WO2020238714A1

WO2020238714A1 - Efficient automatic slag skimming method and system for hot metal pretreatment

Info

Publication number: WO2020238714A1
Application number: PCT/CN2020/091178
Authority: WO
Inventors: 于艳; 张宇军; 孙兴洪; 程建辉; 付小卫
Original assignee: 宝山钢铁股份有限公司
Priority date: 2019-05-31
Filing date: 2020-05-20
Publication date: 2020-12-03
Also published as: KR102648199B1; CN112017145B; CN112017145A; KR20220024209A

Abstract

An efficient automatic slag (4) skimming method and system for hot metal pretreatment. The method comprises the following steps: collecting an image of an opening area of a hot metal ladle (1) and preprocessing the image; identifying slag (4) on a surface of hot metal (5) in the image to determine the position, in the image, of the slag (4) on the surface of the hot metal (5) and the proportion of the total area, occupied by the slag (4) on the surface of the hot metal (5), in the image; on the basis of the position, in the image, of the slag (4) on the surface of the hot metal (5), finding the optimal slag (4) skimming path, wherein the optimal slag (4) skimming path is a path with the smallest ratio of a slag (4) skimming time to a slag (4) skimming amount; during an automatic slag (4) skimming process, controlling a slag-skimmer to perform, according to the optimal slag (4) skimming path, slag (4) skimming; and when a start condition is met, starting an air-blowing and slag-removing apparatus (33) to gather scattered slag (4) on the surface of the hot metal (5) to facilitate efficient slag (4) skimming, wherein the start condition is: the proportion slag% of the total area, occupied by the slag (4) on the surface of the hot metal (5), in the image is less than a set air-blowing and slag (4)-removing start threshold.

Description

An efficient method and system for automatic slag removal of molten iron pretreatment

Technical field

The invention relates to a hot metal pretreatment method and system, in particular to a hot metal pretreatment slagging method and system.

Background technique

With the requirement of high-quality steel products in the metallurgical industry, the molten iron before entering the converter steelmaking needs to undergo pretreatment. In the early stage of this process, the blast furnace slag must be smashed, and then the molten iron will be fully contacted with the molten iron by powder spraying or stirring, so that desulfurization, dephosphorization and desiliconization can be performed with the greatest efficiency. Since the product after the reaction is slag and has a lighter density than molten iron, it floats on the surface of the molten iron. Therefore, the desulfurized slag floating on the surface of the molten iron should be removed in the later stage of the process. Different steel grades have different requirements for the amount of residue at the end of slagging. For steel grades with high purity requirements, the lower the requirement for residue.

However, at present, the slag removal operation in this process is mainly operated manually by the operator, and the contents of the operation include:

1) Manually operate the tilting trolley to turn the ladle from the vertical position to a certain angle, stop, and wait for slag removal;

2) Manually observe the position of the slag on the surface of the molten iron, and manually operate the operation handle of the slag raking machine to remove the slag on the surface of the molten iron into the slag tray one at a time;

3) For different steel grades, judge the amount of residue based on the human eye to determine whether to end the slagging;

4) Manually operate the tilting trolley to return the ladle to the vertical position.

It should be pointed out that manual operation not only has a harsh operating environment and high labor intensity, but also requires high professional operation skills for operators. The time for slagging of different operators varies greatly, and the effect and quality of slagging are also different. Human factors have a great influence, which can easily cause fluctuations in the quality of molten iron.

The publication number is CN1507971, the publication date is June 30, 2004, and the Chinese patent document entitled "Automatic slagging method and device" discloses an automatic slagging method. In the technical solution disclosed in this patent document, a visual sensor is used to detect the slag on the surface of the molten iron, and the image is input to the computer. After the image is processed, the computer outputs a signal to the manipulator of the programmable controller to control the slag removal device to perform the slag removal operation.

In addition, the publication number is CN105353654A, the publication date is February 24, 2016, and the Chinese patent document entitled "A system and method for detecting and controlling molten iron slagging based on image processing" discloses a molten iron based on image processing. Slag removal detection and control system. In the technical solution disclosed in the patent document, it uses real-time monitoring of the slagging process, and determines the slagging level on-line according to the slagging standard database.

In addition, the publication number is CN108986098A, the publication date is December 11, 2018, and the Chinese patent document titled "A method for intelligent slagging of molten iron based on machine vision" discloses a method for intelligent slagging of molten iron based on machine vision. In the technical solution disclosed in the patent document, it adopts real-time acquisition of image information of the target area, and the first area of interest and the second area of interest are set according to the real-time image information. In the first area of interest, the image is mainly used to identify the slag shovel, and there is a shovel to indicate that the slagging operation is in progress; in the second area of interest (there is no shovel area) to identify the amount of slag in the molten iron, in the second sense The region of interest is divided into several sub-regions, the area of slag in each sub-region is calculated, and the sub-region with the largest slag area is regarded as the area to be slag-off.

The above prior art only discloses equipment and methods for automatic slag removal, but does not involve a method to improve slag removal efficiency. For the production process, slag removal efficiency is an important production index, and the slag removal efficiency can be passed The slagging time is measured. The short slagging time can not only reduce the temperature drop of the molten iron, save energy, but also increase the number of furnaces to be processed and increase the process productivity.

Based on this, it is desired to obtain an efficient automatic slagging method for molten iron pretreatment, which can not only effectively replace the manual operation in the current slagging process, improve the working environment of workers and reduce the labor intensity of workers, but also can extremely shorten the slagging method. The slag time reduces the temperature drop of the molten iron, saves energy, and can also increase the number of furnaces processed and increase productivity.

Summary of the invention

One of the objectives of the present invention is to provide an efficient hot metal pretreatment automatic slagging method, which can not only effectively replace the manual operation in the current slagging process, but also improve the working environment of workers and reduce workers’ workload. Labor intensity, and it can extremely shorten the slagging time, reduce the temperature drop of the molten iron, save energy, and at the same time can increase the number of furnaces to be processed and increase the production capacity.

In order to achieve the above objective, the present invention proposes an efficient method for automatic slagging of molten iron pretreatment, which includes the steps:

Collect images of the ladle mouth area and preprocess the images;

Identify the molten iron slag in the image to determine the position of the molten iron slag in the image and the proportion of the total area occupied by the molten iron slag in the image;

Based on the position of molten iron slag in the image, find an optimal slag removal path, where the optimal slag removal path is the path with the smallest ratio of slag removal time to slag removal amount;

In the automatic slagging process, the slagging head is controlled to follow the optimal slagging path; and when the starting conditions are met, the air blowing and slag removal device will be activated to gather the dispersed molten iron slag for efficient slagging. The condition is: the proportion slag% of the total area occupied by molten iron slag in the image is less than the set start threshold for blowing slag.

Further, in the high-efficiency automatic slag removal method for molten iron pretreatment according to the present invention, the image includes one of a visible light image, an infrared image, and a far infrared image.

Further, in the high-efficiency hot metal pretreatment automatic slag removal method of the present invention, when the image is preprocessed, the image is converted into a gray image; then the gray image is image enhanced, binarized and removed. Noise processing.

Furthermore, in the high-efficiency molten iron pretreatment automatic slag removal method of the present invention, an improved dynamic threshold method is used to identify molten iron slag in the image, where: when the gray value of a certain pixel is less than max(g) , The pixel is recorded as 0 and judged as molten iron slag, and the micro area corresponding to the pixel is recorded as the area of molten iron slag; where Max(g)=α×(Max(w1×w2×(u1- u2)×(u1-u2))); where α represents the adjustment coefficient, which represents the influence of noise and interference on the image, and its value range is 0＜α≤1. When there is no interference and noise, the value of α is taken 1; When there is noise and interference, the greater the noise and interference, the smaller the value of α; w1 represents the ratio of the number of front spots in the image to the image; w2 represents the ratio of the background points to the image; u1 represents the average grayscale of the foreground; u2 represents the average gray level of the background; g represents the variance between the foreground and the background.

In the above solution, considering that the slagging working conditions of each furnace are not the same, in order to avoid the size difference between the noise and the target, the multi-peak situation occurs, and the recognition accuracy is reduced. Therefore, in the technical solution of the present invention Preferably, an improved dynamic threshold method can be used to identify molten iron slag.

According to the gray value of the image, 255 means white, which means all molten iron; 0 means black, which means slag; when the gray value of the pixel is less than max(g), the pixel is marked as 0, and the area of the micro area is all The area considered to be slag.

Further, in the high-efficiency automatic slagging method for molten iron pretreatment according to the present invention, the optimal slagging path model is:

Wherein, Opm (Slag, t) represents the optimal path slag, S _i represents the area of a single pixel has an area of slag, N represents the sum of the number of pixels as a molten slag in the region of the head through the slag; T represents a single Time for slagging off.

In the above scheme, the module for slagging path optimization can be used to determine the position of the identified slag. Within the area of the slagging head, calculate the shortest slagging distance and take the shortest time to extract the largest amount of slag. path.

Further, in the high-efficiency automatic slag removal method for molten iron pretreatment according to the present invention, the ratio slag% of the total area occupied by molten iron slag in the image is obtained based on the following formula:

In the formula: ∑S _i represents the total area of all molten iron slag in the image; S represents the area of the molten iron ladle image.

Furthermore, in the high-efficiency automatic slag removal method for molten iron pretreatment according to the present invention, the method further includes the steps of: tilting the trolley to tilt the molten iron ladle; based on the measurement of the molten iron slag and the ladle wall in the image Identify, when it is judged that the molten iron slag flows out of the molten iron ladle mouth, the tilting trolley stops tilting.

Correspondingly, another object of the present invention is to provide an efficient hot metal pretreatment automatic slagging system. When the hot metal pretreatment automatic slagging system performs slagging, it can not only effectively replace the manual operation in the current slagging process, but also improve The working environment of the workers can reduce the labor intensity of the workers, and it can extremely shorten the slagging time, reduce the temperature drop of the molten iron, save energy, and at the same time can increase the number of furnaces processed and increase the production capacity.

In order to achieve the above objective, the present invention proposes an efficient automatic slag removal system for molten iron pretreatment, which includes:

Mucking off device, which is used to perform slagging off action;

Image collection device, which collects images of the molten iron ladle mouth area;

Storage module, which stores the image transmitted by the image acquisition device;

An image recognition module, which preprocesses the image stored in the storage module and recognizes the molten iron slag in the image to determine the position of the molten iron slag in the image and the proportion of the total area occupied by the molten iron slag in the image;

Path optimization module, which finds the optimal slag removal path based on the recognition result of the image recognition module, and the optimal slag removal path is the path with the smallest ratio of slag removal time to slag removal amount;

Blowing and slag removal device;

The control module controls the slagging device to carry out slagging according to the optimal slagging path; and when the starting conditions are met, the control module also activates the air blowing and slagging device to gather the dispersed molten iron slag to facilitate efficient slagging. The starting condition is: the proportion slag% of the total area occupied by molten iron slag in the image is less than the set starting threshold for blowing slag.

Further, in the efficient hot metal pretreatment automatic slag removal system of the present invention, the image acquisition device includes one of a visible light camera, an infrared camera, and a far infrared camera.

Further, in the high-efficiency molten iron pretreatment automatic slagging system of the present invention, the slagging device is also provided with a sensor or encoder, and the sensor or encoder is connected with the control module to connect the detected slagging device The displacement is transmitted to the control module.

Further, the high-efficiency automatic slagging system for molten iron pretreatment of the present invention further includes a tilting trolley for tilting the molten iron ladle to the slagging position, and the tilting trolley is connected to the control module.

Further, in the efficient hot metal pretreatment automatic slag removal system of the present invention, an angle measuring device is provided on the tipping trolley to detect the tilting angle of the tipping trolley.

The angle measuring device can be an inclinometer, or an encoder can be arranged on the rotating shaft of the tilting trolley, so as to realize the measurement of the tilting angle of the tilting trolley.

Compared with the prior art, the high-efficiency method and system for automatic slagging of molten iron pretreatment according to the present invention have the following advantages and beneficial effects:

The automatic slagging method for molten iron pretreatment of the present invention can not only effectively replace the current manual operation in the slagging process, improve the working environment of workers and reduce the labor intensity of workers, but also can extremely shorten the slagging time and reduce the cost of molten iron. The temperature drop can save energy, and at the same time, it can increase the number of furnaces and increase productivity.

In addition, the automatic slag removal system for molten iron pretreatment of the present invention also has the above-mentioned advantages and beneficial effects.

Description of the drawings

Fig. 1 is a schematic structural diagram of a molten iron ladle tipping trolley in one embodiment of the high-efficiency molten iron pretreatment automatic slag removal method of the present invention.

Fig. 2 schematically shows the structure of the high-efficiency hot metal pretreatment automatic slagging system according to the present invention in an embodiment.

Fig. 3 schematically shows the flow of the high-efficiency automatic slag removal method for molten iron pretreatment according to the present invention in one embodiment.

4 is a process flow diagram of the high-efficiency automatic slag removal system for molten iron pretreatment according to the present invention in one embodiment.

Detailed ways

Hereinafter, the high-efficiency automatic slagging method and system for molten iron pretreatment of the present invention will be further described according to the specific embodiments of the present invention and the accompanying drawings, but the description does not constitute an improper limitation of the present invention.

Fig. 1 is a schematic structural diagram of a slagging device in an embodiment of the high-efficiency automatic slagging method for molten iron pretreatment according to the present invention.

As shown in Figure 1, after the ladle 1 is hoisted by the crane on the seat frame of the tipping trolley 2, the slag raking begins. When slagging, first tilt the tipping trolley 2 to make the ladle 1 tilt from the vertical position to the slagging position at a certain angle to the ground. The tilt angle can be measured, and the measurement method can be an external inclinometer, or an encoder can be installed on the rotating shaft of the tilting trolley 2.

In order to improve efficiency, the automatic tilting trolley 2 automatically tilts to the slagging position at a certain tilt angle speed. Subsequently, when it is determined that the tipping trolley 2 is already at the slagging position and the ladle is already on the trolley, the automatic slagging is started.

Among them, the structure of the automatic slag removal system for hot metal pretreatment can refer to Figure 2. Fig. 2 schematically shows the structure of the high-efficiency hot metal pretreatment automatic slagging system according to the present invention in an embodiment.

As shown in Figure 2, the image acquisition device 31 records the image of the ladle mouth in real time, and transmits the image to the computer system for digital and continuous storage. Since the color of the molten iron slag is very different from the color of the ladle mouth, it can be Recognize whether there is slag flowing out of the ladle mouth of the molten iron ladle, if there is no slag overflow, continue to tilt, and if there is slag overflow, the tilting mechanism stops tilting, and the ladle stays at the slag slagging position for slag slagging, through this embodiment The automatic slag removal system for molten iron pretreatment in, which can remove the slag 4 floating on the surface of the molten iron 5 into the slag tank 6. The automatic slag removal system for molten iron pretreatment includes: a slag removal device 32, which is used to perform slag removal Image collection device 31, which collects images of the molten iron ladle mouth area. In some embodiments, the image collection device can be at least one of a visible light camera, an infrared camera or a far-infrared camera, and the collected images include: visible light images , One of infrared image and far infrared image; storage module, which stores the image transmitted by the image acquisition device; image recognition module, which preprocesses the image stored in the storage module and then identifies the molten iron slag in the image to determine The position of the molten iron slag in the image and the proportion of the total area occupied by the molten iron slag in the image; the path optimization module, based on the recognition result of the image recognition module, finds the optimal slag removal path, the optimal slag removal path is the slag removal time The path with the smallest ratio to the amount of slagging; the blowing slag removing device 33; the control module, which controls the slagging device to perform slagging according to the optimal slagging path; and when the starting conditions are met, the control module also starts the blowing The slag blasting device gathers the scattered molten iron slag to facilitate efficient slag removal, wherein the starting condition is: the proportion of the total area slag% occupied by the molten iron slag in the image is less than the set starting threshold for blowing slag.

When the air blowing and slag removal device 33 performs slag removal, it first controls the air blowing and slag removal gun to descend, and when it reaches a certain height from the liquid level (for example, 1000mm), it automatically opens the nitrogen blowing valve to blow nitrogen. When the insertion depth reaches the set depth, the descent will stop. Keep blowing and slag removal at this height. When the image recognition module determines that the amount of slag in the molten iron ladle reaches the slag requirement of the steel grade, it will issue a gun-raising command to the blowing and slag removal gun. , Blow the slag gun to lift the gun.

In addition, it should be noted that, in the image recognition module, the slag% of the total area occupied by molten iron slag in the image can be obtained based on the following formula:

In addition, in the above solution, the automatic tilting and tilting stop positions of the upper tilting table of the tilting trolley 2 can be determined by analyzing the images collected in real time by the image acquisition device, so as to realize the automatic tilting of the tilting table of the trolley.

Finally, according to the process requirements of the amount of residues of different steel grades, the slagging end point is determined, and the slagging machine automatically stops the slagging. After slagging stops, the trolley tilting table automatically tilts to the zero position, and the tilting trolley 2 automatically travels to the lifting position.

It should be noted that when the image is preprocessed, the image can be converted into a grayscale image; then the grayscale image is processed for image enhancement, binarization, and noise removal. Because the temperature of the slag, molten iron, and the ladle wall are different, the color is also different, so it can be identified through the automatic processing of the gray threshold.

When recognizing the image, an improved dynamic threshold method is used to identify molten iron slag. When the gray value of a certain pixel is less than max(g), the pixel is recorded as 0 and judged as molten iron slag. Max(g)=α×(Max(w1×w2×(u1-u2)×(u1-u2))); where α represents the adjustment coefficient, which represents the influence of noise and interference on the image, and its value range is 0＜α≤1, when there is no interference and noise, the value of α is 1; when there is noise and interference, the greater the noise and interference, the smaller the value of α; w1 represents the ratio of the number of previous scenic spots in the image to the image ; W2 represents the proportion of background points in the image; u1 represents the average gray level of the foreground; u2 represents the average gray level of the background; g represents the variance between the foreground and the background.

It should be pointed out that α is used to adjust the influence of noise and interference on the image. According to the degree of interference, the value range of α is 0<α≤1, because the interference is uneven and has areas on the image. Nature, therefore, in different areas according to the actual situation, to achieve the calculation of the gray value under noise and interference conditions.

In addition, in the above scheme, the model of the optimal slagging path is:

In addition, in this embodiment, preferably, a sensor or an encoder is further provided on the slagging device 32, which is connected to the control module to transmit the detected displacement of the slagging device 32 to the control module.

In addition, it should be noted that the storage module, the image recognition module, the path optimization module, and the control module can be implemented by an industrial computer with model calculation or control processing, or a computer or server.

Fig. 3 schematically shows the flow of the high-efficiency automatic slag removal method for molten iron pretreatment according to the present invention in one embodiment. 4 is a process flow diagram of the high-efficiency automatic slag removal system for molten iron pretreatment according to the present invention in one embodiment.

As can be seen in combination with Fig. 3 and Fig. 4, in this embodiment, the efficient automatic slag removal method for molten iron pretreatment includes the following steps:

Collect images of the ladle mouth area and preprocess the images;

Based on the position of molten iron slag in the image, find the optimal slag removal path, which is the path with the smallest ratio of slag removal time to slag removal amount;

During the automatic slagging process, the slagging head is controlled to carry out slagging according to the optimal slagging path; and when the starting conditions are met, the air blowing and slag removal device is activated to gather the dispersed molten iron slag to facilitate efficient slagging. The starting condition is that the proportion slag% of the total area occupied by molten iron slag in the image is less than the set starting threshold for blowing slag.

In summary, it can be seen that the automatic slag removal method for molten iron pretreatment of the present invention can not only effectively replace the manual operation in the current slag removal process, improve the working environment of workers and reduce the labor intensity of workers, and it can be extremely high Shorten the slagging time, reduce the temperature drop of the molten iron, save energy, and at the same time can increase the number of furnaces to be processed and increase the production capacity.

It should be noted that the prior art part of the protection scope of the present invention is not limited to the embodiments given in this application document, and all prior art that does not contradict the solution of the present invention includes but is not limited to the previous Patent documents, prior publications, prior publications, etc. can all be included in the protection scope of the present invention.

In addition, the combination of various technical features in this case is not limited to the combination described in the claims of this case or the combination described in the specific embodiments. All technical features described in this case can be freely combined or combined in any way, unless There are contradictions between each other.

It should also be noted that the embodiments listed above are only specific embodiments of the present invention. Obviously, the present invention is not limited to the above embodiments, and the subsequent similar changes or modifications can be directly derived from or easily associated with the disclosure of the present invention by those skilled in the art, and should fall within the protection scope of the present invention. .

Claims

An efficient automatic slag removal method for molten iron pretreatment, which is characterized in that it comprises the following steps:

Collect an image of the ladle mouth area and preprocess the image;

Identifying the molten iron slag in the image to determine the position of the molten iron slag in the image and the proportion of the total area occupied by the molten iron slag in the image;

Finding an optimal slag removal path based on the position of molten iron slag in the image, where the optimal slag removal path is the path with the smallest ratio of slag removal time to slag removal amount;

During the automatic slagging process, the slagging head is controlled to carry out slagging according to the optimal slagging path; and when the starting conditions are met, the air blowing and slag removal device is activated to gather the dispersed molten iron slag to facilitate efficient slagging. The starting condition is that the proportion slag% of the total area occupied by molten iron slag in the image is less than the set starting threshold for blowing slag.
The high-efficiency automatic slag removal method for molten iron pretreatment according to claim 1, wherein the image includes one of a visible light image, an infrared image and a far infrared image.
The high-efficiency automatic slag removal method for hot metal pretreatment according to claim 1, wherein when the image is preprocessed, the image is converted into a grayscale image; and then the grayscale image is imaged. Enhancement, binarization and noise removal processing.
The high-efficiency automatic slag removal method for molten iron pretreatment according to claim 1, wherein an improved dynamic threshold method is used to identify molten iron slag in the image, wherein: when the gray value of a certain pixel is less than max( g), the pixel is recorded as 0 and judged as molten iron slag, and the micro area corresponding to the pixel is recorded as the area of molten iron slag; where Max(g)=α×(Max(w1×w2× (u1-u2)×(u1-u2))); where α represents the adjustment coefficient, which represents the influence of noise and interference on the image, and its value range is 0＜α≤1. When there is no interference and noise, α The value of is 1; when there is noise and interference, the greater the noise and interference, the smaller the value of α; w1 represents the ratio of the number of front spots in the image to the image; w2 represents the ratio of the background points to the image; u1 represents the average foreground Grayscale; u2 represents the average grayscale of the background; g represents the variance between the foreground and the background.
The high-efficiency automatic slagging method for molten iron pretreatment according to claim 1, wherein the model of the optimal slagging path is:

Wherein, Opm (Slag, t) represents the optimal path slag, S i represents the area of a single pixel has an area of slag, N represents the sum of the number of pixels as a molten slag in the region of the head through the slag; T represents a single Time for slagging off.
The high-efficiency automatic slag removal method for molten iron pretreatment according to claim 1, wherein the ratio slag% of the total area occupied by molten iron slag in the image is obtained based on the following formula:

In the formula: ∑S i represents the total area of all molten iron slag in the image; S represents the area of the molten iron ladle image.
The high-efficiency automatic slag removal method for molten iron pretreatment according to any one of claims 1 to 6, characterized in that it further comprises the step of: tilting the trolley to tilt the molten iron ladle; When it is judged that the molten iron slag flows out of the molten iron ladle mouth, the tipping trolley stops tilting.
An efficient automatic slag removal system for molten iron pretreatment, which is characterized in that it includes:

Mucking off device, which is used to perform slagging off action;

Image collection device, which collects images of the molten iron ladle mouth area;

A storage module, which stores the image transmitted by the image acquisition device;

An image recognition module, which preprocesses the image stored in the storage module and recognizes the molten iron slag in the image to determine the position of the molten iron slag in the image and the position of the molten iron slag in the image Proportion of the total area;

A path optimization module, which finds an optimal slag removal path based on the recognition result of the image recognition module, and the optimal slag removal path is the path with the smallest ratio of the slag removal time to the slag removal amount;

Blowing and slag removal device;

The control module controls the slag slagging device to perform slag slagging according to the optimal slag slagging path; and when the starting conditions are met, the control module also activates the air blowing and slagging device to gather the dispersed molten iron slag together For high-efficiency slag removal, the starting condition is that the proportion of the total area slag% occupied by molten iron slag in the image is less than the set starting threshold for blowing slag.
8. The high-efficiency automatic slag removal system for molten iron pretreatment according to claim 8, wherein the image acquisition device includes one of a visible light camera, an infrared camera, and a far infrared camera.
The high-efficiency hot metal pretreatment automatic slagging system of claim 8, wherein the slagging device is also provided with a sensor or encoder, and the sensor or encoder is connected to the control module to detect The displacement of the slagging device is transmitted to the control module.
The high-efficiency automatic slagging system for molten iron pretreatment according to any one of claims 8-10, further comprising: a tipping trolley for tilting the molten iron ladle to the slagging position. The turning cart is connected with the control module.
The high-efficiency automatic slag removal system for molten iron pretreatment according to claim 11, wherein an angle measuring device is provided on the tipping trolley to detect the tilting angle of the tipping trolley.