An automatic hot repair method and system for a slide device in hot repair of a ladle

Abstract

The present application relates to the technical field of hot repair of steel ladles, and specifically to an automatic hot repair method and system for a slide plate device in hot repair of steel ladles; the slide plate device comprises a mounting base and a sliding mechanism, the sliding mechanism is mounted in the mounting base and is configured to be able to slide to change the opening, the automatic hot repair method comprises: in response to triggering a first signal, controlling a first robot arm to disassemble the sliding mechanism to be replaced, and obtaining an on-site point cloud model of the mounting base through an image acquisition device; performing template matching in the on-site point cloud model according to a preset standard template, and annotating the template including shape features and texture features of the mounting base to obtain a point cloud of the slide plate device area; obtaining the position coordinates and posture of the mounting base according to the point cloud of the slide plate device area; and controlling the first robot arm to pick up the sliding mechanism to be installed and install it at the mounting base according to the position coordinates and posture.

Description

Technical Field

[0001] The present application relates to the technical field of ladle hot repair, and in particular to an automatic hot repair method and system for a slide device used in hot repair of a ladle. Background Art

[0002] During the steelmaking process, the slide device is mainly used to precisely control the flow and direction of molten steel, ensuring that the molten steel can flow smoothly and efficiently to the target location to meet production needs. During use, the slide device will gradually wear out due to long-term exposure to high temperature, high pressure and frequent friction, resulting in reduced control accuracy and even equipment failure. To avoid these problems, the slide device needs to be replaced regularly to ensure the continuity and stability of production.

[0003] The skateboard device is heavy and requires multiple people to collaborate in disassembly, transportation and installation. Figure 1 As shown, usually one person needs to use tools to pry off the skateboard that needs to be replaced, and the other person assists. At present, the skateboard device is disassembled and repaired and installed according to the prescribed cycle. This work needs to face the harsh on-site environment, and the disassembly and installation are highly dependent on experience.

[0004] In view of this, the present invention is provided. Summary of the Invention

[0005] In order to solve the problem that the slide device is difficult to replace during the hot repair of the ladle and affects the production stability, the present application provides an automatic hot repair method and system.

[0006] The first aspect of the present application provides an automatic hot repair method for a slide device in hot repair of a ladle, wherein the slide device includes a mounting base and a sliding mechanism, wherein the sliding mechanism is installed in the mounting base and is configured to be able to slide to change the opening of the water outlet, and the automatic hot repair method includes: in response to triggering a first signal, controlling the first robot arm to disassemble the sliding mechanism to be replaced, and obtaining an on-site point cloud model of the mounting base through an image acquisition device; performing template matching in the on-site point cloud model according to a preset standard template, wherein the annotation template includes shape features and texture features of the mounting base, so as to obtain a point cloud of the slide device area; obtaining the position coordinates and posture of the mounting base according to the point cloud of the slide device area; and controlling the first robot arm to pick up the sliding mechanism to be installed and install it to the mounting base according to the position coordinates and posture.

[0007] In a further embodiment of the present application, the automatic thermal repair method further includes: triggering a first signal at every preset time period; and / or obtaining the real-time temperature at the mounting base, and triggering the first signal when the real-time temperature exceeds a preset temperature threshold; and / or obtaining the real-time amplitude of the sliding mechanism during sliding, and triggering the first signal when the real-time amplitude exceeds a preset amplitude threshold.

[0008] In a further scheme of the present application, template matching is performed in the on-site point cloud model according to a preset standard template, and the annotation template includes the shape features and texture features of the mounting base to obtain the point cloud of the skateboard device area, including: edge detection after preprocessing the on-site point cloud model to obtain edge contour features; traversal pixel-by-pixel comparison of each area based on the shape features and edge contour features of the standard template, and combining the texture features to calculate the similarity of each area; and combining the area with the highest similarity in the edge contour features as the point cloud of the skateboard device area.

[0009] In a further scheme of the present application, a traversal pixel-by-pixel comparison is performed on each area of ​​the shape features and edge contour features of the standard template, and the texture features are combined to calculate the similarity of each area, including: representing the edge contour features as a point set array, and defining several window areas in the edge contour features according to the standard template; traversing the point set array in each window area, and calculating the shape similarity with the standard template through the pixel points of the window area; calculating the grayscale co-occurrence matrix for the window area and the standard template respectively, and extracting the same texture features to form the window area feature vector and the standard template feature vector respectively; calculating the texture similarity between the window area feature vector and the standard template feature vector; and taking a weighted average of the shape similarity and texture similarity to obtain the similarity of each area.

[0010] In a further solution of the present application, the position coordinates and posture of the mounting base are obtained based on the point cloud of the skateboard device area, including: selecting the center point and two edge points of the point cloud of the skateboard device area; performing affine transformation based on the center point, the two edge points and the standard template to obtain the position coordinates and posture of the mounting base.

[0011] In a further solution of the present application, it also includes: obtaining the feedback force at the mounting base; when controlling the first robotic arm to disassemble the sliding mechanism, determining whether it is disassembled in place based on the feedback force being zero; when controlling the first robotic arm to install the sliding mechanism, determining whether it is installed in place based on whether the feedback force is greater than a preset threshold.

[0012] In a further solution of the present application, it also includes: after determining that the installation is in place, controlling the robotic arm to pick up the drain; determining the hole coordinates of the mounting hole on the sliding mechanism according to the position coordinates and posture; and installing the drain to the mounting hole according to the hole coordinates.

[0013] In a further solution of the present application, the skateboard device includes a skateboard cover, and the mounting base and the sliding mechanism are both arranged on the inner side of the skateboard cover. The automatic thermal repair method also includes: after responding to triggering the first signal, before controlling the first robotic arm to disassemble the sliding mechanism to be replaced, controlling the second robotic arm to open the skateboard cover to expose the mounting base and the sliding mechanism.

[0014] In a further solution of the present application, the first robot arm is controlled to pick up the sliding mechanism to be installed and install it on the mounting base according to the position coordinates and posture, including: controlling the first robot arm to pick up the sliding mechanism to be installed at a preset placement device; controlling the first robot arm to carry the sliding mechanism to a preset plastering device for automatic plastering, wherein the plastering surface is the side where the sliding mechanism contacts the mounting base; after the sliding mechanism is automatically plastered, controlling the first robot arm to install the sliding mechanism to be installed on the mounting base according to the position coordinates and posture.

[0015] The second aspect of the present application also provides an automatic hot repair system for a slide device in hot repair of a ladle, wherein the slide device includes a mounting base, a sliding mechanism and a slide cover, and the mounting base and the sliding mechanism are both arranged on the inner side of the slide cover, and the sliding mechanism is installed in the mounting base and is arranged to be able to slide to change the opening of the water outlet, and the automatic hot repair system includes: a first robotic arm, which is used to connect with the first end clamp for clamping the sliding mechanism; a second robotic arm, which is used to connect with the second end clamp for opening or the slide cover; an image acquisition device, which is used to obtain an on-site point cloud model of the mounting base; a placement device, which is used to carry the sliding mechanism to be installed; a mudding device, which is used to automatically muddy the sliding mechanism; a controller, which is electrically connected to the first robotic arm, the second robotic arm, the first end clamp, the second end clamp, the image acquisition device, and the placement device, and is configured to execute the above-mentioned automatic hot repair method for the slide device in hot repair of a ladle.

[0016] In a further embodiment of the present application, the automatic thermal repair system further includes a temperature sensor and an amplitude sensor disposed at the mounting base; the controller is electrically connected to the temperature sensor and the amplitude sensor, and is further configured to: trigger a first signal at every preset time period; and / or obtain the real-time temperature at the mounting base, and trigger the first signal when the real-time temperature exceeds a preset temperature threshold; and / or obtain the real-time amplitude of the sliding mechanism during sliding, and trigger the first signal when the real-time amplitude exceeds a preset amplitude threshold.

[0017] In a further solution of the present application, the automatic thermal repair system also includes a mechanical sensor arranged at the mounting base; the controller is electrically connected to the mechanical sensor and is also configured to: obtain the feedback force at the mounting base; when controlling the first robotic arm to disassemble the sliding mechanism, determine whether it is disassembled in place based on the feedback force being zero; when controlling the first robotic arm to install the sliding mechanism, determine whether it is installed in place based on whether the feedback force is greater than a preset threshold.

[0018] Based on a general inventive concept provided in this application, through image recognition technology, the first robotic arm can autonomously identify and locate the sliding mechanism and its mounting base that need to be replaced, realizing automation and intelligence of disassembly and installation, and reducing manual intervention; and the automated operation significantly shortens the time required to replace the sliding mechanism, improving replacement efficiency; image recognition technology can accurately identify the shape, texture and other features of the mounting base, ensuring the precise matching and positioning of the sliding mechanism and the mounting base, avoiding installation problems caused by size or shape inconsistencies; the automated replacement process reduces the need for a large amount of manpower, and automated replacement through the first robotic arm avoids direct contact between personnel and high-temperature components, reduces safety risks such as burns, and improves the safety of the working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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 embodiments, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0020] Figure 1 This is a flow chart of the overall steps of the automatic hot repair method for the slide device in the hot repair of the ladle provided by an embodiment of the present invention;

[0021] Figure 2 This is a further flowchart of step S10 in the automatic thermal repair method provided by an embodiment of the present invention;

[0022] Figure 3 This is a further flow chart of step S20 in the automatic thermal repair method provided in an embodiment of the present invention;

[0023] Figure 4 This is a further flow chart of step S22 in the automatic thermal repair method provided by an embodiment of the present invention;

[0024] Figure 5 is a further flow chart of step S30 in the automatic thermal repair method provided in an embodiment of the present invention;

[0025] Figure 6 is a further flow chart of the automatic thermal repair method provided in an embodiment of the present invention;

[0026] Figure 7 is a further flow chart of step S40 in the automatic thermal repair method provided in an embodiment of the present invention;

[0027] Figure 8 Schematic diagram of a module of an automatic thermal repair system provided by an embodiment of the present invention;

[0028] Figure 9 1 is a schematic structural diagram of a skateboard device used in an embodiment of the present invention from the perspective of a first bearing;

[0029] Figure 10 is a structural schematic diagram of the skateboard device used in an embodiment of the present invention from the perspective of the second bearing; and

[0030] Figure 11 It is a node schematic diagram of a slide mechanism in a plastering device performing plastering according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0032] See also Figure 1 、 Figure 9 as well as Figure 10 , wherein the slide device includes a mounting base and a sliding mechanism, the sliding mechanism is installed in the mounting base and is configured to be able to slide to change the opening.

[0033] It should be noted that the mounting base is used to provide stable support and mounting interface; in the hot repair of the ladle, the mounting base is usually slidably connected to the mounting plate at the bottom of the ladle and is connected to a driving device. As shown in the figure, it can slide along a groove within a preset stroke in a slide groove to ensure that the entire slide device can work stably.

[0034] Specifically, the slide device also includes a slide cover body, and a through opening that can penetrate the ladle outflow outlet is provided on the mounting base, which is the channel for the molten steel to flow out; the slide cover body is provided with a corresponding water outlet, and the sliding mechanism is installed on the mounting base and can slide simultaneously with the mounting base under the drive of the mounting base; a mounting hole corresponding to the through opening is provided on the sliding mechanism; when the mounting base is located at different positions under sliding, the mounting hole and the through opening will form different connectivity states with the ladle outflow outlet and the water outlet, thereby controlling the flow opening of the molten steel at the ladle outflow outlet.

[0035] For example, when the sliding mechanism is in the initial position, the mounting holes thereon may be completely aligned with the ladle outflow port and the water outlet, at which time the ladle outflow port is in a fully open state and the molten steel can flow out freely; or, the mounting holes may partially overlap or be completely offset with the ladle outflow port, at which time the ladle outflow port is in a partially open or fully closed state.

[0036] Based on the above premise, the present application provides an automatic hot repair method for a slide device in hot repair of a ladle, comprising at least the following steps:

[0037] Step S10: In response to triggering the first signal, controlling the first robotic arm to disassemble the sliding mechanism to be replaced, and acquiring an on-site point cloud model of the mounting base through an image acquisition device;

[0038] Step S20: performing template matching in the on-site point cloud model according to a preset standard template, annotating the template to include shape features and texture features of the mounting base, so as to obtain a point cloud of the skateboard device area;

[0039] Step S30: Acquire the position coordinates and posture of the mounting base according to the point cloud of the skateboard device area;

[0040] Step S40: Control the first robotic arm to pick up the sliding mechanism to be installed and install it on the installation base according to the position coordinates and posture.

[0041] The first robotic arm responds to the first signal through a preset program or instruction; after controlling the first robotic arm to remove the sliding mechanism that needs to be replaced, the image acquisition device scans the installation base and its surrounding environment to obtain point cloud data; thereby, an on-site point cloud model of the installation base and its surrounding environment is formed, providing basic data for subsequent steps; that is, the on-site point cloud model is a point cloud integration of the installation base and its surrounding ring after the original sliding mechanism is removed.

[0042] The on-site point cloud model is then template-matched. This involves comparing a standard template (including the shape and texture features of the mounting base) with the on-site point cloud model to accurately identify the slide assembly installation area from the complex on-site point cloud data. Based on the point cloud data of the slide assembly area, a point cloud processing algorithm or software is then used to calculate the position coordinates and attitude, providing positioning information for the first robotic arm to accurately install the new sliding mechanism. The first robotic arm then uses an end effector (such as a gripper or suction cup) based on the calculated position coordinates and attitude information to pick up the new sliding mechanism and install it on the mounting base.

[0043] In summary, replacing the sliding mechanism during traditional hot repair usually requires the collaboration of multiple people to complete the disassembly, and this process is often carried out according to a fixed cycle, lacking flexibility and precision. However, this application achieves at least the following significant benefits through the above solution:

[0044] Through image recognition technology, the first robotic arm can autonomously identify and locate the sliding mechanism and its mounting base that need to be replaced, realizing automation and intelligence in disassembly and installation, and reducing manual intervention; and the automated operation significantly shortens the time required to replace the sliding mechanism, improving replacement efficiency; image recognition technology can accurately identify the shape, texture and other features of the mounting base, ensuring the precise matching and positioning of the sliding mechanism and the mounting base, avoiding installation problems caused by size or shape inconsistencies; the automated replacement process reduces the need for a large amount of manpower, and automated replacement through the first robotic arm avoids direct contact between personnel and high-temperature components, reducing safety risks such as burns, and improving the safety of the working environment.

[0045] See also Figure 2 In a feasible solution based on step S10, the above-mentioned control of the sliding mechanism required for disassembly and replacement of the first robotic arm includes the following steps:

[0046] Step S11: After receiving the first signal, the sliding mechanism is controlled to slide to a preset position;

[0047] Step S12: After controlling the robot arm to pick up the first end fixture, the first end fixture is moved to a preset position to lock the sliding mechanism and then removed.

[0048] The first robotic arm locks the sliding mechanism by picking up the first end clamp and moving it to a preset position, thereby automating the disassembly process; the end clamp can accurately clamp the sliding mechanism to avoid disassembly failure or equipment damage due to unstable clamping; by replacing different first end clamps, the first robotic arm can adapt to the disassembly requirements of sliding mechanisms of different models and specifications, thereby improving the flexibility and versatility of the disassembly process.

[0049] In an optional embodiment of the present application, the automatic hot repair method for the slide device in the hot repair of the ladle in step S10 further includes:

[0050] Step S101', triggering a first signal at every preset time period; and / or

[0051] Step S102', obtaining the real-time temperature of the mounting base, and triggering a first signal when the real-time temperature exceeds a preset temperature threshold; and / or

[0052] Step S103 ′: obtaining the real-time amplitude of the sliding mechanism during sliding, and triggering a first signal when the real-time amplitude exceeds a preset amplitude threshold.

[0053] The present application provides three triggering strategies: one is to set a fixed time period; when this time period is reached, the system automatically triggers the first signal, instructing the first robot arm to start disassembling the sliding mechanism; to achieve regular maintenance and prevent the sliding mechanism from wearing out due to long-term use and causing performance degradation or failure. In addition, a temperature sensor is installed near the mounting base to monitor its temperature in real time; when the temperature exceeds a preset threshold, the system automatically triggers the first signal. This is mainly because when the temperature is too high, there is a probability that a gap has been generated at the water outlet of the sliding mechanism, which proves that the sliding mechanism has been worn or skewed. Finally, a vibration sensor is installed on the sliding mechanism to monitor its amplitude during sliding in real time; when the amplitude exceeds a preset threshold, the system automatically triggers the first signal; and timely discover possible wear, looseness or imbalance of the sliding mechanism, and replace the sliding mechanism.

[0054] In a preferred embodiment, an automated hot repair system for a ladle slide assembly includes at least timing monitoring (step S101'), and may optionally include temperature monitoring (step S102') and amplitude monitoring (step S103') based on practical circumstances. When any of these three monitoring steps meets its pre-determined conditions, the system triggers a first signal, instructing the first robotic arm to begin disassembling and replacing the slide assembly.

[0055] See also Figure 3 In one embodiment of step S20, template matching is performed in the on-site point cloud model according to a preset standard template, and the template is annotated to include the shape features and texture features of the mounting base to obtain a point cloud of the skateboard device area, including:

[0056] Step S21: performing edge detection on the site point cloud model after preprocessing to obtain edge contour features;

[0057] Step S22: performing pixel-by-pixel comparison based on the shape features and edge contour features of the standard template, and calculating the similarity of each region in combination with the texture features;

[0058] Step S23: combining the region with the highest similarity in the edge contour features as the skateboard device region point cloud.

[0059] First, the point cloud model is preprocessed by denoising, filtering, and other operations to improve the accuracy of subsequent processing; assuming that the preprocessed point cloud model is P, where each point p_i has attributes such as three-dimensional coordinates (x_i, y_i, z_i) and a normal vector; an edge detection algorithm (such as curvature-based methods, gradient-based methods, etc.) is used to extract the edge contour features of the point cloud model.

[0060] Assume that the edge contour feature obtained after edge detection is E, where each edge point e_j has attributes such as two-dimensional coordinates (x_j', y_j') (projected on a two-dimensional plane) or three-dimensional coordinates and its normal vector; the standard template is T, which contains the shape features and texture features of the skateboard device base.

[0061] The standard template T is compared pixel by pixel with the edge contour features E of the preprocessed point cloud model P. This usually involves sliding the template T on the point cloud model P and comparing the shape and texture features at each position.

[0062] For each comparison position, the shape similarity and texture similarity are calculated; the shape similarity can be obtained by calculating the matching degree between the edge contour feature E and the edge of the template T; the texture similarity can be obtained by calculating the similarity between the corresponding area in the point cloud model P and the texture feature in the template T, for example, using methods such as histogram comparison and SI FT feature matching.

[0063] Assuming that the shape similarity is S_shape and the texture similarity is S_texture, the comprehensive similarity S can be expressed as: S = α × S_shape + β × S_texture, where α and β are weight coefficients used to balance the contribution of shape and texture in the similarity calculation.

[0064] The area with the highest similarity among the edge contour features is used as the reference position. This generally indicates that both shape and texture similarity are high at this location. Centered on the reference position, the point cloud of the skateboard device area is extracted from the preprocessed point cloud model P based on the shape and size of the skateboard device base. The extracted point cloud of the skateboard device area is R, which contains all points related to the skateboard device base.

[0065] For example: assume that the preprocessed point cloud model P contains 10,000 points, and the edge contour feature E contains 500 edge points; the standard template T contains the shape features and texture features of the skateboard device base, its shape features can be expressed as a coordinate set of a series of edge points, and the texture features can be expressed as a color histogram or a SI FT feature point set. When performing a pixel-by-pixel comparison, assume that the template T slides 100 positions on the point cloud model P, and the shape similarity and texture similarity are calculated at each position. Finally, the reference position is determined to be the position with the highest similarity (for example, the shape similarity is 0.95, and the texture similarity is 0.85), and the skateboard device area point cloud R is extracted from this position, which contains 500 points.

[0066] See also Figure 4 Furthermore, in step S22, a pixel-by-pixel comparison is performed on each region based on the shape features and edge contour features of the standard template, and the similarity of each region is calculated by combining the texture features, including:

[0067] Step S221: Represent the edge contour feature as a point set array, and define a number of window areas in the edge contour feature according to a standard template;

[0068] Step S222: traverse the point set array in each window area, and calculate the shape similarity with the standard template through the pixel points in the window area;

[0069] Step S223: Calculate the gray level co-occurrence matrix for the window area and the standard template respectively, and extract the same texture features to form the window area feature vector and the standard template feature vector respectively;

[0070] Step S224, calculating the texture similarity between the window area feature vector and the standard template feature vector;

[0071] Step S225 : Perform weighted averaging on the shape similarity and the texture similarity to obtain the similarity of each region.

[0072] For example, the edge contour feature is represented as a point set array E = {(xi,yi)|i=1,2,...,M}, where M is the number of edge points; several window areas are defined in the edge contour feature according to the standard template, and each window area can be represented as Wj = {(xk,yk)|k∈Wi ndowj}, where j is the index of the window area.

[0073] For each window region Wj, calculate its shape similarity with the standard template T. Shape similarity can be obtained by calculating the metric between the window region point set and the standard template point set. For example, the shape similarity Sshape,j can be expressed as:

[0074]

[0075] Wherein, H(Wj,T) is the Hausdorff distance between the window area Wj and the standard template T, max(Hmax, eps il on) is the preset maximum Hausdorff distance threshold, and eps il on is a small positive number to avoid the denominator being zero.

[0076] Texture feature extraction and texture similarity calculation are as follows: for the window area Wj and the standard template T, the gray-level co-occurrence matrix (GLCM) is calculated respectively; the same texture features (such as contrast, correlation, energy, homogeneity, etc.) are extracted from the GLCM to form the window area feature vector fW and the standard template feature vector fT respectively.

[0077] Calculate the texture similarity Stexture.j between the window area feature vector and the standard template feature vector, which can be expressed as:

[0078]

[0079] The shape similarity and texture similarity are weighted averaged as above to obtain the similarity of each window area.

[0080] See also Figure 5 In step S30, the position coordinates and posture of the mounting base are obtained according to the point cloud of the skateboard device area, including:

[0081] Step S31, selecting the center point and two edge points of the point cloud of the skateboard device area;

[0082] Step S32: Perform affine transformation based on the center point, the two edge points and the standard template to obtain the position coordinates and posture of the mounting base.

[0083] Specifically, the point cloud of the skateboard device area is projected onto a two-dimensional plane, and the center point C (xc, yc, zc) is calculated and selected using a centroid algorithm or other methods.

[0084] On the edge of the skateboard device area, two representative and distant edge points P1 (x1, y1, z1) and P2 (x2, y2, z2) are extracted; these two points should accurately reflect the shape and direction of the skateboard device area.

[0085] An affine transformation is a linear transformation between two-dimensional or three-dimensional coordinate systems while maintaining linearity and parallelism. In three-dimensional space, an affine transformation can be represented by a 3×3 matrix, which can achieve transformations such as translation, rotation, and scaling.

[0086] In this example, an affine transformation is performed between the center point C and two edge points P1 and P2 and their corresponding points in the standard template. The corresponding points in the standard template are typically the center point of the mounting base and two known edge points or feature points. By selecting three points in the point cloud of the skateboard assembly area (center point C and two edge points P1 and P2) and their corresponding points in the standard template, a system of equations can be established to solve the affine transformation matrix. The least squares method or other optimization algorithm can be used to solve the system of equations and obtain the affine transformation matrix.

[0087] Once the affine transformation matrix is ​​obtained, it can be applied to other points in the point cloud of the skateboard device area to calculate their positions in the standard template coordinate system, thereby obtaining the position coordinates of the mounting base in the standard template coordinate system (which can be understood as the working coordinates).

[0088] See also Figure 6 The automatic hot repair method for the slide device in the hot repair of the ladle in step S50 further includes:

[0089] Step S51: obtaining feedback force at the mounting base;

[0090] Step S52: When controlling the first robotic arm to disassemble the sliding mechanism, determining whether the disassembly is complete based on whether the feedback force is zero within a preset time period;

[0091] Step S53: When controlling the first robotic arm to install the sliding mechanism, whether the installation is in place is determined based on whether the feedback force gradually increases and is greater than a preset threshold.

[0092] A force sensor installed on the first robotic arm or related equipment is used to monitor and record in real time the feedback force exerted on the mounting base when installing or disassembling the sliding mechanism. In the present application, noise and interference can be removed through additional data processing algorithms, such as filtering algorithms, to ensure that the feedback force data is accurate and reliable. A threshold is set. When the feedback force data is less than the threshold for a continuous period of time (such as 5 seconds), the feedback force is considered to be approximately zero. The feedback force data is read in real time.

[0093] Determine whether the feedback force data is continuously less than the threshold. If so, send a "disassembly in place" signal; if not, continue to read the data and make a judgment. For example, during a disassembly process, the feedback force data gradually decreases to 5N and remains below 5N for 4.9 seconds. At this time, the algorithm determines that the disassembly is in place.

[0094] Read feedback force data in real time and determine whether the feedback force data is greater than a preset threshold. If so, issue a "installed in place" signal; if not, continue reading data and making a judgment.

[0095] For example, during an installation process, the feedback force data gradually increases from 0N to 200N and stabilizes at 200N. At this time, the algorithm determines that the installation is in place.

[0096] By setting the threshold and monitoring the feedback force data as described above, it is possible to more accurately determine whether the sliding mechanism is disassembled or installed in place; this quantitative judgment standard reduces the subjectivity and uncertainty of human judgment and improves the accuracy and reliability of the judgment.

[0097] Furthermore, the slide device includes a slide cover, a mounting base and a sliding mechanism are all arranged inside the slide cover, and is characterized in that the automatic thermal repair method further includes:

[0098] In response to triggering the first signal, before controlling the first robotic arm to remove the sliding mechanism to be replaced, controlling the second robotic arm to open the slide cover to expose the mounting base and the sliding mechanism;

[0099] After controlling the first robotic arm to remove the sliding mechanism to be replaced and before picking up the sliding mechanism to be installed, the first robotic arm quickly replaces the cleaning tool based on the position coordinates and posture of the mounting base and cleans any residual mud from the mounting base. As can be understood, the slide assembly primarily consists of a slide cover, a mounting base, and a sliding mechanism. The mounting base and sliding mechanism are both located inside the slide cover. The slide cover protects the internal mechanisms from external interference and contamination.

[0100] Before controlling the first robotic arm to remove the sliding mechanism to be replaced, the system first controls the second robotic arm to open the slide cover. This step exposes the mounting base and sliding mechanism for subsequent removal and replacement. The slide cover can be opened by sliding, flipping, or lifting, depending on the design and structure of the slide assembly. The illustration shows a flip design.

[0101] After the skateboard cover is opened, the first robotic arm is quickly connected to the first end fixture and moves to the sliding mechanism that needs to be replaced according to the preset path and posture. The first robotic arm will cooperate with the end of the first fixture to accurately grasp the sliding mechanism and remove it from the mounting base.

[0102] After disassembling the sliding mechanism to be replaced, but before picking up the sliding mechanism to be installed, the first robotic arm will quickly change the tool it carries, switching from the first end fixture to a cleaning tool to remove residual mud on the mounting base. The position of the residual mud can be deduced based on the position coordinates and posture of the mounting base and the original position relationship.

[0103] After cleaning, the first robotic arm will replace the tool with the first end fixture, preparing to pick up the sliding mechanism to be installed. That is, after cleaning the mounting base, the end tool is replaced, and the first robotic arm moves to the pre-set placement device to pick up the sliding mechanism to be installed. The robotic arm then accurately installs the sliding mechanism onto the mounting base based on the position coordinates and posture of the mounting base. It is foreseeable that after the sliding mechanism is successfully installed, the system will control the second robotic arm to move again to close the slide cover.

[0104] See also Figure 7 , further, according to the position coordinates and posture, controlling the first robot arm to pick up the sliding mechanism to be installed and install it on the installation base, including:

[0105] Step S41: Control the first robotic arm to pick up the sliding mechanism to be installed at a preset placement device;

[0106] Step S42: Control the first robotic arm to carry the sliding mechanism to a preset plastering device to automatically plaster, wherein the plastering surface is the side where the sliding mechanism contacts the mounting base;

[0107] Step S43: After the sliding mechanism is automatically plastered, the first robotic arm is controlled to install the sliding mechanism to be installed on the installation base according to the position coordinates and posture.

[0108] First, ensure that the slides are positioned on the placement device (such as a pallet or shelf) according to the pre-determined specifications and quantity. Then, with the slides in their fixed positions, the first robotic arm is moved to the top of the placement device using a pre-set path control, and the second end gripper picks up the slides.

[0109] After picking up the sliding mechanism, the robotic arm will carry it to the preset plastering device position; the plastering device is usually equipped with a plastering outlet that can rotate confidently. When the sliding mechanism reaches the plastering device position, it is triggered to automatically and evenly apply the adhesive to the mounting surface of the sliding mechanism; after the application is completed, the robotic arm will pause for a moment to ensure that the adhesive can dry slightly or reach the appropriate viscosity. After applying the adhesive, the robotic arm will make precise adjustments based on the previously obtained position coordinates and posture, slowly lowering the sliding mechanism to align it with the mounting base, and ensuring that the mounting surface of the sliding mechanism is fully aligned with the mounting base. Finally, the robotic arm will apply appropriate pressure to ensure that the sliding mechanism is firmly installed on the mounting base.

[0110] Specifically, the workflow is as follows:

[0111] 1. In response to the triggering of the first signal, after the system receives the instruction to replace the sliding mechanism, the second robotic arm starts to move according to the preset program, opens the slide cover, and exposes the mounting base and the sliding mechanism to be replaced;

[0112] 2. The first robotic arm is connected to the first end fixture (e.g., a pneumatic gripper or a mechanical gripper) in a quick-change manner, and moves to the sliding mechanism to be replaced according to a preset path and posture. The sliding mechanism is removed from the mounting base according to a preset removal path and force.

[0113] 3. After confirming that the disassembly is in place, the first robotic arm quickly changes tools, switching from the first end fixture to the cleaning tool. Based on the position coordinates and posture of the mounting base, as well as the original position relationship, the first robotic arm accurately cleans the residual mud on the mounting base;

[0114] 4. After cleaning is completed, the first robotic arm replaces the cleaning tool with the first end fixture again, moves to the preset placement device, picks up the sliding mechanism to be installed, and then moves the first robotic arm carrying the sliding mechanism to be installed to the plastering device;

[0115] 5. At the smearing device, the first robotic arm cooperates with the operation of the smearing device to evenly apply adhesive (such as refractory mud) to the mounting surface of the sliding mechanism (the side in contact with the mounting base);

[0116] 6. After the adhesive is prepared, the first robotic arm carries the sliding mechanism coated with adhesive and accurately installs it on the mounting base according to the position coordinates and posture of the mounting base.

[0117] 7. After confirming that the installation is in place, the first robotic arm withdraws, and the system controls the second robotic arm to move again, closing the skateboard cover and restoring the protection state of the skateboard device.

[0118] In summary, the introduction of the plastering step and the use of an automated robotic arm to replace the sliding mechanism of the skateboard device can improve installation accuracy, production efficiency, safety, improve the working environment, enhance product quality, and increase flexibility.

[0119] See also Figures 8 to 10 The present application also provides an automatic hot repair system 100 for a slide device 200 in hot repair of a ladle, comprising: a first robotic arm 10, for quickly connecting with a first end fixture or a cleaning tool to clamp the sliding mechanism 201 or clean the remaining mud on the mounting base 202; a second robotic arm 20, for connecting with the second end fixture to open or remove the slide cover; an image acquisition device 30, for acquiring an on-site point cloud model of the mounting base 202; a placement device 40, for carrying the sliding mechanism 201 to be installed; a mud spreading device 50, for automatically spreading mud on the sliding mechanism 201; a controller 60, the controller 60 is electrically connected to the first robotic arm 10, the second robotic arm 20, the image acquisition device 30, the placement device 40, the mud spreading device 50, the first end fixture and the second end fixture, and is configured to execute the above-mentioned automatic hot repair method for the slide device 200 in hot repair of a ladle.

[0120] The first robotic arm 10 and the second robotic arm 20 both have multiple degrees of freedom and can move flexibly in three-dimensional space; the image acquisition device 20 is arranged at the end of the robotic arm or a fixed position; the placement device 30 is used to carry the sliding mechanism 201 to be installed so that the first robotic arm can easily grasp and carry it; the first end clamp can be quickly connected to the device of the first robotic arm for clamping the sliding mechanism 201; the second end clamp is used to connect to the skateboard cover to open or close the skateboard cover.

[0121] The controller 60 is electrically connected to the first robot arm, the second robot arm, the first end fixture, the second end fixture, the cleaning tool, the image acquisition device, the plastering device (such as Figure 11 As shown) and the placement device communicate, thereby receiving real-time data from the image acquisition device, the placement device and the first end fixture, and performing corresponding operations according to preset algorithms and logic.

[0122] The controller 60 is also configured to execute the above-mentioned automatic hot repair method of the slide device 200 for hot repair of the ladle, including obtaining the feedback force of the mounting base 202, judging whether the disassembly and installation are in place, controlling the corresponding end clamp to perform precise operation, etc.

[0123] The mounting base 202 and the sliding mechanism 201 cooperate with each other through the insertion between the card slot and the card block when connected, and a pneumatic fastening mechanism is provided at the card block; the plastering surface on the sliding mechanism 201 is annular in design around the mounting hole, and is concave relative to the surface where the sliding mechanism 201 is located to reserve space for plastering.

[0124] The automatic thermal repair system 100 further includes a storage area for the old sliding mechanism 201 . The storage area is provided at the bottom of the mounting base 202 . After the first robotic arm removes the sliding mechanism 201 to be replaced, the sliding mechanism 201 automatically falls into the storage area.

[0125] Furthermore, the automatic thermal repair system 100 also includes a temperature sensor and an amplitude sensor (not shown) arranged at the mounting base 202; the controller 60 is electrically connected to the temperature sensor and the amplitude sensor, and is also configured to: trigger a first signal at every preset time period; and / or obtain the real-time temperature at the mounting base 202, and trigger the first signal when the real-time temperature exceeds a preset temperature threshold; and / or obtain the real-time amplitude of the sliding mechanism 201 when sliding, and trigger the first signal when the real-time amplitude exceeds a preset amplitude threshold.

[0126] The automatic thermal repair system also includes a mechanical sensor (not shown) arranged at the mounting base 202; the controller is electrically connected to the mechanical sensor and is also configured to: obtain the feedback force at the mounting base 202; when controlling the first robotic arm to disassemble the sliding mechanism 201, determine whether it is disassembled in place based on the feedback force being zero; when controlling the first robotic arm to install the sliding mechanism 201, determine whether it is installed in place based on whether the feedback force is greater than a preset threshold.

[0127] In order to solve the problems in the prior art, the present invention also provides a computer-readable storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the above-mentioned automatic cleaning method for the ladle drain.

[0128] In the present invention, unless otherwise expressly specified or limited, terms such as "center," "longitudinal," "transverse," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" to indicate positions or locations are based on the positions or locations shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. A first feature being "up" or "down" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, a first feature being "above," "above," and "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 at a higher level than the second feature. A first feature being "below," "below," and "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 at a lower level than the second feature. Therefore, these terms are not to be construed as limiting the present invention.

[0129] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Within the technical concept of the present invention, the technical solution of the present invention may be subjected to various simple modifications, including combining the specific technical features in any suitable manner. 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 disclosed in the present invention and fall within the scope of protection of the present invention.

[0130] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An automatic hot repair method for a slide device in hot repair of a ladle, wherein the slide device comprises a mounting base and a sliding mechanism, wherein the sliding mechanism is mounted in the mounting base and is configured to be able to slide to change the opening, characterized in that: The automatic thermal repair method comprises: In response to triggering the first signal, controlling the first robot arm to disassemble the sliding mechanism to be replaced, and acquiring an on-site point cloud model of the mounting base through an image acquisition device; Performing template matching in the on-site point cloud model according to a preset standard template, wherein the annotation template includes shape features and texture features of the mounting base, so as to obtain a point cloud of the skateboard device area; Obtain the position coordinates and posture of the mounting base according to the point cloud of the skateboard device area; According to the position coordinates and posture, the first robot arm is controlled to pick up the sliding mechanism to be installed and install it on the installation base.

2. The automatic hot repair method of the slide device in the hot repair of the ladle according to claim 1, characterized in that: Also includes: Triggering the first signal at every preset time period; and / or Acquiring the real-time temperature at the mounting base, and triggering the first signal when the real-time temperature exceeds a preset temperature threshold; and / or The real-time amplitude of the sliding mechanism when sliding is acquired, and when the real-time amplitude exceeds a preset amplitude threshold, a first signal is triggered.

3. The automatic hot repair method of the slide device in the hot repair of the ladle according to claim 1, characterized in that: The template matching is performed in the on-site point cloud model according to a preset standard template, and the annotation template includes shape features and texture features of the mounting base to obtain the point cloud of the skateboard device area, including: Performing edge detection on the on-site point cloud model after preprocessing to obtain edge contour features; Performing ergodic pixel-by-pixel comparison on each region according to the shape features and edge contour features of the standard template, and combining the texture features to calculate the similarity of each region; The area with the highest similarity in the edge contour features is taken as the point cloud of the skateboard device area.

4. The automatic hot repair method of the slide device in the hot repair of the ladle according to claim 1, characterized in that: The step of performing pixel-by-pixel comparison based on the shape features and edge contour features of the standard template and calculating the similarity of each region in combination with the texture features includes: Representing the edge contour feature as a point set array, and defining a plurality of window areas in the edge contour feature according to the standard template; Traverse the point set array in each window area, and calculate the shape similarity with the standard template through the pixel points in the window area; The gray level co-occurrence matrix is ​​calculated for the window area and the standard template respectively, and the same texture features are extracted to form the feature vector of the window area and the feature vector of the standard template respectively; Calculate the texture similarity between the feature vector of the window area and the feature vector of the standard template; The shape similarity and texture similarity are weighted averaged to obtain the similarity of each region.

5. The automatic hot repair method of the slide device in the hot repair of the ladle according to claim 1, characterized in that: The step of obtaining the position coordinates and posture of the mounting base according to the point cloud of the skateboard device area includes: Select the center point and two edge points of the point cloud of the skateboard device area; Affine transformation is performed according to the center point, the two edge points and the standard template to obtain the position coordinates and posture of the mounting base.

6. The automatic hot repair method of the slide device in the hot repair of the ladle according to claim 1, characterized in that: Also includes: Obtain feedback force at the mounting base; When controlling the first robot arm to disassemble the sliding mechanism, determining whether the disassembly is in place according to whether the feedback force is zero within a preset time period; When the first robot arm is controlled to install the sliding mechanism, whether the installation is in place is determined based on whether the feedback force gradually increases and is greater than a preset threshold.

7. The automatic hot repair method of a slide device in hot repair of a ladle according to any one of claims 1 to 7, wherein the slide device comprises a slide cover, the mounting base and the sliding mechanism are both arranged inside the slide cover, and the characteristics are as follows: The automatic thermal repair method also includes: In response to triggering the first signal, before controlling the first robot arm to disassemble the sliding mechanism to be replaced, the second robot arm is controlled to open the slide cover to expose the mounting base and the sliding mechanism.

8. The automatic hot repair method for a slide device in hot repair of a ladle according to any one of claims 1 to 7, characterized in that: The automatic thermal repair method also includes: After controlling the first robot arm to disassemble the sliding mechanism to be replaced and before picking up the sliding mechanism to be installed, the first robot arm is controlled to replace the cleaning tool and clean the residual mud at the installation base in a quick-change manner according to the position coordinates and posture of the installation base.

9. The automatic hot repair method of the slide device in the hot repair of the ladle according to claim 8, characterized in that: According to the position coordinates and the posture, controlling the first robot arm to pick up the sliding mechanism to be installed and installing it on the installation base includes: Controlling the first robot arm to pick up the sliding mechanism to be installed at a preset placement device; Controlling the first robot arm to carry the sliding mechanism to a preset plastering device to automatically plaster, wherein the plastering surface is a surface where the sliding mechanism contacts the mounting base; After the sliding mechanism is automatically plastered, the first robot arm is controlled to install the sliding mechanism to be installed on the installation base according to the position coordinates and posture.

10. An automatic hot repair system for a slide device in hot repair of a ladle, characterized in that: The slide device comprises a mounting base, a sliding mechanism and a slide cover, wherein the mounting base and the sliding mechanism are both arranged inside the slide cover, and the sliding mechanism is installed in the mounting base and is arranged to be able to slide to change the opening, and the automatic thermal repair system comprises: A first robot arm is used for quick-change connection with a first end fixture or a cleaning tool to clamp the sliding mechanism or clean the remaining mud on the mounting base; A second mechanical arm is used to connect with the second end fixture to open or slide the cover; Image acquisition equipment, used to obtain an on-site point cloud model of the mounting base; A placement device for carrying the sliding mechanism to be installed; A plastering device, used for automatically plastering the sliding mechanism; A controller, wherein the controller is electrically connected to the first robotic arm, the second robotic arm, the first end fixture, the second end fixture, the image acquisition device, the placement device, and the mud spreading device, and is configured to execute the automatic hot repair method for the slide device in the hot repair of the ladle as described in any one of claims 1 to 9.

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