Slag salvaging path planning method for slag salvaging robot

Abstract

The invention relates to a slag salvaging path planning method for a slag salvaging robot, and belongs to the technical field of hot galvanizing production processes and methods. According to the technical scheme, a slag salvaging working area in a zinc pot is divided into four areas at equal intervals along the stroke of the pot in the long edge direction, and the four areas are sequentially a first slagging-off area, a first slag salvaging area, a second slag salvaging area and a second slagging-off area from left to right. The slag salvaging path planning method has the beneficial effects that the slag salvaging working area is reasonably divided, the slagging-off and salvaging division of each area is clear, the stroke distance of slag salvaging is shortened, and the slag salvaging working efficiency of the slag salvaging robot is improved; meanwhile, the situation that zinc dross is bonded with the edge of the pot due to an original method is avoided, and normal work of functionsof robot equipment is guaranteed; and the cleanliness of the zinc liquid level after slag dredging operation is remarkably improved, stable operation of a production line is guaranteed, and the methodis suitable for application and popularization in the cold-rolling coating industry.

Description

technical field [0001] The invention relates to a method for planning a slag-scavenging path of a slag-scavenging robot, and belongs to the technical field of hot-dip galvanizing production technology and methods. Background technique [0002] The coating process of the continuous hot-dip galvanizing production line: the strip steel heated by the continuous annealing furnace enters the high-temperature melted zinc liquid in the zinc pot through the closed furnace nose equipment cavity for coating, and is guided by the work roll in the pot Finally, the strip steel coated with zinc liquid runs vertically from the zinc pot, and then the air knife device located near the top of the zinc pot is used to evenly blow off the excess zinc liquid adhering to the strip steel, so that the strip steel is coated with the zinc liquid required by the process. zinc layer thickness. In the zinc pot, the remaining impurities on the strip will react with the zinc liquid to produce zinc slag. D...

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Problems solved by technology

[0005] However, this method of slag removal path planning has some disadvantages in practical application: the cleaning of the zinc slag on the zinc liquid surface is not thorough enough, that is, after a cycle of slag removal operation is completed, there is still floating residual zinc slag on the zinc liquid surface. The working efficiency of slag removal is low; due to the certain adhesion of zinc slag, the zinc slag is easily bonded to the pot edge along the long side of the pot. When the slag removal operation is carried out at the zinc slag, the robot arm will stop the slag removal operation due to torque overload alarm, which will easily cause damage to the robot and affect the stable operation of the production line

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