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

Abstract

The present invention relates to the field of environmental protection technology, and in particular to a manipulator for steel slag processing, a steel slag processing system and method based on image processing, used in steel slag processing. The manipulator includes a base, a first moving hand provided on the base, a second moving hand and a motion control mechanism; the first moving hand includes a plurality of evenly distributed first fingers, the second moving hand includes a plurality of evenly distributed second fingers, and the first fingers and the second fingers are arranged opposite to each other; the motion control mechanism controls the movement of the first moving hand and the second moving hand between a first state and a second state. Through a special manipulator structure, scrap steel with a high iron content is grabbed or sieved and fished out from the granulated steel slag, and then combined with image processing technology, the scrap steel is grabbed in a confined space, and the scrap steel is sorted out while avoiding environmental pollution.

Description

Technical Field

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

[0002] The slag discharged during the steelmaking process is extremely hot and fluid, posing a high risk. Therefore, special treatment is required to reduce this risk. Through trial and error, a treatment method has been developed, encompassing spray cooling, granulation, and landfilling. This treatment transforms the molten slag into smaller, solid lumps. Because slag contains a high concentration of iron in addition to impurities, this high-iron slag is generally referred to as high-iron slag, commonly known as scrap steel. Directly landfilling the scrap steel with other impurities would waste resources. However, the treated slag remains hot, making it difficult to manually sort it. Furthermore, the slag contains a high concentration of dust. Manual sorting in an open environment would cause the dust to spread into the air, contributing to air pollution.

[0003] To address the above issues, no effective solutions have been proposed so far. Summary of the Invention

[0004] The purpose of this application is to provide a robot for steel slag processing, a steel slag processing system and method based on image processing, which uses a special robot structure to grab or screen and fish out scrap steel with a high iron content in the granulated steel slag, and then cooperates with image processing technology to realize the grabbing of scrap steel in a confined space, sorting out the scrap steel while avoiding polluting the environment.

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

[0006] The first moving hand includes a first base frame, a plurality of first fingers evenly distributed along the length of the first base frame, and each of the first fingers is disposed below the first base frame; the second moving hand includes a second base frame, a plurality of second fingers evenly distributed along the length of the second base frame, and each of the second fingers is disposed below the second base frame, with the first fingers and the second fingers disposed opposite each other;

[0007] The motion control mechanism controls the first and second moving hands to move between a first state and a second state, and when in the first state, the angle between the first base and the second base is greater than the angle between the first base and the second base when 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 both slide accordingly on the limit plate through a sliding limit mechanism.

[0009] Preferably, the sliding limiting mechanism includes 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 into 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 its 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 through a first control rod, and the second bearing seat being connected to the second base through a second control rod; the angle between the first base and the second base 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 to an inclined support plate, 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] Multiple cameras are arranged at different positions in the unloading platform, for obtaining real-time images in the unloading platform;

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

[0016] A motion processor is used to plan the movement path of the manipulator according to the identified location of the scrap steel and control the manipulator to move along the movement path.

[0017] Preferably, 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 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 inside the box cover.

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

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

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

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

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

[0023] The manipulator is a manipulator 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 location.

[0025] Compared with the prior art, the robot 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 robot for slag processing, which includes: a base, a first moving hand, a second moving hand and a motion control mechanism. The first moving hand includes a first base frame, a plurality of first fingers evenly distributed along the length direction of the first base frame, and each first finger is arranged below the first base frame. The second moving hand includes a second base frame, a plurality of second fingers evenly distributed along the length direction of the second base frame, and each second finger 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. When in the first state, the angle between the first base frame and the second base frame 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, adjusts the distance between the free ends of the first moving hand and the second moving hand, and thereby realizes the expansion or grasping of the two moving hands. When the two moving hands are expanded, scrap steel can be screened, and when the two moving hands are grasped, scrap steel can be scooped or grasped. Moreover, the two moving arms are fully mechanical structures and can be used in high-temperature closed environments to prevent dust in the steel slag from floating in the air and causing air pollution.

[0027] The image processing-based slag processing system provided by the present invention adopts a manipulator for slag processing, a suspension mechanism arranged in a discharge platform, a plurality of cameras, an image processor, an image recognizer, and a motion planning processor arranged at different positions in the discharge platform; the scrap steel in the slag is identified by the camera, the image processor, the image recognizer, etc., and a route is planned to move the manipulator to the scrap steel, grab or screen out the scrap steel, and then grab the scrap steel blocks, and pick the scrap steel blocks from 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 separation of scrap steel from the slag in a relatively 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

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

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

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

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

[0033] Figure 5 This 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 This 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 This 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 of the flip door being opened and the flip hopper being dumped);

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

[0037] Figure 9 This is a process 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 the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0039] This application fully considers the changing form of high-iron scrap steel during the slag treatment process. Based on the fact that high-iron scrap steel tends to aggregate into lumps in cooled and granulated slag, and that the resulting scrap steel is generally larger in volume than particles containing more impurities, a robotic arm for slag treatment has been designed. This robotic arm can screen and scoop out scrap steel from the granulated slag, and can also grasp scrap steel by adjusting the angle between the first and second moving arms. This effectively achieves scrap steel sorting, avoids resource waste, and reduces pollution emissions.

[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 includes a first base frame 21, a plurality of first fingers 22 uniformly distributed along the length of the first base frame, each of the first fingers is disposed below the first base frame, the length direction of each first finger is angled with the first base frame, and each of the first fingers is bent toward the second moving hand; the second moving hand 3 includes a second base frame 31, a plurality of second fingers 32 uniformly distributed along the length of the second base frame, each of the second fingers is disposed below the second base frame, the length direction of each second finger is angled with the first base frame, and each of the second fingers is bent toward the first moving hand; the first fingers and the second fingers are disposed opposite 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 when in the first state, the angle between the first base and the second base is greater than the angle between the first base and the second base when 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 picked up during the opening and closing process; at the same time, when the first moving hand and the second moving hand are in the open state, especially when they are 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 when they are 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 picking up scrap steel, ordinary steel slag with a smaller volume can leak out at the gap between them, ensuring that the scrap steel can be picked up and screened, and that ordinary steel slag can be taken out as little as possible to reduce environmental pollution.

[0044] To ensure the strength of the first and second fingers, this embodiment adopts a design with an internal tungsten steel alloy core, an external alumina ceramic layer, and a carbon fiber outer layer. The carbon fiber layer is resistant to high temperatures and provides a buffer for the alumina ceramic layer, preventing direct contact between the steel slag and the alumina ceramic layer, which would wear the alumina ceramic layer. The tungsten steel alloy core has strong plasticity, making it easier to form the required shape and securely connect 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 these three materials ensures that the first and second fingers can be smoothly inserted into the steel slag and can be used to smoothly scoop, sieve, and grab scrap steel 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 structure is not limited. Those skilled in the art can select other materials or other structures as needed, and will not be elaborated on 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 both slide accordingly on the limit plate through a sliding limit mechanism.

[0047] like Figures 1 to 5 As shown, in this embodiment, the fixed ends of the first base frame 21 and the second base frame 31 are hinged to the fixed plate via hinge shafts 111, whose bottom ends are fixed to the fixed plate. The first and second base frames can open and close correspondingly around the hinge shafts. Of course, the opening and closing angles can be adjusted as needed by those skilled in the art, and this will not be discussed in detail here. The corresponding opening and closing arrangement of the first and second base frames 21, 31 ensures structural symmetry and stability during grasping.

[0048] In order to ensure that the first moving hand and the second moving hand open and close smoothly and the first moving hand and the second moving hand are controllable 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 of the first base frame 21, and a second slide groove 311 arranged along the length of the second base frame 31. The limit plate 12 is provided with a corresponding insertion of the first slide groove 211 and the second slide groove 311. The left and right ends of the limit plate are respectively inserted through 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 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 21 through a first control rod 431, and the second bearing seat 44 is connected to the second base 31 through a second control rod 441; the angle between the first base and the second base 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 lines connecting the connection points between the first control rod and the first base frame and the second control rod and the second base frame form a triangle. Furthermore, the first spiral rod is perpendicular to the plane of the first and second base frames. This triangle is formed to apply the principle of triangular stability, maintaining stable movement and gripping.

[0054] like Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown, the base in this embodiment further includes at least two side support plates 13 connecting the fixed plate 11 and the limiting plate 12. Each of the side support plates is connected to an inclined support plate 14, each supporting the threaded fixing seat 41 above. In this embodiment, to maintain the overall stability of the manipulator and accommodate the movement directions of the first and second moving arms, the fixed plate and the limiting plate are arranged parallel to each other, with the extended lines of the two side support plates intersecting behind the fixed plate. The fixed plate, the limiting plate, and the two side support plates form an isosceles trapezoid. The trapezoidal stability ensures the strength of the manipulator during processes such as grasping, scooping, and screening.

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

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

[0057] Multiple cameras 6 are provided at different positions in the unloading platform, for obtaining real-time images in the unloading platform;

[0058] An image recognition processor, configured to identify the scrap steel based on 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 manipulator to move according to the motion route.

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

[0061] The system further includes a grabbing control processor for controlling 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.

[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-layer, 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 to 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] To ensure that scrap metal grabbed by the robot can be smoothly ejected from the scrap metal outlet, an inner receiving plate 713 is installed at the scrap metal outlet. Furthermore, to reduce the speed of the scrap metal as it falls out and prevent dust from being generated by the falling scrap metal, an outer receiving plate 714, with a smaller inclination than the inner receiving plate 713, is installed on the outside of the box lid. To further ensure the outer receiving plate's ability to be replaced, it is designed to be curved. Furthermore, to further reduce the impact of the scrap metal sliding out, a buffer chain plate 715, composed of interconnected metal rings, is hung at the scrap metal outlet.

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

[0065] See also Figures 6 to 7 As shown, in this embodiment, the flip door and the scrap steel discharge port are arranged on opposite sides of the box cover; in order to allow the manipulator to screen, scoop up the waste slag, and smoothly dump the waste slag after scooping up the scrap steel into the scrap receiving vehicle, a fixed receiving hopper 722 is also provided in the second-layer platform. The flip receiving hopper can be matched with the fixed receiving hopper. After matching, the flip receiving hopper and the fixed receiving hopper are bowl-shaped. 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 downward 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, in this embodiment, the fixed receiving hopper 722 is fixedly set on the side of the second-level platform near 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 into 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 on 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 aligned with the plug-in card 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 with the scrap steel discharge port.

[0067] like Figure 6 、 Figure 7 As shown, in this embodiment, the suspension mechanism 5 includes a vertical frame 51 fixed to the top of the box cover, and a horizontal frame 52 slidably connected to the vertical frame. The horizontal frame and the vertical frame are both arranged parallel to the second-layer platform, and the manipulator is slidably connected to the horizontal frame. In this embodiment, the horizontal frame 52 is moved on the vertical frame by a chain and a horizontal frame motion motor (not shown in the figure). The horizontal 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 horizontal frame to move on the vertical frame, such as the overhead crane horizontal frame of the DR. This will not be described in detail here.

[0068] like Figure 6 、 Figure 7 As shown, in this embodiment, the horizontal frame is equipped with a gear transmission structure 53 and a first motor (not shown) that drives the gear. The first motor drives the gear transmission structure 53 to move on the horizontal frame. A transmission gear set and a second motor 542 are fixed to the first mounting frame 531 of the gear transmission mechanism. The second motor engages with a rack lift rod 802 mounted on a second mounting frame 801 through the gear transmission set, and drives the manipulator 8 to rise and fall through the second motor 542. The manipulator 8 is mounted on the second mounting frame 801, and the rack lift rod 802 is mounted on the second mounting frame.

[0069] like Figure 6 、 Figure 7As shown, in this embodiment, a control and grasping motor 803 is provided on the second mounting frame 801, and the control and grasping 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 control and grasping 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 and the first motor of the suspension mechanism respectively; the second motor and the grasping control motor are electrically connected to the grasping control processor respectively.

[0071] like Figure 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 based on the real-time images at multiple locations and determine the locations of the scrap steel;

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

[0075] S4: Using a motion processor, controlling the manipulator to move according to the planned motion path;

[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 robot arm is the one used for slag handling as described above. In step S2, the image recognition processor also identifies the current position of the robot arm based on the real-time image. In step S5, the gripping control processor controls the robot arm to scoop or grip the scrap steel based on the scrap steel position identified in the real-time image and the current position of the robot arm.

[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 one side of the box cover.

[0079] In the steel slag processing method provided in this embodiment, the designated location can be a designated location in the unloading platform for collecting scrap steel, or it can 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 physical devices, or by products with certain functions. For ease of description, the above devices are described separately by function and are divided into various modules. When implementing this application, the functions of each module can be implemented in the same or multiple software and / or hardware. Of course, a module that implements a certain function can also be implemented by combining multiple sub-modules or sub-units.

[0081] Through the description of the above implementation methods, it can be known 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 this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, or can be embodied through 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 devices 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, etc.

[0082] Although the present application has been described with reference to the embodiments, those skilled in the art will appreciate that there are many modifications and variations to 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 steel slag processing system based on image processing, characterized in that: Including manipulator for slag handling, also includes: A suspension mechanism arranged in the unloading platform is used to drive the manipulator to move in the unloading platform; Multiple cameras are arranged at different positions in the unloading platform, for obtaining real-time images in the unloading platform; An image recognition processor, configured to identify the scrap steel based on the real-time image and determine the location of the scrap steel; A motion processor, configured to plan a motion route of the manipulator according to the identified location of the scrap steel, and control the manipulator to move along the motion route; The unloading platform has two layers, the first layer is used to accommodate the scrap truck, and the second layer platform is provided with a flip hopper that can be flipped toward the first layer. When the flip hopper is flipped downward, the steel slag in the flip hopper can be dumped into the scrap truck; A fixed material receiving hopper is also provided in the second-layer platform, and the flip material receiving hopper can be matched with the fixed material receiving hopper. After matching, the flip material receiving hopper and the fixed material receiving hopper are bowl-shaped, and the matching part of the flip material receiving hopper and the fixed material receiving hopper is located at the bottom of the bowl; a pull-out isolation plate is provided between the second-layer platform and the first layer, and when the isolation plate is pulled out, the flip material receiving hopper flips downward under the action of gravity, and when the isolation plate is inserted back, the flip material receiving hopper is pushed from the bottom of the flip material receiving hopper to return to the matching part with the fixed material receiving hopper; A scrap steel discharge port is provided on one side of the box cover of the second platform, an inner receiving plate is provided at the scrap steel discharge port, and an outer receiving plate with a smaller inclination than the inner receiving plate is provided outside the box cover; The robot for slag processing includes: a base, a first moving hand arranged on the base, a second moving hand and a motion control mechanism; the first moving hand includes a first base frame, a plurality of first fingers uniformly distributed along the length direction of the first base frame, and each of the first fingers is arranged below the first base frame; the length direction of each first finger is set at an angle to the first base frame, and each of the first fingers is bent toward the second moving hand; the second moving hand includes a second base frame, a plurality of second fingers uniformly distributed along the length direction of the second base frame, each of the second fingers is set below the second base frame, the length direction of each second finger is set at an angle to the second base frame, and each of the second fingers is bent toward the first moving hand Bending; the first finger and the second finger are arranged opposite to each other; two adjacent first fingers are arranged at intervals, and two adjacent second fingers are arranged at intervals; 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 when in the first state, the angle between the first base and the second base is greater than the angle between the first base and the second base when in the second state; wherein, the base includes a fixed plate and a limit plate arranged at intervals; the fixed end of the first base and the fixed end of the second base are both hinged to the fixed plate, and the free end of the first base and the free end of the second base both slide accordingly on the limit plate through a sliding limit mechanism.

2. The steel slag processing system based on image processing according to claim 1, characterized in that: A flip door is provided on the other side of the box cover; the suspension mechanism is arranged on the upper part of the box cover, and the camera is fixed inside the box cover.

3. The slag processing system based on image processing technology according to claim 2, characterized in that: The suspension mechanism includes a vertical frame fixed to the top of the box cover and a horizontal frame slidably connected to the vertical frame. Both the horizontal frame and the vertical frame are arranged parallel to the second-layer platform. The manipulator is slidably connected to the vertical frame.

4. The steel slag processing system based on image processing according to claim 3, characterized in that: The sliding limiting mechanism includes 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 into the first sliding groove and the second sliding groove.

5. The steel slag processing system based on image processing according to claim 4, characterized in that: The motion control mechanism includes a threaded fixing seat fixed above the base, a spiral rod threadedly fitted with the threaded fixing seat and with its lower end passing through the threaded fixing seat, and a first bearing seat and a second bearing seat arranged at the bottom end of the spiral rod. The first bearing seat is connected to the first base frame through a first control rod, and the second bearing seat is 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.

6. The steel slag processing system based on image processing according to claim 5, characterized in that: The base further 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 inclined support plate supports the threaded fixing seat above.

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