CN114734030A - Full-flow unmanned intelligent slag skimming system - Google Patents
Full-flow unmanned intelligent slag skimming system Download PDFInfo
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- CN114734030A CN114734030A CN202210292947.9A CN202210292947A CN114734030A CN 114734030 A CN114734030 A CN 114734030A CN 202210292947 A CN202210292947 A CN 202210292947A CN 114734030 A CN114734030 A CN 114734030A
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- slag
- ladle
- car
- hot metal
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- 239000002893 slag Substances 0.000 title claims abstract description 191
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 86
- 229910052742 iron Inorganic materials 0.000 claims abstract description 43
- 238000007664 blowing Methods 0.000 claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 238000012544 monitoring process Methods 0.000 claims abstract description 7
- 239000002184 metal Substances 0.000 claims description 67
- 229910052751 metal Inorganic materials 0.000 claims description 67
- 238000005303 weighing Methods 0.000 claims description 9
- 238000009628 steelmaking Methods 0.000 abstract description 6
- 239000013049 sediment Substances 0.000 abstract 3
- 238000000034 method Methods 0.000 description 12
- 239000007788 liquid Substances 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 229910052717 sulfur Inorganic materials 0.000 description 3
- 239000011593 sulfur Substances 0.000 description 3
- 238000003723 Smelting Methods 0.000 description 2
- 235000008733 Citrus aurantifolia Nutrition 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 235000011941 Tilia x europaea Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000009749 continuous casting Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000004571 lime Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
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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
- B22D2/00—Arrangement of indicating or measuring devices, e.g. for temperature or viscosity of the fused mass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
- B22D41/12—Travelling ladles or similar containers; Cars for ladles
-
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
Abstract
A full-flow unmanned intelligent slag skimming system relates to the field of steel making. This full flow unmanned intelligent slag raking system is including the ladle car that can follow first linear direction and remove, can follow second linear direction and face towards slag wagon and the telescopic pole of raking off the slag of being close to or keeping away from the ladle car removal, the ladle car is connected with can follow vertical plane pivoted ladle and is used for driving the ladle along vertical plane pivoted slewing mechanism, be equipped with the slag ladle on the slag wagon, will follow vertical plane pivoted slag in the ladle when raking off the slag pole flexible and take off to the slag ladle in, the top of ladle car is equipped with the gas that is used for blowing to gathering the sediment in the ladle and catches up with the sediment rifle, be used for driving the flexible hydro-cylinder that the gas catches up with the sediment rifle is flexible, be used for driving the rotatory driving motor of flexible hydro-cylinder, a camera that is used for monitoring the slag condition in the ladle and be used for detecting the first distance sensor of slag height in the ladle. The full-flow unmanned intelligent slag-raking system can identify the height and the condition of the iron slag in the molten iron tank and carry out unmanned slag-raking operation.
Description
Technical Field
The application relates to the field of steelmaking, in particular to a full-flow unmanned intelligent slag skimming system.
Background
In the steel-making production process, the molten iron from the blast furnace often contains more than 1% of blast furnace slag, the removal of the blast furnace slag can reduce the lime consumption of a converter and the like, thereby improving the steel-making production of the converter, and the removal of high-sulfur slag in desulfurized molten iron is also a necessary process of a steel-making process. At present, the molten iron slagging-off process has been developed into an inseparable important link in the processes of iron making, steel making and continuous casting from the beginning to meet the requirements of smelting low-sulfur or extremely low-sulfur steel, and is also one of the necessary means for establishing a high-efficiency low-cost clean production process platform, enhancing the product competitiveness, accelerating the rhythm of a large converter and improving the production efficiency.
The initial slag removal of molten iron is manually performed, and then the manual slag removal through auxiliary machinery is gradually developed. Along with the gradual increase of the capacity of smelting equipment and the volume of a hot-metal ladle, the slag amount is also increased, the technological requirements for slag skimming are increased gradually, and people design a special slag skimming equipment, namely a slag skimming machine. The actions of a general slag removing machine are matched by three main groups of actions to remove slag, the slag removing machine walks forwards and backwards to complete the slag removing function, lifts and lifts the slag and walks to complete the slag carrying function, and swings left and right to complete the slag removing function of the peripheral slag of a container. However, the existing slag-raking operation still has the following problems: firstly, the slag skimming effect cannot be effectively evaluated, so that the slag skimming iron loss is too large; the whole slag skimming process relates to a plurality of complex procedures of the traveling, tipping, expansion of the air blowing slag-removing gun, slag skimming and the like of the ladle car, and at present, the operation is mainly carried out manually, so that the manual labor intensity is high.
Disclosure of Invention
An object of the application is to provide a full-flow unmanned intelligent slag-raking system, which can identify the height and condition of iron slag in a molten iron tank and carry out unmanned slag-raking operation.
The embodiment of the application is realized as follows:
the embodiment of the application provides a full-flow unmanned intelligent slag raking system, which comprises a hot metal ladle car capable of moving at an initial station and a slag raking station along a first linear direction, a slag car capable of moving towards a position close to or far away from the hot metal ladle car along a second linear direction and a telescopic slag raking rod, wherein the hot metal ladle car is provided with a hot metal ladle capable of rotating along a vertical plane and a rotating mechanism for driving the hot metal ladle to rotate along the vertical plane, the slag car is provided with a slag pot, when the slag raking rod stretches, slag in the hot metal ladle at a slag raking position rotating along the vertical plane is raked out into the slag pot, the hot metal ladle car is provided with a gas blowing slag removing gun, a telescopic oil cylinder, a driving motor, a camera and a first distance sensor, wherein the gas blowing slag removing gun is used for blowing gas into the hot metal ladle to remove slag, the telescopic oil cylinder is used for driving the gas blowing slag removing gun to stretch, the driving motor is used for driving the telescopic oil cylinder to rotate, the camera is used for monitoring the condition of slag in the hot metal ladle, and the first distance sensor is used for detecting the height of the slag in the hot metal ladle.
In some optional embodiments, the ladle car includes two car bodies, the car body is movably located on the first track that extends along first straight line direction, slewing mechanism includes saddle, two L shape swivel mounts and two rotation hydro-cylinders that support respectively and joint saddle both ends with the ladle that the middle part is connected, two rotation hydro-cylinders's one end is articulated with two car bodies respectively, and the other end is articulated with two swivel mounts respectively, and the swivel mount passes through ring gear and rack toothing with the corresponding car body respectively.
In some optional embodiments, the rotating frame is provided with an angle gauge for measuring the rotating inclination angle of the molten iron tank.
In some alternative embodiments, at least one end of the first rail is provided with a second distance sensor for detecting the distance of the hot metal ladle car.
In some optional embodiments, the two sides of the first rail are respectively provided with a photoelectric switch for detecting the position of the molten iron ladle car.
In some optional embodiments, the slag car is movably arranged on a second track extending along a second linear direction, and a third distance sensor for detecting the height of slag in the slag tank is arranged above the second track.
In some optional embodiments, a weighing instrument for weighing the slag pot is also arranged on the slag car.
The beneficial effect of this application is: the full-flow unmanned intelligent slag skimming system provided by the application comprises a hot metal ladle car which can move in an initial station and a slag skimming station along a first linear direction, a slag car which can move towards or away from the hot metal ladle car along a second linear direction and a telescopic slag skimming rod, the hot metal ladle car is provided with a hot metal ladle which can rotate along a vertical plane and a rotating mechanism which is used for driving the hot metal ladle to rotate along the vertical plane, the slag car is provided with a slag pot, when the slag removing rod stretches out and draws back, slag in the hot metal ladle at the slag removing position which rotates along the vertical plane is removed out to the slag pot, the hot metal ladle car is provided with a gas blowing slag removing gun, a telescopic oil cylinder, a driving motor, a camera and a first distance sensor, wherein the gas blowing slag removing gun is used for blowing gas into the hot metal ladle to remove slag, the telescopic oil cylinder is used for driving the gas blowing slag removing gun to stretch, the driving motor is used for driving the telescopic oil cylinder to rotate, the camera is used for monitoring the condition of slag in the hot metal ladle, and the first distance sensor is used for detecting the height of the slag in the hot metal ladle. The application provides a full flow unmanned intelligent slagging-off system can discern the iron slag height and the condition in the molten iron jar to automatic control carries out the unmanned operation of slagging-off process.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a first view angle of a full-flow unmanned intelligent slag-raking system provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a second view angle of the full-flow unmanned intelligent slag-raking system provided by the embodiment of the application;
fig. 3 is a schematic structural diagram illustrating a first distance sensor used in a full-process unmanned intelligent slag-raking system according to an embodiment of the present application for detecting and calculating a distance between a liquid level of molten iron and a top surface of a molten iron tank;
fig. 4 is a schematic view of a camera used in the full-flow unmanned intelligent slag-raking system provided by the embodiment of the application for measuring a distance between a molten iron ladle liquid level and a molten iron ladle top edge.
In the figure: 100. a ladle car; 101. a wheel; 110. a hot-metal ladle; 120. blowing a gas to remove slag gun; 130. a telescopic oil cylinder; 140. a drive motor; 150. a camera; 160. a first distance sensor; 170. a vehicle body; 171. a first track; 180. a saddle; 181. a rotating frame; 182. rotating the oil cylinder; 183. a ring gear; 184. a rack; 185. an angle gauge; 186. a fixed seat; 187. an infrared emitter; 188. an infrared receiver; 190. a second distance sensor; 200. slag car; 201. slag car wheels; 210. a slag pot; 220. a second track; 230. a third distance sensor; 240. a weighing instrument; 250. a blocking block; 300. a slag raking rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the application usually place when in use, and are used only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the devices or elements being referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
In this application, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation of the first and second features not being in direct contact, but being in contact with another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The characteristics and performance of the full-flow unmanned intelligent slag-raking system are further described in detail in the following with reference to the examples.
As shown in fig. 1 and 2, the embodiment of the present application provides a full-flow unmanned intelligent slag-raking system, which comprises a ladle car 100 capable of moving along a first rail 171 at an initial station and a slag-raking station, a slag car 200 capable of moving along a second rail 220, and a telescopic slag-raking rod 300, wherein the second rail 220 is perpendicular to the first rail 171, and one end of the second rail 220 is located at one side of the slag-raking station of the first rail 171, the ladle car 100 comprises two car bodies 170 capable of moving along the first rail 171, the bottom of each car body 170 is in rolling fit with the first rail 171 through four rotatable wheels 101, the ladle car 100 is connected with the ladle 110 capable of rotating along a vertical plane and a rotating mechanism for driving the ladle 110 to rotate along the vertical plane, the rotating mechanism comprises a saddle 180 connected with the ladle 110 at the middle, two L-shaped rotating frames 181 and two rotating cylinders 182 respectively used for supporting and clamping two ends of the saddle 180, one end of each of the two rotating oil cylinders 182 is hinged to a fixing seat 186 on each of the two car bodies 170, the other end of each of the two rotating oil cylinders is hinged to each of the two rotating frames 181, the bottom of each of the rotating frames 181 is provided with an arc-shaped gear ring 183, the top of each of the car bodies 170 is also provided with a rack 184 meshed with the gear ring 183 corresponding to the rotating frame 181, the rotating frame 181 is provided with an angle meter 185 for measuring the rotating inclination angle of the hot metal ladle 110, a slag blowing gun 120 for blowing air into the hot metal ladle 110 to collect slag, a telescopic oil cylinder 130 for driving the slag blowing and removing gun 120 to stretch, a water ladle driving motor 140 for driving the telescopic oil cylinder 130 to rotate, a camera 150 for monitoring the slag condition in the hot metal ladle 110 and a first distance sensor 160 for detecting the slag height in the hot metal ladle 110 are arranged above a slag removing station, and one end of the first rail 171 is provided with a second distance sensor 190 for detecting the distance of the hot metal ladle car 100.
Be equipped with slag ladle 210 on the slag car 200, the bottom of slag car 200 is located on second track 220 through four slag car wheels 201 rolls, second track 220 top still is equipped with and is used for detecting the third distance sensor 230 of slag height in the slag ladle 210, when slagging-off pole 300 is flexible will be located the slagging-off station along vertical plane pivoted hot-metal bottle 110 in the slag ladle is taken off to slag ladle 210 in, still be equipped with the weighing instrument 240 that is used for weighing slag ladle 210 weight on the slag car 200, the both ends of first track 171 and second track 220 are equipped with respectively and block piece 250. An infrared emitter 187 and an infrared receiver 188 for detecting the position of the ladle car 100 are further provided on both sides of the first rail 171, respectively, and when the ladle car 100 moves along the first rail 171 to position the ladle 110 at one end of the second rail 220, the connection of the infrared emitter 187 and the infrared receiver 188 is positioned at one side edge of the ladle 110.
The working principle of the full-flow unmanned intelligent slag raking system provided by the embodiment of the application is as follows:
the ladle car 100 is stopped at the initial station, and the distance of the initial station of the ladle car 100 on the first rail 171 is detected using the second distance sensor 190 and recorded as a 0;
the method comprises the steps that a hot metal ladle 110 is hoisted to a hot metal ladle car 100 by using a crane, two ends of a saddle 180 connected with the hot metal ladle 110 are respectively dropped on an L-shaped rotating frame 181 of the hot metal ladle car 100, the hot metal ladle car 100 is controlled to move to a slag raking station along a first track 171, a real-time distance value a of the hot metal ladle car 100 is recorded in real time through a second distance sensor 190, and when a is a1(a1 is an actual measurement value of the hot metal ladle car reaching the slag raking station and is also a system set value) or signal transmission between an infrared transmitter 187 and an infrared receiver 188 is blocked, the hot metal ladle car 100 is indicated to have moved to a preset slag raking station;
as shown in fig. 3, when the ladle car 100 is at the initial station, the first distance sensor 160 is used to measure the ground distance, which is denoted as b 1; after the hot metal ladle car 100 moves to the slag skimming station, measuring the distance from the molten iron slag liquid level in the hot metal ladle 110 by using the first distance sensor 160, and recording the distance as b0, wherein the distance from the top surface of the hot metal ladle car 100 to the ground is a constant value b2, so that the distance b from the molten iron slag liquid level to the top surface of the hot metal ladle is b0- (b1-b2), and at the moment, automatically calculating the rotation inclination angle a1 of the hot metal ladle 110 according to the obtained value b;
controlling the rotation oil cylinders 182 hinged to the tops of the two car bodies 170 to start, pushing the two rotary frames 181 to rotate to drive the hot metal ladle 110 to rotate, measuring a rotation angle a of the hot metal ladle 110 in real time by using an angle gauge 185, clamping and limiting the position of the hot metal ladle 110 through a protrusion at one end of the L-shaped rotary frame 181 in the rotation process of the hot metal ladle 110, as shown in fig. 4, simultaneously measuring the distance between the iron slag liquid level of the hot metal ladle 110 and the top edge of the hot metal ladle 110 in real time by using a camera 150 in the rotation process, wherein the value of the distance is c, and when alpha 1 is met or c is less than or equal to 20mm, stopping the extension and retraction of the rotation oil cylinders 182, and recording an angle alpha 2 of the hot metal ladle 110;
moving the slag car 200 along the second track 220, moving the slag pot 210 on the slag car 200 to be under the hot metal ladle 110, recording the initial weight w1 of the slag pot 210 through the weighing instrument 240, recording the weight of the slag pot 210 in real time, recording the weight as w, measuring the height L of the slag surface in the slag pot 210 through the third distance sensor 230, and recording the initial value as L1;
keeping the ventilation and blowing state by using the air blowing and slag removing gun 120 to perform air blowing and gathering on the slag in the hot metal ladle 110; adjusting the angle of the air blowing slag removing gun 120 to be parallel to the inside of the tank edge by using a driving motor 140, wherein the angle is also alpha 2; then the telescopic oil cylinder 130 is used to drive the air blowing slag removing gun 120 to descend whenWhen the camera 150 detects that the air blowing and slag removing gun 120 is in contact with the liquid level of the molten iron, timing t is started, when t is t1, the air blowing and slag removing gun 120 stops inserting,
wherein H is the depth of the air blowing slag removing gun 120 inserted into the liquid level of the iron slag, and the value is 800mm-1500 mm; v is the descending speed of the air blowing slag removing gun 120, and a 2 is the rotation inclination angle of the slag removing position of the hot metal ladle 110.
Analyzing the distribution condition of the slag surface in the liquid level of the iron slag through the camera 150, then planning a slag-raking path, and controlling the slag-raking rod 300 to rake slag;
and when the slag surface is judged to reach the target requirement, or w is more than or equal to w1+ w2 or L is more than or equal to L1+ L2, stopping slagging off. In the formula, W2 is the theoretical weight of slag after single-tank molten iron slag skimming, and L2 is the theoretical rising height of the slag surface in the slag tank 210 after single-tank molten iron slag skimming; when L is less than or equal to L3+10mm or W is more than or equal to W3-1 ton, the slag pot 210 is indicated to be full, wherein L3 is the measured distance of the third distance sensor 230 when the slag pot 210 is fully stacked, and W3 is the weight of the slag pot 210 when the slag pot is fully filled;
and controlling the slag raking rod 300 and the air blowing slag removing gun 120 to return to the original position, driving the hot metal ladle 110 to recover the horizontal state, namely the initial angle, under the action of the rotary oil cylinder 182, and then conveying the hot metal ladle 110 to the initial position of the hot metal ladle 100 by using the hot metal ladle 100 to complete the whole slag raking process.
In the embodiment of the present application, the ladle car 100 moves along the first rail 171, and the slag car 200 moves along the second rail 220, so that traction vehicles can be respectively arranged on the first rail 171 and the second rail 220 for traction, and in addition, the in-wheel motor can be respectively used as the wheel 101 and the slag car wheel 201 for providing power for the ladle car 100 and the slag car 200.
The full-flow unmanned intelligent slag skimming system provided by the embodiment of the application can realize automatic and unmanned operation of slag skimming operation, and the whole system is simple and reliable in structure. The position and the accurate positioning of the hot metal ladle car 100 can be monitored in real time by arranging the second distance sensor 190, the infrared emitter 187 and the infrared receiver 188, the support and the automatic stable tipping of the hot metal ladle 110 can be realized by matching the rotary oil cylinder 182, the rotary frame 181 and the gear ring 183 and the rack 184 which are correspondingly meshed on the car body 170, and the accurate measurement of the tipping angle is realized by the angle gauge 185; the non-contact accurate measurement of the liquid level of the molten iron slag in the molten iron tank 110 is realized through the first distance sensor 160, and the automatic setting of the tilting angle of the molten iron tank 110 is realized through calculation; the camera 150 is used for realizing the automatic recognition of the iron slag interface and realizing the automatic planning of the path of the slag raking rod 300; the camera 150 is used for detecting the distance between the liquid level of the iron slag and the edge of the molten iron tank 110 in the tipping process of the molten iron tank in real time, so that the phenomenon of molten iron tipping caused by the tipping transition of the molten iron tank 110 is avoided, and the system safety is improved; the real-time monitoring of the slag surface of the slag pot 210 is realized through the third distance sensor 230, the possibility of transitional slag skimming is avoided through the height difference of the slag surface before and after the slag skimming of the single-pot molten iron, the iron loss of the slag skimming is reduced, meanwhile, the slag pot 210 is reminded of the full pot through the monitoring of the slag surface, and the occurrence of the condition of iron slag overflow is avoided. The weight of the slag pot 210 is measured by the weighing instrument 240, and the possibility of transitional slag skimming is avoided through the weight of the slag pot before and after single-pot molten iron skimming, so that the iron loss of slag skimming is reduced.
In other optional embodiments, a vertical oil cylinder which is vertically arranged and has an oil cylinder rod connected with the slag raking rod 300 and a horizontal oil cylinder which is horizontally arranged and has an oil cylinder rod connected with the vertical oil cylinder can be further provided, so that the telescopic slag raking rod 300 is driven to move along the vertical direction and the horizontal direction by using the vertical oil cylinder and the horizontal oil cylinder, and the slag raking range is expanded.
The embodiments described above are some, but not all embodiments of the present application. The detailed description of the embodiments of the present application is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Claims (7)
1. The full-flow unmanned intelligent slag skimming system is characterized by comprising a hot metal ladle car capable of moving at an initial station and a slag skimming station along a first straight line direction, a slag car capable of moving close to or far away from the hot metal ladle car along a second straight line direction and a telescopic slag skimming rod, wherein the hot metal ladle car is provided with a hot metal ladle capable of rotating along a vertical plane and a rotating mechanism for driving the hot metal ladle to rotate along the vertical plane, a slag pot is arranged on the slag car, when the slag skimming rod stretches and retracts, slag in the hot metal ladle at the slag skimming position rotating along the vertical plane is raked out into the slag pot, and a slag chasing gun for blowing the hot metal ladle for gathering slag, a telescopic oil cylinder for driving the slag chasing gun to stretch and retract, a driving motor for driving the telescopic oil cylinder to rotate, a gas blowing gun, a slag chasing gun for blowing the hot metal ladle is arranged above the slag skimming station, The camera is used for monitoring the condition of the slag in the molten iron tank, and the first distance sensor is used for detecting the height of the slag in the molten iron tank.
2. The full-flow unmanned intelligent slag skimming system according to claim 1, wherein the ladle car comprises two car bodies, the car bodies are movably arranged on a first rail extending along the first linear direction, the rotating mechanism comprises a saddle with the middle part connected with the ladle, two L-shaped rotating frames respectively used for supporting and clamping two ends of the saddle and two rotating oil cylinders, one ends of the two rotating oil cylinders are respectively hinged with the two car bodies, the other ends of the two rotating oil cylinders are respectively hinged with the two rotating frames, and the rotating frames are respectively meshed with the corresponding car bodies through a gear ring and a rack.
3. The full-flow unmanned intelligent slag raking system according to claim 2, wherein an angle gauge for measuring the rotation inclination angle of the molten iron tank is arranged on the rotating frame.
4. The full-flow unmanned intelligent slag raking system according to claim 2, wherein at least one end of the first rail is provided with a second distance sensor for detecting the distance between the hot-metal ladle car.
5. The full-flow unmanned intelligent slag skimming system according to claim 2, wherein photoelectric switches for detecting the position of the ladle car are further respectively arranged on two sides of the first rail.
6. The full-flow unmanned intelligent slag skimming system according to claim 1, wherein the slag car is movably arranged on a second rail extending along the second linear direction, and a third distance sensor for detecting the height of the slag in the slag pot is further arranged above the second rail.
7. The full-flow unmanned intelligent slag skimming system according to claim 1, wherein a weighing instrument for weighing the weight of the slag pot is further arranged on the slag car.
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