Manipulator for steel slag treatment and steel slag treatment system and method based on image processing

Abstract

The invention relates to the technical field of environmental protection, in particular to a manipulator used for steel slag treatment and a steel slag treatment system and method based on image processing. The mechanical arm comprises a base, a first movement hand, a second movement hand and a movement control mechanism, wherein the first movement hand, the second movement hand and the movement control mechanism are arranged on the base. The first movement hand comprises a plurality of first fingers which are uniformly distributed, the second movement hand comprises a plurality of second fingers which are uniformly distributed, and the first fingers and the second fingers are oppositely arranged; the motion control mechanism controls the first motion hand and the second motion hand to move between a first state and a second state. A special mechanical arm structure is used for grabbing or screening granulated steel slag, waste steel with the large iron content is fished out, the waste steel is grabbed out in a closed space in cooperation with the image processing technology, and environment pollution is avoided while the waste steel is picked out.

Description

Technical Field

[0001] The present invention relates to the field of environmental protection technology, and in particular to a robot for steel slag treatment, and a steel slag treatment system and method based on image processing. Background Art

[0002] The steel slag discharged during the steelmaking process is extremely hot and fluid, and is highly dangerous, so special treatment is required to reduce the danger. After exploration, a set of treatment methods including spray cooling, granulation, and burial have been formed. After treatment, the molten steel slag becomes smaller solid blocks. Since the steel slag contains more iron in addition to impurities, these steel slags containing more iron are generally called high-iron steel slag, commonly known as scrap steel. If the scrap steel is buried directly with other impurities, it will cause a waste of resources. However, the temperature of the treated steel slag is still high and cannot be manually picked. In addition, there is a lot of dust in the steel slag. If it is manually picked in an open environment, the dust will spread into the air, which will cause air pollution.

[0003] To address the above problems, no effective solution has been proposed yet. Summary of the invention

[0004] The purpose of the present application is to provide a robot for steel slag processing, a steel slag processing system and method based on image processing, which can grab or screen and fish out scrap steel with a high iron content in the granulated steel slag through a special robot structure, and then cooperate with image processing technology to grab the scrap steel in a confined space, and avoid polluting the environment while selecting the scrap steel.

[0005] The present application provides a manipulator for slag processing, a base, a first moving hand, a second moving hand and a motion control mechanism arranged on the base;

[0006] The first moving hand comprises a first frame, a plurality of first fingers evenly arranged along the length direction of the first frame, and each of the first fingers is arranged below the first frame; the second moving hand comprises a second frame, a plurality of second fingers evenly arranged along the length direction of the second frame, and each of the second fingers is arranged below the second frame, and the first fingers are arranged opposite to the second fingers;

[0007] The motion control mechanism controls the first moving hand and the second moving hand to move between a first state and a second state, and the angle between the first base frame and the second base frame in the first state is greater than the angle between the first base frame and the second base frame in the second state.

[0008] Preferably, the base includes a fixed plate and a limit plate arranged at intervals; the fixed end of the first base frame and the fixed end of the second base frame are both hinged to the fixed plate, and the free end of the first base frame and the free end of the second base frame slide correspondingly on the limit plate through a sliding limit mechanism.

[0009] Preferably, the sliding limiting mechanism comprises a first sliding groove arranged along the length direction of the first base frame, and a second sliding groove arranged along the length direction of the second base frame, and the limiting plate is correspondingly penetrated through the first sliding groove and the second sliding groove.

[0010] Preferably, the motion control mechanism includes a threaded fixing seat fixed above the base, a spiral rod threadedly installed with the threaded fixing seat and with the lower end passing through the threaded fixing seat, a first bearing seat and a second bearing seat arranged at the bottom end of the spiral rod, the first bearing seat being connected to the first base frame through a first control rod, and the second bearing seat being connected to the second base frame through a second control rod; the angle between the first base frame and the second base frame changes with the change of the length of the lower end of the spiral rod passing through the threaded fixing seat.

[0011] Preferably, the base further comprises at least two side support plates connecting the fixing plate and the limiting plate, and both side support plates are connected with inclined support plates, and each inclined support plate supports the threaded fixing seat above.

[0012] Another aspect of the present invention further provides a steel slag processing system based on image processing, comprising the manipulator for steel slag processing as described in any one of the above items, and further comprising:

[0013] A suspension mechanism arranged in the unloading platform is used to drive the manipulator to move in the unloading platform;

[0014] A plurality of cameras arranged at different positions in the unloading platform are used to obtain real-time images in the unloading platform;

[0015] An image recognition processor, used to identify the scrap steel according to the real-time image and determine the location of the scrap steel;

[0016] A motion processor is used to plan the motion route of the manipulator according to the identified location of the scrap steel, and control the mechanical claw to move according to the motion route.

[0017] Preferably, the unloading platform has two layers, the first layer is used to accommodate scrap receiving vehicles, and the second layer platform is provided with a flip receiving hopper that can be flipped toward the first layer; the second layer platform is provided with a box cover, one side of the box cover is provided with a flip door, and the other side is provided with a scrap steel discharge port; the suspension mechanism is arranged on the upper part of the box cover, and the camera is fixed in the box cover.

[0018] Preferably, the suspension mechanism includes a longitudinal frame fixed to the top of the box cover, and a transverse frame slidably connected to the longitudinal frame, the transverse frame and the longitudinal frame are both arranged parallel to the second layer platform, and the manipulator is slidably connected to the longitudinal frame.

[0019] Another aspect of the present invention also provides a method for treating slag, comprising the following steps:

[0020] Use cameras to obtain real-time images at multiple locations in the unloading platform;

[0021] Using an image recognition processor, the scrap steel is identified based on the real-time images at multiple locations, and the location of the scrap steel is determined;

[0022] Using a motion processor, planning a motion route of the manipulator according to the identified location of the scrap steel, and controlling the mechanical claw to move along the motion route;

[0023] The robot is a robot for slag processing as described in any one of the above items.

[0024] Preferably, the method further comprises grabbing the scrap steel with the manipulator and moving the scrap steel to a designated position.

[0025] Compared with the prior art, the manipulator for slag processing, the slag processing system and method based on image processing provided by the present invention have the following beneficial effects:

[0026] The present invention provides a manipulator for slag processing, which comprises: a base, a first moving hand and a second moving hand arranged on the base, and a motion control mechanism; the first moving hand comprises a first base frame, a plurality of first fingers evenly arranged along the length direction of the first base frame, and each of the first fingers is arranged below the first base frame; the second moving hand comprises a second base frame, a plurality of second fingers evenly arranged along the length direction of the second base frame, and each of the second fingers is arranged below the second base frame, and the first finger and the second finger are arranged opposite to each other; the motion control mechanism controls the first moving hand and the second moving hand to move between a first state and a second state, and the angle between the first base frame and the second base frame when in the first state is greater than the angle between the first base frame and the second base frame when in the second state; the motion control mechanism controls the first moving hand and the second moving hand to move between the first state and the second state, and adjusts the distance between the free ends of the first moving hand and the second moving hand, thereby realizing the expansion or grasping of the two moving hands, and the scrap steel can be screened when the two moving hands are expanded, and the scrap steel can be scooped or grasped when the two moving hands are grasped. Moreover, the two moving arms are fully mechanical structures and can be used in high-temperature closed environments to prevent dust in the slag from floating in the air and causing air pollution.

[0027] The slag processing system based on image processing provided by the present invention adopts a manipulator for slag processing, a suspension mechanism arranged in the unloading platform, a plurality of cameras, an image processor, an image recognizer, and a motion planning processor arranged at different positions in the unloading platform; the scrap steel in the slag is identified by the camera, the image processor, the image recognizer, etc., and then the route is planned to move the manipulator to the scrap steel, grab or screen out the scrap steel and then grab the scrap steel block, and pick the scrap steel block out of the slag for subsequent reuse, thereby reducing consumption and effectively utilizing resources. Moreover, the present invention effectively realizes the identification of scrap steel and the stripping of scrap steel from the slag in a high temperature environment, without the need for manual operation in a high temperature environment, ensuring the feasibility and sustainability of scrap steel picking, while also being able to operate in a closed environment, effectively avoiding environmental pollution. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0029] Figure 1 It is a structural schematic diagram of a manipulator for slag processing provided by the present application (front view, first state);

[0030] Figure 2 It is a structural schematic diagram of a manipulator for slag processing provided by the present application (top view, first state);

[0031] Figure 3 It is a structural schematic diagram of a manipulator for slag processing provided by the present application (front view, second state);

[0032] Figure 4 It is a structural schematic diagram of a manipulator for slag processing provided by the present application (top view, second state);

[0033] Figure 5 It is a structural schematic diagram of the first moving hand and the second moving hand in the manipulator for slag processing provided by the present application (front view, first state);

[0034] Figure 6 It is a structural schematic diagram (cross-sectional view) of a steel slag processing system based on image processing provided by the present application;

[0035] Figure 7 It is a structural schematic diagram of the steel slag processing system based on image processing provided by the present application (a cross-sectional view, a schematic diagram when the flip door is opened and the flip receiving hopper is dumped);

[0036] Figure 8 It is a structural schematic diagram (electrical connection block diagram) of a steel slag processing system based on image processing provided by the present application;

[0037] Fig. 9 It is a process schematic diagram of the steel slag processing method based on image processing provided in this application. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0039] This application fully considers the changing form of high-iron content scrap steel liquid during the steel slag liquid treatment process, and designs the manipulator for steel slag treatment based on the characteristics that high-iron content scrap steel is easy to aggregate into blocks in the steel slag after cooling and granulation, and the volume of the formed scrap steel is usually larger than the volume of particles with more impurities. The manipulator can screen out scrap steel in the granulated steel slag through sieving, scooping and other actions, and can also grab scrap steel by adjusting the angle between the first moving hand and the second moving hand. The scrap steel selection is effectively realized, resource waste is avoided, and pollution emissions are reduced.

[0040] like Figures 1 to 5 As shown, in this embodiment, a manipulator for slag processing includes: a base, a first moving hand 2, a second moving hand 3 and a motion control mechanism arranged on the base;

[0041] The first moving hand 2 comprises a first base frame 21, and a plurality of first fingers 22 uniformly arranged along the length direction of the first base frame, each of the first fingers is arranged below the first base frame, the length direction of each of the first fingers is set at an angle with the first base frame, and each of the first fingers is bent toward the second moving hand; the second moving hand 3 comprises a second base frame 31, and a plurality of second fingers 32 uniformly arranged along the length direction of the second base frame, each of the second fingers is arranged below the second base frame, the length direction of each of the second fingers is set at an angle with the first base frame, and each of the second fingers is bent toward the first moving hand; the first finger and the second finger are arranged opposite to each other;

[0042] The motion control mechanism controls the first moving hand 2 and the second moving hand 3 to move between a first state and a second state, and the angle between the first base frame and the second base frame in the first state is greater than the angle between the first base frame and the second base frame in the second state.

[0043] In the present application, the first moving hand and the second moving hand open and close under the drive of the motion control mechanism, and scrap steel is scooped up in the process of opening and closing; at the same time, when the first moving hand and the second moving hand are in the open state, especially in the first state, other power mechanisms can be used to move the manipulator to screen scrap steel in the slag; and when the first moving hand and the second moving hand are relatively closed, especially in the second state, the scrap steel can be relatively fixedly grasped so as to transport the scrap steel to a designated location. Effective selection of scrap steel is achieved and waste of resources is avoided. The present application adopts a design in which two adjacent first fingers are spaced apart, and two adjacent second fingers are spaced apart. When scooping up scrap steel, ordinary slag with a smaller volume can leak out at the gap between them, ensuring that scrap steel can be scooped out and screened out, and that ordinary slag can be taken out as little as possible to reduce environmental pollution.

[0044] In order to ensure the strength of the first and second fingers, this embodiment adopts a design of an internal tungsten steel alloy core, an external alumina ceramic layer, and a carbon fiber outer layer of the alumina ceramic layer. The carbon fiber layer is resistant to high temperatures and provides a buffer for the alumina ceramic layer to prevent the steel slag from directly contacting the alumina ceramic layer and wearing the alumina ceramic layer. The tungsten steel alloy core has strong plasticity and is easier to form the required shape and be fixedly connected to the first and second base frames. The alumina ceramic layer increases the strength of the internal tungsten steel alloy core, and the carbon fiber layer solves the problem of poor brittleness of the alumina ceramic layer. The combination of the three materials ensures that the first and second fingers can be smoothly inserted into the steel slag, and can be smoothly fished, screened, and grabbed from the steel slag. Of course, the materials listed here are only the materials that can be selected for the first and second fingers, and their material structures are not limited. Those skilled in the art can select other materials or other structures as needed, and will not be elaborated here.

[0045] In the present application, the first finger and the second finger are arranged opposite to each other, and the first finger and the second finger are bent toward the second moving hand and the first moving hand respectively, so as to form a form in which the distance between the lower ends of the fingers is smaller than the distance between the ends of the base frame, so that when larger scrap steel is scooped or screened, the screened scrap steel is kept within the range of the fingers to prevent the scrap steel from sinking deeper into the slag due to factors such as its density being greater than that of ordinary slag and the smaller particles of the slag, resulting in the problem of time-consuming and low efficiency in scrap steel scooping, or even failure in scooping.

[0046] like Figures 1 to 5As shown, the base in this embodiment includes a fixed plate 11 and a limit plate 12 arranged at intervals; the fixed end of the first base frame 21 and the fixed end of the second base frame 31 are both hinged to the fixed plate, and the free end of the first base frame and the free end of the second base frame slide correspondingly on the limit plate through a sliding limit mechanism.

[0047] like Figures 1 to 5 As shown, in this embodiment, the fixed end of the first base frame 21 and the fixed end of the second base frame 31 are hinged to the fixed plate through a hinge shaft 111 fixed at the bottom end to the fixed plate; the first base frame and the second base frame can be opened and closed correspondingly around the hinge shaft. Of course, the opening and closing angles can be adjusted by those skilled in the art as needed, and will not be described in detail here. The corresponding opening and closing settings of the first base frame 21 and the second base frame 31 ensure the symmetry of the structure and the stability during grasping.

[0048] In order to ensure the smooth opening and closing of the first moving hand and the second moving hand and the controllability of the first moving hand and the second moving hand when opening and closing.

[0049] like Figures 1 to 5 As shown, in this embodiment, the sliding limit mechanism includes a first slide groove 211 arranged along the length direction of the first base frame 21, a second slide groove 311 arranged along the length direction of the second base frame 31, and the limit plate 12 is correspondingly penetrated with the first slide groove and the second slide groove. The left and right ends of the limit plate are respectively correspondingly penetrated with the first slide groove 211 and the second slide groove 311; when in the first state, the first slide groove and the second slide groove are respectively located at the two ends of the limit plate; when in the second state, the first slide groove and the second slide groove are located in the middle of the limit plate.

[0050] In order to ensure that the first moving hand and the second moving hand open and close smoothly and the degree of opening and closing is controllable.

[0051] like Figures 1 to 5 As shown, the motion control mechanism in this embodiment includes a threaded fixing seat 41 fixed above the base, a spiral rod 42 threadedly installed with the threaded fixing seat 41 and with the lower end passing through the threaded fixing seat, a first bearing seat 43 and a second bearing seat 44 arranged at the bottom end of the spiral rod, the first bearing seat 43 is connected to the first base frame 21 through a first control rod 431, and the second bearing seat 44 is connected to the second base frame 31 through a second control rod 441; the angle between the first base frame and the second base frame changes with the change of the length of the lower end of the spiral rod passing through the threaded fixing seat.

[0052] like Figures 1 to 5As shown, in this embodiment, a first hinge seat 432 is provided on the side of the first base frame opposite to the second base frame, the lower end of the first control rod is correspondingly connected to the first hinge seat, and the upper end of the first control rod is correspondingly connected to the first bearing seat; a second hinge seat 442 is provided on the side of the second base frame opposite to the first base frame, the lower end of the second control rod is correspondingly connected to the second hinge seat, and the upper end of the second control rod is correspondingly connected to the second bearing seat.

[0053] In this embodiment, the first control rod, the second control rod, and the connecting line between the connection point between the first control rod and the first base frame and the connection point between the second control rod and the second base frame form a triangle, and the first spiral rod is perpendicular to the plane where the first base frame and the second base frame are located. The triangle is formed to apply the triangle stability principle to maintain stable movement and grasping stability.

[0054] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the base in this embodiment also includes at least two side support plates 13 connecting the fixed plate 11 and the limit plate 12, and the two side support plates are connected to an inclined support plate 14, and each of the inclined support plates supports the threaded fixing seat 41 above. In this embodiment, in order to maintain the overall stability of the manipulator and adapt to the movement direction of the first moving hand and the second moving hand, the fixed plate and the limit plate are arranged in parallel, and the extension lines of the two side support plates intersect behind the fixed plate, and the fixed plate, the limit plate and the two side support plates are in an isosceles trapezoid. The stability of the trapezoid ensures the strength of the manipulator during the process of grabbing, scooping and screening.

[0055] like Figures 6 to 8 As shown, this embodiment also provides a slag processing system based on image processing, including the manipulator 8 for slag processing as described above, and also including:

[0056] A suspension mechanism 5 arranged in the unloading platform 7 is used to drive the manipulator to move in the unloading platform;

[0057] A plurality of cameras 6 arranged at different positions in the unloading platform, for acquiring real-time images in the unloading platform;

[0058] An image recognition processor, used to identify the scrap steel according to the real-time image and determine the location of the scrap steel;

[0059] The motion processor is used to plan the motion route of the manipulator according to the identified location of the scrap steel, and control the mechanical claw to move according to the motion route.

[0060] In the steel slag processing system based on image processing provided in this embodiment, the image recognition processor is further used to recognize the current position of the manipulator according to the real-time image;

[0061] It also includes a grabbing control processor, which is used to control the robot to scoop or grab the scrap steel according to the location of the scrap steel in the recognition result of the real-time image and the current position of the robot.

[0062] like Figure 6 , Figure 7 As shown, the steel slag processing system based on image processing provided in this embodiment, the unloading platform 7 is two-layered, the first layer is used to accommodate the scrap receiving vehicle, and the second layer platform is provided with a flip receiving hopper 721 that can be flipped toward the first layer. When the flip receiving hopper is flipped downward, the second layer platform is connected with the first layer, and the steel slag in the flip receiving hopper can be dumped into the scrap receiving vehicle; the second layer platform is provided with a box cover 71, one side of the box cover is provided with a flip door 711, and the other side is provided with a scrap steel discharge port; the suspension mechanism is arranged on the upper part of the box cover, and the camera is fixed in the box cover.

[0063] In order to ensure that the scrap steel grabbed by the manipulator can smoothly fall out of the scrap steel material outlet, an inner receiving plate 713 is provided at the scrap steel material outlet. At the same time, in order to reduce the speed of the scrap steel falling out and prevent the scrap steel from falling and generating dust, an outer receiving plate 714 with a smaller inclination than the inner receiving plate 713 is provided outside the box cover. In order to further ensure the replacement capacity of the outer receiving plate, the outer receiving plate is set to be arc-shaped. At the same time, in order to further reduce the impact force when the scrap steel slides out, a buffer chain plate 715 is hung at the scrap steel material outlet, and the buffer chain plate is formed by metal rings connected to each other.

[0064] In order to facilitate planning the movement route of the manipulator.

[0065] See also Figures 6 to 7 As shown, the flip door and the scrap steel discharge port in this embodiment are arranged on opposite sides of the box cover; in order for the manipulator to screen, scoop up the waste slag and dump all the waste slag after scooping up the scrap steel into the scrap receiving vehicle smoothly, a fixed receiving hopper 722 is also provided in the second-layer platform, and the flip receiving hopper can be matched with the fixed receiving hopper. After matching, the flip receiving hopper and the fixed receiving hopper are in a bowl shape, and the matching part of the flip receiving hopper and the fixed receiving hopper is located at the bottom of the bowl to ensure that the flip receiving hopper can be smoothly flipped down and the waste slag can be accurately poured into the scrap receiving vehicle. In this embodiment, a pull-out isolation plate 73 is provided between the second-layer platform and the first layer. When the isolation plate is pulled out, the flip receiving hopper flips downward under the action of gravity. When the isolation plate is inserted back, the flip receiving hopper is pushed from the bottom of the flip receiving hopper back to the fixed receiving hopper.

[0066] like Figure 6 , Figure 7 As shown, the fixed receiving hopper 722 in this embodiment is fixedly arranged on one side of the second-layer platform close to the flip door 711. When the waste slag of the scrap steel to be screened is dumped into the receiving hopper, the flip door is placed on the waste tank to block the dust and slag raised when the scrap steel is dumped from above. The waste slag of the scrap steel to be screened is poured into the fixed receiving hopper. After the waste slag in the fixed receiving hopper reaches a certain height, it flows to the flip receiving hopper to reduce the impact of the waste slag of the scrap steel to be screened on the flip receiving hopper and the impact force borne by the isolation plate, thereby ensuring the stability and service life of the system. The isolation plate 73 is inserted into the unloading platform from the socket 75 on the box cover wall on the side of the scrap steel discharge port of the box cover 71, and is matched with the plug-in socket 76 on the box cover wall on the side of the flip door. The upper part of the outer wall of the flip receiving hopper is hinged to the box cover, and the flip receiving hopper is located on the side of the box cover where the scrap steel discharge port is provided.

[0067] like Figure 6 , Figure 7 As shown, in this embodiment, the suspension mechanism 5 includes a longitudinal frame 51 fixed to the top of the box cover, and a transverse frame 52 slidably connected to the longitudinal frame, and the transverse frame and the longitudinal frame are both arranged parallel to the second layer platform, and the manipulator is slidably connected to the transverse frame. In this embodiment, the transverse frame 52 is moved on the longitudinal frame by a chain and a transverse frame motion motor (not shown in the figure), and the transverse frame motion motor and chain drive one frame to move along another frame. This is a prior art and will not be described in detail here. Of course, those skilled in the art can also use other structures to drive the transverse frame to move on the longitudinal frame, such as referring to the overhead crane transverse frame of DR, which will not be described in detail here.

[0068] like Figure 6 , Figure 7 As shown, in this embodiment, the horizontal frame is provided with a gear transmission structure 53 and a first motor (not shown in the figure) driving the gear, the first motor drives the gear transmission structure 53 to move on the horizontal frame, and a transmission gear set and a second motor 542 are fixed on the first mounting frame 531 of the gear transmission mechanism; the second motor is correspondingly meshed with a rack lifting rod 802 mounted on the second mounting frame 801 through the gear transmission set, and the manipulator is driven to rise and fall through the second motor 542. The manipulator 8 is mounted on the second mounting frame 801, and the rack lifting rod 802 is mounted on the second mounting frame.

[0069] like Figure 6 , Figure 7As shown, in this embodiment, a gripping control motor 803 is provided on the second mounting frame 801, and the gripping control motor 803 is engaged with the screw rod of the manipulator through a gear transmission mechanism, and the angle between the first moving hand and the second moving hand of the manipulator is driven by the gripping control motor.

[0070] like Figure 8 As shown, in this embodiment, each of the cameras is electrically connected to the image recognition processor, and the motion processor and the grasping control processor are electrically connected to the image recognition processor; the motion processor is electrically connected to the cross frame motion motor of the suspension mechanism and the first motor respectively; the second motor and the grasping control motor are electrically connected to the grasping control processor respectively.

[0071] like Fig. 9 As shown, this embodiment also provides a steel slag treatment method, comprising the following steps:

[0072] S1: Use a camera to obtain real-time images at multiple locations in the unloading platform;

[0073] S2: using an image recognition processor to identify scrap steel according to the real-time images at multiple locations, and determine the location of the scrap steel;

[0074] S3: using a motion processor to plan a motion route of the manipulator according to the identified location of the scrap steel;

[0075] S4: Using a motion processor to control the manipulator to move according to the planned motion route;

[0076] S5: During the movement, the manipulator is used to grab or seize the scrap steel and transport the scrap steel to a designated location.

[0077] In this embodiment, the manipulator is the manipulator for slag processing as described above. In step S2, the image recognition processor is also used to identify the current position of the manipulator according to the real-time image. In step S5, the grab control processor is used to control the manipulator to scoop or grab the scrap steel according to the position of the scrap steel in the recognition result of the real-time image and the current position of the manipulator.

[0078] In this embodiment, the camera is an infrared thermal imaging camera. In this embodiment, at least four cameras are respectively arranged on the top of the box cover, and the four cameras are respectively close to a side edge of the box cover.

[0079] In the steel slag treatment method provided in this embodiment, the designated position may be a designated position in the unloading platform for collecting scrap steel, or may be an outlet of the unloading platform connected to the outside, such as the scrap steel discharge port.

[0080] The devices or modules described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above devices are described in various modules according to their functions. When implementing this application, the functions of each module can be implemented in the same or multiple software and / or hardware. Of course, the module that implements a certain function can also be implemented by combining multiple sub-modules or sub-units.

[0081] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary hardware. Based on such an understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product or in the implementation process of data migration. All or part of the present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, mobile communication terminals, multi-processor systems, microprocessor-based systems, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and the like.

[0082] Although the present application has been described through embodiments, persons skilled in the art will appreciate that there are many modifications and variations of the present application without departing from the spirit of the present application. It is intended that the appended claims include these modifications and variations without departing from the spirit of the present application.

Claims

1. A manipulator for slag processing, characterized in that: include: A base, a first moving hand, a second moving hand and a moving control mechanism arranged on the base; The first moving hand comprises a first frame, a plurality of first fingers evenly arranged along the length direction of the first frame, and each of the first fingers is arranged below the first frame; the second moving hand comprises a second frame, a plurality of second fingers evenly arranged along the length direction of the second frame, and each of the second fingers is arranged below the second frame, and the first fingers are arranged opposite to the second fingers; The motion control mechanism controls the first moving hand and the second moving hand to move between a first state and a second state, and the angle between the first base frame and the second base frame in the first state is greater than the angle between the first base frame and the second base frame in the second state.

2. The manipulator for slag processing according to claim 1, characterized in that: The base includes a fixed plate and a limiting plate arranged at intervals; the fixed end of the first base frame and the fixed end of the second base frame are both hinged to the fixed plate, and the free end of the first base frame and the free end of the second base frame slide correspondingly on the limiting plate through a sliding limiting mechanism.

3. The manipulator for slag processing according to claim 2, characterized in that: The sliding limiting mechanism comprises a first sliding groove arranged along the length direction of the first base frame, and a second sliding groove arranged along the length direction of the second base frame. The limiting plate is correspondingly penetrated through the first sliding groove and the second sliding groove.

4. The manipulator for slag processing according to claim 3 is characterized in that: The motion control mechanism includes a threaded fixing seat fixed above the base, a spiral rod threadedly installed with the threaded fixing seat and with the lower end passing through the threaded fixing seat, a first bearing seat and a second bearing seat arranged at the bottom end of the spiral rod, the first bearing seat being connected to the first base frame through a first control rod, and the second bearing seat being connected to the second base frame through a second control rod; the angle between the first base frame and the second base frame changes with the change of the length of the lower end of the spiral rod passing through the threaded fixing seat.

5. The manipulator for slag processing according to claim 4, characterized in that: The base also includes at least two side support plates connected to the fixing plate and the limiting plate, and both side support plates are connected to an inclined support plate, and each of the inclined support plates supports the threaded fixing seat above.

6. A slag processing system based on image processing, characterized in that: The robot for slag processing according to any one of claims 1 to 5 further comprises: A suspension mechanism arranged in the unloading platform is used to drive the manipulator to move in the unloading platform; A plurality of cameras arranged at different positions in the unloading platform are used to obtain real-time images in the unloading platform; An image recognition processor, used to identify the scrap steel according to the real-time image and determine the location of the scrap steel; The motion processor is used to plan the motion route of the manipulator according to the identified location of the scrap steel, and control the mechanical claw to move according to the motion route.

7. The slag processing system based on image processing according to claim 6 is characterized in that: The unloading platform has two layers, the first layer is used to accommodate scrap trucks, and the second layer platform is provided with a flip receiving hopper that can be flipped toward the first layer; the second layer platform is provided with a box cover, one side of the box cover is provided with a flip door, and the other side is provided with a scrap steel discharge port; the suspension mechanism is arranged on the upper part of the box cover, and the camera is fixed in the box cover.

8. The slag processing system based on image processing technology according to claim 7 is characterized in that: The suspension mechanism comprises a longitudinal frame fixed to the top of the box cover, and a transverse frame slidably connected to the longitudinal frame. Both the transverse frame and the longitudinal frame are arranged parallel to the second layer platform, and the manipulator is slidably connected to the longitudinal frame.

9. A method for treating steel slag, characterized in that: The following steps are involved: Use cameras to obtain real-time images at multiple locations in the unloading platform; Using an image recognition processor, the scrap steel is identified based on the real-time images at multiple locations, and the location of the scrap steel is determined; Using a motion processor, planning a motion route of the manipulator according to the identified location of the scrap steel, and controlling the mechanical claw to move along the motion route; The robot is a robot for slag processing as claimed in any one of claims 1 to 5.

10. The steel slag treatment method according to claim 9, characterized in that: The method also includes using the manipulator to grab the scrap steel and move it to a designated position.

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