CN111349753A - Hot metal ladle slag-raking control system, slag-raking machine and automatic slag-raking control method for hot metal ladle - Google Patents
Hot metal ladle slag-raking control system, slag-raking machine and automatic slag-raking control method for hot metal ladle Download PDFInfo
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- CN111349753A CN111349753A CN202010381075.4A CN202010381075A CN111349753A CN 111349753 A CN111349753 A CN 111349753A CN 202010381075 A CN202010381075 A CN 202010381075A CN 111349753 A CN111349753 A CN 111349753A
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21C—PROCESSING OF PIG-IRON, e.g. REFINING, MANUFACTURE OF WROUGHT-IRON OR STEEL; TREATMENT IN MOLTEN STATE OF FERROUS ALLOYS
- C21C7/00—Treating molten ferrous alloys, e.g. steel, not covered by groups C21C1/00 - C21C5/00
- C21C7/0087—Treatment of slags covering the steel bath, e.g. for separating slag from the molten metal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D43/00—Mechanical cleaning, e.g. skimming of molten metals
- B22D43/005—Removing slag from a molten metal surface
- B22D43/007—Removing slag from a molten metal surface by using scrapers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D46/00—Controlling, supervising, not restricted to casting covered by a single main group, e.g. for safety reasons
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Abstract
The invention provides a slag-raking control system for a hot-metal ladle, which comprises a laser ranging sensor, an image acquisition camera, a radar range finder, a position sensor, a weighing sensor, an image acquisition camera, a weighing sensor and a PLC (programmable logic controller), wherein the laser ranging sensor is installed on one side of a running track of the hot-metal ladle and is connected with the PLC, the image acquisition camera is installed on the front surface of a dust hood above the hot-metal ladle, the radar range finder is installed on the back surface of the dust hood above the hot-metal ladle and is connected with the PLC, the position sensor is installed in an oil cylinder for controlling the tilting action of the hot-metal ladle and is connected with the PLC, the inclination angle sensor is installed on the hot-metal ladle and is connected with the PLC, a pull rope encoder, an angle sensor and a position sensor for controlling the oil cylinder are installed on a slag basin, the weighing sensor is installed at the bottom of a slag basin carrier and, The equipment cabinet comprises a PLC controller, an industrial personal computer and automatic slag-raking control software.
Description
Technical Field
The invention belongs to the field of ferrous metallurgy industry, and particularly relates to a molten iron tank slag-raking control system, a slag-raking machine and a molten iron tank automatic slag-raking control method.
Background
In the field of ferrous metallurgy industry, steel making is an important part, and a slag skimming process is an important component of a steel making link. Whether the slagging-off process is mature or not is not only related to the quality of downstream molten steel, but also related to the cost and the benefit of iron and steel enterprises. In the original period of the steel-making industry, the slag skimming process is mainly realized in a mode of manually lifting a slag skimming plate, so that the efficiency is low, the slag skimming time is long, the waste of molten steel is serious, and even considerable accident potential exists. After the slag raking machine appears, workers can operate the slag raking machine to realize slag raking of the hot metal ladle, labor intensity of the workers is greatly reduced, slag raking efficiency is improved, and steel tapping rate and molten steel quality of molten steel are also improved. The new generation slag skimming technology is full-automatic slag skimming, can completely separate from human operation, and controls a slag skimming machine to identify the slag surface distribution of a hot metal ladle and carry out corresponding actions through program design.
Regarding the automatic slag raking technology, the existing mature scheme is that a full-automatic slag raking machine and an electromagnetic automatic slag raking device of a smelting furnace are provided. The full-automatic slag raking machine mainly comprises a control box and a slag raking mechanical arm, wherein a rotating platform is arranged at the top end of the control box, a lifting motor is arranged on the side wall of the rotating platform, a movable telescopic chain is arranged at one end of the mechanical arm, and a slag raking plate is arranged at one end of the mechanical arm. The automatic slag raking machine realizes automatic slag raking by controlling the actions of the rotating platform and the lifting platform through the control box, and is mainly applied to the field of aluminum melting furnaces. Although the slagging-off process is automated, the slagging-off action is realized through a fixed program, the change of the slagging-off action cannot be realized according to the real-time condition, and actually, the slagging-off process is only a coarse slagging-off process, and the visibility and the slagging-off efficiency of the slagging-off process and the protectiveness to molten steel are all insufficient. The electromagnetic automatic slag removing device of the smelting furnace comprises the smelting furnace, a slag removing control device, a guide plate, a slag removing channel, a manipulator device and the like, wherein a slag removing channel is arranged on the side wall of the smelting furnace, the guide plate is connected to the interior of the smelting furnace through the slag removing channel, and the slag removing is realized from the upper opening of the smelting furnace through the manipulator device. Although the design avoids direct operation of workers, the visibility and controllability of the slag skimming process are not enough, and the slag skimming can not control the liquid level of molten steel and the skimming rate of iron slag through the slag removing channel.
Disclosure of Invention
The invention aims to provide a molten iron tank slag-raking control system and an automatic slag-raking control method, and aims to solve the technical problems of insufficient visibility and reliability of a slag-raking process and low slag-raking efficiency in the prior art.
The invention relates to a slag-off control system for a hot metal ladle, which comprises a laser ranging sensor, an image acquisition camera, a radar range finder, a position sensor, an inclination angle sensor, an angle sensor, a pull rope encoder, a weighing sensor, a PLC (programmable logic controller) and an industrial personal computer, wherein:
the laser ranging sensor is arranged on one side of the running track of the molten iron ladle car and is used for acquiring real-time position information of the molten iron ladle car and transmitting the acquired position information data to the PLC through electric connection; the sensors used for the movement positioning control of the molten iron ladle car comprise, but are not limited to, laser ranging sensors, and sensors such as a proximity switch, a photoelectric switch, radar ranging, machine vision and the like can also be used for detection positioning. The device comprises four image acquisition cameras, a first image acquisition camera and a second image acquisition camera, wherein the first image acquisition camera and the second image acquisition camera are arranged on the front surface of a dust hood above a molten iron tank, are used for analyzing the molten iron overflow condition of a molten iron tank opening through acquired images and/or analyzing the distribution condition of iron slag in the molten iron tank, the third image acquisition camera is arranged on a slag skimming machine platform and is used for analyzing the corrosion condition of a slag skimming plate through acquired images, and the fourth image acquisition camera is arranged above a slag receiving position of a slag basin and is used for analyzing the loading capacity of slag in the slag basin through acquired images; the data acquired by the image acquisition camera are all transmitted to the industrial personal computer through electric connection; the image acquisition of the tipping control of the hot metal ladle in the invention includes but is not limited to detection by using a high-definition camera, and detection can also be performed by using an infrared thermal imager, a visible light camera and a three-dimensional laser scanner.
And the radar range finder is arranged on the back surface of the dust hood above the molten iron tank and used for acquiring the liquid level of molten iron in the molten iron tank and transmitting the liquid level to the PLC.
The number of the position sensors is three, and the first position sensor is arranged in an oil cylinder for controlling the inclination angle of the molten iron tank and is used for collecting the telescopic displacement of the oil cylinder; the second position sensor is arranged in an oil cylinder for controlling the lifting of the slag raking machine and is used for collecting the lifting displacement of the oil cylinder; the third position sensor is arranged in an oil cylinder for controlling the pitching of the slag removing machine and is used for collecting the action displacement of the pitching oil cylinder; the data collected by the position sensor are all transmitted to the PLC through electric connection; the position sensors referred to in the present invention include, but are not limited to, pull cord encoders, absolute position encoders, rotary encoder, and laser ranging sensors.
The inclination angle sensor is arranged on a connecting shaft of the hot metal ladle car and the hot metal ladle and is used for collecting the tipping angle of the hot metal ladle and transmitting the collected tipping angle data to the PLC through electric connection so as to control the hot metal ladle to automatically tip in place; the angle sensor is arranged on a rotating shaft of the slag-raking machine and used for collecting the rotating angle of the slag-raking arm and transmitting the collected rotating angle data to the PLC through electric connection so as to control the slag-raking machine to realize automatic slag raking; the sensors used in the angle detection method of the present invention include, but are not limited to, angle sensors and tilt sensors, and the angle detection may be performed by calculating the displacement by triangulation.
The weighing sensor is arranged at the bottom of the slag basin transport vehicle and is used for transmitting the collected weight data of the slag basin to the PLC through electric connection so as to assist in judging slag skimming effect and slag skimming iron loss;
the pull rope encoder is arranged at the rear end of the telescopic arm of the slag raking machine and is used for acquiring the telescopic length of the slag raking machine in the action process and transmitting the acquired length data to the PLC through electric connection;
the PLC is arranged on the central processing cabinet and is used for collecting laser ranging sensor signals, radar ranging instrument signals, position sensor signals, inclination angle sensor signals, pull rope encoder signals and weighing sensor signals so as to realize the automatic positioning control of the hot metal ladle car, the automatic tipping control of the hot metal ladle and the automatic slag raking control of the slag raking machine according to the collected signals; .
And the industrial personal computer is arranged in the central processing cabinet and used for collecting the image signals of the image collecting camera and analyzing and processing the image signals, and transmitting the analysis and processing results to the PLC through Ethernet communication so as to control the PLC to output corresponding control signals.
Preferably, the cooling protection device is arranged above the image acquisition camera and used for protecting and cooling the image acquisition camera.
Based on the control system, the invention also provides a slag-raking machine which comprises an automatic slag-raking system for the hot-metal bottle, and the automatic slag-raking system for the hot-metal bottle is controlled by the automatic slag-raking control system for the hot-metal bottle. The main actuating mechanism of the invention is a slag raking machine, including but not limited to a hydraulic mechanical arm type slag raking machine, a pneumatic trolley type slag raking machine and a hydraulic trolley type slag raking machine.
Based on the control system, the invention also provides an automatic slag-off control method for the hot-metal ladle, which comprises the following steps:
and automatic slag skimming control software in the industrial personal computer analyzes and analyzes the images acquired by the first image acquisition camera and the second image acquisition camera, plans a slag skimming path, evaluates the slag skimming effect, calculates the real-time slag area and transmits the slag skimming path and the real-time slag area to the PLC.
The PLC controls the slag-raking plate to move according to a slag-raking path transmitted by the industrial personal computer according to the liquid level of molten iron in the molten iron tank, the telescopic length of the slag-raking arm, the rotating angle of the slag-raking arm, the corrosion degree of the slag-raking plate and the pitching angle of the slag-raking arm.
Preferably, after the automatic slag skimming is stopped, the fourth image acquisition camera transmits image signals to the industrial personal computer, and the automatic slag skimming control software in the industrial personal computer analyzes the image signals, judges whether the slag basin overflows or not, and outputs the result to the human-computer interface for displaying.
Preferably, after the automatic slag skimming is stopped, the weighing sensor collects the current weight of the slag pot and transmits the current weight to the PLC, and the PLC analyzes whether the current slag skimming is qualified or not and calculates the loss of molten iron according to the change difference value of the weight of the slag pot, and outputs the result to the human-computer interface for displaying.
Preferably, the slag-raking path of the slag-raking plate comprises a coarse slag-raking path and a fine slag-raking path, and the coarse slag-raking path is a formulated fixed slag-raking path; the fine slagging-off path is a path for controlling the slagging-off plate to move according to the slagging-off path transmitted by the industrial personal computer by the PLC according to the liquid level height of molten iron in the molten iron tank, the telescopic length of the slagging-off arm, the rotating angle of the slagging-off arm, the corrosion degree of the slagging-off plate and the pitching angle of the slagging-off arm.
Preferably, the slag-raking path planned by the industrial personal computer is in a mode as follows:
dividing the area capable of skimming into n equal parts, calculating the skimming weight of each area, and taking the path with the highest average weight as a fine skimming path.
Preferably, after the automatic slag skimming is stopped, the third image acquisition camera transmits image signals to the industrial personal computer, the automatic slag skimming control software in the industrial personal computer analyzes the image signals to calculate the corrosion length value of the slag skimming plate, and the result is transmitted to the PLC so as to control the immersion depth of the slag skimming plate and output an alarm signal for replacing the slag skimming plate.
The automatic slag-raking control system for the hot metal ladle integrates the functions of automatic movement in place of the hot metal ladle car, automatic tipping in place of the hot metal ladle, analysis of the dispersion degree of the iron slag, slag raking path planning, automatic slag raking, slag pot detection, slag raking efficiency evaluation, slag raking plate detection and the like. The system not only can realize automatic slag skimming without manual operation, but also can monitor the whole process of the automatic slag skimming process, grade the slag skimming effect and judge the slag skimming efficiency and the molten iron yield. The process of manual operation and judgment is reduced, manual experience judgment is replaced by machine judgment, the single slag-raking time is reduced by 20-50%, the slag-raking rate of the iron slag is improved through slag-raking path planning, and the sulfur content of the molten steel is greatly reduced.
Drawings
FIG. 1 is a system structure block diagram of a slag-raking control system of a hot-metal ladle according to the invention;
FIG. 2 is a schematic view of the hot-metal bottle slagging-off control system applied to a hot-metal bottle slagging-off machine;
FIG. 3 is a schematic view of a slag-off path planning model in the preferred embodiment of the invention.
In the figure, 1, a PLC controller; 2. an industrial personal computer; 3. a laser ranging sensor; 4. an image acquisition camera; 41. a first image capturing camera; 42. a second image capturing camera; 43. a third image acquisition camera; 44. a fourth image acquisition camera; 5. a radar range finder; 6. a position sensor; 61. a first position sensor; 62. a first position sensor; 63. a third position sensor; 7. a tilt sensor; 8. an angle sensor; 9. a pull rope encoder; 10. and a weighing sensor.
Detailed Description
The molten iron ladle slag-raking control system is constructed based on comprehensive use of technologies such as image recognition, laser ranging, radar ranging, PLC control, position and angle detection, path planning models and the like, and after a molten iron ladle reaches a slag-raking working position, the automatic slag-raking system controls all parts to perform corresponding actions, and the automatic slag-raking function is realized through mutual cooperation. The manpower of the slag removing process of the molten iron tank in the steel making process is reduced, the molten iron loss is reduced, and the slag removing efficiency is improved.
The invention provides a slag-off control system for a hot metal ladle, which is shown in a figure 1 and a figure 2 and comprises an image acquisition camera 4, a laser distance measuring sensor 3, a radar distance measuring instrument 5, a position sensor 6, an inclination angle sensor 7, a pull rope encoder 9, a weighing sensor 10, a PLC (programmable logic controller) 1 and an industrial personal computer 2:
the working steps of the molten iron ladle slag-off control system are as follows:
preparation of the system: the system comprises an image acquisition camera 4, sensors, an actuating mechanism, a PLC (programmable logic controller) 1 and an industrial personal computer 2, and initialization preparation of image processing equipment. The system power supply is started, the camera is in place, the sensor is in place, the actuating mechanism is in place, the PLC is in place, no abnormity occurs in communication, and the system initialization is completed.
And (3) judging the system state: the system judges the states of the image acquisition camera 4, each sensor, the actuating mechanism and the PLC controller 1, and the next process can be started when the system is in a working state.
The movement of the ladle car: and when the real-time position reaches the preset calibrated position, the molten iron ladle car stops moving, and the molten iron ladle car in-place signal is output.
When the work is started, the radar range finder 5 measures the liquid level of the molten iron tank, provides data for automatic tipping control, and simultaneously starts the slag raking arm to the initial coordinate point to prepare for slag raking action. Starting automatic tipping, analyzing and judging a tipping in-place signal according to the information of the tilt sensor 7 and the position sensor 6, and after the tipping in-place signal is obtained, the system starts the analysis of the distribution condition of the iron slag according to the image. The image acquisition camera 4 acquires the iron slag divergence distribution condition in the molten iron tank, and the system carries out slag skimming according to the iron slag distribution condition. And firstly, outputting and fixing a coarse slag-raking path model according to the steel grade, and then outputting an optimal slag-raking path in real time according to a fine slag-raking path planning model. And analyzing the content of the iron slag in the molten iron tank according to the image acquired by the image acquisition camera 4, and if the current content of the iron slag does not meet the requirement, continuously executing the slag raking action. And if the current iron slag content meets the requirement, stopping slag skimming, returning a slag skimming arm of the slag skimming machine, returning the molten iron tank, detecting the corrosion condition of a slag skimming plate, and detecting the overflow condition of a slag basin. In the process, the slag basin is weighed and runs in real time, the condition of the iron slag in the slag basin is detected, and when the weight of the iron slag reaches a reasonable range, a slag basin weight standard signal is output.
Preferably, the molten iron ladle slag-off control system further comprises a cooling protection device, and the cooling protection device is installed above the image acquisition camera 4 and used for protecting and cooling the image acquisition camera 4.
The cooling protection device of the image acquisition camera 4 is used for protecting and cooling the image acquisition camera 4 in a high-temperature high-speed dust severe environment, the image acquisition camera 4 is a high-precision instrument, and good protection is the guarantee of stable operation of the system. The cooling protection device may be a dust cover and have a fan or an air conditioner to keep the temperature in the cover at a temperature suitable for the image capturing camera 4 to operate.
The automatic slag-raking control software is installed on an industrial personal computer 2 of a control center of the automatic slag-raking system of the hot-metal ladle, the internal images of the hot-metal ladle collected by the image collecting camera 4 are identified through the software, and the identified information is sent to the automatic control part, the hot-metal ladle tipping part, the slag-raking path planning part and the like of the slag-raking machine in real time. The rollover anti-overflow device can prevent accidents caused by overlarge rollover angle of the hot metal ladle, and the slag basin anti-overflow device can prevent molten iron loss and slag removal rate calculation errors caused by overflow of the slag basin. The PLC controller 1 can be directly connected with the industrial personal computer 2, and the result obtained by calculation of the industrial personal computer 2 directly controls the operation of the executing mechanism.
The hot metal ladle tipping device mainly comprises the following parts: a radar ranging device; a tipping mechanism; tipping the camera; a cylinder stroke and inclination angle sensor 8; a rollover execution condition detection sensor.
The radar ranging device is used for detecting the height of the molten iron liquid level and automatically calculating the tipping angle and the lifting height of the oil cylinder by combining the parameters of the molten iron tank. The tipping mechanism is an actuating mechanism of the hot metal ladle tipping device, and the hot metal ladle is supported by the tipping oil cylinder to realize tipping. The tipping camera can monitor the height of the molten iron surface of the molten iron tank and the edge of the molten iron tank in real time and feed back the monitoring result to the control center of the automatic slag skimming system in real time. The cylinder stroke sensor and the inclination angle sensor 8 mainly collect stroke data of a tilting cylinder and the tilting angle of the hot metal ladle and feed back the data to the control center of the automatic slag skimming system. The rollover execution condition sensor mainly comprises the detection of the state of the rollover car at a working position and the state of the slag basin at a slag receiving position, and some state information is provided by other components of the automatic slag skimming system.
The working process of the hot metal ladle tipping device is as follows:
(1) the radar ranging device detects the height of the molten steel level of the molten iron tank, and automatically calculates the tipping angle of the molten iron tank and the lifting height of the tipping oil cylinder by combining the parameters of the molten iron tank.
(2) The tipping camera and the tipping execution condition detection sensor acquire state information and feed back the state information to the automatic slag skimming control center.
(3) The automatic slag skimming control system judges that the execution conditions of the tipping device are met, and comprises the steps that the tipping vehicle is in a working position, the desulfuration is finished, the slag basin is in a slag receiving position, the automatic slag skimming system is in an automatic control state (the state marks are fed back to an automatic slag skimming control center by sensors contained in all parts of the automatic slag skimming system), and an automatic tipping instruction is issued.
(4) The tipping actuating mechanism starts to execute the tipping action to control the tipping oil cylinder to ascend so as to tip over the hot metal ladle.
The automatic tipping actuator includes, but is not limited to, a hydraulic cylinder.
Preferably, after slagging-off is stopped, an image acquisition camera 4 arranged above a slag receiving position of the slag basin transmits an image signal to the industrial personal computer 2, automatic slagging-off control software analyzes the image signal, whether the slag basin overflows is judged, and a result is output to a human-computer interface for displaying.
The slag pot monitoring device is characterized in that only one camera is arranged in the main body, the work flow is that the camera collects slag pot iron slag containing state images, the slag pot containing condition is analyzed through automatic slag skimming control software, and the slag pot overflow alarm is provided for an automatic slag skimming system when the slag pot overflows.
Preferably, planning the traveling path of the slag skimming plate according to the divergence distribution condition of the iron slag comprises coarse slag skimming path planning and fine slag skimming path planning, wherein the coarse slag skimming path planning is realized by a fixed slag skimming path; and (3) planning the fine slag skimming path, analyzing the distribution of molten iron and iron slag in the ladle through the image collected by the image collecting camera 4, dividing the area capable of skimming into n equal parts, calculating the skimming weight of each area, and taking the path with the highest average weight as the fine slag skimming path.
The path planning is divided into two parts of coarse slag skimming path planning and fine slag skimming path planning:
(1) and planning a coarse slag-raking path, wherein when slag raking is started, iron slag is fully distributed on the surface of molten iron, the calculation of the slag raking path is invalid, and only the coarse slag raking is carried out according to a fixed path. And the coarse slag skimming path planning is realized through a fixed path.
(2) And (4) planning a fine slag-raking path, analyzing the distribution condition of iron slag and planning a reasonable slag-raking path through the molten iron surface image acquired by the high-precision camera in real time. As shown in fig. 3, the model is a fine slag skimming path planning model for a certain steel grade.
The invention can reduce the slag-raking time: the automatic slag skimming uses machine vision to replace manual judgment, and uses algorithm control to replace manual control, thereby realizing that the single slag skimming time is shortened by 20-50%; reducing the iron loss: the optimal path planning is realized by adopting image analysis, the iron slag is removed to the maximum extent, and the iron loss is reduced by 20% compared with the manual control slag removing mode and the traditional slag removing mode; the labor is reduced: the automatic slag skimming control adopts computer analysis and PLC automatic control, manual judgment and operation are reduced, and the whole slag skimming process only needs a person staring at the operation interface of the industrial personal computer 2, so that the labor resource cost is saved for iron and steel production enterprises.
The above embodiments are merely preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the alternatives of the present invention, and all of them belong to the protection scope of the present invention.
Claims (10)
1. The molten iron ladle slag-raking control system is characterized by comprising a plurality of sensors, an image acquisition camera (4), a PLC (programmable logic controller) and an industrial personal computer (2), wherein the PLC (1) is installed on a central processing cabinet and is used for acquiring signals of the sensors so as to realize automatic positioning control of a molten iron ladle car, automatic tipping control of a molten iron ladle and automatic slag-raking control of a slag raking machine according to the acquired signals; the industrial personal computer (2) is installed on a central processing cabinet and used for collecting image signals of the image collecting camera (4), analyzing and processing the image signals, and transmitting the analysis and processing results to the PLC controller (1) through Ethernet communication so as to control the PLC controller (1) to output corresponding control signals.
2. The hot metal ladle slag-off control system according to claim 1, wherein the sensors comprise a laser range sensor (3), a radar range finder (5), a position sensor (6), an inclination sensor (7), an angle sensor (8), a stay cord encoder (9) and a weighing sensor (10):
the laser ranging sensor (3) is arranged on one side of the running track of the molten iron ladle car and is used for acquiring real-time position information of the molten iron ladle car and transmitting the acquired position information data to the PLC (1) through electric connection;
the radar distance measuring instrument (5) is arranged on the back surface of the dust hood above the molten iron tank and is used for collecting the height of the molten iron liquid level in the molten iron tank and transmitting the height to the PLC (1);
the number of the position sensors (6) is three, and the first position sensor (61) is arranged in an oil cylinder for controlling the inclination angle of the molten iron tank and is used for collecting the telescopic displacement of the oil cylinder; the second position sensor (62) is arranged in an oil cylinder for controlling the lifting of the slag raking machine and is used for collecting the lifting displacement of the oil cylinder; the third position sensor (63) is arranged in an oil cylinder for controlling the pitching of the slag raking machine and is used for collecting the action displacement of the pitching oil cylinder; the data collected by the position sensor (6) are transmitted to the PLC controller (1) through electric connection;
the inclination angle sensor (7) is arranged on a connecting shaft of the hot metal ladle car and the hot metal ladle and is used for collecting the tipping angle of the hot metal ladle and transmitting the collected tipping angle data to the PLC (1) through electric connection so as to control the hot metal ladle to automatically tip in place;
the angle sensor (8) is arranged on a rotating shaft of the slag-raking machine and used for collecting the rotating angle of the slag-raking arm and transmitting the collected rotating angle data to the PLC (1) through electric connection so as to control the slag-raking machine to realize automatic slag raking;
the weighing sensor (10) is arranged at the bottom of the slag basin transport vehicle and is used for transmitting the collected weight data of the slag basin to the PLC (1) through electric connection so as to assist in judging slag skimming effect and slag skimming iron loss;
the pulling rope encoder (9) is installed at the rear end of a telescopic arm of the slag raking machine and used for acquiring the telescopic length of the slag raking machine in the action process and transmitting the acquired length data to the PLC (1) through electric connection.
3. The molten iron ladle slag-raking control system according to claim 1, wherein the number of the image-collecting cameras (4) is four, a first image-collecting camera (41) and a second image-collecting camera (42) are mounted on the front surface of a dust hood above the molten iron ladle, a third image-collecting camera (43) is mounted on a slag-raking machine platform and used for analyzing the molten iron overflow condition of a molten iron ladle opening and/or analyzing the molten iron slag distribution condition in the molten iron ladle through collected images, a fourth image-collecting camera (44) is mounted above a slag-receiving position of a slag basin and used for analyzing the slag loading amount in the slag basin through collected images; the data acquired by the image acquisition camera are all transmitted to the industrial personal computer (2) through electric connection; the image acquisition camera (4) is installed above to be used for protecting and cooling the image acquisition camera (4).
4. A slag-raking machine comprising an automatic slag-raking system for a hot-metal ladle, wherein the automatic slag-raking system for the hot-metal ladle is controlled by the automatic slag-raking control system for the hot-metal ladle according to claim 1 or 2.
5. An automatic slag-off control method for a hot-metal ladle is characterized by comprising the following steps:
automatic slag skimming control software in the industrial personal computer (2) analyzes and analyzes images collected by the first image collecting camera (41) and the second image collecting camera (42), plans a slag skimming path, evaluates the slag skimming effect, calculates the real-time slag area and transmits the slag skimming path and the real-time slag area to the PLC (1);
the PLC (1) controls the slag-raking plate to move according to a slag-raking path transmitted by the industrial personal computer (2) according to the liquid level of molten iron in the molten iron tank, the telescopic length of the slag-raking arm, the rotating angle of the slag-raking arm, the corrosion degree of the slag-raking plate and the pitching angle of the slag-raking arm.
6. The automatic slag-off control method of the hot-metal ladle according to claim 5, characterized in that after the automatic slag-off is stopped, a fourth image acquisition camera (44) transmits an image signal to the industrial personal computer (2), and automatic slag-off control software in the industrial personal computer (2) analyzes the image signal, judges whether a slag basin overflows or not, and outputs the result to a human-computer interface for display.
7. The automatic slag-off control method of the hot-metal bottle according to claim 5, characterized in that after the automatic slag-off is stopped, the weighing sensor (10) collects the current weight of the slag pot and transmits the current weight to the PLC controller (1), and the PLC controller (1) analyzes whether the current slag-off is qualified or not and calculates the loss of molten iron according to the change difference of the weight of the slag pot, and outputs the result to a human-computer interface for display.
8. The automatic slag-off control method for the hot-metal ladle according to claim 5, wherein the slag-off path of the slag-off plate comprises a coarse slag-off path and a fine slag-off path, and the coarse slag-off path is a fixed established slag-off path; the fine slag-raking path is a path for controlling the slag-raking plate to move according to the slag-raking path transmitted by the industrial personal computer (2) by the PLC (1) according to the liquid level of molten iron in the molten iron tank, the telescopic length of the slag-raking arm, the rotating angle of the slag-raking arm, the corrosion degree of the slag-raking plate and the pitching angle of the slag-raking arm.
9. The automatic slag-raking control method for the hot-metal ladle according to claim 5 or 8, wherein the mode of the slag-raking path planned by the industrial personal computer (2) is as follows:
dividing the area capable of skimming into n equal parts, calculating the skimming weight of each area, and taking the path with the highest average weight as a fine skimming path.
10. The automatic slag-raking control method for the hot-metal ladle according to claim 5, wherein after the automatic slag-raking is stopped, the third image acquisition camera (43) transmits an image signal to the industrial personal computer (2), automatic slag-raking control software in the industrial personal computer (2) analyzes the image signal to calculate a corrosion length value of a slag-raking plate, and transmits the result to the PLC (1) so as to control the immersion depth of the slag-raking plate and output an alarm signal for replacing the slag-raking plate.
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