CN111534775A - Slag dragging path planning method for slag dragging robot - Google Patents
Slag dragging path planning method for slag dragging robot Download PDFInfo
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- CN111534775A CN111534775A CN202010360540.6A CN202010360540A CN111534775A CN 111534775 A CN111534775 A CN 111534775A CN 202010360540 A CN202010360540 A CN 202010360540A CN 111534775 A CN111534775 A CN 111534775A
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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
-
- 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)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Robotics (AREA)
- Coating With Molten Metal (AREA)
Abstract
The invention relates to a slag dragging robot path planning method, and belongs to the technical field of hot galvanizing production processes and methods. The technical scheme of the invention is as follows: a slag salvaging working area in the zinc pot is divided into four areas at equal intervals along the stroke of the pot along the long edge direction, and the four areas are a first slag skimming area, a first slag salvaging area, a second slag skimming area and a second slag skimming area from left to right in sequence. The invention has the beneficial effects that: the slag salvaging working areas are reasonably divided, the salvaging labor division of each area is clear, the stroke distance of the slag salvaging is shortened, and the slag salvaging working efficiency of the slag salvaging robot is improved; meanwhile, the condition that the zinc slag is bonded with the pot edge caused by the original method is avoided, and the normal operation of the robot equipment is ensured; the cleanliness of the zinc liquid surface after the slag dragging operation is finished is obviously improved, the stable operation of the production line is ensured, and the method is suitable for being popularized and applied in the cold rolling coating industry.
Description
Technical Field
The invention relates to a slag dragging path planning method for a slag dragging robot, and belongs to the technical field of hot galvanizing production processes and methods.
Background
The coating process of the continuous hot galvanizing production line comprises the following steps: the strip steel after being heated by the continuous annealing furnace enters the zinc pot through the closed furnace nose equipment cavity to be coated with the molten zinc at high temperature, the strip steel coated with the molten zinc vertically runs from the zinc pot after being guided by the working rollers in the pot, and then the redundant zinc adhered to the strip steel is uniformly blown and swept by the air knife device positioned nearby the upper part of the zinc pot, so that the strip steel is coated with the zinc layer with the thickness required by the process. In the zinc pot, the impurities remained on the strip steel react with the zinc liquid to generate zinc slag. Because the zinc dross is continuously generated due to the continuity of production line production, if the zinc dross in the pot cannot be cleaned in time, the plate strip can be scratched, and the accident of surface quality defect of the plate strip is caused. The zinc slag is divided into bottom slag and surface slag according to the proportion of the components, wherein the bottom slag mainly sinks to the bottom of a zinc pot, and the surface slag mainly floats on the zinc liquid level. The zinc pot equipment of the continuous hot galvanizing production line mainly generates flour slag.
The production line adopts a six-degree-of-freedom robot mechanical arm to clamp the tail end slag salvaging hopper to carry out timing slag salvaging operation, and the slag salvaging hopper filled with zinc slag is finally conveyed to a special container to be dumped and collected. The slag salvaging operation mainly comprises two crossed operation processes of slag salvaging and slag skimming, wherein the slag salvaging is mainly an operation process of immersing a slag salvaging bucket below zinc slag, and vertically lifting the slag salvaging bucket filled with zinc liquid to separate from the zinc liquid level after moving for a certain distance in a preset direction according to the loading capacity of the slag salvaging bucket; the slag raking device mainly utilizes the edge of the slag salvaging bucket to contact the upper surface of the zinc slag, and the slag salvaging bucket is moved in a preset direction to gather the zinc slag, so that the slag salvaging efficiency during the slag salvaging operation is improved.
The working area for the robot to drag for slag on site is a rectangular area behind the zinc pot, and the actual slag dragging operation path of the robot is carried out according to a path planned in advance by a demonstrator. At present, considering the interference factors of the equipment region in the zinc pot, the slag salvaging path starts to work from the spacing pot along the left short side, is parallel to the short side of the pot edge, moves from the long side of the equipment region to the long side of the pot edge to carry out the first stroke of slag salvaging operation, and then continuously repeats the first stroke of slag salvaging operation steps at equal intervals along the long side of the equipment region until the slag salvaging bucket slag salvaging operation reaches the short side of the pot edge at the right side to complete the last slag salvaging stroke operation. And after the slag fishing operation is finished, slag raking operation is started, wherein slag raking paths respectively start from the pot along two short edges, and gradually move towards the middle area at intervals parallel to the long edge of the pot along a certain distance so as to gather and gather the zinc slag.
However, the slag-dragging path planning method has some disadvantages in practical application: the cleaning of the zinc slag on the zinc liquid surface is not thorough enough, namely after the slag dragging operation of one period is completed, floating residual zinc slag still exists on the zinc liquid surface, and the slag dragging work efficiency is low; because the zinc dross has certain adhesion, in the long limit direction of pot edge, the zinc dross very easily takes place to bond with pot edge, when dragging for the sediment fill and move to be located pot edge bonding firm zinc dross department and drag for the sediment operation, the robot arm can stop dragging for the sediment operation because of moment overload warning, very easily to the damage on the robot becomes equipment, influences production line steady operation.
Therefore, how to find a proper slag dragging path planning method avoids equipment damage caused by adhesion of zinc slag and a pot edge, can ensure that no residual zinc slag exists on the liquid surface after slag dragging operation is finished, and improves the working efficiency of the slag dragging robot to solve the problem which is urgently needed at present.
Disclosure of Invention
The invention aims to provide a slag dragging path planning method for a slag dragging robot, which is characterized in that slag dragging working areas are reasonably divided, the dragging labor division of each area is clear, the stroke distance of slag dragging is shortened, and the slag dragging working efficiency of the slag dragging robot is improved; meanwhile, the condition that the zinc slag is bonded with the pot edge caused by the original method is avoided, and the normal operation of the robot equipment is ensured; the cleanliness of the zinc liquid surface after the slag dragging operation is finished is obviously improved, the stable operation of the production line is ensured, the method is suitable for being popularized and applied in the cold rolling coating industry, and the problems in the background technology are effectively solved.
The technical scheme of the invention is as follows: a slag dragging path planning method for a slag dragging robot comprises the following steps: a slag salvaging working area in the zinc pot is divided into four areas at equal intervals along the stroke of the pot along the long edge direction, and the four areas are a first slag skimming area, a first slag salvaging area, a second slag skimming area and a second slag skimming area from left to right in sequence;
firstly, slagging-off operation in a slagging-off area: the slag removing operation of the first stroke is continuously repeated at equal intervals along the short edge of the left side of the pan edge until the slag removing operation of the slag removing bucket reaches the long edge of the equipment area and the last slag removing stroke operation is finished;
slag salvaging operation in a first slag salvaging area: the first-stroke slag salvaging operation is performed from the right side of the slag skimming first area to the right at a certain distance parallel to the long edge of the pan edge and close to the long edge, and then the first-stroke slag salvaging operation step is continuously repeated at equal intervals along the right side of the slag skimming first area until the slag salvaging operation of the slag salvaging bucket reaches the long edge of the equipment area to complete the last slag salvaging stroke operation;
thirdly, slagging-off operation in a slagging-off second area: carrying out a first stroke of slag skimming operation from the short edge of the right side of the pan edge to the left at a certain distance parallel to the long edge of the pan edge and close to the long edge, and then continuously repeating the first stroke of slag skimming operation step at equal intervals along the short edge of the right side of the pan edge until the slag skimming operation of the slag scooper reaches the long edge of the equipment area to complete the last slag skimming stroke operation;
fourthly, slag salvaging operation in a second slag salvaging area: and the slag dragging operation of the first stroke is continuously repeated at equal intervals along the left side of the slag skimming second region until the slag dragging operation of the slag dragging bucket reaches the long edge of the equipment area to complete the last slag dragging stroke operation, and the slag dragging operation is finished.
The slag dragging work area is a rectangular area formed by connecting the long edge of the equipment area, the short edge of the left side of the pan edge, the long edge of the pan edge and the short edge of the right side of the pan edge end to end.
The equal distance of the travel is obtained by comprehensive checking calculation according to the external dimension of the slag dragging bucket and the field debugging experience.
The invention has the beneficial effects that: the slag salvaging working areas are reasonably divided, the salvaging labor division of each area is clear, the stroke distance of the slag salvaging is shortened, and the slag salvaging working efficiency of the slag salvaging robot is improved; meanwhile, the condition that the zinc slag is bonded with the pot edge caused by the original method is avoided, and the normal operation of the robot equipment is ensured; the cleanliness of the zinc liquid surface after the slag dragging operation is finished is obviously improved, the stable operation of the production line is ensured, and the method is suitable for being popularized and applied in the cold rolling coating industry.
Drawings
FIG. 1 is a schematic view of the slag-off work area of the present invention;
in the figure: the long edge 1 of the equipment area, the short edge 2 on the left side of the pan edge, the short edge 3 on the right side of the pan edge, the long edge 4 of the pan edge are a first slag skimming area 5, a first slag salvaging area 6, a second slag salvaging area 7 and a second slag skimming area 8.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the embodiments of the present invention with reference to the drawings of the embodiments, and it is obvious that the described embodiments are a small part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative work based on the embodiments of the present invention belong to the protection scope of the present invention.
A slag dragging path planning method for a slag dragging robot comprises the following steps: a rectangular slag salvaging working area in the zinc pot is divided into four areas at equal intervals along the stroke of the pot along the long edge direction, and the four areas are a first slag skimming area, a first slag salvaging area, a second slag salvaging area and a second slag skimming area from left to right in sequence;
firstly, slagging-off operation in a slagging-off area: the slag removing operation of the first stroke is continuously repeated at equal intervals along the short edge of the left side of the pan edge until the slag removing operation of the slag removing bucket reaches the long edge of the equipment area and the last slag removing stroke operation is finished;
slag salvaging operation in a first slag salvaging area: the first-stroke slag salvaging operation is performed from the right side of the slag skimming first area to the right at a certain distance parallel to the long edge of the pan edge and close to the long edge, and then the first-stroke slag salvaging operation step is continuously repeated at equal intervals along the right side of the slag skimming first area until the slag salvaging operation of the slag salvaging bucket reaches the long edge of the equipment area to complete the last slag salvaging stroke operation;
thirdly, slagging-off operation in a slagging-off second area: carrying out a first stroke of slag skimming operation from the short edge of the right side of the pan edge to the left at a certain distance parallel to the long edge of the pan edge and close to the long edge, and then continuously repeating the first stroke of slag skimming operation step at equal intervals along the short edge of the right side of the pan edge until the slag skimming operation of the slag scooper reaches the long edge of the equipment area to complete the last slag skimming stroke operation;
fourthly, slag salvaging operation in a second slag salvaging area: and the slag dragging operation of the first stroke is continuously repeated at equal intervals along the left side of the slag skimming second region until the slag dragging operation of the slag dragging bucket reaches the long edge of the equipment area to complete the last slag dragging stroke operation, and the slag dragging operation is finished.
The slag dragging work area is a rectangular area formed by connecting the long edge 1 of the equipment area, the short edge 2 on the left side of the pan edge, the long edge 4 of the pan edge and the short edge 3 on the right side of the pan edge end to end.
The equal distance of the travel is obtained by comprehensive checking calculation according to the external dimension of the slag dragging bucket and the field debugging experience.
As shown in fig. 1, the slag salvaging working area is a rectangular area formed by connecting the long side 1 of the equipment area, the short side 2 of the left side of the pan edge, the long side 4 of the pan edge and the short side 3 of the right side of the pan edge end to end, and is divided into four areas along the direction of the long side 4 of the pan edge at equal intervals, and the four areas are a first slag skimming area 5, a first slag salvaging area 6, a second slag skimming area 7 and a second slag skimming area 8 from left to right.
The operation steps of the invention are as follows:
firstly, slagging-off operation in a slagging-off area 5: and the slag raking operation of the first stroke is performed from the short edge 2 on the left side of the pan edge to the right at a certain distance parallel to the long edge 4 of the pan edge and close to the long edge, and then the slag raking operation steps of the first stroke are continuously repeated at equal intervals along the short edge 2 on the left side of the pan edge until the slag raking operation of the slag scooper reaches the long edge 1 of the equipment area to complete the last slag raking stroke operation.
And a slag salvaging first area 6 is used for salvaging slag, wherein the first stroke of slag salvaging operation is performed from the right side of the slag skimming first area 5 to the right in parallel with the long edge 4 of the pan edge and close to the long edge for a certain distance, and then the first stroke of slag salvaging operation is continuously repeated at equal intervals along the right side of the slag skimming first area 5 until the slag salvaging bucket reaches the long edge 1 of the equipment area to finish the last slag salvaging stroke operation.
Thirdly, 8, slagging-off operation in a second slagging-off area: and the slag raking operation of the first stroke is carried out leftwards from the short edge 3 on the right side of the pan edge from a position parallel to the long edge 4 of the pan edge and close to the long edge for a certain distance, and then the slag raking operation steps of the first stroke are continuously repeated at equal intervals along the short edge 3 on the right side of the pan edge until the slag raking operation of the slag scooping bucket reaches the long edge 1 of the equipment area to finish the last slag raking stroke operation.
Fishing the slag in a second slag fishing area 7: and the slag dragging operation of the first stroke is carried out leftwards from the left side of the second slag skimming region 8 in a manner of being parallel to the pot along the long edge 4 and being close to the long edge for a certain distance, and then the slag dragging operation step of the first stroke is continuously repeated at equal intervals along the left side of the second slag skimming region 8 until the slag dragging operation of the slag dragging bucket reaches the long edge 1 of the equipment region to complete the last slag dragging stroke operation.
Claims (3)
1. A slag dragging path planning method for a slag dragging robot is characterized by comprising the following steps: a slag salvaging working area in the zinc pot is divided into four areas at equal intervals along the stroke of the pot along the long edge direction, and the four areas are a first slag skimming area, a first slag salvaging area, a second slag skimming area and a second slag skimming area from left to right in sequence;
firstly, slagging-off operation in a slagging-off area: the slag removing operation of the first stroke is continuously repeated at equal intervals along the short edge of the left side of the pan edge until the slag removing operation of the slag removing bucket reaches the long edge of the equipment area and the last slag removing stroke operation is finished;
slag salvaging operation in a first slag salvaging area: the first-stroke slag salvaging operation is performed from the right side of the slag skimming first area to the right at a certain distance parallel to the long edge of the pan edge and close to the long edge, and then the first-stroke slag salvaging operation step is continuously repeated at equal intervals along the right side of the slag skimming first area until the slag salvaging operation of the slag salvaging bucket reaches the long edge of the equipment area to complete the last slag salvaging stroke operation;
thirdly, slagging-off operation in a slagging-off second area: carrying out a first stroke of slag skimming operation from the short edge of the right side of the pan edge to the left at a certain distance parallel to the long edge of the pan edge and close to the long edge, and then continuously repeating the first stroke of slag skimming operation step at equal intervals along the short edge of the right side of the pan edge until the slag skimming operation of the slag scooper reaches the long edge of the equipment area to complete the last slag skimming stroke operation;
fourthly, slag salvaging operation in a second slag salvaging area: and the slag dragging operation of the first stroke is continuously repeated at equal intervals along the left side of the slag skimming second region until the slag dragging operation of the slag dragging bucket reaches the long edge of the equipment area to complete the last slag dragging stroke operation, and the slag dragging operation is finished.
2. The slag dragging path planning method of the slag dragging robot according to claim 1, characterized in that: the slag dragging work area is a rectangular area formed by connecting a long edge (1) of the equipment area, a short edge (2) on the left side of the pot edge, a long edge (4) of the pot edge and a short edge (3) on the right side of the pot edge end to end.
3. The slag dragging path planning method of the slag dragging robot according to claim 1, characterized in that: the equal distance of the travel is obtained by comprehensive checking calculation according to the external dimension of the slag dragging bucket and the field debugging experience.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010360540.6A CN111534775A (en) | 2020-04-30 | 2020-04-30 | Slag dragging path planning method for slag dragging robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010360540.6A CN111534775A (en) | 2020-04-30 | 2020-04-30 | Slag dragging path planning method for slag dragging robot |
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| CN111534775A true CN111534775A (en) | 2020-08-14 |
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| CN202010360540.6A Withdrawn CN111534775A (en) | 2020-04-30 | 2020-04-30 | Slag dragging path planning method for slag dragging robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112150421A (en) * | 2020-09-14 | 2020-12-29 | 武汉钢铁有限公司 | Ladle slag-raking path determining method and device and slag-raking machine |
| CN113802077A (en) * | 2021-08-16 | 2021-12-17 | 武汉钢铁有限公司 | Zinc pot surface slag treatment method and system |
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| KR100815812B1 (en) * | 2006-12-20 | 2008-03-20 | 주식회사 포스코 | Apparatus for removing dross of zinc pot |
| CN102031472A (en) * | 2010-12-29 | 2011-04-27 | 中国钢研科技集团有限公司 | Device and method for removing slag on surface of plating liquid |
| CN105169772A (en) * | 2015-08-14 | 2015-12-23 | 南京航空航天大学 | Spiral vortex inertial gathered scum rapid clearing device and operation method thereof |
| CN109141033A (en) * | 2018-08-14 | 2019-01-04 | 宁国市挚友合金钢材料有限公司 | A kind of middle frequency furnace dragveyer |
| CN109423588A (en) * | 2017-08-29 | 2019-03-05 | 上海宝信软件股份有限公司 | Dragveyer device people and its application method |
| CN110670006A (en) * | 2019-09-11 | 2020-01-10 | 湖南华菱涟钢薄板有限公司 | Robot slag fishing system |
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2020
- 2020-04-30 CN CN202010360540.6A patent/CN111534775A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100815812B1 (en) * | 2006-12-20 | 2008-03-20 | 주식회사 포스코 | Apparatus for removing dross of zinc pot |
| CN102031472A (en) * | 2010-12-29 | 2011-04-27 | 中国钢研科技集团有限公司 | Device and method for removing slag on surface of plating liquid |
| CN105169772A (en) * | 2015-08-14 | 2015-12-23 | 南京航空航天大学 | Spiral vortex inertial gathered scum rapid clearing device and operation method thereof |
| CN109423588A (en) * | 2017-08-29 | 2019-03-05 | 上海宝信软件股份有限公司 | Dragveyer device people and its application method |
| CN109141033A (en) * | 2018-08-14 | 2019-01-04 | 宁国市挚友合金钢材料有限公司 | A kind of middle frequency furnace dragveyer |
| CN110670006A (en) * | 2019-09-11 | 2020-01-10 | 湖南华菱涟钢薄板有限公司 | Robot slag fishing system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112150421A (en) * | 2020-09-14 | 2020-12-29 | 武汉钢铁有限公司 | Ladle slag-raking path determining method and device and slag-raking machine |
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| CN113802077A (en) * | 2021-08-16 | 2021-12-17 | 武汉钢铁有限公司 | Zinc pot surface slag treatment method and system |
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Application publication date: 20200814 |