High-precision unmanned automatic slag grabbing and loading linkage system for vortex wells based on industrial vision

Abstract

The present invention relates to the technical field of slag grabbing devices, and more specifically, to a high-precision, unmanned, automatic slag grabbing and loading linkage system for slag wells based on industrial vision. The system comprises a slag grabber and a driving mechanism for driving the slag grabber toward a slag transport vehicle. The outer surface of the slag grabber is provided with an anti-winding device. This high-precision, unmanned, automatic slag grabbing and loading linkage system for slag wells based on industrial vision, through the linkage design of the transmission spring and the water guide plate, can dynamically adjust the slag grabber's posture, effectively limiting the grabber's rotation angle, preventing wire rope entanglement, reducing the lateral space occupied by the overall equipment, and preventing collisions between rigid structures.

Description

Technical Field

[0001] The present invention relates to the technical field of slag grabbing devices, in particular to a high-precision vortex well unmanned automatic slag grabbing and loading linkage system based on industrial vision. Background Art

[0002] The unmanned automatic slag grabbing system for the vortex well utilizes automation and artificial intelligence technologies to realize automatic positioning of the grab bucket, grabbing of waste slag, mobile unloading of slag and loading operations. It is an important component of the key equipment for steel solid waste treatment and recycling. It solves the problems of poor working environment and high work intensity of manual slag grabbing and greatly improves the slag grabbing efficiency.

[0003] Patent application number 202020437699.9 discloses a vortex well grab structure with an anti-rotation function. The structure includes a body, a grab, a support, and a stopper. The grab is mounted at the bottom of the body, and two support bodies are positioned opposite each other and fixedly connected to the horizontal sides of the body. Each support has a stopper at the bottom, which can be operably dropped into a stopper hole at the top of the vortex well. This prevents the grab from rotating synchronously with the water flow in the vortex well after entering the water surface, causing the crane wire rope to twist. This reduces the difficulty of cleaning iron oxide scale and has excellent practicality.

[0004] However, traditional solutions require the installation of rigid guide rails or large fixed brackets to limit the rotation of the grab bucket, resulting in a large lateral space occupation of the overall equipment. When the impact force of the water flow is large, a rigid collision occurs between the grab bucket and the bracket and guide rail, accelerating structural wear or even fracture. In addition, the existing technology lacks a mechanism to actively offset the impact of the water flow. After completing a grab, it is difficult to offset the continuous impact torque of the dynamic water flow in the vortex well, resulting in a long reset delay and increased no-load waiting time.

[0005] In view of this, we propose a high-precision vortex well unmanned automatic slag grabbing and loading linkage system based on industrial vision. Summary of the Invention

[0006] The purpose of the present invention is to provide a high-precision unmanned automatic slag grabbing and loading linkage system for a vortex well based on industrial vision to solve the problems raised in the above background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A high-precision, unmanned, automatic slag grabbing and loading linkage system for vortex wells based on industrial vision, including a slag grabber and a driving mechanism for driving the slag grabber toward the slag transport vehicle. The outer side of the slag grabber is equipped with an anti-winding device;

[0009] The anti-winding device includes a fixing portion, a transmission portion arranged inside the fixing portion, a water guide portion arranged at the corner of the bottom surface of the fixing portion, and a pressurizing portion arranged below the fixing portion for pressurizing gas;

[0010] The transmission part includes a top gear connected to the internal structure of the slag grabber, a pair of movable plates arranged symmetrically with the top gear as the base point, external racks arranged on the outer side walls of both ends of the movable plates, and a spring arranged on the outer side of the movable plates. When the slag grabber rotates with the water flow inside the vortex well, the movable plates will be displaced through the top gear.

[0011] The water guide part includes an air pipe, a sleeve arranged on the outside of the air pipe, and a guide plate arranged on the outer side wall of the bottom end of the sleeve. A plurality of air outlet holes are provided at the bottom end of the air pipe, and exhaust holes with the same number and corresponding positions as the air outlet holes are provided inside the guide plate. The sleeve will rotate with the movement of the movable plate, and the guide plate will be expanded to connect the exhaust holes with the air outlet holes, so that the gas generated by the pressurized part can be discharged. After the gas disturbs the water flow, the rotation angle of the slag grabber is limited.

[0012] In the technical solution of the present invention, the slag grabber includes a telescopic cylinder and a pair of grab buckets that open and close as the telescopic rod of the telescopic cylinder extends and retracts. The slag grabber also includes an outer frame for providing a fixed platform for the telescopic cylinder, a lifting frame arranged at the end of the telescopic cylinder, and a connecting rod with the top hinged to the outer protruding rod of the outer frame. The two ends of the grab bucket are rotatably connected to the outer wall of the lifting frame and the bottom end of the connecting rod respectively.

[0013] In the technical solution of the present invention, the fixing part includes a fixing frame, a partition plate welded to the inside of the fixing frame, a pair of inner convex plates welded to the bottom surface of the inside of the fixing frame, two guide rails welded to the bottom surface of the partition plate, and a pair of hooks fixed to the top surface of the fixing frame by bolts.

[0014] In the technical solution of the present invention, a circular hole is opened on the bottom surface of the fixed frame, and ventilation holes are opened on the corners of the top surface of the partition plate. A pair of inner convex plates are symmetrically distributed around the center of the bottom surface of the fixed frame.

[0015] In the technical solution of the present invention, the transmission part also includes a pair of transmission teeth meshing with the top teeth of the frame, an inner rack welded on the inner wall of the movable plate, an outward extension plate welded on the outer wall of the movable plate, and a limiting telescopic rod arranged inside the spring.

[0016] In the technical solution of the present invention, the top teeth of the frame are rotatably connected to the circular hole on the bottom surface of the fixed frame and the bottom end thereof is fixedly connected to the outer frame by bolts, the transmission teeth are respectively engaged with the top teeth of the frame and the inner rack, the outer rack is welded and fixed to the outer wall of the movable plate, and the two ends of the limiting telescopic rod are respectively clamped and fixed to the outer wall of the extended plate and the outer wall of the inner convex plate.

[0017] In the technical solution of the present invention, the trachea is clamped and fixed on the bottom surface of the partition plate, the tube opening at the top of the trachea is just fixed on the outside of the vent hole, and the sleeve is rotatably connected to the bottom surface of the fixed frame.

[0018] In the technical solution of the present invention, the top end of the sleeve is clamped and fixed with a pipe end gear, the pipe end gear is meshed with the external rack, and the guide plate is welded and fixed to the outer side wall of the sleeve.

[0019] In the technical solution of the present invention, the charging part includes a pair of charging tanks, a piston plate slidably connected to the inside of the charging tank, a connecting plate that moves with the piston plate, a round rod connected between the pair of piston plates and the connecting plate, an air inlet valve threadedly connected to the outer wall of the charging tank, and an air outlet pipe clamped to the top end of the outer wall of the charging tank.

[0020] In the technical solution of the present invention, the pressure tank is fixed to the outer wall of the outer frame by screws, the connecting plate is clamped and fixed to the outer wall of the telescopic rod of the telescopic cylinder, the upper and lower ends of the round rod are respectively clamped and fixed to the piston plate and the connecting plate, and the top end of the air outlet pipe is clamped on the outer wall of the fixed frame to fill the gas into the top of the partition plate.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. This high-precision, unmanned, automatic slag grabbing and loading linkage system for vortex wells, based on industrial vision, dynamically adjusts the slag grab's posture through the linkage design of the transmission spring and the water guide plate. This effectively limits the grab's rotation angle, prevents wire rope entanglement, reduces the overall equipment's lateral footprint, and avoids collisions between rigid structures.

[0023] 2. This high-precision swirl well unmanned automatic slag grabbing and loading linkage system based on industrial vision can fill gas above the partition plate through the pressure unit every time the slag grabber performs a slag grabbing operation. In conjunction with the deployed guide plate, the gas is used to disturb the water flow, actively offsetting the swirl impact torque. The slag grabber can be quickly reset under complex water flow conditions, reducing no-load waiting time and significantly improving operating efficiency and system continuity. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 It is a partial structural schematic diagram of the present invention;

[0026] Figure 3 It is a structural schematic diagram of the slag grab machine in the present invention;

[0027] Figure 4 Schematic diagram of the cross-section structure of the anti-winding device in the present invention;

[0028] Figure 5 It is a schematic cross-sectional view of the structure of the fixing portion in the present invention;

[0029] Figure 6 For the present invention Figure 5 A magnified schematic diagram of part A;

[0030] Figure 7 Schematic diagram of the structure of the transmission part of the present invention;

[0031] Figure 8 Schematic diagram of the structure of the water guide part of the present invention;

[0032] Figure 9 Schematic diagram of the structure of the charging part of the present invention;

[0033] Figure 10 Schematic diagram of the active anti-sway control technology in the driving mechanism of the present invention;

[0034] Figure 11 Schematic diagram of the visual recognition technology for mobile objects intruding into the driving mechanism of the present invention;

[0035] Figure 12 Schematic diagram of reverse modeling technology for the digital elevation model in the traveling mechanism of the present invention;

[0036] Description of reference numerals:

[0037] 100, slag grab; 110, telescopic cylinder; 120, grab bucket; 130, outer frame; 140, lifting frame; 150, connecting rod;

[0038] 200, anti-winding device; 210, fixing part; 211, fixing frame; 212, partition plate; 2120, vent hole; 213, inner convex plate; 214, guide rail; 215, hook; 220, transmission part; 221, top gear; 222, transmission gear; 223, movable plate; 224, inner rack; 225, outer rack; 226, extension plate; 227, position-limiting telescopic rod; 228, spring; 230, water guide part; 231, air pipe; 2310, air outlet; 232, sleeve; 233, pipe end gear; 234, guide plate; 2340, air outlet; 240, charging part; 241, charging tank; 242, piston plate; 243, connecting plate; 244, round rod; 245, air inlet valve; 246, air outlet pipe;

[0039] 300. Driving mechanism. DETAILED DESCRIPTION

[0040] The following will provide a clear and complete description of the technical solutions of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0041] See also Figures 1-9 As shown, this embodiment provides a technical solution:

[0042] The high-precision unmanned automatic slag grabbing and loading linkage system for vortex wells based on industrial vision includes a slag grabber 100 and a driving mechanism 300 for driving the slag grabber 100 toward the slag transport vehicle. The outer side of the slag grabber 100 is provided with an anti-winding device 200;

[0043] In this embodiment, Figure 2-Figure 3 As shown, the slag grabber 100 includes a telescopic cylinder 110 and a pair of grab buckets 120 that open and close as the telescopic rod of the telescopic cylinder 110 extends and retracts. The slag grabber 100 also includes an outer frame 130 for providing a fixed platform for the telescopic cylinder 110, a lifting frame 140 arranged at the end of the telescopic cylinder 110, and a connecting rod 150 with the top hinged to the outer protruding rod of the outer frame 130. The two ends of the grab bucket 120 are rotatably connected to the outer wall of the lifting frame 140 and the bottom end of the connecting rod 150 respectively.

[0044] Furthermore, after the slag grabber 100 is immersed in the water in the vortex well, the telescopic rod of the telescopic cylinder 110 is controlled to move upward, driving the lifting frame 140 to move upward, thereby changing the height of the inner end points of the pair of grab buckets 120, and through the connecting rod 150, the pair of grab buckets 120 are closed to grab the sediment in the vortex well.

[0045] In this embodiment, Figure 4-Figure 6 As shown, the anti-winding device 200 includes a fixing portion 210, a transmission portion 220 arranged inside the fixing portion 210, a water guide portion 230 arranged at the bottom corner of the fixing portion 210, and a charging portion 240 arranged below the fixing portion 210 for pressurizing gas.

[0046] Specifically, the fixing part 210 includes a fixing frame 211, a partition plate 212 welded to the inside of the fixing frame 211, a pair of inner convex plates 213 welded to the bottom surface of the inside of the fixing frame 211, two guide rails 214 welded to the bottom surface of the partition plate 212, and a pair of hooks 215 fixedly connected to the top surface of the fixing frame 211 by bolts.

[0047] Furthermore, a circular hole is opened on the bottom surface of the fixing frame 211, and ventilation holes 2120 are opened on the corners of the top surface of the partition plate 212. A pair of inner convex plates 213 are distributed symmetrically with respect to the center of the bottom surface of the fixing frame 211.

[0048] Furthermore, the fixed frame 211 is used to increase the placement range for the transmission part 220 and the water guide part 230, and connect the slag grabber 100 and the driving mechanism 300 through the hook 215 above. The partition plate 212 divides the internal space of the fixed frame 211, and the space above is used to allow gas to be filled in to increase the internal air pressure. The guide rail 214 is used to limit the moving range of the internal structure of the transmission part 220, and a damper is set inside it to slow down the moving speed of the internal structure of the transmission part 220.

[0049] In this embodiment, Figure 7 As shown, the transmission part 220 includes a top tooth 221 connected to the internal structure of the slag grabber 100, a pair of movable plates 223 arranged symmetrically with the top tooth 221 as the base point, an outer rack 225 arranged on the outer side walls of both ends of the movable plate 223, and a spring 228 arranged on the outer side of the movable plate 223. When the slag grabber 100 rotates with the water flow inside the vortex well, the movable plate 223 will be displaced through the top tooth 221.

[0050] Specifically, the transmission part 220 also includes a pair of transmission teeth 222 meshing with the top teeth 221 of the frame, an inner rack 224 welded on the inner wall of the movable plate 223, an extension plate 226 welded on the outer wall of the movable plate 223, and a limiting telescopic rod 227 arranged inside the spring 228.

[0051] Furthermore, the top tooth 221 is rotatably connected to the bottom circular hole of the fixed frame 211 and its bottom end is fixedly connected to the outer frame 130 by bolts, the transmission tooth 222 is respectively engaged with the top tooth 221 and the inner rack 224, the outer rack 225 is welded and fixed to the outer wall of the movable plate 223, and the two ends of the limiting telescopic rod 227 are respectively clamped and fixed to the outer wall of the extended plate 226 and the outer wall of the inner convex plate 213.

[0052] Furthermore, when the water flow rate is slow, the slag grabber 100 rotates together with the top teeth 221. The top teeth 221 conflict with the transmission teeth 222 and drive the transmission teeth 222 to rotate. The rotation of the transmission teeth 222 drives a pair of movable plates 223 to move, and then the extended plate 226 squeezes the spring 228. The elastic force generated by the compression of the spring 228 is converted into a reaction force applied to the movable plate 223, thereby resetting the slag grabber 100. The limiting telescopic rod 227 is used to limit the telescopic range of the spring 228.

[0053] In this embodiment, Figure 8As shown, the water guide part 230 includes an air pipe 231, a sleeve 232 sleeved on the outside of the air pipe 231, and a guide plate 234 arranged on the outer side wall of the bottom end of the sleeve 232. A plurality of air outlet holes 2310 are provided at the bottom end of the air pipe 231, and exhaust holes 2340 with the same number and corresponding positions as the air outlet holes 2310 are provided inside the guide plate 234. The sleeve 232 will rotate with the movement of the movable plate 223, and the guide plate 234 will be expanded to connect the exhaust holes 2340 with the air outlet holes 2310, so that the gas generated by the pressurizing part 240 is discharged, and the rotation angle of the slag grabber 100 is limited by the gas disturbing the water flow.

[0054] Specifically, the air pipe 231 is clamped and fixed on the bottom surface of the partition plate 212 , the pipe opening at the top of the air pipe 231 is just fixed on the outside of the vent 2120 , and the sleeve 232 is rotatably connected to the bottom surface of the fixing frame 211 .

[0055] Furthermore, the top end of the sleeve 232 is clamped and fixed with the pipe end gear 233 , the pipe end gear 233 is meshed with the outer rack 225 , and the guide plate 234 is welded and fixed to the outer side wall of the sleeve 232 .

[0056] Furthermore, when the water flow rate in the vortex well is too fast, the movable plate 223 is displaced and conflicts with the inner wall of the fixed frame 211, and is about to drive the fixed part 210 to rotate as a whole, the outer racks 225 at both ends of the outer wall of the movable plate 223 will conflict with the pipe end gear 233, thereby driving several sleeves 232 to rotate, and then unfolding the guide plate 234 below. Through the arc design of its surface, the force of the water flow on the outside of the slag grabber 100 is alleviated, and when the air outlet 2310 and the exhaust hole 2340 are connected, the gas filled in through the charging part 240 above the partition plate 212 will be ejected from the exhaust hole 2340, and the reaction force of the air flow will drive the slag grabber 100 to reset.

[0057] In this embodiment, Figure 9 As shown, the charging part 240 includes a pair of charging tanks 241, a piston plate 242 slidingly connected to the inside of the charging tank 241, a connecting plate 243 moving with the piston plate 242, a round rod 244 connected between the pair of piston plates 242 and the connecting plate 243, an air inlet valve 245 threadedly connected to the outer wall of the charging tank 241, and an air outlet pipe 246 clamped to the top of the outer wall of the charging tank 241.

[0058] Specifically, the pressure tank 241 is fixedly connected to the outer wall of the outer frame 130 by screws, the connecting plate 243 is clamped and fixed to the outer wall of the telescopic rod of the telescopic cylinder 110, the upper and lower ends of the round rod 244 are clamped and fixed to the piston plate 242 and the connecting plate 243 respectively, and the top end of the air outlet pipe 246 is clamped on the outer wall of the fixed frame 211 to fill the gas into the top of the partition plate 212.

[0059] Furthermore, when the telescopic rod of the telescopic cylinder 110 contracts up and down, the connecting plate 243 moves therewith, and the piston plate 242 is driven to move inside the pressure tank 241 through the round rod 244, and the external air flow is sent into the interior of the pressure tank 241 through the air inlet valve 245, and discharged into the space above the partition plate 212 through the air outlet pipe 246, and sent into the interior of each air pipe 231 through the air vent 2120. During actual use, an air pressure detector and an electric-controlled air valve can be set in the space above the partition plate 212. When the air pressure is too high, the electric-controlled air valve is controlled to open to discharge excess air and reduce the air pressure in the space above the partition plate 212. When the air pressure is too low, when the slag grabber 100 is in an unloaded state, the telescopic cylinder 110 is controlled to contract, thereby increasing the air pressure in the space above the partition plate 212.

[0060] In this embodiment, Figure 10-12 As shown, the driving mechanism 300 is internally provided with a PID controller for controlling the displacement of the trolley and the grab bucket and the swing angle, a laser radar and a pitch-type rotating pan-tilt platform for the digital elevation model of the slag pool, and an industrial camera for visual recognition of moving objects entering the working area.

[0061] Specifically, the PID controller uses a three-axis gyroscope, a gravity accelerometer, and a magnetic sensor to collect the physical parameters of the automatic slag grabbing unmanned vehicle, with parameters such as speed, acceleration, and swing amplitude as the original input; then, based on the particle swarm optimization algorithm, information sharing of the original input parameters is carried out to seek the optimal control strategy, and fuzzy logic control is introduced. The fuzzy algorithm is used to fuzzify the deviation of the trolley displacement and the grab bucket swing angle, and fuzzy reasoning is performed according to the fuzzy control rules. The center of gravity method is selected to defuzzify and obtain accurate output results. The PID parameters are dynamically adjusted according to the real-time state of the grab bucket swing, and real-time correction of the PID control parameters is achieved to improve the control system performance; finally, the input signal obtained by the sensor is processed by the PID controller, and the output signal is transmitted to the trolley moving mechanism and the grab bucket lifting mechanism. The speed and acceleration of each mechanism are intervened and adjusted according to different swing conditions to achieve active anti-swing control of the automatic slag grabbing unmanned vehicle system;

[0062] Furthermore, through the research on the active control strategy of nonlinear swing of automatic slag grabbing unmanned driving, the problem of swinging during driving is greatly eliminated. The maximum swing angle of the grab at the moment of stopping can be controlled within 0.4°, and the positioning accuracy can be within 80mm, so that the grab can be accurately positioned.

[0063] Furthermore, a high-resolution industrial camera is reasonably installed on the driving mechanism 300 of the vortex shaft to ensure that the downward viewing angle can cover the entire working area; secondly, a diverse and comprehensive moving object image training dataset is established, covering image data under different lighting and working environment conditions; then, a lightweight Backbone network is selected to optimize the SSD target detection model, and transfer learning technology is used to conduct data training in a specific industrial environment based on the pre-trained model; at the same time, data enhancement technology is used to further improve the generalization performance of the model to ensure that moving objects can still be efficiently identified in a changing industrial environment; next, an adapted FPGA and other hardware acceleration device is selected to solidify the image processing software into the hardware to realize real-time processing of image data collected by the camera and ensure that the system can respond quickly; then, different recognition alarm thresholds are designed for static objects and moving objects respectively, and a concurrent alarm strategy is designed to quickly trigger the alarm system when an anomaly is detected.

[0064] Furthermore, we are researching visual dynamic recognition technology for moving objects entering the work area, enabling real-time monitoring and alarming of both static and moving objects within the work area, and reducing alarm response times to milliseconds, no more than 500 milliseconds. This significantly improves the response speed of alarm devices and prevents safety accidents.

[0065] Furthermore, a single-line laser radar (LIDAR) coupled with a tilt-tilt pan-tilt platform is used to scan, identify, and locate the slag pool. The spatial coordinates of the collected laser reflection points are calculated to generate point cloud data. A Gaussian filter is then used to pre-process the point cloud, calculate the point cloud data threshold, and delete points with an average distance greater than the threshold. The slag pool area is then rasterized to overcome the influence of uncertainties such as the LiDAR edge effect and the material of the object being measured. Furthermore, the height of the laser points within the grid is calculated to ensure uniform and accurate laser point data within each grid. Reverse modeling of the point cloud data is then performed to generate a digital elevation map of the slag pool. Finally, based on the constructed elevation map, the highest and lowest grid positions are searched for, and the heights of the surrounding grids are calculated. When the surrounding height difference is less than the set threshold, the highest grid position is designated as a valid slag capture point. When the surrounding height difference is less than the set threshold, the lowest grid position is designated as a valid slag storage point.

[0066] Furthermore, 3D modeling of the slag pool was performed, ensuring that the dimensional error between the reconstructed digital elevation model and the actual slag pool was less than 10%, and the image update frequency was reduced to seconds, no more than 5 seconds. This provided a precise reference for the handling and placement of slag, enabling targeted handling and placement of slag in the slag pool.

[0067] When the high-precision unmanned automatic slag grabbing and loading linkage system for a vortex well based on industrial vision of the present invention is used, the driving mechanism 300 is first controlled to drive the slag grabber 100 to move above the vortex well, and the driving mechanism 300 is manipulated to lower the slag grabber 100 together with the anti-winding device 200;

[0068] Next, the slag grabber 100 is immersed in the water in the vortex well, and the telescopic rod of the telescopic cylinder 110 is moved upward, driving the lifting frame 140 to move upward, thereby changing the position of the inner end points of the pair of grab buckets 120, thereby grabbing the sediment in the vortex well;

[0069] During this process, since the water flow in the vortex pool does not stop rotating, the slag grabber 100 as a whole will rotate at a certain angle along with the water flow, driving the top gear 221 to rotate along with it, and then after it collides with the transmission gear 222, the rotation of the transmission gear 222 drives the pair of movable plates 223 to move, and then the extended plate 226 squeezes the spring 228. The elastic force generated by the compression of the spring 228 is converted into a reaction force applied to the movable plate 223, thereby resetting the slag grabber 100.

[0070] When the water flow velocity in the vortex well is too fast, the movable plate 223 is displaced and collides with the inner wall of the fixed frame 211, which will drive the fixed part 210 to rotate as a whole;

[0071] The outer racks 225 at both ends of the outer wall of the movable plate 223 will interfere with the pipe end gears 233, thereby driving the plurality of sleeves 232 to rotate, thereby deploying the guide plate 234 below. The curved design of the guide plate 234 alleviates the force of the water flow on the outside of the slag grab 100. When the air outlet 2310 and the exhaust hole 2340 are connected, the gas charged through the charging part 240 above the partition plate 212 will be ejected from the exhaust hole 2340, and the reaction force of the air flow will drive the slag grab 100 to reset.

[0072] Subsequently, the driving mechanism 300 is operated to move the slag grabber 100 and the anti-winding device 200 upward, and the slag grabber 100 is sent to the top of the slag transport vehicle, and the sediment is loaded into the interior of the slag transport vehicle.

[0073] The foregoing descriptions of specific exemplary embodiments of the present invention are for purposes of illustration and description. These descriptions are not intended to limit the invention to the precise forms disclosed, and it is apparent that many variations and modifications are possible in light of the foregoing teachings. The exemplary embodiments have been selected and described for the purpose of explaining the specific principles of the invention and their practical application, thereby enabling those skilled in the art to make and utilize a variety of exemplary embodiments of the invention and various options and modifications. The scope of the invention is intended to be defined by the description and its equivalents.

Claims

1. A high-precision, unmanned, automatic slag grabbing and loading system for vortex wells based on industrial vision, including a slag grabber and a driving mechanism for driving the slag grabber toward the slag transport vehicle. Its characteristics are: The outer side of the slag grabber is provided with an anti-winding device; The anti-winding device includes a fixing portion, a transmission portion arranged inside the fixing portion, a water guide portion arranged at the corner of the bottom surface of the fixing portion, and a pressurizing portion arranged below the fixing portion for pressurizing gas; The transmission part includes a top gear connected to the internal structure of the slag grabber, a pair of movable plates arranged symmetrically with the top gear as the base point, external racks arranged on the outer side walls of both ends of the movable plates, and a spring arranged on the outer side of the movable plates. When the slag grabber rotates with the water flow inside the vortex well, the movable plates will be displaced through the top gear. The water guide part includes an air pipe, a sleeve arranged on the outside of the air pipe, and a guide plate arranged on the outer side wall of the bottom end of the sleeve. The bottom end of the air pipe is provided with a plurality of air outlet holes, and the guide plate is provided with exhaust holes with the same number and corresponding positions as the air outlet holes. The sleeve rotates with the movement of the movable plate, and the guide plate is expanded to connect the exhaust holes with the air outlet holes, so that the gas generated by the pressurization part is discharged. After the gas disturbs the water flow, the rotation angle of the slag grabber is limited. The transmission part also includes a pair of transmission teeth meshed with the top teeth of the frame, an inner rack welded to the inner wall of the moving plate, an outward extension plate welded to the outer wall of the moving plate, and a position-limiting telescopic rod arranged inside the spring; The top end of the sleeve is clamped and fixed with a pipe end gear, the pipe end gear is meshed with the external rack, and the guide plate is welded and fixed to the outer side wall of the sleeve; The fixing part includes a fixing frame and a pair of inner convex plates welded to the inner bottom surface of the fixing frame; the slag grabber includes a telescopic cylinder and an outer frame for providing a fixing platform for the telescopic cylinder; The top gear of the frame is rotatably connected to the circular hole on the bottom surface of the fixed frame and its bottom end is fixedly connected to the outer frame by a bolt. The transmission teeth are respectively engaged with the top gear and the inner rack. The two ends of the limiting telescopic rod are respectively clamped and fixed on the outer wall of the extended plate and the outer wall of the inner convex plate.

2. The high-precision vortex well unmanned automatic slag grabbing and loading linkage system based on industrial vision according to claim 1 is characterized by: The slag grabber includes a pair of grab buckets that open and close as the telescopic rod of the telescopic cylinder extends and retracts, a lifting frame arranged at the end of the telescopic cylinder, and a connecting rod with the top hinged to the outer protruding rod of the outer frame. The two ends of the grab bucket are respectively rotatably connected to the outer wall of the lifting frame and the bottom end of the connecting rod.

3. The high-precision vortex well unmanned automatic slag grabbing and loading linkage system based on industrial vision according to claim 2 is characterized by: The fixing portion further comprises a partition plate welded to the interior of the fixing frame, two guide rails welded to the bottom surface of the partition plate, and a pair of hooks fixedly connected to the top surface of the fixing frame by bolts.

4. The high-precision vortex well unmanned automatic slag grabbing and loading linkage system based on industrial vision according to claim 3 is characterized by: The bottom surface of the fixed frame is provided with a circular hole that passes through from top to bottom, and the corners of the top surface of the partition plate are provided with ventilation holes that pass through from top to bottom. A pair of inner convex plates are distributed symmetrically with respect to the center of the bottom surface of the fixed frame.

5. The high-precision vortex well unmanned automatic slag grabbing and loading linkage system based on industrial vision according to claim 4 is characterized by: The outer rack is welded and fixed on the outer side wall of the moving plate.

6. The high-precision vortex well unmanned automatic slag grabbing and loading linkage system based on industrial vision according to claim 5 is characterized by: The air pipe is clamped and fixed on the bottom surface of the partition plate, the pipe opening at the top end of the air pipe is just fixed on the outside of the vent hole, and the sleeve is rotatably connected to the bottom surface of the fixing frame.

7. The high-precision vortex well unmanned automatic slag grabbing and loading linkage system based on industrial vision according to claim 6 is characterized by: The charging part includes a pair of charging tanks, a piston plate slidably connected to the inside of the charging tanks, a connecting plate that moves with the piston plate, a round rod connected between the pair of piston plates and the connecting plate, an air inlet valve threadedly connected to the outer wall of the charging tank, and an air outlet pipe clamped to the top end of the outer wall of the charging tank.

8. The high-precision vortex well unmanned automatic slag grabbing and loading linkage system based on industrial vision according to claim 7 is characterized by: The pressure tank is fixedly connected to the outer wall of the outer coat rack by screws, the connecting plate is clamped and fixed to the outer wall of the telescopic rod of the telescopic cylinder, the upper and lower ends of the round rod are clamped and fixed to the piston plate and the connecting plate respectively, and the top end of the air outlet pipe is clamped on the outer wall of the fixed frame to fill the gas into the top of the partition plate.

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