CN111620061A - Walking system of intelligent steel tapping trolley and walking control method thereof - Google Patents

Abstract

The invention discloses a walking system of an intelligent steel tapping trolley, which comprises a buggy ladle, a track, a ladle and a PLC (programmable logic controller), wherein the buggy ladle comprises a trolley body and wheels arranged at the bottom of the trolley body; the car body is provided with a fixed seat for placing a steel ladle; the wheels are divided into a front group and a rear group, the front group and the rear group correspond to two parallel rails, and two ends of each rail are respectively a receiving end for receiving molten steel by a steel ladle and a hoisting end for hoisting the steel ladle; the wheel shaft of the wheel is connected with a motor, and the motor is provided with an encoder connected with a PLC (programmable logic controller); two ends of the track are provided with height detection components connected with the PLC; a receiving detection assembly connected with the PLC is arranged at the receiving end of the track; and a hoisting detection assembly connected with the PLC is arranged at the hoisting end of the track. The invention has the beneficial effects that: the traveling system is ingenious in design and can realize the traveling of the buggy ladle through the PLC under the condition of ensuring the absolute safety of tapping.

Description

Walking system of intelligent steel tapping trolley and walking control method thereof

Technical Field

The invention relates to the technical field of steel making, in particular to a walking system of an intelligent steel tapping trolley and a walking control method thereof.

Background

Currently, smart manufacturing has become one of the major development directions in all industries. The steel industry, as a traditional manufacturing industry and as an important industry in our country, is also constantly moving towards the intelligent urban steel works. Steelmaking is a core process flow in the steel industry, the environment is complex, the steel making process has the characteristics of high temperature, dust, complex working procedures and the like, the medium is high-temperature molten steel, the safety requirement degree is extremely strict, and the intelligent tapping difficulty is higher.

At present, in order to further improve the intelligent level and improve the per ton steel index of people, a plurality of steel mills try to carry out intelligent steel discharge, but the core of the intelligent steel discharge is to develop a steel ladle car intelligent traveling system, so that the accurate, safe, efficient and reliable unmanned intelligent control of the steel ladle car is realized. At present, no control method and system for intelligent walking of buggy ladle at home and abroad exist. The related patents about the buggy ladle and the walking are found out in common by searching in relevant literature databases as follows: 1. a maintenance trolley driving mechanism (with the document number of CN 103273987B) developed by the stockings company of the Chinese heavy machinery research institute comprises a driving wheel system, a driven wheel system, a driving system, a universal coupling, a wheel frame, a connecting lug seat, a disc spring and a steel pad; the wheel frame is hinged below the girder of the maintenance trolley body through the connecting lug seat, and a disc spring and a steel pad are arranged between the wheel frame and the girder of the maintenance trolley body; each set of driving wheel system and driven wheel system are arranged on a wheel frame; the driving system arranged below the girder of the maintenance trolley body is connected with the driving wheel system through a universal coupling; the invention solves the technical problem that the buggy ladle and the maintenance trolley are difficult to operate in an intersection way on the cross track, avoids the errors of manual operation in the conventional method, reduces the danger of operation in a high-temperature area of an operator, but cannot realize the intelligent walking of the buggy ladle. 2. The Hubei Feijiejian Pump industry Co Ltd develops a movable casting and casting buggy ladle (with the document number of CN 102319893B), and relates to the improvement of auxiliary machines and tools in casting technology, wherein the buggy ladle is provided with a casting ladle and a frame, two bearing seats are arranged above the left end of the frame, two axles are arranged below the frame, which is deviated to the middle part, and two wheels are respectively arranged on the two axles; two handles are respectively connected above the frame, and a heat insulation baffle is connected between the two handles and is deviated to the right side of the frame; in particular: the casting ladle is arranged on the frame by adopting two rotating shafts, two lifting lugs are symmetrically arranged below the left sides of the two rotating shafts on the front and rear shell walls of the casting ladle, two operating handles are arranged at the right end parts of the two handles, and the two lifting lugs of the casting ladle are connected with the two operating handles on the two handles by adopting two steel wire ropes; the invention mainly focuses on the structural improvement of the ladle car, and solves the problems of high equipment operation cost and low production efficiency of the existing small casting method, but the intelligent walking of the ladle car cannot be realized. 3. The emerging cast tube company has developed an integral moving device (with the document number of CN 102744395A) for a ladle car slag car, in particular to an integral moving device for the ladle car slag car which is buried by slag steel and cast into a slag channel, wherein the lower end of the frame is fixed with a caster, one side of the upper end of the frame is fixed with a jack, and the other side of the upper end of the frame is fixed with a drive device for the caster and the jack; in this patent it is simple structure of whole mobile device, convenient operation, but to buggy ladle wisdom walking but can not realize.

Disclosure of Invention

The invention aims to provide a safe and reliable walking system of an intelligent steel tapping trolley and a walking control method thereof, aiming at the defects of the prior art.

The technical scheme adopted by the invention is as follows: a walking system of an intelligent steel tapping trolley comprises a buggy ladle, a track, a ladle and a PLC (programmable logic controller), wherein the buggy ladle comprises a trolley body and wheels arranged at the bottom of the trolley body; the car body is provided with a fixed seat for placing a steel ladle; the wheels are divided into a front group and a rear group, the front group and the rear group correspond to two parallel rails, and two ends of each rail are respectively a receiving end for receiving molten steel by a steel ladle and a hoisting end for hoisting the steel ladle; the wheel shaft of the wheel is connected with a motor, the motor is provided with an encoder connected with a PLC (programmable logic controller), and the PLC controls the motor to drive the wheel to move between the receiving end and the lifting end along the length direction of the track; height detection assemblies connected with the PLC are arranged at two ends of the track and used for detecting whether the steel ladle is placed on the steel ladle car or not; a receiving end of the track is provided with a receiving detection assembly connected with the PLC controller and used for detecting whether the steel ladle reaches a receiving working position or not; a hoisting detection assembly connected with the PLC is arranged at the hoisting end of the track and used for detecting whether the steel ladle reaches a hoisting working position; the PLC controller obtains the positions of the steel ladles and the steel ladle car through the detection assemblies, and controls the motor to drive the wheels to walk between the receiving end and the lifting end along the length direction of the rail.

According to the scheme, the height detection assembly judges whether the ladle is placed on the ladle car or not through signal shielding; the height detection assembly comprises a height infrared receiver and a height infrared transmitter which are arranged between the two rails and are respectively arranged at the two ends of the rails, the height infrared transmitter and the height infrared receiver are respectively connected with the PLC, and the infrared receiving direction of the height infrared receiver and the infrared transmitting direction of the height infrared transmitter are correspondingly arranged.

According to the scheme, the receiving detection assembly judges whether the steel ladle reaches the receiving working position or not through signal shielding; the receiving detection assembly comprises a receiving end infrared transmitter and a receiving end infrared receiver which are respectively arranged on the outer sides of the two track receiving ends, the receiving end infrared transmitter and the receiving end infrared receiver are respectively connected with the PLC, and the infrared receiving direction of the receiving end infrared receiver and the infrared transmitting direction of the receiving end infrared transmitter are correspondingly arranged.

According to the scheme, the lifting detection assembly judges whether the steel ladle reaches the lifting work position or not through signal shielding; the lifting detection assembly comprises a lifting end infrared transmitter and a lifting end infrared receiver which are respectively arranged on the outer sides of the lifting ends of the two rails, the lifting end infrared transmitter and the lifting end infrared receiver are respectively connected with the PLC, and the infrared receiving direction of the lifting end infrared receiver and the infrared transmitting direction of the lifting end infrared transmitter are correspondingly arranged.

According to the scheme, a receiving end mechanical limit contact and a receiving end mechanical limit plate are additionally arranged at the receiving end of the track, and the two receiving end mechanical limit contacts are respectively arranged at the outer sides of the two track receiving ends and used for judging whether the buggy ladle reaches a receiving working position or not through mechanical contact; the two receiving end mechanical limiting plates are respectively arranged at the end parts of the two track receiving ends and used for preventing the rail derailment of the buggy ladle at the receiving ends of the tracks.

According to the scheme, two lifting end mechanical limit contacts and two lifting end mechanical limit plates are additionally arranged at the lifting ends of the rails and are respectively arranged at the outer sides of the lifting ends of the two rails and used for judging whether the buggy ladle reaches a lifting working position through mechanical contact; the two hoisting end mechanical limiting plates are respectively arranged at the end parts of the two hoisting receiving ends and used for preventing the rail derailment of the buggy ladle at the hoisting end of the rail.

According to the scheme, a laser distance meter connected with a PLC (programmable logic controller) is arranged at the hoisting end or the receiving end of the track and is used for measuring the distance of the buggy ladle in real time; the laser range finder is positioned in the middle of the two rails.

According to above-mentioned scheme, dispose the camera that links to each other with the PLC controller in the top of two tracks, the fixing base when the visual range of camera covers buggy ladle and is located the track receiving terminal.

According to the scheme, the walking system is also provided with an alarm connected with the PLC.

The invention also provides a walking control method of the intelligent walking system, which comprises the following steps:

the method comprises the following steps that firstly, a PLC detects whether foreign matters exist on the buggy ladle through a height detection assembly, and the next step is carried out when no foreign matters exist;

step two, the PLC detects whether the hoisting detection assembly and the hoisting end mechanical limit contact are normal or not, and if the infrared signal emitted by the hoisting end infrared emitter is not shielded, the step three is carried out; if the infrared signal transmitted by the infrared transmitter at the hoisting end is blocked, entering the step four;

step three, the PLC controller controls the motor to drive the ladle car to move towards the hoisting end of the track, and when the ladle car contacts the mechanical limit contact of the hoisting end, the PLC controller controls the ladle car to stop moving;

automatically measuring the distance between the buggy ladle and the installation position of the distance meter by using a laser distance meter, and setting the distance as an initial value of 0 m; starting a crown block to hoist the ladle to the ladle car, completing the ladle seating process, and performing the fifth step after the crown block automatically unhooks;

step five, the PLC controller controls the motor to drive the ladle car to walk to the rail receiving end until the motor contacts a mechanical limit contact of the receiving end, the ladle car stops moving, the PLC controller judges whether the position of the ladle car reaches a receiving position, and the judgment standard is as follows:

the absolute value of the difference value between the actual measurement length a of the laser range finder and the length b of the buggy ladle from the receiving end to the hoisting end is less than 0.02 m;

secondly, the encoder converts the measured travelling distance c of the buggy ladle and the length b of the buggy ladle from the receiving end to the hoisting end into an absolute value less than 0.02m according to the diameter of the wheels, the travelling speed and the time;

thirdly, the absolute value of the distance difference between the visual center point of the camera and the center point of the steel ladle is less than 0.02 m;

when the first step, the second step and the third step are met simultaneously, the PLC judges that the ladle car reaches a receiving working position, tilts the converter, automatically taps steel and pours molten steel into a ladle; if any one condition is not met, the PLC displays that steel tapping cannot be performed and manual on-site confirmation is needed;

step six, after tapping, entering step seven;

step seven, the PLC controller controls the motor to drive the ladle car to move towards the rail hoisting end, when the ladle car contacts the mechanical limit contact of the hoisting end, the ladle car stops moving, the PLC controller judges whether the position of the ladle car reaches the hoisting end, and the judgment standard is as follows: checking whether the absolute value of the difference between the actual measurement length a of the laser range finder and 0 is less than 0.02 m; when the absolute value of the two is less than 0.02m, entering the step eight; if the lifting condition is not met, the lifting condition is displayed, and manual site confirmation is needed;

and step eight, the PLC controls the crown block to lift the steel ladle, and the whole process is finished.

The invention has the beneficial effects that: the design of a plurality of groups of detection assemblies in the walking system can ensure that the PLC controller obtains the positions of the steel ladle and the buggy ladle according to each detection group, and controls the motor to realize the walking of the buggy ladle under the condition of ensuring the absolute safety of steel tapping; the accurate judgment of whether a steel ladle exists on the buggy ladle or not is realized by utilizing the weighing instrument and the height detection assembly and detecting the weight and the height of the steel ladle in real time; the precise judgment of whether the buggy ladle reaches the designated position is realized through synchronous interlocking of various modes such as an encoder, a distance meter, a camera and mechanical limit, and the tapping safety is effectively guaranteed; the derailment of the buggy ladle can be effectively avoided through the mechanical limiting plates at the two ends of the track; through signal identification and buggy ladle speed reduction control, can effectively ensure the precision of buggy ladle parking position.

Drawings

FIG. 1 is a top view of one embodiment of the present invention.

Fig. 2 is a side view of the present embodiment.

Wherein: 1. carrying out buggy ladle; 2. a ladle; 3. a receiving end infrared emitter; 4. receiving end mechanical limit; 5. a mechanical limiting plate of the receiving end; 6. a height infrared receiver; 7. a fixed seat; 8. a receiving end infrared receiver; 9. a wheel; 10. a track; 11. A motor; 12. an encoder; 13. a camera; 14. a lifting end infrared receiver; 15. hoisting end mechanical limit; 16. the hoisting end mechanical limiting plate; 17. a laser range finder; 18. a lifting end infrared emitter; 19. a weighing instrument; 20. a high infrared emitter.

Detailed Description

For a better understanding of the present invention, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

As shown in fig. 1 and 2, the walking system of the intelligent steel tapping trolley comprises a buggy ladle 1, a track 10, a ladle 2 and a PLC controller, wherein the buggy ladle 1 comprises a trolley body and wheels 9 mounted at the bottom of the trolley body; a fixed seat 7 for placing the steel ladle 2 is arranged on the vehicle body; the wheels 9 are divided into a front group and a rear group, and correspond to two parallel rails 10, and two ends of each rail 10 are respectively a receiving end for receiving molten steel by the steel ladle 2 and a hoisting end for hoisting the steel ladle 2; the wheel shaft of the wheel 9 is connected with a motor 11, an encoder 12 connected with a PLC (programmable logic controller) is installed on the motor 11, and the PLC controls the motor 11 to drive the wheel 9 to move between a receiving end and a hoisting end along the length direction of the track 10; height detection assemblies connected with a PLC (programmable logic controller) are arranged at two ends of the track 10 and used for detecting whether the ladle 2 is placed on the ladle car 1 or not; a receiving detection assembly connected with the PLC is arranged at the receiving end of the track 10 and used for detecting whether the steel ladle 2 reaches a receiving working position; a hoisting detection assembly connected with a PLC controller is arranged at the hoisting end of the track 10 and used for detecting whether the steel ladle 2 reaches a hoisting working position; the PLC controller obtains the positions of the ladle 2 and the ladle car 1 through the detection assemblies, and controls the motor 11 to drive the wheel 8 to walk between the receiving end and the hoisting end along the length direction of the track 10.

In the invention, the buggy ladle 1 is used for transporting the ladle 2, a plurality of wheels 9 are arranged at the bottom of the buggy ladle, the wheel shaft of each wheel 9 is connected with the shaft of a motor 11, an encoder 12 connected with a PLC (programmable logic controller) is arranged on the motor 11, the motor 11 drives the buggy ladle 1 to travel on a track 10, and the encoder 12 measures the travel distance of the buggy ladle 1.

In the invention, the height detection assembly, the receiving detection assembly and the lifting detection assembly judge the working position of the steel ladle 2 according to whether the signal is shielded by the steel ladle 2, and the height detection assembly, the receiving detection assembly and the lifting detection assembly respectively comprise an infrared transmitter and an infrared receiver which are used in pairs and correspond to each other in position; the specific installation position of each detection assembly and the position of the steel ladle 2 in each working position are adjusted adaptively, for example, the installation height of the height detection assembly exceeds the highest height of the vehicle body and is lower than the highest height of the steel ladle 2 when the steel ladle 2 is placed on the fixed seat 7.

In the invention, the height detection assembly judges whether the ladle 2 is placed on the ladle car 1 or not through signal shielding; the height detection assembly comprises a height infrared receiver 6 and a height infrared transmitter 20 which are arranged between the two rails 10 and respectively arranged at two ends of the rails 10, the height infrared transmitter 20 and the height infrared receiver 6 are respectively connected with the PLC, and the infrared receiving direction of the height infrared receiver 6 and the infrared transmitting direction of the height infrared transmitter 20 are correspondingly arranged; the height infrared transmitter 20 transmits infrared signals to the height infrared receiver 6, and when the height infrared receiver 6 receives the infrared signals transmitted by the height infrared transmitter 20, the infrared signals are not shielded by the steel ladle 2, and the steel ladle 2 is not placed on the fixed seat 7 of the buggy ladle 1; when the height infrared receiver 6 does not receive the infrared signal transmitted by the height infrared transmitter 20, the infrared signal is shielded by the ladle 2, and the ladle 2 is already placed on the fixed seat 7 of the buggy ladle 1.

In the invention, the receiving detection assembly judges whether the ladle 2 reaches a receiving working position or not through signal shielding; the receiving detection assembly comprises a receiving end infrared transmitter 3 and a receiving end infrared receiver 8 which are respectively arranged at the outer sides of the receiving ends of the two rails 10, the receiving end infrared transmitter 3 and the receiving end infrared receiver 8 are respectively connected with the PLC, and the infrared receiving direction of the receiving end infrared receiver 8 and the infrared transmitting direction of the receiving end infrared transmitter 3 are correspondingly arranged; the receiving infrared transmitter transmits infrared signals to the receiving infrared receiver, and when the receiving infrared receiver receives the infrared signals transmitted by the receiving infrared transmitter, the infrared signals are not shielded by the steel ladle 2, and the steel ladle 2 located on the steel ladle car 1 does not reach a receiving working position; when the receiving infrared receiver does not receive the infrared signal transmitted by the receiving infrared transmitter, the infrared signal is shielded by the ladle 2, and the ladle 2 located on the ladle car 1 reaches the receiving working position.

In the invention, the lifting detection assembly judges whether the ladle 2 reaches the lifting work position or not through signal shielding; the lifting detection assembly comprises a lifting end infrared transmitter 18 and a lifting end infrared receiver 14 which are respectively arranged at the outer sides of the lifting ends of the two rails 10, the lifting end infrared transmitter 18 and the lifting end infrared receiver 14 are respectively connected with a PLC, and the infrared receiving direction of the lifting end infrared receiver 14 and the infrared emitting direction of the lifting end infrared transmitter 18 are correspondingly arranged; the lifting infrared transmitter transmits infrared signals to the lifting infrared receiver, and when the lifting infrared receiver receives the infrared signals transmitted by the lifting infrared transmitter, the infrared signals are not shielded by the ladle 2, and the ladle 2 located on the ladle car 1 does not reach a lifting working position; when the lifting infrared receiver does not receive the infrared signal transmitted by the lifting infrared transmitter, the infrared signal is shielded by the ladle 2, and the ladle 2 located on the ladle car 1 reaches the lifting work position.

Preferably, a receiving end mechanical limit contact 4 and a receiving end mechanical limit plate 5 are additionally arranged at the receiving end of the track 10, and two receiving end mechanical limit contacts 4 are arranged at the outer sides of the two receiving ends of the track 10 and connected with the PLC (programmable logic controller) and used for judging whether the buggy ladle 1 reaches a receiving working position through mechanical contact (the buggy ladle and the receiving end mechanical limit contact 4 are in contact and then send a signal to the PLC); the two receiving end mechanical limiting plates 5 are respectively arranged at the end parts of the receiving ends of the two rails 10 and used for preventing the buggy ladle 1 from derailing at the receiving ends of the rails 10.

Preferably, a hoisting end mechanical limit contact 15 and a hoisting end mechanical limit plate 16 are additionally arranged at the hoisting end of the track 10, two hoisting end mechanical limit contacts 15 are respectively arranged at the outer sides of the hoisting ends of the two tracks 10 and are connected with the PLC, and the two hoisting end mechanical limit contacts 15 are used for judging whether the buggy ladle 1 reaches a hoisting working position through mechanical contact (the buggy ladle and the hoisting end mechanical limit contact 15 send signals to the PLC when contacting); the two hoisting end mechanical limiting plates 16 are respectively arranged at the end parts of the two hoisting receiving ends and are used for preventing the derailment of the buggy ladle 1 at the hoisting end of the track 10.

Preferably, a laser distance measuring instrument 17 connected with a PLC controller is arranged at the hoisting end or the receiving end of the track 10 and is used for measuring the distance of the buggy ladle 1 in real time; the laser range finder 17 is located in the middle of the two rails 10. In this embodiment, the laser distance measuring device 17 is disposed at the hoisting end of the track 10.

Preferably, a camera 13 connected with the PLC controller is arranged above the two rails 10, and the visual range of the camera 13 covers the fixing base 7 of the buggy ladle 1 when the buggy ladle is positioned at the receiving end of the rails 10 to monitor the position of the ladle 2.

Preferably, the walking system is also provided with an alarm connected with the PLC.

A walking control method based on the walking system specifically comprises the following steps:

firstly, a PLC (programmable logic controller) automatically detects whether an infrared signal emitted by a height infrared emitter 20 is shielded or not through a height detection assembly, and if the infrared signal is shielded, the PLC controls an alarm to give an alarm to display that foreign matters exist on a buggy ladle 1 and the foreign matters need to be manually checked; if not, entering the next step;

step two, the PLC detects whether the hoisting detection assembly and the hoisting end mechanical limit contact 15 are normal or not, and if the infrared signal emitted by the hoisting end infrared emitter 18 is not shielded, the step three is carried out; if the infrared signal emitted by the infrared emitter 18 at the hoisting end is blocked, entering the fourth step;

thirdly, the PLC controller controls the motor 11 to drive the buggy ladle 1 to travel towards the hoisting end of the track 10 at a traveling speed of 0.3-3m/s until the PLC controller detects that the infrared signal emitted by the infrared emitter 18 at the hoisting end is shielded, and the traveling speed of the buggy ladle 1 is reduced to 0.1-0.2 m/s; when the buggy ladle 1 contacts the mechanical limit contact 15 at the hoisting end, the PLC controller controls the buggy ladle 1 to stop moving according to a limit signal;

step four, automatically measuring the distance between the buggy ladle 1 and the installation position of the distance meter by using the laser distance meter 17, and setting the distance as an initial value of 0 m; starting the crown block to hoist the ladle 2 to the ladle car 1, detecting that an infrared signal emitted by the height infrared emitter 20 is shielded by the PLC controller and detecting that the weight of the ladle 2 is equal to the weight set in the PLC controller by the weighing instrument 19, completing the process of the seat tank, and performing the fifth step after the crown block is automatically unhooked;

step five, the PLC controller controls the motor 11 to drive the buggy ladle 1 to travel to the receiving end of the track 10, the traveling speed is 0.3-3m/s, and the biological traveling speed of the buggy ladle 1 is reduced to 0.1-0.2m/s until the PLC controller detects that the infrared signal emitted by the infrared emitter 3 at the receiving end is blocked; the ladle 2 continues to walk to the receiving terminal until the ladle contacts the mechanical limit contact 4 of the receiving terminal, the limit signal comes, the ladle car 1 stops moving, the PLC judges whether the position of the ladle car 1 reaches the receiving position, and the judgment standard is as follows:

the absolute value of the difference between the actual measurement length a of the laser range finder 17 and the length b of the buggy ladle 1 from the receiving end to the hoisting end is less than 0.02 m;

secondly, the encoder 12 converts the measured walking distance c of the buggy ladle 1 and the length b of the buggy ladle 1 from the receiving end to the hoisting end into an absolute value less than 0.02m according to the diameter, the walking speed and the time of the wheels 9;

the absolute value of the distance difference between the visual center point of the camera 13 and the center point of the steel ladle 2 is less than 0.02 m;

when the first step, the second step and the third step are met simultaneously, the PLC judges that the ladle car 1 reaches a receiving working position, the converter is tilted, steel is automatically discharged, and molten steel is poured into the ladle 2; if any one condition is not met, the PLC displays that steel tapping cannot be performed, and manual on-site confirmation is needed;

step six, after tapping, entering step seven;

seventhly, the PLC controls the motor 11 to drive the buggy ladle 1 to move towards the hoisting end of the track 10, the moving speed is 0.3-3m/s, when the PLC detects that an infrared signal emitted by the infrared emitter 18 at the hoisting end is blocked, the moving speed of the buggy ladle 1 is reduced to 0.1-0.2m/s, when the buggy ladle 1 contacts the mechanical limit contact 15 at the hoisting end, a limit signal comes, the buggy ladle 1 stops moving, the PLC judges whether the position of the buggy ladle 1 reaches the hoisting end, and the judgment standard is as follows: checking whether the absolute value of the difference between the actual measurement length a of the laser range finder 17 and 0 is less than 0.02 m; when the absolute value of the two is less than 0.02m, entering the step 8; if the lifting condition is not met, the lifting condition is displayed, and manual site confirmation is needed;

and step eight, the PLC controls the crown block to lift the steel ladle 2, when the weight measured by the weighing instrument 19 is 0 and the infrared signal emitted by the height infrared emitter 20 is not shielded, the successful lifting of the steel ladle 2 is displayed, and the whole process is finished.

In the process, the first step to the fourth step are the ladle 2-seat tank process; step five and step six are the processes of the automatic walking of the ladle car 1, the judgment of the terminal position and the molten steel adding of the ladle 2; step seven and step eight are the processes of returning the ladle car 1 and hoisting the ladle 2.

It will be understood that the foregoing is only illustrative of the principles of the invention and is not to be construed as limiting the scope of the invention, which is defined by the appended claims.

Claims (10)

1. The walking system of the intelligent steel tapping trolley is characterized by comprising a buggy ladle, a track, a ladle and a PLC (programmable logic controller), wherein the buggy ladle comprises a trolley body and wheels arranged at the bottom of the trolley body; the car body is provided with a fixed seat for placing a steel ladle; the wheels are divided into a front group and a rear group, the front group and the rear group correspond to two parallel rails, and two ends of each rail are respectively a receiving end for receiving molten steel by a steel ladle and a hoisting end for hoisting the steel ladle; the wheel shaft of the wheel is connected with a motor, and the motor is provided with an encoder connected with a PLC (programmable logic controller); height detection assemblies connected with the PLC are arranged at two ends of the track and used for detecting whether the steel ladle is placed on the steel ladle car or not; a receiving end of the track is provided with a receiving detection assembly connected with the PLC controller and used for detecting whether the steel ladle reaches a receiving working position; a hoisting detection assembly connected with the PLC is arranged at the hoisting end of the track and used for detecting whether the steel ladle reaches a hoisting working position; the PLC controller obtains the positions of the steel ladles and the steel ladle car through the detection assemblies, and controls the motor to drive the wheels to walk between the receiving end and the lifting end along the length direction of the track.

2. The traveling system of the intelligent steel tapping trolley according to claim 1, wherein the height detection assembly judges whether a ladle is placed on the ladle trolley by whether the signal is blocked; the height detection assembly comprises a height infrared receiver and a height infrared transmitter which are arranged between the two rails and are respectively arranged at two ends of the rails, the height infrared transmitter and the height infrared receiver are respectively connected with the PLC, and the infrared receiving direction of the height infrared receiver and the infrared transmitting direction of the height infrared transmitter are correspondingly arranged.

3. The traveling system of the intelligent steel tapping trolley according to claim 1, wherein the receiving detection module judges whether the ladle reaches the receiving station by the signal shielding; receive the determine module including locating receiving terminal infra-red transmitter and the receiving terminal infrared receiver in two track receiving terminal outsides separately, receiving terminal infra-red transmitter and receiving terminal infrared receiver equally divide and do not link to each other with the PLC controller, and receiving terminal infrared receiver's infrared receiving direction and receiving terminal infra-red transmitter's infrared emission direction correspond and arrange.

4. The traveling system of the intelligent steel tapping trolley according to claim 1, wherein the hoisting detection component judges whether the ladle reaches the hoisting work position according to whether the signal is blocked; the lifting detection assembly comprises a lifting end infrared transmitter and a lifting end infrared receiver which are respectively arranged on the outer sides of the lifting ends of the two rails, the lifting end infrared transmitter and the lifting end infrared receiver are respectively connected with the PLC, and the infrared receiving direction of the lifting end infrared receiver and the infrared transmitting direction of the lifting end infrared transmitter are correspondingly arranged.

5. The traveling system of the intelligent steel tapping trolley according to claim 1, wherein a receiving end mechanical limit contact and a receiving end mechanical limit plate are additionally arranged at the receiving end of the track, and two receiving end mechanical limit contacts are arranged at the outer sides of the two receiving ends of the track respectively and used for judging whether the buggy ladle reaches a receiving working position through mechanical contact; the two receiving end mechanical limiting plates are respectively arranged at the end parts of the two track receiving ends and used for preventing the rail derailment of the buggy ladle at the receiving ends of the tracks.

6. The traveling system of the intelligent steel tapping trolley according to claim 1, wherein two lifting end mechanical limit contacts and two lifting end mechanical limit plates are additionally arranged at the lifting end of the rail, and the two lifting end mechanical limit contacts are respectively arranged at the outer sides of the lifting ends of the two rails and are used for judging whether the buggy ladle reaches the lifting working position through mechanical contact; the two mechanical hoisting limiting plates are respectively arranged at the end parts of the two hoisting receiving ends and used for preventing the rail of the buggy ladle from derailing at the hoisting end of the rail.

7. The traveling system of the intelligent steel tapping trolley according to claim 1, wherein a laser distance measuring instrument connected to a PLC controller is provided at a hoisting end or a receiving end of the rail for measuring a distance of the ladle car in real time; the laser range finder is positioned in the middle of the two rails.

8. The traveling system of the intelligent steel tapping trolley according to claim 1, wherein a camera connected with the PLC is arranged above the two rails, and the visual range of the camera covers a fixed seat of the buggy ladle at the receiving end of the rails.

9. The walking system of the intelligent steel tapping trolley as claimed in claim 1, wherein the walking system is further provided with an alarm connected with the PLC controller.

10. A walking control method based on the walking system of claim 1, characterized in that the method comprises the following steps:

the method comprises the following steps that firstly, a PLC detects whether foreign matters exist on the buggy ladle through a height detection assembly, and the next step is carried out when no foreign matters exist;

step two, the PLC detects whether the hoisting detection assembly and the hoisting end mechanical limit contact are normal or not, and if the infrared signal emitted by the hoisting end infrared emitter is not shielded, the step three is carried out; if the infrared signal transmitted by the infrared transmitter at the hoisting end is blocked, entering the step four;

step three, the PLC controls the motor to drive the ladle car to move towards the hoisting end of the track, and when the ladle car contacts the mechanical limit contact at the hoisting end, the PLC controls the ladle car to stop moving;

automatically measuring the distance between the buggy ladle and the installation position of the distance meter by using a laser distance meter, and setting the distance as an initial value of 0 m; starting a crown block to hoist the ladle to the ladle car, completing the ladle seating process, and performing the fifth step after the crown block automatically unhooks;

step five, the PLC controller controls the motor to drive the ladle car to walk to the rail receiving end until the motor contacts a mechanical limit contact of the receiving end, the ladle car stops moving, the PLC controller judges whether the position of the ladle car reaches a receiving position, and the judgment standard is as follows:

the absolute value of the difference value between the actual measurement length a of the laser range finder and the length b of the buggy ladle from the receiving end to the hoisting end is less than 0.02 m;

secondly, the encoder converts the measured travelling distance c of the buggy ladle and the length b of the buggy ladle from the receiving end to the hoisting end into an absolute value less than 0.02m according to the diameter of the wheels, the travelling speed and the time;

thirdly, the absolute value of the distance difference between the visual center point of the camera and the center point of the steel ladle is less than 0.02 m;

when the first step, the second step and the third step are met simultaneously, the PLC judges that the ladle car reaches a receiving working position, tilts the converter, automatically taps steel and pours molten steel into a ladle; if any one condition is not met, the PLC displays that steel tapping cannot be performed, and manual on-site confirmation is needed;

step six, after tapping, entering step seven;

step seven, the PLC controller controls the motor to drive the ladle car to move towards the rail hoisting end, when the ladle car contacts the mechanical limit contact of the hoisting end, the ladle car stops moving, the PLC controller judges whether the position of the ladle car reaches the hoisting end, and the judgment standard is as follows: checking whether the absolute value of the difference between the actual measurement length a of the laser range finder and 0 is less than 0.02 m; when the absolute value of the two is less than 0.02m, entering the step eight; if the lifting condition is not met, the lifting condition is displayed, and manual site confirmation is needed;

and step eight, the PLC controls the crown block to lift the steel ladle, and the whole process is finished.

Images