Slagging-off control method of automatic anti-collision slagging-off machine

Abstract

The invention discloses a slagging-off control method of an automatic anti-collision slagging-off machine, and the slagging-off control method comprises the following steps: S1, after the automatic anti-collision slagging-off machine travels to a preset distance of a metal casting furnace and is started, acquiring signals of a receiver and an emitter in real time through a controller, and further calculating the position information of a slagging-off head; and S2, the controller drives a telescopic assembly to work according to the input furnace mouth overall height (H1) of the metal casting furnace, the furnace mouth inner height (H2), the furnace inner depth (D) and the position information of the slagging-off head, so that the slagging-off head is driven to automatically work in the metal casting furnace according to a set route to remove waste residues, and then the metal casting furnace is prevented from being impacted.

Description

Technical Field

[0001] The invention belongs to the technical field of metal ingot slag removal, and in particular relates to a slag removal control method of an automatic anti-collision slag removal machine. Background Art

[0002] Slag removal vehicles are often used in the slag removal work of metal casting furnaces. Slag removal vehicles are generally equipped with a telescopic arm device, which at least includes a basic arm, a telescopic arm that is arranged in the basic arm and can be extended or retracted into the basic arm, and a driving mechanism for driving the telescopic arm to extend and retract. For example, a cylinder, chain and sprocket can be used as a driving machine.

[0003] However, the existing slag removal vehicles are generally operated and judged by artificial vision under high temperature. Since artificial vision is easily affected by the high temperature in the furnace, visual judgment errors may occur, which may cause impacts on the furnace and cause irreversible damage to the furnace.

[0004] Therefore, in order to solve the above problems, the present application provides a slag removal control method for an automated anti-collision slag removal machine. Summary of the invention

[0005] The present invention provides a slag removal control method for an automatic anti-collision slag removal machine, aiming to solve the problems existing in the above-mentioned background technology.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions: A method for controlling the slag removal of an automatic anti-collision slag removal machine, the automatic anti-collision slag removal machine comprising: a first mounting frame, a composite lifting mechanism, a telescopic assembly, a slag removal head, a vehicle body and a control assembly, the first mounting frame being fixedly connected to the vehicle body, the first mounting frame being provided with a composite lifting mechanism, the composite lifting mechanism being provided with a telescopic assembly, the extended end of the telescopic assembly being fixedly connected to the slag removal head; the telescopic assembly comprising: a fixed arm, a first telescopic arm being slidably provided in an inner cavity of the fixed arm, a second telescopic arm being slidably provided in an inner cavity of the first telescopic arm, and a driving mechanism being provided on the fixed arm; the control assembly comprising a controller, an ultrasonic receiver provided on the first mounting frame, a first ultrasonic transmitter and a second ultrasonic transmitter provided on the bottom axis of the telescopic assembly, and a third ultrasonic transmitter provided at the bottom of the second telescopic arm, and the first ultrasonic transmitter and the ultrasonic receiver being arranged in a vertical direction, the receiver, the transmitter and the driving mechanism being all connected to the controller signal; the method for controlling the slag removal comprises the following steps: S1, after the automatic anti-collision slag scraper travels to a predetermined distance from the metal casting furnace and is turned on, the signals of the receiver and the transmitter are acquired in real time through the controller, and then the position information of the slag scraper head is calculated; S2, the controller drives the telescopic component to work according to the input overall height of the furnace mouth, the height inside the furnace mouth, the furnace depth and the position information of the slag scraper head, thereby driving the slag scraper head to automatically work in the metal casting furnace according to the set route to remove waste slag, thereby preventing it from hitting the metal casting furnace.

[0007] Compared with the prior art, the present invention has the following technical effects: 1. The control method of an automatic anti-collision slag scraper described in the present invention can realize automatic slag scraping, thereby greatly avoiding the impact on the furnace caused by manual operation due to visual influence, fatigue influence or operating skill level influence, and avoiding irreversible damage to the furnace. 2. The sensors in this case are all arranged outside the furnace mouth. Therefore, the sensors will not be affected by the high temperature in the furnace, so that they can maintain stable operation for a long time and extend the service life. 3. The control method of the present invention can also realize unmanned operation and fixed-time and fixed-point work (24 hours), thereby greatly reducing labor costs and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is an axonometric view of a telescopic arm and a composite lifting mechanism of an automatic anti-collision scraper described in the present invention.

[0009] Figure 2 The present invention is a front view of a telescopic arm and a composite lifting mechanism of an automatic anti-collision scraper.

[0010] Figure 3 It is an axonometric view of the telescopic arm of an automatic anti-collision scraper described in the present invention.

[0011] Figure 4 It is a schematic cross-sectional view of a telescopic arm of an automatic anti-collision scraper described in the present invention.

[0012] Figure 5 It is a schematic cross-sectional view of a first telescopic arm of an automatic anti-collision scraper described in the present invention.

[0013] Figure 6 It is an axonometric view of a fixed arm of an automatic anti-collision scraper according to the present invention.

[0014] Figure 7 It is a schematic diagram of the bottom of a fixed arm of an automatic anti-collision scraper described in the present invention.

[0015] Figure 8 It is an axonometric view of a first telescopic arm of an automatic anti-collision scraper described in the present invention.

[0016] Fig. 9 It is a schematic diagram of the inner cavity of the first telescopic arm of an automatic anti-collision scraper described in the present invention.

[0017] Fig.10 It is an axonometric view of the second telescopic arm of an automatic anti-collision scraper described in the present invention.

[0018] Fig.11 It is a rear view of the second telescopic arm of the automatic anti-collision scraper described in the present invention.

[0019] Fig.12 It is an axonometric view of a first mounting frame and a composite lifting mechanism of an automatic anti-collision scraper described in the present invention.

[0020] Fig.13 It is a front view of a first mounting frame and a composite lifting mechanism of an automatic anti-collision scraper described in the present invention.

[0021] Fig.14 It is a schematic diagram of the body of an automatic anti-collision scraper described in the present invention.

[0022] Fig.15 The present invention is a front view of the body of an automatic anti-collision scraper.

[0023] Fig.16 The present invention discloses a flow chart of a slag removal control method for an automatic anti-collision slag removal machine.

[0024] Figure 17-18 It is a principle diagram of positioning of a slag scraper head in a slag scraping control method of an automatic anti-collision slag scraper described in the present invention.

[0025] 1. First mounting frame; 101. Bottom plate; 102. Side plate; 103. First rotating shaft; 104. Rear oil cylinder ear seat; 121. Ultrasonic receiver; 122. First ultrasonic transmitter; 123. Second ultrasonic transmitter; 124. Third ultrasonic transmitter; 2. Compound lifting mechanism; 201. Turn plate; 202. Mounting seat; 203. Front oil cylinder; 204. Turn rod; 205. Connecting piece; 206. Rear oil cylinder; 207. Pull rod; 3. Telescopic components; 4. Slag removal head; 5. Upper frame; 6. Rotating mechanism; 7. Lower frame; 8. Driving mechanism; 801. Driving chain; 802. Retracting chain; 803. Extending chain; 9. Fixed arm; 901. Bending plate; 902. First channel steel; 903. Upper rib plate; 904. Horizontal connecting plate; 905. Longitudinal connecting plate; 906. Lower rib plate; 907. Guide groove fixing plate; 908. Second mounting frame; 909. Front panel; 910. Rear panel; 911. Driving sprocket; 912. Passive sprocket; 913. Chain guide groove; 914. First auxiliary pulley block; 10. first telescopic arm; 1001. U-shaped plate; 1002. second channel steel; 1003. first vertical pulley; 1004. reinforcing rib plate; 1005. guide plate; 1006. third mounting frame; 1007. first horizontal pulley; 1008. pulley seat; 1009. stopper; 1010. buffer block; 1011. retracting sprocket; 1012. extending sprocket; 1013. second auxiliary pulley block; 11. second telescopic arm; 1101. cylinder; 1102. second vertical pulley; 1103. second horizontal pulley; 1104. fourth mounting frame; 1105. slide plate. DETAILED DESCRIPTION

[0026] In order to make the objectives, technical solutions and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in combination with specific embodiments of the present application and with reference to the accompanying drawings.

[0027] like Figure 1-17 As shown, an automatic anti-collision scraper includes: a first mounting frame 1, a compound lifting mechanism 2, a telescopic assembly 3, a scraper head 4, a vehicle body and a control assembly. The first mounting frame 1 is fixedly connected to the vehicle body, the first mounting frame 1 is provided with a compound lifting mechanism 2, the telescopic assembly 3 is provided on the compound lifting mechanism 2, and the extended end of the telescopic assembly 3 is fixedly connected to the scraper head 4; the telescopic assembly 3 includes: a fixed arm 9, a first telescopic arm 10 is slidably provided in the inner cavity of the fixed arm 9, a second telescopic arm 11 is slidably provided in the inner cavity of the first telescopic arm 10, a driving mechanism 8 is provided on the fixed arm 9, the driving mechanism 8 is used to drive the first telescopic arm 10 to extend or retract from the inner cavity of the fixed arm 9, and the driving mechanism 8 is also used to drive the second telescopic arm 11 to extend or retract from the inner cavity of the first telescopic arm 10; the end of the telescopic assembly 3 close to the extending direction is defined as the front end, and the other end is defined as the rear end. The control assembly includes a controller (not shown), an ultrasonic receiver 121 disposed on the first mounting frame 1, a first ultrasonic transmitter 122 and a second ultrasonic transmitter 123 disposed on the bottom axis of the telescopic assembly 3, and a third ultrasonic transmitter 124 disposed at the bottom of the second telescopic arm 11, and the first ultrasonic transmitter 122 and the ultrasonic receiver 121 are arranged in a vertical direction, and the receiver, the transmitter and the driving mechanism 8 are all connected to the controller signal. In order to allow the signal of the third ultrasonic transmitter 124 to be received by the ultrasonic receiver 121, therefore, as a further improvement, a long strip-shaped through hole extending along the axial direction thereof is provided at the bottom of the first telescopic arm 10 and the fixed arm 9, so that the third ultrasonic transmitter 124 can be dragged through the long strip-shaped through hole and be received by the ultrasonic receiver 121.

[0028] When the automatic anti-collision slag scraper travels to a predetermined distance from the metal casting furnace 20, such as generally traveling to a distance range of 0.5 to 1 meter from the slag scraper head 4 to the furnace mouth, and is turned on, the controller is used to obtain the position information of the slag scraper head 4 in real time according to the signals of the receiver and the transmitter. The ultrasonic receiver 121 and the transmitter are prior art and will not be described here. It can be understood that the present invention is not limited to ultrasonic positioning technology, and other technologies such as Bluetooth positioning technology, infrared positioning technology, radio frequency identification (RFID) technology, and radar positioning technology can be used in the present invention.

[0029] The controller is further used to input the overall height H of the furnace opening of the metal casting furnace 20. 1 、Height of furnace mouth H 2 , the furnace depth D and the position information of the slag scraper head 4 drive the telescopic component 3 to work, thereby driving the slag scraper head 4 to automatically work in the metal casting furnace 20 according to the set route to remove the waste slag 30 to prevent it from hitting the metal casting furnace 20.

[0030] The fixed arm 9 comprises: two symmetrically arranged bending plates 901, the upper parts of the two bending plates 901 are fixedly connected with a vertically arranged first channel steel 902, a plurality of upper rib plates 903 are arranged at intervals between the upper side walls of the two first channel steels 902, a plurality of transverse connecting plates 904 are arranged in parallel and at intervals between the lower side walls of the two bending plates 901, a longitudinal connecting plate 905 is fixedly connected between adjacent transverse connecting plates 904, a rear panel 910 is fixedly connected to the rear ends of the bending plates 901 and the first channel steel 902, and a front panel 909 is fixedly connected to the front ends; the above structure forms the arm body of the fixed arm 9, and the middle part of the front panel 909 is opened to facilitate the extension and retraction of the first telescopic arm 10. The above structure makes the upper and lower sides of the arm body of the fixed arm 9 both hollow structures, so that the operator can easily observe the internal structure of the fixed arm 9, and can timely troubleshoot, avoid construction accidents, and cause equipment or personnel losses; The first telescopic arm 10 comprises: two U-shaped plates 1001 symmetrically arranged in the upper and lower parts, the two U-shaped plates 1001 are fixedly connected by two second channel steels 1002 symmetrically arranged in the left and right parts, the rear ends of the U-shaped plates 1001 and the second channel steels 1002 are fixedly connected with a third mounting frame 1006, and the front ends are fixedly connected with a front seat, and the left and right side walls of the third mounting frame 1006 are respectively rotatably connected with a first vertical pulley 1003 and a first horizontal pulley 1007 for cooperating with the first channel steel 902; the above structure forms the arm body of the first telescopic arm 10, and through the cooperation of the U-shaped plates 1001 and the second channel steel 1002, the bending section coefficient of the first telescopic arm 10 can be effectively improved, and its bearing capacity can be improved; during the extension and retraction process of the first telescopic arm 10, the two first vertical pulleys 1003 respectively cooperate with the upper and lower side walls of the corresponding sliding groove of the first channel steel 902, and the two first horizontal pulleys 1007 respectively cooperate with the vertical side walls of the corresponding sliding groove of the first channel steel 902, so as to ensure the sliding stability of the first telescopic arm 10; The second telescopic arm 11 includes: a cylinder 1101, the rear end of the cylinder 1101 is fixedly connected to the fourth mounting frame 1104, the front end of the cylinder 1101 is fixedly connected to the slag scraper head 4, the left and right side walls of the fourth mounting frame 1104 are respectively rotatably connected to the second vertical pulley 1102 and the second horizontal pulley 1103 for cooperating with the second channel steel 1002. Similarly, the cooperation method of the second vertical pulley 1102, the second horizontal pulley 1103 and the second channel steel 1002 is the same as the cooperation method of the first vertical pulley 1003, the first horizontal pulley 1007 and the first channel steel 902.

[0031] like Figure 4-9 As shown, a plurality of lower ribs 906 are arranged between the bending plate 901 and the corresponding first channel steel 902, and the lower ribs 906 are arranged in parallel and spaced along the length direction of the bending plate 901, and are perpendicular to the lower side wall of the first channel steel 902; a plurality of reinforcing ribs 1004 are arranged between the two U-shaped plates 1001 and the second channel steel 1002, and the reinforcing ribs 1004 are arranged in parallel and spaced along the length direction of the U-shaped plates 1001, and are perpendicular to the upper side wall or the lower side wall of the second channel steel 1002. The arrangement of the lower ribs 906 and the reinforcing ribs 1004 can further improve the bending section coefficient of the fixed arm 9 and the first telescopic arm 10.

[0032] like Figure 6 and Figure 8 As shown, the front panel 909 is provided with a first auxiliary pulley set 914, and the first auxiliary pulley set 914 is used to cooperate with the outer side wall of the first telescopic arm 10; A pulley seat 1008 is fixedly connected to the front seat of the first telescopic arm 10, and a second auxiliary pulley block 1013 is arranged on the pulley seat 1008. The second auxiliary pulley block 1013 is used to cooperate with the outer wall of the second telescopic arm 11. By setting the first auxiliary pulley block 914 and the second auxiliary pulley block 1013, the friction during the extension and retraction of the first telescopic arm 10 and the second telescopic arm 11 can be reduced, and the resistance of the driving mechanism 8 can be reduced; like Figure 3 , Figure 6 as well as Figure 8-11 As shown, the driving mechanism 8 includes a driving chain 801, a retracting chain 802 and an extending chain 803. The upper rear end of the fixed arm 9 is rotatably connected to a driving sprocket 911, and the upper front end is rotatably connected to a passive sprocket 912. The driving sprocket 911 is driven by a hydraulic motor. One end of the driving chain 801 is fixedly connected to the upper rear end of the first telescopic arm 10, and the other end is fixedly connected to the upper rear end of the first telescopic arm 10 after passing through the driving sprocket 911 and the passive sprocket 912 in sequence. Working principle: the extension and retraction of the first telescopic arm 10 are driven by the driving chain 801. Both ends of the driving chain 801 are fixedly connected to the first telescopic arm 10. When the hydraulic motor drives the driving sprocket 911 to rotate, the driving sprocket 911 drives the driving chain 801 to move, thereby driving the first telescopic arm 10 to extend or retract. The lower side of the third mounting frame 1006 at the rear end of the first telescopic arm 10 is rotatably connected with a retracting sprocket 1011. After one end of the retracting chain 802 is fixedly connected to the fourth mounting frame 1104 on the second telescopic arm 11, the other end passes around the retracting sprocket 1011 and is fixedly connected to the lower side of the front panel 909 of the fixed arm 9. Working principle: when the first telescopic arm 10 retracts, the retraction sprocket 1011 on the third mounting frame 1006 at the rear end of the first telescopic arm 10 pushes the retraction chain 802 in the retraction direction. Since one end of the retraction chain 802 is fixedly connected to the lower end of the front panel 909 of the fixed arm 9 and cannot move, the other end of the retraction chain 802 drives the second telescopic arm 11 to retract. An extension sprocket 1012 is rotatably connected to the vertical side wall of the front inner cavity of the first telescopic arm 10, and one end of the extension chain 803 is fixedly connected to the fourth mounting bracket 1104 of the second telescopic arm 11, and the other end passes around the extension sprocket 1012 and is fixedly connected to the rear panel 910 of the fixed arm 9; Working principle: when the first telescopic arm 10 is extended, the extension sprocket 1012 in the inner cavity of the first telescopic arm 10 pushes the extension chain 803 in the extension direction. Since one end of the extension chain 803 is fixedly connected to the rear panel 910 of the fixed arm 9 and cannot move, the other end of the extension chain 803 drives the second telescopic arm 11 to extend. By setting three chains in the driving mechanism 8, the force on a single chain is reduced during the telescopic action of the telescopic assembly 3, which can effectively increase the service life of the chain and avoid damage.

[0033] like Figure 4 , Figure 6 As shown, two left-right symmetrically arranged guide groove fixing plates 907 are fixedly connected between adjacent upper rib plates 903 , and the upper side walls of the two guide groove fixing plates 907 are respectively fixedly connected with a chain guide groove 913 , and the two chain guide grooves 913 form a accommodating cavity for accommodating the driving chain 801 .

[0034] The arrangement of the chain guide groove 913 can protect the drive chain 801 and prevent the drive chain 801 from accidentally breaking and causing harm to the surrounding personnel. It can also prevent foreign debris from being drawn into the drive chain 801 and affecting the normal operation of the drive mechanism 8. In addition, in a specific embodiment, the two chain guide grooves 913 are arranged at intervals to facilitate observation and maintenance by the operator. When a fault is found, the operator can remove the chain guide groove 913 at the fault location separately for maintenance, which is flexible and convenient.

[0035] like Figure 4 , Figure 8 , Fig.10 As shown, the outer wall of the first telescopic arm 10 is provided with a plurality of guide rail plates 1005, and the guide rail plates 1005 are used to cooperate with the first auxiliary pulley group 914, and the outer wall of the second telescopic arm 11 is provided with a plurality of slide plates 1105, and the slide plates 1105 are used to cooperate with the second auxiliary pulley group 1013.

[0036] The arrangement of the guide plate 1005 and the slide plate 1105 can prevent the arm bodies of the first telescopic arm 10 and the second telescopic arm 11 from being worn during the extension and retraction process. When the guide plate 1005 and the slide plate 1105 are worn to a certain extent, they can be replaced separately, and maintenance is convenient and quick.

[0037] like Figure 8-9 As shown, the rear end of the third mounting frame 1006 on the first telescopic arm 10 is fixedly connected with a buffer block 1010, and the buffer block 1010 cooperates with the rear panel 910 on the fixed arm 9. The front end of the third mounting frame 1006 is fixedly connected with a stop block 1009, and the front end of the inner cavity of the fixed arm 9 is provided with a limit block that cooperates with the stop block 1009.

[0038] By setting the buffer block 1010 , the stopper 1009 and the limit block, the stroke of the first telescopic arm 10 can be limited to prevent the first telescopic arm 10 from exceeding the stroke limit and causing damage to the structure of the telescopic assembly 3 .

[0039] like Figure 12-13 As shown, the first mounting frame 1 includes: a horizontally arranged bottom plate 101, parallel and symmetrical side plates 102 are respectively arranged on both sides of the bottom plate 101, the side plates 102 are perpendicular to the bottom plate 101, a first rotating shaft 103 is rotatably connected between the upper parts of the two side plates 102, and two rear cylinder ear seats 104 are fixedly connected to the rear part of the upper side wall of the bottom plate 101.

[0040] like Figure 12-13 As shown, the compound lifting mechanism 2 includes: a rotating plate 201 rotatably connected to the first rotating shaft 103, both sides of the upper end of the rotating plate 201 are rotatably connected to the lower end of a mounting seat 202 respectively, the lower side surface of the upper end of the rotating plate 201 is rotatably connected to one end of two front cylinders 203, and the other end of the front cylinder 203 is rotatably connected to the front end of the base plate 101.

[0041] There are also two rotating rods 204 rotatably connected to the first rotating shaft 103, and the rotating rods 204 are distributed on both sides of the rotating plate 201. The upper ends of the two rotating rods 204 are respectively fixedly connected with connecting pieces 205, and the rear end of the connecting piece 205 is rotatably connected to one end of the rear cylinder 206, and the other end of the rear cylinder 206 is rotatably connected to the corresponding rear cylinder ear seat 104, and the front end of the connecting piece 205 is rotatably connected to one end of the pull rod 207, and the other end of the pull rod 207 is rotatably connected to the upper end of the corresponding mounting seat 202.

[0042] The front end of the outer wall of the fixed arm 9 is fixedly connected with a second mounting frame 908, and the left and right side walls of the second mounting frame 908 are respectively fixedly connected with the mounting seat 202. Through the arrangement of the above-mentioned composite lifting mechanism 2, the front cylinder 203 can be mainly used to increase the height of the telescopic assembly 3, and the rear cylinder 206 is mainly used to control the tilt angle α of the telescopic assembly 3.

[0043] By controlling the extension distance of the front cylinder 203 and the rear cylinder 206, the height and angle of the mounting base 202 can be adjusted, thereby adjusting the height and angle of the fixed arm 9, thereby adjusting the height and angle of the entire telescopic assembly 3, so that the slag scraper head 4 at the front end of the telescopic assembly 3 can flexibly clean the residue in the metal casting furnace.

[0044] like Figure 14-15As shown, the vehicle body includes: an upper frame 5, a slewing mechanism 6 and a lower frame 7, the first mounting frame 1 is fixedly connected to the upper frame 5, the upper frame 5 is fixedly connected to the rotating part of the slewing mechanism 6, the rotating seat of the slewing mechanism 6 is fixedly connected to the lower frame 7; the slewing mechanism 6 is used to drive the upper frame 5 to rotate relative to the lower frame 7.

[0045] The upper frame 5 is provided with a cab, a control system, a hydraulic system, an alarm system, etc., which will not be described in detail here; The lower frame 7 is provided with a driving assembly for driving the lower frame 7 to move. The driving assembly can adopt a conventional wheel mechanism or a crawler mechanism, which will not be described in detail here.

[0046] See also Figure 16-18 As shown, the slag removal control method comprises the following steps: S1, after the automatic anti-collision slag scraper travels to a predetermined distance from the metal casting furnace 20 and is turned on, the signals of the receiver and the transmitter are acquired in real time through the controller, and then the position information of the slag scraper head 4 is calculated; S2, the controller determines the overall height H of the furnace opening of the metal casting furnace 20 according to the input 1 、Height of furnace mouth H 2 , the furnace depth D and the position information of the slag scraper head 4 drive the telescopic component 3 to work, thereby driving the slag scraper head 4 to automatically work in the metal casting furnace 20 according to the set route to remove the waste slag 30, thereby preventing it from hitting the metal casting furnace 20.

[0047] In step S1, the step of acquiring the signals of the receiver and the transmitter through the controller in real time and then calculating the position information of the slag scraper head 4 specifically includes: S11, define a coordinate system with the position of the ultrasonic receiver 121 as the origin O, the horizontal direction as the X-axis, and the vertical direction as the Y-axis, and define the line connecting the second ultrasonic transmitter 123 and the third ultrasonic transmitter 124 as the axis of the telescopic component 3; S12, obtaining the height h of the telescopic component 3 through the signal of the first ultrasonic transmitter 122; obtaining the distance L from the second ultrasonic transmitter 123 to the ultrasonic receiver 121 through the signal of the second ultrasonic transmitter 123 1 ; S13, according to the height h, distance L 1 and an initial distance L from the first ultrasonic transmitter 122 to the second ultrasonic transmitter 123 2 Obtaining the inclination angle α of the telescopic component 3; S14, obtaining an extension length S of the telescopic component 3 according to a signal of the third ultrasonic transmitter 124; S15, according to the inclination angle α and the extension length S, finally confirming the position information of the scraper head 4.

[0048] In step S11, by establishing a coordinate system and the axis on which the telescopic component 3 is located, the operation can be greatly simplified and the amount of calculation can be reduced.

[0049] In step S12, in the actual control process, although the front cylinder 203 is mainly used to lift the height of the telescopic assembly 3, the driving of the rear cylinder 206 will also have a certain impact on the vertical lifting of the telescopic assembly 3. That is, it will cause the first ultrasonic transmitter 122 to not move completely in the vertical direction, thereby generating a certain deviation, but the deviation is within an acceptable range. Therefore, in the actual calculation process, for the convenience of calculation, it is still assumed that the distance from the first ultrasonic transmitter 122 to the ultrasonic receiver 121 is the height h of the telescopic assembly 3.

[0050] In step S13, since the lengths of the three sides of the triangle are confirmed, the inclination angle α of the telescopic component 3 can be obtained, that is, the obtuse angle of the triangle in the figure minus 90° is the inclination angle α.

[0051] In step S14, obtaining the extension length S of the telescopic component 3 according to the signal of the third ultrasonic transmitter 124 specifically includes: S141, obtaining the distance L between the third ultrasonic transmitter 124 and the ultrasonic receiver 121 when the third ultrasonic transmitter 124 is at the initial position 4 , and the distance L from the third ultrasonic transmitter 124 to the ultrasonic receiver 121 after the telescopic assembly 3 is extended 4 '; S142, respectively at the distance L 4 And the distance L 4 ' is the radius, and the center is O to make a circle that intersects with the axis of the telescopic component 3, so as to obtain the coordinates of the two intersection points; S143, obtaining the extension length S of the telescopic component 3 through the coordinates of the two intersection points.

[0052] In step S15, in this step, in the actual calculation process, the initial length L of the scraper head 4 also needs to be considered. 3 .

[0053] In step S2, the controller determines the overall height H of the furnace opening of the metal casting furnace 20 according to the input 1 、Height of furnace mouth H 2The steps of driving the telescopic assembly 3 to work according to the furnace depth D and the position information of the slag removal head 4, thereby driving the slag removal head 4 to automatically work and remove the waste slag 30 in the metal casting furnace 20 according to the set route specifically include: S21, based on the furnace opening position information and the overall furnace opening height H of the metal casting furnace 20, 1 、Height of furnace mouth H 2 and the furnace depth D, to establish the coordinate information of the metal casting furnace 20 in the coordinate system; S22, control the slag removal head 4 to be higher than the overall height H of the furnace mouth 1 Enter the metal casting furnace 20, then control the slag scraping head 4 to descend to a predetermined height to scrape out the slag, and during the process of scraping out the slag, control the slag scraping head 4 to move outward in a substantially horizontal direction to the furnace mouth position to scrape out the slag.

[0054] In step S21, the furnace opening position information and the overall furnace opening height H of the metal casting furnace 20 are used. 1 、Height of furnace mouth H 2 and furnace depth D, the specific steps of establishing the coordinate information of the metal casting furnace 20 in the coordinate system include: The coordinate information of the highest position a at the lower end of the furnace mouth, the lowest position b at the lower end of the furnace mouth, the lowest position c at the inner wall of the furnace, the inner wall of the furnace 21 and the lowest position d at the upper end of the furnace mouth of the metal casting furnace 20 in the coordinate system is established. In the actual calculation, the furnace mouth position information also needs to be calculated.

[0055] In step S22, the slag removal head 4 is controlled to be higher than the overall height H of the furnace opening. 1 The specific steps of entering the metal casting furnace 20 and then controlling the slag removal head 4 to descend to a predetermined height to remove slag outside include: S221, control the slag removal head 4 to be higher than the overall height H of the furnace mouth 1 Enter the metal casting furnace 20 at a preset height of 30-50 cm, start deceleration and buffering when it is preset 1-1.2 meters away from the furnace inner wall 21, and finally stop at a preset position of 30-50 cm away from the furnace inner wall 21; then control the slag removal head 4 to drop to a preset position of 10-30 cm below the highest position a at the lower end of the furnace mouth to remove slag outward. The advantage of this is that through deceleration and buffering, strong impact can be prevented from causing irreversible damage to the furnace. In the process of slag removal, precise control is not required, so a larger position stroke will be reserved in actual control.

[0056] After step S211, the method may further include: S223, the slag scraper head 4 moves to a preset position of 1 to 1.2 meters away from the lowest position b at the lower end of the furnace mouth, and starts to slow down and buffer, and finally stops at a preset position of 30 to 50 cm away from the lowest position b at the lower end of the furnace mouth; then the slag scraper head 4 is controlled to rise parallel to the extension direction ba of the furnace mouth. The advantage of this is that it can prevent a strong impact on the furnace mouth.

[0057] In step S223, the step of controlling the slag scraper head 4 to be lifted in parallel along the extension direction ba parallel to the furnace opening specifically includes: The slag scraper head 4 is controlled to be lifted in parallel along an extension direction ba parallel to the furnace opening and at a preset height of 30 to 50 cm from the extension direction ba.

[0058] In step S22, the specific steps of controlling the slag removal head 4 to move outwards in a substantially horizontal direction to the furnace mouth position to remove slag outwards during the slag removal process include: S222, the slag removal head 4 is controlled to move outward to the furnace mouth position in a substantially horizontal direction to remove slag outward by cooperating with the front cylinder 203, the rear cylinder 206 and the telescopic assembly 3 with a preset telescopic amount. In other embodiments, the telescopic amount required by each mechanism when the slag removal head 4 moves outward in a substantially horizontal direction can be pre-constructed, so that the front cylinder 203, the rear cylinder 206 and the telescopic assembly 3 can be controlled to telescope according to the predetermined telescopic amount during the control process. It can be understood that the cleaning work of the waste slag 30 in the metal casting furnace 20 can be basically achieved through continuous cyclic reciprocating motion. Furthermore, since the metal casting furnace 20 generally operates at high temperature, and the sensors in this case are all arranged outside the furnace mouth, the sensors will not be affected by the high temperature. Finally, the control method of the present invention can realize automatic operation, thereby greatly avoiding the strong impact on the furnace caused by manual operation due to visual influence, causing irreversible damage.

[0059] The above is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several modifications and improvements without departing from the inventive concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A method for controlling the slag removal of an automatic anti-collision slag removal machine, characterized in that: The automatic anti-collision scraper comprises: a first mounting frame (1), a composite lifting mechanism (2), a telescopic assembly (3), a scraper head (4), a vehicle body and a control assembly, wherein the first mounting frame (1) is fixedly connected to the vehicle body, the first mounting frame (1) is provided with a composite lifting mechanism (2), the composite lifting mechanism (2) is provided with a telescopic assembly (3), and the extended end of the telescopic assembly (3) is fixedly connected to the scraper head (4); the telescopic assembly (3) comprises: a fixed arm (9), a first telescopic arm (10) is slidably arranged in an inner cavity of the fixed arm (9), and a second telescopic arm (10) is slidably arranged in an inner cavity of the first telescopic arm (10) The telescopic arm (11) is provided with a driving mechanism (8) on the fixed arm (9); the control component comprises a controller, an ultrasonic receiver (121) arranged on the first mounting frame (1), a first ultrasonic transmitter (122) and a second ultrasonic transmitter (123) arranged on the bottom axis of the telescopic component (3), and a third ultrasonic transmitter (124) arranged at the bottom of the second telescopic arm (11), wherein the first ultrasonic transmitter (122) and the ultrasonic receiver (121) are arranged in a vertical direction, and the receiver, the transmitter and the driving mechanism (8) are all connected to the controller by signal. The slag removal control method comprises the following steps: S1, after the automatic anti-collision slag scraper travels to a predetermined distance from the metal casting furnace (20) and is turned on, signals from the receiver and the transmitter are acquired in real time through the controller, thereby calculating position information of the slag scraper head (4); S2, the controller drives the telescopic component (3) to work according to the input information of the overall height (H1) of the furnace mouth of the metal casting furnace (20), the height inside the furnace mouth (H2), the depth inside the furnace (D) and the position information of the slag removal head (4), thereby driving the slag removal head (4) to automatically remove the waste slag (30) in the metal casting furnace (20) according to the set route, thereby preventing the metal casting furnace (20) from being hit.

2. The method for controlling the slag removal of an automatic anti-collision slag removal machine according to claim 1, characterized in that: In step S1, the step of acquiring the signals of the receiver and the transmitter in real time through the controller and then calculating the position information of the slag scraper head (4) specifically includes: S11, defining a coordinate system with the position of the ultrasonic receiver (121) as the origin O, the horizontal direction as the X-axis, and the vertical direction as the Y-axis, and defining a line connecting the second ultrasonic transmitter (123) and the third ultrasonic transmitter (124) as the axis on which the telescopic component (3) is located; S12, obtaining the height (h) of the telescopic component (3) through the signal of the first ultrasonic transmitter (122); obtaining the distance (L1) from the second ultrasonic transmitter (123) to the ultrasonic receiver (121) through the signal of the second ultrasonic transmitter (123); S13, obtaining a tilt angle (α) of the telescopic component (3) according to the height (h), the distance (L1), and the initial distance (L2) from the first ultrasonic transmitter (122) to the second ultrasonic transmitter (123); S14, obtaining an extension length (S) of the telescopic component (3) according to a signal from the third ultrasonic transmitter (124); S15, finally confirming the position information of the scraper head (4) according to the inclination angle (α) and the extension length (S).

3. The method for controlling the slag removal of an automatic anti-collision slag removal machine according to claim 2, characterized in that: In step S14, obtaining the extension length (S) of the telescopic component (3) according to the signal of the third ultrasonic transmitter (124) specifically comprises: S141, obtaining a distance L4 from the third ultrasonic transmitter (124) to the ultrasonic receiver (121) when the third ultrasonic transmitter (124) is in the initial position, and a distance L4' from the third ultrasonic transmitter (124) to the ultrasonic receiver (121) after the telescopic assembly (3) is extended; S142, drawing circles with the distance L4 and the distance L4' as radii and O as the center, respectively, so that they intersect with the axis of the telescopic component (3), thereby obtaining the coordinates of the two intersection points; S143, obtaining the extension length (S) of the telescopic component (3) through the coordinates of the two intersection points.

4. The method for controlling the slag removal of an automatic anti-collision slag removal machine according to claim 3, characterized in that: In step S2, the controller drives the telescopic assembly (3) to work according to the input information of the overall height (H1) of the furnace mouth of the metal casting furnace (20), the height inside the furnace mouth (H2), the depth inside the furnace (D), and the position information of the slag removal head (4), thereby driving the slag removal head (4) to automatically work and remove waste slag (30) in the metal casting furnace (20) according to a set route. The steps specifically include: S21, establishing coordinate information of the metal casting furnace (20) in the coordinate system based on the furnace mouth position information, the furnace mouth overall height (H1), the furnace mouth inner height (H2) and the furnace inner depth (D) of the metal casting furnace (20); S22, controlling the slag scraping head (4) to enter the interior of the metal casting furnace (20) at a height higher than the overall height (H1) of the furnace mouth, and then controlling the slag scraping head (4) to descend to a predetermined height to scrape slag outwards, and in the process of scraping slag outwards, controlling the slag scraping head (4) to move outwards in a substantially horizontal direction to the furnace mouth position to scrape slag outwards.

5. The method for controlling the slag removal of an automatic anti-collision slag removal machine according to claim 4, characterized in that: The composite lifting mechanism (2) comprises: A rotating plate (201) is rotatably connected to the first rotating shaft (103), the upper ends of the rotating plate (201) are rotatably connected to the lower ends of a mounting seat (202) at both sides, the lower side surface of the upper end of the rotating plate (201) is rotatably connected to one end of two front oil cylinders (203), the other ends of the front oil cylinders (203) are rotatably connected to the front end of the bottom plate (101), and the front oil cylinders (203) are used to raise the height of the telescopic assembly (3); The first rotating shaft (103) is also rotatably connected to two rotating rods (204), the rotating rods (204) are distributed on both sides of the rotating plate (201), the upper ends of the two rotating rods (204) are respectively fixedly connected to connecting members (205), the rear end of the connecting member (205) is rotatably connected to one end of a rear oil cylinder (206), the other end of the rear oil cylinder (206) is rotatably connected to the corresponding rear oil cylinder ear seat (104), the front end of the connecting member (205) is rotatably connected to one end of a pull rod (207), the other end of the pull rod (207) is rotatably connected to the upper end of the corresponding mounting seat (202), and the rear oil cylinder (206) is used to control the tilt angle (α) of the telescopic component (3).

6. The method for controlling the slag removal of an automatic anti-collision slag removal machine according to claim 5, characterized in that: In step S21, the specific steps of establishing the coordinate information of the metal casting furnace (20) in the coordinate system based on the furnace mouth position information, the furnace mouth overall height (H1), the furnace mouth inner height (H2) and the furnace inner depth (D) of the metal casting furnace (20) include: Coordinate information of the highest position (a) at the lower end of the furnace mouth, the lowest position (b) at the lower end of the furnace mouth, the lowest position (c) of the furnace inner wall, the furnace inner wall (21) and the lowest position (d) at the upper end of the furnace mouth of the metal casting furnace (20) in the coordinate system is established.

7. The method for controlling the slag removal of an automatic anti-collision slag removal machine according to claim 6, characterized in that: In step S22, the specific steps of controlling the slag scraping head (4) to enter the metal casting furnace (20) at a height higher than the overall height (H1) of the furnace opening, and then controlling the slag scraping head (4) to descend to a predetermined height to scrape slag outwards include: S221, control the slag scraping head (4) to enter the metal casting furnace (20) at a preset height of 30 to 50 cm higher than the overall height (H1) of the furnace mouth, start to decelerate and buffer when it is preset 1 to 1.2 meters away from the furnace inner wall (21), and finally stop at a preset position of 30 to 50 cm away from the furnace inner wall (21); then control the slag scraping head (4) to descend to a preset position of 10 to 30 cm lower than the highest position (a) at the lower end of the furnace mouth to scrape slag outward.

8. The method for controlling the slag removal of an automatic anti-collision slag removal machine according to claim 7, characterized in that: In step S22, during the process of removing slag from the furnace, the specific steps of controlling the slag removal head (4) to move outwards in a substantially horizontal direction to the furnace mouth position to remove slag from the furnace include: S222, controlling the slag removal head (4) to move outwards in a substantially horizontal direction to the furnace mouth position to remove slag outwards by cooperating with the front oil cylinder (203), the rear oil cylinder (206) and the telescopic assembly (3) with a preset telescopic amount.

9. The method for controlling the slag removal of an automatic anti-collision slag removal machine according to claim 8, characterized in that: Further including: S223, when the slag scraper head (4) moves to a position preset 1 to 1.2 meters away from the lowest position (b) at the lower end of the furnace mouth, it starts to decelerate and buffer, and finally stops at a position preset 30 to 50 cm away from the lowest position (b) at the lower end of the furnace mouth; then the slag scraper head (4) is controlled to be raised in parallel along the extension direction ba parallel to the furnace mouth.

10. The method for controlling the slag removal of an automatic anti-collision slag removal machine according to claim 9, characterized in that: In step S223, the step of controlling the slag scraper head (4) to be lifted in parallel along the extension direction ba parallel to the furnace opening specifically comprises: The slag scraper head (4) is controlled to be raised in parallel along an extension direction ba parallel to the furnace opening and at a preset height of 30 to 50 cm from the extension direction ba.

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