Deslagging path control method of grid deslagging machine and grid deslagging machine

Abstract

The present application provides a slag removal path control method of a grid slag remover and a grid slag remover, and relates to the technical field of grid slag removal. The slag removal path control method of a grid slag remover includes: determining the path starting point position information and the path ending point position information of each section of the slag removal path of the grid slag remover on the grid slag removal surface; obtaining the slag removal position information of the grid slag remover on the grid slag removal surface, comparing the slag removal position information with the path starting point position information and the path ending point position information, and determining the position information comparison result; based on the position information comparison result, controlling the operation of the grid slag remover on the grid slag removal surface. The slag removal path control method of the grid slag remover provided in the present application can optimize the slag removal operation steps of the grid slag remover, reduce the amount of operation control calculations, and improve the slag removal operation efficiency of the grid slag remover.

Description

Technical Field

[0001] The present application relates to the technical field of grid slag removal, and in particular to a slag removal path control method of a grid slag remover and a grid slag remover. Background Art

[0002] In machining, laser, plasma, flame, etc. are usually used for CNC cutting of materials. During the CNC cutting process, welding slag will be generated, and the welding slag is easily accumulated on the grid material rack. In order to facilitate the cleaning of welding slag on the grid, a grid slag remover is usually used to remove the slag on the grid.

[0003] In the related art, when the grate slag remover operates on the grate slag removal surface, it usually moves along a specific direction that is perpendicular to each other, and when it moves to the edge area of ​​the grate slag removal surface, it turns by rotating the body posture to achieve full coverage of the slag removal operation surface. This operation method makes the operation steps of the grate slag remover more cumbersome, increases the difficulty of operation control, and affects the slag removal operation efficiency of the grate slag remover. Summary of the invention

[0004] In order to solve at least one aspect of the technical problems existing in the background technology, the present application provides a slag removal path control method for a grate slag remover, which can optimize the slag removal operation steps of the grate slag remover, reduce the operation control calculation amount, and improve the slag removal operation efficiency of the grate slag remover.

[0005] A second aspect of the present application provides a grid deslagging machine.

[0006] The technical solution adopted in this application is:

[0007] The first aspect of the present application provides a method for controlling a slag removal path of a grid slag remover, comprising:

[0008] Determine the path starting point position information and path ending point position information of each slag removal path of the grid slag removal machine on the grid slag removal surface;

[0009] Acquire the slag removal position information of the grid slag removal machine on the grid slag removal surface, compare the slag removal position information with the path starting point position information and the path end point position information, and determine the position information comparison result;

[0010] Based on the position information comparison result, the operation of the grid deslagging machine on the grid deslagging surface is controlled.

[0011] According to the slag removal path control method of the grid slag remover provided in the embodiment of the first aspect of the present application, by controlling the grid slag remover to perform slag removal operations along a preset slag removal path, the grid slag remover is prevented from walking invalid routes, and the slag removal operation steps of the grid slag remover are optimized. Specifically, the path starting point position information and the path ending point position information of each section of the slag removal path of the grid slag remover on the grid slag removal surface are first determined. When the grid slag remover performs slag removal operations on the grid slag removal surface, the slag removal position information of the grid slag remover is obtained. By comparing the slag removal position information with the path starting point position information and the path ending point position information, the operating state of the grid slag remover can be determined. For example, it can be determined whether the grid slag remover is performing slag removal operations on the current slag removal path, whether it is located at the starting point position of the current slag removal path, or whether it is located at the end position of the current slag removal path. If it is determined that the grille slag remover is at the starting position or is already in the slag removal path, the grille slag remover is controlled to move along the current slag removal path until it reaches the end position. If it is determined that the grille slag remover is at the end position, the grille slag remover needs to be controlled to stop the slag removal operation on the current slag removal path and move to the next slag removal path to perform the slag removal operation. In the above operation process, each walking path of the grille slag remover can perform slag removal operations to avoid empty travel, thereby optimizing the operation steps of the grille slag remover, while also reducing the amount of operation control calculations of the grille slag remover and improving the efficiency of the slag removal operation.

[0012] The technical solution provided by this application also includes the following additional technical features:

[0013] According to an embodiment of the present application, the location information comparison result includes:

[0014] The slag removal position information matches the path endpoint position information;

[0015] The step of controlling the operation of the grid deslagging machine on the grid deslagging surface comprises:

[0016] Controlling the slag removal mechanism of the grid slag removal machine to be out of contact with the grid slag removal surface;

[0017] Controlling the slag removal mechanism to move parallel to the slag removal surface of the grid to above the starting position of the next slag removal path;

[0018] Maintaining the body posture of the slag removal mechanism unchanged, and controlling the slag removal mechanism to contact with the slag removal surface of the grid;

[0019] The grid slag remover is controlled to move along the current section of the slag removal path to the end position of the path.

[0020] According to one embodiment of the present application, the slag removal path includes a boundary slag removal path;

[0021] The step of determining the path starting point position information and path ending point position information of each slag removal path of the grid slag removal machine on the grid slag removal surface includes:

[0022] Obtaining boundary information of the grille slag removal surface;

[0023] Based on the boundary information, the path starting point position information and the path ending point position information of the boundary slag removal path are determined.

[0024] According to an embodiment of the present application, the step of obtaining the boundary information of the grid deslagging surface includes:

[0025] Determining the overall area of ​​the grid deslagging surface based on boundary information of the grid deslagging surface;

[0026] Dividing the grid deslagging surface into a plurality of sub-deslagging areas;

[0027] The boundary information of each of the deslagging sub-areas is obtained.

[0028] According to one embodiment of the present application, the step of determining the path starting point position information and the path ending point position information of each slag removal path of the grid slag removal machine on the grid slag removal surface includes:

[0029] Obtaining the grid bar distribution information on the grid;

[0030] Based on the grid bar distribution information, it is determined that the slag removal path is consistent with the orientation of the grid bars.

[0031] A second aspect of the present application provides a grid slag remover, comprising:

[0032] A slag removal mechanism and a processor, wherein when the processor executes a program, the slag removal path control method of the grid slag remover in any embodiment of the first aspect as described above is implemented.

[0033] According to one embodiment of the present application, the grid slag remover further includes a traveling mechanism, a lifting mechanism and a transverse movement mechanism;

[0034] The traveling mechanism is connected to the slag removal mechanism and is suitable for driving the slag removal mechanism to travel along the slag removal path on the slag removal surface of the grid;

[0035] The lifting mechanism is connected to the slag removal mechanism and is suitable for driving the slag removal mechanism to move perpendicularly to the slag removal surface of the grid so that the slag removal mechanism is in contact with or out of contact with the slag removal surface of the grid;

[0036] The transverse movement mechanism is connected to the slag removal mechanism, and is suitable for driving the slag removal mechanism to move parallel to the grid slag removal surface when the slag removal mechanism is out of contact with the grid slag removal surface.

[0037] According to an embodiment of the present application, the transverse movement mechanism includes a support plate and a first cylinder, the first cylinder is disposed on the support plate, and the slag removal mechanism is connected to the first cylinder;

[0038] The lifting mechanism includes a main lifting plate, a sub-lifting plate and a second cylinder, the fixed end of the second cylinder is connected to the main lifting plate, the movable end of the second cylinder is connected to the sub-lifting plate, the sub-lifting plate is slidably connected to the main lifting plate, and the main lifting plate is connected to the support plate.

[0039] According to one embodiment of the present application, the grid slag remover further comprises an eight-shaped guide member, the eight-shaped guide member is connected to the frame of the grid slag remover, and the flared opening of the eight-shaped guide member faces the grid slag removal surface;

[0040] The deslagging mechanism comprises a clamp adapted to reciprocate in a direction perpendicular to the deslagging surface of the grid.

[0041] According to one embodiment of the present application, the grid deslagging machine further includes a position sensor, and the position sensor is suitable for acquiring deslagging position information of the grid deslagging machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0043] Figure 1 A schematic flow chart of a method for controlling a slag removal path of a grid slag remover provided in an embodiment of the present application;

[0044] Figure 2 A schematic diagram of the structure of a grid deslagging machine provided in an embodiment of the present application.

[0045] in,

[0046] 1. Grille slag remover;

[0047] 11. Slag removal mechanism; 12. Traveling mechanism; 13. Lifting mechanism; 131. Main lifting plate; 132. Auxiliary lifting plate; 133. Second cylinder; 14. Transverse movement mechanism; 141. Support plate; 142. First cylinder; 15. Figure-eight guide. DETAILED DESCRIPTION

[0048] In order to more clearly illustrate the overall concept of the present application, a detailed description is given below in an illustrative manner in conjunction with the accompanying drawings.

[0049] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below. It should be noted that the embodiments of the present application and the features in each embodiment may be combined with each other without conflict.

[0050] In addition, in the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0051] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0052] In the present application, unless otherwise clearly specified and limited, a first feature "above" or "below" a second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples.

[0053] like Figure 1 As shown, the first aspect of the present application provides a method for controlling a slag removal path of a grid slag remover, comprising:

[0054] Step 100: Determine the path starting point position information and path ending point position information of each slag removal path of the grid slag removal machine 1 on the grid slag removal surface.

[0055] In step 100, the slag removal path is preset based on multiple parameters such as the distribution area and distribution density of the welding slag on the grid slag removal surface. There are usually multiple slag removal paths, which can be straight lines or curves.

[0056] Step 200, obtaining the slag removal position information of the grid slag removal machine 1 on the grid slag removal surface, comparing the slag removal position information with the path starting point position information and the path end point position information, and determining the position information comparison result.

[0057] In step 200, the slag removal position information refers to the position information of the grid slag removal machine 1 on the grid slag removal surface. The slag removal position information can be obtained continuously so as to grasp the operating status of the grid slag removal machine 1 in real time and perform corresponding control in time; it can also be obtained intermittently to reduce the amount of data collection and reduce the operating load of the control server. The position information comparison result usually includes the following aspects: whether the grid slag removal machine 1 is on the current slag removal path, whether it is at the starting position of the current slag removal path, and whether it is at the end position of the current slag removal path.

[0058] It should be noted that the slag removal position information can also be obtained manually. Of course, manual acquisition and intelligent acquisition can also be combined to improve the accuracy of the obtained slag removal position information.

[0059] Step 300: Based on the position information comparison result, control the operation of the grid deslagging machine 1 on the grid deslagging surface.

[0060] In step 300, controlling the operation of the grid deslagging machine 1 on the grid deslagging surface generally includes the following situations:

[0061] 1. If it is determined that the grid slag remover 1 is located at the starting position or is already in the slag removal path, the grid slag remover 1 is controlled to move along the current slag removal path until it reaches the end position;

[0062] Second, if it is determined that the grid slag remover 1 is located at the end position, it is necessary to control the grid slag remover 1 to stop the slag removal operation on the current slag removal path and move to the next slag removal path to perform the slag removal operation.

[0063] Of course, the grid slag remover 1 can also be controlled to pause midway, perform two-way reciprocating slag removal, decelerate operation, accelerate operation, etc.

[0064] According to the slag removal path control method of the grid slag remover provided in the embodiment of the first aspect of the present application, by controlling the grid slag remover 1 to perform slag removal operations along a preset slag removal path, the grid slag remover 1 is prevented from walking an invalid route, and the slag removal operation steps of the grid slag remover 1 are optimized. Specifically, the path starting point position information and the path ending point position information of each section of the slag removal path of the grid slag remover 1 on the grid slag removal surface are first determined. When the grid slag remover 1 performs slag removal operations on the grid slag removal surface, the slag removal position information of the grid slag remover 1 is obtained. By comparing the slag removal position information with the path starting point position information and the path ending point position information, the operating state of the grid slag remover 1 can be determined. For example, it can be determined whether the grid slag remover 1 is performing slag removal operations on the current slag removal path, whether it is located at the starting point position of the current slag removal path, or whether it is located at the end position of the current slag removal path. If it is determined that the grille slag remover 1 is at the starting position or is already in the slag removal path, the grille slag remover 1 is controlled to move along the current slag removal path until it reaches the end position. If it is determined that the grille slag remover 1 is at the end position, it is necessary to control the grille slag remover 1 to stop the slag removal operation on the current slag removal path and move to the next slag removal path to perform the slag removal operation. In the above operation process, each walking path of the grille slag remover 1 can perform the slag removal operation to avoid empty travel, thereby optimizing the operation steps of the grille slag remover 1 and reducing the operation control calculation amount of the grille slag remover 1, thereby improving the slag removal operation efficiency.

[0065] In some embodiments of the present application, the location information comparison result includes:

[0066] The slag removal position information matches the path end position information;

[0067] The steps of controlling the operation of the grid deslagging machine 1 on the grid deslagging surface include:

[0068] Control the slag removal mechanism 11 of the grid slag removal machine 1 to be out of contact with the grid slag removal surface;

[0069] Control the slag removal mechanism 11 to move parallel to the slag removal surface of the grid to above the starting position of the next slag removal path;

[0070] Maintain the body posture of the slag removal mechanism 11 unchanged, and control the slag removal mechanism 11 to contact with the slag removal surface of the grid;

[0071] The grid slag remover 1 is controlled to move along the current section of the slag removal path to the end position of the path.

[0072] Specifically, the slag removal mechanism 11 is an actuator for cleaning the welding slag on the grid slag removal surface. When the grid slag remover 1 runs to the end point of the current slag removal path, it needs to move to the next section of the slag removal path. During the switching of the slag removal path, the slag removal mechanism 11 is first controlled to be out of contact with the grid slag removal surface. This step can be achieved by lifting the slag removal mechanism 11; then the slag removal mechanism 11 is controlled to move parallel to the grid slag removal surface to above the starting position of the next section of the slag removal path. The movement of the slag removal mechanism 11 parallel to the grid slag removal surface can prevent the bottom of the slag removal mechanism 11 from colliding and interfering with the grid slag removal surface, thereby ensuring safe operation. During the translation process, in addition to automated translation, manual control can also be used, such as manually controlling the stroke of the cylinder, to thereby Control the translation distance of the slag removal mechanism 11; further, lower the slag removal mechanism 11 until the slag removal mechanism 11 falls on the grille slag removal surface. At this time, the slag removal mechanism 11 is located at the starting point of the new slag removal path. During the whole process, the body posture of the slag removal mechanism 11 remains unchanged, which means that the slag removal mechanism 11 does not perform rotation, tilt or other body posture adjustments during the process of transferring from the previous section of the slag removal path to the current new slag removal path, which saves steps, saves time, reduces the amount of control calculations, improves the slag removal path conversion efficiency, and thus improves the slag removal efficiency; finally, control the grille slag remover 1 to move along the current section of the slag removal path to the end position of the path to complete the slag removal operation of the current slag removal path.

[0073] In some embodiments of the present application, the deslagging path includes a boundary deslagging path;

[0074] The step of determining the path starting point position information and the path ending point position information of each slag removal path of the grid slag removal machine 1 on the grid slag removal surface comprises:

[0075] Obtain boundary information of the grille deslagging surface;

[0076] Based on the boundary information, the path starting point position information and the path ending point position information of the boundary slag removal path are determined.

[0077] The boundary slag removal path refers to the path of the slag removal area located at the outermost circle of the grid slag removal surface. Therefore, in the process of determining the boundary slag removal path, it is necessary to obtain the boundary information of the grid slag removal surface so that the grid slag removal machine 1 can operate more accurately in the boundary area of ​​the grid slag removal surface, avoid out-of-bounds operation resulting in a too long slag removal operation path, and avoid failure to operate within the boundary resulting in failure to remove the welding slag in the boundary area in time.

[0078] The boundary information can be defined not only from the perspective of the entire grid deslagging surface, but also from the boundary of a certain deslagging area in the grid deslagging surface. In some embodiments of the present application, the step of obtaining the boundary information of the grid deslagging surface includes:

[0079] Determine the overall area of ​​the grille slag removal surface based on the boundary information of the grille slag removal surface;

[0080] Divide the slag removal surface of the grid into several sub-slag removal areas;

[0081] Get the boundary information of each sub-de-slag area.

[0082] The above steps divide the entire grid slag removal surface into several sub-slag removal areas, and obtain the boundary information of each sub-slag removal area. Correspondingly, based on the boundary information of the sub-slag removal area, the boundary slag removal path corresponding to each sub-slag removal area is determined.

[0083] The deslagging surface of the grid is divided into blocks for deslagging. This small-scale operation method can take into account the grid deslagging machine with small-scale deslagging operation performance, ensure the deslagging effect, and avoid missing any area. The size of the sub-deslagging area can be the same or different, and can be set according to the deslagging operation requirements.

[0084] In some embodiments of the present application, the step of determining the path starting point position information and the path ending point position information of each slag removal path of the grid slag removal machine 1 on the grid slag removal surface includes:

[0085] Obtaining the grid bar distribution information on the grid;

[0086] Based on the grid bar distribution information, it is determined that the slag removal path is consistent with the direction of the grid bars.

[0087] The grid bars are usually woven horizontally and vertically on the grid, and welding slag usually remains directly on the grid bars or in the gap between two adjacent grid bars. Therefore, the extension route of the grid bars can be directly determined as the slag removal path, so that the grid slag remover 1 can remove slag on the grid bars more accurately, thereby improving the slag removal efficiency and effect.

[0088] like Figure 2 As shown, the second embodiment of the present application provides a grid slag remover 1, comprising:

[0089] The slag removal mechanism 11 and the processor implement the slag removal path control method of the grid slag remover in any embodiment of the first aspect when the processor executes the program.

[0090] The slag removal mechanism 11 is an actuator for cleaning welding slag on the slag removal surface of the grid. A slag cleaning tooth cutter is provided at the position where the slag removal mechanism 11 contacts the slag removal surface of the grid.

[0091] The grid slag remover 1 provided in the second aspect of the present application is operated according to the slag removal path control method in any of the embodiments of the first aspect, and can achieve high-efficiency slag removal operations.

[0092] like Figure 2As shown, in some embodiments of the present application, the grid slag remover 1 also includes a traveling mechanism 12, a lifting mechanism 13 and a transverse mechanism 14; the traveling mechanism 12 is connected to the slag removal mechanism 11, and is suitable for driving the slag removal mechanism 11 to move along a slag removal path on the grid slag removal surface; the lifting mechanism 13 is connected to the slag removal mechanism 11, and is suitable for driving the slag removal mechanism 11 to move perpendicular to the grid slag removal surface, so that the slag removal mechanism 11 is in contact with or out of contact with the grid slag removal surface; the transverse mechanism 14 is connected to the slag removal mechanism 11, and is suitable for driving the slag removal mechanism 11 to move parallel to the grid slag removal surface when the slag removal mechanism 11 is out of contact with the grid slag removal surface.

[0093] Specifically, the traveling mechanism 12 may include a crawler traveling unit and a traveling driving unit, and the slag removal mechanism 11 is arranged between the two crawler traveling units. The traveling driving unit is respectively connected to the two crawler traveling units, and the traveling driving unit drives the crawler traveling unit to drive the entire grid slag removal machine 1 to move. The lifting mechanism 13 and the lateral movement mechanism 14 are both linear driving mechanisms, which may be electric driving devices, pneumatic driving devices or hydraulic driving devices.

[0094] In the embodiment of the present application, the moving of the grid slag remover 1 along the slag removal path is achieved by the traveling mechanism 12. In the process of switching the slag removal path, the slag removal mechanism 11 is lifted by the lifting mechanism 13, and then the slag removal mechanism 11 is moved to above the starting position of the next section of the slag removal path by the transverse mechanism 14, and then the slag removal mechanism 11 is lowered to the grid slag removal surface by the lifting mechanism 13, so that the slag removal mechanism 11 reaches the starting position of the new slag removal path, completing the switching of the slag removal operation position. The whole process does not require the slag removal mechanism 11 to be turned, and therefore there is no need to set a steering mechanism, which optimizes the overall structure of the grid slag remover 1, reduces the amount of mechanism components, and contributes to the lightweight and low-cost development of the grid slag remover 1.

[0095] like Figure 2 As shown, in some embodiments of the present application, the transverse movement mechanism 14 includes a support plate 141 and a first cylinder 142, the first cylinder 142 is arranged on the support plate 141, and the slag removal mechanism 11 is connected to the first cylinder 142; the lifting mechanism 13 includes a main lifting plate 131, a secondary lifting plate 132 and a second cylinder 133, the fixed end of the second cylinder 133 is connected to the main lifting plate 131, the movable end of the second cylinder 133 is connected to the secondary lifting plate 132, the secondary lifting plate 132 is slidably connected to the main lifting plate 131, and the main lifting plate 131 is connected to the support plate 141.

[0096] When the grid slag remover 1 is in normal slag removal operation, the lifting mechanism 13 is in a suspended state, that is, the bottom of the lifting mechanism 13 is not in contact with the grid slag removal surface, and only the slag removal mechanism 11 is in contact with the grid slag removal surface. When the grid slag remover 1 needs to switch the slag removal path, the active end of the second cylinder 133 extends toward the grid slag removal surface to drive the auxiliary lifting plate 132 to slide toward the grid slag removal surface relative to the main lifting plate 131 until the auxiliary lifting plate 132 contacts and abuts the grid slag removal surface, and then the active end of the second cylinder 133 continues to extend. At this time, under the support of the auxiliary lifting plate 132, the transverse movement mechanism 14 and the slag removal mechanism 11 are both lifted, and the slag removal mechanism 11 is out of contact with the grid slag removal surface. When the slag removal mechanism 11 is lifted to the set height, the second cylinder 1 The movable end of 33 stops extending. At this time, the first cylinder 142 in the transverse movement mechanism 14 starts to drive the slag removal mechanism 11 to move parallel to the grid slag removal surface until the slag removal mechanism 11 is located above the starting point of the next section of the slag removal path. Then the movable end of the second cylinder 133 contracts, and the slag removal mechanism 11 drops to the grid slag removal surface. The movable end of the second cylinder 133 continues to contract, so that the bottom of the auxiliary lifting plate 132 returns to the initial suspended position. At this point, the slag removal path switching of the grid slag remover 1 is completed, and the traveling mechanism 12 starts to run, driving the grid slag remover 1 to perform slag removal operations.

[0097] The second cylinder 133 can be arranged on both sides of the body of the grille slag remover 1 to maintain the balance of the body. Furthermore, the second cylinder 133 can adopt an adjustable flow rate cylinder to achieve the rapid rise and slow fall of the slag removal mechanism 11. The first cylinder 142 can adopt an adjustable flow rate rodless cylinder to easily achieve the movement of the slag removal mechanism 11. Furthermore, the first cylinder 142 and the second cylinder 133 can be linked with the solenoid valve to realize the automation of pneumatic transmission. The solenoid valve can also be equipped with a muffler to greatly reduce noise pollution.

[0098] In some embodiments of the present application, the grille slag remover 1 further comprises an eight-shaped guide member 15, which is connected to the frame of the grille slag remover 1, and the flared opening of the eight-shaped guide member 15 faces the grille slag removal surface; the slag removal mechanism 11 comprises a clamp, which is suitable for reciprocating in a direction perpendicular to the grille slag removal surface. In the process of the grille slag remover 1 changing the slag removal operation position, the clamp is opened and clamped quickly and uninterruptedly, but not completely closed, and reciprocates in a direction perpendicular to the grille slag removal surface, and the movement stroke is between 4 mm and 24 mm. The eight-shaped guide 15 can rise and fall together with the slag removal mechanism 11. When the slag removal mechanism 11 falls to the grille slag removal surface, the flared opening of the eight-shaped guide 15 abuts against the grille bars, so that the grille bars fall into the flared opening, and the rough positioning of the grille slag remover 1 is achieved. After the rough positioning of the eight-shaped guide 15, the clamp performs a clamping action while falling. Because the clamp and the body of the slag removal mechanism 11 are rigidly connected, when the grille bars enter the clamp stroke, they will be clamped by the clamp and the body will not detach. Under the interaction of the force between the clamp and the grille bars, the posture of the grille slag remover is adjusted to achieve precise positioning of the grille slag remover 1. At the same time, during the slag removal operation, the contact and cooperation between the clamp and the grille bars will further correct the posture of the grille slag remover 1, so that the posture will be more accurate when the grille bars are replaced next time.

[0099] Furthermore, whether the precise positioning is correct can be determined by judging the change in the magnitude of the motor current. When the grid bars have not entered the clamp stroke, the clamp motor is idling and the motor current is small. When the grid bars enter the clamp stroke, they will be clamped by the clamp and the load current of the clamp motor is large. Therefore, whether the precise positioning is completed can be determined based on the above current changes.

[0100] In some embodiments of the present application, the traveling mechanism 12 is a reciprocating traveling mechanism, which can make the slag removal mechanism 11 reciprocate on the slag removal surface of the grid, thereby achieving multiple deep cleaning of welding slag and ensuring the slag removal effect.

[0101] In some embodiments of the present application, the grid slag remover 1 also includes a position sensor, which is suitable for obtaining slag removal position information of the grid slag remover 1. The position sensor can monitor the position of the grid slag remover 1 in real time, so that the grid slag remover 1 can perform slag removal operations more accurately and improve the slag removal efficiency. By monitoring the position of the grid slag remover 1 in real time, the position sensor can help avoid errors in the operation of the grid slag remover 1, such as deviation from a predetermined slag removal path. The position sensor can provide real-time position information of the grid slag remover 1, which can be used to optimize the operation path of the grid slag remover 1, thereby improving the slag removal efficiency. In addition, by providing real-time position information, the position sensor can help simplify the operation control of the grid slag remover 1 and reduce the difficulty of operation control.

[0102] Anything not described in this application can be achieved by adopting or drawing on existing technologies.

[0103] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0104] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for controlling a slag removal path of a grid slag remover, characterized in that: include: Determine the path starting point position information and path end point position information of each section of the slag removal path of the grid slag removal machine in the grid slag removal surface, the slag removal path includes a curved path, wherein the grid slag removal machine includes an eight-shaped guide member, the eight-shaped guide member is connected to the frame of the grid slag removal machine, the flared opening of the eight-shaped guide member faces the grid slag removal surface, the eight-shaped guide member and the slag removal mechanism of the grid slag removal machine rise and fall together, when the slag removal mechanism falls to the grid slag removal surface, the flared opening of the eight-shaped guide member abuts against the grid bars, so that the grid bars fall into the flared opening, and the grid is For the rough positioning of the slag remover, the clamp performs a clamping action while falling. The clamp and the body of the slag removal mechanism are rigidly connected. When the grid bars enter the clamp stroke, they will be clamped by the clamp and the body will not be separated. Under the interaction of the forces between the clamp and the grid bars, the position of the grid slag remover is adjusted to achieve the precise positioning of the grid slag remover. The correctness of the precise positioning is determined by judging the change in the magnitude of the motor current. When the grid bars do not enter the clamp stroke, the clamp motor idles, and the motor current is small at this time. When the grid bars enter the clamp stroke, they will be clamped by the clamp, and the load current of the clamp motor is large. Acquire the slag removal position information of the grid slag removal machine on the grid slag removal surface, compare the slag removal position information with the path starting point position information and the path end point position information, and determine the position information comparison result; Based on the position information comparison result, controlling the operation of the grid slag remover on the grid slag removal surface; Among them, during the process of the slag removing mechanism of the grid slag removing machine transferring from the previous slag removing path to the current new slag removing path, the body posture is not rotated or tilted. During the process of switching the slag removing path, the slag removing mechanism is lifted by the lifting mechanism, and then the slag removing mechanism is moved to above the starting position of the next slag removing path by the transverse movement mechanism, and then the slag removing mechanism is lowered to the grid slag removing surface by the lifting mechanism, so that the slag removing mechanism reaches the starting position of the new slag removing path, completing the switching of the slag removing operation position. During the whole process, there is no need to turn the slag removing mechanism or set a steering mechanism, so as to reduce the amount of mechanism components and realize the lightweight and low-cost of the grid slag removing machine.

2. The method for controlling the slag removal path of a grid slag remover according to claim 1, characterized in that: The location information comparison result includes: The slag removal position information matches the path endpoint position information; The step of controlling the operation of the grid deslagging machine on the grid deslagging surface comprises: Controlling the slag removal mechanism of the grid slag removal machine to be out of contact with the grid slag removal surface; Controlling the slag removal mechanism to move parallel to the slag removal surface of the grid to above the starting position of the next slag removal path; Maintaining the body posture of the slag removal mechanism unchanged, and controlling the slag removal mechanism to contact with the slag removal surface of the grid; The grid slag remover is controlled to move along the current section of the slag removal path to the path end position.

3. The method for controlling the slag removal path of a grid slag remover according to claim 1, characterized in that: The slag removal path includes a boundary slag removal path; The step of determining the path starting point position information and path ending point position information of each slag removal path of the grid slag removal machine on the grid slag removal surface includes: Obtaining boundary information of the grille slag removal surface; Based on the boundary information, the path starting point position information and the path ending point position information of the boundary slag removal path are determined.

4. The method for controlling the slag removal path of a grid slag remover according to claim 3, characterized in that: The step of obtaining the boundary information of the grid deslagging surface comprises: Determining the overall area of ​​the grid deslagging surface based on boundary information of the grid deslagging surface; Dividing the grid deslagging surface into a plurality of sub-deslagging areas; The boundary information of each of the deslagging sub-areas is obtained.

5. The method for controlling the slag removal path of a grid slag remover according to any one of claims 1 to 4, characterized in that: The step of determining the path starting point position information and path ending point position information of each slag removal path of the grid slag removal machine on the grid slag removal surface includes: Obtaining the grid bar distribution information on the grid; Based on the grid bar distribution information, it is determined that the slag removal path is consistent with the orientation of the grid bars.

6. A grille slag remover, characterized in that: include: A slag removal mechanism and a processor, wherein when the processor executes a program, the slag removal path control method of the grid slag remover according to any one of claims 1 to 5 is implemented.

7. The grid deslagging machine according to claim 6, characterized in that: The grille slag remover also includes a traveling mechanism, a lifting mechanism and a transverse movement mechanism; The traveling mechanism is connected to the slag removal mechanism and is suitable for driving the slag removal mechanism to travel along the slag removal path on the slag removal surface of the grid; The lifting mechanism is connected to the slag removal mechanism and is suitable for driving the slag removal mechanism to move perpendicularly to the slag removal surface of the grid so that the slag removal mechanism is in contact with or out of contact with the slag removal surface of the grid; The transverse movement mechanism is connected to the slag removal mechanism, and is suitable for driving the slag removal mechanism to move parallel to the grid slag removal surface when the slag removal mechanism is out of contact with the grid slag removal surface.

8. The grid deslagging machine according to claim 7, characterized in that: The transverse movement mechanism includes a support plate and a first cylinder, the first cylinder is arranged on the support plate, and the slag removal mechanism is connected to the first cylinder; The lifting mechanism includes a main lifting plate, a sub-lifting plate and a second cylinder, the fixed end of the second cylinder is connected to the main lifting plate, the movable end of the second cylinder is connected to the sub-lifting plate, the sub-lifting plate is slidably connected to the main lifting plate, and the main lifting plate is connected to the support plate.

9. The grid deslagging machine according to claim 7, characterized in that: The deslagging mechanism comprises a clamp adapted to reciprocate in a direction perpendicular to the deslagging surface of the grid.

10. The grid cleaner according to any one of claims 6 to 9, characterized in that: The grid deslagging machine further comprises a position sensor, and the position sensor is suitable for acquiring deslagging position information of the grid deslagging machine.

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