Automatic mud loading method and system

Abstract

The invention relates to an automatic stemming loading method. The automatic stemming loading method comprises the steps that stemming is screened; the screened stemming is heated; the heated stemming is rolled and formed; the formed stemming is placed in a carrying container; the formed stemming in the carrying container is added into a stemming cylinder through a stemming loading robot; according to the automatic stemming loading method, supplied materials are screened and then heated, no specific requirement for the shape of the supplied materials exists, the formed stemming is loaded into the carrying container, the carrying container is transported through the stemming loading robot, so that the stemming adding efficiency is improved, meanwhile, the stemming loading robot does not need to be located in an iron notch area for a long time, and the influence of high temperature and dust of the iron notch area is small.

Description

Technical Field

[0001] The invention relates to the field of furnace smelting technology, and in particular to an automatic mud loading method and system. Background Art

[0002] The hydraulic mud gun equipment in front of the blast furnace is an important equipment in front of the blast furnace iron-making site. Its main function is to press the gun mud into the iron-making hole to complete the plugging operation after the iron-making is completed, so that the blast furnace can enter the next cycle operation. Gun mud is a refractory material used to plug the iron-making hole. For a long time, the gun mud filling work of the mud gun equipment has been completed manually by the furnace workers. Facing the high-temperature working environment every day and completing the mud filling work at close range, not only is the labor intensity high, but there are also certain safety hazards. With the development of automation, an automatic mud loading system has emerged. The gun mud is placed in a holding rack according to certain shapes and placement requirements. An unmanned forklift transports the holding rack to the loading area. Then the gun mud filling robot (mechanical arm) opens the mud loading port cover, automatically grabs the gun mud and loads it through infrared scanning. The control system compacts the gun mud loaded into the mud cylinder according to the preset loading quantity. The above operations are repeated in the process until the mud cylinder is full of gun mud, the mud loading port cover is closed, and the mud loading is completed, which reduces the labor intensity of the workers in front of the furnace and improves the safety of the production process. However, the existing automatic mud loading system has requirements for the shape of the incoming materials and has poor versatility. When adding mud, the gun mud filling robot adds gun mud of a specific shape into the mud cylinder piece by piece, and the mud adding efficiency is low. In addition, the working environment of the blast furnace tapping port is harsh, high temperature, and a large amount of dust is produced when the tapping is completed. The gun mud filling robot (mechanical arm) is located at the tapping port for a long time, which has a great impact on the reliability of the gun mud filling robot (mechanical arm). Summary of the invention

[0003] In view of the problems existing in the prior art, the purpose of the present invention is to provide an automatic mud loading method, which has no specific requirements for the shape of the incoming material, has high mud loading efficiency, and the mud loading robot does not need to be in the iron outlet area for a long time, and is less affected by the high temperature and dust in the iron outlet area.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] The present invention provides an automatic mud loading method, comprising the following steps:

[0006] S1. Screening the taphole mud;

[0007] S2, heating the taphole mud after screening;

[0008] S3, rolling and shaping the heated taphole mud;

[0009] S4, placing the formed taphole mud in a transport container;

[0010] S5. The formed cannon mud in the transport container is added into the mud tank by the mud loading robot.

[0011] Preferably, in S1, a vibration sorting device is used to screen the cannon mud.

[0012] Preferably, in S2, a heating device is used to heat the screened taphole mud.

[0013] Preferably, in S3, the heated taphole mud is rolled into a round shape.

[0014] Preferably, in S4, the number of the transport containers is ≥2.

[0015] Preferably, S5 specifically includes: the mud loading robot moves to the transport container grabbing position, grabs the transport container with gun mud placed on it, runs to the mud loading position, pours the gun mud in the transport container into the mud tank, then returns the empty transport container to the gun mud placement location, grabs the next transport container with gun mud placed on it, and repeats this process until the mud tank is filled with gun mud.

[0016] The present invention also proposes an automatic mud loading system, including a vibration sorting device, a carrying container, a mud loading robot and a monitoring device, a heating device is arranged between the vibration sorting device and the carrying container, a rolling forming device is arranged between the heating device and the carrying container, the mud loading robot is used to transport the carrying container, and the monitoring device is arranged at the muzzle of the mud gun when the mud gun is in the standby position.

[0017] Preferably, the vibration sorting device, heating device, rolling forming device and carrying container are connected in sequence through a conveying device.

[0018] Preferably, a visual system is provided on the vibration sorting device and the mud loading robot.

[0019] Preferably, the mud loading robot and the transport container are wirelessly connected to the control system.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] (1) The automatic mud loading method of the present invention first uses a vibration sorting device to disperse the sticky cannon mud; there is no special requirement for the incoming material and the versatility is good.

[0022] (2) The automatic mud filling method of the present invention heats the cannon mud before rolling it into shape, which can improve the fluidity of the cannon mud and facilitate the processing and shaping of the cannon mud.

[0023] (3) The automatic mud loading method of the present invention rolls the cannon mud into a round shape and places it in a transport container. After the mud loading robot grabs the transport container filled with cannon mud, it goes to the mud cylinder and pours the formed cannon mud into the mud cylinder. The round foam mud is easy to roll during the adding process. The mud loading robot can pour multiple pieces of cannon mud at one time through the transport container, which can significantly improve the mud adding efficiency.

[0024] (4) In the automatic mud loading method of the present invention, the number of transport containers is ≥ 2. When loading mud, the mud loading robot moves back and forth between the transport container and the mud cylinder, transports a transport container full of cannon mud to the mud cylinder, pours the cannon mud into the mud cylinder, and then transports the empty transport container to the mud loading area to grab the next transport container full of cannon mud. This improves the mud adding efficiency while preventing the mud loading robot from being located in the iron outlet area for a long time and being affected by the high temperature and dust in the iron outlet area.

[0025] (5) In the automatic mud loading system of the present invention, visual systems are provided on the vibration sorting device and the mud loading robot. The visual system on the vibration sorting device is used to monitor whether the cannon mud has been dispersed by vibration screening and whether the amount of cannon mud meets the usage amount. The visual system on the mud loading robot is used to identify the mud loading port and the transport container. The visual system is used to confirm the status, which has higher reliability.

[0026] (6) The monitoring mechanism in the automatic mud loading system of the present invention can trim and clean the gun muzzle mud. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the structure of the automatic mud loading system;

[0028] Figure 2 It is a schematic diagram of the structure of the mud bucket;

[0029] Figure numerals: 1. vibration sorting device, 2. heating device, 3. rolling and forming device, 4. carrying container, 5. mud loading robot, 6. detection device, 7. mud loading bucket. DETAILED DESCRIPTION

[0030] The embodiments of the present invention will be described in detail below with reference to examples, but those skilled in the art will understand that the following examples are only used to illustrate the present invention and should not be construed as limiting the scope of the present invention.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0032] In the following description, specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in a variety of other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0033] Example 1

[0034] This embodiment provides an automatic mud loading method, comprising the following steps:

[0035] S1, the taphole mud enters the iron-making yard and is loaded into the vibration sorting device, which screens the sticky taphole mud through the high-frequency and small-amplitude vibration screening function;

[0036] S2. The screened taphole mud is conveyed to a heating device for heating through a conveying device; the heated taphole mud has improved fluidity, which is more conducive to subsequent processing and molding;

[0037] S3, conveying the heated taphole mud to the rolling and molding device through a conveying device for rolling and molding;

[0038] S4, placing the formed taphole mud in a carrying container through a conveying device;

[0039] S5. The mud loading robot grabs the transport container and adds the formed cannon mud in the transport container into the mud tank.

[0040] In this embodiment, the mud loading method includes screening the cannon mud - heating - rolling and forming - subpackaging - mud loading. During screening, the vibration sorting device is provided with a visual system at a fixed point, one is to monitor whether the cannon mud has completed the vibration screening and dispersion, and the other is to monitor whether the amount of cannon mud meets the usage amount. The screened cannon mud is more conducive to uniform heating of the cannon mud in the subsequent heating process and has no special requirements on the shape of the incoming material; the fluidity of the heated cannon mud is improved, which is more conducive to subsequent processing and forming; the shape of the cannon mud after rolling and forming can be determined according to the design requirements, and the formed cannon mud can be placed in the subpackaging process. The gun mud is loaded in a carrying container, which can be grabbed by a mud loading robot, run to the mud cylinder of the mud gun, and pour the gun mud in the carrying container into the mud cylinder from the mud loading port at one time, and finally send the empty carrying container back to its preset standby position. When adding mud using a carrying container, multiple pieces of gun mud can be poured in at one time, which can significantly improve the mud adding efficiency. During the mud adding process, the mud loading robot moves back and forth between the preset standby position of the carrying container and the mud gun, so it can avoid the mud loading robot being in the iron outlet area for a long time and being affected by the high temperature and dust in the iron outlet area.

[0041] In the above embodiments, the rolled and formed cannon mud is preferably in a round shape, which is conducive to rolling when loading mud into the mud cannon, and the cannon mud can be quickly added to the mud cannon, thereby improving the mud loading efficiency.

[0042] Furthermore, in the above embodiments, the number of transport containers is ≥ 2, and the specific number is set according to the amount of mud loaded. In this embodiment, 3 are preferred. When the mud loading robot transports the cannon mud in one of the transport containers, other transport containers can simultaneously pack the formed cannon mud in the preset standby position. The mud loading robot returns to grab the next transport container filled with cannon mud without waiting, and repeats this process until the mud cannon tank is full, making full use of the time difference and improving the mud loading efficiency.

[0043] In the above embodiments, the number of carrying containers that the mud loading robot grabs in one round trip can also be determined according to design requirements.

[0044] Example 2

[0045] refer to Figure 1 The present embodiment proposes an automatic mud loading system, comprising a vibration sorting device 1, a carrying container 4, a mud loading robot 5 and a monitoring device 6, a heating device 2 is arranged between the vibration sorting device 1 and the carrying container 4, a rolling and forming device 3 is arranged between the heating device 2 and the carrying container 4, the vibration sorting device 1, the heating device 2, the rolling and forming device 3 and the carrying container 4 are connected in sequence through a conveying device, the mud loading robot 5 is used to transport the carrying container 4, the monitoring device 6 is arranged at the muzzle of the mud gun when it is in the standby position, a visual system is arranged on the vibration sorting device 1 and the mud loading robot 5, and the vibration sorting device 1, the mud loading robot 5 and the carrying container 4 are wirelessly connected to the control system.

[0046] The method of using this embodiment is:

[0047] Step 1: The taphole mud enters the iron-making yard and is loaded into the vibration sorting device 1. The vibration sorting device 1 disperses the sticky taphole mud through the high-frequency and small-amplitude vibration screening function, and transfers the screened taphole mud to the heating device 2 through the conveying device. The dispersed taphole mud is more conducive to uniform heating of the taphole mud in the subsequent taphole mud heating process; the vibration sorting device 1 is equipped with a visual system at a fixed point, one is to monitor whether the taphole mud has completed the vibration screening and dispersion, and the other is to monitor whether the amount of taphole mud meets the usage;

[0048] Step 2: The dispersed taphole mud is transferred into the taphole mud heating device 2 according to a preset amount for taphole mud heating. The heating device 2 preferably adopts an electric heating method. The fluidity of the heated taphole mud is improved, which is more conducive to the next step of rolling and forming.

[0049] Step 3: The heated cannon mud is transferred to the rolling and molding device 3, through which the cannon mud is rolled and processed into shape. The cannon mud after rolling and molding is preferably spherical in a certain size and quality. The spherical shape is more conducive to the subsequent loading of the cannon mud and loading it into the mud cylinder.

[0050] Step 4: The formed cannon mud is transferred into the transport container 4. The transport container 4 has a certain amount of mud. The structural form of the container and the amount of mud can be determined according to factors such as the connection method with the mud loading robot 5 and the structural form of the mud loading port (with the premise of simple and reliable connection during transportation); secondly, when the transport container 4 is in the preset standby position, it has a certain heat preservation effect on the cannon mud.

[0051] When the cannon mud in the transport container 4 is fully loaded, the feedback control system indicates that the mud loading preparation is complete; when there is an empty container in the preset transport container, the control system executes the first to fourth steps by default to ensure that all the transport containers are fully loaded and meet the conditions for mud loading.

[0052] Step 5: When the mud cannon completes the plugging operation and returns to the standby position, the opening machine is turned on, the mud cannon stops at the mud adding working position, and the automatic mud loading machine 5 receives the mud loading operation instruction sent by the control system. The mud loading robot 5 runs to the mud loading position and confirms that the mud loading conditions are met through the visual inspection system. After confirmation by the feedback control system, the mud loading operation starts.

[0053] Step 6: The mud loading robot 5 runs to the grabbing position of the carrier container 4, grabs the carrier container 4 filled with cannon mud, runs to the mud loading position, identifies the mud loading port through the visual system, and after confirming that the mud loading port is operable, pours the cannon mud in the container into the mud cylinder through the mud loading port. After the cannon mud is loaded into the mud cylinder, the visual system detects that there is no cannon mud / foreign matter in the limited area of ​​the mud port, and then feedback controls the system, operates the mud beating cylinder, completes the mud pushing operation, and pushes the cannon mud loaded into the mud loading port to the front end of the beating mechanism. In this process, the mud loading port can be provided with a mud loading bucket 7 (such as a buffer function) with a buffer function. Figure 2 As shown in the figure, while ensuring the accuracy of mud loading, the impact on the equipment caused by the rapid loading of a certain amount of cannon mud should be controlled as much as possible.

[0054] The operation of the mud cylinder pushing the gun mud is monitored by the muzzle monitoring device. When the muzzle monitoring device installed in a fixed position detects that gun mud is squeezed out of the muzzle, the feedback control system will return the mud cylinder to its original position, and the mud loading robot will detect the status of the mud mouth. When it is detected that there is no gun mud at the mud mouth, the mud loading operation will be started again. This cycle will continue until the mud cylinder is filled with gun mud.

[0055] The judgment that the mud cylinder is full of cannon mud is that the fixed monitoring device monitors that there is cannon mud extruding from the cannon muzzle. At the same time, the mud loading robot detects that there is cannon mud in the monitoring area of ​​the mud loading port after the oil cylinder returns to its original position. The feedback control system confirms that the mud hitting mechanism is full of cannon mud, and the mud loading robot returns to its original position.

[0056] Step 7: After the control system confirms that the mud tank is full, the cleaning and trimming mechanism in the monitoring device 6 set at the fixed monitoring point of the muzzle trims and cleans the gun mud. After the operation is completed, the monitoring device 6 controls the system through visual monitoring feedback, and a mud filling cycle is completed.

[0057] Although the present invention has been described in detail in this specification by means of general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements may be made thereto on the basis of the present invention. Therefore, these modifications or improvements made without departing from the present invention all fall within the scope of protection claimed by the present invention.

Claims

1. An automatic mud loading method, characterized in that: The following steps are involved: S1. Screening the taphole mud; S2, heating the taphole mud after screening; S3, rolling and shaping the heated taphole mud; S4, placing the formed taphole mud in a transport container; S5. The formed cannon mud in the transport container is added into the mud tank by the mud loading robot.

2. The automatic mud loading method according to claim 1, characterized in that: In S1, a vibration sorting device is used to screen the cannon mud.

3. The automatic mud loading method according to claim 1, characterized in that: In S2, a heating device is used to heat the screened taphole mud.

4. The automatic mud loading method according to claim 1, characterized in that: In S3, the heated cannon mud is rolled into a round shape.

5. The automatic mud loading method according to claim 1, characterized in that: In S4, the number of the transport containers is ≥2.

6. An automatic mud loading method according to claim 5, characterized in that: S5 specifically includes: the mud loading robot moves to the carrying container grabbing position, grabs the carrying container with the cannon mud placed, moves to the mud loading position, pours the cannon mud in the carrying container into the mud tank, returns the empty carrying container to the cannon mud placement position, grabs the next carrying container with the cannon mud placed, and repeats this process until the mud tank is filled with cannon mud.

7. An automatic mud loading system, characterized in that: The invention comprises a vibration sorting device (1), a transport container (4), a mud loading robot (5) and a monitoring device (6); a heating device (2) is arranged between the vibration sorting device (1) and the transport container (4); a rolling forming device (3) is arranged between the heating device (2) and the transport container (4); the mud loading robot (5) is used to transport the transport container (4); and the monitoring device (6) is arranged at the muzzle of the mud gun when the mud gun is in a standby position.

8. The automatic mud loading system according to claim 7, characterized in that: The vibration sorting device (1), the heating device (2), the rolling and forming device (3) and the carrying container (4) are connected in sequence via a conveying device.

9. The automatic mud loading system according to claim 7, characterized in that: The vibration sorting device (1) and the mud loading robot (5) are both provided with a visual system.

10. The automatic mud loading system according to claim 7, characterized in that: The mud loading robot (5) and the transport container (4) are wirelessly connected to the control system.

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