Automatic operation equipment and method for feed opening of bottom blowing furnace

Abstract

The invention relates to automation equipment in the field of smelting, in particular to automatic operation equipment and method for a bottom blowing furnace discharging opening. The invention discloses automatic operation equipment for a feed opening of a bottom blowing furnace. The executing device is connected to the tail end of the mechanical arm and comprises a slag removing mechanism and a centering mechanism, and the slag removing mechanism comprises a pick drill rod; the centering mechanism comprises a connecting rod, a moving part which is movably arranged on the periphery of the pick drill rod in a sleeving manner, and a plurality of measuring blades arranged at the tail end of the pick drill rod; wherein the measuring blade is connected to the moving part through the connecting rod; when the moving part slides along the pickaxe rod, the measuring blade can extend, and the outer edge of the measuring blade is kept on circles with different diameters by taking the axis of the pickaxe rod as a circle center; compared with the prior art, the method is not influenced by the change of the outer contour of the furnace mouth due to slag bonding or the posture of the furnace mouth. And a measuring blade of the centering mechanism can accurately sense the actual shape of the furnace mouth and is aligned with the center of the furnace mouth through sliding adjustment, so that the operation accuracy is improved.

Description

Technical Field

[0001] The present application relates to the field of smelting equipment, and specifically proposes an automatic operation device and method for a bottom blowing furnace discharge port. Background Art

[0002] In the metallurgical and material processing industries, the coordinated operation of the furnace mouth and the bottom blowing furnace is a key link to ensure a smooth production process; however, due to slag jumping at the furnace mouth, material accumulation, etc., slag is easily accumulated at the furnace mouth. In the traditional operation method, manual slag cleaning is often performed at regular intervals. However, with the continuous advancement of production technology and the increasing complexity of production needs, manual operations have gradually exposed certain limitations. Therefore, it is currently proposed to use robots to automatically clean slag to replace manual labor to achieve automated operations.

[0003] However, as the core equipment in the smelting process, the bottom-blowing furnace needs to be regularly inspected and maintained, and the bottom-blowing furnace needs to be converted so that all parts can be comprehensively inspected and maintained. The mass of the bottom-blowing furnace is extremely large, and this rotation action causes the discharge port to change relative to the original position, that is, the center of the furnace mouth is offset; and different sizes of furnace mouths are often updated in application scenarios. Since the robot relies on trajectory when performing slag removal tasks, this offset phenomenon causes position deviation when the robot performs cleaning tasks.

[0004] The existence of position deviation not only affects the accuracy of the robot's operation, but also causes the robot to collide with the furnace mouth in extreme cases, causing damage to the equipment, especially the water jacket structure around the furnace mouth.

[0005] At present, a proposed solution is to fit the center position of the furnace mouth through image recognition. Although in theory, the edge of the furnace mouth can be identified and the center position can be fitted, in practical applications, slag will continue to accumulate at the furnace mouth during the smelting process, and these slags will change the original shape and contour of the furnace mouth. When using image recognition technology to fit the center of the circle, if the outer contour of the furnace mouth changes due to slagging, the fitted center position will deviate from the actual position; and if the posture consistency of the furnace mouth is different after the furnace is converted, the shape of its projection on the image will also change, which will affect the accuracy of the center recognition. The fitted center position will deviate significantly from the actual position, resulting in robot operation errors.

[0006] Therefore, this application is filed. Summary of the invention

[0007] In order to solve the above technical problems, the present application provides an automatic operation device and method for the discharge port of a bottom blowing furnace.

[0008] In order to solve the above technical problems, the present invention provides an automatic operation equipment for the discharge port of a bottom blowing furnace, comprising: a robot arm; an execution device connected to the end of the robot arm, including a slag removal mechanism and a centering mechanism, the slag removal mechanism includes a pick; the centering mechanism includes a connecting rod, a moving part movably mounted on the outer periphery of the pick, and a plurality of measuring blades arranged at the end of the pick; wherein the measuring blades are connected to the moving part through the connecting rod; when the moving part slides along the pick, the measuring blades can be extended and the outer edges thereof are maintained on circles of different diameters with the axis of the pick as the center.

[0009] In a further scheme of the present application, the moving part includes a sliding sleeve, and a plurality of first connecting blocks which are radially protruding from the sliding sleeve and are circumferentially evenly spaced; one end of the connecting rod is rotatably connected to the first connecting block, and the other end is rotatably connected to one end of the measuring blade; the centering mechanism also includes a fixed structure which is connected to the end of the pick and has a plurality of second connecting blocks extending radially along the outer circumference; the other end of the measuring blade can be rotatably connected to the second connecting block to form a connecting rod structure with the connecting rod.

[0010] In a further scheme of the present application, the slag removal mechanism also includes a driver and a sleeve rod; the driver is fixed in the sleeve rod, and a penetrating transmission channel is provided on the sleeve rod to connect the driver; wherein, one end of the pick away from the measuring blade is connected to the driver and partially slidably connected to the sleeve rod, and the driver can drive the pick to reciprocate axially.

[0011] In a further scheme of the present application, the slag removal mechanism also includes a first mounting plate, a second mounting plate, a connecting column, a positioning block and a bushing; the sleeve rod is connected to one side of the first mounting block and is connected to the end of the machine arm connected to the other side of the first mounting block; the positioning block is connected to the second mounting plate, and a constraint groove is provided on the positioning block, and the pickaxe passes through the constraint groove for radial limitation; the two ends of a number of connecting columns are respectively connected between the edge of the sleeve and the edge of the second mounting plate, and between the edge of the first mounting plate and the edge of the second mounting plate, and the pickaxe passes through the bushing.

[0012] In a further solution of the present application, a third mounting plate extending radially along the pick is provided at the bushing, and a moving block driving mechanism is provided at the third mounting plate, which is connected to the moving part through the moving block driving mechanism to control the moving part to slide along the pick.

[0013] In a further scheme of the present application, the automatic operation equipment also includes: at least one transport component, each transport component is arranged corresponding to a bottom blowing furnace unloading port, so as to transport materials to the bottom blowing furnace unloading port; at least one image acquisition component, each image acquisition component is arranged on the upper side of the bottom blowing furnace unloading port, and is used to obtain image information of the bottom blowing furnace unloading port; at least one dust removal device, which is arranged correspondingly on the upper side of the bottom blowing furnace unloading port, and absorbs dust at the bottom blowing furnace unloading port during the process of slag removal by the robotic arm carrying the slag removal mechanism.

[0014] The second aspect of the present application also provides an automatic operation method for a bottom blowing furnace discharge port, which is applied to the above-mentioned automatic slag removal system, including: transporting materials toward the bottom blowing furnace discharge port through a transport component, and obtaining image information of the bottom blowing furnace discharge port and detecting whether the bottom blowing furnace is turned over; detecting that the bottom blowing furnace discharge port is turned over, controlling the opening of a measuring blade through a motion part and passing through the bottom blowing furnace discharge port until the edge of the measuring blade fits the inner wall of the bottom blowing furnace discharge port, obtaining boundary circle information of the bottom blowing furnace discharge port and working circle information of a pick; obtaining a slag area according to the image information, and entering a slag cleaning mode when the slag area exceeds a preset threshold; in the slag cleaning mode, determining a motion trajectory according to the boundary circle information and the working circle information, and performing slag removal according to the motion trajectory.

[0015] In a further scheme of the present application, the opening of the measuring blade is controlled by a moving part to pass through the bottom blowing furnace feeding port until the edge of the measuring blade fits against the inner wall of the bottom blowing furnace feeding port, and the boundary circle information of the bottom blowing furnace feeding port and the working circle information of the pick are obtained, including: controlling the moving part to the bottom limit stroke position to maximize the opening of the measuring blade and allow the moving part to slide under the contact force between the measuring blade and the bottom blowing furnace feeding port, at which time the circular area enclosed by the edge of the measuring blade is larger than the furnace mouth area of ​​the bottom blowing furnace feeding port; gradually controlling the robot arm so that the measuring blade gradually enters the bottom blowing furnace feeding port and then retracts and exits the bottom blowing furnace feeding port; obtaining a measurement image of the measuring blade and the movement stroke of the moving part, and obtaining the working circle information and boundary circle information through the measurement image and the action stroke.

[0016] In a corresponding optional scheme, the opening of the measuring blade is controlled by the moving part to pass through the bottom blowing furnace feeding port until the edge of the measuring blade fits against the inner wall of the bottom blowing furnace feeding port, and the boundary circle information of the bottom blowing furnace feeding port and the working circle information of the pick are obtained, including: controlling the moving part to the bottom limit stroke position to maximize the opening of the measuring blade and allow the moving part to slide under the contact force between the measuring blade and the bottom blowing furnace feeding port, at which time the circular area enclosed by the edge of the measuring blade is larger than the furnace mouth area of ​​the bottom blowing furnace feeding port; gradually controlling the robot arm so that the measuring blade gradually enters the bottom blowing furnace feeding port and then retracts and exits the bottom blowing furnace feeding port; obtaining a measurement image of the measuring blade and the movement stroke of the moving part, and obtaining the working circle information and boundary circle information through the measurement image and the action stroke.

[0017] In a corresponding optional scheme, a motion trajectory is determined based on boundary circle information, working circle information and a preset slag removal route, and slag removal is performed according to the motion trajectory, including: determining multiple coordinate nodes based on the preset slag removal route and working circle information; deleting coordinate nodes that intersect the boundary circle information and the working circle information from all coordinate nodes to obtain new transition coordinate nodes; and interpolating in the transition coordinate nodes according to an interpolation method to form a new motion trajectory.

[0018] In a further scheme of the present application, the motion trajectory is determined according to the boundary circle information, the working circle information and the preset slag removal route, and the slag is removed according to the motion trajectory, and also includes: in the slag cleaning mode, controlling the moving part to the top limit stroke position to minimize the measuring blade opening.

[0019] Compared with the prior art, the beneficial effects of this application are:

[0020] The automatic operation equipment provided by the present application can directly contact the furnace mouth surface through its centering mechanism. Since the freedom of the moving part along the pickaxe axis is released, the measuring blade can adaptively adjust the opening to adapt to the internal size of the bottom-blowing furnace discharge port. Compared with the existing technology, it can be unaffected by the change of the outer contour of the furnace mouth due to slagging or the influence of the furnace mouth posture. The measuring blade of the centering mechanism can accurately sense the actual shape of the furnace mouth, and ensure alignment with the center of the furnace mouth through sliding adjustment, thereby improving the accuracy of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0022] Figure 1 A schematic diagram of the structure of an automatic operation device for a bottom blowing furnace discharge port provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of the structure of a robot arm and an actuator in a combined state in an automatic operation device for a bottom blowing furnace discharge port provided in an embodiment of the present application;

[0024] Figure 3 A schematic diagram of the structure of the execution device provided in the embodiment of the present application;

[0025] Figure 4 A schematic diagram of the structure of the execution device provided in the embodiment of the present application from another perspective;

[0026] Figure 5 A top view of an execution device provided in an embodiment of the present application;

[0027] Figure 6 The general flow chart of the automatic operation method for the bottom blowing furnace feeding port provided in the embodiment of the present application;

[0028] Figure 7 A logical topology diagram of the corresponding automatic operation method provided in the embodiment of the present application. DETAILED DESCRIPTION

[0029] In the description of the present application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like appear to indicate the orientation or position relationship, unless otherwise specified, they are understood to be based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application.

[0030] In addition, if there is a feature defined as "first" or "second", it is only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Features defined as "first" or "second" may explicitly or implicitly include at least one of the defined features. If there is a description of "plurality", the general meaning is to include at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0031] In this application, unless otherwise clearly specified and limited, the terms such as "installed", "connected", "connected", "fixed" and so on should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection, it can be a direct connection, or it can be an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0032] In the description of this specification, if the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" appear, it means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0033] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0034] See also Figures 1 to 5 The present application provides an automatic operation device 100 for the discharge port of a bottom-blown furnace, comprising a robot arm 10 connected to an actuator 20 at the end of the robot arm. The actuator 20 comprises a slag removal mechanism 21 and a centering mechanism 22. The slag removal mechanism 21 comprises a pick 211; the centering mechanism 22 comprises a connecting rod 221, a moving part 222 movably sleeved on the outer periphery of the pick, and a plurality of measuring blades 223 arranged at the end of the pick 211; based on the general concept of the present application, the measuring blade 223 is connected to the moving part 222 through the connecting rod 221; when the moving part 222 slides along the pick 211, the measuring blade 223 can be extended and its outer edge is maintained on a circle of different diameters with the axis of the pick 211 as the center.

[0035] It should be noted that the automatic operation equipment 100 is designed for the slag removal operation on the inner wall surface of the bottom blowing furnace discharge port; Figure 1 As shown, the material discharge port of the bottom blowing furnace refers to the dotted cylindrical part on its lower side, and the slag and materials in the furnace are usually concentrated and slagging in this channel; the bottom blowing furnace (not shown) is on the lower side of the entire automatic operation equipment 100, and during normal smelting operations, the material discharge port and the bucket-shaped channel on the operation equipment platform are connected to each other, so as to carry out automatic material discharge; but if the bottom blowing furnace is turned over, the position of the material discharge port of the bottom blowing furnace will be offset, but the entire furnace mouth (the furnace mouth is the material discharge port of the bottom blowing furnace, which is simplified in the context to avoid lengthy nouns) is a complex environment inside and is not easy to observe, and the present application aims to solve the automatic slag removal here.

[0036] As is known from the above, "slagging" refers to the solid impurity layer formed on the inner wall surface of the bottom blowing furnace discharge port due to the solidification and accumulation of slag and materials in the furnace at high temperature. Based on the fact that the discharge port channel of the low-blowing furnace has a certain length and the shape remains the same, the concept of this application is based on the inner wall shape of the discharge port itself. After turning the furnace, the measuring blade 223 is initially entered into the high position of the discharge port for automatic preliminary calibration, and then the area of ​​the bottom blowing furnace discharge port where slagging may occur is operated based on the information of the identification of the preliminary calibration.

[0037] In the present application, the robot arm 10 is not limited, and a six-axis articulated design is preferably adopted to ensure the flexible movement and precise positioning of the actuator 20 in three-dimensional space.

[0038] The pick 211 of the slag removal mechanism 21 is made of a high-strength alloy material and has undergone special heat treatment to improve its wear resistance, heat resistance and slag removal efficiency; the moving part 222 is sleeved on the outer periphery of the pick 211 and is designed to be able to slide smoothly and lock along the outer periphery of the pick 211, that is, the moving part 222 can be fixed in a certain position when necessary to prevent it from further sliding relative to the pick 211, and correspondingly also constrain the extension and contraction of the measuring blade 223.

[0039] In the present application, the measuring blades 223 are made of high-strength material and are arranged at equal intervals along the axial direction, but need to be greater than two, and their shape is optimized and designed according to the actual application scenario.

[0040] The blade 223 is connected to the moving part 222 through the connecting rod 221. When the moving part 222 slides along the pick 211, the blade 223 can be extended or contracted synchronously, and its outer edge always remains on a circle of different diameters with the axis of the pick 211 as the center; the centering mechanism 22 can accurately measure the contour of the metal surface, and adapt to the bottom blowing furnace discharge port of different diameters by adjusting the extension degree of the blade 223, thereby achieving precise centering.

[0041] Among them, "when the moving part 222 slides along the pick 211, the blade 223 can synchronously extend or contract" is interpreted as: when the moving part 222 slides upward (or downward, depending on the specific design) along the pick 211, it will push or pull the measuring blade 223 outward through the connecting rod 221, so that the tip (or edge) of the measuring blade 223 is away from the axis of the pick 211, that is, at this time, the outer edge of the blade 223 forms a circle with a larger radius and the axis of the pick 211 as the center; on the contrary, when the moving part 222 slides downward (or upward) along the pick 211, it will move the blade 223 inward through the connecting rod 221, that is, close to the axis of the pick 211; this process is the contraction of the blade 223, that is, at this time, the outer edge of the blade 223 forms a circle with a smaller radius and the axis of the pick 211 as the center. The process of extension and contraction is continuous, and the extent of extension or contraction of the blade 223 can be controlled by adjusting the sliding position of the moving part 222, thereby allowing the centering mechanism 22 to adapt to furnace openings or workpieces of different diameters, ensuring that the outer edge of the blade 223 can just fit the edge of the furnace opening or workpiece, thereby accurately measuring and locating the center position. It should be noted that the extension and contraction of the measuring blade 223 is not simply within a plane, but moves along an arc path with the axis of the pick 211 as the center of the circle, that is, the measuring blade 223 remains on multiple planes perpendicular to the axis of the pick 211.

[0042] During the operation, the automatic operation equipment 100 first moves the actuator 20 to the target position through the robot arm 10. Then, the centering mechanism 22 is started, and the moving part 222 slides along the pick 211, driving the measuring blade 223 to extend to contact the surface of the workpiece. By real-time monitoring the position and force of the blade 223, the equipment can accurately obtain the boundary circle information and the working circle information, and adjust the robot arm 10 according to the boundary circle information and the working circle information, and control the pick 211 to remove impurities and residues in the bottom blowing furnace discharge port in a preset trajectory to complete the slag removal operation.

[0043] It can be understood that the boundary circle refers to the circular or approximately circular outline formed at the overall boundary of the bottom-blowing furnace discharge port; this outline usually represents the maximum size and shape of the discharge port identified by the robot arm; the working circle refers to the range occupied by the pick 211 during operation. Simply put, the boundary circle is the circular area formed by the overall boundary of the bottom-blowing furnace discharge port; it limits the maximum boundary range that the pick 211 (or other related tools) can move during operation. In other words, the pick 211 cannot operate beyond this boundary circle. The working circle is a circular area defined according to the operating characteristics and position of the pick 211. Since the pick 211 has a certain volume, the working circle is used to more accurately reflect the actual position and range of movement of the pick 211 during operation, and the working circle is smaller than the boundary circle.

[0044] The automatic operation equipment 100 can directly contact the furnace mouth surface through its centering mechanism 22, and is not affected by the change of the outer contour of the furnace mouth due to slagging or the furnace mouth posture. The measuring blade 223 of the centering mechanism 22 can still accurately sense the actual shape of the furnace mouth, and ensure alignment with the center of the furnace mouth through sliding adjustment; compared with image recognition technology, the centering mechanism 22 can more accurately determine the center position of the furnace mouth through physical contact and precise measurement; even if the furnace mouth posture is not horizontal or tilted, the extension and contraction of the measuring blade 223 can be adjusted in real time to ensure that the fitted working circle and boundary circle are consistent with the actual.

[0045] It is understandable that during the smelting process, the furnace mouth environment is often complex and changeable, including high temperature, smoke, slag, etc. The design of the automatic operation equipment 100 and its centering mechanism 22 takes these extreme conditions into consideration, and can maintain high precision and stability in harsh environments, avoiding collisions of the actuator 20 during each furnace mouth turning operation.

[0046] In the embodiment of the present application, the moving part 222 includes a sliding sleeve 2221, and a plurality of first connecting blocks 2222 which are radially protruding from the sliding sleeve 2221 and are circumferentially equidistantly arranged; one end of the connecting rod 221 is rotatably connected to the first connecting block 2221, and the other end is rotatably connected to one end of the measuring blade 223; the centering mechanism 22 also includes a fixed structure 224, which is connected to the end of the pick 211 and has a plurality of second connecting blocks 225 extending radially along the periphery; the other end of the measuring blade 223 can be rotatably connected to the second connecting block 225 to form a connecting rod structure with the connecting rod 221.

[0047] The sliding sleeve 2221 is movably mounted on the outer periphery of the pick 211 and can slide thereon. The design of the sliding sleeve 2221 allows it to move along the axis of the pick 211, thereby driving other components connected thereto. The first connecting blocks 2222 protrude radially from the sliding sleeve 2221 and are arranged at equal intervals along the circumferential direction; that is, they are evenly distributed on the outer periphery of the sliding sleeve 2221, providing a stable support and connection point for the connecting rod 221.

[0048] Further, one end of the connecting rod 221 is rotatably connected to the first connecting block 2222, and the other end is rotatably connected to one end of the measuring blade 223. The connecting rod 221 can rotate to a certain extent relative to the first connecting block 2222 and the measuring blade 223 when in motion, so as to adapt to the relative movement between the sliding sleeve 2221 and the measuring blade 223. One end of the measuring blade 223 is connected to the first connecting block 2222 through the connecting rod 221, and the other end is rotatably connected to the second connecting block 225 on the fixed structure 224. This design enables the measuring blade 223 to achieve fully synchronous extension or contraction through the transmission of the connecting rod 221 when the sliding sleeve 2221 slides.

[0049] Furthermore, the fixed structure 224 is connected to the end of the pick 211, and a plurality of second connecting blocks 225 are radially extended along the outer periphery; the second connecting block 225 provides a rotating connection point for the other end of the measuring blade 223, ensuring that the measuring blade 223 can stably rotate around the axis of the pick 211; the connecting rod structure composed of the connecting rod 221, the first connecting block 2222, the measuring blade 223 and the second connecting block 225 enables the measuring blade 223 to be synchronously and smoothly extended or contracted through the transmission action of the connecting rod when the sliding sleeve 2221 slides, which not only improves the flexibility and adaptability of the centering mechanism 22, but also ensures that the measuring blade 223 can accurately fit the edge of the furnace mouth or the workpiece, thereby accurately measuring and locating the center position of the circle.

[0050] The slag removal mechanism 21 also includes a driver 212 and a sleeve rod 213; the driver 212 is fixed in the sleeve rod 213, and a penetrating transmission channel a is provided on the sleeve rod 213 to connect the driver 212; wherein, one end of the pick 211 away from the measuring blade 223 is connected to the driver 212 and partially slidably connected to the sleeve rod 213, and the driver 212 can drive the pick 211 to reciprocate in the axial direction.

[0051] The driver 212 is the power source of the slag removal mechanism 21, and is responsible for providing the driving force required for the movement of the pick 211. The driver 212 can be an electric, pneumatic or hydraulic drive device, and the specific choice depends on the application requirements and working environment.

[0052] The sleeve rod 213 is a structurally stable support member used to fix the driver 212 and provide a sliding track for the pick 211 to withstand the force and vibration generated by the driver 212 and the pick 211 during movement. The driver 212 is firmly installed inside the sleeve rod 213; and the sleeve rod 213 is provided with a transmission channel a that penetrates, which can be a pipeline or cable for transmitting power sources such as electricity, air pressure or hydraulic pressure.

[0053] The end of the pick 211 that is away from the measuring blade 223 (i.e., the end that is away from the centering mechanism 22) is connected to the driver 212. This connection mode allows the driver 212 to directly drive the pick 211 to move.

[0054] The pick 211 is partially slidably connected to the sleeve rod 213, and the pick 211 can reciprocate axially inside or outside the sleeve rod 213 (depending on the specific design). This sliding connection allows the pick 211 to extend and retract under the drive of the driver 212, thereby performing slag removal operations.

[0055] When the driver 212 receives the start signal, the driver 212 will provide power to the pick 211 through the transmission channel a; under the action of the driving force, the pick 211 begins to reciprocate along the axial direction of the sleeve rod 213, extending or retracting to perform slag removal operations; the end part of the pick 211 (i.e., the part used to contact and remove slag) will continuously collide with the slag on the furnace mouth or the workpiece surface and remove it during the reciprocating motion.

[0056] In the present application, the slag removal mechanism 21 further includes a first mounting plate 214, a second mounting plate 215, a connecting column 216, a connecting column 217 and a bushing 218; the sleeve rod 213 is connected to one side of the first mounting block 213, and is connected to the end of the robot arm 10 connected to the other side of the first mounting block 213;

[0057] The connecting column 217 is connected to the second mounting plate 215, and a restraining groove b is provided on the connecting column 217, and the pick 211 passes through the restraining groove b for radial limitation;

[0058] Two ends of the plurality of connection columns 213 are respectively connected between the edge of the sleeve 217 and the edge of the second mounting plate 214 , and between the edge of the first mounting plate 214 and the edge of the second mounting plate 215 , and the pick 211 passes through the bushing 218 .

[0059] The sleeve rod 213 is connected to one side of the first mounting plate 214, and the end of the robot arm is connected to the other side of the first mounting plate 214. This connection method enables the slag removal mechanism 21 to move with the movement of the robot arm, realizing flexible adjustment of the working position. The constraint groove b on the connecting column 217 radially limits the pick 211 to ensure that the pick 211 does not deviate from the predetermined trajectory during movement. This design improves the accuracy and stability of the slag removal operation. The pick 211 passes through the bushing 218 and reciprocates under the drive of the driver; the design of the bushing 218 can reduce the friction and wear of the pick 211 during the sliding process, while providing necessary support and guidance. The connecting column 216 not only connects the first mounting plate 214 and the second mounting plate 215, but also provides support for the shaft sleeve 217. The stable frame structure ensures the stability and reliability of the slag removal mechanism 21 during the operation process, and also realizes cleaning and reduces the power required for the operation of the robot arm.

[0060] Furthermore, the moving part 222 can be automatically driven. In one embodiment, the measuring blade 223 can be brought into contact with the preset block area by controlling the mechanical arm, thereby changing the moving part 222. In a preferred embodiment, a third mounting plate 2191 extending radially along the pick 211 is provided on the periphery of the pick 211, and a moving block driving mechanism 2192 is provided at the third mounting plate 2191. The moving block driving mechanism 2192 is connected to the moving part 222 to control the moving part 222 to slide along the pick 211. The moving block driving mechanism 210 can be a pneumatic or hydraulic structure, which produces precise linear motion, allows small incremental movement, and can achieve high-precision positioning of the moving part 222; in addition, the moving block driving mechanism 210 can achieve the locking and release of the moving part 222 by controlling the air pressure or hydraulic pressure, so that the moving part 222 is locked and the degree of freedom is released, thereby keeping the moving part 222 in the current position and preventing the moving part 222 from moving.

[0061] It should be noted that the moving part 222 and the pick 211 have a certain connection force, that is, the moving part 222 will not fall due to gravity, but can only fall under the moving part driving mechanism 210. However, when the measuring blade 223 receives the contact force of the inner wall, the measuring blade contracts to make the moving part 222 rise.

[0062] In some embodiments, the movement portion 222 may also be completely manually controlled to move, and offline calibration may be manually performed. Those skilled in the art may simply understand this based on the description and illustrations, and no further explanation is given here.

[0063] In the embodiment of the present application, the automatic operation equipment 100 also includes at least one transport component 30, an image acquisition component 40, and a dust removal device 50. Specifically, each transport component 30 is arranged corresponding to a bottom blowing furnace discharge port to transport materials to the bottom blowing furnace discharge port; the transport component 30 preferably adopts a conveyor belt, and transports the materials from the starting point to the bottom blowing furnace discharge port through continuous or intermittent movement; the speed and direction of the conveyor belt can be accurately adjusted by the control system to meet the transportation requirements of different materials. The conveyor belt is usually along the side of the bottom blowing furnace discharge port to ensure that the materials can be accurately and stably transported to the discharge port. Each image acquisition component 40 is arranged on the upper side of the bottom blowing furnace discharge port to obtain image information of the bottom blowing furnace discharge port; to ensure that the image information of the material falling, the discharge port slagging and the slagging process can be clearly captured. At least one dust removal device 50 is arranged correspondingly on the upper side of the bottom blowing furnace discharge port, and absorbs the dust at the bottom blowing furnace discharge port during the process of the robot arm carrying the slag removal mechanism to remove the slag; keep the working environment clean and hygienic, mainly to improve the image quality.

[0064] In summary, by integrating multiple functional components, such as transportation components, image acquisition components and dust removal devices, the automatic operation equipment 100 realizes the automated operation and real-time monitoring of the bottom blowing furnace discharge port. It improves production efficiency and reduces manual intervention and labor intensity; the centering mechanism 22 can accurately sense the actual shape and center position of the furnace mouth through physical contact and precise measurement, adapt to changes in the furnace mouth posture, and avoid collisions during operation. These advantages make the centering mechanism 22 an ideal choice for handling complex furnace mouth situations, helping to improve the efficiency and safety of automatic operation equipment and avoid collisions during each furnace mouth operation.

[0065] Please combine Figure 5 See also Figure 6 to Figure 7 In a second aspect of the present application, an automatic operation method for a bottom blowing furnace discharge port may also be provided, which is applied to the above-mentioned automatic slag removal system 100, comprising:

[0066] Step S10, transporting materials toward the bottom blowing furnace discharge port through the transport component, acquiring image information of the bottom blowing furnace discharge port, and detecting whether the bottom blowing furnace is turned over;

[0067] The required additional materials are transported to the discharge port of the bottom blowing furnace through the transport component. While the materials are being transported, the image acquisition equipment is used to periodically obtain the image information of the discharge port of the bottom blowing furnace and the status of the bottom blowing furnace turning over is detected: that is, when the furnace turning over completion signal is received, it is determined that the current state is "the furnace has been turned over"; when the furnace turning over start signal is received, it is determined that the state is "the furnace is being turned over".

[0068] Step S20, if it is detected that the bottom blowing furnace feed port is turned over, the opening of the measuring blade is controlled by the motion part and passes through the bottom blowing furnace feed port until the edge of the measuring blade is in contact with the inner wall of the bottom blowing furnace feed port, and the boundary circle information of the bottom blowing furnace feed port and the working circle information of the pick are obtained;

[0069] When it is detected that the bottom blowing furnace is turning over, the opening of the blade is measured according to the control of the moving part to measure the actual size of the feeding port; specifically, until the edge of the blade fits tightly against the inner wall of the feeding port, the opening of the blade is measured as the critical opening, and the boundary circle information and working circle information corresponding to the critical opening are obtained.

[0070] Step S30, obtaining a slagging area according to the image information, and entering a slagging removal mode when the slagging area exceeds a preset threshold;

[0071] By analyzing the image information, the slagging area at or near the bottom blowing furnace discharge port is detected. Slagging refers to the area of ​​attachment formed on the inner wall of the bottom blowing furnace by solid waste generated during the smelting process. When the detected slagging area exceeds the preset threshold, the system will trigger the slag cleaning mode; the threshold may be a limit value of area or proportion, which is used to determine whether a cleaning operation is required.

[0072] Step S40: In the slag removal mode, the motion trajectory is determined according to the boundary circle information and the working circle information, and the slag is removed according to the motion trajectory.

[0073] The boundary circle information represents the actual contour of the bottom-blowing furnace discharge port. The system will plan the movement range of the pick according to this information to ensure that the pick does not exceed this range during the slag removal process, thereby avoiding collisions with the nozzle or other sensitive areas. The working circle information represents the trajectory circle or working area of ​​the pick when it moves in the bottom-blowing furnace. The system will determine the specific movement path of the pick based on this information to ensure that the pick can cover all areas that require slag removal while maintaining the stability and continuity of the movement.

[0074] Combining the boundary circle information and the working circle information, one or more possible motion trajectories will be calculated through the path planning algorithm. These trajectories will be optimized to ensure the maximum slag removal effect while reducing unnecessary energy consumption and wear.

[0075] In summary, the production efficiency of the bottom blowing furnace has been significantly improved through automated material transportation, state detection, measurement and calculation, slagging detection and slagging removal operations; compared with traditional manual operations, automated operations can reduce errors and delays caused by human factors and ensure the smooth progress of the production process; the system can monitor the situation of the slagging area in real time by acquiring image information of the bottom blowing furnace discharge port; when the slagging area exceeds the preset threshold, the system will trigger the slag removal mode; in the slag removal mode, the system will determine the motion trajectory of the pick according to the boundary circle information, the working circle information and the preset slag removal route; this method of slag removal based on actual conditions can ensure the timeliness and accuracy of slag removal and avoid slagging from adversely affecting the normal operation and smelting process of the bottom blowing furnace; in the slag removal process, the system can avoid the collision between the pick and the nozzle of the bottom blowing furnace discharge port by accurately controlling the motion trajectory of the pick; this control is based on the precise measurement of the size and shape of the bottom blowing furnace discharge port and the accurate calculation of the working range of the pick; in this way, the system can ensure that the pick is always kept within a safe range during the slag removal process, thereby avoiding damage to the nozzle.

[0076] In step S20, the opening of the measuring blade is controlled by the motion part and passes through the bottom blowing furnace feed port until the edge of the measuring blade is attached to the inner wall of the bottom blowing furnace feed port to obtain the boundary circle information of the bottom blowing furnace feed port and the working circle information of the pick, including:

[0077] Step S21, controlling the moving part to the bottom limit stroke position to maximize the measuring blade opening;

[0078] It can be understood that the blade opening is the degree of expansion and contraction of the blade. For example, the minimum measuring blade opening is 0, followed by 10%, 20%...100%, etc. First, adjust the measuring blade opening to the maximum to ensure that the measuring blade can be fully expanded and the circular area enclosed by its edge is larger than the furnace opening area of ​​the bottom blowing furnace. This is done to allow the measuring blade to smoothly enter the bottom blowing furnace and fully contact its inner wall, so as to obtain accurate boundary information.

[0079] Step S22, gradually controlling the robot arm so that the measuring blade gradually enters the bottom blowing furnace discharge port, and then retracts and exits the bottom blowing furnace discharge port;

[0080] By controlling the robotic arm (or other motion mechanism), the measuring blade gradually enters the bottom blowing furnace discharge port at an appropriate speed and angle. In this process, after the measuring blade contacts the inner wall of the discharge port, the robotic arm controls the blade to exit the bottom blowing furnace discharge port.

[0081] Step S23 , obtaining a measurement image of the measuring blade and a movement stroke of the moving part, and obtaining working circle information and boundary circle information through the measurement image and the movement stroke.

[0082] After the measuring blade enters and exits the bottom blowing furnace discharge port, the image of the measuring blade and the travel data of the moving part (i.e., the movement travel) are captured, and the edge line of the blade is extracted using an edge detection algorithm (such as Canny edge detection), and the edge line is fitted using a circle fitting algorithm (such as the least squares method) to obtain a fitted circular contour, which is regarded as a boundary circle, such as x12+y12=R12; where (x1, y1) are the coordinates of the center of the circle, and R1 is the radius of the boundary circle. Based on the center position obtained by circle fitting and the known size data r1 (in fact, the minimum radius when the blade opening is the smallest), the center (x1, y1) and range of the working circle can be calculated.

[0083] In addition, a mapping model is established based on the relationship between the movement stroke of the moving part and the measuring blade opening; for example, when the moving part moves 10 cm, the measuring blade opening is 40%, and the diameter R2 of the boundary circle can be calculated through the preset mapping model.

[0084] If the difference between R1 and R2 exceeds the preset difference threshold, it indicates that the state of the measuring blade may be abnormal, such as blade deformation, jamming or failure of the moving part, and the operation will be stopped and an alarm will be issued.

[0085] In an optional embodiment, in step S40, the motion trajectory is determined according to the boundary circle information and the working circle information, and slag removal is performed according to the motion trajectory, including:

[0086] Step S41, dividing the furnace mouth image into a number of equally divided quadrants, and segmenting the slagging area in the image according to the image information;

[0087] It can be understood that the image of the furnace mouth is divided into a plurality of equally divided regions (such as four quadrants, eight quadrants, etc.) for the convenience of analysis and processing; a region-based image segmentation method, such as grayscale threshold segmentation, is adopted. By selecting one or more feature thresholds, the pixel sets whose image grayscale values ​​are greater than or less than the set threshold are segmented into different regions. In addition, edge detection operators (such as Roberts operator, Sobel operator, Laplacian operator, Canny operator, etc.) can also be used to extract edge information in the image, and then identify and segment the slagging areas in the image, which represent the solid residues accumulated on the inner wall of the furnace mouth or in the furnace.

[0088] Step S42, generating a slag removal route according to the proportion of the slag formation area in each quadrant;

[0089] This is done by counting the number of pixels in the slagging area in each quadrant and dividing it by the total number of pixels in the quadrant, thereby determining which areas have the most severe slagging for priority treatment; calculating the area or pixel ratio of the slagging area in each quadrant and sorting them according to the ratio. Based on this sorting, a logically reasonable slagging route is generated, usually from the most severe to the lighter areas.

[0090] Step S43, determining a plurality of coordinate nodes according to a preset slag removal route;

[0091] On the slag removal route, the center point of the slag area in each quadrant is determined as a coordinate node.

[0092] Step S44, deleting the coordinate nodes that intersect the boundary circle information and the working circle information from the coordinate nodes to obtain new transition coordinate nodes;

[0093] Traverse all coordinate nodes and check whether they intersect with the boundary circle or the working circle (that is, if working at this node, the pick and blade also touch the inner wall of the blade). If there is an intersection, delete the node and get a new transition coordinate stage.

[0094] Step S45: interpolate in the transition coordinate nodes according to the interpolation method to form a new motion trajectory.

[0095] Select the appropriate interpolation algorithm according to actual needs, such as linear interpolation, circular interpolation, spline interpolation, etc. Linear interpolation is suitable for linear motion between two points, circular interpolation is suitable for circular trajectory motion, and spline interpolation is suitable for complex trajectories that require smooth transitions, thereby generating a continuous optimized motion trajectory.

[0096] In another embodiment of the present application, in step S40, a motion trajectory is determined according to the boundary circle information, the working circle information and a preset slag removal route, and slag removal is performed according to the motion trajectory, including:

[0097] Step S41', determining a plurality of coordinate nodes according to the preset slag removal route and working circle information;

[0098] Step S42', deleting the coordinate nodes that intersect the boundary circle information and the working circle information from the coordinate nodes to obtain new transition coordinate nodes;

[0099] Step S43': interpolate in the transition coordinate nodes according to the interpolation method to form a new motion trajectory.

[0100] Unlike the above-mentioned steps S41 to S44, the slag removal route is a preset fixed circular ring, for example: the center of the circular path is the center of the working circle, the diameter of the circular ring is 2000 mm; the circumference of the circular ring is about 6283.19 mm, the number of coordinate nodes distributed along the circular route is 20, and the average distance between adjacent coordinate nodes is 314 mm, that is, according to the preset and known starting point and end point of the circular route (usually these two points coincide to form a closed loop), the circular slag removal route is discretized into a coordinate node sequence recognizable by the robot arm; then, according to the shape and accuracy requirements of the circular route, multiple coordinate nodes are evenly or on demand distributed on the route, all coordinate nodes are traversed, and each node is checked to see if it is located in the intersection of the boundary circle and the working circle; if the node is in the intersection, it is deleted to avoid collision of the robot arm during movement, and the automated slag removal process of the robot arm is realized by setting a fixed circular slag removal route and combining the above-mentioned steps; it has the advantages of simplicity, high efficiency, and easy implementation.

[0101] In the present application, in step S40, the motion trajectory is determined according to the boundary circle information, the working circle information and the preset slag removal route, and slag removal is performed according to the motion trajectory, including: in the slag cleaning mode, controlling the moving part to the top limit stroke position to minimize the opening of the measuring blade; by controlling the moving part to the top limit stroke position to minimize the opening of the measuring blade, the radial volume occupied during the slag removal process can be reduced as much as possible, reducing the interference and damage of the equipment to the inner wall during the slag removal process, while improving the accuracy and efficiency of slag removal.

[0102] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0103] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited thereto. Within the technical concept of the present invention, the technical solution of the present invention can be subjected to a variety of simple modifications, including the combination of various specific technical features in any appropriate manner. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations. However, these simple modifications and combinations should also be regarded as the contents disclosed by the present invention and belong to the protection scope of the present invention.

[0104] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An automatic operation device for a bottom blowing furnace discharge port, characterized in that: include: Robotic arm (10); An execution device (20) connected to the end of the robot arm comprises a slag removal mechanism (21) and a centering mechanism (22); the slag removal mechanism (21) comprises a pick (211); the centering mechanism comprises a connecting rod (221), a moving part (222) movably sleeved on the outer periphery of the pick, and a plurality of measuring blades (223) arranged at the end of the pick (211); The measuring blade (223) is connected to the moving part (222) via a connecting rod (221); when the moving part (222) slides along the pick (211), the measuring blade (223) can extend or retract, and the outer edge of the measuring blade (223) is always maintained on a circle of different diameters with the axis of the pick (211) as the center.

2. The automatic operation equipment according to claim 1, characterized in that: The moving part (222) comprises a sliding sleeve (2221), and a plurality of first connecting blocks (2222) connected to the sliding sleeve (2221), protruding radially and arranged at equal intervals along the circumferential direction; One end of the connecting rod (221) is rotatably connected to the first connecting block (2221), and the other end is rotatably connected to one end of the measuring blade (223); The centering mechanism (22) further comprises a fixing structure (224), wherein the fixing structure (224) is connected to the end of the pick (211) and has a plurality of second connection blocks (225) extending radially from the outer periphery; The other end of the measuring blade (223) can be rotatably connected to the second connecting block (225) to form a connecting rod structure with the connecting rod (221), so that a plurality of the measuring blades (223) can be synchronously extended or retracted under the sliding of the moving part (222).

3. The automatic operation equipment according to claim 2, characterized in that: The slag removal mechanism (21) also includes a driver (212) and a sleeve rod (213); The driver (212) is fixed in the sleeve rod (213), and the sleeve rod (213) is provided with a penetrating transmission channel (a) for connecting the driver (212); One end of the pick (211) away from the measuring blade (223) is connected to the driver (212) and is partially slidably connected to the sleeve rod (213), and the driver (212) can drive the pick (211) to reciprocate in the axial direction.

4. The automatic operation equipment according to claim 3, characterized in that: The slag removal mechanism (21) further comprises a first mounting plate (214), a second mounting plate (215), a connecting column (216), a positioning block (217) and a bushing (218); The sleeve rod (213) is connected to one side of the first mounting block (213), and the end connected to the robot arm is connected to the other side of the first mounting block (213); The positioning block (217) is connected to the second mounting plate (215), and a constraint groove (b) is provided on the positioning block (217), and the pick (211) passes through the constraint groove (b) to perform radial limiting; The two ends of the plurality of connecting columns (213) are respectively connected between the edge of the shaft sleeve (217) and the edge of the second mounting plate (214), and between the edge of the first mounting plate (214) and the edge of the second mounting plate (215), and the pick (211) passes through the bushing (218).

5. The automatic operation equipment according to claim 4, characterized in that: A third mounting plate (2191) extending radially along the pick (211) is provided at the pick (211), and a moving block driving mechanism (2192) is provided at the third mounting plate (2191), which is connected to the moving part (222) through the moving block driving mechanism (2192) to control the moving part (222) to slide along the pick (211).

6. The automatic operation equipment according to any one of claims 1 to 5, characterized in that: The automatic operation equipment also includes: At least one transport component, each transport component is arranged corresponding to a bottom blowing furnace discharge port to transport materials to the bottom blowing furnace discharge port; At least one image acquisition component, each image acquisition component is arranged on the upper side of the bottom blowing furnace feed opening, and is used to obtain image information of the bottom blowing furnace feed opening; At least one dust removal device is correspondingly arranged on the upper side of the bottom blowing furnace discharge port, and absorbs the dust at the bottom blowing furnace discharge port during the process of slag removal by the robot arm carrying the slag removal mechanism.

7. An automatic operation method for a bottom blowing furnace discharge port, characterized in that: The automatic slag removal system as claimed in any one of claims 1 to 6 above comprises: Transport materials toward the bottom blowing furnace discharge port through the transport component, obtain image information of the bottom blowing furnace discharge port, and detect whether the bottom blowing furnace is turned over; When the bottom blowing furnace feed port is detected to be overturned, the opening of the measuring blade is controlled by the motion part and passes through the bottom blowing furnace feed port until the edge of the measuring blade is in contact with the inner wall of the bottom blowing furnace feed port, and the boundary circle information of the bottom blowing furnace feed port and the working circle information of the pick are obtained; Acquire a slagging area according to the image information, and enter a slagging removal mode when the slagging area exceeds a preset threshold; In the slag removal mode, a motion trajectory is determined according to the boundary circle information and the working circle information, and slag removal is performed according to the motion trajectory.

8. The automatic operation method according to claim 1, characterized in that: The method of controlling the opening of the measuring blade by the moving part and passing through the bottom blowing furnace feed opening until the edge of the measuring blade is in contact with the inner wall of the bottom blowing furnace feed opening to obtain the boundary circle information of the bottom blowing furnace feed opening and the working circle information of the pick, comprises: Control the moving part to the bottom limit stroke position, so that the measuring blade has the maximum opening and the moving part is allowed to slide under the contact force between the measuring blade and the bottom blowing furnace discharge port, at which time the circular area enclosed by the edge of the measuring blade is larger than the furnace opening area of ​​the bottom blowing furnace discharge port; Gradually control the robot arm so that the measuring blade gradually enters the bottom blowing furnace discharge port, and then retracts and exits the bottom blowing furnace discharge port; A measurement image of the measurement blade and a movement stroke of the moving part are acquired, and working circle information and boundary circle information are acquired through the measurement image and the movement stroke.

9. The automatic operation method according to claim 7, characterized in that: The step of determining a motion trajectory according to the boundary circle information, the working circle information and a preset slag removal route, and performing slag removal according to the motion trajectory includes: Determine multiple coordinate nodes according to the preset slag removal route and work circle information; Deleting the coordinate nodes that have intersections between the boundary circle information and the working circle information from among all the coordinate nodes to obtain new transition coordinate nodes; Interpolation is performed in the transition coordinate nodes according to an interpolation method to form a new motion trajectory.

10. The automatic operation method according to claim 7, characterized in that: Determining a motion trajectory according to the boundary circle information, the working circle information and a preset slag removal route, and performing slag removal according to the motion trajectory, includes: The furnace mouth image is divided into several equally divided quadrants, and the slagging area is segmented in the image according to the image information; Generating a slag removal route according to the proportion of the slag formation area in each quadrant; Delete the coordinate nodes that have intersections between the boundary circle information and the working circle information from all the coordinate nodes to obtain new transition coordinate nodes; Interpolation is performed in the transition coordinate nodes according to an interpolation method to form a new motion trajectory.

Images