Intelligent self-adaptive spraying system and method for ladle lining

Abstract

The application provides a kind of ladle lining intelligent self-adapting spraying system and method, related to the field of coating spraying of steel ladle lining in steel mill.The system includes ladle transfer unit, spraying execution unit, ladle detection unit and main control unit;The spraying execution unit includes spraying device, support frame, spraying device includes translation mechanism, rotating mechanism, lifting mechanism, spraying mechanism.The application realizes the automatic control of ladle lining spraying coating, makes the ladle inner wall spraying more uniform, improves the spraying quality, solves the liquid accumulation phenomenon, improves the ladle inner wall spraying efficiency and safety;Spraying execution unit is set in front of the building where the ladle moves, which is convenient for operation;The ladle detection unit can realize the positioning tracking, temperature detection and half ladle or empty ladle determination of the ladle, and control the spraying amount and spraying speed of the spraying execution unit by the main control unit, to realize the effective spraying of the ladle lining.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of coating spraying of steel ladle lining, in particular to a steel ladle lining intelligent adaptive spraying system and method. BACKGROUND

[0002] The steel ladle is not only an important carrier for transporting molten steel, but also a container for off-oven refining. Reasonable and effective operation control of the steel ladle is the basis for realizing the matching of the steel ladle and the furnace, and is of great significance to improving the operation efficiency of the steel plant and improving the production environment. However, in the process of using the steel ladle, the adhesion of slag on the inner wall of the steel ladle leads to a decrease in the effective volume of the steel ladle, an extension of the repair cycle, and even the scrapping of the steel ladle, which obviously affects the service life and working efficiency of the steel ladle. At the same time, after the adhesion of slag on the inner lining of the steel ladle, the weight of the empty ladle increases, which makes the gantry crane for hoisting the ladle be in an overloading state for a long time, and brings hidden dangers to the safety production of the gantry crane.

[0003] At present, the spraying of the steel ladle lining is mainly solved by manual method. The main method is to build a building for manual spraying in a certain space area of the steel ladle operation, to improve the height of man-machine operation, to build a coating pressurization and conveying system in the building, to start the coating stirring system and pressurization system by 1-2 persons when the steel ladle transport vehicle passes through the building, and to control the spraying point and the amount of coating by a person standing at a high point of the building by manual control, to visually observe the inner wall or the presence or absence of slag in the steel ladle, and to control the coating point and the amount of spraying by long-term experience.

[0004] The manual spraying method basically solves the process requirements of the inner wall spraying of the steel ladle, but has serious defects or deficiencies, mainly in the following aspects: (1) the manual spraying process of the steel ladle lining cannot control the amount of coating, the uniformity and distribution of the coating in each part of the steel ladle are poor, and the spraying effect of the coating cannot be guaranteed; (2) the water accumulation at the bottom of the steel ladle is serious. Once water accumulation occurs in the steel ladle, the molten steel in the steel ladle will splash due to the volume expansion of the gas, which may seriously injure the operator; (3) at least 4-6 persons are arranged for work every day according to the steel slag transport process of Baotou Steel, and the spraying process is completed every 3 hours, with a spraying time of less than 10 minutes, which seriously wastes manpower and financial resources, and greatly increases the production cost. SUMMARY

[0005] In view of the defects or deficiencies of the prior art in the above background art, the present application provides a steel ladle lining intelligent adaptive spraying system and method. The system realizes automatic control of the entire spraying process, makes the spraying of the inner wall of the steel ladle more uniform, improves the spraying quality, and solves the problem of liquid accumulation.

[0006] In order to achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0007] A steel ladle lining intelligent adaptive spraying system, comprising:

[0008] The ladle transfer unit comprises a transfer trolley and a track, the running wheels of the transfer trolley are in contact with the top surface of the track and can roll and travel along the track, and the ladle is placed on the transfer trolley;

[0009] The spraying execution unit comprises a spraying device and a support frame, the spraying device is fixedly arranged on the front side of the building through the support frame; the spraying device is used for spraying paint on the upper edge, inner wall and bottom of the moving ladle;

[0010] The ladle detection unit is used for detecting the position, speed of the moving ladle, temperature in the ladle, shape inside the ladle, whether there is an object, and the caliber of the ladle, and the ladle detection unit is arranged on the spraying execution unit;

[0011] The main control unit is in communication connection with the spraying execution unit and the ladle detection unit respectively, receives the ladle detection data information uploaded by the ladle detection unit, judges whether the paint spraying is needed for the ladle, determines the spraying position, spraying amount and spraying speed when the paint spraying is needed, and sends a signal instruction to the spraying execution unit to control the spraying execution unit to spray paint.

[0012] Further, the spraying device comprises a translation mechanism, a rotating mechanism, a lifting mechanism and a spraying mechanism, the translation mechanism comprises a transverse motion assembly and a longitudinal motion assembly, the transverse motion assembly is mounted on the front side of the building through a plurality of vertically equidistantly arranged support frames, and the longitudinal motion assembly is slidingly connected to the bottom of the transverse motion assembly, the translation mechanism is used for realizing the reciprocating motion of the spraying mechanism in the transverse and longitudinal directions; the lifting mechanism is connected to the longitudinal translation mechanism through the rotating mechanism, the rotating mechanism is used for realizing the rotating motion of the spraying mechanism, and the lifting mechanism is used for realizing the ascending or descending motion of the spraying mechanism, the lifting mechanism comprises a bearing table, a first lifting motion assembly and a second lifting motion assembly, the first lifting motion assembly and the second lifting motion assembly are arranged on the bearing table, and the bearing table is connected to the rotating mechanism; the spraying mechanism comprises a first spraying assembly and a second spraying assembly, the first spraying assembly is arranged on the first lifting motion assembly, the first spraying assembly ascends and descends along with the ascending and descending of the first lifting motion assembly, and the first spraying assembly sprays paint on the inner wall of the moving ladle, the second spraying assembly is arranged on the second lifting motion assembly, the second spraying assembly ascends and descends along with the ascending and descending of the second lifting motion assembly, and the second spraying assembly sprays paint on the upper edge and bottom of the moving ladle.

[0013] Further, the lateral movement assembly comprises a translation bracket fixedly connected with the support frame, two parallel lateral rails are arranged at the bottom of the translation bracket, a first sliding block is slidably connected on the two lateral rails, first chain wheels are arranged at the left and right ends of the translation bracket, the first chain wheel located at the left end of the translation bracket is connected with the output shaft of a first driving motor fixed on the translation bracket, the two first chain wheels are drivingly connected by a first chain, and the two ends of the first chain are fixedly connected with the left and right sides of the first sliding block; the longitudinal movement assembly comprises two parallel longitudinal rails longitudinally arranged at the bottom of the first sliding block, a second sliding block is slidably connected on the two longitudinal rails, second chain wheels are arranged at the front and rear ends of the first sliding block, the second chain wheel located at the front end of the first sliding block is connected with the output shaft of a second driving motor fixed on the first sliding block, the two second chain wheels are drivingly connected by a second chain, and the two ends of the second chain are fixedly connected with the front and rear sides of the second sliding block.

[0014] Further, the rotating mechanism comprises a rotating shaft, the upper end of the vertically arranged rotating shaft is rotatably connected with the center of the second sliding block, the lower end of the rotating shaft is fixedly connected with the bearing table, a driven gear is arranged on the rotating shaft, a rotating driving motor is installed at the bottom of the second sliding block, and a driving gear meshing with the driven gear is arranged on the output shaft of the rotating driving motor.

[0015] Further, the first lifting movement assembly comprises two parallel third rails arranged at the front side of the bearing table, a third sliding block is slidably connected on the two third rails, third chain wheels are arranged at the upper and lower ends of the bearing table, the third chain wheel located at the upper end of the bearing table is connected with the output shaft of a third driving motor fixed on the bearing table, the two third chain wheels are drivingly connected by a third chain, and the two ends of the third chain are fixedly connected with the upper and lower sides of the third sliding block; the second lifting movement assembly comprises two parallel fourth rails arranged at the rear side of the bearing table, a fourth sliding block is slidably connected on the two fourth rails, fourth chain wheels are arranged at the upper and lower ends of the bearing table, the fourth chain wheels are located at the rear side of the third chain wheels, the fourth chain wheel located at the upper end of the bearing table is connected with the output shaft of a fourth driving motor fixed on the bearing table, the two fourth chain wheels are drivingly connected by a fourth chain, and the two ends of the fourth chain are fixedly connected with the upper and lower sides of the fourth sliding block.

[0016] Further, the first spraying assembly comprises a first paint storage tank, a first pressure pump, a first spray head, the first paint storage tank and the first pressure pump are arranged on the third sliding block, the first paint storage tank is connected with the first pressure pump through a first conveying pipe, the first pressure pump is connected with the first spray head through a first connecting pipe, a first electromagnetic valve is arranged on the first conveying pipe, and a first flow meter is arranged on the first connecting pipe; the second spraying assembly comprises a second paint storage tank, a second pressure pump and a second spray head, the second paint storage tank and the second pressure pump are arranged on the fourth sliding block, the second paint storage tank is connected with the second pressure pump through a second conveying pipe, the second pressure pump is connected with the second spray head through a second connecting pipe, a second electromagnetic valve is arranged on the second conveying pipe, and a second flow meter is arranged on the second connecting pipe.

[0017] Further, the ladle detection unit comprises a position sensor, a CCD camera, a temperature sensor and a laser ranging sensor, one position sensor is arranged on each support frame, the position sensor is arranged at the same height as the center of the walking wheel of the transfer trolley, the position sensor is used for detecting the position and speed of the moving ladle, the CCD camera, the temperature sensor and the laser ranging sensor are arranged on the bottom surface of the bearing table, the CCD camera is used for detecting the internal shape of the ladle, whether there is an object and the caliber of the ladle, the temperature sensor head is used for detecting the internal temperature of the ladle, and the laser ranging sensor is used for detecting the distance between the bottom of the ladle and the bearing table to determine whether the ladle is in an empty ladle state or a half ladle state.

[0018] Further, the main control unit comprises a PLC control cabinet installed in the building, and the PLC control cabinet is in communication connection with the first driving motor, the second driving motor, the rotary driving motor, the third driving motor, the fourth driving motor, the first pressure pump, the first electromagnetic valve, the first flow meter, the second pressure pump, the second electromagnetic valve, the second flow meter, the position sensor, the CCD camera, the temperature sensor and the laser ranging sensor.

[0019] The application also provides a ladle lining intelligent adaptive spraying method, which is realized based on the above-mentioned ladle lining intelligent adaptive spraying system and comprises the following steps.

[0020] (1) The transfer trolley carrying the ladle travels along the track and starts to enter the ladle lining spraying operation area formed by the spraying execution unit;

[0021] (2) The main control unit detects the ladle through the ladle detection unit to obtain relevant ladle data information, analyzes and judges the ladle data information, selects a corresponding spraying scheme, and sends relevant instructions to the spraying device of the spraying execution unit to control the spraying device to perform tracking type dynamic spraying operation on the upper edge, the inner wall and the bottom of the moving ladle;

[0022] (3) After the spraying operation is completed, the main control unit controls the spraying device to return to the initial position.

[0023] Compared with the prior art, the present application has the beneficial technical effects of:

[0024] The present application realizes the automatic control of the steel ladle lining spraying paint by setting the spraying execution unit, the steel ladle detection unit and the main control unit, makes the steel ladle inner wall spraying more uniform, improves the spraying quality, solves the liquid accumulation phenomenon, improves the steel ladle inner wall spraying efficiency and safety; the spraying execution unit is set in front of the building where the steel ladle moves, which is convenient for operation; the steel ladle detection unit can realize the positioning tracking, temperature detection and half ladle or empty ladle determination of the steel ladle, and control the spraying amount and spraying speed of the spraying execution unit by the main control unit, realizes the effective spraying of the steel ladle lining. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is the structure diagram of the steel ladle lining intelligent adaptive spraying system of the present application;

[0026] Figure 2 is the perspective view of the spraying device in the present application;

[0027] Figure 3 is the front view of the spraying device in the present application;

[0028] Figure 4 is the left view of the spraying device in the present application;

[0029] Figure 5 is the right view of the spraying device in the present application;

[0030] Fig. 1: 1 - translation mechanism, 101 - translation bracket, 102 - lateral guide rail, 103 - first slider, 104 - first chain, 105 - first sprocket, 106 - first drive motor, 107 - longitudinal guide rail, 108 - second slider, 109 - second chain, 110 - second sprocket, 111 - second drive motor, 2 - rotation mechanism, 201 - rotation shaft, 202 - driven gear, 203 - driving gear, 204 - rotation drive motor, 3 - lifting mechanism, 301 - bearing table, 302 - third guide rail, 303 - third slider, 304 - third sprocket, 305 - third chain, 306 - third drive motor, 307 - fourth guide rail, 308 - fourth slider, 309 - fourth sprocket, 310 - fourth chain, 311 - fourth drive motor, 4 - spraying mechanism, 401 - first paint storage tank, 402 - first conveying pipe, 403 - first pressure pump, 404 - first connecting pipe, 405 - first spray head, 406 - first electromagnetic valve, 407 - first flow meter, 408 - second paint storage tank, 409 - second conveying pipe, 410 - second pressure pump, 411 - second connecting pipe, 412 - second spray head, 413 - second electromagnetic valve, 414 - second flow meter, 5 - support frame, 6 - position sensor, 7 - CCD camera, 8 - temperature sensor, 9 - laser distance sensor, 10 - PLC control cabinet, 11 - building, 12 - transfer trolley, 13 - ladle, 14 - track. DETAILED DESCRIPTION

[0031] In order to more clearly illustrate the technical solutions and technical effects of the present application, the present application will be clearly and completely described below by embodiments in conjunction with the drawings.

[0032] It should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. The terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0033] It should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to fixed connection or setting, detachable connection or setting, or integral connection or setting; they can refer to mechanical connection or electrical connection; they can refer to direct connection or indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. Example

[0034] like Figures 1-5 As shown, the intelligent adaptive spraying system for the inner lining of the steel ladle 13 in this embodiment includes:

[0035] The ladle 13 transfer unit includes a transfer trolley 12 and a track 14. The wheels of the transfer trolley 12 are in contact with the top surface of the track 14 and can roll along the track 14. The ladle 13 is placed on the transfer trolley 12.

[0036] The spraying execution unit includes a spraying device and a support frame 5. The spraying device is fixedly installed on the front side of the building 11 via the support frame 5. The spraying device is used to spray paint on the upper edge, inner wall and bottom of the moving steel ladle 13.

[0037] The ladle 13 detection unit is used to detect the position, speed, internal temperature, internal shape and presence of items, and opening diameter of the ladle 13 while it is moving. The ladle 13 detection unit is installed on the spraying execution unit.

[0038] The main control unit is communicatively connected to the spraying execution unit and the ladle 13 detection unit. The main control unit receives the ladle 13 detection data information uploaded by the ladle 13 detection unit, determines whether the ladle 13 needs to be sprayed with paint, and when it needs to be sprayed with paint, determines the spraying position, spraying amount and spraying speed, and sends a signal command to the spraying execution unit to control the spraying execution unit to spray the paint.

[0039] In this embodiment, the track 14 is located in front of the building 11, and the spraying device is set at a height higher than the ladle 13. The spraying device moves in sync with the movement of the ladle 13 during the coating process. When the transfer trolley 12 moves at a speed of 2-4 m / s, the spraying device follows the moving ladle 13 and sprays the inner wall of the ladle 13 one by one at a certain speed, spray volume, rotation mode, and movement mode. If there are half-ladles or cold ladles, special treatment is required to avoid spraying or spray less. The amount of coating for each ladle 13 is controlled at 3-5 kg, and the coating particles are 250-350 mesh. The amount of coating and the spraying speed vary with the moving speed of the ladle 13, temperature, presence or absence of steel slag in the ladle 13, production season, and other factors. The interval between spraying the ladle 13 is 3 hours.

[0040] Specifically, the spraying device comprises a translation mechanism 1, a rotating mechanism 2, a lifting mechanism 3 and a spraying mechanism 4. The translation mechanism 1 comprises a transverse movement assembly and a longitudinal movement assembly. The transverse movement assembly is installed on the front side of the building 11 through a plurality of vertically equidistant support frames 5. The longitudinal movement assembly is slidingly connected to the bottom of the transverse movement assembly. The translation mechanism 1 is used to realize the reciprocating movement of the spraying mechanism 4 in the transverse and longitudinal directions. The lifting mechanism 3 is connected to the longitudinal translation mechanism 1 through the rotating mechanism 2. The rotating mechanism 2 is used to realize the rotating movement of the spraying mechanism 4. The lifting mechanism 3 is used to realize the ascending or descending movement of the spraying mechanism 4. The lifting mechanism 3 comprises a bearing table 301, a first lifting movement assembly and a second lifting movement assembly. The first and second lifting movement assemblies are arranged on the bearing table 301, and the bearing table 301 is connected to the rotating mechanism 2. The spraying mechanism 4 comprises a first spraying assembly and a second spraying assembly. The first spraying assembly is arranged on the first lifting movement assembly and ascends and descends with the first lifting movement assembly. The first spraying assembly sprays paint on the inner wall of the moving ladle 13. The second spraying assembly is arranged on the second lifting movement assembly and ascends and descends with the second lifting movement assembly. The second spraying assembly sprays paint on the upper edge and the bottom of the moving ladle 13.

[0041] In this embodiment, the main control unit controls the spraying device to spray the ladle 13 as much as possible to cover the entire ladle 13, including the upper edge, the inner wall and the bottom of the ladle 13. The movement trajectory of the spraying mechanism 4 and the speed of the moving ladle 13 are matched to avoid the phenomenon of less or more spraying of paint, especially to avoid the phenomenon of water accumulation caused by more spraying of paint.

[0042] Specifically, the transverse movement assembly comprises a translation bracket 101 fixedly connected with the support frame 5, two parallel transverse guide rails 102 are arranged at the bottom of the translation bracket 101, a first sliding block 103 is slidably connected on the two transverse guide rails 102, first chain wheels 105 are arranged at the left and right ends of the translation bracket 101, the first chain wheel 105 located at the left end of the translation bracket 101 is connected with the output shaft of a first driving motor 106 fixed on the translation bracket 101, the two first chain wheels 105 are drivingly connected by a first chain 104, and the two ends of the first chain 104 are fixedly connected with the left and right sides of the first sliding block 103; the longitudinal movement assembly comprises two parallel longitudinal guide rails 107 longitudinally arranged at the bottom of the first sliding block 103, a second sliding block 108 is slidably connected on the two longitudinal guide rails 107, second chain wheels 110 are arranged at the front and rear ends of the first sliding block 103, the second chain wheel 110 located at the front end of the first sliding block 103 is connected with the output shaft of a second driving motor 111 fixed on the first sliding block 103, the two second chain wheels 110 are drivingly connected by a second chain 109, and the two ends of the second chain 109 are fixedly connected with the front and rear sides of the second sliding block 108.

[0043] Specifically, the rotating mechanism 2 comprises a rotating shaft 201, the upper end of the vertically arranged rotating shaft 201 is rotatably connected with the center of the second sliding block 108, the lower end of the rotating shaft 201 is fixedly connected with the bearing table 301, a driven gear 202 is arranged on the rotating shaft 201, a rotating driving motor 204 is installed at the bottom of the second sliding block 108, and a driving gear 203 meshing with the driven gear 202 is connected on the output shaft of the rotating driving motor 204.

[0044] Specifically, the first lifting movement assembly comprises two parallel third guide rails 302 arranged on the front side of the bearing table 301, a third sliding block 303 is slidably connected on the two third guide rails 302, third chain wheels 304 are arranged at the upper and lower ends of the bearing table 301, the third chain wheel 304 located at the upper end of the bearing table 301 is connected with the output shaft of a third driving motor 306 fixed on the bearing table 301, the two third chain wheels 304 are drivingly connected by a third chain 305, and the two ends of the third chain 305 are fixedly connected with the upper and lower sides of the third sliding block 303; the second lifting movement assembly comprises two parallel fourth guide rails 307 arranged on the rear side of the bearing table 301, a fourth sliding block 308 is slidably connected on the two fourth guide rails 307, fourth chain wheels 309 are arranged at the upper and lower ends of the bearing table 301, the fourth chain wheel 309 is located at the rear side of the third chain wheel 304, the fourth chain wheel 309 located at the upper end of the bearing table 301 is connected with the output shaft of a fourth driving motor 311 fixed on the bearing table 301, the two fourth chain wheels 309 are drivingly connected by a fourth chain 310, and the two ends of the fourth chain 310 are fixedly connected with the upper and lower sides of the fourth sliding block 308.

[0045] Specifically, the first spraying assembly comprises a first paint storage tank 401, a first pressure pump 403, and a first spray head 405. The first paint storage tank 401 and the first pressure pump 403 are both arranged on the third sliding block 303. The first paint storage tank 401 is connected with the first pressure pump 403 through a first conveying pipe 402. The first pressure pump 403 is connected with the first spray head 405 through a first connecting pipe 404. A first electromagnetic valve 406 is arranged on the first conveying pipe 402. A first flow meter 407 is arranged on the first connecting pipe 404. The second spraying assembly comprises a second paint storage tank 408, a second pressure pump 410, and a second spray head 412. The second paint storage tank 408 and the second pressure pump 410 are both arranged on the fourth sliding block 308. The second paint storage tank 408 is connected with the second pressure pump 410 through a second conveying pipe 409. The second pressure pump 410 is connected with the second spray head 412 through a second connecting pipe 411. A second electromagnetic valve 413 is arranged on the second conveying pipe 409. A second flow meter 414 is arranged on the second connecting pipe 411.

[0046] Specifically, the ladle 13 detection unit comprises a position sensor 6, a CCD camera 7, a temperature sensor 8, and a laser ranging sensor 9. One position sensor 6 is arranged on each support frame 5. The position sensor 6 is arranged at the same height as the center of the walking wheel of the transfer trolley 12. The position sensor 6 is used to detect the position and speed of the moving ladle 13. The CCD camera 7, the temperature sensor 8, and the laser ranging sensor 9 are all arranged on the bottom surface of the bearing table 301. The CCD camera 7 is used to detect the internal shape of the ladle 13, whether there is an object in the ladle 13, and the caliber of the ladle 13. The head of the temperature sensor 8 is used to detect the internal temperature of the ladle 13. The laser ranging sensor 9 is used to detect the distance between the bottom of the ladle 13 and the bearing table 301 to determine whether the ladle 13 is in an empty state or a half-full state.

[0047] In this embodiment, the ladle 13 detection unit can detect the temperature of the inner wall and the interior of the ladle 13 and identify whether there is steel slag in the interior. The higher the temperature of the ladle 13, the greater the spraying amount needs to be increased. The lower the temperature, the smaller the spraying amount needs to be reduced. If a cold ladle appears, the spraying amount needs to be sprayed as little as possible, which also plays a role in isolation to prevent water accumulation at the bottom of the ladle. If a half-full ladle appears, the spraying area needs to be reduced, and the spraying needs to be less or not.

[0048] Specifically, the main control unit comprises a PLC control cabinet 10 installed in the building 11. The PLC control cabinet 10 is communicatively connected with the first driving motor 106, the second driving motor 111, the rotary driving motor 204, the third driving motor 306, the fourth driving motor 311, the first pressure pump 403, the first electromagnetic valve 406, the first flow meter 407, the second pressure pump 410, the second electromagnetic valve 413, the second flow meter 414, the position sensor 6, the CCD camera 7, the temperature sensor 8, and the laser ranging sensor 9.

[0049] In the embodiment, the position sensor 6 is an optical position sensor 6, which acquires a position variable of the ladle 13, detects the position and speed of the ladle 13, and realizes tracking positioning of the ladle 13; the CCD camera 7 acquires a shape variable inside the ladle 13, and the CCD camera 7 in combination with the laser ranging sensor 9 realizes determination of empty ladle or half ladle of the ladle 13; the temperature sensor 8 is a non-contact wireless infrared temperature sensor 8, which acquires a temperature variable of the inner wall and inside of the ladle 13; the PLC control cabinet 10 selects a corresponding spraying scheme by analyzing detection results of the position sensor 6, the CCD camera 7, the temperature sensor 8, and the laser ranging sensor 9; the first driving motor 106, the second driving motor 111, the rotary driving motor 204, the third driving motor 306, and the fourth driving motor 311 are all servo motors.

[0050] In the embodiment, the master control unit provides a man-machine interactive platform, facilitates control of the entire lining spraying process of the ladle 13, realizes visual control and management, improves the industrial working environment, and reduces the cost.

[0051] Specifically, based on the lining intelligent adaptive spraying system of the ladle 13 described in the embodiment, the embodiment further provides a lining intelligent adaptive spraying method of the ladle 13, which includes the following steps:

[0052] (1) The transfer trolley 12 carrying the ladle 13 travels along the track 14 and starts to enter the lining spraying work area of the ladle 13 formed by the spraying execution unit;

[0053] (2) The master control unit detects the ladle 13 through the ladle 13 detection unit to acquire relevant data information of the ladle 13, analyzes and judges the data information of the ladle 13, selects a corresponding spraying scheme, and sends relevant instructions to the spraying device of the spraying execution unit to control the spraying device to perform tracking dynamic spraying work on the upper edge, inner wall, and bottom of the moving ladle 13;

[0054] (3) After the spraying work is completed, the master control unit controls the spraying device to return to the initial position.

[0055] In the embodiment, the initial position of the spraying device is located at one end where the transfer trolley 12 arrives, and the transfer trolley 12 is a battery type stepless speed regulation electric trolley.

[0056] It should be understood that the above-described embodiments are only used to explain some of the embodiments of the present application, rather than all the embodiments, and the technical features involved in the embodiments can be combined with each other as long as they do not conflict with each other, and any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A smart adaptive spraying system for steel ladle lining, characterized in that, include: The ladle transfer unit includes a transfer trolley and a track. The wheels of the transfer trolley are in contact with the top surface of the track and can roll along the track. The ladle is placed on the transfer trolley. The spraying execution unit includes a spraying device and a support frame. The spraying device is fixedly installed on the front side of the building via the support frame. The spraying device is used to spray paint onto the upper edge, inner wall and bottom of the moving steel ladle. The ladle detection unit is used to detect the position, speed, internal temperature, internal shape, presence of items, and diameter of the ladle during movement. The ladle detection unit is installed on the spraying execution unit. The main control unit is communicatively connected to the spraying execution unit and the ladle detection unit. The main control unit receives the ladle detection data information uploaded by the ladle detection unit, determines whether the ladle needs to be sprayed with paint, and when it needs to be sprayed with paint, determines the spraying position, spraying amount and spraying speed, and sends a signal command to the spraying execution unit to control the spraying execution unit to spray the paint. The spraying device includes a translation mechanism, a rotation mechanism, a lifting mechanism, and a spraying mechanism. The translation mechanism includes a lateral movement component and a longitudinal movement component. The lateral movement component is mounted on the front side of the building via several vertically equidistant support frames. The longitudinal movement component is slidably connected to the bottom of the lateral movement component. The translation mechanism is used to realize the lateral and longitudinal reciprocating motion of the spraying mechanism. The lifting mechanism is connected to the longitudinal translation mechanism via a rotation mechanism. The rotation mechanism is used to realize the rotational motion of the spraying mechanism, and the lifting mechanism is used to realize the upward or downward motion of the spraying mechanism. The lifting mechanism includes... The system includes a support platform, a first lifting motion component, and a second lifting motion component. The first and second lifting motion components are mounted on the support platform, which is connected to a rotating mechanism. The spraying mechanism includes a first spraying component and a second spraying component. The first spraying component is mounted on the first lifting motion component and moves up and down with it to spray paint onto the inner wall of the moving ladle. The second spraying component is mounted on the second lifting motion component and moves up and down with it to spray paint onto the upper edge and bottom of the moving ladle.

2. The intelligent adaptive spraying system for steel ladle lining according to claim 1, characterized in that: The lateral motion component includes a translation bracket fixedly connected to a support frame. Two parallel lateral guide rails are provided at the bottom of the translation bracket. A first slider is slidably connected to the two lateral guide rails. First sprockets are provided at both the left and right ends of the translation bracket. The first sprocket at the left end of the translation bracket is connected to the output shaft of a first drive motor fixed to the translation bracket. The two first sprockets are connected by a first chain drive, and the two ends of the first chain are fixedly connected to the left and right sides of the first slider, respectively. The longitudinal motion component includes two parallel longitudinal guide rails longitudinally arranged at the bottom of the first slider. A second slider is slidably connected to the two longitudinal guide rails. Second sprockets are provided at both the front and rear ends of the first slider. The second sprocket at the front end of the first slider is connected to the output shaft of a second drive motor fixed to the first slider. The two second sprockets are connected by a second chain drive, and the two ends of the second chain are fixedly connected to the front and rear sides of the second slider, respectively.

3. The intelligent adaptive spraying system for steel ladle lining according to claim 2, characterized in that: The rotating mechanism includes a rotating shaft. The upper end of the vertically arranged rotating shaft is rotatably connected to the center of the second slider, and the lower end of the rotating shaft is fixedly connected to the support platform. A driven gear is provided on the rotating shaft. A rotary drive motor is installed at the bottom of the second slider, and a drive gear that meshes with the driven gear is connected to the output shaft of the rotary drive motor.

4. The intelligent adaptive spraying system for steel ladle lining according to claim 3, characterized in that: The first lifting motion assembly includes two parallel third guide rails disposed on the front side of the support platform, with a third slider slidably connected to the two third guide rails. Third sprockets are disposed at both the upper and lower ends of the support platform. The third sprocket at the upper end of the support platform is connected to the output shaft of a third drive motor fixed to the support platform. The two third sprockets are connected by a third chain drive, and the two ends of the third chain are fixedly connected to the upper and lower sides of the third slider, respectively. The second lifting motion assembly includes two parallel fourth guide rails disposed on the rear side of the support platform, with a fourth slider slidably connected to the two fourth guide rails. Fourth sprockets are disposed at both the upper and lower ends of the support platform. The fourth sprockets are located behind the third sprockets. The fourth sprocket at the upper end of the support platform is connected to the output shaft of a fourth drive motor fixed to the support platform. The two fourth sprockets are connected by a fourth chain drive, and the two ends of the fourth chain are fixedly connected to the upper and lower sides of the fourth slider, respectively.

5. The intelligent adaptive spraying system for steel ladle lining according to claim 4, characterized in that: The first spraying assembly includes a first paint storage tank, a first pressurizing pump, and a first nozzle. The first paint storage tank and the first pressurizing pump are both mounted on a third slider. The first paint storage tank is connected to the first pressurizing pump via a first delivery pipe. The first pressurizing pump is connected to the first nozzle via a first connecting pipe. A first solenoid valve is mounted on the first delivery pipe, and a first flow meter is mounted on the first connecting pipe. The second spraying assembly includes a second paint storage tank, a second pressurizing pump, and a second nozzle. The second paint storage tank and the second pressurizing pump are both mounted on a fourth slider. The second paint storage tank is connected to the second pressurizing pump via a second delivery pipe. The second pressurizing pump is connected to the second nozzle via a second connecting pipe. A second solenoid valve is mounted on the second delivery pipe, and a second flow meter is mounted on the second connecting pipe.

6. The intelligent adaptive spraying system for steel ladle lining according to claim 5, characterized in that: The ladle detection unit includes a position sensor, a CCD camera, a temperature sensor, and a laser rangefinder. One position sensor is installed on each support frame, and the position sensor is set at the same height as the center of the wheels of the transfer trolley. The position sensor is used to detect the position and speed of the moving ladle. The CCD camera, temperature sensor, and laser rangefinder are all installed on the bottom surface of the support platform. The CCD camera is used to detect the internal shape of the ladle and whether there are any items inside, as well as the diameter of the ladle. The temperature sensor head is used to detect the internal temperature of the ladle. The laser rangefinder is used to detect the distance between the bottom of the ladle and the support platform to determine whether the ladle is empty or half-filled.

7. The intelligent adaptive spraying system for steel ladle lining according to claim 6, characterized in that: The main control unit includes a PLC control cabinet installed in the building. The PLC control cabinet is communicatively connected to the first drive motor, the second drive motor, the rotary drive motor, the third drive motor, the fourth drive motor, the first pressurizing pump, the first solenoid valve, the first flow meter, the second pressurizing pump, the second solenoid valve, the second flow meter, the position sensor, the CCD camera, the temperature sensor, and the laser rangefinder.

8. A method for intelligent adaptive spraying of steel ladle lining, implemented based on the intelligent adaptive spraying system for steel ladle lining as described in any one of claims 1-7, characterized in that, include: (1) The transfer trolley carrying the steel ladle moves along the track and begins to enter the steel ladle lining spraying operation area formed by the spraying execution unit; (2) The main control unit detects the ladle through the ladle detection unit to obtain relevant ladle data information, analyzes and judges the ladle data information, selects the corresponding spraying scheme, and sends relevant instructions to the spraying device of the spraying execution unit to control the spraying device to perform tracking dynamic spraying operation on the upper edge, inner wall and bottom of the moving ladle. (3) After the spraying operation is completed, the main control unit controls the spraying device to return to the initial position.

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