Sand adding method and device for steel ladle, readable storage medium and sand adding equipment
By using robotic arms and sand-adding buckets in ladle sand-adding equipment, the problem of low sand-adding accuracy in the prior art is solved, and higher sand-adding accuracy and casting blank quality stability are achieved.
Patent Information
- Application Number
- CN202510327778.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-19
- Publication Date
- 2025-06-27
AI Technical Summary
In the prior art, the accuracy of ladle sanding is low, resulting in a decrease in the quality of the casting billet and the safety of the casting machine operation.
By using a robotic arm in the sand adding equipment, the precise amount of drainage sand is placed in the sand adding bucket, and the sand adding bucket is controlled to sand the ladle to ensure the accuracy of sanding.
Improve the accuracy of ladle sanding, ensuring the quality of casting billets and the safety of casting machine operation.
Smart Images
Figure CN120205794A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of equipment control, and particularly to a method and device for adding sand to a ladle, a readable storage medium, and a sand adding device. Background Art
[0002] As the requirements for the composition of molten steel in slab become increasingly strict, the self-opening rate of the ladle has a direct impact on the quality of the cast slab and the operation safety of the caster operator in continuous casting production. When the ladle does not open automatically, the protective sleeve connecting the ladle and the tundish must be removed, and the unflowing drainage sand is burned open with an oxygen lance, resulting in the molten steel flow being unprotected and undergoing secondary oxidation for a period of time, leading to an increase in inclusions in the cast slab. In severe cases, it will cause the caster to stop pouring. For high-quality steel grades with strict quality requirements, the continuous casting billet will be downgraded or even scrapped due to the bare pouring of molten steel. However, the existing sand adding methods in factories have technical problems such as low sand adding accuracy. Summary of the Invention
[0003] Embodiments of this application provide a method and device for adding sand to a ladle, a readable storage medium, and a sand adding device, which are used to solve the technical problems such as low sand adding accuracy in the prior art.
[0004] In the first aspect of the embodiments of this application, a method for adding sand to a ladle is provided, which is executed by a sand adding device. The sand adding device includes a sand adding bucket and a robotic arm. The method includes:
[0005] When the sand adding bucket moves to the first position, controlling the robotic arm to add sand to the sand adding bucket;
[0006] After the sand adding bucket finishes adding sand, obtaining the state of the sand adding hole of the ladle;
[0007] When the state of the sand adding hole is normal, controlling the sand adding bucket to move to the second position of the ladle to add sand to the ladle.
[0008] In the method for adding sand to a ladle in this embodiment, the robotic arm can place a precise amount of drainage sand into the sand adding bucket, and then control the sand adding bucket to add sand to the ladle, improving the sand adding accuracy of the ladle.
[0009] In the second aspect of the embodiments of this application, a device for adding sand to a ladle is provided, which is applied to a sand adding device. The sand adding device includes a sand adding bucket and a robotic arm. The device includes:
[0010] A control unit, configured to control the robotic arm to add sand to the sand adding bucket when the sand adding bucket moves to the first position;
[0011] An obtaining unit, configured to obtain the state of the sand adding hole of the ladle after the sand adding bucket finishes adding sand;
[0012] The control unit is further configured to control the sand adding bucket to move to the second position of the ladle to add sand to the ladle when the state of the sand adding hole is normal.
[0013] In the sand adding device for the ladle in this embodiment, the manipulator can place a precise amount of guiding sand into the sand adding bucket, and then control the sand adding bucket to add sand to the ladle, improving the accuracy of sand adding to the ladle.
[0014] In the third aspect of the embodiments of the present application, another sand adding device for a ladle is provided, including a processor and a memory. A computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the sand adding method for the ladle in any of the above embodiments are implemented. Therefore, the sand adding device for the ladle has all the beneficial effects of the sand adding method for the ladle in any of the above embodiments, which will not be elaborated here.
[0015] In the fourth aspect of the embodiments of the present application, a readable storage medium is proposed, on which a program or instruction is stored. When the program or instruction is executed by the processor, the steps of the sand adding method for the ladle in any of the above embodiments are implemented. Therefore, the readable storage medium has all the beneficial effects of the sand adding method for the ladle in any of the above embodiments, which will not be elaborated here.
[0016] According to the fifth aspect of the present invention, a sand adding device is proposed, including: the sand adding device for the ladle defined in the second aspect above, or the sand adding device for the ladle defined in the third aspect above, and / or the readable storage medium defined in the fourth aspect above. Therefore, it has all the beneficial technical effects of the sand adding device for the ladle defined in the second aspect above, or the sand adding device for the ladle defined in the third aspect above, and / or the readable storage medium defined in the fourth aspect above, and will not be elaborated here too much. Description of the Drawings
[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
[0018] Figure 1 It is a flowchart of the sand adding method for the ladle provided by the embodiments of the present application;
[0019] Figure 2 It is a functional module block diagram of the sand adding device for the ladle provided by the embodiments of the present application;
[0020] Figure 3 It is a structural block diagram of the sand adding device for the ladle provided by the embodiments of the present application. Detailed Embodiments
[0021] To better understand the technical solutions provided in the embodiments of this specification, the technical solutions in the embodiments of this specification will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific features in the embodiments of this specification and the embodiments are detailed descriptions of the technical solutions in the embodiments of this specification, rather than limitations on the technical solutions of this specification. Without conflict, the technical features in the embodiments of this specification and the embodiments can be combined with each other.
[0022] In this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element. The term "more than two" includes two or more than two cases.
[0023] In some embodiments, as Figure 1 shown, an embodiment of the present application provides a method for adding sand to a ladle, including:
[0024] Step S101, when the sand adding bucket moves to the first position, controlling the robotic arm to add sand to the sand adding bucket;
[0025] Step S102, after the sand adding bucket finishes adding sand, obtaining the state of the sand adding hole of the ladle;
[0026] Step S103, when the state of the sand adding hole is normal, controlling the sand adding bucket to move to the second position of the ladle to add sand to the ladle.
[0027] In this embodiment, a method for adding sand to a ladle is proposed, which is executed by a sand adding device. Among them, the sand adding device is used to perform sand adding operations on the ladle. The sand adding device includes a sand adding bucket and a robotic arm. The sand adding bucket is used to hold the drainage sand, and the robotic arm is used to add the drainage sand to the sand adding bucket.
[0028] Exemplarily, the drainage sand is a filling material for the bottom nozzle of the ladle.
[0029] Exemplarily, the robotic arm can be a multi-axis robotic arm.
[0030] Control the sand-adding bucket to move to the first position. When the sand-adding bucket is in the first position, control the robotic arm to add sand to the sand-adding bucket.
[0031] Exemplarily, the first position is the sand-adding position of the sand-adding bucket.
[0032] Exemplarily, the robotic arm can place a precise amount of diversion sand into the sand-adding bucket.
[0033] Exemplarily, when the sand-adding bucket is in the first position, the robotic arm grabs the diversion sand to automatically break the bag above the sand-adding bucket. The robotic arm grabs the diversion sand placed in the diversion storage position through the sand-adding end fixture, moves to the automatic bag-breaking device above the sand-adding bucket, and after the bag is broken, the diversion sand automatically enters the sand-adding bucket.
[0034] Exemplarily, perform the sand-adding operation on the sand-adding bucket according to the sand-adding amount set by the program.
[0035] After the sand-adding bucket finishes adding sand, obtain the sand-adding hole state of the ladle, where the sand-adding hole state represents the surrounding conditions of the sand-adding hole.
[0036] Exemplarily, the sand-adding hole state can indicate whether there is foreign matter entering the nozzle eye of the ladle around the sand-adding hole.
[0037] When the sand-adding hole state is normal, control the sand-adding bucket to move to the second position of the ladle to add sand to the ladle.
[0038] Exemplarily, the second position is the sand-adding position of the ladle.
[0039] Exemplarily, the sand-adding hole state can be normal or abnormal. Abnormal means that foreign matter enters the nozzle eye of the ladle, and normal means that no foreign matter enters the nozzle eye of the ladle.
[0040] It should be noted that in this embodiment, the robotic arm can place a precise amount of diversion sand into the sand-adding bucket, and then control the sand-adding bucket to add sand to the ladle, ensuring the accuracy of adding sand to the ladle and thus ensuring the stable operation of the ladle.
[0041] The sand-adding method for the ladle in this embodiment can place a precise amount of diversion sand into the sand-adding bucket through the robotic arm, and then control the sand-adding bucket to add sand to the ladle, improving the accuracy of adding sand to the ladle.
[0042] In some embodiments, in the embodiments of the present application, a sand-adding method for a ladle is provided. Before controlling the robotic arm to add sand to the sand-adding bucket, the method further includes:
[0043] Step S201, control the cantilever to rotate above the sand-adding bucket;
[0044] Step S202: By controlling the length of the chain between the cantilever and the sand adding bucket, move the sand adding bucket to the first position.
[0045] In this embodiment, the sand adding device further includes a cantilever, and the cantilever is connected to the sand adding bucket by a chain.
[0046] During the process of adding sand to the ladle, control the cantilever to rotate above the sand adding bucket, and then by controlling the length of the chain between the cantilever and the sand adding bucket, move the sand adding bucket to the first position.
[0047] Exemplarily, start the program to run the sand adding bucket to the sand adding position. After the automatic program starts, the cantilever automatically rotates above the sand adding bucket, and the servo motor lowers the sand adding bucket to the set sand adding position through the chain and waits for sand adding.
[0048] In some embodiments, in the embodiments of the present application, a method for adding sand to a ladle is provided. After the sand adding bucket finishes adding sand, the method further includes:
[0049] Step S301: By controlling the length of the chain between the cantilever and the sand adding bucket, move the sand adding bucket to the third position;
[0050] Step S302: After the sand adding bucket moves to the third position, control the cantilever to rotate to a preset position.
[0051] In this embodiment, after the sand adding bucket finishes adding sand, by controlling the length of the chain between the cantilever and the sand adding bucket, move the sand adding bucket to the third position.
[0052] Exemplarily, the sand adding bucket is automatically lifted to the sand adding height and rotated to the sand adding angle.
[0053] Exemplarily, the third position can be a preset waiting position.
[0054] After the sand adding bucket moves to the third position, control the cantilever to rotate to a preset position.
[0055] Exemplarily, after the sand adding bucket finishes adding sand and is automatically lifted to the set height, the cantilever rotates to the set sand adding angle.
[0056] In some embodiments, in the embodiments of the present application, a method for adding sand to a ladle is provided, controlling a robotic arm to add sand to the sand adding bucket, including:
[0057] Step S401: Control the robotic arm to grab the guiding sand above the chute;
[0058] Step S402: Through the chute, transfer the guiding sand into the sand adding bucket.
[0059] In this embodiment, the sand adding device further includes a chute. The control robotic arm grabs the guiding sand and moves it above the chute, and through the chute, the guiding sand is transported into the sand adding bucket.
[0060] Exemplarily, the first position may be directly below the chute.
[0061] In some embodiments, an embodiment of the present application provides a method for adding sand to a ladle, which includes obtaining the state of the sand adding hole of the ladle, including:
[0062] Step S501, obtaining the image data of the ladle;
[0063] Step S502, performing recognition processing on the image data to obtain the state of the sand adding hole.
[0064] In this embodiment, the image data of the ladle is obtained, and recognition processing is performed on the image data to obtain the state of the sand adding hole.
[0065] Exemplarily, the sand adding device further includes a high-definition camera, which can automatically take pictures, transmit the image information to the central control room, and automatically determine whether the sand adding hole is normal.
[0066] Exemplarily, the image data is input into an automatic recognition model to obtain the state of the sand adding hole.
[0067] In some embodiments, an embodiment of the present application provides a method for adding sand to a ladle. After controlling the sand adding bucket to move to the second position of the ladle to add sand to the ladle, the method further includes:
[0068] Step S601, when the state of the sand adding hole is abnormal, controlling the sand adding bucket to stop adding sand to the ladle.
[0069] In this embodiment, when the state of the sand adding hole is abnormal, controlling the sand adding bucket to stop adding sand to the ladle.
[0070] Exemplarily, the sand adding bucket automatically descends to the sand adding position to add sand. During the descent of the sand adding bucket, the monitoring camera detects the situation inside the nozzle eye. When it descends to the set height, which is 500 mm to 600 mm away from the nozzle eye, the plug at the bottom of the sand adding bucket is opened to perform the sand adding operation. If a foreign object enters the nozzle eye during the process, the sand adding stops.
[0071] Exemplarily, the sand adding bucket, the cantilever, and the telescopic platform are reset. After the sand adding is completed, the sand adding bucket, the cantilever, and the telescopic platform automatically return to the waiting position to wait for the next sand adding operation.
[0072] In some embodiments, as Figure 2 shown, an embodiment of the present application provides a sand adding device 700 for a ladle, including:
[0073] A control unit 702, configured to control a robotic arm to add sand to a sand adding bucket when the sand adding bucket moves to a first position;
[0074] An acquisition unit 704, configured to acquire the sand adding hole state of a ladle after the sand adding bucket finishes adding sand;
[0075] The control unit 702 is further configured to control the sand adding bucket to move to a second position of the ladle to add sand to the ladle when the sand adding hole state is normal.
[0076] In this embodiment, a sand adding device 700 for a ladle is proposed, which is applied to a sand adding device. The sand adding device is used for performing a sand adding operation on the ladle. The sand adding device includes a sand adding bucket and a robotic arm. The sand adding bucket is used for containing drainage sand, and the robotic arm is used for adding drainage sand into the sand adding bucket.
[0077] Exemplarily, the drainage sand is a filling material for the nozzle at the bottom of the ladle.
[0078] Exemplarily, the robotic arm can be a multi-axis robotic arm.
[0079] Control the sand adding bucket to move to the first position, and when the sand adding bucket is in the first position, control the robotic arm to add sand to the sand adding bucket.
[0080] Exemplarily, the first position is the sand adding position of the sand adding bucket.
[0081] Exemplarily, a precise amount of drainage sand can be placed in the sand adding bucket through the robotic arm.
[0082] Exemplarily, when the sand adding bucket is in the first position, the robotic arm grabs the drainage sand to automatically break the bag above the sand adding bucket. The robotic arm grabs the drainage sand placed at the drainage storage position through the sand adding end fixture, moves to the automatic bag breaking device above the sand adding bucket, and after the bag is broken, the drainage sand automatically enters the sand adding bucket.
[0083] Exemplarily, perform a sand adding operation on the sand adding bucket according to the sand adding amount set by the program.
[0084] After the sand adding bucket finishes adding sand, acquire the sand adding hole state of the ladle, where the sand adding hole state represents the surrounding condition of the sand adding hole.
[0085] Exemplarily, the sand adding hole state can represent whether there is foreign matter entering the nozzle hole of the ladle around the sand adding hole.
[0086] When the sand adding hole state is normal, control the sand adding bucket to move to the second position of the ladle to add sand to the ladle.
[0087] Exemplarily, the second position is the sand adding position of the ladle.
[0088] Exemplarily, the state of the sand addition hole can be normal or abnormal. An abnormal state indicates that foreign matter has entered the nozzle hole of the ladle, and a normal state indicates that no foreign matter has entered the nozzle hole of the ladle.
[0089] It should be noted that in this embodiment, the robotic arm can place a precise amount of flow guiding sand into the sand addition bucket, and then control the sand addition bucket to add sand to the ladle, ensuring the accuracy of sand addition to the ladle and thus ensuring the stable operation of the ladle.
[0090] In the sand addition device 700 of the ladle in this embodiment, the robotic arm can place a precise amount of flow guiding sand into the sand addition bucket, and then control the sand addition bucket to add sand to the ladle, improving the accuracy of sand addition to the ladle.
[0091] In some embodiments, the embodiments of the present application provide a sand addition device 700 for a ladle, further including:
[0092] The control unit 702 is further configured to control the cantilever to rotate above the sand addition bucket;
[0093] The control unit 702 is further configured to control the length of the chain between the cantilever and the sand addition bucket to move the sand addition bucket to the first position.
[0094] In some embodiments, the embodiments of the present application provide a sand addition device 700 for a ladle, further including:
[0095] The control unit 702 is further configured to control the length of the chain between the cantilever and the sand addition bucket to move the sand addition bucket to the third position;
[0096] The control unit 702 is further configured to control the cantilever to rotate to a preset position after the sand addition bucket moves to the third position.
[0097] In some embodiments, the embodiments of the present application provide a sand addition device 700 for a ladle, further including:
[0098] The control unit 702 is further configured to control the robotic arm to grab the flow guiding sand above the chute;
[0099] The control unit 702 is further configured to transmit the flow guiding sand to the inside of the sand addition bucket through the chute.
[0100] In some embodiments, the embodiments of the present application provide a sand addition device 700 for a ladle, further including:
[0101] The control unit 702 is further configured to obtain the image data of the ladle;
[0102] The control unit 702 is further configured to perform recognition processing on the image data to obtain the state of the sand addition hole.
[0103] In some embodiments, an embodiment of the present application provides a sand adding device 700 for a ladle, further comprising:
[0104] A control unit 702, further configured to control the sand adding bucket to stop adding sand to the ladle when the state of the sand adding hole is abnormal.
[0105] In some embodiments, as Figure 3 shown, a sand adding device 800 for a ladle is proposed. The sand adding device 800 for a ladle includes a processor 802 and a memory 804. A computer program is stored in the memory 804. When the computer program is executed by the processor 802, the steps of the sand adding method for the ladle in any of the above embodiments are implemented. Therefore, the sand adding device 800 for a ladle has all the beneficial effects of the sand adding method for the ladle in any of the above embodiments, which will not be elaborated here.
[0106] In some embodiments, a readable storage medium is provided, on which a program is stored. When the program is executed by a processor, the steps of the sand adding method for the ladle in any of the above embodiments are implemented, and thus it has all the beneficial technical effects of the sand adding method for the ladle in any of the above embodiments.
[0107] In some embodiments, a sand adding device is provided, comprising: the sand adding device for the ladle in any of the above embodiments, and / or the readable storage medium in any of the above embodiments. Therefore, it has all the beneficial technical effects of the sand adding device for the ladle in any of the above embodiments, and / or the readable storage medium in any of the above embodiments, and will not be elaborated here too much.
[0108] It should be noted that in the above embodiments, the descriptions of each embodiment have their own focuses. For the parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.
[0109] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-readable program code.
[0110] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in one or more flows and / or blocks. Figure 1 one or more flows and / or blocks Figure 1 means for implementing the functions specified in one or more blocks.
[0111] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in one or more flows and / or blocks. Figure 1 one or more flows and / or blocks Figure 1 means for implementing the functions specified in one or more blocks.
[0112] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more flows and / or blocks. Figure 1 one or more flows and / or blocks Figure 1 means for implementing the functions specified in one or more blocks.
[0113] Embodiments of the present application also provide a computer program product, which includes computer software instructions. When the computer software instructions run on a processing device, the processing device is caused to execute the process of the method for adding sand to a ladle.
[0114] A computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or a wireless manner (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be stored by a computer or a data storage device such as a server or a data center that includes one or more integrated available media. The available medium may be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.
[0115] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.
[0116] In several embodiments provided in the present application, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other may be indirect couplings or communication connections through some interfaces, devices, or units, and may be in an electrical, mechanical, or other form.
[0117] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0118] In addition, in each embodiment of the present application, each functional unit can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
[0119] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs that can store program codes.
[0120] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.
[0121] Although the preferred embodiments of this specification have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be interpreted to include the preferred embodiments and all changes and modifications that fall within the scope of this specification.
[0122] Obviously, those skilled in the art can make various changes and modifications to this specification without departing from the spirit and scope of this specification. Thus, if these modifications and variations of this specification fall within the scope of the claims of this specification and their equivalent technologies, this specification is also intended to include these modifications and variations.
Claims
1. A method for adding sand to a ladle, characterized in that: The method is performed by a sand adding device, the sand adding device includes a sand adding bucket and a mechanical arm, and the method includes: When the sand adding bucket moves to the first position, controlling the robot arm to add sand to the sand adding bucket; After the sand adding bucket completes adding sand, obtaining the state of the sand adding hole of the ladle; When the sand adding hole is in a normal state, the sand adding bucket is controlled to move to the second position of the ladle to add sand to the ladle.
2. The method according to claim 1, characterized in that The sand adding device further includes a cantilever, and the cantilever is connected to the sand adding bucket via a chain. Before controlling the mechanical arm to add sand to the sand adding bucket, the method further includes: Controlling the cantilever to rotate to above the sand adding bucket; The sand adding bucket is moved to the first position by controlling the length of the chain between the cantilever and the sand adding bucket.
3. The method according to claim 2, characterized in that After the sand adding bucket completes adding sand, the method further comprises: By controlling the length of the chain between the cantilever and the sand adding bucket, the sand adding bucket is moved to the third position; After the sand adding bucket moves to the third position, the cantilever is controlled to rotate to a preset position.
4. The method according to claim 1, characterized in that: The sand adding equipment further includes a chute, and the controlling the mechanical arm to add sand to the sand adding bucket includes: Controlling the mechanical arm to grab the drainage sand to the top of the chute; The drainage sand is transferred to the interior of the sand adding bucket through the chute.
5. The method according to any one of claims 1 to 4, characterized in that The obtaining of the sand adding hole status of the ladle comprises: Acquiring image data of the ladle; The image data is identified and processed to obtain the state of the sand adding hole.
6. The method according to claim 1, characterized in that After controlling the sand adding bucket to move to the second position of the ladle to add sand to the ladle, the method further comprises: When the sand adding hole is in an abnormal state, the sand adding bucket is controlled to stop adding sand to the ladle.
7. A sand adding device for a ladle, characterized in that: Applied to sand adding equipment, the sand adding equipment includes a sand adding bucket and a mechanical arm, and the device includes: A control unit, configured to control the mechanical arm to add sand to the sand adding bucket when the sand adding bucket moves to the first position; An acquisition unit, used for acquiring the state of the sand adding hole of the ladle after the sand adding bucket completes the sand adding; The control unit is further used for controlling the sand adding bucket to move to the second position of the ladle to add sand to the ladle when the sand adding hole is in a normal state.
8. A sand adding device for a ladle, characterized in that: include: processor; A memory, wherein a program or instruction is stored in the memory, and when the processor executes the program or instruction in the memory, the steps of the method for adding sand to a ladle as claimed in any one of claims 1 to 6 are implemented.
9. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the method for adding sand to a ladle as described in any one of claims 1 to 6 are implemented.
10. A sand adding device, characterized in that: include: The sand adding device for the ladle as claimed in claim 7 or 8; and / or The readable storage medium as claimed in claim 9.