CN215240883U - Robot large ball picking device in iron ore pellet preparation process - Google Patents
Robot large ball picking device in iron ore pellet preparation process Download PDFInfo
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- CN215240883U CN215240883U CN202121023142.1U CN202121023142U CN215240883U CN 215240883 U CN215240883 U CN 215240883U CN 202121023142 U CN202121023142 U CN 202121023142U CN 215240883 U CN215240883 U CN 215240883U
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Abstract
The utility model relates to an iron ore pelletizing preparation field, concretely relates to iron ore pelletizing preparation process big ball picking device of robot, including robot mechanism, camera shooting mechanism and control mechanism, robot mechanism includes arm, connection base and drags for the frame, connects the base and sets up on the platform of pelletizer through the cross axle, and the arm sets up on connecting the base, and the front end of arm is equipped with drags for the frame, and the arm is connected through first steering wheel drive with connecting the base, and first steering wheel is connected with the control mechanism electricity; the camera shooting mechanism is arranged on the mechanical arm and is electrically connected with the control mechanism. The utility model has the advantages that: determining and identifying the position of a large ball to be captured by using a camera mechanism, and driving a mechanical arm through a control mechanism so that the mechanical arm drives a fishing frame to move in a ball making machine and takes out the large ball; the whole mechanical arm has a plurality of shaft joint degrees of freedom, and the robot is flexible and convenient to move, so that the labor intensity of workers is reduced, and potential safety hazards caused by manual operation are avoided.
Description
Technical Field
The utility model relates to an iron ore pelletizing preparation field, concretely relates to iron ore pelletizing preparation process robot picks up big ball device.
Background
The pellet of iron ore for eliminating iron ore is a agglomeration method for fine iron gold ore developed in the early 20 th century, and is the result of the increasing exhaustion of rich ore resources and the development and utilization of lean ore resources in large quantities. With the near-strict requirements of the modern blast furnace iron making on the fine materials and the rise of short steel smelting processes, the pellet ore plays an increasingly important role in the steel industry and becomes an indispensable high-quality metallurgical burden.
The raw material powder is made into ball cores with uniform granularity, then the ball cores and part of the raw material powder are fed into a rotating ball forming disc, the ball cores are moved along a parabola in the disc under the action of centrifugal force, friction force and gravity, and the moisture in the balls is continuously extruded out of the surface in the continuous rolling process, and the ball cores and the raw material powder are mutually bonded and grow gradually in the moving process due to the caking property and plasticity of the materials. The material ball has certain strength due to the caking property of the material and the natural volatilization of the surface liquid film. When the parameters of the ball forming disc, such as the inclination angle, the disc edge height, the rotating speed, the moisture and the like are fixed, the material balls with different grain diameters leave the disc edge to roll downwards according to different departure angles due to different gravity, and then are discharged out of the disc from the edge part of the disc along with the rotation of the inclined disc body.
In the process of pelletizing, the pelletizing size is different due to various factors. Wherein, some balls have fast ball forming speed, the diameter is larger than the required standard ball forming speed, and the big ball (i.e. the ball with big diameter) can crash the small ball or the formed standard ball forming speed. Therefore, the large balls are required to be fished out in time and sent to a crushing process flow device for crushing. At present, balls are picked up manually, the labor intensity of workers is high, and potential safety hazards exist in operation.
Disclosure of Invention
The utility model aims at providing a big ball device is picked up to iron ore pelletizing preparation process robot overcomes prior art's is not enough, utilizes the mechanism of making a video recording to confirm that the discernment needs the position of snatching the big ball to realize dragging for the ball automatically through control mechanism drive arm.
In order to achieve the above object, the utility model discloses a following technical scheme realizes:
the robot large ball picking device in the iron ore pellet preparation process is characterized by comprising a robot mechanism, a camera mechanism and a control mechanism, wherein the robot mechanism comprises a robot base, a mechanical arm, a connecting base and a fishing frame, the connecting base is arranged on a platform of a pelletizing machine through a cross bridge assembly, the mechanical arm is arranged on the connecting base through the robot base, the fishing frame is arranged at the front end of the mechanical arm, the mechanical arm is in driving connection with the connecting base through a first steering engine, and the first steering engine is electrically connected with the control mechanism; the camera shooting mechanism is arranged on the mechanical arm and is electrically connected with the control mechanism.
As further description of the above scheme, the mechanical arm comprises a large arm, a middle arm and a connecting rod, the large arm is connected with the connecting base through a first steering engine, the large arm is connected with the middle arm through a second steering engine, the middle arm is connected with the connecting rod through a third steering engine, and a fishing frame is arranged at the front end of the connecting rod; and the first steering engine, the second steering engine and the third steering engine are all electrically connected with the control mechanism.
As further description of the scheme, the fishing frame is provided with a fishing net, and the mesh size of the fishing net is 18cm-25 cm.
As a further description of the above solution, a first rotating motor is disposed on the connecting base, and the connecting base is configured to be horizontally and rotatably connected with the horizontal bridge assembly.
As a further description of the above scheme, a rotating portion is provided on the connecting rod, a second rotating motor is provided on the rotating portion, and the fishing frame is configured to be in transmission connection with the second rotating motor.
As a further description of the above scheme, the camera mechanism is a 5G communication camera, and the 5G communication camera is arranged on the connecting rod through a camera fixing ring.
As a further description of the above solution, the control mechanism includes a display screen and an intelligent terminal, and the intelligent terminal has a robot operation module and an image processing module.
As a further description of the above scheme, the intelligent terminal is a computer, a mobile phone, a tablet, or a terminal device dedicated for information interaction therewith.
As a further description of the above scheme, an input end of the image processing module is electrically connected to an output end of the camera, and the robot operating module is electrically connected to the first steering engine, the second steering engine, the third steering engine, the first rotating motor and the second rotating motor.
Compared with the prior art, the beneficial effects of the utility model are as follows: 1. the utility model discloses a robot picking up big ball device in the iron ore pellet preparation process, which utilizes a camera mechanism to determine the position of a big ball to be picked, and drives a mechanical arm through a control mechanism, so that the mechanical arm drives a fishing frame to move in a pelletizer, and the big ball is taken out; the whole mechanical arm has a plurality of shaft joint degrees of freedom, and the robot is flexible and convenient to move, so that the working efficiency of workers is improved. 2. The utility model discloses the robot replaces the manual operation, has reduced workman's intensity of labour, has avoided the potential safety hazard that manual operation brought.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
fig. 2 is a schematic view of an operation state of the embodiment of the present invention;
in the figure: 1-a base for connection; 2-a robot base; 3-a first steering engine; 4-big arm; 5-a second steering engine; 6-middle arm; 7-a third steering engine; 8-camera fixing ring; 9-5G communication camera; 10-a connecting rod; 11-a rotating part; 12-fishing the frame; 13-fishing net; 14-raw meal powder and ball cores; 141-qualified finished balls; 142-unqualified finished balls; 143-big ball; 15-balling disc; 16-transverse bridge assembly.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in 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.
The components of the embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
As shown in fig. 1-2, the utility model relates to a device for picking up a large ball by a robot in the iron ore pellet preparation process, which is characterized in that the device comprises a robot mechanism, a camera mechanism and a control mechanism, wherein the robot mechanism comprises a robot base 2, a mechanical arm, a connection base 1 and a fishing frame 12, the connection base 1 is arranged on a platform of a pelletizer through a cross bridge assembly 16, the mechanical arm is arranged on the connection base 1 through the robot base 2, the fishing frame 12 is arranged at the front end of the mechanical arm, the mechanical arm is in driving connection with the connection base 1 through a first steering engine 3, and the first steering engine 3 is electrically connected with the control mechanism; the camera shooting mechanism is arranged on the mechanical arm and is electrically connected with the control mechanism. In the design, the camera shooting mechanism is utilized to determine the position of the big ball to be grabbed, and the mechanical arm is driven by the control mechanism, so that the mechanical arm drives the fishing frame 12 to move in the ball making machine, and the big ball 143 is taken out; the whole mechanical arm has a plurality of shaft joint degrees of freedom, and the robot is flexible and convenient to move, so that the labor intensity of workers is reduced, and potential safety hazards caused by manual operation are avoided. Through setting up of dragging for frame 12, can make the balling that the diameter meets the demands, fall back to in balling disk 15 from the screen cut of dragging for frame 12, big ball 143 that does not meet the demands is through staying in dragging for frame 12 to put to appointed placement area by the arm.
The mechanical arm comprises a large arm 4, a middle arm 6 and a connecting rod 10, the large arm 4 is connected with the connecting base 1 through a first steering engine 3, the large arm 4 is connected with the middle arm 6 through a second steering engine 5, the middle arm 6 is connected with the connecting rod 10 through a third steering engine 7, and a fishing frame 12 is arranged at the front end of the connecting rod 10; the first steering engine 3, the second steering engine 5 and the third steering engine 7 are all electrically connected with the control mechanism. This kind of design can improve the flexibility ratio of arm through first steering wheel 3, second steering wheel 5 and third steering wheel 7, makes the arm drag for the action of big ball 143 more accurate.
Wherein the fishing frame 12 is provided with a fishing net 13, and the mesh size of the fishing net 13 is 18cm-25 cm. This design allows the undesirable large ball 143 to be fished out while the desirable ball falls back from the scoop 13 into the balling disk 15.
Wherein the connection base 1 is provided with a first rotating motor, and the connection base 1 is configured to be horizontally and rotatably connected with the transverse bridge assembly 16. This design enables the robot arm to have horizontal rotation capability, making the robot arm more flexible to operate, and at the same time the robot arm is more convenient to place the large ball 143 in a designated area.
The connecting rod 10 is provided with a rotating part 11, the rotating part 11 is provided with a second rotating motor, and the fishing frame 12 is configured to be in transmission connection with the second rotating motor. This configuration allows for more flexibility in the movement of the frame 12, thereby facilitating the removal of the large ball 143.
In order to fix the camera shooting mechanism conveniently, the camera shooting mechanism is a 5G communication camera 9, wherein the 5G communication camera 9 is arranged on a connecting rod 10 through a camera fixing ring 8.
The control mechanism comprises a display screen and an intelligent terminal, wherein the intelligent terminal is provided with a robot operation module, an image acquisition module and an image processing module; the intelligent terminal is a computer, a mobile phone, a tablet or a special terminal device for information interaction with the intelligent terminal.
The input end of the image processing module is electrically connected with the output end of the camera, and the robot operating module is electrically connected with the first steering engine 3, the second steering engine 5, the third steering engine 7, the first rotating motor and the second rotating motor.
The working process is as follows: the green ball powder and the ball core 14 are subjected to the action of centrifugal force, friction force and gravity in the balling disc 15 and move along a parabola, water in the ball is continuously discharged out of the surface in the continuous rolling process, due to the caking property and plasticity of materials, the ball core and the green powder are mutually bonded and gradually grow up in the moving process and are divided into a qualified finished ball 141, an unqualified finished ball 142 with smaller grain diameter and a big ball 143, an image of the green ball in the balling disc 15 is obtained through a camera mechanism, if the obtained image is the big ball 143, the position of the big ball 143 is obtained, and the big ball 143 is grabbed through an intelligent terminal control mechanical arm, wherein the qualified finished ball 141 and the unqualified finished ball 142 with smaller grain diameter are leaked from the fishing net 13.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The robot large ball picking device in the iron ore pellet preparation process is characterized by comprising a robot mechanism, a camera mechanism and a control mechanism, wherein the robot mechanism comprises a robot base (2), a mechanical arm, a connecting base (1) and a fishing frame (12), the connecting base (1) is arranged on a platform of a pelletizer through a transverse bridge assembly (16), the mechanical arm is arranged on the connecting base (1) through the robot base (2), the fishing frame (12) is arranged at the front end of the mechanical arm, the mechanical arm is in driving connection with the connecting base (1) through a first steering engine (3), and the first steering engine (3) is electrically connected with the control mechanism; the camera shooting mechanism is arranged on the mechanical arm and is electrically connected with the control mechanism.
2. The robot large ball picking device in the iron ore pellet preparation process is characterized in that the mechanical arm comprises a large arm (4), a middle arm (6) and a connecting rod (10), the large arm (4) is connected with the connecting base (1) through a first steering engine (3), the large arm (4) is connected with the middle arm (6) through a second steering engine (5), the middle arm (6) is connected with the connecting rod (10) through a third steering engine (7), and a fishing frame (12) is arranged at the front end of the connecting rod (10); and the first steering engine (3), the second steering engine (5) and the third steering engine (7) are electrically connected with the control mechanism.
3. The robot large ball picking device in the iron ore pellet preparation process is characterized in that a fishing net (13) is arranged on the fishing frame (12), and the mesh size of the fishing net (13) is 18cm-25 cm.
4. The robot large ball picking device for the iron ore pellet preparation process according to claim 2, wherein the connecting base (1) is provided with a first rotating motor, and the connecting base (1) is configured to be horizontally and rotatably connected with the cross bridge assembly (16).
5. The robot large ball picking device for the iron ore pellet preparation process as claimed in claim 2, wherein a rotating part (11) is arranged on the connecting rod (10), a second rotating motor is arranged on the rotating part (11), and the fishing frame (12) is configured to be in transmission connection with the second rotating motor.
6. The robot large ball picking device for the iron ore pellet preparation process is characterized in that the camera mechanism is a 5G communication camera (9), and the 5G communication camera (9) is arranged on the connecting rod (10) through a camera fixing ring (8).
7. The robot large ball picking device for the iron ore pellet preparation process as claimed in claim 6, wherein the control mechanism comprises a display screen and an intelligent terminal, and the intelligent terminal is provided with a robot operation module and an image processing module.
8. The device for picking up the large iron ore pellet in the preparation process of the iron ore pellet as claimed in claim 7, wherein the intelligent terminal is a computer, a mobile phone, a tablet computer or a terminal device dedicated for information interaction with the intelligent terminal.
9. The robot large ball picking device for the iron ore pellet preparation process, as claimed in claim 7, wherein an input end of the image processing module is electrically connected with an output end of the 5G communication camera, and the robot operation module is electrically connected with a first steering engine (3), a second steering engine (5), a third steering engine (7), a first rotating motor and a second rotating motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121023142.1U CN215240883U (en) | 2021-05-13 | 2021-05-13 | Robot large ball picking device in iron ore pellet preparation process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121023142.1U CN215240883U (en) | 2021-05-13 | 2021-05-13 | Robot large ball picking device in iron ore pellet preparation process |
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| CN215240883U true CN215240883U (en) | 2021-12-21 |
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| CN202121023142.1U Active CN215240883U (en) | 2021-05-13 | 2021-05-13 | Robot large ball picking device in iron ore pellet preparation process |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115369240A (en) * | 2022-08-08 | 2022-11-22 | 北京科技大学 | Automatic control system and method for effectively improving pelletizing efficiency of iron ore powder pellets |
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2021
- 2021-05-13 CN CN202121023142.1U patent/CN215240883U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115369240A (en) * | 2022-08-08 | 2022-11-22 | 北京科技大学 | Automatic control system and method for effectively improving pelletizing efficiency of iron ore powder pellets |
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