CN210689512U

CN210689512U - Three-dimensional data acquisition device for steel slag stock ground

Info

Publication number: CN210689512U
Application number: CN201920880418.4U
Authority: CN
Inventors: 夏艺萌; 李斌; 王敏学; 骆亦琦; 梁潇潇; 李弢霖
Original assignee: Hunan Fusheng Intelligent Technology Co Ltd
Current assignee: Hunan Fusheng Intelligent Technology Co Ltd
Priority date: 2019-06-12
Filing date: 2019-06-12
Publication date: 2020-06-05
Anticipated expiration: 2029-06-12

Abstract

The utility model relates to a steel slag stock ground three-dimensional data acquisition device, which comprises an integrated laser scanner, a traveling system, a drop hammer device and a communication system, aiming at the problem that the surface structure form of the steel slag stock ground can not be timely, accurately and quickly acquired in the background technology; the integrated laser scanner and the drop hammer device are both arranged on the traveling system; the integrated laser scanner comprises a laser scanner, a vertical included angle encoder and a horizontal included angle encoder which are integrally installed at the head of the laser scanner, a rotating support for supporting the laser scanner, a fixed support for fixing the rotating support on the traveling system, and an angle controller for controlling the rotating angle of the rotating support; the communication system is used for transmitting signals, data and instructions. The utility model discloses degree of automation is high, implement effectual, the cost is low, is favorable to batch production to implement.

Description

Three-dimensional data acquisition device for steel slag stock ground

Technical Field

The utility model relates to a slag is handled and is retrieved the field, concretely relates to slag stock ground three-dimensional data collection system.

Background

With the development of the steel industry, the amount of steel slag is increased. At present, steel slag treatment processes are numerous, and most direct is that after being treated, hot-melt steel slag is excavated and loaded by a loader, an electric shovel and other equipment and then is transported to a slag disposal site. The piling of the steel slag not only occupies a large amount of cultivated land and pollutes the environment, but also can recycle 7 to 15 percent of steel in the steel slag. The steel slag which is generally required to be processed and recycled is recycled after being treated by the processes of crushing, screening, magnetic separation and the like. The steel slag can be used as smelting solvent, steel slag cement, building aggregate, agricultural fertilizer, soil conditioner and the like after being processed. Therefore, the treatment and the comprehensive utilization of the steel slag can generate great economic and social benefits.

In the prior art, the cold steel slag treatment method comprises the steps that steel slag cooled to normal temperature is directly poured into a grid sieve for screening, slag blocks smaller than 300mm fall on a conveyor, iron is removed from the surface of the steel slag through a belt type iron remover, and the steel slag enters a drum sieve for screening; and (3) crushing the slag blocks larger than 50mm in a crusher, conveying the slag blocks of 2050mm to a vibrating screen for screening, and directly conveying the slag blocks of smaller than 20mm away for stacking and burying. And the slag blocks larger than 300mm can not be directly screened, and are recycled to the lattice screen after being subjected to screening and drop hammer treatment. Because the area of the steel slag charge field is large, generally about 1000 square meters, workers cannot accurately know the surface morphology of the steel slag by naked eyes, and large-size steel slag blocks are not convenient to crush. The processing cost of the large slag blocks with the size of more than 300mm entering the screening program is increased by geometric multiples, and the large slag blocks can only be stacked and buried, so that the processing not only causes waste, but also causes great waste for the production of iron and steel enterprises because metal materials and slag formers in the slag blocks cannot be fully separated. The existing photographing equipment cannot accurately acquire the surface structure form of the steel slag stock ground. How to accurately obtain the surface three-dimensional data of the steel slag stock ground provides a basis for constructing a three-dimensional model of the steel slag stock ground, and is a technical problem to be solved urgently in the application.

SUMMERY OF THE UTILITY MODEL

Aiming at the problem that the surface structure form of the steel slag stock ground cannot be timely, accurately and quickly acquired in the background technology, the utility model designs a three-dimensional data acquisition device of the steel slag stock ground, which comprises an integrated laser scanner, a traveling system, a drop hammer device and a communication system; the integrated laser scanner and the drop hammer device are both arranged on the traveling system; the integrated laser scanner comprises a laser scanner, a vertical included angle encoder and a horizontal included angle encoder which are integrally installed at the head of the laser scanner, a rotating support for supporting the laser scanner, a fixed support for fixing the rotating support on the traveling system, and an angle controller for controlling the rotating angle of the rotating support; the communication system is used for transmitting signals, data and instructions.

Furthermore, the steel slag stock ground is rectangular, the traveling system is installed above the steel slag stock ground, and the traveling system comprises a vertical support frame, a cart, cart guide rails, a trolley and trolley guide rails; the vertical supporting frames are vertically arranged along four corners of the steel slag stock yard; the cart guide rails are horizontally and symmetrically arranged above the short edges at two sides of the stock yard, and two end points of the cart guide rails are fixed at the top end of the vertical support frame; the cart is a trolley guide rail which is perpendicular to the cart guide rail and is arranged in parallel with two opposite long edges of the steel slag stock yard; the two end parts of the trolley guide rail are provided with a trolley driver, a driving wheel, a trolley controller and a Y-axis encoder; the driving wheels at the two end parts of the trolley guide rail are matched with the cart guide rail track, and the cart driver drives the cart to move in the cart guide rail;

the trolley is rectangular, a trolley driver, a trolley driving wheel, a trolley controller and a shaft encoder are oppositely arranged on the periphery of the trolley, and the trolley driver drives the trolley to move in the trolley guide rail.

Further, the fixed bolster is the rectangle steel structure frame, the four corners department of steel structure frame is provided with the mounting hole to fix the fixed bolster in the dolly.

Furthermore, a rotating bracket is arranged on the fixed bracket, a motor-driven horizontal rotating shaft is fixedly arranged at the bottom of the rotating bracket, symmetrically arranged connecting frames are fixedly arranged at two end parts of the rotating shaft, and a lantern ring is fixed at the free end part of each connecting frame; and the laser scanner is provided with a ring-shaped clamping groove which is nested with the lantern ring.

Furthermore, a drop hammer device is mounted on the trolley and comprises a drop hammer controller, a drop hammer driving motor and a heavy hammer; the drop hammer controller is used for receiving action instructions and controlling the drop hammer driving motor to rotate forwards, reversely and stop.

Further, be equipped with altitude controller on the vertical support frame, altitude controller includes altitude mixture control structure, altitude mixture control driver and altitude mixture control ware.

Further, the height adjusting structure is a hydraulic lifting structure.

Further, the resolution of the angle controller is between 0.125 and 1.5 degrees.

The utility model has the advantages that:

1. through the combination of laser scanner and driving, the utility model discloses can realize the formation of image of steel slag stock ground three-dimensional data acquisition, also can accomplish crushing work, make preparation for the crushing of follow-up slag, recovery.

2. The method comprises the steps that an angle controller is designed to carry out omnidirectional data acquisition on a laser scanner; the data is real, the efficiency is high, and the influence on the body health of field operators caused by the environment perniciousness of the steel slag yard is avoided. Comprehensive evaluation the utility model discloses degree of automation is high, implement effectual, the cost is low, is favorable to batch production to implement.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a steel slag stock ground three-dimensional data acquisition device;

FIG. 2 is a schematic view of the integrated laser scanner of FIG. 1;

description of reference numerals: 1. a cart guide rail; 2. a cart; 3. a trolley guide rail; 4. a trolley; 5. an integrated laser scanner; 6. a drop hammer device; 7. a height adjuster; 8. the trolley comprises a trolley driver, a trolley driving wheel, a trolley controller and an X-axis encoder; 9. the system comprises a cart driver, a driving wheel, a cart controller and a Y-axis encoder; a fixed support; 52. a connecting frame; 53. a collar; 54. a vertical included angle encoder and a horizontal included angle encoder; a laser scanner; 56. a horizontal rotation shaft (angle controller); 57. and (7) installing holes.

Detailed Description

The invention will be further described with reference to the following figures and examples:

now, the present invention is further explained with reference to the accompanying drawings, which is intended to illustrate the application scope and operation principle of the device of the present invention, and not to limit the related art application of the present invention in any form, and all the derived technologies performed by the technical principle of the device of the present invention should be protected by the present invention.

Example 1

The steel slag stock ground three-dimensional data acquisition device shown in the figure 1 comprises an integrated laser scanner 5, a traveling system, a drop hammer device 6 and a communication system; the integrated laser scanner 5 comprises a laser scanner 55, a vertical included angle encoder and a horizontal included angle encoder 54 (not shown) which are integrally installed at the head of the laser scanner 55, and the integrated laser scanner 5 and the drop hammer device 6 are both installed on the traveling system; a rotating bracket for supporting the laser scanner 55, a fixing bracket 51 for fixing the rotating bracket to the traveling system, and an angle controller for controlling a rotating angle of the rotating bracket; the communication system is used for transmitting signals, data and instructions.

The steel slag stock ground is rectangular, the travelling system is arranged above the steel slag stock ground, and the travelling system comprises a vertical support frame, a cart 2, a cart guide rail 1, a trolley 4 and a trolley guide rail 3; the vertical supporting frames are vertically arranged along four corners of the steel slag stock yard; the cart guide rails 1 are horizontally and symmetrically arranged on the short sides of the two sides of the stock yard, and two end points of the cart guide rails 1 are fixed at the top end of the vertical support frame; the cart 2 is a trolley guide rail 3 which is perpendicular to the cart guide rail 1 and is arranged in parallel with two opposite long edges of the steel slag stock yard; the two end parts of the cart (trolley guide rail) 2 are provided with a cart driver, driving wheels, a cart controller and Y-axis encoders 9 (not shown one by one), the driving wheels at the two end parts of the cart (trolley guide rail) 2 are matched with the cart guide rail tracks, and the cart driver drives the cart 2 to move in the cart guide rail 1;

the trolley 4 is rectangular, a trolley driver, a trolley controller and shaft encoders 8 (not shown) are oppositely arranged on the periphery of the trolley 4, and the trolley driver drives the trolley 4 to move in the trolley guide rail 3.

A drop hammer device 6 is arranged on the trolley 4, and the drop hammer device 6 comprises a drop hammer controller, a drop hammer driving motor and a heavy hammer; the drop hammer controller is used for receiving action instructions and controlling the drop hammer driving motor to rotate forwards, reversely and stop.

The vertical supporting frame is provided with a height adjuster 7, and the height adjuster 7 comprises a height adjusting structure, a height adjusting driver and a height adjusting controller; the height adjusting structure is a hydraulic lifting structure. The resolution of the angle controller is 0.125-1.5 degrees.

Example 2

An integrated laser scanner 5 as shown in fig. 2 comprises a laser scanner 55, a vertical angle encoder and a horizontal angle encoder 54 (not shown) integrally installed at the head of the laser scanner 55, a rotating bracket for supporting the laser scanner 55, a fixing bracket 51 for fixing the rotating bracket to the traveling system, and an angle controller for controlling the rotating angle of the rotating bracket; the communication system is used for transmitting signals, data and instructions.

The fixed support 51 is a rectangular steel structure frame, and mounting holes 57 are formed in four corners of the steel structure frame, so that the fixed support 51 is fixed in the trolley 4.

A rotating bracket is arranged on the fixed bracket 51, a motor-driven horizontal rotating shaft 56 and an angle controller are fixedly arranged at the bottom of the rotating bracket, symmetrically arranged connecting frames 52 are fixedly arranged at two ends of the rotating shaft 56, and a lantern ring 53 is fixed at the free end of each connecting frame 52; and the laser scanner 55 is provided with a ring-shaped clamping groove which is nested with the lantern ring.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. A steel slag stock ground three-dimensional data acquisition device is characterized in that: the device comprises an integrated laser scanner, a traveling system, a hammer dropping device and a communication system; the integrated laser scanner and the drop hammer device are both arranged on the traveling system; the integrated laser scanner comprises a laser scanner, a vertical included angle encoder and a horizontal included angle encoder which are integrally installed at the head of the laser scanner, a rotating support for supporting the laser scanner, a fixed support for fixing the rotating support on the traveling system, and an angle controller for controlling the rotating angle of the rotating support; the communication system is used for transmitting signals, data and instructions.

2. The steel slag stock ground three-dimensional data acquisition device of claim 1, which is characterized in that: the steel slag stock ground is rectangular, the travelling system is arranged above the steel slag stock ground, and the travelling system comprises a vertical support frame, a cart, cart guide rails, a trolley and trolley guide rails; the vertical supporting frames are vertically arranged along four corners of the steel slag stock yard; the cart guide rails are horizontally and symmetrically arranged above the short edges at two sides of the stock yard, and two end points of the cart guide rails are fixed at the top end of the vertical support frame; the cart is a trolley guide rail which is perpendicular to the cart guide rail and is arranged in parallel with two opposite long edges of the steel slag stock yard; the two end parts of the trolley guide rail are provided with a trolley driver, a driving wheel, a trolley controller and a Y-axis encoder; the driving wheels at the two end parts of the trolley guide rail are matched with the cart guide rail track, and the cart driver drives the cart to move in the cart guide rail;

3. The steel slag stock ground three-dimensional data acquisition device of claim 2, which is characterized in that: the fixed bolster is the rectangle steel structure frame, the four corners department of steel structure frame is provided with the mounting hole to fix the fixed bolster on the dolly.

4. The steel slag stock ground three-dimensional data acquisition device of claim 3, which is characterized in that: the fixed support is provided with a rotating support, the bottom of the rotating support is fixedly provided with a motor-driven horizontal rotating shaft and an angle controller, two ends of the rotating shaft are fixedly provided with symmetrically arranged connecting frames, and free end parts of the connecting frames are fixedly provided with lantern rings; and the laser scanner is provided with a ring-shaped clamping groove which is nested with the lantern ring.

5. The steel slag stock ground three-dimensional data acquisition device as claimed in any one of claims 2 to 4, wherein: the trolley is provided with a drop hammer device, and the drop hammer device comprises a drop hammer controller, a drop hammer driving motor and a heavy hammer; the heavy hammer is fixed under the trolley through the traction of a safety rope; the drop hammer controller is used for receiving action instructions and controlling the drop hammer driving motor to rotate forwards, reversely and stop.

6. The steel slag stock ground three-dimensional data acquisition device of claim 5, which is characterized in that: the vertical supporting frame is provided with a height adjuster, and the height adjuster comprises a height adjusting structure, a height adjusting driver and a height adjusting controller.

7. The steel slag stock ground three-dimensional data acquisition device of claim 6, which is characterized in that: the height adjusting structure is a hydraulic lifting structure.

8. The steel slag stock ground three-dimensional data acquisition device of claim 6 or 7, characterized in that: the resolution of the angle controller is 0.125-1.5 degrees.

9. The steel slag stock ground three-dimensional data acquisition device of claim 8, which is characterized in that: the angular controller resolution is 0.5 °.