Automatic slag cleaning system and method for magnesium-zinc alloy smelting furnace

Abstract

The invention relates to the field of automatic equipment related to smelting, in particular to an automatic slag cleaning system and method for a magnesium-zinc alloy smelting furnace. The automatic slag material cleaning system for the magnesium-zinc alloy smelting furnace comprises a plurality of slag passing furnace mouth channels which are horizontally arranged, slag raking openings are formed in the ends of the slag passing furnace mouth channels, and slag passing openings are in butt joint with the tops of the slag passing furnace mouth channels so as to be used for bearing material slag; the acquisition device is used for acquiring position information and image information of the slag passing furnace mouth channel; the slag passing device comprises at least one movable slag passing gun, and the slag passing gun is configured to have three moving degrees of freedom and at least one planar rotational degree of freedom; the controller is electrically connected with the slag passing device and the collecting device and is configured as follows: a, according to the position information and the image information, the slag passing gun is controlled to gradually stretch into the slag removing opening so as to push the slag materials to be extruded and stacked into slag blocks; and b, controlling a motion execution mechanism to change the posture of the slag passing gun, and controlling the slag passing gun to move out of the slagging-off opening according to the image information so as to discharge slag blocks.

Description

Technical Field

[0001] The present application relates to the field of automation equipment related to smelting, and specifically to an automatic slag cleaning system and method for a magnesium-zinc alloy smelting furnace. Background Art

[0002] In the metallurgical and chemical industries, oxidation and reduction furnaces are often used for smelting, which belongs to the category of molten pool smelting. When the material is put into the furnace, it can complete the processes of heating, melting, oxidation, slag making, and matte making. Generally speaking, the charge is added to the smelting furnace, and the material is smelted in the molten pool; the material is smelted in the molten pool, and the target material and slag are discharged from the discharge port and slag discharge port respectively;

[0003] In particular, during the smelting process of magnesium-zinc alloy, aluminum slag produced includes oxide slag, flux slag, mixed slag, etc.; such as zinc oxide, magnesium oxide, fluoride, metal oxides, impurity elements (such as lead, cadmium, antimony, etc.) and some metal oxides, etc.; the existing technology currently relies on manual cleaning of slag, and aluminum slag particles of different sizes are easily accumulated in corners. The on-site environment is a high-dust and harmful environment, and it is extremely difficult to manually judge and clean it with the naked eye. Summary of the invention

[0004] In order to solve the technical problems that during the smelting process of magnesium-zinc alloy, there are many kinds of aluminum slag, including oxide slag, flux slag, mixed slag, etc., and the slag particles are uneven in size and easily accumulate in the corners of the smelting furnace, and the smelting site environment is harsh, high in dust and contains harmful substances, an automatic slag cleaning system and method for a magnesium-zinc alloy smelting furnace are provided.

[0005] In order to solve the above technical problems, the present invention provides an automatic slag cleaning system for a magnesium-zinc alloy smelting furnace, comprising: a plurality of slag furnace port passages, the slag furnace port passages are horizontally arranged and provided with slag removal openings at their ends, and the tops are butted with slag passage openings for carrying slag; a collecting device for collecting position information and image information of the slag furnace port passages; a slag removing device comprising at least one movable slag removing gun, the slag removing gun being configured with three degrees of freedom of movement and at least one degree of freedom of rotation in one plane; a controller electrically connected to the slag removing device and the collecting device, and configured to: a, control the slag removing gun to gradually extend from the slag removal opening according to the position information and the image information so as to push the slag to be squeezed and accumulated into slag blocks; b, control the motion actuator to change the posture of the slag removing gun, and control the slag removing gun to move out of the slag removal opening according to the image information so as to discharge the slag blocks.

[0006] In a further scheme of the present application, a plurality of slag-passing furnace mouth channels are arranged in m layers along the z direction, and the slag-passing furnace mouth channels in each layer are staggered; wherein, m≥2; the slag-passing device includes a mobile carrier and at least one motion actuator on the mobile carrier, and the mobile carrier is configured to be movable along the x direction; each motion actuator is independently connected to a slag-passing gun; each motion actuator includes a telescopic mechanism, a lifting mechanism and a pitch mechanism, the telescopic mechanism can be configured to enable the slag-passing gun to move along the y direction, the lifting mechanism is configured to enable the slag-passing gun to be lifted and lowered along the z direction, and the pitch mechanism is configured to enable the slag-passing gun to pitch and swing along the yz plane; wherein, the y direction is the axial direction of the slag-passing gun along the channel, the x direction is horizontally perpendicular to the y direction, and the z direction is the vertical direction.

[0007] In a further scheme of the present application, the telescopic mechanism includes a translation platform and a first driving unit, the translation platform is slidably connected to the mobile carrier, and the first driving unit can make the translation platform approach or move away from the slag furnace mouth channel so that the slag gun can be telescoped along the y direction relative to the slag furnace mouth channel; the lifting mechanism includes a lifting platform, a guide column and a second driving unit, the slag gun is connected to the lifting platform, the lifting platform and the translation platform are connected through the guide column, and the second driving unit can drive the lifting platform to rise and fall along the guide rail relative to the translation platform to adjust the height of the slag gun in the z direction; the pitch mechanism includes an articulated frame and a third driving unit, the articulated frame is fixedly connected to the lifting platform, the slag gun is hinged to the articulated frame, and the output end of the second driving unit is hinged to the slag gun and is telescopic to adjust the pitch posture of the slag gun in the yz plane.

[0008] In a further scheme of the present application, the slag gun includes an outer rod and an inner rod, the inner rod is embedded in the outer rod and is rotatably connected relative to the outer rod, and the end of the inner rod away from the outer rod is provided with an arc plate matching the slag furnace mouth channel; the motion actuator also includes a rotating mechanism, the rotating mechanism includes a pivot and a fourth drive unit, the inner rod is connected to the outer rod through the pivot, and the fourth drive unit can control the rotation of the inner rod relative to the outer rod; wherein the arc plate is semicircular matching the slag furnace mouth channel and is eccentrically arranged relative to the slag furnace mouth channel; when the arc plate rotates downward, there is a gap with the inner wall at the bottom of the slag furnace mouth channel, and when the arc plate rotates upward, it fits with the inner wall at the top of the slag furnace mouth channel, so that the slag blocks are accumulated in the gap and at the end of the slag furnace mouth channel.

[0009] In a further scheme of the present application, the collection device includes a radar and several image units, the radar is used to obtain the position information of the slag-passing furnace mouth channel; the number of image units matches the slag-passing device and is arranged on the guide column to collect image information of the slag-passing furnace mouth channel; the controller is independently connected to each slag-passing device to enable the slag-passing device to operate independently.

[0010] The second aspect of the present application also provides an automatic slag cleaning method for a smelting furnace, which is applied to the automatic cleaning system as mentioned above, including: S10, obtaining image information and position information of the slag furnace port channel; S20, according to the position information and image information, controlling the slag gun to gradually extend from the slag removal port to push the slag to be squeezed and accumulated into slag blocks; S30, changing the posture of the slag gun, and controlling the slag gun to move out of the slag removal port according to the image information to discharge the slag blocks.

[0011] In a further scheme of the present application, based on the position information and the image information, the slag gun is controlled to gradually extend from the slag removal port to push the slag to be squeezed and accumulated into slag blocks, including: S21, collecting the target channel for slag cleaning according to the image information, and determining the furnace mouth position coordinates of the target channel according to the position information; S22, driving the mobile carrier to move until the slag gun is aligned with the furnace mouth position coordinates in the x direction, stops moving and enters the operating state; S23, in the operating state, after determining the operating height of the slag gun according to the furnace mouth position coordinates, control the slag gun to extend horizontally from the slag removal port to push the slag.

[0012] In a further scheme of the present application, the target channel for slag cleaning is collected according to the image information, including: S211, identifying the edge contour of the slag furnace mouth channel in the image information through edge detection; S212, fitting a boundary circle based on the detected edge points, and using the boundary circle to segment the image of interest inside the furnace mouth; S213, binarizing the segmented image of the furnace mouth interior and performing pixel point statistics to obtain the pixel point ratio of the associated slag; S214, comparing the pixel point ratio with a preset threshold value. If the ratio exceeds the threshold value, the corresponding slag furnace mouth channel is judged to be the target channel.

[0013] In a further scheme of the present application, after the operating height of the slag gun is determined according to the position coordinates of the furnace mouth, the slag gun is controlled to extend horizontally from the slag removal port to push the slag, including: S31, when the slag gun is extended to a preset stroke, the slag gun is adjusted to adjust the pitch posture so that one end of the slag gun close to the slag passage of the furnace mouth is higher than the other end; S32, after the slag gun is controlled to continue to extend into the preset stroke, the pitch posture of the slag gun is adjusted again to make the slag gun horizontal, or the end of the slag gun close to the slag passage of the furnace mouth is adjusted to be lower than the other end; S33, the slag gun is controlled to move in a direction away from the slag passage of the furnace mouth to discharge the slag blocks from the slag removal port.

[0014] In a further scheme of the present application, the slag gun includes an outer rod and an inner rod, the inner rod is embedded in the outer rod and is rotatably connected relative to the outer rod, and the end of the inner rod facing away from the outer rod is provided with an arc plate matching the slag furnace mouth channel; the automatic slag cleaning method includes: S34, dividing the image of interest into a plurality of equally divided quadrants and performing pixel point statistics in the quadrants to determine whether there are slag blocks on the upper side of the inner wall of the slag furnace mouth channel; S35, when there are slag blocks on the upper side of the inner wall of the slag furnace mouth channel, controlling the inner rod to rotate the arc plate downward and extend it into the slag removal port again; S36, controlling the inner rod to rotate to place the arc plate corresponding to the upper side of the inner wall of the slag furnace mouth channel, and then moving out of the slag removal port to discharge the slag blocks on the upper side of the inner wall of the slag furnace mouth channel.

[0015] The present application provides an automatic slag cleaning system for a magnesium-zinc alloy smelting furnace, comprising a collection device, a slag passing device, a controller and a plurality of slag passing furnace mouth channels, wherein the slag passing furnace mouth channels are arranged horizontally and a slag removal port is arranged at the end thereof, and a slag passing port is butted at the top for carrying slag; the collection device is used to obtain position information and image information of the slag passing furnace mouth channels, the slag passing device comprises three degrees of freedom of movement and one degree of freedom of plane, based on the general concept of the present application, the controller is configured to: according to the position information and the image information, control the slag passing gun to gradually extend from the slag removal port to push the slag to be squeezed and accumulated into slag blocks; control the motion actuator to change the posture of the slag passing gun, and control the slag passing gun to move out of the slag removal port according to the image information to discharge the slag blocks, compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. The slag passing device can realize a large stroke design in terms of freedom of movement, which is suitable for the application environment of magnesium-zinc alloy smelting furnace.

[0017] 2. By replacing manual work with automated processing, the efficiency of slag handling is improved. At the same time, through precise program control, the slag gun can work according to the preset path and speed without being interfered by human factors, thus ensuring the continuity and stability of the processing process; thus solving the technical problems of traditional manual slag removal work, such as high labor intensity, poor working environment, and damage to workers' health.

[0018] 3. After the slag is squeezed and piled into slag blocks, the cleaning work becomes more efficient. The slag blocks have regular shapes and are easy to carry and store, which reduces the scattering and omission during the cleaning process. At the same time, the formation of slag blocks also reduces the dust and harmful gases generated during the cleaning process, improving the working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0020] Figure 1A schematic diagram of the structure of the automatic slag cleaning system provided in an embodiment of the present application;

[0021] Figure 2 A front view of the automatic slag cleaning system provided in an embodiment of the present application;

[0022] Figure 3 A schematic diagram of the structure of a slag-clearing device in an automatic slag-cleaning system provided in an embodiment of the present application;

[0023] Figure 4 A schematic diagram of the structure of the automatic slag cleaning system provided in an embodiment of the present application from another perspective;

[0024] Figure 5 A schematic diagram of the slag-clearing gun provided in an embodiment of the present application when initially extending into the slag-clearing furnace port channel;

[0025] Figure 6 A schematic diagram of the slag-clearing gun provided in an embodiment of the present application after being extended into the slag-clearing furnace port channel by a preset stroke;

[0026] Figure 7 A flow chart of the slag automatic method provided in an embodiment of the present application;

[0027] Figure 8 This is a flow chart of step S20 in the slag automatic method provided in an embodiment of the present application;

[0028] Fig. 9 This is a flow chart of step S21 in the slag automatic method provided in an embodiment of the present application;

[0029] Fig.10 This is a flow chart of step S30 in the slag automatic method provided in an embodiment of the present application;

[0030] Fig.11 A first node diagram for demonstrating step S30 provided in an embodiment of the present application;

[0031] Fig.12 A second node diagram for demonstrating step S30 provided in an embodiment of the present application;

[0032] Fig.13 This is a further flow chart of step S30 in the slag material automatic method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The terms "second direction", "first direction", "third direction", "inside", "outside" and the like that appear below to indicate orientation or positional relationships, unless otherwise specified, are to be understood as being based on the orientation 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.

[0034] In addition, if there is a feature defined as "first" or "second", it is only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Features defined as "first" or "second" may explicitly or implicitly include at least one of the defined features. If there is a description of "plurality", the general meaning is to include at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0035] In this application, unless otherwise clearly specified and limited, the terms such as "installed", "connected", "connected", "fixed" and so on should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection, it can be a direct connection, or it can be an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0036] In the description of this specification, if the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" appear, it 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 representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0037] See also Figures 1 to 4To clearly demonstrate the present solution, an embodiment of the present invention firstly provides an automatic slag cleaning system 100 for a magnesium-zinc alloy smelting furnace, comprising a plurality of slag-passing furnace opening channels 10, a collecting device 20, a slag-passing device 30 and a controller 40; the plurality of slag-passing furnace opening channels 10 are used to carry slag, and a slag-removing port 11 is provided at the end thereof; the collecting device 20 is used to collect position information and image information of the slag-passing furnace opening channels 10; the slag-removing device 30 comprises at least one movable slag-passing gun 31; specifically, the slag-passing furnace opening channels 10 are containers for collecting slag of the magnesium-zinc alloy smelting furnace, and each channel is provided with a slag-removing port 11 at its end, which is a through-hole design, allowing the slag-passing gun 31 to extend in or out for cleaning operations; the other end of the slag-passing furnace opening channels 10 away from the slag-removing port 11 is closed, and is used to squeeze and accumulate slag.

[0038] The acquisition device 20 acquires the position information and image information of the slag furnace port channel 10 in real time. The position information helps to determine the starting and ending positions of the slag gun 31, while the image information is used to identify the characteristics of the slag in each slag furnace port channel 10, such as distribution, shape and density. The slag gun 31 can move flexibly in the slag furnace port channel 10 according to the instructions of the controller 40 to complete the actions of squeezing, stacking and discharging the slag.

[0039] Based on the above general inventive concept, the controller 40 is electrically connected to the slag removal device 30 and the collection device 20, and is configured as follows:

[0040] a. According to the position information and image information, the slag gun is controlled to gradually extend from the slag removal port to push the slag to squeeze and accumulate into slag blocks;

[0041] b. Control the motion actuator to change the posture of the slag gun, and control the slag gun to move out of the slag removal port according to the image information to discharge the slag blocks.

[0042] It can be understood that the controller first obtains the precise position information of the slag furnace port passage 10 by reading the acquisition device 20 for positioning, and then captures the image information in the passage after positioning so as to analyze the characteristics of the slag.

[0043] The controller 40 controls the slag gun 31 to gradually extend from the slag removal port 11 into the channel according to the collected image information; when the slag gun 31 moves in the channel, it uses its front end to push the slag material, and cooperates with the slag furnace port channel 10 to squeeze and accumulate it into a larger slag block inside. This process helps to reduce the dispersion of the slag material and facilitates subsequent discharge. After the slag material is accumulated, the controller 40 adjusts the posture of the slag gun 31 and moves it back out of the slag removal port 11 to ensure that the slag block can be discharged smoothly from the slag removal port 11, and ensure that the slag block completely leaves the channel and falls into the designated collection area.

[0044] It is understandable that during the smelting process of magnesium-zinc alloy, due to the characteristics of the alloy composition and the control of the smelting process, the slag produced is often refined and has a certain degree of cohesiveness. This cohesiveness allows the slag to adhere to each other during the accumulation process to form larger slag blocks, which is beneficial to the subsequent cleaning work.

[0045] Based on the above, the embodiment of the present invention provides a slag furnace port channel 10 (preferably a cylindrical channel for easy stacking) as a collection container, and the slag can be stacked in an orderly manner inside the slag furnace port channel 10 through the push of the slag gun 31. This orderly stacking method enables the slag blocks to support each other during the formation process, avoiding looseness and instability caused by random stacking. At the same time, as the stacking amount increases, the interaction force between the slag blocks will gradually increase, further promoting the agglomeration and solidification of the slag blocks.

[0046] It should be noted that the automatic slag cleaning system 100 provided in the embodiment of the present invention is not only applicable to magnesium-zinc alloy smelting furnaces, but can be implemented in smelting processes with the above-mentioned slag characteristics. However, in some scenarios where the slag itself is agglomerated and brittle, this solution cannot be applied; for example, the slag generated during the molten iron smelting process is usually large and very brittle. Due to its high brittleness, the slag blocks are easily refined when subjected to external forces, so the method of directly removing the floating slag on the liquid surface is usually adopted for processing.

[0047] The automatic slag cleaning system 100 provided above improves the efficiency of slag processing by replacing manual work with automated processing. At the same time, through precise program control, the slag gun can work according to the preset path and speed without being interfered by human factors, thereby ensuring the continuity and stability of the processing process. This solves the technical problems of traditional manual slag removal work, such as high labor intensity, poor working environment, and damage to the health of workers. In addition, after the slag is squeezed and piled into slag blocks, the cleaning work becomes more efficient, the slag blocks are regular in shape, easy to carry and store, and the scattering and omission during the cleaning process are reduced. At the same time, the formation of slag blocks also reduces the dust and harmful gases generated during the cleaning process, improving the working environment.

[0048] Changing the posture of the slag gun as mentioned above can facilitate slag discharge; that is, after the slag is squeezed and accumulated in the smelting furnace, slag blocks of irregular shapes and sizes may be formed; these slag blocks are concentrated at the end of the slag furnace mouth channel 10 (that is, the end away from the slag removal port 11); by changing the posture of the slag gun, it is possible to more conveniently shovel the material from the end of the slag furnace mouth channel 10, so that the slag blocks can be discharged from the slag furnace mouth channel 10 more smoothly.

[0049] In a specific solution, a plurality of slag furnace opening passages 10 are arranged in m layers along the z direction, and the slag furnace opening passages 10 in each layer are arranged in a staggered manner; wherein m≥2.

[0050] The slag-passing furnace mouth channels 10 are arranged in m layers along the z direction, which can significantly improve the efficiency of the slag-passing operation, and multiple channels in the same layer can perform slag-passing operations at the same time. In addition, the staggered arrangement can prevent interference between upper and lower adjacent channels, avoid interference between slag removal and discharge, and also meet the requirements of the slag-passing furnace channel 10 falling into the slag-passing furnace mouth without mutual interference.

[0051] In the present application, the slag clearing device 30 includes a mobile carrier 32 and at least one motion actuator 33 on the mobile carrier 32, and each motion actuator 33 is connected to an independent slag clearing gun 31; the mobile carrier 32 is configured to enable the slag clearing gun 31 to move along the x direction; in a specific embodiment, the mobile carrier 32 is a controllable mobile cart on a preset x-direction track.

[0052] Furthermore, the motion actuator 33 includes a telescopic mechanism 331, a lifting mechanism 332 and a pitch mechanism 333. The telescopic mechanism 331 can be configured to enable the slag gun 31 to move along the y direction, that is, to control the slag gun 31 to extend into or move out of the slag furnace mouth channel 10; the lifting mechanism 332 is configured to enable the slag gun 31 to be lifted and lowered along the z direction, allowing the slag gun to be height-adjusted according to the specific position of the slag furnace mouth channel, ensuring that the slag gun can be accurately inserted into the channel to perform effective slag removal operations; the pitch mechanism 333 is configured to enable the slag gun 31 to pitch and swing along the yz plane; that is, the slag gun 332 can cooperate with the lifting and lowering movement to change the "posture" mentioned above.

[0053] Among them, the y direction is the axial direction of the slag passing gun 31 along the channel, the x direction and the y direction are horizontal and perpendicular, and the z direction is the vertical direction; the definitions of these directions are relative, only to clearly describe the movement direction and relative position relationship of each component in the slag passing device 30.

[0054] In a specific embodiment, the telescopic mechanism 331 includes a translation platform 3311 and a first driving unit 3312. The translation platform 3311 is slidably connected to the mobile carrier 32. The first driving unit 3312 can make the translation platform 3311 approach or move away from the slag furnace port passage 10, so that the slag gun 31 can be telescoped along the y direction relative to the slag furnace port passage 10.

[0055] The lifting mechanism 332 includes a lifting platform 3321, a guide column 3322 and a second driving unit 3323. The slag-clearing gun 31 is connected to the lifting platform 3321. The lifting platform 3321 and the translation platform 3311 are connected through the guide column 3322. The second driving unit 3323 can drive the lifting platform 3321 to rise and fall relative to the translation platform 3321 along the guide rail 3322 to change the height of the slag-clearing gun 10 in the z direction.

[0056] The pitch mechanism 333 includes an articulated frame 3331 and a third drive unit 3332. The articulated frame 3331 is fixedly connected to the lifting platform 3321. The slag gun 10 is hinged to the articulated frame 3331. One end of the second drive unit 3323 is hinged to the slag gun 10 and can be retracted to adjust the pitch posture of the slag gun 10 on the yz plane.

[0057] Through the coordinated work of the above mechanisms, the precise positioning and adjustment of the slag gun 31 in three-dimensional space is achieved. The telescopic mechanism 331 controls the telescopic distance of the slag gun 31 on the y-axis, the lifting mechanism 332 controls the height of the slag gun 31 on the z-axis, and the pitching mechanism 333 adjusts the pitching angle of the slag gun 31 on the yz plane.

[0058] Furthermore, the slag passing gun 31 includes an outer rod 311 and an inner rod 312, the inner rod 312 is embedded in the outer rod 311 and is rotatably connected relative to the outer rod 311, and the end of the inner rod 312 away from the outer rod 311 is provided with an arc plate 313 matching the slag passing furnace mouth channel 10; the motion actuator 33 also includes a rotating mechanism 334, the rotating mechanism 334 includes a pivot 3341 and a fourth drive unit 3342, the inner rod 312 can be connected to the outer rod 311 through the pivot 3341, and the fourth drive unit 3342 can control the rotation of the inner rod 312 relative to the outer rod 311; to sum up the above, the entire slag passing gun 31 has a total of three degrees of freedom and two rotational degrees of freedom.

[0059] Due to the limitations of existing multi-axis robotic arms, the present application specially designs the slag-passing device 30, which can achieve a large travel design in terms of freedom of movement through the motion actuator 33, especially a travel of 3m to 7m in the y direction.

[0060] In the present application, the arc plate 313 is a semicircle that matches the slag furnace mouth passage 10, so that it can adapt to the furnace mouth passage, and can be cleaner when pushing and removing slag.

[0061] Specifically, the rotation center of the arc plate 313 is eccentrically arranged relative to the axis of the slag furnace mouth channel 10, so that when the arc plate 313 rotates downward, there is a gap with the inner wall of the bottom of the slag furnace mouth channel 10 along the z direction. When the arc plate 313 rotates upward, it fits with the inner wall of the top of the slag furnace mouth channel 10, so that the slag blocks are accumulated in the gap and at the end of the slag furnace mouth channel 10.

[0062] To demonstrate the above more clearly, Figures 5 and 6As shown, according to the on-site process, the slag discharge port of the smelting furnace is connected to the slag port, and the slag discharge port is opened once regularly to drop the slag from the slag port into the inside of the slag furnace port channel; when the arc plate 313 rotates to face downward, the gap formed between the inner wall of the bottom of the slag furnace port channel 10 along the z direction provides an ideal space for the accumulation of slag. This design allows the slag to be pushed by the arc plate 313 and naturally accumulated into blocks during the process of the slag gun 31 extending and advancing along the y direction, and concentrated at the gap and the end of the slag furnace port channel 10. This accumulation method not only improves the concentration of slag, but also facilitates the subsequent discharge and cleaning of slag blocks. During the smelting process, slag may adhere to the inner wall of the slag furnace port channel 10, especially in the upper half of the circumference; when the arc plate 313 rotates to face upward, it can fit closely to the inner wall of the top of the channel, and help remove these attached slag by slight scraping through physical contact. This direct contact cleaning method is more effective than traditional flushing or blowing and ensures complete removal of slag.

[0063] In the present application, the collection device 20 includes a radar 21 and a plurality of image units 22, the radar 21 is used to obtain the position information of the slag furnace mouth channel 10; the number of image units 22 matches the slag passing device 30 and is arranged on the guide column 3322 to collect image information of the slag furnace mouth channel 10; the controller 40 is independently connected to each slag passing device 30 so that the slag passing device 30 can operate independently, that is, the operating efficiency on the mobile carrier 32 is improved.

[0064] In simple terms, the radar 21 can scan all the slag-passing furnace mouth channels 10 at one time to obtain the position information of the slag-passing furnace mouth channels 10, and then the mobile carrier 32 is moved to align the slag-passing furnace mouth channels 10 with the slag-passing furnace mouth channels 10, and then the corresponding image unit 22 is used to collect the internal image of the slag-passing furnace mouth channels 10; through the preliminary scanning of the radar 21, the system can quickly obtain the position information of the slag-passing furnace mouth channels 10, thereby guiding the mobile carrier 32 to quickly locate (mainly based on on-site environment considerations, through the radar scanning point cloud, it is not affected by light, dust, etc., and the accuracy of the position information obtained is higher), thereby improving the overall operation efficiency; once the slag-passing furnace mouth channel 31 is aligned with the furnace mouth channel, the corresponding image unit 22 starts to collect internal image information, which provides precise guidance for subsequent cleaning operations, ensuring that the slag-passing furnace mouth channel can determine the operation trajectory according to the calculated posture, and through the complementarity of the radar and the image unit, the cleaning efficiency and effect are further improved.

[0065] Through application verification, the back and forth stroke of the slag gun 31 is 2.7-2.8 meters, rounded to 3 meters for simplicity; a total of 6 meters back and forth (slag pushing and slag removal process). The first drive unit in the telescopic mechanism uses a servo motor with a power of 2Kw; a speed of 1000r / min; a reducer of 100:1; calculation shows: the mobile carrier selects a walking speed of V = 7.85m / min; then the minimum time required to complete the total slag cleaning stroke of a furnace mouth is 6 / 7.85 = 46S; the lifting mechanism 332 is only enabled at the upper furnace mouth, with a lift of 400mm and a lifting time of about 18S; the pitch mechanism and the slewing mechanism can be operated in parallel during movement, and there is no need to calculate the time separately. The slag gun 31 uses three synchronous operations, so under normal circumstances, 3 furnaces can be completed. The minimum time for cleaning one furnace mouth is only 64S, and the time for completing 6 furnace mouths is 128S + the travel time of the trolley (about 15S) = 143S. The existing technology requires four people to work together to complete the task, and the operation time for one furnace mouth is at least 3 to 5 minutes. After the automated operation is adopted, the dust is almost invisible to the naked eye in the on-site environment. It has been verified that the use of this automated slag cleaning system has significant advantages and effects compared with the traditional manual cleaning method. It not only greatly improves production efficiency and reduces labor costs, but also improves operation accuracy and stability, and enhances safety and reliability.

[0066] like Figure 7 In an embodiment of the present application, there is also provided a method for automatically cleaning slag for a smelting furnace, which is applied to the above automatic cleaning system. The method for automatically cleaning slag includes:

[0067] S10, obtaining image information and position information of the slag furnace opening passage;

[0068] S20, according to the position information and the image information, controlling the slag gun to gradually extend from the slag removal opening to push the slag to be squeezed and accumulated into slag blocks;

[0069] S30, changing the posture of the slag gun, and controlling the slag gun to move out of the slag removal port according to the image information to discharge the slag blocks.

[0070] In combination with the above, the position data of each slag furnace mouth channel is scanned by radar to ensure that the slag gun 31 can be accurately aimed at the furnace mouth channel; and the image unit 22 captures the image information in the furnace mouth channel, such as the distribution, shape, and area ratio of the slag in the slag furnace mouth channel, to provide a basis for subsequent control decisions.

[0071] Specifically, after receiving the automatic cleaning instruction, the system starts the collection device 20 and the slag-passing device 30. The radar 21 starts working first, and the field of view is pre-configured to scan all the slag-passing furnace port channels 10, and obtains the position information of the slag-passing furnace port channels 10; after calculating the distance that the slag-passing gun 31 needs to move, the mobile carrier 32 is controlled to start moving along the x-axis direction at a preset speed. After a certain period of time, the mobile carrier 32 stops moving, and the slag-passing gun 31 is aligned with the center of the furnace port channel 10.

[0072] In an optional method of the present application, the position information is obtained by scanning the point clouds of several slag furnace mouth channels 10 and performing RANSAC cylindrical fitting to find the central axis, thereby obtaining the position information of the slag furnace mouth channels 10, and moving the carrier 32 in sequence according to the position information to stop and align.

[0073] In response to the mobile carrier 32 stopping, the system determines whether slag cleaning is required based on the image information captured by the image unit 22; if slag cleaning is required, the height and movement posture of the slag gun 31 are adjusted to push the slag in the furnace to be squeezed and accumulated, and finally form slag blocks that are easy to discharge. After a preset stroke or through a mechanical feedback structure, it is determined whether the slag is currently accumulated into blocks, and the system then changes the posture of the slag gun 31 to discharge the slag blocks from the furnace mouth channel 10. This step is the pitch, rotation or lifting action of the above-mentioned slag gun 31, which depends on the position and shape of the slag blocks. By accurately controlling the posture and movement trajectory of the slag gun 31, the system can ensure that the slag blocks are smoothly pushed out of the furnace mouth channel and fall into the predetermined collection device.

[0074] like Figure 8 In an optional manner of S20, according to the position information and the image information, the slag gun is controlled to gradually extend from the slag removal port to push the slag to be squeezed and accumulated into slag blocks, including:

[0075] S21, collecting the target channel for slag cleaning according to the image information, and determining the furnace mouth position coordinates of the target channel according to the position information;

[0076] S22, driving the mobile carrier to move until it reaches the furnace mouth position coordinate, stops moving and enters the operating state;

[0077] S23. When in operation, after determining the operating height of the slag gun according to the furnace mouth position coordinates, control the slag gun to extend horizontally from the slag removal port to push the slag.

[0078] The target channel that needs slag cleaning is identified through graphic information; once the target channel is identified, the system combines the position information to calculate the furnace mouth position coordinates of the target channel, and the system controls the mobile carrier to gradually approach the target position, stop moving and enter the operating state: when the mobile carrier reaches the predetermined position, the system issues a command to stop moving and prepare to enter the slag cleaning operation state.

[0079] Since the slag furnace mouth channel 10 is arranged in multiple layers, the working height can be determined according to the furnace mouth position coordinates. For example, when the current slag gun is at the lower layer, and when the target channel is at the upper layer, the slag gun needs to be raised to ensure that the slag gun can be smoothly extended into the furnace and effectively push the slag.

[0080] After determining the working height, the system controls the slag gun to extend horizontally from the slag removal port into the furnace. During the extension process, the slag gun will gradually push the surrounding slag, causing it to be squeezed and accumulated into blocks.

[0081] like Fig. 9 In the embodiment of the present application, in S21, the target channel for slag removal is collected according to the image information, including:

[0082] S211, identifying the edge contour of the slag furnace opening passage in the image information by edge detection;

[0083] S212, fitting a boundary circle based on the detected edge points, and segmenting the image of interest inside the furnace outlet through the boundary circle;

[0084] S213, binarizing the segmented furnace mouth internal image and performing pixel count to obtain a pixel ratio of associated slag;

[0085] S214, comparing the pixel point ratio with a preset threshold value, if the ratio exceeds the threshold value, determining the corresponding slag furnace port channel as the target channel.

[0086] In a specific embodiment, the Canny edge detection algorithm is used to perform edge detection on the preprocessed image. The Canny algorithm can detect strong edges and weak edges in the image and connect them into a continuous edge contour.

[0087] For edge points detected by the edge, they are mapped to a curve in the parameter space through Hough transform; when multiple edge points are mapped to the same point in the parameter space, it means that there is a circular structure in the image; the circular parameters (center and radius) corresponding to the point with the most votes in the parameter space are extracted as the boundary circle of the furnace mouth channel, and a circular mask is drawn in the original image, which is then binarized, and the pixels below the threshold are set to black (or 0) to represent the background; the pixels above the threshold are set to white (or 1) to represent the slag, and the slag image within the circular mask is extracted as the region of interest (ROI).

[0088] Traverse the binarized ROI area, count the number of white pixels, and calculate the ratio of white pixels to the total number of pixels in the entire ROI area, that is, the slag pixel ratio; compare the slag pixel ratio with the preset threshold. If the ratio exceeds the threshold, the corresponding slag furnace mouth channel is judged to be the target channel and slag cleaning is required; if the ratio does not exceed the threshold, it is judged that the channel currently does not need slag cleaning or slag cleaning needs to be delayed.

[0089] like Figures 10 to 12 In the embodiment of the present application, after the operating height of the slag gun is determined according to the furnace mouth position coordinates in step S30, the slag gun is controlled to extend horizontally from the slag removal port into the slag pushing port, including:

[0090] S31, when the slag-passing gun is extended to a preset stroke and / or the force feedback reaches a preset force threshold, the slag-passing gun is adjusted to adjust the pitch posture so that one end of the slag-passing gun close to the slag-passing furnace port channel is higher than the other end;

[0091] S32, after controlling the slag lance to continue to extend into the preset stroke, the pitch posture of the slag lance is adjusted again, and one end of the slag lance close to the slag furnace port passage is adjusted to be lower than the other end;

[0092] S33, controlling the slag gun to move in a direction away from the slag passage of the furnace port to discharge the slag blocks from the slag removal port.

[0093] The slag gun is extended into the slag furnace mouth channel until it reaches a preset stroke (i.e., the tip of the slag gun reaches a predetermined depth) or when the force feedback system detects that the resistance to the slag gun reaches a preset force threshold (indicating that the slag gun has squeezed the slag block to a certain extent or the furnace wall at the end of the channel).

[0094] Once any of the above conditions is met, the system will adjust the pitch posture of the slag lance so that one end close to the slag furnace mouth channel is raised relative to the other end; this posture adjustment helps the slag lance to better cut into the slag block to remove more slag blocks.

[0095] After completing the first posture adjustment, the slag gun is controlled to continue to extend into the slag furnace mouth channel for a preset additional stroke, thereby allowing the slag gun to penetrate deeper into the slag blocks accumulated at the end; then, the pitch posture of the slag gun is adjusted again to lower one end close to the slag furnace mouth channel relative to the other end; this posture change helps the slag gun to more thoroughly remove the slag blocks.

[0096] After completing two posture adjustments and sufficient extension stroke, the system controls the slag gun to move in the direction away from the slag furnace mouth channel, and uses the friction and mechanical force between the slag gun and the slag blocks to pull the slag blocks out of the furnace and push them toward the slag removal port. As the slag gun moves, the slag blocks are gradually pulled out and accumulated near the slag removal port, and finally fall into the collection device from the slag removal port under gravity.

[0097] By optimizing the operation process of the slag gun, such as adjusting the pitch posture and accurately controlling the extension stroke, it can be ensured that the slag gun can more effectively contact and exert force on the slag blocks during operation, so as to discharge more slag blocks at one time. This greatly reduces the number of times the operation needs to be repeated and improves the efficiency of the entire slag removal process. In addition, the above-mentioned motion trajectory combined with the design of the curved plate can reduce the possibility of slag blocks missing from the edge during the discharge process, making the slag removal operation more thorough and reducing the amount of residual slag blocks retained in the slag furnace mouth channel.

[0098] like Fig.13 Furthermore, the slag automatic cleaning method also includes:

[0099] S34, dividing the image of interest into a plurality of equally divided quadrants and performing pixel count in the quadrants to determine whether there is slag on the upper side of the inner wall of the slag furnace port passage;

[0100] S35, when there is slag on the upper side of the inner wall of the slag removal furnace port channel, the inner rod is controlled to rotate the arc plate downward and extend it into the slag removal port again;

[0101] S36, controlling the inner rod to rotate so as to make the arc-shaped plate correspond to the upper side of the inner wall of the slag-passing furnace port passage, and then moving the slag removal port out to discharge the slag blocks on the upper side of the inner wall of the slag-passing furnace port passage.

[0102] The ROI is further subdivided into multiple equally divided quadrants, such as four quadrants, eight quadrants, etc.; the pixel points in each quadrant are counted, and the color, brightness and other characteristics of the pixel points are analyzed. An appropriate threshold is set, and the relationship between the pixel point characteristics and the threshold is compared to identify the possible slag block area; that is, when the pixel points in the upper quadrant exceed the threshold, it proves whether there is slag on the upper side of the inner wall of the slag furnace port channel.

[0103] The inner rod is controlled to rotate and adjust the angle of the arc plate to align it downward with the position of the slag block. At the same time, the inner rod is controlled to extend into the slag removal port again to avoid pushing the slag block on the upper side into the preset stroke again; the inner rod is controlled to rotate to move the arc plate to the upper side of the inner wall of the slag furnace passage, and move out of the slag removal port to discharge the slag block on the upper side of the inner wall of the slag furnace passage, so as to realize the automatic detection and removal of the slag block on the upper side of the inner wall of the slag furnace passage, and improve the production efficiency.

[0104] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0105] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited thereto. Within the technical concept of the present invention, the technical solution of the present invention can be subjected to a variety of simple modifications, including the combination of various specific technical features in any appropriate manner. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations. However, these simple modifications and combinations should also be regarded as the contents disclosed by the present invention and belong to the protection scope of the present invention.

[0106] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An automatic slag cleaning system for a magnesium-zinc alloy smelting furnace, characterized in that: include: A plurality of slag furnace opening passages, wherein the slag furnace opening passages are arranged horizontally and have slag removal openings at their ends and are butted against a slag passage opening at their tops for carrying slag; A collection device, used to collect position information and image information of the slag furnace opening passage; A slag-clearing device, comprising at least one movable slag-clearing gun, wherein the slag-clearing gun is configured to have three degrees of freedom of movement and at least one degree of freedom of rotation in one plane; A controller is electrically connected to the slag-passing device and the collecting device, and is configured to: a. According to the position information and the image information, the slag gun is controlled to gradually extend from the slag removal opening to push the slag to be squeezed and accumulated into slag blocks; b. Control the motion actuator to change the posture of the slag gun, and control the slag gun to move out of the slag removal port according to the image information to discharge the slag block.

2. The automatic cleaning system according to claim 1, characterized in that: The plurality of slag furnace opening passages are arranged in m layers along the z direction, and the slag furnace opening passages in each layer are arranged in a staggered manner; wherein m≥2; The slag clearing device comprises a mobile carrier and at least one motion actuator on the mobile carrier, wherein the mobile carrier is configured to be movable along the x direction; each of the motion actuators is independently connected to one of the slag clearing guns; Each of the motion execution mechanisms comprises a telescopic mechanism, a lifting mechanism and a pitching mechanism, wherein the telescopic mechanism can be configured to enable the slag-passing gun to move along the y direction, the lifting mechanism is configured to enable the slag-passing gun to rise and fall along the z direction, and the pitching mechanism is configured to enable the slag-passing gun to pitch and swing along the yz plane; The y direction is the axial direction of the slag gun along the channel, the x direction is horizontally perpendicular to the y direction, and the z direction is the vertical direction.

3. The automatic cleaning system according to claim 2, characterized in that: The telescopic mechanism comprises a translation platform and a first driving unit, wherein the translation platform is slidably connected to the mobile carrier, and the first driving unit can make the translation platform approach or move away from the slag furnace port passage, so that the slag passing gun can be telescoped along the y direction relative to the slag furnace port passage; The lifting mechanism comprises a lifting platform, a guide column and a second driving unit, the slag-clearing gun is connected to the lifting platform, the lifting platform and the translation platform are connected through the guide column, and the second driving unit can drive the lifting platform to rise and fall relative to the translation platform along the guide rail to adjust the height of the slag-clearing gun in the z direction; The pitch mechanism includes an articulated frame and a third driving unit, the articulated frame is fixedly connected to the lifting platform, the slag-passing gun is hinged to the articulated frame, and the output end of the second driving unit is hinged to the slag-passing gun and is retractable to adjust the pitch posture of the slag-passing gun in the yz plane.

4. The automatic cleaning system according to claim 3, characterized in that: The slag-passing gun comprises an outer rod and an inner rod, wherein the inner rod is inserted into the outer rod and is rotatably connected relative to the outer rod, and an arc-shaped plate matching the slag-passing furnace port channel is arranged at the end of the inner rod away from the outer rod; The motion execution mechanism further includes a rotation mechanism, the rotation mechanism includes a pivot and a fourth drive unit, the inner rod is connected to the outer rod through the pivot, and the fourth drive unit can control the inner rod to rotate relative to the outer rod; Wherein, the arc plate is semicircular and matches the slag furnace port channel and is eccentrically arranged relative to the slag furnace port channel; when the arc plate rotates downward, there is a gap between it and the inner wall at the bottom of the slag furnace port channel, and when the arc plate rotates upward, it fits with the inner wall at the top of the slag furnace port channel, so that the slag blocks are accumulated in the gap and at the end of the slag furnace port channel.

5. The automatic cleaning system according to claim 3, characterized in that: The acquisition device includes a radar and a plurality of image units, wherein the radar is used to obtain the position information of the slag furnace opening passage; the number of the image units matches the slag passing device and is arranged on the guide column to acquire the image information of the slag furnace opening passage; The controller is independently connected to each of the slag-passing devices so that the slag-passing devices can operate independently.

6. A method for automatically cleaning slag from a smelting furnace, characterized in that: The automatic cleaning system as claimed in any one of claims 1 to 5 above comprises: S10, obtaining image information and position information of the slag furnace opening passage; S20, according to the position information and the image information, controlling the slag gun to gradually extend from the slag removal opening to push the slag to be squeezed and accumulated into slag blocks; S30, changing the posture of the slag gun, and controlling the slag gun to move out of the slag removal port according to the image information to discharge the slag blocks.

7. The automatic slag cleaning method according to claim 6, characterized in that: According to the position information and the image information, controlling the slag gun to gradually extend from the slag removal port to push the slag to be squeezed and accumulated into slag blocks includes: S21, collecting the target channel for slag cleaning according to the image information, and determining the furnace mouth position coordinates of the target channel according to the position information; S22, driving the mobile carrier to move until the slag gun is aligned with the furnace mouth position coordinate in the x direction, and then stops moving and enters the operating state; S23, when in operation, after determining the operation height of the slag lance according to the furnace mouth position coordinates, control the slag lance to extend horizontally from the slag removal opening to push the slag.

8. The automatic slag cleaning method according to claim 7, characterized in that: The step of collecting the target channel for slag removal according to the image information includes: S211, identifying the edge contour of the slag furnace opening passage in the image information by edge detection; S212, fitting a boundary circle based on the detected edge points, and segmenting the image of interest inside the furnace outlet through the boundary circle; S213, binarizing the segmented furnace mouth internal image and performing pixel count to obtain a pixel ratio of associated slag; S214, comparing the pixel point ratio with a preset threshold value, if the ratio exceeds the threshold value, determining the corresponding slag furnace port channel as the target channel.

9. The automatic slag cleaning method according to claim 8, characterized in that: After determining the operating height of the slag gun according to the furnace mouth position coordinates, controlling the slag gun to extend horizontally from the slag removal opening to push the slag, comprises: S31, when the slag-passing gun is extended to a preset stroke, the slag-passing gun is adjusted to adjust the pitch posture so that one end of the slag-passing gun close to the slag-passing furnace port passage is higher than the other end; S32, controlling the slag lance to continue to extend into a preset stroke and then adjusting the pitch posture of the slag lance again to make the slag lance horizontal, or adjusting one end of the slag lance close to the slag furnace port passage to be lower than the other end; S33, controlling the slag gun to move in a direction away from the slag furnace port passage to discharge the slag blocks from the slag removal port.

10. The automatic slag cleaning method according to claim 9, characterized in that: The slag clearing gun comprises an outer rod and an inner rod, wherein the inner rod is inserted into the outer rod and is rotatably connected relative to the outer rod, and an arc plate matching the slag clearing furnace port channel is provided at the end of the inner rod away from the outer rod; the slag automatic cleaning method comprises: S34, dividing the image of interest into a plurality of equally divided quadrants and performing pixel count in the quadrants to determine whether there is a slag block on the upper side of the inner wall of the slag passage; S35, when there is slag on the upper side of the inner wall of the slag removal furnace port channel, controlling the inner rod to rotate the arc plate downward and extend it into the slag removal port again; S36, controlling the inner rod to rotate so as to make the arc-shaped plate correspond to the upper side of the inner wall of the slag-passing furnace port channel, and then moving out of the slag removal port to discharge the slag blocks on the upper side of the inner wall of the slag-passing furnace port channel.

Images