELECTRIC FIELDS
- B03C—MAGNETIC OR ELECTROSTATIC SEPARATION OF SOLID MATERIALS FROM SOLID MATERIALS OR FLUIDS; SEPARATION BY HIGH-VOLTAGE ELECTRIC FIELDS
- B03C1/00—Magnetic separation
- B03C1/02—Magnetic separation acting directly on the substance being separated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B03—SEPARATION OF SOLID MATERIALS USING LIQUIDS OR USING PNEUMATIC TABLES OR JIGS; MAGNETIC OR ELECTROSTATIC SEPARATION OF SOLID MATERIALS FROM SOLID MATERIALS OR FLUIDS; SEPARATION BY HIGH-VOLTAGE ELECTRIC FIELDS
- B03C—MAGNETIC OR ELECTROSTATIC SEPARATION OF SOLID MATERIALS FROM SOLID MATERIALS OR FLUIDS; SEPARATION BY HIGH-VOLTAGE ELECTRIC FIELDS
- B03C2201/00—Details of magnetic or electrostatic separation
- B03C2201/20—Magnetic separation whereby the particles to be separated are in solid form
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B03—SEPARATION OF SOLID MATERIALS USING LIQUIDS OR USING PNEUMATIC TABLES OR JIGS; MAGNETIC OR ELECTROSTATIC SEPARATION OF SOLID MATERIALS FROM SOLID MATERIALS OR FLUIDS; SEPARATION BY HIGH-VOLTAGE ELECTRIC FIELDS
- B03C—MAGNETIC OR ELECTROSTATIC SEPARATION OF SOLID MATERIALS FROM SOLID MATERIALS OR FLUIDS; SEPARATION BY HIGH-VOLTAGE ELECTRIC FIELDS
- B03C2201/00—Details of magnetic or electrostatic separation
- B03C2201/30—Details of magnetic or electrostatic separation for use in or with vehicles
Abstract
The invention belongs to robot fields, more particularly to a kind of intelligent robot in slag heap handling slag, the robot includes operation portion, data portion and control unit, robot control motor at the uniform velocity drive two front-wheels band mobile robots to travel, and by RFID reader reading RFID label tag, and robot drives to after corresponding heap has the position of slag, and control motor-driven rotatable shaft and drive scraper box swing, the slag on driving path is taken off by deflector chute into inclined plate.The present invention can carry out continuous heap to the slag on driving path and take and unload, and can effectively collect the valuable mineral in slag.
Description
Technical field
The invention belongs to robot field, in particular to a kind of slag handling machine people.
Background technique
Slag is byproduct during blast furnace ironmaking, and in ironmaking processes, iron oxide is reduced into metal at high temperature
Iron, the impurity such as silica, aluminium oxide in Ferrous particles stone and lime etc. react generation based on silicate and alumino-silicate
The fusant for wanting ingredient, loose at quality, the porous shot-like particle by quenching.It can be contaminated with iron filings in slag, directly throw away meeting
The waste of resource is caused, but there are currently no what effective recovering means.
Summary of the invention
The present invention provides a kind of for recycling the robot of the Ferrous particles in slag, can be by the slag of slagheap
It is transported to robot interior, the path for reaching processing slagheap is reasonable, can be by the collected effect of mineral in slag.
It is a kind of for recycling the robot of the Ferrous particles in slag, work in slag heap on the ground, the slag place
On multiple sensors for detecting field ground surface slag weight are installed in array, each covers disposed on sensor has unique ID's
RFID label tag, the robot include operation portion, data portion and control unit;
The operation portion includes:
Driving mechanism, including front wheels and rear wheels, two front-wheels are each configured with a running motor, pass through control traveling electricity
Machine drives the speed difference of left and right two-wheeled to realize the traveling and/or steering of robot;
Ba Liao mechanism comprising spade is used to take off the scraper box for taking slag, taking off for scraper box rotation is driven to expect motor and guide
Slot, deflector chute are fixed on the lower section of scraper box, have a cambered surface, and ground, the upper end of the other end and inclined plate are pasted in one end of the cambered surface
It flushes;Taking off material motor drives scraper box to swing, and will take off the slag taken and takes off by deflector chute into inclined plate;
The position of batch charging mechanism unloading slag is arranged in inclined plate, one end, and the top of slag notch, slag is arranged in the other end
From the high-end to being snapped down to slag notch of inclined plate under the gravity of itself;
Magnet is arranged in parallel in the top of inclined plate, for collecting the Ferrous particles in the slag shifted on inclined plate;
The lower section of inclined plate is arranged in slag notch, for the slag on inclined plate after magnet is collected to be discharged;
Driving mechanism band mobile robot travels on mining site, takes off material motor and scraper box is driven to swing, and will take off the slag taken and passes through
Deflector chute is taken off into inclined plate, and for slag by inclined plate slide downward, magnet collects the Ferrous particles in slag, and remaining slag is from slag notch
Discharge;
The data portion includes:
RFID reader is set to robot bottom, the RFID label tag of the sensor for reading slag heap ground;
Data sink, setting are communicated to connect with the sensor in robot interior, are examined for receiving sensor
The weight data measured;
The control unit is configured as:
According to the RFID label tag on the received data of data sink and each sensor, determine that heap has the sensing of slag
The corresponding RFID label tag of device;
Control travel motor at the uniform velocity drives two front-wheels with mobile robot in the direction of the clock from the outer ring in slag place
Inner ring is driven to, and at the position for driving to respective sensor, RFID label tag is read by RFID reader;
When RFID reader, which reads heap, the corresponding RFID label tag of sensor of slag, robot drives to corresponding heap
After having the position of slag, control running motor slows down, and robot slowly travels on slag, while control Ba Liao mechanism takes off material
Motor drives scraper box to swing, and the slag on driving path is taken off by deflector chute into inclined plate.
It takes and unloads the beneficial effects of the present invention are: the present invention carries out continuous heap to the slag on driving path, Neng Gouyou
Collect the valuable mineral in slag in effect ground.
Detailed description of the invention
Fig. 1 shows the operation schematic diagram of robot;
Fig. 2 shows the structural schematic diagrams of robot;
Fig. 3 shows the control flow chart of robot.
Specific embodiment
With reference to the accompanying drawings, the function that the structure of this system is described in detail and is realized.
It is a kind of for recycling the robot of the Ferrous particles in slag, slag heap is equipped with multiple for examining in array on the ground
The sensor 4 of place surface slag weight is surveyed, each sensor 4 is equipped with the RFID label tag 41 of unique ID, and robot includes fortune
Row portion 1, data portion 2 and control unit 3;
The operation portion 1 includes:
Driving mechanism 11, including front-wheel 111 and rear-wheel 113, two front-wheels 111 are each configured with a motor 112, lead to
It crosses control motor 112 and drives the speed difference of left and right two-wheeled to realize the steering of robot;
Ba Liao mechanism 12 comprising:
Motor 121, setting is in robot interior, for driving rotation axis 122 to rotate;
The position on top on front side of robot is arranged in rotation axis 122;
Scraper box 123 is a spade utensil, and one end is connected in shaft 122, takes slag for taking off;
Deflector chute 124 is fixed on the lower section of scraper box 123, has an arcwall face, ground is pasted in one end of the cambered surface, another
End is flushed with the upper end of inclined plate 13, for assisting scraper box 123 to take off slag into inclined plate 13;
123 swing of scraper box is driven by 121 drive shaft 122 of motor, the slag taken will be taken off and taken off by deflector chute 124
Into inclined plate 13;
The position that batch charging mechanism 12 unloads slag is arranged in inclined plate 13, one end, and the upper of slag notch 15 is arranged in the other end
Side, slag is under the gravity of itself from the high-end to being snapped down to slag notch 15 of inclined plate 13;
Magnet 14 is arranged in parallel in the top of inclined plate 13, for collecting the iron ore in the slag shifted on inclined plate 13;
The lower section of inclined plate 13 is arranged in slag notch 15, for the slag on inclined plate 13 after the collection of magnet 14 to be discharged;
It drives two front-wheels 111 to drive rear-wheel 113 by the motor 112 in driving mechanism 11, pushes robot in mine
It is travelled on, 123 swing of scraper box is driven by 121 drive shaft 122 of motor, the slag taken will be taken off by deflector chute 124
It takes off into inclined plate 13, slag passes through the high-end slide downward of inclined plate 13, in slag notch after the iron ore that magnet 14 is collected in slag
15 discharges.
The data portion 2 includes:
RFID reader 21 is located in robot, for reading the RFID label tag on sensor 4;
Data sink 22, setting are communicated to connect with sensor 4 in robot interior, are examined for receiving sensor 4
The weight data of survey;
The control unit 3 is configured as
According to the RFID label tag 41 that the received data of data sink 22 and each sensor 4 are equipped with, determine that heap has
The corresponding RFID label tag 41 of sensor 4 of slag;
It controls robot and inner ring is driven to from the outer ring in slag place according to clockwise direction;
Control motor 112 at the uniform velocity drives two front-wheels 111 to travel with mobile robot, and is driving to respective sensor 4
Position when, pass through RFID reader read RFID label tag 41;
When RFID reader reads the corresponding RFID label tag 41 of sensor 4 that heap has slag, robot drives to correspondence
After heap has the position of slag, 112 reduction of speed of motor is controlled, is slowly travelled on slag, and control the motor in Ba Liao mechanism 12
121 operations, drive shaft 122 drive 123 swing of scraper box, and the slag on driving path is taken off by deflector chute 124 into oblique
Plate 13.
One skilled in the art would recognize that without departing substantially from the spirit and scope of the invention as generally describing,
Various variations and/or modification can be carried out to invention shown in each specific embodiment.Therefore, in terms of all
For, embodiment here is considered as illustrative and and non-limiting.Equally, the present invention includes any feature
Combination, the combination of any feature especially in Patent right requirement, even if the combination of this feature or feature is not in patent
It is explicitely stated in claim or each embodiment here.
Claims (2)
1. a kind of for recycling the robot of the Ferrous particles in slag, which is characterized in that the slag of slagheap is transported to by it
Robot interior, then by slag valuable mineral screening, collect.
2. it is a kind of for recycling the robot of the Ferrous particles in slag, work in slag heap on the ground, the slag heap is on the ground
Multiple sensors for detecting field ground surface slag weight are installed in array, each covers disposed on sensor has the RFID of unique ID
Label, which is characterized in that the robot includes operation portion, data portion and control unit;
The operation portion includes:
Driving mechanism, including front wheels and rear wheels, two front-wheels are each configured with a running motor, are driven by control running motor
The speed difference of left and right two-wheeled is moved to realize the traveling and/or steering of robot;
Ba Liao mechanism comprising being used to take off the scraper box for taking slag, taking off for scraper box rotation being driven to expect motor and deflector chute for spade is led
Hopper is fixed on the lower section of scraper box, has a cambered surface, and ground is pasted in one end of the cambered surface, and the other end is flushed with the upper end of inclined plate;
Taking off material motor drives scraper box to swing, and will take off the slag taken and takes off by deflector chute into inclined plate;
The position of batch charging mechanism unloading slag is arranged in inclined plate, one end, and the top of slag notch is arranged in the other end, and slag is certainly
From the high-end to being snapped down to slag notch of inclined plate under the gravity of body;
Magnet is arranged in parallel in the top of inclined plate, for collecting the Ferrous particles in the slag shifted on inclined plate;
The lower section of inclined plate is arranged in slag notch, for the slag on inclined plate after magnet is collected to be discharged;
Driving mechanism band mobile robot travels on mining site, takes off material motor and scraper box is driven to swing, and will take off the slag taken by guide
Slot is taken off into inclined plate, and for slag by inclined plate slide downward, magnet collects the Ferrous particles in slag, and remaining slag is arranged from slag notch
Out;
The data portion includes:
RFID reader is set to robot bottom, the RFID label tag of the sensor for reading slag heap ground;
Data sink, setting are communicated to connect with the sensor, are detected for receiving sensor in robot interior
Weight data;
The control unit is configured as:
According to the RFID label tag on the received data of data sink and each sensor, determine that heap has the sensor pair of slag
The RFID label tag answered;
Control travel motor at the uniform velocity drives two front-wheels to travel in the direction of the clock from the outer ring in slag place with mobile robot
To inner ring, and at the position for driving to respective sensor, RFID label tag is read by RFID reader;
When RFID reader, which reads heap, the corresponding RFID label tag of sensor of slag, robot, which drives to corresponding heap, mine
Behind the position of slag, control running motor slows down, and robot slowly travels on slag, while control Ba Liao mechanism takes off material motor
It drives scraper box to swing, the slag on driving path is taken off by deflector chute into inclined plate.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811348655.2A CN109382204B (en) | 2018-11-13 | 2018-11-13 | Robot for recovering iron particles in slag |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811348655.2A CN109382204B (en) | 2018-11-13 | 2018-11-13 | Robot for recovering iron particles in slag |
Publications (2)
Publication Number | Publication Date |
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CN109382204A true CN109382204A (en) | 2019-02-26 |
CN109382204B CN109382204B (en) | 2020-07-07 |
Family
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CN201811348655.2A Active CN109382204B (en) | 2018-11-13 | 2018-11-13 | Robot for recovering iron particles in slag |
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CN (1) | CN109382204B (en) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5100280A (en) * | 1990-03-19 | 1992-03-31 | George Jr Woodrow W | Magnetic roller and belt steel shot and grit pick up recovery machine |
KR20100030781A (en) * | 2008-09-11 | 2010-03-19 | 주식회사 포스코 | Apparatus for gathering magnetic substance |
CN202187764U (en) * | 2011-08-15 | 2012-04-11 | 王兴龙 | Integrally moving type mining and dressing unit in sand mine |
CN202715538U (en) * | 2012-07-27 | 2013-02-06 | 白国钦 | Automatic movable type placer separator |
CN207029245U (en) * | 2017-07-21 | 2018-02-23 | 张安平 | A kind of steel waste material clears up car |
CN207143702U (en) * | 2017-09-15 | 2018-03-27 | 郭晓艳 | A kind of U-shaped kerbstone descaling machine of highway |
-
2018
- 2018-11-13 CN CN201811348655.2A patent/CN109382204B/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5100280A (en) * | 1990-03-19 | 1992-03-31 | George Jr Woodrow W | Magnetic roller and belt steel shot and grit pick up recovery machine |
KR20100030781A (en) * | 2008-09-11 | 2010-03-19 | 주식회사 포스코 | Apparatus for gathering magnetic substance |
CN202187764U (en) * | 2011-08-15 | 2012-04-11 | 王兴龙 | Integrally moving type mining and dressing unit in sand mine |
CN202715538U (en) * | 2012-07-27 | 2013-02-06 | 白国钦 | Automatic movable type placer separator |
CN207029245U (en) * | 2017-07-21 | 2018-02-23 | 张安平 | A kind of steel waste material clears up car |
CN207143702U (en) * | 2017-09-15 | 2018-03-27 | 郭晓艳 | A kind of U-shaped kerbstone descaling machine of highway |
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CN109382204B (en) | 2020-07-07 |
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TA01 | Transfer of patent application right |
Effective date of registration: 20200430 Address after: 350200 Fujian city of Fuzhou province Changle City Wu Hangxi Town Road No. 5 Building 6 No. 601 Applicant after: Liu Xiaobing Address before: 230000 No. 18 Yan'an Road, Baohe District, Hefei City, Anhui Province Applicant before: Liu Chongchao |
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GR01 | Patent grant |