CN111101085A - Full-automatic slag salvaging system and method for zinc liquid surface scum of zinc pot - Google Patents
Full-automatic slag salvaging system and method for zinc liquid surface scum of zinc pot Download PDFInfo
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- CN111101085A CN111101085A CN202010010328.7A CN202010010328A CN111101085A CN 111101085 A CN111101085 A CN 111101085A CN 202010010328 A CN202010010328 A CN 202010010328A CN 111101085 A CN111101085 A CN 111101085A
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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
- C23C2/34—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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Abstract
The invention relates to the technical field of hot galvanizing processing. The invention discloses a zinc pot zinc liquid level scum full-automatic slag salvaging system and a slag salvaging method thereof, wherein the zinc pot zinc liquid level scum full-automatic slag salvaging system comprises a visual identification system, a slag salvaging execution system, a position sensing system, a linkage condition identification system, an intelligent server, a human-computer interface, a standby manual operation system and a slag salvaging hopper; the slag dragging method comprises the following steps: the chain condition recognition system detects the running condition, the visual recognition system performs visual recognition on the slag dragging operation area, the intelligent server performs analysis and processing, and the operation is executed according to the processing result of the intelligent server. The invention has the beneficial effects that: the slag dragging operation and the slag raking operation can be automatically executed, and the slag dragging position and the slag dragging time can be intelligently identified.
Description
Technical Field
The invention relates to the technical field of hot galvanizing processing, in particular to a full-automatic slag salvaging system and a full-automatic slag salvaging method for zinc liquid level scum of a zinc pot.
Background
At present, in order to improve the corrosion resistance of the strip steel, a conventional technical solution is to plate a corrosion-resistant coating on the surface of the strip steel, wherein hot-dip is the most conventional coating means with balanced cost and quality, in the hot-dip technology, hot-dip technologies such as hot-dip pure zinc, galvannealed zinc, hot-dip aluminum silicon, hot-dip aluminum magnesium and the like generally adopt a zinc pot, the coating metal is melted in the zinc pot, then a plated part such as the strip steel and the like is immersed in the plating solution of the zinc pot for hot-dip, during the hot-dip process, zinc dross is inevitably generated, if the zinc liquid surface dross in the zinc dross is treated improperly, the strip steel is affected badly continuously, the surface quality of a strip steel product is reduced, the zinc liquid dross is condensed, and the production cannot be carried out continuously, so that the zinc liquid surface dross in the zinc pot needs to be subjected to slag fishing operation during the hot-dip plating process, however, the environment of slag salvaging is quite poor, the required labor intensity is high, and the adverse effect on the physical health of workers is easily caused.
In the chinese patent document with application number 200810229437.7 entitled aluminum liquid slag conveyor and slag conveying method, an aluminum liquid slag conveyor and a slag conveying method are disclosed, wherein the aluminum liquid slag conveyor comprises the following structures: the slag removing device comprises a rack, a transmission device is arranged on the rack, a track is arranged on the rack, a roller is arranged in the track and is arranged on a moving vehicle, the transmission device is fixed with the moving vehicle, the moving vehicle is connected with a moving frame, a cylinder No. 2 is arranged on the moving frame, a cylinder No. 1 is fixed on the moving vehicle, a piston rod of the cylinder No. 1 is fixed at the lower part of the moving frame, and a piston rod of the cylinder No. 2 is fixedly connected with a slag removing plate; a slag dragging method of an aluminum liquid slag dragging machine comprises the following steps: the piston rod of the cylinder No. 2 extends out, the moving frame descends, the slag salvaging plate also descends, when the slag salvaging plate descends to a certain depth of the surface of the aluminum liquid, the piston rod of the cylinder No. 2 stops extending, the speed reducing motor operates, the driving sprocket rotates, the chain moves rightwards to drive the moving vehicle to move rightwards, the slag salvaging plate moves in the aluminum liquid, the slag suspended on the surface of the aluminum liquid is fished out, the speed reducing motor stops operating, the piston rod of the cylinder No. 2 retracts, the moving frame ascends, the slag salvaging plate also ascends along with the ascending, the piston rod of the cylinder No. 2 stops retracting, the speed reducing motor operates in the reverse direction, the moving vehicle operates leftwards at the moment, after the moving is in place, the speed reducing motor stops operating, the piston rod of the cylinder No. 1 quickly extends out, the moving frame rotates around the axis of the support No. 2, the moving frame hits on the support No, the piston rod of the No. 1 cylinder retracts and returns to the original position. The slag salvaging machine has the problems that during slag salvaging operation, the slag salvaging machine only depends on chain conditions and program set periods to passively execute the slag salvaging operation, even if a zinc pot area has no slag, the slag salvaging machine can also execute slag salvaging action, otherwise, if the zinc pot area has already driven the slag, the time set by the slag salvaging program is not reached, the slag salvaging operation can not be executed; in the zinc pot area, the slag salvaging machine cannot decide at which position to salvage slag, only can execute slag driving action and slag salvaging action mechanically according to the program setting area, and the slag salvaging machine cannot have any action for the slag quality which is not in the program setting area, so that manual adjustment is needed and the work is finished, and the full-automatic slag salvaging operation cannot be realized.
Disclosure of Invention
The invention aims to provide a full-automatic slag salvaging system and a full-automatic slag salvaging method for zinc liquid surface scum of a zinc pot, which can realize full-automatic execution of slag salvaging and skimming and intelligent identification of slag salvaging positions and slag salvaging time.
In order to achieve the purpose, the invention adopts the following technical scheme:
a full-automatic dross dragging system for zinc liquid level dross in a zinc pot comprises a visual identification system, a dross dragging execution system, a position sensing system, a linkage condition identification system, an intelligent server, a human-computer interface, a standby manual operation system and a dross dragging bucket;
the visual recognition system comprises a camera, a camera angle adjusting mechanism, a visual recognition server, visual recognition software, an encoder and a memory, wherein the visual recognition server and the intelligent server are in mutual data communication, and the visual recognition system can automatically recognize the position of zinc liquid level scum in the zinc pot and the amount of the zinc scum filled in the scum bailing bucket;
the slag dragging execution system comprises a six-axis slag dragging robot, a slag dragging robot PLC, a slag dragging robot fixed mounting mechanical mechanism, a slag dragging robot rotating mechanism, a slag dragging robot moving mechanism and a slag dragging spoon, the slag dragging robot PLC and the intelligent server are in mutual data communication, and the slag dragging execution system is mainly responsible for executing slag dragging operation;
the position sensing system comprises a distance measuring sensor, an angle measuring sensor, a positioning sensor, a limit limiting sensor, a three-dimensional space coordinate positioning PLC and three-dimensional space coordinate positioning software, the position sensing system is in data communication with the intelligent server, and can be used for positioning the zinc liquid level scum in the zinc pot, the zinc slag in the slag salvaging hopper and the current positions of the six-axis slag salvaging robot in real time;
the linkage condition recognition system comprises a recognition module of a mainline linkage condition, a recognition module of foreign objects entering an operation area and a recognition module of a six-axis slag salvaging robot operation linkage condition, the linkage condition recognition system is in data communication with the intelligent server, and the linkage condition recognition system is used for judging whether the slag skimming operation or the slag salvaging operation is suitable;
the intelligent server belongs to a master control center and has the functions of judging and selecting slag dragging time or slag skimming time, judging and selecting slag dragging position or slag skimming position, sending slag dragging operation instruction or slag skimming operation instruction, sending slag dragging operation stopping instruction or slag skimming operation stopping instruction, sending slag dragging operation emergency stopping instruction or slag skimming operation emergency stopping instruction, sending zinc slag lifting lug placing instruction and sending zinc slag ingot hoisting instruction;
the human-computer interface can be used for state display and signal tracking of the whole slag salvaging system;
the standby manual operation system comprises a standby manual operation panel box, a manual touch screen, an operation button and an operation handle, and can be used for equipment maintenance, equipment debugging and manual operation in emergency situations.
Preferably, still include the zincilate lug placement system, the zincilate lug placement system includes manipulator, control module, manipulator storage rack, drags for sediment spoon storage rack, first clamp and zincilate lug feeding device, and control module and intelligent server data communication each other.
Preferably, the zinc slag ingot hoisting system comprises a second clamp, a lifting appliance walking track, a zinc slag ingot hoisting control PLC and a zinc slag ingot visual identification module, the second clamp, the lifting appliance walking track and the zinc slag ingot visual identification module are all controlled by the zinc slag ingot hoisting control PLC, and the zinc slag ingot hoisting control PLC is in data communication with the intelligent server.
Preferably, still include electromagnetism slag driving system, electromagnetism slag driving system includes electromagnetism slag driving device, electromagnetism slag driving device hangs and elevating gear, cooling system, power supply system and electromagnetism slag driving control system, cooling system includes the fan, motor and cooling tube, power supply system includes power transformer, switch and cable, electromagnetism slag driving control system includes electromagnetism slag driving control PLC, electromagnetism slag driving control host computer and electromagnetism slag driving control software, electromagnetism slag driving system and human-computer interface data communication each other, electromagnetism slag driving system and reserve manual operation dish case interconnect communication.
A slag fishing method comprises the following steps:
the method comprises the following steps: the chain condition recognition system detects whether the operation condition of the whole slag salvaging system is met, if the operation condition of the slag salvaging system is met, the step two is executed, and if the operation condition of the slag salvaging system is not met, the operation is stopped, and an alarm is sent out;
step two: the whole slag salvaging system is reset firstly, then the visual identification system carries out visual identification on a slag salvaging operation area, if foreign objects enter the slag salvaging operation area, the slag salvaging operation is suspended, an alarm is given, if no foreign objects enter the slag salvaging operation area, the visual identification system carries out identification on the current position and measurement on the range size of zinc liquid surface floating slag in the slag salvaging operation area, and the obtained detection data are sent to the intelligent server;
step three: the intelligent server analyzes and judges according to the detection data obtained in the step two, and determines whether to execute slag skimming operation, or execute slag salvaging operation, or system waiting is selected;
step four: if the system waits, directly returning to the step I, if the system executes slagging-off operation, the intelligent server sends out slagging-off operation instructions to the slag dragging execution system, the slagging-off operation instructions comprise the initial position of slagging-off, the termination position of slagging-off and the frequency of slagging-off, the step I is returned after slagging-off operation is completed, if the system executes slagging-off operation, the intelligent server sends out slagging-off operation instructions to the slag dragging execution system, the slagging-off operation instructions comprise the position of dragging-off, the step I is returned after each slagging-off operation is completed, the operation conditions of the slagging-off system are detected again, and visual identification is carried out on floating slag on the zinc liquid surface in the slagging-off operation area again until all the floating slag on the zinc liquid surface in the slagging-off operation area is dragged out.
Preferably, in the fourth step, when slag salvaging is performed, the zinc liquid surface dross is poured into the dross salvaging hopper every time, then the visual identification system carries out visual identification and judgment on the zinc liquid surface dross amount in the dross salvaging hopper, and detects whether a zinc dross lifting lug exists or not, if the zinc liquid surface dross amount reaches the set accumulation amount and the zinc dross lifting lug does not exist, the intelligent server sends out a zinc dross lifting lug placing instruction, and the human-computer interface displays the data of the current state; if the zinc liquid surface scum amount exceeds the set accumulation amount, the intelligent server sends out a zinc scum ingot hoisting instruction, and the human-computer interface displays the data of the current state; and if the amount of the zinc liquid surface scum reaches the upper limit amount of the slag salvaging hopper, the intelligent server sends an emergency stopping instruction of the slag salvaging operation, stops the slag salvaging operation and gives an alarm, the chain condition identification system always keeps working, once the running condition of the slag salvaging system is found to be not satisfied, the slag salvaging operation is stopped, the alarm is given, double safety protection is carried out, the slag salvaging system is reset after the slag salvaging operation is stopped, and the first step is returned to and works again.
The invention has the beneficial effects that: the invention can automatically identify the position of the zinc liquid surface scum, and automatically select whether to scrape the zinc scum to the area to be fished or directly fished according to the amount of the zinc liquid surface scum; automatically identifying whether slag dragging operation needs to be executed or not; automatically identifying whether the slag skimming operation or the slag salvaging operation can be executed according to the linkage conditions; automatically identifying the amount of zinc dross accumulated in the dross salvaging hopper, and automatically reminding workers to place zinc dross lifting lugs or automatically placing the zinc dross lifting lugs after the amount of zinc dross reaches a preset accumulation amount; when the zinc slag amount reaches the upper limit amount of the slag dragging bucket, the worker is automatically reminded to shovel away the zinc slag or automatically lift the zinc slag to a specified zinc slag placing area; the intelligent and full-automatic slag skimming device realizes the intellectualization and the full automation of slag skimming operation, slag salvaging operation, zinc slag lifting lug placing operation and zinc slag ingot hoisting operation, reduces the field operation intensity, avoids the operation in a high-temperature area, and improves the safety of workers.
Drawings
FIG. 1 is a schematic diagram of the system composition of a full-automatic zinc liquid level scum dragging system of a zinc pot.
Fig. 2 is a flow chart of the working steps of the full-automatic zinc liquid level scum dragging system of the zinc pot.
Detailed Description
The technical solution in the embodiments of the present invention will be described below with reference to the accompanying drawings.
As shown in fig. 1, a full-automatic dross salvaging system for zinc liquid level dross in a zinc pot comprises a visual identification system 1, a dross salvaging execution system 2, a position sensing system 3, a linkage condition identification system 4, an intelligent server 5, a human-computer interface 6, a standby manual operation system 7 and a dross salvaging hopper 8;
the visual recognition system 1 comprises a camera 9, a camera angle adjusting mechanism 10, a visual recognition server 11, visual recognition software 12, an encoder 13 and a memory 14, the visual recognition server 11 and the intelligent server 5 are in mutual data communication, and the visual recognition system 1 can automatically recognize the position of zinc liquid level scum in a zinc pot and the amount of zinc scum filled in a scum dragging hopper 8;
the slag fishing execution system 2 comprises a six-axis slag fishing robot 15, a slag fishing robot PLC16, a slag fishing robot fixed installation mechanical mechanism 17, a slag fishing robot rotating mechanism 18, a slag fishing robot moving mechanism 19 and a slag fishing spoon 20, the slag fishing robot PLC16 and the intelligent server 5 are in mutual data communication, and the slag fishing execution system 2 is mainly responsible for executing slag fishing operation;
the position sensing system 3 comprises a distance measuring sensor 21, an angle measuring sensor 22, a positioning sensor 23, a limit limiting sensor 24, a three-dimensional space coordinate positioning PLC25 and three-dimensional space coordinate positioning software 26, the position sensing system 3 and the intelligent server 5 are in data communication with each other, and the position sensing system 3 can position the zinc liquid level scum in the zinc pot, the zinc slag in the slag salvaging hopper 8 and the current position of the six-axis slag salvaging robot 15 in real time;
the linkage condition recognition system 4 comprises a main line linkage condition recognition module 27, a foreign object entering recognition module 28 in an operation area and a six-axis slag salvaging robot operation linkage condition recognition module 29, the linkage condition recognition system 4 is in mutual data communication with the intelligent server 5, and the linkage condition recognition system 4 is used for judging whether the slag skimming operation or the slag salvaging operation is suitable;
the intelligent server 5 belongs to a master control center and has the functions of judging and selecting slag dragging time or slag skimming time, judging and selecting slag dragging position or slag skimming position, sending slag dragging operation instruction or slag skimming operation instruction, sending slag dragging operation stopping instruction or slag skimming operation stopping instruction, sending slag dragging operation emergency stopping instruction or slag skimming operation emergency stopping instruction, sending zinc slag lifting lug placing instruction and sending zinc slag ingot hoisting instruction;
the human-computer interface 6 can be used for state display and signal tracking of the whole slag salvaging system;
the backup manual operation system 7 includes a backup manual operation panel box 30, a manual touch screen 31, operation buttons 32, and an operation handle 33, and the backup manual operation system 7 can be used for equipment maintenance, equipment commissioning, and manual operation in emergency situations.
The device further comprises a zinc slag lifting lug placing system 34, wherein the zinc slag lifting lug placing system 34 comprises a mechanical arm 35, a control module 36, a mechanical arm storage rack 37, a slag spoon storage rack 38, a first clamp 39 and a zinc slag lifting lug feeding device 40, and the control module 36 is in mutual data communication with the intelligent server 5. First clamp 39 installs on manipulator 35, in the executive process who drags for the sediment operation, when the dross lug needs to be placed, six-shaft drags for the sediment robot 15 and will place earlier drags for sediment spoon 20 and place on dragging for sediment spoon storage rack 38, then automatic installation manipulator 35 on manipulator storage rack 37, the back of finishing the installation, six-shaft drags for sediment robot 15 drive manipulator 35 and gets the dross lug on dross lug feeding device 40 clamp, put into the dross lug at last and drag for in the sediment fill 8, realize the operation of placing of automatic dross lug.
The zinc slag ingot hoisting system 41 is further included, the zinc slag ingot hoisting system 41 comprises a second clamp 42, a lifting appliance 43, a lifting appliance walking track 44, a zinc slag ingot hoisting control PLC45 and a zinc slag ingot visual identification module 46, the second clamp 42, the lifting appliance 43, the lifting appliance walking track 44 and the zinc slag ingot visual identification module 46 are all controlled by a zinc slag ingot hoisting control PLC45, and the zinc slag ingot hoisting control PLC45 is in mutual data communication with the intelligent server 5. When the zinc slag ingot needs to be lifted, the intelligent server 5 sends a zinc slag ingot lifting instruction to the zinc slag lifting control PLC45, the zinc slag lifting control PLC45 controls the lifting appliance 43 to move on the lifting appliance walking track 44, the lifting appliance 43 is provided with the second clamp 42, after the lifting appliance reaches the position above the slag dragging bucket 8, the lifting appliance 43 enables the second clamp 42 to descend to the designated position, the second clamp 42 starts to ascend and lift after clamping a zinc slag lifting lug in the slag dragging bucket 8, after the lifting appliance ascends to a certain height, the lifting appliance moves to the fixed placement position of the zinc slag ingot along the lifting appliance walking track 44, the zinc slag lifting lug is released, and finally the zinc slag ingot lifting control PLC45 resets and moves to the standby position, the fixed placement position of the zinc slag ingot is memorized by the zinc slag ingot lifting control PLC45, so as to be stored next time until the zinc.
Still include electromagnetism slag driving system 47, electromagnetism slag driving system 47 includes electromagnetism slag driving device 48, electromagnetism slag driving device hangs and elevating gear 49, cooling system 50, power supply system 51 and electromagnetism slag driving control system 52, cooling system 50 includes fan 53, motor 54 and cooling tube 55, power supply system 51 includes power transformer 56, switch 57 and cable 58, electromagnetism slag driving control system 52 includes electromagnetism slag driving control PLC59, electromagnetism slag driving control host 60 and electromagnetism slag driving control software 61, electromagnetism slag driving system 47 and the mutual data communication of man-machine interface 6, electromagnetism slag driving system 47 and reserve manual operation dish case 7 interconnect communication. When the slag removing operation is required to be executed, the electromagnetic slag removing device 48 is moved to the upper part of the zinc pot through the electromagnetic slag removing device hanging and lifting device 49 under the control of the electromagnetic slag removing control system 52, the height of the electromagnetic slag removing device 48 is adjusted, the electromagnetic slag removing device 48 can release electromagnetic force, zinc liquid level scum in the zinc pot can be intensively moved to a region to be subjected to slag removing under the attraction of the electromagnetic force, the execution of the slag removing operation is convenient, the cooling system 50 is used for cooling the electromagnetic slag removing device 48, the power supply system 51 provides power for the electromagnetic slag removing system 47, the data of the current running state of the electromagnetic slag removing system 47 can be transmitted to the human-computer interface 6, the running state of the electromagnetic slag removing system 47 is displayed by the human-computer interface 6, when the electromagnetic slag removing system 47 has problems, a worker can emergently stop the electromagnetic slag removing system 47 through the standby manual operation tray box 7 and can debug the electromagnetic slag removing system 47 through the manual operation tray box 7, the safety in the working process is ensured.
As shown in fig. 2, a slag salvaging method comprises the following steps:
the method comprises the following steps: the chain condition recognition system 4 detects whether the operation condition of the whole slag salvaging system is satisfied, if the operation condition of the slag salvaging system is satisfied, the step two is executed, if the operation condition of the slag salvaging system is not satisfied, the operation is stopped, and an alarm is sent out;
step two: the whole slag salvaging system is reset firstly, then the visual recognition system 1 carries out visual recognition on a slag salvaging operation area, if foreign objects enter the slag salvaging operation area, the slag salvaging operation is suspended, an alarm is given, if no foreign objects enter the slag salvaging operation area, the visual recognition system 1 carries out recognition of the current position and measurement of the range size on the zinc liquid surface floating slag in the slag salvaging operation area, and the obtained detection data are sent to an intelligent server;
step three: the intelligent server 5 analyzes and judges according to the detection data obtained in the step two, and determines whether to execute slag skimming operation, or execute slag salvaging operation, or system waiting;
step four: if the system waits, directly returning to the step I, if the system waits, the intelligent server 5 sends a slag skimming operation instruction to the slag dragging and executing system 2, wherein the slag skimming operation instruction comprises a slag skimming initial position, a slag skimming final position and slag skimming times, after the slag skimming operation is completed, returning to the step I, if the slag skimming operation is performed, the intelligent server 5 sends a slag dragging operation instruction to the slag dragging and executing system 2, the slag dragging operation instruction comprises a slag dragging position, after the slag dragging operation is completed, returning to the step I, detecting the operation conditions of the slag dragging system again, visually identifying the zinc liquid surface floating slag in the slag dragging operation area again, and finally completely dragging out the zinc liquid surface floating slag in the slag dragging operation area.
In the fourth step, when slag salvaging operation is executed, zinc liquid surface dross is poured into the dross salvaging hopper 8 every time, then the vision recognition system 1 carries out vision recognition and judgment on the zinc liquid surface dross amount in the dross salvaging hopper 8 and detects whether a zinc dross lifting lug exists, if the zinc liquid surface dross amount reaches the set accumulation amount and the zinc dross lifting lug does not exist, the intelligent server 5 sends out a zinc dross lifting lug placing instruction, and the human-computer interface 6 displays the data of the current state; if the zinc liquid surface scum amount exceeds the set accumulation amount, the intelligent server 5 sends out a zinc scum ingot hoisting instruction, and the human-computer interface 6 displays the data of the current state; if the amount of the zinc liquid surface scum reaches the upper limit amount of the slag salvaging hopper 8, the intelligent server 5 sends an emergency stopping instruction of the slag salvaging operation, stops the slag salvaging operation and gives an alarm, the linkage condition recognition system 4 always keeps working, once the running condition of the slag salvaging system is found to be not satisfied, the slag salvaging operation is stopped and gives an alarm, double safety protection is carried out, and after the slag salvaging operation is stopped, the slag salvaging system is reset and returns to the first step to work again.
As shown in fig. 1 and 2, the working principle of the present invention is as follows: when the slag salvaging system starts to work, the intelligent server 5 sends an instruction to the linkage condition identification system 4, so that the linkage condition identification system 4 judges whether the operation condition of the slag salvaging system is satisfied, if the operation condition is not satisfied, an alarm is sent out on the human-computer interface 6, which operation condition is not satisfied is displayed, the program is ended, the operation is restarted after all signals are reset, if the operation condition is satisfied, the slag salvaging system is reset, the six-axis slag salvaging robot 15 is started and is in a standby state, the vision identification system 1 starts to work, all-around shooting is carried out on a slag salvaging operation area, the shooting angle of the camera 9 can be adjusted through the shooting angle adjusting mechanism 10, the shooting angle is measured and corrected in real time by the angle measuring sensor 22, the common tail end of the camera 9 and the six-axis slag salvaging robot 15 is respectively provided with the distance measuring sensor 21, and the three-dimensional space coordinate positioning PLC25 of the, obtaining the position and the range of the zinc liquid surface floating slag in the slag salvaging operation area, processing a camera picture by a visual recognition server 11 of a visual recognition system 1, carrying out recognition processing on the camera picture by combining the calculation result of a three-dimensional space coordinate positioning PLC25, sending the processed result to an intelligent server 5, sending an instruction to an interlocking condition recognition system 4 by the intelligent server 5, judging whether the slag skimming operation is required to be executed or not by the interlocking condition recognition system 4 according to the logic rule set by the slag salvaging system, if the slag skimming operation is not required to be executed, returning a program to prepare for starting the next execution period, if the slag skimming operation is required to be executed, sending the initial position of the slag skimming and the final position of the slag skimming to an electromagnetic slag skimming system 47 by the intelligent server 5, controlling an electromagnetic slag skimming device suspension and lifting device 49 by an electromagnetic slag control system 52 according to the obtained data, the electromagnetic slag driving device 48 is moved to a proper position through the electromagnetic slag driving device hanging and lifting device 49, the electromagnetic slag driving device 48 can release electromagnetic force in a certain range, the electromagnetic force can attract zinc liquid surface floating slag to drive the zinc liquid surface floating slag to directionally flow to a slag region to be fished, the camera 9 adjusts the angle again and focuses on the slag region to be fished, whether slag fishing operation needs to be executed or not is judged according to the amount of the gathered zinc liquid surface floating slag, if the slag fishing operation does not need to be executed, the program returns to prepare for starting the next execution period, if the slag fishing operation needs to be executed, the six-axis slag fishing robot 15 drags the zinc liquid surface floating slag in the slag region to be fished through the slag fishing spoon 20 and pours the zinc liquid surface floating slag into the slag fishing bucket 8, meanwhile, the intelligent server 5 sends an instruction to the vision recognition system 1, the vision recognition system 1 adjusts the angle of the camera 9, the camera 9 focuses on the slag fishing bucket 8, the method comprises the steps of visually identifying the amount of zinc dross in a dross dragging bucket 8 and whether zinc dross lifting lugs exist or not, sending an identification result to an intelligent server 5, judging whether the zinc dross lifting lugs need to be placed or not by the intelligent server 5 according to the identification result, if the zinc dross lifting lugs do not need to be placed, returning a program, preparing to start the next execution cycle, if the zinc dross lifting lugs need to be placed, sending a zinc dross lifting lug placing instruction to a dross dragging execution system 2 by the intelligent server 5, controlling a six-axis dross dragging robot 15 by the dross dragging execution system 2 through a dross dragging robot PLC16, placing a dross dragging spoon 20 on a dross dragging spoon storage rack 38 by the six-axis dross dragging robot 15, then automatically installing a manipulator 35 on a manipulator storage rack 37, configuring a first clamp 39 on the manipulator 35, after the manipulator 35 is installed, enabling the manipulator 35 to move to a zinc dross lifting lug feeding device 40 through the six-axis dross dragging robot 15, clamping the zinc dross lifting lugs 40 through the first clamp 39 on the manipulator 35, the zinc slag lifting lugs are placed in the slag dragging bucket 8, after the zinc slag lifting lugs are placed, the manipulator 35 of the six-axis slag dragging robot 15 is automatically replaced by a slag dragging spoon 20, the program returns, and the next execution cycle is ready to begin; after the intelligent server 5 judges that the zinc slag lifting lugs do not need to be placed, the intelligent server 5 judges whether zinc slag ingot lifting operation needs to be performed or not, if the zinc slag ingot lifting operation needs to be performed, the intelligent server 5 sends a zinc slag ingot lifting command to a zinc slag ingot lifting control PLC45, the zinc slag ingot lifting control PLC45 enables a lifting appliance 43 to move on a lifting appliance walking track 44, when the lifting appliance moves above a slag salvaging hopper 8, the lifting appliance 43 descends to a specified position, the second clamp 42 on the lifting appliance 43 clamps the zinc slag lifting lugs and then starts lifting, the lifting appliance ascends to a certain height and then moves to a fixed placing position of a zinc slag ingot along the lifting appliance walking track 44, after the zinc slag ingot is placed at the fixed placing position of the zinc slag ingot, the lifting appliance 43 returns to the position above the slag salvaging hopper 8 and is in a standby state, and meanwhile, the zinc slag ingot lifting control PLC45 memorizes the fixed placing position of the zinc slag ingot so as to continue to place, and (3) returning the program until the slag salvaging system is reset and cleared, after the zinc slag ingot hoisting operation is completed, preparing to start the next execution period, wherein in the working process of the slag salvaging system, the chain condition identification system 4 keeps the working state, detects whether the running conditions required by the execution operation are met, and ensures the safety in the execution operation.
Claims (6)
1. A full-automatic dross dragging system for zinc liquid level dross in a zinc pot is characterized by comprising a visual identification system (1), a dross dragging execution system (2), a position sensing system (3), a linkage condition identification system (4), an intelligent server (5), a human-computer interface (6), a standby manual operation system (7) and a dross dragging hopper (8);
the visual recognition system (1) comprises a camera (9), a camera angle adjusting mechanism (10), a visual recognition server (11), visual recognition software (12), an encoder (13) and a memory (14), wherein the visual recognition server (11) is in data communication with the intelligent server (5), and the visual recognition system (1) can automatically recognize the position of zinc liquid level scum in a zinc pot and the amount of zinc scum filled in a scum bailing bucket (8);
the slag salvaging execution system (2) comprises a six-axis slag salvaging robot (15), a slag salvaging robot PLC (16), a slag salvaging robot fixed installation mechanical mechanism (17), a slag salvaging robot rotating mechanism (18), a slag salvaging robot moving mechanism (19) and a slag salvaging spoon (20), the slag salvaging robot PLC (16) is in data communication with the intelligent server (5), and the slag salvaging execution system (2) is mainly responsible for the execution of slag salvaging operation;
the position sensing system (3) comprises a distance measuring sensor (21), an angle measuring sensor (22), a positioning sensor (23), a limit limiting sensor (24), a three-dimensional space coordinate positioning PLC (25) and three-dimensional space coordinate positioning software (26), the position sensing system (3) and the intelligent server (5) are in data communication with each other, and the position sensing system (3) can be used for positioning zinc liquid level scum in a zinc pot, zinc scum in a scum bucket (8) and the current position of the six-axis scum fishing robot (15) in real time;
the chain condition recognition system (4) comprises a main line chain condition recognition module (27), a recognition module (28) for foreign objects entering a working area and a recognition module (29) for the six-axis slag salvaging robot to run chain conditions, the chain condition recognition system (4) is in mutual data communication with the intelligent server (5), and the chain condition recognition system (4) is used for judging whether the slag skimming operation or the slag salvaging operation is suitable;
the intelligent server (5) belongs to a master control center and has the functions of judging and selecting slag dragging time or slag skimming time, judging and selecting slag dragging position or slag skimming position, sending slag dragging operation instructions or slag skimming operation instructions, sending slag dragging operation stopping instructions or slag skimming operation stopping instructions, sending slag dragging operation emergency stopping instructions or slag skimming operation emergency stopping instructions, sending zinc slag lifting lug placing instructions and sending zinc slag ingot hoisting instructions;
the human-computer interface (6) can be used for state display and signal tracking of the whole slag salvaging system;
the spare manual operation system (7) comprises a spare manual operation panel box (30), a manual touch screen (31), an operation button (32) and an operation handle (33), and the spare manual operation system (7) can be used for equipment maintenance, equipment debugging and manual operation in emergency situations.
2. The full-automatic zinc liquid level dross slag dragging system of claim 1, further comprising a dross lifting lug placing system (34), wherein the dross lifting lug placing system (34) comprises a manipulator (35), a control module (36), a manipulator storage rack (37), a dross dragging spoon storage rack (38), a first clamp (39) and a dross lifting lug feeding device (40), and the control module (36) and the intelligent server (5) are in mutual data communication.
3. The full-automatic zinc liquid level dross slag dragging system of claim 2, further comprising a dross ingot hoisting system (41), wherein the dross ingot hoisting system (41) comprises a second clamp (42), a lifting appliance (43), a lifting appliance walking track (44), a dross ingot hoisting control PLC (45) and a dross ingot visual identification module (46), the second clamp (42), the lifting appliance (43), the lifting appliance walking track (44) and the dross ingot visual identification module (46) are all controlled by the dross ingot hoisting control PLC (45), and the dross ingot hoisting control PLC (45) and the intelligent server (5) are in mutual data communication.
4. The full-automatic zinc pot liquid level dross salvaging system of claim 3, further comprising an electromagnetic dross driving system (47), wherein the electromagnetic dross driving system (47) comprises an electromagnetic dross driving device (48), an electromagnetic dross driving device suspension and lifting device (49), a cooling system (50), a power supply system (51) and an electromagnetic dross driving control system (52), the cooling system (50) comprises a fan (53), a motor (54) and a cooling pipeline (55), the power supply system (51) comprises a power transformer (56), a power switch (57) and a cable (58), the electromagnetic dross driving control system (52) comprises an electromagnetic dross driving control PLC (59), an electromagnetic dross driving control host (60) and an electromagnetic dross driving control software (61), and the electromagnetic dross driving control software (61) is in mutual data communication with the human-computer interface (6), the electromagnetic slag driving system (47) is connected and communicated with the standby manual operation panel box (7).
5. A slag dragging method of a zinc pot zinc liquid level scum full-automatic slag dragging system according to any one of the claims 1 to 4, which is characterized by comprising the following steps:
the method comprises the following steps: the chain condition recognition system (4) detects whether the operation condition of the whole slag salvaging system is met, if the operation condition of the slag salvaging system is met, the step two is executed, and if the operation condition of the slag salvaging system is not met, the operation is stopped, and an alarm is sent out;
step two: the whole slag salvaging system is reset firstly, then the visual recognition system (1) carries out visual recognition on a slag salvaging operation area, if foreign objects enter the slag salvaging operation area, the slag salvaging operation is suspended, an alarm is given, if no foreign objects enter the slag salvaging operation area, the visual recognition system (1) carries out recognition of the current position and measurement of the range size on the zinc liquid surface floating slag in the slag salvaging operation area, and the obtained detection data are sent to an intelligent server;
step three: the intelligent server (5) analyzes and judges according to the detection data obtained in the second step, and determines whether to execute slag skimming operation, or execute slag salvaging operation, or system waiting;
step four: if the system waits, directly returning to the step I, if the system waits, carrying out slagging-off operation, sending a slagging-off operation instruction to the slag salvaging execution system (2) by the intelligent server (5), wherein the slagging-off operation instruction comprises a slagging-off starting position, a slagging-off ending position and slagging-off times, returning to the step I after slagging-off operation is finished, if the system carries out slagging-off operation, sending a slagging-off operation instruction to the slag salvaging execution system (2) by the intelligent server (5), wherein the slagging-off operation instruction comprises a slagging-off position, returning to the step I after each slagging-off operation is finished, detecting the operation conditions of the slagging-off system again, carrying out visual identification again on zinc liquid surface floating slag in a slagging-off operation area until the zinc liquid surface floating slag in the slagging-off operation area is completely fished out.
6. The slag salvaging method according to claim 5, wherein in the fourth step, when slag salvaging is performed, the liquid zinc dross is dumped into the slag salvaging hopper (8) each time, then the vision recognition system (1) carries out vision recognition and judgment on the liquid zinc dross amount in the slag salvaging hopper (8), and detects whether a liquid zinc dross lifting lug exists or not, if the liquid zinc dross amount reaches the set accumulation amount and the liquid zinc dross lifting lug does not exist, the intelligent server (5) sends out a zinc dross lifting lug placing instruction, and the human-computer interface (6) displays the data of the current state; if the zinc liquid surface scum amount exceeds the set accumulation amount, the intelligent server (5) sends out a zinc scum ingot hoisting instruction, and the human-computer interface (6) displays the data of the current state; if the amount of the zinc liquid slag reaches the upper limit amount of the slag fishing hopper (8), the intelligent server (5) sends an emergency stop instruction of slag fishing operation, the slag fishing operation is stopped, an alarm is sent out, the chain condition identification system (4) always keeps working, once the running condition of the slag fishing system is found to be not met, the slag fishing operation is also stopped, the alarm is sent out, double safety protection is carried out, and after the slag fishing operation is stopped, the slag fishing system is reset, returns to the first step and works again.
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| CN202010010328.7A CN111101085A (en) | 2020-01-06 | 2020-01-06 | Full-automatic slag salvaging system and method for zinc liquid surface scum of zinc pot |
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Application publication date: 20200505 |