CN110670006A - Robot slag fishing system - Google Patents
Robot slag fishing system Download PDFInfo
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- CN110670006A CN110670006A CN201910858285.5A CN201910858285A CN110670006A CN 110670006 A CN110670006 A CN 110670006A CN 201910858285 A CN201910858285 A CN 201910858285A CN 110670006 A CN110670006 A CN 110670006A
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- 239000002893 slag Substances 0.000 title claims abstract description 303
- 239000007788 liquid Substances 0.000 claims abstract description 73
- 230000009471 action Effects 0.000 claims description 28
- 238000000034 method Methods 0.000 claims description 11
- 230000001960 triggered effect Effects 0.000 claims description 7
- 238000001914 filtration Methods 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 7
- HCHKCACWOHOZIP-UHFFFAOYSA-N Zinc Chemical compound [Zn] HCHKCACWOHOZIP-UHFFFAOYSA-N 0.000 description 14
- 239000011701 zinc Substances 0.000 description 14
- 229910052725 zinc Inorganic materials 0.000 description 14
- 239000013049 sediment Substances 0.000 description 11
- 230000008569 process Effects 0.000 description 8
- 238000005406 washing Methods 0.000 description 8
- 229910000831 Steel Inorganic materials 0.000 description 6
- 239000010959 steel Substances 0.000 description 6
- 238000005246 galvanizing Methods 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
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- 241000251468 Actinopterygii Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 239000010960 cold rolled steel Substances 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 238000009827 uniform distribution Methods 0.000 description 1
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- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C2/00—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor
- C23C2/04—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor characterised by the coating material
- C23C2/06—Zinc or cadmium or alloys based thereon
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- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C2/00—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor
- C23C2/003—Apparatus
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- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C2/00—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor
- C23C2/30—Fluxes or coverings on molten baths
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- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C2/00—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor
- C23C2/34—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor characterised by the shape of the material to be treated
- C23C2/36—Elongated material
- C23C2/40—Plates; Strips
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- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Engineering & Computer Science (AREA)
- Materials Engineering (AREA)
- Mechanical Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Manipulator (AREA)
Abstract
The invention provides a robot slag salvaging system which comprises a main controller, a robot body, a slag pot, a slag bucket and a distance measuring sensor, wherein the robot body is provided with a slag salvaging spoon; the distance measuring sensor is used for measuring the liquid level height in the slag pot before the slag dragging period, generating a liquid level signal and sending the liquid level signal to the main controller, the main controller calculates the liquid level height value according to the liquid level signal and sends the liquid level height value to the robot controller, and the robot controller calculates the slag dragging path according to the liquid level height value and a preset teaching path. The robot slag salvaging system of the technical scheme can keep the slag salvaging effect in the best state, improves the slag salvaging efficiency and can replace manual slag salvaging.
Description
Technical Field
The invention relates to the technical field of thermal coating, in particular to a robot slag dragging system.
Background
The galvanizing zinc pot is key equipment for the continuous surface hot galvanizing process of the cold-rolled steel strip, floating scum generated in the zinc pot can be attached to the surface of the steel strip in the galvanizing process of the steel strip, and the quality defect of the galvanized plate surface is caused. In order to reduce the defects as much as possible, scum generated in the zinc pot needs to be fished out in time. At present, most domestic steel mills adopt manual timing slag salvaging, field staff of a galvanizing unit need to be exposed in severe environments with high temperature, dust and noise for a long time to carry out painstaking slag salvaging operation, and a large amount of occupational hazards exist, so that a robot is necessary to replace manual slag salvaging. At present, the problem that the slag is fished by a robot is very difficult, such as the problem of low slag-fishing efficiency.
Disclosure of Invention
The invention mainly aims to provide a robot slag salvaging system, and aims to solve the problem that the existing robot slag salvaging system cannot completely replace manual slag salvaging due to low slag salvaging efficiency and the like.
In order to achieve the above object, the robot slag salvaging system provided by the embodiment of the invention comprises a main controller, a robot body, a slag pot, a slag bucket and a distance measuring sensor, wherein the robot body is provided with a slag salvaging spoon, the main controller is connected with the robot controller, the main controller is connected with the distance measuring sensor, and the robot controller drives the robot body to fish out scum in the slag pot according to a slag salvaging path in a slag salvaging period under the control of the main controller and pours the scum into the slag bucket;
the distance measuring sensor is used for measuring before the slag dragging period the liquid level height in the slag pot and generating a liquid level signal to be sent to the main controller, the main controller calculates a liquid level height value according to the liquid level signal and sends the liquid level height value to the robot controller, and the robot controller calculates the slag dragging path according to the liquid level height value and a preset teaching path.
Preferably, the ranging sensor is a laser ranging sensor.
Preferably, the slag removing cycle is divided into a plurality of slag removing paths according to the size of a slag removing area and the width of a slag removing spoon, the slag removing paths from the side of the air knife of the slag pan to the edge of the slag pan are sequentially performed, and the overlapping area of two adjacent slag removing paths is 1/4-1/3 of the width of the slag removing path.
Preferably, the slag salvaging method executed by the robot body when slag is salvaged along each slag salvaging path comprises the following steps:
1) slagging off: horizontally placing the ladle core of the slag spoon, immersing the ladle tip of the slag spoon into the liquid level in a half-immersed mode, and controlling the slag spoon to drive floating slag to the edge of the slag pot along the corresponding slag dragging path;
2) scooping slag: changing the angle of the slag spoon, and controlling the slag spoon to slowly lift along the edge of the slag pot;
3) filtering residues: stopping for a preset number of seconds when the slag spoon moves to a position 3-5cm away from the liquid level, so that the liquid in the slag spoon drops back into the slag pot;
4) shaking slag: keeping the ladle core of the slag spoon vertically downward, and shaking the slag spoon up and down when the slag spoon is lifted to a preset height, so that liquid in the slag spoon is accelerated to drip;
5) deslagging: and controlling the slag spoon to move to the position above the slag hopper, and pouring the scum in the slag spoon into the slag hopper according to a preset slag pouring sequence.
Preferably, after the slag-dragging period, the slag-washing device also comprises 6) slag-washing, namely, the slag-dragging spoon is immersed into liquid and moves up and down or horizontally to wash scum on the slag-dragging spoon.
Preferably, still include safety fence, the robot body the sediment pot the sediment fill with range sensor set up in the safety fence, safety fence with main control unit connects, triggers safety limit signal when safety fence is opened, main control unit responds safety limit signal to the robot controller sends action stop command, the robot controller response action stop command control the robot body stops the action.
Preferably, when the safety fence is closed, a safety limit release signal is triggered, the main controller responds to the safety limit release signal and sends an action continuation instruction to the robot controller after being manually confirmed, and the robot controller responds to the action continuation instruction to control the robot body to continue to act.
Preferably, the robot further comprises a remote operation platform and a field operation box, wherein the remote operation platform and the field operation box are connected with the main controller, the remote operation platform and the field operation box are used for receiving operation actions of operators and then sending operation signals to the main controller, the main controller carries out logic processing on the operation signals and then generates operation instructions, and the robot body executes the operation instructions.
Preferably, the robot teaching system further comprises a teaching device, the teaching device is connected with the robot controller, and the robot controller receives the action command sent by the teaching device, controls the robot body to execute and generates the teaching path.
Preferably, a plurality of deslagging points are preset according to a deslagging area of the slag hopper, the deslagging points are distributed in a matrix mode, and deslagging is performed sequentially along each deslagging point.
According to the robot slag salvaging system provided by the embodiment of the invention, the robot controller drives the robot body to salvage the scum in the slag pan according to the slag salvaging path under the control of the main controller, and the scum is poured into the slag bucket, so that the manual slag salvaging work can be simulated, and the manual slag salvaging is replaced. Simultaneously, through distance measuring sensor liquid level height in the measurement sediment pot before dragging for the sediment cycle and generate liquid level signal and send to main control unit, main control unit calculates liquid level altitude value and sends to the robot control ware according to liquid level signal, and the robot control ware calculates according to liquid level altitude value and predetermined teaching route and drags for the sediment route, can adapt to the liquid level and change for drag for the sediment effect and keep in the optimum, improved and dragged for sediment efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic diagram of a robot slag salvaging system in an embodiment of the invention;
FIG. 2 is a schematic diagram of the slag-off site layout and the slag-off path in the embodiment of the invention;
FIG. 3 is a schematic diagram of arrangement of slag pouring points and an inlet and outlet path of a slag hopper in the embodiment of the invention.
The reference numbers illustrate:
the system comprises a robot slag salvaging system 1, a remote operation platform 01, a main controller 02, a field operation box 03, a robot controller 04, a demonstrator 05, a robot body 06, a slag salvaging spoon 07, a slag pan 08, a slag bucket 09, a safety fence 010 and a ranging sensor 011.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The embodiment of the invention mainly aims to provide a robot slag salvaging system, and aims to solve the problem that the existing robot slag salvaging system cannot completely replace manual slag salvaging due to low slag salvaging efficiency and the like.
Referring to fig. 1, a robot slag salvaging system 1 provided by the embodiment of the invention comprises a main controller 02, a robot controller 04, a robot body 06, a slag pot 08, a slag bucket 09 and a distance measuring sensor 011, wherein the robot body 06 is provided with a slag salvaging spoon 07, the robot body 06 is controlled by the robot controller 04, the main controller 02 is connected with the distance measuring sensor 011, and the robot controller 04 drives the robot body 06 to fish scum in the slag pot 08 according to a slag salvaging path in a slag salvaging period under the control of the main controller 02 and pours the scum into the slag bucket 09; the distance measuring sensor 011 is used for measuring the liquid level height in the slag pot 08 before the slag dragging period, generating a liquid level signal and sending the liquid level signal to the main controller 02, the main controller 02 calculates the liquid level height value according to the liquid level signal and sends the liquid level height value to the robot controller 04, and the robot controller 04 calculates the slag dragging path according to the liquid level height value and a preset teaching path.
In this embodiment, the main controller 02 is placed in the electrical cabinet, and the robot controller 04 and the main controller 02 may be placed together in the electrical cabinet, or may be independently placed in other suitable places. The main controller 02 is preferably a PLC controller. The robot controller 04 is in communication connection with the teach pendant 05, receives an operation command transmitted by the teach pendant 05, controls the robot to execute the operation command, and stores a teaching trajectory generated by the teach pendant 05 in a corresponding storage unit. The robot body 06 reproduces the teaching process according to the teaching track to complete slag salvaging. As can be appreciated, the slag spoon 07 is disposed on the robot arm of the robot body 06 and is a main tool for slag. Understandably, the bottom of the slag spoon 07 is a hollow shape with multiple holes to filter the zinc liquid. The robot body 06 is preferably a six-axis robot. In practical application, the installation position, the arm extension length and the load of the robot body 06 are determined on site according to the slag dragging area and the slag dumping range, the slag dragging spoon 07 is installed at the tail end of the robot arm, the length of the slag dragging spoon 07 is adjusted, and the slag dragging area can be covered. The robot body 06 drives the slag spoon 07 to scoop up the scum from the scum pan 08, and drives the slag spoon 07 to pour the scum in the spoon body into the scum hopper 09. Immediately, the setting position of the slag hopper 09 is within the working range of the robot body 06, and the slag pouring can be realized only by controlling the motion of the robot arm without changing the position of the robot body 06, thereby being beneficial to simplifying the control program and reducing the misoperation.
The distance measuring sensor 011 is preferably a laser distance measuring sensor 011, changes of the liquid level height are measured in a non-contact mode through the principle of a laser diffuse reflection mode, the influence of the measuring distance and the liquid level temperature can be avoided, and the method is suitable for measuring the liquid level height of the high-temperature liquid.
Because the liquid level in the slag pot 08 is influenced by production rhythm, process, slag fishing and the like and can change, the actual liquid level of slag fishing is inconsistent with the teaching liquid level, in order to keep the best slag fishing effect, the distance measuring sensor 011 measures the liquid level in the slag pot 08 before each slag fishing period and generates a liquid level signal, and the actual liquid level height value is calculated after a series of logic operations are carried out through the main controller 02 because the liquid level signal is an electric signal. The main controller 02 sends the actual liquid level height value to the robot controller 04, the robot controller 04 compares the actual liquid level height value with the liquid level height value during teaching to obtain a liquid level height difference, and the teaching path is adjusted based on the liquid level height difference to calculate the actual slag dragging path. Wherein, the robot controller 04 can obtain the slag dragging path after adjusting the Z coordinate value of the teaching path according to the liquid level height difference.
In this embodiment, referring to fig. 2, the slag ladle 07 needs to complete slag salvaging for many times along multiple slag salvaging paths in one slag salvaging period. The slag salvaging paths are obtained according to the size of the slag salvaging area and the width of the slag salvaging spoon 07, the width of each slag salvaging path is equivalent to the width of the slag salvaging spoon 07, the execution sequence of the slag salvaging spoons 07 is carried out in sequence from the slag salvaging path at the air knife side of the slag pot 08 to the slag salvaging path at the edge of the slag pot 08, namely, the slag salvaging spoon 07 firstly carries out slag salvaging along the slag salvaging path close to the air knife side, and finally carries out slag salvaging along the slag salvaging path at the slag pot 08 side, so that scum is favorably caught from the air knife side to the edge of the slag pot 08, the scum around the air knife flows smoothly and naturally to the slag salvaging area, and the slag salvaging effect at each time. Each slag dragging path is parallel, and a certain overlapping area is formed between every two adjacent slag dragging paths, so that the slag dragging is ensured to be clean. The overlapping area of two adjacent slag-dragging paths is 1/4-1/3 of the width of the slag-dragging path. It will be appreciated that the slag scoop path is directed towards the edge of the slag pot 08.
The step of carrying out slag salvaging by the robot body 06 when slag is salvaged along each slag salvaging path comprises the following steps: 1) slagging off: the ladle core of the slag ladle 07 is horizontally arranged, the ladle tip of the slag ladle 07 is immersed into the liquid level in a half mode, the slag ladle 07 is controlled to move along a slag dragging path, scum is driven to the edge of the slag pot 08, and the condition is prepared for the scum to be filled in the slag ladle. 2) Scooping slag: the angle of the slag spoon 07 is changed, the slag spoon 07 is controlled to be lifted slowly along the edge of the slag pot 08, scum which is driven by the scraped slag is contained in the spoon and is taken away from the liquid level, and the spoon core is downward at the moment. 3) Filtering residues: and stopping for a preset number of seconds when the slag ladle 07 moves to a position 3-5cm away from the liquid level, so that the high-temperature liquid in the slag ladle 07 drops back into the slag pot 08. 4) Shaking slag: the ladle core of the slag spoon 07 is kept vertically downward, the slag spoon 07 is shaken up and down when the slag spoon 07 is lifted to a preset height, so that liquid in the slag spoon 07 is accelerated to drip, the action at the moment requires a pause and frustration feeling, the descending action speed is obviously faster than the ascending action, and flowing zinc liquid in scum is accelerated to shake out. The action times are set to be proper times according to the actual situation. And immediately pausing for a proper time after residue shaking is finished, and continuing to filter residues for the second time so as to reduce the zinc loss to the maximum extent. 5) Deslagging: and controlling the slag ladle 07 to move to the position above the slag hopper 09, and pouring the scum in the slag ladle 07 into the slag hopper 09 according to a preset slag pouring sequence. Preferably, in order to adapt to the safety of robot slag pouring and prevent floating slag generated during slag pouring from splashing out of the slag hopper 09 and endangering the quality of strip steel and the safety of personnel, baffles are additionally designed on three weeks of the common slag hopper 09, the heights of the baffles are set according to the actual setting, the baffles are provided with openings at one ends to facilitate slag pouring, the slag pouring path of the robot enters and exits from one side of the robot body 06, and the robot body 06 can be additionally provided with high-temperature protective clothing.
In order to ensure that the deslagging is as uniform as possible, the scum is poured into the slag hopper 09 according to a certain deslagging sequence. Specifically, the deslagging area of the slag hopper 09 is pre-divided into a plurality of deslagging points which are distributed in a matrix manner, deslagging is carried out in turn along each deslagging point, and the deslagging sequence can be set according to requirements. For example, referring to fig. 3, the deslagging area is pre-divided into deslagging points No. 1 to No. 9, the distribution of the deslagging points No. 1 to No. 9 is shown in the figure, the deslagging point No. 1 is located in the middle of the deslagging area, the deslagging points No. 2, No. 3, No. 4 and No. 5 are the most corner angles with the deslagging area, and the deslagging points No. 6, No. 7, No. 8 and No. 9 are respectively located between the deslagging points of two adjacent most corner angles. The deslagging sequence is No. 1 to No. 9.
Further, after one slag dragging period, the robot body 06 also performs step 6) slag washing: and immersing the slag spoon 07 into liquid, and moving up and down or horizontally to clean scum on the slag spoon 07. Specifically, the slag spoon 07 is immersed in zinc liquid, manual slag washing action is simulated, repeated action is carried out in the zinc liquid for many times, the slag spoon 07 stained with scum is cleaned, the spoon hole is prevented from being blocked, and preparation is made for fishing slag in the next period. The slag washing action times and the immersion time can be adjusted, and the slag washing device can be adjusted in a fine mode according to the slag washing effect.
In order to further ensure the on-site safety, the robot slag dragging system 1 further comprises a safety fence 010, and the robot body 06, the slag pot 08, the slag bucket 09 and the distance measuring sensor 011 are all arranged in the safety fence 010. Be provided with stop device on the security fence 010, stop device and master control connection, can trigger stop device and send safe spacing signal when security fence 010 is opened, in master controller 02 response safe spacing signal analysis goes out someone and gets into production area, in order to prevent personnel injury, master controller 02 sends the action to robot controller 04 and stops the instruction, robot controller 04 stops the action according to action stop instruction control robot body 06, the work of salvaging for the sediment of pause.
Understandably, when the safety fence 010 is closed, the limiting device can be triggered to send out a safety limiting contact signal, the main controller 02 judges that the area of the safety fence 010 is in a safety state according to the safety limiting contact signal, an action continuation instruction is sent to the robot control after the button on the field operation box 03 is manually confirmed, and the robot controller 04 responds to the action continuation instruction to control the robot body 06 to continue to act. In other implementations, when the security fence 010 is opened or closed, the safety limit signal and the safety limit release signal may be triggered based on an operation instruction of a worker, for example, a control button is provided on a door body of the security fence 010, and the worker triggers the safety limit signal and the safety limit release signal by changing a level state of the control button.
Further, the robot slag fishing system 1 further comprises a remote operation platform 01 and a field operation box 03, and the remote operation platform 01 and the field operation box 03 are both connected with the main controller 02. The remote operation platform 01 and the field operation box 03 are used for receiving operation actions of operators and then sending operation signals to the main controller 02, the main controller 02 carries out logic processing on the operation signals and then generates operation instructions, and the robot body 06 executes the operation instructions. The main controller 02 performs logic programming, performs logic processing on operation instructions generated by the remote operation platform 01 and the field operation box 03, feeds a part of results back to the indicating lamps of the remote operation platform 01 and the field operation box 03 for display and reminding, and outputs the other part of the results to the robot controller 04 for execution through communication or hard wiring. The remote operation platform 01 can realize the functions of remote control and monitoring of the slag dragging process, displaying of the running state of equipment, alarming of abnormal running of the robot body 06, operation statistics and recording and the like. The remote operation platform 01 may be an HMI monitoring computer. The field operation box 03 is used by production field personnel and can realize the control of the slag dragging process.
The robot body 06 can also execute a pause function, an emergency stop function and an initial position returning function in a slag dragging period through the remote operation platform 01, the field operation box 03 and the like. During slag dragging operation or robot operation, actions can be manually suspended through buttons of the field operation box 03 and pictures of the remote operation platform 01. When an emergency occurs, the robot is immediately stopped through the field operation box 03 and the emergency stop button on the robot controller 04, and after the emergency stop and the fault and danger removal, the robot needs to be recovered to operate according to a specified flow. After the slag salvaging operation of one period is finished, the robot automatically returns to the initial position for standby according to the specified path and speed, in the slag salvaging process, the current robot action can be stopped through a button on the field operation box 03 or a picture button of the remote operation platform 01, the robot returns to the initial position for standby, if floating slag is not poured in the slag salvaging spoon 07, the robot body 06 is controlled to firstly finish the slag pouring operation, and then returns to the initial position for standby.
The robot slag dragging system 1 provided by the invention has the following beneficial effects: 1) the robot slag salvaging system can simulate manual slag salvaging actions, can perform function classification on the whole slag salvaging process, has nine functions of slag raking, slag salvaging, slag shaking, slag filtering, slag dumping, slag washing, pausing, scram and initial position returning, is orderly matched according to the function, combines reasonable path planning, and develops the robot slag salvaging system 1 with high efficiency and low zinc loss. 2) The design of the slag dragging path utilizes the characteristics of the slag dragging spoon 07, the spoon tip is half immersed in zinc liquid, horizontal slag dragging is adopted, slag is driven to the edge of a zinc pot, and the slag dragging effect is ensured through the mode of continuous motion change and vertical upward dragging. 3) The execution sequence of the slag salvaging paths in each slag salvaging period is from the air knife side to the edge of the zinc pot in sequence, thereby ensuring that scum near the air knife flows smoothly and naturally to the slag salvaging area, preventing the scum from being accumulated at the air knife side and increasing the quality of strip steel galvanizing. Each slag dragging path adopts certain coincidence, so that the cleanness and the thoroughness of the slag dragging of each path are ensured, the scum is vertically dragged when a natural semi-closed space is formed between the ladle rod of the slag dragging ladle 07 and the edge of a zinc pot by utilizing coherent and reasonable actions during slag dragging, the scum is prevented from leaking, and the slag dragging efficiency is greatly improved every time. 4) Adopt distance measuring sensor 011 real-time detection zinc liquid level altitude variation, before every drag for the sediment cycle and begin, the liquid level height value of comparison reality and the liquid level height value of teaching, the degree of depth of adjusting in real time and dragging for the sediment route, ensure that the effect of dragging for the sediment at every turn is unanimous. 5) In order to ensure the uniform distribution of the fished scum in the slag hopper 09, slag pouring points of the slag hopper 09 are reasonably designed, and slag is poured in turn according to the sequence. In order to overcome the defect that scum splashes out when deslagging is carried out, the quality of galvanized strip steel products and the safety of personnel are damaged, the baffle is additionally arranged on the periphery of the common slag hopper 09, a deslagging path enters and exits from one side of the robot, and meanwhile, the robot is worn with a high-temperature protective garment, so that deslagging safety is guaranteed. 6) The remote monitoring system can perform local operation of the operation box and remote monitoring of a control room, is flexible and convenient, and can perform time-triggered periodic operation and event-triggered irregular operation according to needs.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A robot slag salvaging system is characterized by comprising a main controller, a robot body, a slag pot, a slag bucket and a distance measuring sensor, wherein the robot body is provided with a slag salvaging spoon, the main controller is connected with the robot controller, the main controller is connected with the distance measuring sensor, and the robot controller drives the robot body to salvage scum in the slag pot according to a slag salvaging path in a slag salvaging period under the control of the main controller and pours the scum into the slag bucket;
the distance measuring sensor is used for measuring before the slag dragging period the liquid level height in the slag pot and generating a liquid level signal to be sent to the main controller, the main controller calculates a liquid level height value according to the liquid level signal and sends the liquid level height value to the robot controller, and the robot controller calculates the slag dragging path according to the liquid level height value and a preset teaching path.
2. The robotic slag bailing system of claim 1 wherein said ranging sensor is a laser ranging sensor.
3. The robotic slag dragging system of claim 1 wherein during the slag dragging cycle is divided into a plurality of slag dragging paths according to the size of the slag dragging area and the width of the slag dragging spoon, the slag dragging paths from the side of the air knife of the slag pot to the edge of the slag pot are sequentially arranged, and the overlapping area of two adjacent slag dragging paths is 1/4 to 1/3 of the width of the slag dragging path.
4. The robotic slag dragging system of claim 3 wherein the slag dragging method performed by the robot body in dragging slag along each slag path comprises:
1) slagging off: horizontally placing the ladle core of the slag spoon, immersing the ladle tip of the slag spoon into the liquid level in a half-immersed mode, and controlling the slag spoon to drive floating slag to the edge of the slag pot along the corresponding slag dragging path;
2) scooping slag: changing the angle of the slag spoon, and controlling the slag spoon to slowly lift along the edge of the slag pot;
3) filtering residues: stopping for a preset number of seconds when the slag spoon moves to a position 3-5cm away from the liquid level, so that the liquid in the slag spoon drops back into the slag pot;
4) shaking slag: keeping the ladle core of the slag spoon vertically downward, and shaking the slag spoon up and down when the slag spoon is lifted to a preset height, so that liquid in the slag spoon is accelerated to drip;
5) deslagging: and controlling the slag spoon to move to the position above the slag hopper, and pouring the scum in the slag spoon into the slag hopper according to a preset slag pouring sequence.
5. The robotic slag ladle system of claim 4 further comprising 6) a slag wash after the slag cycle by immersing the slag ladle in a liquid to clean dross from the slag ladle.
6. The robot slag salvaging system of claim 1, further comprising a safety fence, wherein the robot body, the slag pot, the slag bucket and the distance measuring sensor are arranged in the safety fence, the safety fence is connected with the main controller, when the safety fence is opened, a safety limit signal is triggered, the main controller responds to the safety limit signal to send an action stop command to the robot controller, and the robot controller responds to the action stop command to control the robot body to stop acting.
7. The robot slag salvaging system of claim 6, wherein when the safety fence is closed, a safety limit release signal is triggered, the main controller responds to the safety limit release signal and sends an action continuation command to the robot controller after being confirmed manually, and the robot controller responds to the action continuation command to control the robot body to continue to act.
8. The robot slag salvaging system of claim 1, further comprising a remote operation platform and a field operation box, wherein the remote operation platform and the field operation box are both connected with the main controller, the remote operation platform and the field operation box are used for receiving operation actions of operators and then sending operation signals to the main controller, the main controller generates operation instructions after performing logic processing on the operation signals, and the robot body executes the operation instructions.
9. The robot slag salvaging system of claim 8, further comprising a teach pendant connected to the robot controller, wherein the robot controller receives the motion command sent by the teach pendant and controls the robot body to execute and generate the teach path.
10. The robot slag dragging system of claim 1, wherein a plurality of slag dumping points are preset according to a slag dumping zone of the slag bucket, the slag dumping points are distributed in a matrix, and the slag dumping sequence is that slag is sequentially dumped along each slag dumping point.
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| CN111394671A (en) * | 2020-03-19 | 2020-07-10 | 武汉钢铁有限公司 | Intelligent cooperative deslagging method and system for zinc pot |
| CN111534775A (en) * | 2020-04-30 | 2020-08-14 | 邯郸钢铁集团有限责任公司 | Slag dragging path planning method for slag dragging robot |
| CN111996479A (en) * | 2020-08-19 | 2020-11-27 | 武汉钢铁有限公司 | Zinc slag fishing method, device, equipment and medium |
| CN112207820A (en) * | 2020-09-08 | 2021-01-12 | 武汉钢铁有限公司 | Intelligent slag salvaging control method and device |
| CN113337789A (en) * | 2021-04-29 | 2021-09-03 | 武汉钢铁有限公司 | Hot-dip plating slag salvaging control method and device |
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| CN113337789A (en) * | 2021-04-29 | 2021-09-03 | 武汉钢铁有限公司 | Hot-dip plating slag salvaging control method and device |
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Effective date of registration: 20210531 Address after: 410000 east of Chuangye 4th Road, north of Chuangxin 1st Street, west of Yaochun Road, Hualing sheet metal industrial park, Loudi economic and Technological Development Zone, Hunan Province Applicant after: Hunan Hualing LIANGANG special new material Co.,Ltd. Applicant after: Hunan Valin Lianyuan Iron & Steel Co., Ltd. Address before: 417000 Shuangling building, no.1005, Gangui Road, Huangnitang, Louxing District, Loudi City, Hunan Province Applicant before: HUNAN HUALING LIANGANG STEEL SHEET Co.,Ltd. Applicant before: Hunan Valin Lianyuan Iron & Steel Co., Ltd. |