CN113528750A - Automatic slag skimming system - Google Patents
Automatic slag skimming system Download PDFInfo
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- CN113528750A CN113528750A CN202110850467.5A CN202110850467A CN113528750A CN 113528750 A CN113528750 A CN 113528750A CN 202110850467 A CN202110850467 A CN 202110850467A CN 113528750 A CN113528750 A CN 113528750A
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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
- B22D2/00—Arrangement of indicating or measuring devices, e.g. for temperature or viscosity of the fused mass
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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
- B22D2/00—Arrangement of indicating or measuring devices, e.g. for temperature or viscosity of the fused mass
- B22D2/001—Arrangement of indicating or measuring devices, e.g. for temperature or viscosity of the fused mass for the slag appearance in a molten metal stream
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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
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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
- B22D45/00—Equipment for casting, not otherwise provided for
- B22D45/005—Evacuation of fumes, dust or waste gases during manipulations in the foundry
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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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- 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
- C21C1/00—Refining of pig-iron; Cast iron
- C21C1/02—Dephosphorising or desulfurising
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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
- C21C7/04—Removing impurities by adding a treating agent
- C21C7/064—Dephosphorising; Desulfurising
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- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Analytical Chemistry (AREA)
- Waste-Gas Treatment And Other Accessory Devices For Furnaces (AREA)
Abstract
The invention discloses an automatic slag raking system, which relates to the technical field of molten iron slag raking and desulphurization, and comprises a PLC (programmable logic controller) for realizing a central data processing function, a slag raking machine detection system, a ladle detection system, a slag raking machine and an operation display table for operation and display, wherein the PLC control system for realizing intelligent data processing is also installed in the slag raking machine; the slag raking machine also has the function of automatic slag raking. According to the technical scheme, the automatic slag-raking system achieves automatic side tipping through mounting of the displacement and angle sensor, slag-raking path planning is achieved through machine vision, and automatic slag-raking and slag-raking grading functions are achieved through mounting of the intelligent sensor on the slag-raking equipment.
Description
Technical Field
The invention relates to the technical field of molten iron slagging-off and desulfurization, in particular to an automatic slagging-off system.
Background
The molten iron desulphurization is the first procedure of 'full-three-removal' (desulphurization, desiliconization and dephosphorization) steel making, and slag skimming is carried out twice when one packet of molten iron is treated in the desulphurization operation: after molten iron enters a station, firstly carrying out 'pre-slagging', aiming at reducing slag in the molten iron, facilitating the full fusion of the molten iron and a desulfurizer and reducing the sulfur content in the molten iron; after the desulfurization treatment is finished, "after slagging off" is carried out, aiming at discharging residual desulfurizer and preventing "resulfurization". The quality of the slagging-off and desulfurizing effect of the molten iron directly determines the production cost of steelmaking; the speed of the molten iron slagging-off and desulfurizing rhythm directly controls the speed of the whole production line.
Currently, there are also: 1. the problem that workers on the desulfurization station are difficult to bring is that 4 workers are needed for each shift of one desulfurization station; 2. the quality is unstable, and the slag skimming is excessive or insufficient; 3. the iron loss has the problem of fluctuation; 4. the slag removing time is long, the first slag removing time is 12 minutes, and the second slag removing time is 10 minutes (no blowing-up slag removing is performed); 5. potential safety hazards and frequent faults of the slag raking machine.
Based on the current situation of slag skimming in steel mills, I independently research and develop an automatic slag skimming system, provide Chinese-style assistance for realizing intelligent flow production operation and management in the steel industry, and is a set of large-scale comprehensive system based on machine vision, intelligent sensors, deep learning and automatic control. Therefore, an automatic slag skimming system is provided.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an automatic slag raking system.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic slag raking system comprises a PLC (programmable logic controller) for realizing a central data processing function, a slag raking machine detection system, a ladle detection system, a slag raking machine and an operation display platform for operation and display, wherein a PLC control system for realizing intelligent data processing is further installed in the slag raking machine, the slag raking machine detection system is electrically connected with the PLC, the ladle detection system is electrically connected with the PLC, the PLC is electrically connected with the slag raking machine, the PLC is electrically connected with the operation display platform, and the operation display platform is electrically connected with the slag raking machine;
the ladle detection system also comprises a ladle car limiting device and an automatic tilting function;
wherein, the slag raking machine also has the function of automatic slag raking.
Preferably, the implementation of the automatic tilting function requires the following steps to be performed:
s1, roll execution condition detection;
s2, monitoring the height of the molten iron liquid level by a distance measuring radar, and automatically calculating a side-tipping angle and a rising height angle by combining the molten iron liquid level with parameters of a ladle;
s3, the PLC control system automatically controls the roll mechanism to roll according to the detected data;
s4, mounting encoders at two sides of the side-tipping mechanism, detecting the rising height, and feeding back to the PLC control system;
and S5, an angle sensor is arranged on the side-tipping mechanism and feeds back to the PLC control system to correct the side-tipping angle.
Preferably, the automatic slag-off system needs to execute the following steps:
s1, radar ranging;
s2, planning a slag-raking route by machine vision;
s3, the PLC control system controls a telescopic mechanism, a pitching mechanism and a rotating mechanism of the slag raking machine through a hydraulic proportional valve plate to automatically rake slag;
s4, mounting a displacement sensor on the telescopic mechanism, measuring the telescopic distance and feeding back the measured telescopic distance to the PLC control system to realize the forward and backward movement of the slag raking rod; mechanical limit baffles are arranged at the front end and the rear end of the telescopic mechanism to prevent excessive extension;
s5, an inclination angle/displacement sensor is arranged on the pitching mechanism, and the detection distance and the detection angle are fed back to the PLC control system to realize the target setting depth control;
and S6, an angle/position sensor is arranged on the rotating mechanism, and the detected distance and angle are fed back to the PLC control system to realize left-right rotating motion.
Preferably, the machine vision is composed of a slag skimming judgment camera, a tipping detection camera and an image analysis processing system;
wherein the machine vision can realize the following functions:
image recognition, analysis, slag skimming recognition, an iron slag coordinate system, slag skimming path planning, slag skimming process monitoring, slag skimming history backtracking and slag skimming end point alarm.
Preferably, the operation display table comprises an operation table base structure and a steering display mechanism which is arranged on the operation table base structure and is used for performing real-time operation on an operation site, wherein the operation table base structure comprises a box body, the front side of the outer wall of the box body is hinged with a first box door through a hinge, and a plurality of radiating holes are formed in the outer walls of two sides of the box body, which are adjacent to the first box door, in a matrix manner;
the middle part of one side of the front side of the outer wall of the first box door is fixedly connected with a handle, and a buckle plate is fixedly arranged on one side of the first box door close to the handle;
the middle of the lower part of the side wall of one side of the box body is communicated with an air inlet nozzle, and the middle of the lower part of the side wall of one side of the box body, which is far away from the air inlet nozzle, is communicated with an air exhaust nozzle;
the steering display mechanism comprises a servo motor, the servo motor is in screwed connection with the diagonal intersection point of the top of the inner cavity of the box body, an output shaft of the servo motor penetrates through the top of the box body, a circular bottom plate is fixedly connected to the end part of the output shaft of the servo motor, a T-shaped support is fixedly connected to the circle center of the top of the circular bottom plate, and a touch display is fixedly connected to the top of the T-shaped support;
the upper portion of the front side of the T-shaped support is fixedly provided with a camera, and the camera is electrically connected with the PLC through a wire.
Preferably, the diagonal intersection point at the top of the box body is fixedly connected with an annular groove body, the bottom of the circular bottom plate is fixedly connected with an annular inserting strip, and the annular inserting strip is inserted and installed in the groove of the annular groove body and is in sliding connection with the annular groove body.
Preferably, the electric control end of the servo motor is electrically connected with the touch display through a wire.
Preferably, the touch display is electrically connected with the PLC in a bidirectional manner through a wire.
Preferably, a dust falling mechanism for dust falling of a workshop is further installed in an inner cavity of the operation table base body structure, the dust falling mechanism comprises a dust collection box and an induced draft fan, a filter screen is installed in the inner cavity of the dust collection box, the dust collection box is communicated with an air inlet nozzle through a first connecting pipe, an air inlet end of the induced draft fan is communicated with the dust collection box through a second connecting pipe, and an air outlet end of the induced draft fan is communicated with an air exhaust nozzle through a third connecting pipe;
wherein, the front side of the outer wall of the dust collection box is connected with a second box door in an intersecting way.
Preferably, the electric control end of the induced draft fan is electrically connected with the control output end of the touch display through a wire.
Compared with the prior art, the invention has the beneficial effects that:
in the technical scheme, the automatic slag-raking system realizes automatic side tipping through mounting a displacement and angle sensor, realizes slag-raking path planning through machine vision, and realizes automatic slag-raking and slag-raking grading through mounting an intelligent sensor on slag-raking equipment;
in the technical scheme, compared with the original slag skimming, the automatic slag skimming system achieves the following results:
1. 1 desulfurization station for at most three people;
2. the uniform slag judgment standard is adopted, so that the desulfurization effect is stable;
3. the iron loss of 0.04 ton is reduced for each ladle;
4. the front raking is carried out for 7 minutes, and the rear raking is carried out for 10 minutes;
5. the slag raking machine operates stably and has low accident rate;
in the technical scheme, the system has a manual/automatic operation mode, and can realize undisturbed switching of two modes:
1. manual mode: the original operation mode is kept; and functions of dynamic data monitoring, data recording, slag skimming judgment and the like are added.
2. Automatic mode: when the mode is switched, manual operation fails, the system automatically inclines by installing a displacement and angle sensor, plans a slag-raking path by machine vision, and realizes automatic slag raking and slag raking grading by installing an intelligent sensor on slag raking equipment;
in the technical scheme, the operation display platform can intelligently track workshop operators through the mutual matching of the operation platform base body structure and the steering display mechanism, so that the touch display can always face the workshop operators, the convenience and the rapidness of manual operation of the workshop operators are improved, and meanwhile, the intelligent control is realized;
fifthly, in the technical scheme, the operation display platform can filter the air in the workshop through the dust fall mechanism, and the air quality in the workshop is improved.
Drawings
FIG. 1 is a flow chart of the operation of an automatic slag raking system provided by the invention;
FIG. 2 is a schematic perspective view of an operation display table of an automatic slag raking system according to the present invention;
FIG. 3 is a schematic view of a three-dimensional structure of an operation display table of an automatic slag raking system provided by the invention after rotating 90 degrees counterclockwise;
FIG. 4 is a schematic top view of an operating display table of an automatic slag raking system according to the present invention;
FIG. 5 is a schematic cross-sectional view taken along line A-A in FIG. 4;
FIG. 6 is a schematic structural diagram of a steering display mechanism of an operation display platform in an automatic slag-raking system according to the present invention;
FIG. 7 is an exploded view of the steering display mechanism of the operation display console in the automatic slag raking system according to the present invention;
fig. 8 is a schematic structural view of a dust collection box in a dust fall mechanism in an automatic slag removing system provided by the invention in a front view.
In the figure:
1. a console base structure; 11. a box body; 12. a first door; 13. a hinge; 14. a handle; 15. buckling the plate; 16. heat dissipation holes; 17. an air inlet nozzle; 18. an exhaust nozzle;
2. a steering display mechanism; 21. a servo motor; 22. an annular groove body; 23. a circular base plate; 24. annular cutting; 25. a T-shaped bracket; 26. a camera; 27. a touch display;
3. a dust falling mechanism; 31. a dust collection box; 32. a filter screen; 33. an induced draft fan; 34. a first connecting pipe; 35. a second connecting pipe; 36. a third connecting pipe; 37. a second door.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example one
Referring to fig. 1-8, an automatic slag raking system comprises a PLC for realizing a central data processing function, a slag raking machine detection system, a ladle detection system, a slag raking machine and an operation display platform for operation and display, wherein a PLC control system for realizing intelligent data processing is further installed in the slag raking machine;
the ladle detection system also comprises a ladle car limiting device and an automatic tilting function;
wherein, the slag removing machine also has the function of automatically removing slag.
Example two
Referring to fig. 1-8, further improved on the basis of the first embodiment: an automatic slag raking system comprises a PLC (programmable logic controller) for realizing a central data processing function, a slag raking machine detection system, a ladle detection system, a slag raking machine and an operation display platform for operation and display, wherein the PLC control system for realizing intelligent data processing is also installed in the slag raking machine;
the automatic slag skimming system realizes automatic side tipping through mounting a displacement and angle sensor, realizes slag skimming path planning through machine vision, realizes functions such as automatic slag skimming, slag skimming rating and the like through mounting an intelligent sensor on slag skimming equipment, and in order to realize the functions, the slag skimming machine realizes intelligent control, the ladle detection system also comprises a ladle car limiting function and an automatic tilting function; the slag raking machine also has the function of automatic slag raking,
wherein, the realization of the automatic tilting function requires the following steps to be executed:
s1, detecting the limit of the molten iron ladle car and the like according to the lateral-inclination execution condition;
s2, monitoring the height of the molten iron liquid level by a distance measuring radar, and automatically calculating a side-tipping angle and a rising height angle by combining the molten iron liquid level with parameters of a ladle;
s3, the PLC control system automatically controls the roll mechanism to roll according to the detected data;
s4, mounting encoders at two sides of the side-tipping mechanism, detecting the rising height, and feeding back to the PLC control system;
and S5, an angle sensor is arranged on the side-tipping mechanism and feeds back to the PLC control system to correct the side-tipping angle.
The automatic slag skimming system needs to execute the following steps:
s1, radar ranging;
s2, planning a slag-raking route by machine vision;
s3, the PLC control system controls a telescopic mechanism, a pitching mechanism and a rotating mechanism of the slag raking machine through a hydraulic proportional valve plate to automatically rake slag;
s4, mounting a displacement sensor on the telescopic mechanism, measuring the telescopic distance and feeding back the measured telescopic distance to the PLC control system to realize the forward and backward movement of the slag raking rod; mechanical limit baffles are arranged at the front end and the rear end of the telescopic mechanism to prevent excessive extension;
s5, an inclination angle/displacement sensor is arranged on the pitching mechanism, and the detection distance and the detection angle are fed back to the PLC control system to realize the target setting depth control;
s6, an angle/position sensor is arranged on the rotating mechanism, and the detected distance and angle are fed back to the PLC control system to realize left-right rotating motion;
wherein, the functions that machine vision can realize are:
image recognition, analysis, slag skimming recognition, an iron slag coordinate system, slag skimming path planning, slag skimming process monitoring, slag skimming history backtracking and slag skimming end point alarm.
The automatic slag raking machine is characterized in that software and hardware are upgraded and modified on the basis of the existing slag raking machine, and finally, automatic slag raking is realized. Therefore, the automatic slag-off system keeps the operation mode of the original system. Meanwhile, the automatic slag raking system is also provided with a manual/automatic operation mode, undisturbed switching between the two modes can be realized, in order to realize the manual operation mode, a workshop operator can perform manual operation control through an operation display platform, the operation display platform comprises an operation platform base body structure 1 and a steering display mechanism 2 which is installed on the operation platform base body structure 1 and is used for performing real-time operation on an operation site, wherein the operation platform base body structure 1 comprises a box body 11, the front side of the outer wall of the box body 11 is hinged with a first box door 12 through a hinge 13, the first box door 12 is opened, equipment in the box body 11 can be overhauled, a plurality of radiating holes 16 are formed in the outer walls of two sides of the box body 11, which are adjacent to the first box door 12, in a matrix manner, and the radiating holes 16 can be used for radiating the equipment in the box body 11;
the middle part of one side of the front side of the outer wall of the first box door 12 is fixedly connected with a handle 14, the handle 14 is convenient for a workshop operator to pull the first box door 12, a buckling plate 15 is fixedly installed on one side, close to the handle 14, of the first box door 12, the buckling plate 15 is used for locking the first box door 12, and meanwhile, the buckling plate 15 is opened, so that the first box door 12 can be opened;
the middle of the lower part of the side wall of one side of the box body 11 is communicated with an air inlet nozzle 17, the air inlet nozzle 17 is used for air inlet, the middle of the lower part of the side wall of one side of the box body 11, which is far away from the air inlet nozzle 17, is communicated with an air outlet nozzle 18, and the air outlet nozzle 18 is used for air outlet;
the steering display mechanism 2 comprises a servo motor 21, the servo motor 21 is in screwed connection with the diagonal intersection at the top of the inner cavity of the box body 11, an output shaft of the servo motor 21 penetrates through the top of the box body 11, a circular bottom plate 23 is fixedly connected to the end part of the output shaft of the servo motor 21, a T-shaped support 25 is fixedly connected to the circle center of the top of the circular bottom plate 23, a touch display 27 is fixedly connected to the top of the T-shaped support 25, the servo motor 21 drives the circular bottom plate 23 to rotate through the output shaft of the servo motor 21 in forward and reverse rotation, and the circular bottom plate 23 can drive the touch display 27 to rotate through the T-shaped support 25 in rotation;
in order to ensure the stability of the touch display 27 during rotation, an annular groove body 22 is fixedly connected to the diagonal intersection point of the top of the box body 11, an annular inserting strip 24 is fixedly connected to the bottom of the circular bottom plate 23, and the annular inserting strip 24 is inserted into the groove of the annular groove body 22 and is connected with the annular groove body 22 in a sliding manner;
in order to make the operation display platform intelligently track the workshop operator and make the touch display 27 always face the workshop operator, the upper part of the front side of the T-shaped bracket 25 is also fixedly provided with a camera 26, the camera 26 is electrically connected with the PLC through a lead, the electric control end of the servo motor 21 is electrically connected with the touch display 27 through a lead, the touch display 27 is electrically connected with the PLC in a bidirectional way through a lead, after camera 26 catches workshop operating personnel's face, transmit the image to PLC in real time, PLC sends the instruction to touch display 27, and touch display 27 sends the instruction to servo motor 21, makes servo motor 21 can make the rotation of arbitrary angle, makes touch display 27 can be towards workshop operating personnel all the time, has improved workshop operating personnel's manual operation's convenience and agility, has still realized intelligent control simultaneously.
In order to filter air in a workshop and improve the air quality in the workshop, a dust falling mechanism 3 for dust falling in the workshop is further installed in an inner cavity of the operation table base body structure 1, the dust falling mechanism 3 comprises a dust collection box 31 and an induced draft fan 33, a filter screen 32 is installed in the inner cavity of the dust collection box 31, the dust collection box 31 is communicated with an air inlet nozzle 17 through a first connecting pipe 34, the air inlet end of the induced draft fan 33 is communicated with the dust collection box 31 through a second connecting pipe 35, the air outlet end of the induced draft fan 33 is communicated with an air exhaust nozzle 18 through a third connecting pipe 36, and the electric control end of the induced draft fan 33 is electrically connected with the control output end of the touch display 27 through a wire; a workshop operator operates the touch display 27 to start the induced draft fan 33, air containing particles in a workshop is absorbed into the dust collection box 31 through the air inlet nozzle 17 by negative pressure generated by the induced draft fan 33, filtering is realized under the action of the filter screen 32, and the filtered air is discharged into the workshop through the exhaust end of the induced draft fan 33, so that air purification in the workshop is realized;
in order to facilitate the regular removal and cleaning of the filter screen 32 and prevent the filter screen from being blocked, a second door 37 is connected to the front side of the outer wall of the dust box 31, and the filter screen 32 can be removed by a workshop operator by opening the first door 12 and the second door 37.
The working principle is as follows: the automatic slag skimming system realizes automatic side tipping through mounting a displacement and angle sensor, realizes slag skimming path planning through machine vision, realizes functions such as automatic slag skimming, slag skimming rating and the like through mounting an intelligent sensor on slag skimming equipment, and in order to realize the functions, the slag skimming machine realizes intelligent control, the ladle detection system also comprises a ladle car limiting function and an automatic tilting function; the slag raking machine also has the function of automatic slag raking,
wherein, the realization of the automatic tilting function requires the following steps to be executed:
s1, detecting the limit of the molten iron ladle car and the like according to the lateral-inclination execution condition;
s2, monitoring the height of the molten iron liquid level by a distance measuring radar, and automatically calculating a side-tipping angle and a rising height angle by combining the molten iron liquid level with parameters of a ladle;
s3, the PLC control system automatically controls the roll mechanism to roll according to the detected data;
s4, mounting encoders at two sides of the side-tipping mechanism, detecting the rising height, and feeding back to the PLC control system;
and S5, an angle sensor is arranged on the side-tipping mechanism and feeds back to the PLC control system to correct the side-tipping angle.
The automatic slag skimming system needs to execute the following steps:
s1, radar ranging;
s2, planning a slag-raking route by machine vision;
s3, the PLC control system controls a telescopic mechanism, a pitching mechanism and a rotating mechanism of the slag raking machine through a hydraulic proportional valve plate to automatically rake slag;
s4, mounting a displacement sensor on the telescopic mechanism, measuring the telescopic distance and feeding back the measured telescopic distance to the PLC control system to realize the forward and backward movement of the slag raking rod; mechanical limit baffles are arranged at the front end and the rear end of the telescopic mechanism to prevent excessive extension;
s5, an inclination angle/displacement sensor is arranged on the pitching mechanism, and the detection distance and the detection angle are fed back to the PLC control system to realize the target setting depth control;
s6, an angle/position sensor is arranged on the rotating mechanism, and the detected distance and angle are fed back to the PLC control system to realize left-right rotating motion;
wherein, the functions that machine vision can realize are:
image recognition, analysis, slag skimming recognition, an iron slag coordinate system, slag skimming path planning, slag skimming process monitoring, slag skimming history backtracking and slag skimming end point alarm.
The automatic slag raking machine is characterized in that software and hardware are upgraded and modified on the basis of the existing slag raking machine, and finally, automatic slag raking is realized. Therefore, the automatic slag-off system keeps the operation mode of the original system. Meanwhile, the automatic slag skimming system also has a manual/automatic operation mode, and can realize undisturbed switching of two modes, in order to realize the manual operation mode, a workshop operator can carry out manual operation control through the operation display platform, in order to enable the operation display platform to intelligently track the workshop operator, the touch display 27 can always face the workshop operator, when the camera 26 catches the face of the workshop operator, an image is transmitted into the PLC in real time, the PLC sends an instruction to the touch display 27, the touch display 27 sends the instruction to the servo motor 21, the servo motor 21 can rotate at any angle, the touch display 27 can always face the workshop operator, the convenience and the rapidity of manual operation of the workshop operator are improved, meanwhile, the intelligent control is realized, in order to filter the air in the workshop, improve the air quality in the workshop, workshop operating personnel makes draught fan 33 start through operation touch display 27, and the negative pressure that produces through draught fan 33 is with the air that the workshop contains the particulate matter, absorbs in to dust collection box 31 through suction nozzle 17, under the effect of filter screen 32, realizes filtering, and the exhaust end through draught fan 33 discharges the air after filtering in to the workshop, has realized the air purification in the workshop.
It should be noted that: as is well known to those skilled in the art, the working principle and wiring method of the servo motor 21, the camera 26, the induced draft fan 33, the PLC and the operation touch display 27 are common and are conventional means or common knowledge, and thus will not be described herein, and those skilled in the art can make any choice according to their needs or convenience.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical scope of the present invention and the equivalent alternatives or modifications according to the technical solution and the inventive concept of the present invention within the technical scope of the present invention.
Claims (10)
1. An automatic slag raking system comprises a PLC (programmable logic controller) for realizing a central data processing function, a slag raking machine detection system, a ladle detection system, a slag raking machine and an operation display platform for operation and display, and is characterized in that the slag raking machine is also internally provided with a PLC control system for realizing intelligent data processing, the slag raking machine detection system is electrically connected with the PLC, the ladle detection system is electrically connected with the PLC, the PLC is electrically connected with the slag raking machine, the PLC is electrically connected with the operation display platform, and the operation display platform is electrically connected with the slag raking machine;
the ladle detection system also comprises a ladle car limiting device and an automatic tilting function;
wherein, the slag raking machine also has the function of automatic slag raking.
2. An automatic slag raking system according to claim 1, wherein the automatic tilting function is implemented by performing the following steps:
s1, detecting the tilting execution condition (such as the limit of the molten iron ladle car);
s2, monitoring the height of the molten iron liquid level by a distance measuring radar, and automatically calculating a side-tipping angle and a rising height angle by combining the molten iron liquid level with parameters of a ladle;
s3, the PLC control system automatically controls the roll mechanism to roll according to the detected data;
s4, mounting encoders at two sides of the side-tipping mechanism, detecting the rising height, and feeding back to the PLC control system;
and S5, an angle sensor is arranged on the side-tipping mechanism and feeds back to the PLC control system to correct the side-tipping angle.
3. The automatic slag raking system according to claim 1, wherein the automatic slag raking system is required to perform the following steps:
s1, radar ranging;
s2, planning a slag-raking route by machine vision;
s3, the PLC control system controls a telescopic mechanism, a pitching mechanism and a rotating mechanism of the slag raking machine through a hydraulic proportional valve plate to automatically rake slag;
s4, mounting a displacement sensor on the telescopic mechanism, measuring the telescopic distance and feeding back the measured telescopic distance to the PLC control system to realize the forward and backward movement of the slag raking rod; mechanical limit baffles are arranged at the front end and the rear end of the telescopic mechanism to prevent excessive extension;
s5, an inclination angle/displacement sensor is arranged on the pitching mechanism, and the detection distance and the detection angle are fed back to the PLC control system to realize the target setting depth control;
and S6, an angle/position sensor is arranged on the rotating mechanism, and the detected distance and angle are fed back to the PLC control system to realize left-right rotating motion.
4. An automatic slag-raking system according to claim 3, wherein the machine vision is composed of a slag-raking judgment camera, a rollover detection camera, and an image analysis processing system (industrial personal computer);
wherein the machine vision can realize the following functions:
image recognition, analysis, slag skimming recognition, an iron slag coordinate system, slag skimming path planning, slag skimming process monitoring, slag skimming history backtracking and slag skimming end point alarm.
5. The automatic slag raking system as claimed in claim 1, wherein the operation display platform comprises an operation platform base structure (1) and a steering display mechanism (2) which is installed on the operation platform base structure (1) and is used for real-time operation on an operation site, wherein the operation platform base structure (1) comprises a box body (11), a first box door (12) is hinged to the front side of the outer wall of the box body (11) through a hinge (13), and a plurality of heat dissipation holes (16) are formed in the outer wall of the box body (11) at two sides adjacent to the first box door (12) in a matrix manner;
the middle part of one side of the front side of the outer wall of the first box door (12) is fixedly connected with a handle (14), and a buckle plate (15) is fixedly arranged on one side, close to the handle (14), of the first box door (12);
the middle of the lower part of the side wall of one side of the box body (11) is communicated with an air inlet nozzle (17), and the middle of the lower part of the side wall of one side of the box body (11) far away from the air inlet nozzle (17) is communicated with an air exhaust nozzle (18);
the steering display mechanism (2) comprises a servo motor (21), the servo motor (21) is in screwed connection with a diagonal intersection point at the top of an inner cavity of the box body (11), an output shaft of the servo motor (21) penetrates through the top of the box body (11), the end part of the output shaft of the servo motor (21) is fixedly connected with a circular bottom plate (23), a T-shaped support (25) is fixedly connected with the circle center of the top of the circular bottom plate (23), and a touch display (27) is fixedly connected with the top of the T-shaped support (25);
the upper portion of the front side of the T-shaped support (25) is further fixedly provided with a camera (26), and the camera (26) is electrically connected with the PLC through a wire.
6. The automatic slag raking system as claimed in claim 5, wherein an annular groove body (22) is fixedly connected to a diagonal intersection point of the top of the box body (11), an annular inserting strip (24) is fixedly connected to the bottom of the circular bottom plate (23), and the annular inserting strip (24) is inserted and installed in a groove of the annular groove body (22) and is in sliding connection with the annular groove body (22).
7. The automatic slag raking system as claimed in claim 5, wherein the electric control end of the servo motor (21) is electrically connected with the touch display (27) through a lead.
8. The automatic slag raking system according to claim 5, wherein the touch display (27) is in bidirectional electrical connection with the PLC through a wire.
9. The automatic slag raking system of claim 5, wherein a dust falling mechanism (3) for dust falling in a workshop is further installed in an inner cavity of the operating platform base body structure (1), the dust falling mechanism (3) comprises a dust collection box (31) and an induced draft fan (33), a filter screen (32) is installed in the inner cavity of the dust collection box (31), the dust collection box (31) is communicated with the air inlet nozzle (17) through a first connecting pipe (34), the air inlet end of the induced draft fan (33) is communicated with the dust collection box (31) through a second connecting pipe (35), and the air outlet end of the induced draft fan (33) is communicated with the air outlet nozzle (18) through a third connecting pipe (36);
wherein, the front side of the outer wall of the dust collection box (31) is connected with a second box door (37) in a crossing way.
10. The automatic slag raking system of claim 9, wherein the electric control end of the induced draft fan (33) is electrically connected with the control output end of the touch display (27) through a wire.
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