Automatic slag pouring device for unmanned slag slow cooling field and control method of automatic slag pouring device

Abstract

The invention relates to an automatic slag pouring device for an unmanned slag slow cooling field and a control method of the automatic slag pouring device. The slag pouring device comprises a rail transport vehicle, a tipping frame and a linear rail, the rail transport vehicle is provided with a first proximity switch used for detecting whether a slag pot reaches an initial position or not, the top of the rail transport vehicle is provided with a rotating platform, the rail transport vehicle can be arranged on the linear rail in a linear moving mode, and the tipping frame is arranged at the tail end of the linear rail. The tipping frame can move in the direction perpendicular to the linear track, a slag ladle supporting assembly is hinged to the tipping frame, a slide way notch used for supporting a slag ladle trunnion is formed in the slag ladle supporting assembly, a ladle knocking table is arranged on the side, facing a slag pit, of the tipping frame, and a laser radar and an electric control cabinet are arranged on one side of the linear track. The rail transport vehicle and the tipping frame are both within the detection range of the laser radar, a controller is arranged in the electrical control cabinet, and all the components are in signal connection with the controller. The device is specially used for deslagging and baling, and is matched with a slag pot transport vehicle for use.

Description

Technical Field

[0001] The present invention relates to the technical field of slag dumping equipment, and in particular to an automatic slag dumping device in an unmanned slag slow cooling field, and an automatic slag dumping control method in an unmanned slag slow cooling field using the device. Background Art

[0002] At present, in the unmanned application scheme of the slow cooling field of copper smelting slag, the existing tank holding truck is unmannedly modified to enable the tank holding truck to automatically transfer, turn over and pour slag bags. However, since the tank holding truck needs to use a tipping device to realize the actions of turning over, pouring slag and knocking the tank, and a leg device to realize the actions of forking and releasing the tank, the hydraulic system on the automatic tank holding truck needs to be used as different actuators, which not only makes the hydraulic system complicated and the automatic tank holding truck heavy, but also easily causes interference between the tipping device and the leg device or incorrect action interlocking, causing failures. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides an unmanned slag slow cooling field automatic slag unloading device which is specially used for slag unloading and bag breaking and is used in conjunction with a slag tank transport vehicle.

[0004] The present invention adopts the following technical solution:

[0005] The present invention provides an automatic slag unloading device for an unmanned slag slow cooling field, comprising a rail transport vehicle, a tilting frame and a linear track. The rail transport vehicle is provided with a first proximity switch, the first proximity switch is used to detect whether the slag pot has reached an initial position, a rotating platform for supporting the slag pot is provided on the top of the rail transport vehicle, the rail transport vehicle can be arranged on the linear track in a straight line, the tilting frame is arranged at the end of the linear track and is located at the edge of the slag pit, the tilting frame can move in a direction perpendicular to the linear track, a slag pot supporting component that can be deflected toward the slag pit is hingedly arranged on the tilting frame, a slideway recess for supporting the slag pot ear axis is provided on the slag pot supporting component, a knocking platform is provided on the tilting frame on the side facing the slag pit, a laser radar and an electrical control cabinet are provided on one side of the linear track, the rail transport vehicle and the tilting frame are both within the detection range of the laser radar, a controller is provided in the electrical control cabinet, the first proximity switch, the rotating platform, the rail transport vehicle, the tilting frame, the slag pot supporting component and the laser radar are all connected with the controller signal.

[0006] Preferably, a worm motor is provided on the rotating platform, and the worm motor is used to drive the table top of the rotating platform to rotate, and the worm motor is connected to the controller signal.

[0007] Preferably, a plurality of circular grooves are circumferentially spaced apart on the table surface of the rotating platform, and the plurality of circular grooves can be fitted and matched with the plurality of circular supporting feet at the bottom of the slag pot in a one-to-one correspondence.

[0008] Preferably, a centering motor is respectively provided on both sides of the tilting frame, and the centering motor can drive the tilting frame to move in the direction perpendicular to the linear track, and both centering motors are connected to the controller signal.

[0009] Preferably, the slag pot supporting assembly includes a slide plate and a tilting cylinder, the slide plate is provided with a slide recess for supporting the slag pot ear axis, one end of the tilting cylinder is hinged to a slide plate, the two slide plates are hingedly arranged on the tilting frame in parallel and at intervals, and the two slide plates are connected to each other, the two slide plates are also respectively hinged to the tilting frame through a tilting cylinder, and the two tilting cylinders are both connected to the controller signal.

[0010] Preferably, pressure sensors are respectively installed on the two tilting cylinders, and both pressure sensors are connected to the controller signals.

[0011] Preferably, the controller is signal-connected to the MES system or the smart slag yard management platform.

[0012] Preferably, a second proximity switch and a third proximity switch are provided on the tilting frame, the second proximity switch is used to detect whether the slag pot has reached the weight measuring position, and the third proximity switch is used to detect whether the slag pot has reached the bag knocking position, and the second proximity switch and the third proximity switch are both connected to the controller signal.

[0013] Preferably, an infrared temperature sensor is provided on both sides of the linear track close to the tilting frame, and the infrared temperature sensor is used to confirm the temperature of the slag pot. The infrared temperature sensor is connected to the controller signal.

[0014] The present invention also provides an automatic slag dumping control method for an unmanned slag slow cooling field, which uses a slag pot transport vehicle and any of the above-mentioned automatic slag dumping devices for an unmanned slag slow cooling field, and comprises the following steps:

[0015] S1: The slag pot transport vehicle transports the slag pot filled with slag and puts it onto the rotating platform of the rail transport vehicle. The controller controls the rotating platform to drive the slag pot to rotate, and monitors the characteristic points of the slag pot ear axis in real time through the laser radar. When the laser radar detects that the axis of the slag pot ear axis is parallel to the axis of the slideway notch of the slag pot supporting assembly on the tilting frame, the controller controls the rotating platform to stop rotating;

[0016] S2: The laser radar monitors the characteristic points of the slideway notch on the slag pot supporting assembly again, and the controller compares the characteristic points of the slag pot ear axis with the characteristic points of the slideway notch on the slag pot supporting assembly to obtain the centering movement amount of the tilting frame, and then the controller controls the tilting frame to move along the direction of the vertical linear track according to the centering movement amount until the slag pot supporting assembly is centered relative to the slag pot;

[0017] S3: The controller controls the rail transport vehicle to move along the linear track to the tipping frame and deliver the slag pot into the slideway recess of the slag pot supporting assembly. Then, the controller controls the slag pot supporting assembly to drive the slag pot to deflect toward the slag pit to complete the slag discharge. Then, the controller controls the slag pot supporting assembly to continue to deflect until it collides with the knocking platform, so as to pour out the remaining slag in the slag pot by knocking the bag.

[0018] S4: The controller controls the slag pot supporting assembly to drive the slag pot back to the rail transport vehicle, and then the rail transport vehicle moves the slag pot to the initial position. At this time, the controller receives the arrival signal of the first proximity switch to stop the rail transport vehicle, and then controls the rotating platform to drive the slag pot to rotate. The laser radar monitors the characteristic points of the slag pot ear axis in real time. When the laser radar detects that the slag pot ear axis rotates to the initial lowering position of the slag pot transport vehicle in step S1, the controller controls the rotating platform to stop rotating, and then the slag pot transport vehicle forks the slag pot and transports it away.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] When in use, the unmanned slag slow cooling field automatic slag unloading device of the present invention needs to cooperate with the slag pot transport vehicle. The slag pot is first transported by the slag pot transport vehicle and lowered onto the rail transport vehicle, and then the rail transport vehicle transports the slag pot to the tilting frame through the linear track, and then the controller controls the tilting frame to drive the slag pot to perform slag unloading and bag knocking. The unmanned slag slow cooling field automatic slag unloading device of the present invention no longer has the function of transporting the slag pot, but is dedicated to slag unloading and bag knocking, which makes the structure simpler and avoids the problems of action interference or incorrect action interlocking.

[0021] The unmanned slag slow cooling field automatic slag dumping control method of the present invention naturally has the above-mentioned beneficial effects due to the adoption of the above-mentioned unmanned slag slow cooling field automatic slag dumping device. At the same time, the control method can also achieve a more stable and less fault-prone slag dumping process with fully unmanned control. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the first working state of the automatic slag dumping device without human slag slow cooling field in an embodiment of the present invention.

[0023] Figure 2 It is a schematic diagram of the centering state of the automatic slag dumping device without human slag slow cooling field in an embodiment of the present invention.

[0024] Figure 3 It is a schematic diagram of the second working state of the automatic slag dumping device without human slag slow cooling field in an embodiment of the present invention.

[0025] Figure 4 It is a structural schematic diagram of a rail transport vehicle on an automatic slag dumping device without human slag slow cooling field in an embodiment of the present invention.

[0026] The reference numerals are described as follows:

[0027] 1. Rail transport vehicle 3. Linear track

[0028] 101. Rotating platform 4. First proximity switch

[0029] 102, worm motor 5, slag pot

[0030] 103, circular groove 501, circular support foot

[0031] 2. Tilt frame 6. Laser radar

[0032] 201, slideway notch 7, electrical control cabinet

[0033] 202, Knock-on platform 8, pressure sensor

[0034] 203, centering motor 9, second proximity switch

[0035] 204, slide plate 10, third proximity switch

[0036] 205, Tilt cylinder 11, Infrared temperature sensor DETAILED DESCRIPTION

[0037] The specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. These embodiments are only used to illustrate the present invention, but not to limit the present invention.

[0038] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0039] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] Furthermore, in the description of the present invention, unless otherwise specified, “plurality” means two or more.

[0041] See also Figure 1 and Figure 4 The present embodiment provides an automatic slag dumping device for an unmanned slag slow cooling field, comprising a rail transport vehicle 1, a tilting frame 2 and a linear track 3. The rail transport vehicle 1 is provided with a first proximity switch 4, which is used to detect whether the slag pot 5 has reached the initial position. The top of the rail transport vehicle 1 is provided with a rotating platform 101 for supporting the slag pot 5. The rail transport vehicle 1 can be arranged on the linear track 3 in a straight line, and the tilting frame 2 is arranged at the end of the linear track 3 and at the edge of the slag pit. The tilting frame 2 can move in a direction perpendicular to the linear track 3. The tilting frame 2 A slag pot supporting assembly capable of deflecting toward the slag pit is hingedly provided on the upper part, a slideway recess 201 for supporting the ear axis of the slag pot 5 is provided on the slag pot supporting assembly, a knocking platform 202 is provided on the side of the tilting frame 2 facing the slag pit, a laser radar 6 and an electrical control cabinet 7 are provided on one side of the linear track 3, the rail transport vehicle 1 and the tilting frame 2 are both within the detection range of the laser radar 6, a controller is provided in the electrical control cabinet 7, and the first proximity switch 4, the rotating platform 101, the rail transport vehicle 1, the tilting frame 2, the slag pot supporting assembly and the laser radar 6 are all connected to the controller signal.

[0042] See also Figure 1 and Figure 3 When in use, the automatic slag unloading device for the unmanned slag slow cooling field of this embodiment needs to cooperate with the slag pot transport vehicle. The slag pot 5 is first transported by the slag pot transport vehicle and lowered onto the rail transport vehicle 1, and then the rail transport vehicle 1 transports the slag pot 5 to the tilting frame 2 through the linear track 3, and then the controller controls the tilting frame 2 to drive the slag pot 5 to perform slag unloading and bag knocking. The automatic slag unloading device for the unmanned slag slow cooling field of the present invention no longer has the function of slag pot transportation, but is dedicated to slag unloading and bag knocking, which makes the structure simpler and avoids the problem of action interference or incorrect action interlocking.

[0043] It should be noted that see Figure 1 and Figure 2 The unmanned slag slow cooling field automatic slag dumping device of this embodiment can also monitor the characteristic points of the ear axis on the slag pot 5 and the characteristic points of the slideway recess 201 through the laser radar 6, and then the controller controls the rotation of the rotating platform 101 and the movement of the tilting frame 2 along the direction of the vertical linear track 3, and finally completes the centering of the slag pot supporting assembly relative to the slag pot 5 on the rail transport vehicle 1.

[0044] Preferably, see Figure 4A worm motor 102 is provided on the rotating platform 101. The worm motor 102 is used to drive the table of the rotating platform 101 to rotate. The worm motor 102 is connected to the controller signal. When the angle of the slag pot 5 on the rail transport vehicle 1 needs to be adjusted, the controller controls the worm motor 102 to start, and then the worm motor 102 drives the table of the rotating platform 101 to rotate, thereby completing the angle adjustment of the slag pot 5 on the table of the rotating platform 101.

[0045] Preferably, see Figure 1 and Figure 4 A plurality of circular grooves 103 are circumferentially spaced apart on the surface of the rotating platform 101, and the plurality of circular grooves 103 can be fitted one-to-one with the plurality of circular supporting feet 501 at the bottom of the slag pot 5 to prevent the slag pot 5 from rotating relative to the rotating platform 101, thereby ensuring that the rail transport vehicle 1 stably supports the slag pot 5.

[0046] Preferably, see Figure 1 and Figure 2 A centering motor 203 is provided on each side of the tilting frame 2. The centering motor 203 can drive the tilting frame 2 to move along the direction perpendicular to the linear track 3. Both centering motors 203 are connected to the controller signal. Under the control of the controller, the two centering motors 203 can enable the tilting frame 2 to achieve relatively accurate lateral movement, so that the center line of the slag pot supporting assembly is aligned with the center line of the slag pot 5, avoiding the risk of the slag pot falling due to the tilting frame 2 not accurately forking the bag from the rail transport vehicle 1.

[0047] Preferably, see Figure 1 The slag pot supporting assembly includes a slide plate 204 and a tilting cylinder 205. The slide plate 204 is provided with a slide recess 201 for supporting the slag pot ear axis. One end of the tilting cylinder 205 is hinged to a slide plate 204. The two slide plates 204 are hingedly arranged on the tilting frame 2 in parallel and at intervals, and the two slide plates 204 are connected to each other. The two slide plates 204 are also respectively hinged to the tilting frame 2 through a tilting cylinder 205, and the two tilting cylinders 205 are both connected to the controller signal.

[0048] When slag dumping or bag knocking operations are required, the controller controls the two tilting cylinders 205 to move synchronously, and the two slide plates 204 are lifted and deflected toward the slag pit under the action of the tilting cylinders 205, thereby driving the slag pot 5 to dump slag or knock bags.

[0049] Preferably, in this embodiment, the two slide plates 204 are further detachably connected with locking pins, and the locking pins can lock and limit the slag pot ear shafts in the slide recesses 201 of the two slide plates 204.

[0050] Preferably, see Figure 1The two tilting cylinders 205 are respectively equipped with pressure sensors 8, and both pressure sensors 8 are connected to the controller signal. The two pressure sensors 8 can monitor the pressure of the two tilting cylinders 205 to determine whether the tilting cylinders 205 have any faults and ensure the safety of the device.

[0051] Preferably, the controller is connected to the MES system or the smart slag yard management platform by signal to achieve real-time interaction and sharing of current status data.

[0052] It should be noted that see Figure 1 When the controller is connected to the smart slag yard management platform by signal, the pressure sensors 8 on the two tilting cylinders 205 can also weigh the slag pot 5 after the tilting frame 2 drives the slag pot 5 off the ground. The controller reads and records the value of the pressure sensor 8 on the tilting cylinder 205, and then calculates the weight of the slag pot through the pressure value through the calibrated program in the controller, and transmits it to the smart slag yard management platform after recording the weight of the slag pot, thereby calculating the cumulative slag dumping amount.

[0053] Preferably, in this embodiment, the controller is connected to the MES system or the smart slag yard management platform signal through a wired or wireless data interface.

[0054] Preferably, see Figure 1 A second proximity switch 9 and a third proximity switch 10 are provided on the tilting frame 2. The second proximity switch 9 is used to detect whether the slag pot 5 reaches the weight measuring position, and the third proximity switch 10 is used to detect whether the slag pot 5 reaches the bag knocking position. The second proximity switch 9 and the third proximity switch 10 are both connected to the controller signal.

[0055] See also Figure 1 After the tilting frame 2 completes the slag pouring of the slag pot 5, the controller controls the tilting frame 2 to fall back until the second proximity switch 9 detects that the slag pot 5 has reached the weight measuring position, the pressure sensor 8 measures the current weight of the slag pot, and the controller compares the current weight of the slag pot with the slag pot's own weight. If the current weight of the slag pot is significantly higher than the weight of the empty pot, it means that the slag pouring effect is poor. At this time, the automatic knocking function is triggered, and the controller controls the tilting frame 2 to drive the slag pot 5 to lift again until the third proximity switch 10 detects that the slag pot 5 has reached the knocking position. The tilting cylinder 205 temporarily unloads the force, so that the slag pot 5 continues to tip over by gravity and hits the knocking platform 202, completing the knocking action and pouring out the residue in the slag pot 5.

[0056] It should be noted that when the third proximity switch 10 detects that the slag pot 5 has reached the knocking position, the tilting cylinder 205 has not reached the maximum stroke, so that the slag pot 5 can be knocked only by its own weight by maintaining a safe distance, thereby avoiding excessive impact from knocking and causing damage to the slag pot 5 and the device body.

[0057] Preferably, see Figure 1and Figure 2 The linear track 3 is provided with an infrared temperature sensor 11 on both sides close to the tilting frame 2. The infrared temperature sensor 11 is used to confirm the temperature of the slag pot. The infrared temperature sensor 11 is connected to the controller signal.

[0058] The two infrared temperature sensors 11 can monitor the temperature of the entire slag pot, and the controller evaluates the slow cooling effect of the slag pot 5 to confirm whether the slag pot 5 is currently suitable for slag pouring.

[0059] Preferably, in this embodiment, the controller, CAN gateway and device gateway are all installed in the electrical control cabinet 7, the infrared temperature sensor 11 and the laser radar 6 are connected to the device gateway signal through the industrial computer platform, and perform signal conversion and signal transmission, and the controller and the device gateway are connected through the CAN gateway signal to perform signal conversion and signal transmission; in addition, the relevant status information of the device is wirelessly transmitted to the smart slag yard management platform by the device gateway through the 5G signal. Therefore, the unmanned slag slow cooling field automatic slag dumping device of this embodiment simultaneously accepts remote instructions from the smart slag yard management platform and local automatic slag dumping program instructions to perform related actions.

[0060] This embodiment also provides an automatic slag dumping control method for unmanned slag slow cooling field, which uses a slag tank transport vehicle and the above-mentioned automatic slag dumping device for unmanned slag slow cooling field, combined with Figures 1 to 4 , and includes the following steps:

[0061] S1: The slag pot transport vehicle transports the slag pot 5 loaded with slag and puts it onto the rotating platform 101 of the rail transport vehicle 1. The controller controls the rotating platform 101 to drive the slag pot 5 to rotate, and monitors the characteristic points of the slag pot ear axis in real time through the laser radar 6. When the laser radar 6 detects that the ear axis of the slag pot 5 is parallel to the axis of the slideway recess 201 of the slag pot supporting assembly on the tilting frame 2, the controller controls the rotating platform 101 to stop rotating;

[0062] S2: The laser radar 6 monitors the characteristic points of the slideway recess 201 on the slag pot supporting assembly, and the controller compares the characteristic points of the slag pot ear axis with the characteristic points of the slideway recess 201 on the slag pot supporting assembly to obtain the centering movement amount of the tipping frame 2, and then the controller controls the tipping frame 2 to move along the direction of the vertical linear track 3 according to the centering movement amount until the slag pot supporting assembly is centered relative to the slag pot 5;

[0063] S3: The controller controls the rail transport vehicle 1 to move along the linear track 3 to the tipping frame 2 and delivers the slag pot 5 into the slideway recess 201 of the slag pot supporting assembly. Then, the controller controls the slag pot supporting assembly to drive the slag pot 5 to deflect toward the slag pit to complete the slag discharge. Then, the controller controls the slag pot supporting assembly to continue to deflect until it collides with the knocking platform 202, so as to pour out the remaining slag in the slag pot 5 by knocking the bag.

[0064] S4: The controller controls the slag pot supporting assembly to drive the slag pot 5 back to the rail transport vehicle 1, and then the rail transport vehicle 1 moves the slag pot 5 to the initial position. At this time, the controller receives the arrival signal of the first proximity switch 4 to stop the rail transport vehicle 1 from moving, and then the controller controls the rotating platform 101 to drive the slag pot 5 to rotate, and the laser radar 6 monitors the characteristic points of the slag pot ear axis in real time. When the laser radar 6 detects that the slag pot ear axis rotates to the initial lowering position of the slag pot transport vehicle in step S1, the controller controls the rotating platform 101 to stop rotating, and then the slag pot transport vehicle forks up and transports the slag pot 5 away.

[0065] The unmanned slag slow cooling field automatic slag dumping control method of this embodiment naturally has the above-mentioned beneficial effects due to the adoption of the above-mentioned unmanned slag slow cooling field automatic slag dumping device. At the same time, the control method can also achieve a more stable and less fault-prone slag dumping process with fully unmanned control.

[0066] It should be noted that the correction of the slag pot posture in step S4 can facilitate the slag pot transport vehicle to successfully fork the slag pot 5 .

[0067] In addition, in a specific embodiment, in combination Figures 1 to 4 The above-mentioned automatic slag dumping control method without human slag slow cooling field comprises the following specific steps:

[0068] S1 is specifically as follows: the slag pot transport vehicle transports the slag pot 5 filled with slag and places it on the rotating platform 101 of the rail transport vehicle 1, the controller controls the worm motor 102 to drive the table of the rotating platform 101 to rotate, so as to adjust the angle of the slag pot 5, and monitors the characteristic points of the slag pot ear axis in real time according to the laser radar 6. When the laser radar 6 detects that the ear axis of the slag pot 5 is parallel to the axis of the slideway recess of the slag pot supporting assembly on the tilting frame 2, the controller controls the rotating platform 101 to stop rotating;

[0069] S2 is specifically as follows: the laser radar 6 monitors the characteristic points of the slideway recess 201 on the slag pot supporting assembly, and the controller compares the characteristic points of the slag pot ear axis with the characteristic points of the slideway recess 201 on the slag pot supporting assembly to obtain the centering movement amount of the tilting frame 2, and then the controller controls the centering motors 203 on both sides of the tilting frame 2 to start according to the centering movement amount, so that the tilting frame 2 moves along the direction of the vertical linear track 3 until the slag pot supporting assembly is centered relative to the slag pot 5;

[0070] S3 is specifically as follows: the controller controls the rail transport vehicle 1 to move along the linear rail 3 to the tipping frame 2 and sends the slag pot 5 into the slideway recess 201 of the slag pot supporting assembly, and inserts the locking pin to lock the slag pot 5. Then the controller controls the tilting cylinder 205 to move the slag pot supporting assembly to drive the slag pot 5 to deflect toward the slag pit to the detection position of the second proximity switch 9. The controller then calculates and records the weight of the slag pot according to the detection data of the pressure sensor 8. Then the tilting cylinder 205 continues to push the slag pot 5 to rotate to the maximum angle to complete the slag dumping. Then the controller controls the tilting cylinder 205 to retract the slag pot 5 to the detection position of the second proximity switch 9. The controller then compares the weight of the slag pot 5 at this time according to the detection data of the pressure sensor 8. The controller controls the tilting cylinder 205 to extend to the detection position of the third proximity switch 10, and temporarily unloads the tilting cylinder 205, so that the slag pot 5 continues to tip over by gravity and hits the knocking platform 202, completing the knocking action, pouring out the residue in the slag pot 5, and then retracts the slag pot 5 to the detection position of the second proximity switch 9 to measure the current weight of the slag pot 5 and evaluate the knocking effect. If the knocking effect is not good, continue to knock. After three cumulative evaluations of the knocking effect, if the knocking effect is still not good, the controller sends an error signal to the smart slag yard management platform to remind manual slag removal, and the slag pot 5 with good slag pouring effect or knocking effect executes step S4;

[0071] S4 is specifically as follows: the controller controls the slag pot supporting assembly to drive the slag pot 5 back to the rail transport vehicle 1, and then the rail transport vehicle 1 moves the slag pot 5 to the initial position. At this time, the controller receives the arrival signal of the first proximity switch 4 to stop the rail transport vehicle 1 from moving. Then the controller controls the rotating platform 101 through the worm motor 102 to drive the slag pot 5 to rotate, and the laser radar 6 monitors the characteristic points of the slag pot ear axis in real time. When the laser radar 6 detects that the slag pot ear axis rotates to the initial lowering position of the slag pot transport vehicle in step S1, the controller controls the rotating platform 101 to stop rotating, and then the slag pot transport vehicle forks up and transports the slag pot 5 away.

[0072] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. An automatic slag dumping device without human slag slow cooling field, characterized in that: The invention comprises a rail transport vehicle (1), a tilting frame (2) and a linear track (3), wherein the rail transport vehicle (1) is provided with a first proximity switch (4), the first proximity switch (4) is used to detect whether the slag pot (5) has reached the initial position, the top of the rail transport vehicle (1) is provided with a rotating platform (101) for supporting the slag pot (5), the rail transport vehicle (1) is arranged on the linear track (3) in a manner movable in a straight line, the tilting frame (2) is arranged at the end of the linear track (3) and is located at the edge of the slag pit, the tilting frame (2) is movable in a direction perpendicular to the linear track (3), and a hinged device (102) is provided on the tilting frame (2) which is capable of deviating toward the slag pit. A slag pot supporting assembly is provided on the slag pot supporting assembly, wherein a slideway recess (201) for supporting the slag pot ear axis is provided on the tilting frame (2), a knocking platform (202) is provided on the side facing the slag pit, a laser radar (6) and an electrical control cabinet (7) are provided on one side of the linear track (3), the rail transport vehicle (1) and the tilting frame (2) are both within the detection range of the laser radar (6), a controller is provided in the electrical control cabinet (7), and the first proximity switch (4), the rotating platform (101), the rail transport vehicle (1), the tilting frame (2), the slag pot supporting assembly and the laser radar (6) are all connected to the controller signal.

2. The automatic slag dumping device without human slag slow cooling field according to claim 1 is characterized in that: A worm motor (102) is provided on the rotating platform (101), and the worm motor (102) is used to drive the table surface of the rotating platform (101) to rotate. The worm motor (102) is connected to the controller signal.

3. The automatic slag dumping device without human slag slow cooling field according to claim 1 is characterized in that: A plurality of circular grooves (103) are arranged circumferentially spaced apart on the table surface of the rotating platform (101), and the plurality of circular grooves (103) can be fitted and matched one by one with a plurality of circular supporting feet (501) at the bottom of the slag pot (5).

4. The automatic slag dumping device without human slag slow cooling field according to claim 1 is characterized in that: A centering motor (203) is respectively arranged on both sides of the tilting frame (2), and the centering motor (203) can drive the tilting frame (2) to move in a direction perpendicular to the linear track (3), and both centering motors (203) are connected to the controller signal.

5. The automatic slag dumping device without human slag slow cooling field according to claim 1 is characterized in that: The slag pot supporting assembly comprises a slide plate (204) and a tilting cylinder (205); the slide plate (204) is provided with a slide recess (201) for supporting the slag pot ear axis; one end of the tilting cylinder (205) is hinged to one of the slide plates (204); two of the slide plates (204) are hingedly arranged on the tilting frame (2) in parallel and at intervals, and the two slide plates (204) are connected to each other; the two slide plates (204) are also respectively hinged to the tilting frame (2) through one of the tilting cylinders (205); and both of the tilting cylinders (205) are connected to the controller signal.

6. The automatic slag dumping device without human slag slow cooling field according to claim 5 is characterized in that: The two tilting cylinders (205) are respectively installed with pressure sensors (8), and the two pressure sensors (8) are both connected to the controller signal.

7. The automatic slag dumping device without human slag slow cooling field according to claim 6 is characterized in that: The controller is connected to the MES system or the smart slag yard management platform by signal.

8. The automatic slag dumping device without human slag slow cooling field according to claim 6 is characterized in that: The tilting frame (2) is provided with a second proximity switch (9) and a third proximity switch (10), wherein the second proximity switch (9) is used to detect whether the slag pot (5) has reached a weight measuring position, and the third proximity switch (10) is used to detect whether the slag pot (5) has reached a bag knocking position, and the second proximity switch (9) and the third proximity switch (10) are both connected to the controller signal.

9. The automatic slag dumping device without human slag slow cooling field according to claim 1 is characterized in that: The linear track (3) is provided with an infrared temperature sensor (11) on both sides close to the tilting frame (2), respectively. The infrared temperature sensor (11) is used to confirm the temperature of the slag pot. The infrared temperature sensor (11) is connected to the controller signal.

10. A method for controlling automatic slag dumping in an unmanned slag slow cooling field, characterized in that: A slag tank transport vehicle and an unmanned slag slow cooling field automatic slag dumping device as claimed in any one of claims 1 to 9 are used, and The following steps are involved: S1: The slag pot transport vehicle transports a slag pot (5) filled with slag material and places it onto the rotating platform (101) of the rail transport vehicle (1). The controller controls the rotating platform (101) to drive the slag pot (5) to rotate, and monitors the characteristic points of the slag pot ear axis in real time through the laser radar (6). When the laser radar (6) detects that the ear axis of the slag pot (5) is parallel to the axis of the slideway recess (201) of the slag pot supporting assembly on the tilting frame (2), the controller controls the rotating platform (101) to stop rotating; S2: The laser radar (6) monitors the characteristic points of the slideway recess (201) on the slag pot supporting assembly, and the controller compares the characteristic points of the slag pot ear axis with the characteristic points of the slideway recess (201) on the slag pot supporting assembly to obtain the centering movement amount of the tilting frame (2), and then the controller controls the tilting frame (2) to move in a direction perpendicular to the linear track (3) according to the centering movement amount until the slag pot supporting assembly is centered relative to the slag pot (5); S3: The controller controls the rail transport vehicle (1) to move along the linear track (3) to the tipping frame (2) and to deliver the slag pot (5) into the slideway recess (201) of the slag pot supporting assembly. The controller then controls the slag pot supporting assembly to drive the slag pot (5) to deflect toward the slag pit to complete the slag pouring. The controller then controls the slag pot supporting assembly to continue to deflect until it collides with the knocking platform (202) so as to pour out the remaining slag in the slag pot (5) by knocking the slag. S4: The controller controls the slag pot supporting assembly to drive the slag pot (5) to return to the rail transport vehicle (1), and then the rail transport vehicle (1) moves the slag pot (5) to the initial position. At this time, the controller receives the arrival signal of the first proximity switch (4) to stop the rail transport vehicle (1) from moving, and then the controller controls the rotating platform (101) to drive the slag pot (5) to rotate, and the laser radar (6) monitors the characteristic points of the slag pot ear axis in real time. When the laser radar (6) detects that the slag pot ear axis rotates to the initial lowering position of the slag pot transport vehicle in step S1, the controller controls the rotating platform (101) to stop rotating, and then the slag pot transport vehicle forks up and transports the slag pot (5) away.

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