CN114906192A - Titanium slag transfer device based on machine vision - Google Patents
Titanium slag transfer device based on machine vision Download PDFInfo
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- CN114906192A CN114906192A CN202210598660.9A CN202210598660A CN114906192A CN 114906192 A CN114906192 A CN 114906192A CN 202210598660 A CN202210598660 A CN 202210598660A CN 114906192 A CN114906192 A CN 114906192A
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- manipulator
- camera
- titanium slag
- machine vision
- stand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/002—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor characterised by a rectangular shape, involving sidewalls or racks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/02—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving parts being adjustable, collapsible, attachable, detachable or convertible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/04—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0003—Adaptations for loading in or on a vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B2203/00—Grasping, holding, supporting the objects
- B62B2203/70—Comprising means for facilitating loading or unloading
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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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/20—Recycling
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a titanium slag transfer device based on machine vision, and belongs to the field of transfer equipment. Including remote control flatcar and box (1), the remote control flatcar includes supporting baseplate (3) and stand (9), can dismantle the setting on supporting baseplate (3) box (1), supporting baseplate (3) lower extreme is provided with gyro wheel (2), stand (9) set up the one end at supporting baseplate (3), stand (9) upper end is provided with camera (7), it is provided with manipulator (4) to rotate on stand (9) outer wall by camera (7) department, box (1) length direction can be followed in manipulator (4) stretches out, and camera (7) are connected with manipulator (4) electricity. The automatic material receiving of box is realized through camera (7) and manipulator (4) to this device, makes the interior material of box level and smooth depositing simultaneously. The problems that in the prior art, the titanium slag transfer site is poor in working condition, great in harm to operators and low in efficiency are solved.
Description
Technical Field
The invention discloses a titanium slag transfer device based on machine vision, and belongs to the field of transfer equipment.
Background
The metal smelting industry is generally operated in a high-temperature environment in front of a furnace, the working condition is severe, and safety accidents are easily caused. Particularly, titanium slag production is used as a complicated smelting working condition in the traditional metal smelting industry, the labor intensity of workers in front of the furnace is high, the operation environment is poor, and the method is not suitable for manual field operation. Titanium slag smelting is generally to adopt titanium-containing minerals to carry out high-temperature smelting in an electric furnace, and titanium slag with the TiO2 content being more than or equal to 73 percent can be obtained. The temperature in the titanium slag smelting furnace is high and can reach 1550-1700 ℃; in addition, the titanium slag is a short slag, which has the characteristics of high solidification temperature (about 1350-1500 ℃) and narrow solidification temperature range. Because the furnace condition changes greatly and the manual tapping operation is unstable in the titanium slag smelting process, the production accidents of unsmooth tapping or slag channel blockage are easily caused.
Therefore, the equipment for automatically discharging the titanium slag from the furnace is needed, can realize remote operation and automatic discharging from the furnace, does not need manual field operation, reduces the labor intensity, improves the labor productivity and reduces the safety risk.
This national patent application publication number: CN 215143192A discloses a titanium slag ash storehouse ash conveying transportation processing apparatus, and its structure mainly realizes the transportation of slag ash through the transfer car (buggy), nevertheless because the site environment is poor, is difficult for filling with slag ash in the car hopper, causes the transport efficiency lower.
Disclosure of Invention
The invention aims to solve the technical problems that the titanium slag transferring field in the prior art has poor working condition, great harm to operators and low efficiency.
The technical scheme adopted by the invention for solving the technical problems is as follows: titanium slag transfer device based on machine vision, including remote control flatcar and box, the remote control flatcar includes supporting baseplate and stand, and the setting can be dismantled on supporting baseplate to the box, and the supporting baseplate lower extreme is provided with the gyro wheel, and the stand setting is provided with the camera in the one end of supporting baseplate, stand upper end, and it is provided with the manipulator to rotate on the stand outer wall by camera department, and the manipulator can stretch out along box length direction, and the camera is connected with the manipulator electricity.
Wherein, still include adjustment mechanism among the above-mentioned device, the camera passes through adjustment mechanism and sets up in the stand upper end for the camera can be followed X, Y, Z axle three-way regulation.
Further, among the above-mentioned device adjustment mechanism includes the adjusting baseplate, adjusts riser and the fixed plate that mutually perpendicular set up, is provided with the regulation hole on adjusting baseplate, regulation riser and the fixed plate, and is located the perpendicular setting of regulation hole length direction on adjusting baseplate, regulation riser and the fixed plate, and adjusting baseplate, regulation riser and fixed plate three pass through bolted connection, and the adjusting baseplate is fixed in the upper end of stand, and the camera is fixed on the fixed plate.
Wherein, the two sides of the box body in the device are provided with lifting lugs.
The device is characterized in that the upright post is provided with a rotating component, one end of the manipulator is connected with the rotating component, and the rotating component enables the manipulator to rotate around the circumferential direction of the upright post.
Furthermore, the device also comprises a telescopic piece, and the manipulator is connected with the rotating component through the telescopic piece.
Furthermore, in the device, the telescopic part is an electric push rod.
The lower end of the box body in the device is provided with a bolt, and the corresponding position of the supporting bottom plate is provided with a jack, so that the box body is spliced with the supporting bottom plate.
Further, in the device, the lower end of the bolt is in a conical or round table or frustum pyramid-shaped structure.
Furthermore, in the device, the bolt is arranged at a corner of the bottom end of the box body, a supporting block is arranged at a corresponding position on the supporting bottom plate, and the jack is arranged on the supporting block and is matched with the bolt.
The invention has the beneficial effects that: this device is used for stokehold titanium sediment detection device, installs the device in the stokehold, ships the titanium sediment that comes out with the electric stove slag notch, collects the full back, removes to driving work area, hoists the box to other places. This device simple structure, the actual field operation personnel's that reduces harm through remote control. Meanwhile, titanium slag can be raked into the box body through the manipulator, and the titanium slag is prevented from falling off in the transportation process. Adopt the detachable box to be convenient for directly hoist and mount, raise the efficiency.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
Fig. 2 is a schematic structural view of the remote control flat car.
FIG. 3 is a schematic view of the structure of the case of the present invention.
FIG. 4 is another structural schematic view of the latch of FIG. 3 according to the present invention.
Fig. 5 is a schematic view of the camera mounting structure of the present invention.
FIG. 6 is a left side view of the structure of FIG. 5 according to the present invention.
FIG. 7 is a schematic front view of the structure of FIG. 5 according to the present invention.
Labeled as: the device comprises a box body 1, lifting lugs 11, a bolt 12, rollers 2, a supporting bottom plate 3, a supporting block 31, a manipulator 4, a telescopic part 5, a rotating member 6, a camera 7, an adjusting mechanism 8, an adjusting bottom plate 81, an adjusting vertical plate 82, a fixing plate 83, an upright post 9 and a supporting plate 10.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 to 7, the titanium slag transfer device based on machine vision comprises a remote control flat car and a box body 1, wherein the remote control flat car comprises a supporting base plate 3 and an upright post 9, the box body 1 is detachably arranged on the supporting base plate 3, a roller 2 is arranged at the lower end of the supporting base plate 3, the upright post 9 is arranged at one end of the supporting base plate 3, a camera 7 is arranged at the upper end of the upright post 9, a manipulator 4 is rotatably arranged on the outer wall of the upright post 9 close to the camera 7, the manipulator 4 can extend out along the length direction of the box body 1, and the camera 7 is electrically connected with the manipulator 4. As can be understood by the technical personnel in the field, the device can realize remote control through the remote control flatcar, and avoid the harm of severe environment on the site to operators. Actually with box 1 detachable setting on supporting baseplate 3, the later stage hoist and mount box 1 of being convenient for. Preferably, the rollers 2 are arranged at the lower end of the supporting bottom plate 3 to facilitate the remote control of the flat car, and practically, the rollers 2 are preferably Mecanum wheels to facilitate transportation. Set up stand 9 in the one end of supporting baseplate 3, the stand 9 upper end is provided with camera 7 for camera 7 passes through stand 9 to be fixed on supporting baseplate 3, and the mounted position that needs to notice camera 7 should not interfere with box 1 hoist and mount direction, and more specifically camera 7 and stand 9 all are located one side of box 1 can. And the camera 7 can control the valve of the material receiving port, so that the titanium slag can be filled to a specified position, and then the slag filling can be stopped. And meanwhile, the manipulator 4 is preferably arranged on the outer wall of the upright post 9 close to the camera 7 in a rotating manner, and the manipulator 4 can stretch out along the length direction of the box body 1, so that the manipulator 4 can scrape titanium slag into the box body 1, and the loading capacity of the single box body 1 is improved. Meanwhile, the camera 7 is preferably electrically connected with the manipulator 4, and the manipulator 4 can be controlled to operate through the camera 7. In the same way, in order to avoid the interference between the mechanical arm 4 and the hoisting of the box body 1, the mechanical arm 4 is preferably arranged on the upright post 9 in a rotating mode, namely when the box body 1 needs to be hoisted, the mechanical arm 4 can rotate by a moving angle to avoid the interference with the hoisting direction of the box body 1.
Preferably, the device further comprises an adjusting mechanism 8, and the camera 7 is arranged at the upper end of the upright post 9 through the adjusting mechanism 8, so that the camera 7 can be adjusted along the X, Y, Z axis in three directions. As can be understood by those skilled in the art, in order to adjust the installation position of the camera 7, the device preferably further comprises an adjusting mechanism 8, and the camera 7 is actually arranged at the upper end of the upright post 9 through the adjusting mechanism 8, so that the camera 7 can be adjusted along the X, Y, Z axis in three directions, and the positioning of the camera 7 is facilitated.
Preferably, in the above device, the adjusting mechanism 8 includes an adjusting bottom plate 81, an adjusting vertical plate 82 and a fixing plate 83 which are perpendicular to each other, adjusting holes are provided on the adjusting bottom plate 81, the adjusting vertical plate 82 and the fixing plate 83, and the adjusting holes located on the adjusting bottom plate 81, the adjusting vertical plate 82 and the fixing plate 83 are perpendicular to each other in the length direction, and the adjusting bottom plate 81, the adjusting vertical plate 82 and the fixing plate 83 are connected by bolts, and the adjusting bottom plate is fixed at the upper end of the upright, and the camera is fixed on the fixing plate. It can be understood by those skilled in the art that the present device is only a specific structure of a further preferred adjusting mechanism, and includes an adjusting bottom plate 81, an adjusting vertical plate 82 and a fixing plate 83 which are vertically arranged, the adjusting bottom plate 81 is specifically arranged on the upper end surface of the upright 9, the adjusting vertical plate 82 is preferably L-shaped and vertically arranged on the adjusting bottom plate 81, and the fixing plate 83 is vertically arranged on the upper end of the adjusting vertical plate 82, so that the adjusting bottom plate 81, the adjusting vertical plate 82 and the fixing plate 83 form an X, Y, Z axis. Meanwhile, it is further preferable that the adjusting bottom plate 81, the adjusting vertical plate 82 and the fixing plate 83 are provided with adjusting holes, the adjusting holes on the adjusting bottom plate 81, the adjusting vertical plate 82 and the fixing plate 83 are vertically arranged in the length direction, and the adjusting bottom plate 81, the adjusting vertical plate 82 and the fixing plate 83 are connected through bolts, so that three-way adjustment of the camera 7 is realized.
Preferably, the device is provided with lifting lugs 11 at two sides of the box body 1. As can be appreciated by those skilled in the art, in order to facilitate the hoisting of the box body 1, the device is preferably provided with lifting lugs 11 at both sides of the box body 1.
Preferably, in the above device, the upright post 9 is provided with a rotating member 6, one end of the manipulator 4 is connected with the rotating member 6, and the rotating member 6 enables the manipulator 4 to rotate around the circumference of the upright post 9. It will be appreciated by those skilled in the art that, in order to facilitate the rotation of the robot arm 4, the apparatus is preferably provided with a rotating member 6 on the upright post 9, one end of the robot arm 4 is connected with the rotating member 6, and the rotating member 6 enables the robot arm 4 to rotate circumferentially around the upright post 9, and the rotating member 6 can be actually preferably driven by a motor as long as the rotation of the robot arm 4 can be realized.
Preferably, the device further comprises a telescopic piece 5, and the manipulator 4 is connected with the rotating member 6 through the telescopic piece 5. As can be appreciated by those skilled in the art, in order to facilitate the driving of the robot 4 along the length direction of the upper cavity of the box body 1, the robot 4 is preferably connected with the rotating member 6 through the telescopic member 5, and the telescopic member 5 is a telescopic rod with adjustable length.
Preferably, in the above device, the extensible member 5 is an electric push rod. It will be appreciated by those skilled in the art that the present device is only preferred that the telescopic member 5 is an electric telescopic rod to achieve the position adjustment of the manipulator 4 and facilitate the remote control.
Preferably, in the above device, the lower end of the box body 1 is provided with a plug pin 12, and the corresponding position of the supporting base plate 3 is provided with a jack, so that the box body 1 is inserted into the supporting base plate 3. As will be understood by those skilled in the art, in order to avoid the case 1 from being toppled during transportation, the case 1 and the supporting base plate 3 are preferably detachably connected in a plugging manner. Specifically, the lower end of the box body 1 is provided with a bolt 12, the corresponding position of the supporting bottom plate 3 is provided with a jack, and the bolt 12 correspondingly extends into the jack so that the box body 1 is inserted into the supporting bottom plate 3.
Preferably, in the above device, the lower end of the bolt 12 has a conical or circular truncated cone or frustum pyramid-shaped structure. As can be understood by those skilled in the art, in order to facilitate the positioning of the plug pin 12, the device preferably selects the lower end of the plug pin 12 and a conical or truncated cone or frustum pyramid-shaped structure, so that the plug pin 12 can accurately extend into the plug pin only by positioning the end point of the lower end of the plug pin 12 in the plug pin, thereby improving the positioning accuracy and the positioning efficiency.
Preferably, in the above device, the pin 12 is disposed at a corner of the bottom end of the box body 1, a supporting block 31 is disposed at a corresponding position on the supporting base plate 3, and the insertion hole is disposed on the supporting block 31 and adapted to the pin 12. As can be understood by those skilled in the art, in order to facilitate the supporting of the box body 1, the latch 12 is preferably arranged at the corner of the bottom end of the box body 1, the supporting block 31 is arranged at the corresponding position on the supporting bottom plate 3, the jack is arranged on the supporting block 31 and is matched with the latch 12, and the structure arrangement is also convenient for the subsequent carrying of the box body 1 through a forklift. Make simultaneously that box 1 and supporting baseplate 3 interval set up, change original face contact into the point contact for box 1 places more firmly. Meanwhile, in order to fix the upright column 9 conveniently, the device is preferably provided with a support plate 10 at the end part of the support base plate 3, the support plate 10 is horizontally arranged with the support base plate 3, and the upright column 9 is vertically arranged with the support plate 10. The support block 31 also prevents the tank 1 from directly contacting the support plate 10, which could damage the structural stability of the upright 9.
Claims (10)
1. Titanium sediment transfer device based on machine vision, its characterized in that: including remote control flatcar and box (1), the remote control flatcar includes supporting baseplate (3) and stand (9), can dismantle the setting on supporting baseplate (3) box (1), supporting baseplate (3) lower extreme is provided with gyro wheel (2), stand (9) set up the one end at supporting baseplate (3), stand (9) upper end is provided with camera (7), it is provided with manipulator (4) to rotate on stand (9) outer wall by camera (7) department, box (1) length direction can be followed in manipulator (4) stretches out, and camera (7) are connected with manipulator (4) electricity.
2. The machine vision-based titanium slag transport device of claim 1, wherein: still include adjustment mechanism (8), camera (7) pass through adjustment mechanism (8) and set up in stand (9) upper end for camera (7) can be followed X, Y, Z axle three-way regulation.
3. The machine vision-based titanium slag transport device of claim 2, wherein: adjustment mechanism (8) are including adjusting bottom plate (81) that mutually perpendicular set up, adjust riser (82) and fixed plate (83), adjust bottom plate (81), be provided with the regulation hole on adjusting riser (82) and fixed plate (83), and be located adjusting bottom plate (81), adjust the perpendicular setting of regulation hole length direction on riser (82) and fixed plate (83), and adjust bottom plate (81), adjust riser (82) and fixed plate (83) three and pass through bolted connection, and adjust bottom plate (81) and fix the upper end at stand (9), camera (7) are fixed on fixed plate (83).
4. The machine vision-based titanium slag transport device of claim 1, wherein: lifting lugs (11) are arranged on two sides of the box body (1).
5. The machine vision-based titanium slag transport device of claim 1, wherein: the vertical column (9) is provided with a rotating member (6), one end of the manipulator (4) is connected with the rotating member (6), and the rotating member (6) enables the manipulator (4) to rotate around the vertical column (9) in the circumferential direction.
6. The machine vision-based titanium slag transport device of claim 5, wherein: the manipulator is characterized by further comprising a telescopic piece (5), and the manipulator (4) is connected with the rotating member (6) through the telescopic piece (5).
7. The machine vision-based titanium slag transport device of claim 6, wherein: the telescopic piece (5) is an electric push rod.
8. The machine vision-based titanium slag transport device of claim 1, wherein: the lower end of the box body (1) is provided with a bolt (12), and the corresponding position of the supporting base plate (3) is provided with a jack, so that the box body (1) is spliced with the supporting base plate (3).
9. The machine vision-based titanium slag transport device of claim 8, wherein: the lower end of the bolt (12) is in a conical or round table or prismoid structure.
10. The machine vision-based titanium slag transport device of claim 8, wherein: the bolt (12) is arranged at the corner of the bottom end of the box body (1), a supporting block (31) is arranged at the corresponding position on the supporting base plate (3), and the jack is arranged on the supporting block (31) and is matched with the bolt (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210598660.9A CN114906192A (en) | 2022-05-30 | 2022-05-30 | Titanium slag transfer device based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210598660.9A CN114906192A (en) | 2022-05-30 | 2022-05-30 | Titanium slag transfer device based on machine vision |
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| Publication Number | Publication Date |
|---|---|
| CN114906192A true CN114906192A (en) | 2022-08-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210598660.9A Pending CN114906192A (en) | 2022-05-30 | 2022-05-30 | Titanium slag transfer device based on machine vision |
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Citations (8)
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| CN109928134A (en) * | 2019-03-20 | 2019-06-25 | 葛玉库 | Automate grain-keeping equipment |
| CN211364600U (en) * | 2020-01-08 | 2020-08-28 | 湖北友宁门业有限公司 | Environment-friendly transportation trailer for cutting waste materials |
| CN112339815A (en) * | 2019-12-20 | 2021-02-09 | 福州集丫科技有限公司 | Small-size concrete handcart for construction |
| CN212953144U (en) * | 2020-03-25 | 2021-04-13 | 郑州三和水工机械有限公司 | Aggregate conveying system based on AI image recognition and scene analysis technology |
| CN212980305U (en) * | 2020-04-13 | 2021-04-16 | 包头市新源稀土高新材料有限公司 | Tombarthite processing refines and uses transfer device |
| CN113666139A (en) * | 2021-08-10 | 2021-11-19 | 中国铁路工会丰台货运中心委员会 | Flatcar equipment convenient to bulk goods open wagon loads |
| CN215625447U (en) * | 2021-07-23 | 2022-01-25 | 中国二十二冶集团有限公司 | Automatic automobile loading device |
| CN215663217U (en) * | 2021-05-17 | 2022-01-28 | 中国第一汽车股份有限公司 | Car body mounting and fixing device for biaxial optical speed sensor |
-
2022
- 2022-05-30 CN CN202210598660.9A patent/CN114906192A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109928134A (en) * | 2019-03-20 | 2019-06-25 | 葛玉库 | Automate grain-keeping equipment |
| CN112339815A (en) * | 2019-12-20 | 2021-02-09 | 福州集丫科技有限公司 | Small-size concrete handcart for construction |
| CN211364600U (en) * | 2020-01-08 | 2020-08-28 | 湖北友宁门业有限公司 | Environment-friendly transportation trailer for cutting waste materials |
| CN212953144U (en) * | 2020-03-25 | 2021-04-13 | 郑州三和水工机械有限公司 | Aggregate conveying system based on AI image recognition and scene analysis technology |
| CN212980305U (en) * | 2020-04-13 | 2021-04-16 | 包头市新源稀土高新材料有限公司 | Tombarthite processing refines and uses transfer device |
| CN215663217U (en) * | 2021-05-17 | 2022-01-28 | 中国第一汽车股份有限公司 | Car body mounting and fixing device for biaxial optical speed sensor |
| CN215625447U (en) * | 2021-07-23 | 2022-01-25 | 中国二十二冶集团有限公司 | Automatic automobile loading device |
| CN113666139A (en) * | 2021-08-10 | 2021-11-19 | 中国铁路工会丰台货运中心委员会 | Flatcar equipment convenient to bulk goods open wagon loads |
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