CN213895900U - Intelligent mud gun mud adding system for casting house - Google Patents

Abstract

The utility model discloses a cast house intelligence mud gun adds mud system, should add mud system includes mud gun machine, stemming carrier, industrial robot, end effector, image acquisition device and treater, the utility model discloses a mode of image recognition acquires the position data of mud gun to set for the orbit that end effector snatchs the stemming according to this position data, the stemming need not to go the rule to put the stemming by the manual work, and the whole mud adding process all need not manual operation, has reduced operation intensity by a wide margin; workers do not need to operate in front of the furnace, so that the intelligent level of a cast house is improved, and potential safety hazards caused by operation in front of the furnace are eliminated.

Description

Intelligent mud gun mud adding system for casting house

Technical Field

The utility model relates to a steel smelting trade, concretely relates to intelligent mud gun adds mud system in cast house.

Background

The cast house is a place for discharging and collecting molten iron and slag in blast furnace ironmaking, and is an operation area with high temperature, dustiness and heavy labor in front of the blast furnace. The mud gun is necessary stokehold equipment in the smelting industry, and has the function of pumping the stemming in the gun barrel into the taphole at a proper stemming speed so as to quickly block the taphole. At present, stemming is mainly filled in a manual mode, the labor load of manual carrying is large, the technical content is low, the stemming belongs to repetitive operation, the requirement on the physical strength of stokehole operators is high, the field operation environment is complex, a plurality of human-computer combination interfaces exist, and safety accidents are easy to happen; also there are some devices that can load the stemming automatically at present, but the device of the stemming is all need earlier with orderly the putting of mud big gun just can fill smoothly to the device of the stemming is filled in the current automation, and the working strength of putting the mud big gun is also not little to there is strict requirement to the size and the specification of mud big gun.

SUMMERY OF THE UTILITY MODEL

In view of the above prior art is not enough, the utility model aims to provide a casting house intelligence mud gun adds mud system solves to add mud intensity of labour at present stokehold big, has the problem of potential safety hazard.

In order to achieve the above objects and other related objects, the technical solution of the present invention is as follows:

the utility model provides a casting house intelligence mud gun adds mud system, includes the mud gun machine, still includes:

a stemming carrier for carrying the broken stemming;

an industrial robot having a base and a robot arm arranged on the base,

the end effector is used for grabbing the clay gun in the clay gun carrier and sending the grabbed clay gun into a clay gun machine, and the end effector is mounted at the tail end of the mechanical arm and moves along with the mechanical arm;

the image acquisition device is arranged on the end effector and is used for acquiring image data of stemming in the stemming carrier; and

a processor configured to identify a position of stemming visible in the stemming carrier according to the image data acquired by the image acquisition device, and set an action track of the end effector for grabbing the stemming according to the identified position of the stemming.

Optionally, the processor controls the end effector to move to one or more preset image acquisition positions above the stemming carrier, and then controls the image acquisition device to acquire corresponding image data.

Optionally, the iron yard has the wind gap platform, each clay gun machine all is in the below of wind gap platform, industrial robot, the clay carrier all sets up on the wind gap platform, wind gap platform and every be provided with the elephant trunk that is used for leading-in clay gun machine with the stemming between the clay gun machine, the upper end of elephant trunk has the pan feeding mouth, the lower extreme of elephant trunk corresponds with the dress mud mouth of clay gun machine, and when adding mud, end effector will snatch the clay gun send into the pan feeding mouth, through the elephant trunk send into in the dress mud mouth.

Optionally, the air port platform is provided with a work station and a standby station of the industrial robot, the stemming carrier is arranged near the work station, and the stemming machine is correspondingly arranged below the work station.

Optionally, one industrial robot is configured for every two clay gun machines, each industrial robot corresponds to one standby position and two working positions, the standby position is located between the two corresponding working positions, and each working position corresponds to one clay gun machine and one clay carrier.

Optionally, a robot guide rail is arranged on the air port platform, and the industrial robot moves along the robot guide rail.

Optionally, the chute is positioned right above the mud loading opening, and the chute can be arranged in a lifting manner; when mud is filled, the slide pipe descends to the mud filling position, and when the slide pipe is in standby, the slide pipe ascends to a preset avoiding position.

Optionally, a sealing cover is arranged at a mud loading port of the mud gun machine, and an opening and closing control mechanism for opening and closing the sealing cover is further configured on the mud gun machine.

Optionally, the intelligent mud gun mud adding system for the casting house further comprises a taphole monitoring device for monitoring the molten iron state at the taphole,

the processor is further configured to judge the tapping state of the tap hole according to the data collected by the tap hole monitoring device, control the clay gun machine to open the sealing cover when the tapping of the tap hole is completed, control the chute to descend to a mud loading port, and control the industrial robot to move from the standby position to the corresponding working position to start the clay gun loading and start to measure the loading quantity;

the processor is further configured to control the industrial robot to return to a standby position, control the chute to ascend to an avoiding position and control the sealing cover to close when the filling quantity reaches the stemming quantity consumed by the previous iron blocking hole.

Optionally, the processor is further configured to determine the amount of stemming in the stemming carrier according to the image data acquired by the image acquisition device, and when the amount of stemming in the stemming carrier is less than a preset amount, the processor sends a signal for allocating and transporting the stemming.

In the intelligent mud gun mud adding system for the cast house, the position data of the mud gun is acquired by adopting an image recognition mode, the track for the end effector to grab the mud gun is set according to the position data, the mud gun does not need to be manually placed regularly, the whole mud adding process does not need manual operation, and the operation intensity is greatly reduced; workers do not need to operate in front of the furnace, so that the intelligent level of a cast house is improved, and potential safety hazards caused by operation in front of the furnace are eliminated.

Drawings

FIG. 1 is a top view of the intelligent mud gun mud adding system of the casting house of the utility model;

FIG. 2 is a front view of the intelligent mud gun mud adding system of the casting house of the utility model;

FIG. 3 is a side view of the intelligent mud gun mud adding system of the casting house of the present invention;

fig. 4 is a schematic structural diagram of an end effector according to an embodiment of the present invention;

description of reference numerals: the automatic stemming machine comprises an industrial robot 1, an end effector 2, a robot guide rail 3, a stemming carrier 4, stemming 5, a chute 6, a taphole drilling machine 7, a stemming machine 8 and an image acquisition device 9;

the air inlet platform A, the working position B and the standby position C.

Detailed Description

The following description is provided for illustrative purposes, and other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description.

With reference to fig. 1 to 4, the utility model discloses a cast house intelligence mud gun adds mud system, including mud gun machine 8, still include:

a stemming carrier 4 for carrying the broken-up stemming 5;

an industrial robot 1, the industrial robot 1 having a base and a robot arm arranged on the base,

an end effector 2 for grasping a clay gun 5 in a clay gun carrier 4 and feeding the grasped clay gun 5 into a clay gun machine 8, the end effector 2 being mounted at the end of the robot arm so as to move with the robot arm;

an image acquisition device 9 disposed on the end effector 2, the image acquisition device 9 being configured to acquire image data of the stemming 5 in the stemming carrier 4; and

a processor configured to identify a position of the stemming visible in the stemming carrier 4 from the image data acquired by the image acquisition device 9, and set an action trajectory of the end effector 2 for grasping the stemming according to the identified position of the stemming.

Utilize the utility model discloses a when casting house intelligence mud gun adds mud system and adds mud, industrial robot 1 drives end effector 2 and removes near stemming carrier 4, image acquisition device 9 removes to stemming carrier 4 annex thereupon to begin to gather the image data of stemming carrier 4, the treater is according to the position of the visual mud gun of image data discernment of gathering, then set for the action orbit that end effector 2 snatched the mud gun according to the position of the mud gun of discernment again, also be exactly the action of setting for the arm.

In practical implementation, the image capturing device 9 may be a camera or a video camera, as long as it can capture images.

In the actual implementation process, the method adopted for setting the action track of the end effector 2 for grabbing the clay gun according to the acquired image data is a hand-eye calibration method, a space coordinate system needs to be established, the coordinates of each joint of the manipulator in the space coordinate system and the coordinates of the end effector 2 in the space coordinate system are determined, the action track of the end effector 2 is calculated according to the coordinates of the image acquisition device 9 in the coordinate system and the coordinates of the clay to be grabbed in the space coordinate system, and the action of the mechanical arm needs to be obtained according to the action track of the end effector 2 and the structure of the mechanical arm in order to realize the track.

In the actual implementation process, if shoot or make a video recording the stemming carrier 4, the stemming at the top is usually visible, the stemming at the bottom is usually invisible, the image data of the visible stemming of a plurality of blocks is collected by the image collection device 9, but the industrial robot 1 can only capture one stemming or a limited stemming, the size of the outline of each collected stemming in the image can be compared, and the stemming with the largest outline is used as the stemming to be captured or the stemming with the largest outline and the accessories thereof are used as the stemming to be captured. According to the imaging principle, the more the image formed by the stemming on the surface layer is the largest, the grabbing of the stemming on the surface layer can avoid the end effector 2 from crushing other stemming, and the grabbing resistance is small and smooth.

In the actual implementation process, referring to the figure, the end effector 2 can be a pneumatic or hydraulic clamping jaw, a force sensor can be further arranged on the clamping jaw, when stemming is grabbed, the jaw heads of the clamping jaws are gradually tightened, the force sensor acquires pressure data in real time, when the pressure data are larger than a preset value, the processor controls the clamping jaws to stop tightening, and the industrial robot 1 is controlled to move the end effector 2 to the position corresponding to the stemming loading of the stemming machine.

In some embodiments, the processor controls the end effector 2 to move to one or more preset image capturing positions above the stemming carrier 4, and then controls the image capturing device 9 to capture the corresponding image data. The position of the image acquisition device 9 at which image acquisition is performed each time is fixed, which is beneficial to simplifying the data processing complexity of identifying the stemming position according to the image data. In the actual implementation process, the preset image acquisition positions can be multiple, and the arrangement of the multiple image acquisition positions is favorable for more accurately judging the positions of the recognized stemming.

In some embodiments, the iron tap hole has a tuyere platform a, each clay gun machine 8 is located below the tuyere platform a, the industrial robot 1 and the clay gun carrier 4 are all arranged on the tuyere platform a, a chute 6 for guiding the clay guns into the clay gun machines 8 is arranged between the tuyere platform a and each clay gun machine 8, a feeding port is arranged at the upper end of the chute 6, the lower ends of the chutes 6 correspond to the clay loading ports of the clay gun machines 8, and during clay loading, the end effector 2 sends the grabbed clay guns into the feeding ports and into the clay loading ports through the chute 6. With this arrangement, the industrial robot 1 does not occupy the space of the ground, and the industrial robot 1 does not interfere with other devices on the ground.

In some embodiments, a working position B and a standby position C of the industrial robot 1 are arranged on the tuyere platform a, the stemming carrier 4 is arranged near the working position B, and the stemming machine 8 is correspondingly arranged below the working position B.

When the stemming is required to be filled in the stemming machine 8, the industrial robot 1 moves to the working position B, and after the filling is completed, the industrial robot 1 returns to the standby position C.

In some embodiments, one industrial robot 1 is configured for every two clay gun machines 8, each industrial robot 1 corresponds to one standby station C and two working stations B, the standby station C is located between the two corresponding working stations B, and each working station B corresponds to one clay gun machine 8 and one clay carrier 4.

In the casting house, four or more tapholes are usually arranged, each taphole is correspondingly provided with one mud gun machine 8, each taphole is circumferentially arranged, and two adjacent mud gun machines 8 can share one industrial robot 1, so that the cost of a mud feeding system is reduced. When the mud gun 8 corresponding to any one of the tapholes needs to add mud, the industrial robot 1 moves to the corresponding working position B, and returns to the standby position C after the mud adding is finished.

In some embodiments, a robot guide rail 3 is arranged on the tuyere platform a, and the industrial robot 1 moves along the robot guide rail 3. I.e. two working positions B and one standby position C are located on the robot guide 3, and the standby position C is located between the two working positions B.

In some embodiments, the chute 6 is positioned right above the mud charging port, and the chute 6 can be arranged in a lifting way; when mud is filled, the chute 6 descends to the mud filling position, and when the chute is standby, the chute 6 ascends to the preset avoiding position. The avoidance position means that the chute 6 does not hinder the operation of other ground equipment such as a tapping machine and the like after being lifted to a certain height.

In some embodiments, a sealing cover is arranged at the mud filling opening of the mud gun 8, and an opening and closing control mechanism for opening and closing the sealing cover is further configured on the mud gun 8. The opening/closing control mechanism may be a link mechanism as long as the sealing lid can be opened and closed.

In some embodiments, the mud filling port of the mud gun 8 is further provided with a monitoring device for monitoring the opening and closing state of the sealing cover at the mud filling port and abnormal filling conditions. For example, the monitoring device can adopt a camera, the processor can call original pictures of the upper state and the open state of the sealing cover, the state of the sealing cover is judged by comparing the images collected by the camera with the original pictures, the abnormal state of the mud filling port comprises the condition that a plurality of pieces of stemming are blocked at the mud filling port, the monitoring mode can also adopt a mode of comparing the collected pictures with the picture of the mud filling port in a normal state for identification, and if the abnormal state occurs, the processor sends an alarm signal.

In some embodiments, the intelligent mud gun mud adding system for the casting house further comprises a taphole monitoring device for monitoring the molten iron state of the taphole,

the processor is also configured to judge the tapping state of the tap hole according to the data collected by the tap hole monitoring device, control the clay gun machine 8 to open the sealing cover when the tapping of the tap hole is completed, control the chute 6 to descend to a mud loading port, and control the industrial robot 1 to move from the standby station C to the corresponding working station B to start clay gun loading and start to measure the loading quantity;

the processor is also configured to control the industrial robot 1 to return to a standby position C, control the chute 6 to ascend to an avoiding position and control the sealing cover to close when the filling amount reaches the stemming amount consumed by the previous iron notch blocking.

In some embodiments, the processor is further configured to determine the amount of stemming inside the stemming carrier 4 according to the image data collected by the image collecting device 9, and when the amount of stemming in the stemming carrier 4 is less than a preset amount, the processor sends a signal for allocating the stemming.

In some embodiments, the intelligent mud gun mud adding system for the cast house further comprises a mud scattering device for scattering the mud, the outlet of the mud scattering device is provided with a mud carrier 4, when the processor sends a signal for transporting the mud, the spreader hoists the mud carrier 4 which is full of the mud and is at the outlet of the scattering device to the air port platform a to be attached to the industrial robot 1, and the almost unloaded mud carrier 4 on the air port platform a is hoisted to the outlet of the mud scattering device.

The utility model discloses a casting house intelligence mud gun stemming loads the flow and does:

the method comprises the following steps that a mud gun machine 8 finishes the operation of blocking an iron notch, when the mud gun machine returns to a waiting position of the mud gun machine, a mud loading port of the mud gun machine 8 is opened, a monitoring device starts to monitor the opening and closing state of a sealing cover at the mud loading port and abnormal loading conditions, if the opening and closing state is abnormal or the sealing cover cannot be opened, an alarm signal is sent, if the opening and closing state is not abnormal and the sealing cover is judged to be opened, a chute 6 is controlled to descend to the mud loading position, and a chute 6 in-position signal is sent;

after the chute 6 is in place, controlling the industrial robot 1 to enable the end clamp to move to the attachment of the stemming carrier 4, starting to obtain the stemming in the stemming carrier 4, identifying the position of the visible stemming in the stemming carrier 4 according to the image data, setting the action track of the end effector 2 for grabbing the stemming according to the identified position of the stemming by using a hand-eye calibration method, grabbing the stemming by the end effector 2 according to the set action track and putting the stemming into the chute 6, starting to count until the number of the put-in chutes 6 is equal to the number of the stemming consumed by the previous iron button plugging, and controlling the industrial robot 1 to stop filling work;

and finally, controlling the chute 6 to ascend to an avoiding position, closing the sealing cover, and controlling the industrial robot 1 to return to the standby position C.

In the actual implementation process, in the mud adding (filling) process, the mud gun oil cylinder inside the mud gun machine 8 is used for carrying out mud gun in the discontinuous pressing cylinder, specifically, the mud gun machine 8 is further provided with an oil cylinder pressure monitoring device and an oil cylinder stroke encoder which are used for detecting the compaction condition and the residual quantity of the mud gun machine 8 in the cylinder, and the mud gun oil cylinder is controlled to move by data fed back by the oil cylinder pressure monitoring device and the oil cylinder stroke encoder.

The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.

Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (9)

1. The utility model provides a casting house intelligence mud gun adds mud system, includes the mud gun machine, its characterized in that still includes:

a stemming carrier for carrying the broken stemming;

an industrial robot having a base and a robot arm arranged on the base,

the end effector is used for grabbing the clay gun in the clay gun carrier and sending the grabbed clay gun into a clay gun machine, and the end effector is mounted at the tail end of the mechanical arm and moves along with the mechanical arm;

the image acquisition device is arranged on the end effector and is used for acquiring image data of stemming in the stemming carrier; and

a processor configured to identify a position of stemming visible in the stemming carrier according to the image data acquired by the image acquisition device, and set an action track of the end effector for grabbing the stemming according to the identified position of the stemming.

2. The cast house intelligent mud gun mud adding system according to claim 1, characterized in that: the processor controls the end effector to move to one or more preset image acquisition positions above the stemming carrier, and then controls the image acquisition device to acquire corresponding image data.

3. The cast house intelligent mud gun mud adding system according to claim 1, characterized in that: the tapping field is provided with an air port platform, each mud gun machine is located below the air port platform, the industrial robot and the mud gun carrier are arranged on the air port platform, a chute for guiding the mud gun into the mud gun machine is arranged between the air port platform and each mud gun machine, a feeding port is formed in the upper end of the chute, the lower end of the chute corresponds to a mud loading port of the mud gun machine, and when mud is added, the grabbed mud gun is fed into the feeding port through the end effector and is fed into the mud loading port through the chute.

4. The cast house intelligent mud gun mud adding system according to claim 3, characterized in that: the air port platform is provided with a working position and a standby position of the industrial robot, the stemming carrier is arranged near the working position, and the stemming machine is correspondingly arranged below the working position.

5. The cast house intelligent mud gun mud adding system according to claim 4, characterized in that: every two clay gun machines are provided with one industrial robot, each industrial robot corresponds to one standby position and two working positions, the standby positions are located between the two corresponding working positions, and each working position corresponds to one clay gun machine and one clay carrier.

6. The cast house intelligent mud gun mud adding system according to claim 4, characterized in that: the chute is positioned right above the mud charging opening and is arranged in a lifting manner; when mud is filled, the slide pipe descends to a mud filling position, and when the slide pipe is in standby, the slide pipe ascends to a preset avoiding position.

7. The cast house intelligent mud gun mud adding system according to claim 6, characterized in that: the mud charging port of the mud gun machine is provided with a sealing cover, and the mud gun machine is also provided with an opening and closing control mechanism for opening and closing the sealing cover.

8. The cast house intelligent mud gun mud adding system according to claim 7, characterized in that: also comprises a taphole monitoring device used for monitoring the molten iron state at the taphole,

the processor is further configured to judge the tapping state of the tap hole according to the data collected by the tap hole monitoring device, control the clay gun machine to open the sealing cover when the tapping of the tap hole is completed, control the chute to descend to a mud loading port, and control the industrial robot to move from the standby position to the corresponding working position to start the clay gun loading and start to measure the loading quantity;

the processor is further configured to control the industrial robot to return to a standby position, control the chute to ascend to an avoiding position and control the sealing cover to close when the filling quantity reaches the stemming quantity consumed by the previous iron blocking hole.

9. The cast house intelligent mud gun mud adding system according to claim 1, characterized in that: the processor is further configured to judge the number of the stemming in the stemming carrier according to the image data collected by the image collecting device, and when the number of the stemming in the stemming carrier is smaller than the preset number, the processor sends a signal for allocating and transporting the stemming.

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