Intelligent molten iron transfer and steel ball waste heat driven automatic shaping and rounding equipment

Abstract

The invention belongs to the field of steel ball machining, and particularly relates to intelligent trackless molten iron transfer and steel ball waste heat driven automatic shaping and rounding equipment which comprises a trackless molten iron transfer device located at the front end of a steel ball machining device, and a shaping and rounding device used for steel ball waste heat shaping is arranged at the ball outlet end of a centrifugal device for steel ball machining. The trackless molten iron transfer device comprises a transfer vehicle body and a molten iron tank located above the transfer vehicle body. A ladle cover is added to the molten iron tank, so that the phenomena of molten iron cooling and environmental pollution are prevented; and a ladle preheating device is arranged, and a molten iron flow and weighing intelligent control device is arranged at the bottom of the molten iron tank, so that the weight of each steel ball is ensured. The design is reasonable, accurate, safe, environment-friendly, pollution-free and efficient transfer of molten iron is achieved through the intelligent trackless molten iron transfer unit, the steel ball shaping and rounding quality is guaranteed by combining steel ball waste heat with the steel ball waste heat rounding unit, the labor intensity is greatly reduced, energy is saved, and the production efficiency and the product percent of pass are improved.

Description

Technical Field

[0001] This invention relates to the field of steel ball processing technology, and in particular to an intelligent trackless molten iron transfer and steel ball waste heat-driven automatic shaping and rolling equipment. Background Technology

[0002] In the production and processing of steel balls, molten iron transfer and steel ball shaping and rolling are two key processes. Currently, molten iron transfer relies heavily on manual operation of the transfer vehicle, which is not only labor-intensive but also makes it difficult to accurately control the molten iron transfer path and the alignment accuracy of the molten iron ladle, easily leading to safety hazards such as molten iron leakage. At the same time, it is impossible to monitor key parameters in the molten iron transfer process in real time, resulting in low efficiency.

[0003] In the steel ball shaping and rolling process, traditional equipment usually requires additional energy to heat the steel balls to meet the required temperature for shaping and rolling, resulting in a significant waste of energy. Furthermore, traditional shaping and rolling equipment lacks a real-time detection and feedback adjustment mechanism for the shaping and rolling quality of steel balls, making it difficult to ensure the consistency of the shaping and rolling quality of steel balls. Problems such as substandard roundness and poor surface quality of steel balls frequently occur, affecting the performance of subsequent products. Therefore, we propose an intelligent trackless molten iron transfer and steel ball waste heat-driven automatic shaping and rolling equipment to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology by proposing an intelligent molten iron transfer and steel ball waste heat driven automatic shaping and rolling equipment.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An intelligent trackless molten iron transfer and steel ball waste heat driven automatic shaping and rolling equipment includes a molten iron transfer device located at the front end of the steel ball processing device, and a shaping and rolling device for waste heat shaping of steel balls at the discharge end of the steel ball processing device. The trackless molten iron transfer device includes a transfer car body and a molten iron ladle located above the transfer car body. The molten iron is filled with a molten iron ladle cover to prevent the molten iron from cooling down and causing environmental pollution. It also includes a central control unit, which is connected to an intelligent trackless molten iron transfer unit installed on the trackless molten iron transfer device. The central control unit is also connected to a steel ball waste heat rolling unit installed on the shaping and rolling device.

[0007] The intelligent trackless molten iron transfer unit includes a parameter monitoring unit, which is connected to a path planning unit. The path planning unit is connected to an intelligent navigation unit, which is connected to a molten iron alignment unit, and the molten iron alignment unit is connected to a molten iron tilting unit. The steel ball waste heat rolling unit includes a waste heat temperature control unit, which is connected to a shaping and rolling execution unit. The rolling execution unit is connected to a cooling and shaping unit, which is connected to a rolling quality detection unit, and the rolling quality detection unit is connected to a feedback adjustment unit.

[0008] Preferably, the parameter monitoring unit includes a temperature sensor for monitoring the temperature of molten iron, a level sensor for monitoring the level of molten iron, and a speed sensor for monitoring the running speed of the transfer vehicle. Each sensor is communicatively connected to the central control unit, and the speed sensor is linked with the central control unit and the path planning and navigation module.

[0009] Preferably, the path planning unit has a built-in map database and path optimization algorithm. Based on the location information of the transfer vehicle transmitted by the parameter monitoring unit and the preset destination of the molten iron receiving port of the steel ball processing device, combined with environmental information in the map database, the path planning unit plans the optimal transfer path using the path optimization algorithm and transmits the optimal path information to the intelligent navigation unit. The path planning unit can replan a temporary avoidance path within 0.5 seconds, and the safe distance between the planned path and obstacles is ≥1.5 meters. The navigation unit includes a GPS positioning unit and a lidar. The GPS positioning unit is installed on the top of the transfer vehicle, and the lidar is installed around the transfer vehicle. The path planning unit is electrically connected to the GPS positioning unit, the lidar, and the central control unit. The GPS positioning unit uses a high-precision dual-mode positioning module supporting GPS + BeiDou positioning, with a positioning accuracy of centimeter level. The GPS positioning unit is connected to the path planning unit and the central control unit via 4G and 5G wireless communication modules. The lidar is a multi-line lidar with ≥16 lines, a detection angle coverage of 360°, and a detection distance of up to 50 meters.

[0010] Preferably, the trackless molten iron alignment unit includes an image acquisition device and an alignment controller. The image acquisition device is mounted on the transfer vehicle, and the alignment controller is connected to the central control unit. The alignment deviation of the trackless molten iron alignment unit is ≤5mm. The molten iron alignment unit is linked with the path planning and navigation module. When the transfer vehicle reaches the preset alignment area, the path planning and navigation module stops the main path navigation, and the molten iron alignment unit takes over the fine-tuning control.

[0011] Preferably, the molten iron control unit includes a molten iron ladle preheating device equipped on the molten iron ladle, and an intelligent control device for molten iron flow and weighing is provided at the bottom of the molten iron ladle to ensure the weight of each steel ball.

[0012] Preferably, the waste heat temperature control unit includes a temperature detection sensor and a temperature regulator. The temperature detection sensor is located at the feeding end of the forming and rolling device, and the temperature regulator is connected to a heat dissipation mechanism and an auxiliary heating mechanism, which can adjust the temperature by cooling or supplementing heat according to the actual temperature of the steel ball.

[0013] Preferably, the shaping and rounding execution unit includes a fixed rounding grinding disc, a rotating rounding grinding disc, and a drive module. The rotating rounding grinding disc is rotatably mounted on the fixed rounding grinding disc. Both the rotating and fixed rounding grinding discs have rounding channels for rounding steel balls on their sides that are close to each other. The fixed rounding grinding disc has a feed port and a discharge port. The drive module is used to drive the rotating rounding grinding disc to rotate.

[0014] Preferably, the cooling and shaping unit includes a cooling channel and a cooling medium supply mechanism. The cooling channel is located at the discharge end of the shaping and rounding execution unit, and the cooling medium supply mechanism can supply water or cold air into the cooling channel as a cooling medium.

[0015] Preferably, the roundness quality inspection unit includes a vision inspection module and a size inspection module. The vision inspection module is used to inspect the surface smoothness and defects of the steel ball, and the size inspection module is used to inspect the diameter and roundness of the steel ball.

[0016] Preferably, the feedback adjustment unit can adjust the temperature parameters of the waste heat temperature control unit and the rolling speed and pressure parameters of the shaping and rolling execution unit through the central control unit based on the detection data of the rolling quality detection unit.

[0017] The beneficial effects of this invention are:

[0018] 1. By equipping a path planning unit and a navigation unit, and through the collaboration of a GPS positioning unit, multi-line lidar and dynamic path optimization algorithm, the transfer vehicle achieves precise positioning, dynamic obstacle avoidance and optimal path planning. This not only solves the problems of large path deviation and untimely obstacle avoidance in traditional manual transfer, but also enables fully automatic driving in conjunction with the central control unit, greatly reducing the intensity of manual labor, improving transfer efficiency, and avoiding the risk of molten iron leakage due to human error.

[0019] 2. By utilizing the residual heat after steel ball processing for shaping and rounding, and by using a residual heat temperature control unit to reasonably regulate the residual heat of the steel balls, there is no need to consume a large amount of additional energy to heat the steel balls. Calculations show that this can save energy consumption and significantly reduce production costs.

[0020] 3. By setting up a rounding quality detection unit and a feedback adjustment unit, the rounding quality of steel balls can be detected in real time, and relevant parameters can be adjusted in a timely manner according to the detection results, ensuring the consistency and stability of the rounding quality of steel balls and improving the performance of subsequent products. Attached Figure Description

[0021] Figure 1 The flowchart is for the intelligent trackless molten iron transfer and steel ball waste heat driven automatic shaping and rolling equipment proposed in this invention.

[0022] Figure 2 This is a block diagram of the intelligent trackless molten iron transfer and automatic shaping and rolling equipment driven by waste heat of steel balls proposed in this invention.

[0023] Figure 3 This is a block diagram of the intelligent trackless molten iron transfer unit of the intelligent trackless molten iron transfer and steel ball waste heat driven automatic shaping and rolling equipment proposed in this invention.

[0024] Figure 4 This is a block diagram of the steel ball waste heat rolling unit of the intelligent trackless molten iron transfer and steel ball waste heat driven automatic shaping and rolling equipment proposed in this invention. Detailed Implementation

[0025] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0026] This application discloses an intelligent trackless molten iron transfer and automatic shaping and rolling equipment driven by waste heat of steel balls.

[0027] Reference Figure 1-4 The intelligent trackless molten iron transfer and steel ball waste heat driven automatic shaping and rolling equipment includes a trackless molten iron transfer device located at the front end of the steel ball processing device, and a shaping and rolling device for waste heat shaping of the steel balls at the discharge end of the steel ball processing device. The trackless molten iron transfer device includes a transfer car body and a molten iron ladle located above the transfer car body. The molten iron is filled with a molten iron ladle cover to prevent the molten iron from cooling down and causing environmental pollution. It also includes a central control unit, which is connected to an intelligent trackless molten iron transfer unit installed on the molten iron transfer device. The central control unit is also connected to a shaping and rolling device installed on the shaping ladle. The circular device includes a steel ball waste heat rolling unit; an intelligent trackless molten iron transfer unit including a parameter monitoring unit, a path planning unit, an intelligent navigation unit, a molten iron alignment unit, and a molten iron tilting unit; and a steel ball waste heat rolling unit including a waste heat temperature control unit, a shaping and rolling execution unit, a cooling and shaping unit, a rolling quality detection unit, and a feedback adjustment unit.

[0028] In this embodiment, the parameter monitoring unit includes a temperature sensor, a liquid level sensor, and a speed sensor. Its communication connection with the central control unit enables real-time acquisition and transmission of key parameters for trackless molten iron transfer and steel ball processing. The temperature sensor monitors the molten iron temperature in real time, preventing damage to the molten iron ladle due to excessive heat or affecting the subsequent steel ball processing quality due to excessively low temperature, providing basic data for adjusting steel ball processing parameters. The liquid level sensor accurately controls the molten iron level, preventing overflow and safety accidents, while ensuring a fixed amount of material is supplied to the steel ball processing device, avoiding production efficiency issues caused by excessive or insufficient material supply. The speed sensor, linked with the central control unit and the path planning and navigation module, allows the central control unit to adjust the drive mechanism speed in a timely manner when the transfer vehicle's speed is abnormal, preventing molten iron from sloshing and overflowing due to excessive speed or production delays due to excessively slow speed, ensuring the stability and safety of the transfer process and further improving the continuity of the overall production process.

[0029] In this embodiment, the map database and path optimization algorithm built into the path planning unit, combined with the location information of the transfer vehicle, preset destination, and environmental information from the parameter monitoring unit, plan the optimal transfer route. This can significantly shorten transfer time and improve the efficiency of molten iron transfer. Compared to traditional manual path planning, this algorithm can avoid obstacles and congested areas within the plant, reduce waiting time during transfer, and improve the overall production rhythm. Its ability to replan temporary avoidance routes within 0.5 seconds allows for rapid response to sudden obstacles during transfer, preventing collisions between the transfer vehicle and obstacles and ensuring the safety of equipment and personnel. Furthermore, the planned path maintains a safe distance of ≥1.5 meters from obstacles, further reducing the risk of collision and providing ample safety buffer space for the transfer vehicle. The GPS positioning unit achieves centimeter-level accuracy and... The GPS+BeiDou dual-mode positioning design ensures accurate positioning of the transfer vehicle even in complex factory environments, preventing deviations in the transfer path due to positioning errors and ensuring the accurate delivery of molten iron to the steel ball processing unit. The application of 4G and 5G wireless communication modules enables high-speed and stable transmission of positioning data, ensuring that the path planning unit can obtain the transfer vehicle's location information in real time and adjust the path accordingly. The ≥16-line multi-line lidar with a 360° detection angle and a 50-meter detection distance can comprehensively capture obstacle information around the transfer vehicle. Whether it is a fixed wall or equipment, or a dynamic working vehicle or personnel, it can be accurately identified, providing comprehensive environmental data support for the path planning unit, avoiding path planning errors due to incomplete obstacle detection, and ensuring the safety and smoothness of the transfer process.

[0030] In this embodiment, the connection design between the image acquisition device and the alignment controller of the molten iron alignment unit and the central control unit enables precise alignment of the molten iron ladle and the molten iron receiving port of the steel ball processing device. The image acquisition device can clearly acquire image information of the molten iron receiving port, providing accurate judgment basis for the alignment controller. The alignment controller accurately calculates the position deviation by processing and analyzing the image information, and then controls the fine adjustment of the transfer car. An alignment deviation of ≤5mm can ensure that the molten iron flows accurately into the molten iron receiving port during the pouring process, avoiding molten iron spillage that causes waste and safety hazards, while reducing corrosion damage to the equipment. The linkage between the molten iron alignment unit and the path planning and navigation module means that after the transfer car reaches the preset alignment area, the path planning and navigation module stops the main path navigation, and the molten iron alignment unit takes over the fine adjustment control. This achieves a seamless connection from macro-path navigation to micro-precise alignment, avoiding interference that may occur when two control modes operate simultaneously, further improving alignment accuracy and efficiency, ensuring the accuracy of the final stage of molten iron transfer, and laying the foundation for the smooth progress of subsequent steel ball processing.

[0031] In this embodiment, the molten iron control unit includes a molten iron ladle preheating device mounted on the molten iron ladle, and an intelligent molten iron flow and weighing control device at the bottom of the molten iron ladle to ensure the weight of each steel ball. A temperature detection sensor of the residual heat temperature control unit is located at the feeding end of the forming and rolling device, enabling it to detect the temperature of the steel balls exiting the steel ball processing device in real time, providing timely and accurate data support for temperature control. The temperature regulator is connected to a heat dissipation mechanism and an auxiliary heating mechanism, which can flexibly adjust the cooling or heating according to the actual temperature of the steel balls, ensuring that the steel ball temperature is always maintained within the optimal temperature range required for forming and rolling. When the steel ball temperature is too high, the heat dissipation mechanism quickly cools it down, preventing deformation and poor surface quality during the forming and rolling process caused by high temperatures. When the steel ball temperature is too low, the auxiliary heating mechanism provides a small amount of supplementary heating, eliminating the need for large amounts of additional energy consumption and fully utilizing the residual heat of the steel balls to save energy costs. This precise temperature control mode ensures the quality stability of the steel ball forming and rolling, reduces defective products caused by improper temperature, improves the production qualification rate, and reduces energy waste, conforming to the production concept of energy conservation and environmental protection.

[0032] In this embodiment, the shaping and rounding execution unit includes a fixed rounding grinding disc, a rotating rounding grinding disc, and a drive module. The rotating rounding grinding disc is rotatably mounted on the fixed rounding grinding disc. Both the rotating and fixed rounding grinding discs have rounding channels for rolling steel balls on their adjacent sides. The fixed rounding grinding disc has a feed port and a discharge port. The drive module is used to drive the rotating rounding grinding disc to rotate. The steel balls enter the rounding channel in the rounding grinding disc through the feed port. The rotating rounding grinding disc can drive the steel balls to roll in the rounding channel. The rolled steel balls can be discharged through the discharge port.

[0033] In this embodiment, the cooling channel of the cooling and shaping unit is located at the discharge end of the forming and rounding execution unit. This allows the steel balls that have undergone forming and rounding to enter the cooling process in a timely manner, preventing the steel balls from deforming due to their own weight or external factors at high temperatures. This ensures that the steel balls maintain their regular round shape after forming and rounding. The cooling medium supply mechanism can supply water or cold air as the cooling medium. Users can flexibly choose according to production needs, steel ball material, and plant energy supply. Water cooling has high cooling efficiency and is suitable for production scenarios with high cooling speed requirements. Cold air cooling is more energy-efficient and environmentally friendly, and can avoid the steel ball rusting problem that may be caused by water cooling. It is suitable for situations where the surface quality of the steel balls is high or where water resources are scarce. This flexible selection of cooling medium and efficient cooling channel design ensure the effect and efficiency of steel ball cooling and shaping, improve the stability of steel ball quality, and adapt to different production conditions, thus enhancing the applicability of the equipment.

[0034] In this embodiment, the visual inspection module of the roundness quality inspection unit can clearly capture images of the steel ball surface and accurately detect the smoothness and defects of the steel ball surface through image analysis technology, preventing steel balls with unqualified surface quality from flowing into subsequent stages and affecting the overall performance of the product. The size inspection module can accurately measure the diameter and roundness of the steel ball to ensure that the steel ball size meets the production standards and avoid steel balls that cannot be used normally due to size deviation. The setting of this unit realizes real-time and comprehensive inspection of the roundness quality of steel balls, replacing the traditional manual inspection method. It not only improves the inspection efficiency but also reduces the error of manual inspection, ensuring the quality of every steel ball leaving the factory, enhancing product competitiveness, and reducing production delays and cost increases caused by rework of unqualified steel balls.

[0035] In this embodiment, the feedback adjustment unit, based on the detection data from the rounding quality detection unit, adjusts the temperature parameters of the waste heat temperature control unit and the rounding speed and pressure parameters of the shaping and rounding execution unit in a timely manner through the central control unit, forming a complete quality closed-loop control system. When poor surface quality or non-compliant dimensions of the steel balls are detected, the feedback adjustment unit can quickly locate the cause of the problem. If it is caused by improper steel ball temperature, the preheating temperature parameters are adjusted; if it is caused by unsuitable rounding speed or pressure, the parameters of the shaping and rounding execution unit are adjusted to ensure that the quality of steel balls produced subsequently returns to the qualified standard. This real-time feedback adjustment mechanism avoids the continuous generation of non-conforming products, reduces raw material waste and production time loss, improves production efficiency and product qualification rate, and reduces the frequency of manual intervention, realizing automated and intelligent control of the production process, further improving the stability and advancement of the overall production process.

[0036] The working principle of this invention is as follows: During the molten iron transfer process, the parameter monitoring unit monitors the molten iron temperature, liquid level, and the speed of the transfer vehicle in real time, and transmits the monitoring data to the central control unit. Simultaneously, the GPS positioning unit in the path planning and navigation module acquires the location information of the transfer vehicle in real time, and the lidar detects surrounding obstacles. Both transmit the data to the path planning unit. The path planning unit, combined with the starting and target locations of the transfer task issued by the central control unit, plans the optimal transfer path in the plant map database and transmits the path information to the central control unit. The central control unit controls the transfer vehicle to travel along the preset track according to the planned path. During the journey, the speed sensor provides real-time feedback on the speed, and the lidar dynamically detects obstacles. If new obstacles are encountered, the path planning unit quickly updates the path to ensure transfer safety.

[0037] When the transport vehicle arrives at the preset alignment area near the steel ball processing device, the path planning and navigation module stops the main navigation. The molten iron alignment unit determines the positional deviation between the molten iron ladle and the receiving port through image acquisition and analysis, and controls the transport vehicle to make fine adjustments to achieve precise alignment. Subsequently, under the control of the central control unit, the molten iron tilting unit, combined with the molten iron level and tilting angle information, drives the molten iron ladle to quantitatively pour molten iron into the steel ball processing device.

[0038] After processing by the steel ball processing unit, the steel balls are conveyed to the shaping and rounding unit. The residual heat temperature control unit first detects the temperature of the steel balls and adjusts the residual heat of the steel balls according to the preset temperature requirements. The adjusted steel balls enter the shaping and rounding execution unit, where the rounding drive mechanism drives the rounding mold to rotate and shape the steel balls. After shaping and rounding, the steel balls enter the cooling and shaping unit, where they are cooled and shaped under the action of the cooling medium. After cooling and shaping, the steel balls pass the rounding quality inspection unit to check the surface quality, diameter, and roundness. If the inspection is qualified, the steel balls enter the next process. If the inspection is unqualified, the feedback adjustment unit feeds the inspection results back to the central control unit. The central control unit adjusts the parameters of the residual heat temperature control unit and the shaping and rounding execution unit, and re-shapes and rounds the steel balls until the steel balls meet the quality requirements.

[0039] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An intelligent trackless molten iron transfer and steel ball waste heat driven automatic shaping and rolling equipment, characterized in that, The device includes a trackless molten iron transfer device located at the front end of the steel ball centrifugal processing device. The discharge end of the steel ball centrifugal processing device is equipped with a shaping and rolling device for shaping the steel balls by residual heat. The trackless molten iron transfer device includes a transfer car body and a molten iron ladle located above the transfer car body. The molten iron ladle is covered with a molten iron ladle cover to prevent the molten iron from cooling down and causing environmental pollution. It also includes a central control unit, which is connected to an intelligent trackless molten iron transfer unit installed on the trackless molten iron transfer device, and the central control unit is also connected to a steel ball waste heat rolling unit installed on the shaping and rolling device. The intelligent trackless molten iron transfer unit includes a parameter monitoring unit, which is connected to a path planning unit. The path planning unit is connected to an intelligent navigation unit, which is connected to a molten iron alignment unit, and the molten iron alignment unit is connected to a molten iron tilting unit. The waste heat rolling unit for steel balls includes a waste heat temperature control unit, which is connected to a shaping and rolling execution unit. The rolling execution unit is connected to a cooling and shaping unit, which is connected to a rolling quality detection unit, and the rolling quality detection unit is connected to a feedback adjustment unit.

2. The intelligent trackless molten iron transfer and steel ball waste heat driven automatic shaping and rolling equipment according to claim 1, characterized in that, The parameter monitoring unit includes a temperature sensor for monitoring the temperature of molten iron, a level sensor for monitoring the level of molten iron, and a speed sensor for monitoring the speed of the transfer vehicle. Each sensor is communicatively connected to the central control unit, and the speed sensor is linked with the central control unit and the path planning and navigation module.

3. The intelligent trackless molten iron transfer and steel ball waste heat driven automatic shaping and rolling equipment according to claim 1, characterized in that, The path planning unit has a built-in map database and path optimization algorithm. Based on the location information of the transfer vehicle transmitted by the parameter monitoring unit and the destination of the molten iron receiving port of the steel ball processing device, combined with the environmental information in the map database, the path planning unit plans the optimal transfer path through the path optimization algorithm and transmits the optimal path information to the intelligent navigation unit. The navigation unit includes a GPS positioning unit and a lidar. The GPS positioning unit is installed on the top of the transfer vehicle, and the lidar is installed around the transfer vehicle. The path planning unit is electrically connected to the GPS positioning unit, the lidar, and the central control unit.

4. The intelligent trackless molten iron transfer and steel ball waste heat driven automatic shaping and rolling equipment according to claim 1, characterized in that, The molten iron alignment unit includes an image acquisition device and an alignment controller. The image acquisition device is installed on the transfer vehicle body, and the alignment controller is connected to the central control unit. The alignment deviation of the molten iron alignment unit is ≤5mm. The molten iron alignment unit is linked with the path planning and navigation module. When the transfer vehicle body reaches the preset alignment area, the path planning and navigation module stops the main path navigation, and the molten iron alignment unit takes over the fine-tuning control.

5. The intelligent trackless molten iron transfer and steel ball waste heat driven automatic shaping and rolling equipment according to claim 1, characterized in that, The molten iron control unit includes a molten iron ladle preheating device equipped on the molten iron ladle, and an intelligent control device for molten iron flow and weighing is provided at the bottom of the molten iron ladle to ensure the weight of each steel ball.

6. The intelligent trackless molten iron transfer and steel ball waste heat driven automatic shaping and rolling equipment according to claim 1, characterized in that, The waste heat temperature control unit includes a temperature detection sensor and a temperature regulator, and the temperature detection sensor is installed in the shaping and rolling device.

7. The intelligent trackless molten iron transfer and steel ball waste heat driven automatic shaping and rolling equipment according to claim 1, characterized in that, The shaping and rounding execution unit includes a fixed rounding grinding disc, a rotating rounding grinding disc, and a drive module. The rotating rounding grinding disc is rotatably mounted on the fixed rounding grinding disc. Both the rotating and fixed rounding grinding discs have rounding channels for rounding steel balls on their sides that are close to each other. The fixed rounding grinding disc has a feed port and a discharge port. The drive module is used to drive the rotating rounding grinding disc to rotate.

8. The intelligent trackless molten iron transfer and steel ball waste heat driven automatic shaping and rolling equipment according to claim 1, characterized in that, The cooling and shaping unit includes a cooling channel and a cooling medium supply mechanism. The cooling channel is located at the discharge end of the shaping and rounding execution unit, and the cooling medium supply mechanism can supply water or cold air into the cooling channel as a cooling medium.

9. The intelligent trackless molten iron transfer and steel ball waste heat driven automatic shaping and rolling equipment according to claim 1, characterized in that, The roundness quality inspection unit includes a vision inspection module and a size inspection module. The vision inspection module is used to inspect the surface smoothness and defects of the steel ball, and the size inspection module is used to inspect the diameter and roundness of the steel ball.

10. The intelligent trackless molten iron transfer and steel ball waste heat driven automatic shaping and rolling equipment according to claim 1, characterized in that, The feedback adjustment unit can adjust the temperature parameters of the waste heat temperature control unit and the rolling speed and pressure parameters of the shaping and rolling execution unit through the central control unit based on the detection data of the rolling quality detection unit.

Images