A kind of steel slag ladle anti-sticking coating spraying device

Abstract

The application discloses a steel slag ladle anti-sticking coating spraying device and relates to the technical field of spraying equipment. The device uses a displacement robot to replace manual assistance for spraying. An audio collection assembly is used to collect working sound to monitor whether the working process is normally performed. The device uses a blowing and spraying mode to reduce the probability of the occurrence of the phenomenon of the inclusion of ash layers. The device has the technical effects of low safety risk, high working efficiency, high reliability of the accessories used for monitoring the spraying state, good stability of the spray head, and the difficulty of the occurrence of the inclusion of ash layers after spraying.

Description

Technical Field

[0001] This invention relates to the field of spraying equipment technology, and in particular to a spraying device for anti-stick coating on steelmaking slag bags. Background Technology

[0002] During the steelmaking process, steel slag tends to adhere to the inner wall of the slag ladle containing high-temperature steel slag, so an anti-sticking coating needs to be sprayed on it before use.

[0003] In existing technologies, the application of anti-stick coating is generally done manually by hand with a spray gun or automatically by using an automated robotic arm carrying the coating accessories.

[0004] Manual spraying with a handheld spray gun has the following drawbacks:

[0005] 1. High safety risks: Close contact with high-temperature slag bags and sprayed dust can easily cause burns and inhalation injuries;

[0006] 2. Low spraying precision: Manual operation makes it difficult to ensure uniform coating thickness and unstable anti-sticking effect;

[0007] 3. Low efficiency: Spraying takes a long time, which affects the pace of steelmaking production.

[0008] In existing technologies, spraying devices that automatically complete spraying operations using an automated robotic arm carrying spraying accessories generally include a robotic arm, a paint supply component, a camera positioned away from the slag bag, a paint nozzle at the head of the robotic arm, a power component for providing power, and a control unit for controlling the coordinated operation of each component. The paint supply component includes a mixing tank, a delivery pipe, and a delivery pump. The mixing tank has a built-in spiral agitator for continuously mixing and preventing sticking of the material. The delivery pipe, in conjunction with the delivery pump, pumps the paint to the paint nozzle at the head of the robotic arm. The camera assists in manually monitoring the amount of dust and particulate matter residue inside the slag bag and the spraying status (whether nozzle blockage occurs, whether the spraying is uneven). The operator and / or the machine vision system control the operation of each component based on the images acquired by the camera. The robotic arm carries the nozzle and inserts it into the slag bag to spray paint inside. Although using a robotic arm to assist in spraying operations can overcome the shortcomings of the above-mentioned solutions that rely on manual spraying, the following problems still exist:

[0009] 1. The camera lens (video surveillance equipment) performs poorly in high dust environments and is easily soiled and damaged. It is difficult for operators and machine vision systems to obtain clear information about the environment inside the slag bag and the spraying status based on the images obtained by the camera lens.

[0010] 2. Paint spray nozzles are prone to frequent clogging in the spray gap due to temperature fluctuations, resulting in poor stability;

[0011] 3. The presence of residual dust (floating ash) and particles in the slag bag can cause problems such as hollowing, delamination, ash inclusion and peeling of the coating after spraying, resulting in poor performance of the sprayed coating.

[0012] Therefore, there is a need for a steelmaking slag bag anti-stick coating spraying device that has low safety risks, high operating efficiency, high reliability of accessories for monitoring the spraying status, good spray head operation stability, and is less prone to ash inclusion and delamination after spraying, thus ensuring the quality of the spraying. Summary of the Invention

[0013] This application provides a steelmaking slag bag anti-sticking coating spraying device, which solves the technical problems in the prior art such as high risk, low work efficiency, low reliability of accessories used to monitor the spraying status, poor nozzle operation stability, and poor coating effect during the spraying of anti-sticking coating for steelmaking slag bags. It achieves the technical effects of low safety risk, high work efficiency, high reliability of accessories used to monitor the spraying status, good nozzle operation stability, and less likelihood of ash inclusion and delamination after spraying.

[0014] This application provides a steelmaking slag bag anti-sticking coating spraying device for spraying anti-sticking coating onto the inside of the slag bag carried by the slag bag transport equipment. It includes a coating supply component, a gas supply component, a radio component, a transfer robot, a transfer guide rail component, and a spraying component.

[0015] The sound-collecting component is positioned on the transfer robot, the transfer guide rail assembly, and / or the spraying assembly, and is used to collect the sound generated by each component during the operation.

[0016] The transfer robot is set up at the spraying station, carrying a transfer guide rail assembly, and inserts it into the slag bag at the appropriate time and drives it to rotate, thereby assisting the spraying operation.

[0017] The displacement guide rail assembly is positioned on the displacement robot and is a rigid rod-shaped guide rail. One side is provided with a through groove for generating an air curtain, which serves to guide the movement of the spraying assembly and temporarily clean the inner wall of the slag bag to be sprayed by blowing air.

[0018] The spraying assembly includes a nozzle carrier block slidably positioned on a shift guide assembly, a paint nozzle positioned on the nozzle carrier block, and a delivery hose connected to the paint supply assembly for conveying paint; the paint nozzle is also connected to a gas supply assembly.

[0019] Furthermore, the transfer robot includes a basic carrier and a transfer arm;

[0020] The base carrier is equipped with a travel component at its bottom;

[0021] The displacement arm includes a telescopic carrier and a rotating frame;

[0022] The telescopic carrier is a vertically arranged rigid telescopic rod, with a combined frame fixed at the top near one side;

[0023] The rotating frame is a rigid strip-shaped frame that is inclined and has an angle of 50 to 80 degrees with the horizontal ground. It is rotatably connected to the combined frame, and the axis of rotation is perpendicular to its own length.

[0024] During the spraying process, the axis of rotation of the rotating carrier coincides with the axis of the slag bag, which is in an inclined state.

[0025] Furthermore, the shift guide assembly includes a rod-shaped guide rail;

[0026] The overall shape of the rod-shaped guide rail matches the inner wall of the slag bag, and it is an L-shaped rigid hollow rod with arc corners;

[0027] The rod-shaped guide rail is fixed on the surface of the rotating frame away from the telescopic carrier, and its length direction is perpendicular to the length direction of the rotating frame;

[0028] The internal space of the rod-shaped guide rail is connected to the gas supply assembly;

[0029] An air jet slot is provided on one side of the rod-shaped guide rail;

[0030] The air jet channel is a through channel used to output the gas in the rod-shaped guide rail and form an air curtain that blows towards the inner wall of the slag bag to temporarily purge and clean the inner wall of the slag bag before it is coated with paint.

[0031] Preferably, the angle between the air curtain ejected from the air spray channel and the inner wall of the slag bag is 40 to 60 degrees; after the rod-shaped guide rail is inserted into the slag bag, the distance between it and the inner wall of the slag bag is 20 to 35 centimeters.

[0032] Preferably, the nozzle carrier is a rigid block that is slidably positioned on a rod-shaped guide rail, carrying the paint nozzle as it slides. The paint nozzle is connected to the paint supply assembly via a delivery hose and also to the gas supply assembly via a hose. During spraying, gas and paint are controlled to be sprayed out of the paint nozzle simultaneously, with the gas acting as a pressurizer. During the spraying interval, gas is continued to be sprayed out of the paint nozzle for several seconds to clear any blockages and prevent the paint from drying on the nozzle and clogging it.

[0033] Preferably, a scrubbing brush is fixed on the rotating frame near the rod-shaped guide rail;

[0034] The scrubbing brush is a brush with bristles, with the bristle side facing the rod-shaped guide rail, and is fixed to the rotating frame by a rigid bracket;

[0035] When the nozzle carrier is moved in a controlled manner to a position close to the scrubbing brush, it can be moved back and forth along the rod-shaped guide rail to scrub and clean the paint nozzle.

[0036] Preferably, it also includes a dust removal and vacuuming component;

[0037] The dust removal and suction assembly includes a suction column, a fan positioned near one end inside the suction column, and a baffle positioned between the suction column and the rod-shaped guide rail.

[0038] The suction column is a filter cartridge with one end closed;

[0039] One end of the suction column is directly fixed or fixed to the end of the rod-shaped guide rail away from the rotating frame through a rigid bracket, while the other end is positioned on the rotating frame;

[0040] The fan is fixed to the non-enclosed end of the dust collection column and is an axial flow fan;

[0041] The baffle is a strip-shaped, arc-shaped rigid plate positioned on the suction column, covering at least a quarter of the side wall of the suction column to prevent the suction force of the suction column from affecting the trajectory of the sprayed paint.

[0042] Preferably, the displacement arm further includes a connector;

[0043] The connector is a rigid block that serves as a connector.

[0044] The connecting body is rotatably connected to the combined frame, and the axis of the rotating shaft is parallel to the horizontal ground. It rotates in a controlled manner, and its existence makes the angle between the displacement guide rail assembly and the ground adjustable.

[0045] The rotating frame is rotatably connected to the connecting body, with the connection point located on the surface of the connecting body away from the combined frame, and is subject to controlled rotation.

[0046] Preferably, the baffle also serves to support particulate matter, and is an overall U-shaped plate, including a base plate and side plates;

[0047] The base plate is a strip-shaped arc-shaped rigid plate, with the surface near the suction column being concave and the distance between this surface and the side wall of the suction column being greater than 2 cm.

[0048] The side panels are rigid plates, two in number, fixed at both ends of the base plate, and the two side panels are rotatably connected to both ends of the suction column, with the rotation axis coaxial with the suction column.

[0049] The side plate near the rotating frame is provided with a limiting body to restrict the relative movement between the baffle and the rotating frame.

[0050] Preferably, a slag trough and a slag storage container are provided on the surface of the base plate away from the dust collection column near the end.

[0051] The slag discharge trough is a through trough;

[0052] The slag storage container is a plate-shaped container connected to the slag discharge chute;

[0053] When the base plate is located below the dust collection column, the slag container is located below the slag chute.

[0054] Particles detached from the suction column fall onto the concave surface of the baffle and slide into the residue container; the residue container has a controlled opening on the surface away from the baffle.

[0055] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0056] By using a transfer robot to replace manual spraying; by using a sound-collecting component to monitor the operation and ensure it is proceeding normally; and by using a simultaneous blowing and spraying method to reduce the probability of ash inclusion and stratification, this technology effectively solves the technical problems of high risk, low efficiency, low reliability of accessories for monitoring spraying status, poor nozzle stability, and poor coating effect in the existing steelmaking slag bag anti-sticking coating spraying device. This results in low safety risk, high efficiency, high reliability of accessories for monitoring spraying status, good nozzle stability, and reduced ash inclusion and stratification after spraying. Attached Figure Description

[0057] Figure 1 This is a schematic diagram showing the positional relationship between the steelmaking slag bag anti-sticking coating spraying device and the slag bag in this application;

[0058] Figure 2 This is a schematic diagram showing the state of the steelmaking slag bag anti-sticking coating spraying device when it is inserted into the slag bag.

[0059] Figure 3 This is a schematic diagram of the structure of the anti-sticking coating spraying device for steelmaking slag bags in this application;

[0060] Figure 4 This is a schematic diagram showing the positional relationship between the rotating carrier, the shifting guide rail assembly, and the spraying assembly.

[0061] Figure 5 A schematic diagram showing the positional relationship between the airflow and the inner wall of the slag bag when the airflow is ejected from the rod-shaped guide rail;

[0062] Figure 6 This is a schematic diagram showing the positional relationship between the shift guide rail assembly, the spraying assembly, and the dust collection and suction assembly.

[0063] Figure 7 A schematic diagram showing the connection relationships between the paint supply component, the gas supply component, and each component;

[0064] Figure 8This is a simplified structural diagram of a dust removal and vacuuming component;

[0065] Figure 9 This is a schematic diagram showing the distribution of most of the remaining particles within the slag bag.

[0066] Figure 10 This is a schematic diagram showing the positional relationship between the shift guide rail assembly and the dust collection and suction assembly.

[0067] Figure 11 This is a schematic diagram of the baffle structure;

[0068] Figure 12 This is a schematic diagram showing the positional relationship between the baffle and the suction column;

[0069] Figure 13 This is a schematic diagram showing the baffle rotating to one side of the suction column.

[0070] In the picture:

[0071] Slag bag 001, slag bag transport equipment 002, paint supply component 003, gas supply component 004, radio component 005, base carrier 100, traveling component 110, telescopic carrier 200, combined frame 210, connecting body 220, rotating carrier 300, rod-shaped guide rail 410, air spray duct 411, end brush 420, nozzle carrier block 510, paint nozzle 520, connecting carrier block 530, conveying hose 540, scrubbing brush 550, dust suction column 610, fan 620, baffle 630, base plate 631, side plate 632, limiting body 633, slag chute 634, slag storage container 635. Detailed Implementation

[0072] To facilitate understanding of the present invention, a more complete description of this application will be given below with reference to the accompanying drawings, which illustrate preferred embodiments of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to enable a more thorough and complete understanding of the disclosure of the present invention.

[0073] It should be noted that the terms "vertical," "horizontal," "up," "down," "left," "right," and similar expressions used in this article are for illustrative purposes only and do not represent the only possible implementation.

[0074] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention; the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0075] Example 1

[0076] like Figures 1 to 4 As shown, the steelmaking slag bag anti-sticking coating spraying device of this application is used to spray anti-sticking coating onto the inside of the slag bag 001 carried by the slag bag transport equipment 002. It includes a coating supply component 003, a power component and a control unit, as well as a gas supply component 004, a radio component 005, a transfer robot, a transfer guide rail component and a spraying component connected to the coating supply component 003.

[0077] The slag bag transport equipment 002 is a slag bag transport vehicle or crane, used to move the slag bag 001 and adjust the tilt angle of the slag bag 001 as needed.

[0078] The paint supply component 003 is positioned on the transfer robot and includes a mixing tank, a conveying pipe, and a conveying pump. The mixing tank has a built-in spiral mixer for continuously mixing the anti-sticking material. The conveying pipe, in conjunction with the conveying pump, pumps the paint to the spraying component. The power component provides power for the operation of each component of the steelmaking slag bag anti-sticking paint spraying device of this application. The control unit controls the coordinated operation of each component of the steelmaking slag bag anti-sticking paint spraying device. The paint supply component 003, the power component, and the control unit are all prior art and will not be described in detail here.

[0079] The gas supply component 004 is positioned on the transfer robot and is a pumping component and / or compressed air tank. It is connected to the transfer guide component and also to the spraying component, and is used to supply gas. The pumping component is a combination of an air pump, an air valve and an air delivery pipe.

[0080] The sound receiving component 005 includes a microphone (sound sensor) and a communication module, which is connected to the control unit and positioned on the transfer robot, the transfer guide assembly, and / or the spraying assembly. It is used to collect the sound generated by each component during the operation. The control unit compares the collected sound with the sound under normal operating conditions of the device in real time to determine whether there is a large amount of residue in the slag bag 001, and to determine whether the spraying is smooth and continuous and whether recoating is required. The process of comparing the sound is existing technology and will not be described in detail here.

[0081] The transfer robot is a robot with a multi-joint robotic arm, which is set up at the spraying station. It is used to carry the transfer guide assembly and move it as needed. It carries the transfer guide assembly and inserts it into the slag bag 001 at the appropriate time and controls the transfer guide assembly to rotate (flip) in time, thereby assisting the spraying operation.

[0082] Furthermore, the transfer robot includes a base carrier 100 and a transfer arm;

[0083] The basic carrier 100 is a horizontally placed rigid block that serves as a load-bearing support and counterweight, and a traveling component 110 is provided at the bottom; the traveling component 110 is a wheeled, tracked, or rail-based traveling system.

[0084] The displacement carrier arm includes a telescopic carrier 200 and a rotating frame 300. The telescopic carrier 200 is a vertically arranged rigid telescopic rod that extends and retracts under the coordinated control of a power component and a control unit. A combined frame 210 is fixed to the top of the telescopic carrier 200 near one side. The combined frame 210 is a rigid support that serves as a load-bearing and connecting element. The rotating frame 300 is a rigid strip-shaped frame that is inclined, with an angle of 50 to 80 degrees to the horizontal ground. It is rotatably connected to the combined frame 210, and the axis of rotation is perpendicular to its own length direction. It rotates under the coordinated control of a power component and a control unit to support the displacement guide rail assembly and drive the displacement guide rail assembly to rotate as needed. During the spraying process, the axis of rotation of the rotating frame 300 coincides with the axis of the slag bag 001, which is in an inclined state.

[0085] The displacement guide rail assembly is positioned on the displacement robot and serves to guide the movement of the spraying assembly and temporarily clean the inner wall of the slag bag 001 by blowing air.

[0086] The displacement guide rail assembly includes a rod-shaped guide rail 410; the overall shape of the rod-shaped guide rail 410 matches the inner wall of the slag bag 001, and is an L-shaped rigid hollow rod with an arc corner; the rod-shaped guide rail 410 is fixed on the surface of the rotating frame 300 away from the telescopic carrier 200, and its length direction is perpendicular to the length direction of the rotating frame 300.

[0087] like Figure 4 and Figure 5 As shown, the internal space of the rod-shaped guide rail 410 is connected to the gas supply component 004; a spray groove 411 is provided on one side of the rod-shaped guide rail 410; the spray groove 411 is a through groove, the length of which is similar to the length of the inner wall of the rod-shaped guide rail 410 (the difference is no more than 20 cm), used to output the gas in the rod-shaped guide rail 410 and form an air curtain to blow towards the inner wall of the slag bag 001, to temporarily blow and clean the inner wall of the slag bag 001 that is about to be sprayed with paint; during the blowing, debris is blown away, dust is raised, and the slag bag 001 is physically cooled; the angle between the air curtain sprayed from the spray groove 411 and the inner wall of the slag bag 001 is 40 to 60 degrees; after the rod-shaped guide rail 410 is inserted into the slag bag 001, the distance between it and the inner wall of the slag bag 001 is 20 to 35 cm.

[0088] The spraying assembly is used for spraying paint and includes a nozzle carrier 510, a paint nozzle 520 positioned on the surface of the nozzle carrier 510 near the inner wall of the slag bag 001, and a delivery hose 540 connected to the paint supply assembly 003 and used for delivering paint.

[0089] like Figure 6 and Figure 7 As shown, the nozzle carrier 510 is a rigid block that is slidably positioned on the rod-shaped guide rail 410, carrying the paint nozzle 520 and sliding along the rod-shaped guide rail 410 under the coordinated control of the power component and the control unit; the structure that drives the nozzle carrier 510 to move is preferably a hoisting structure; the paint nozzle 520 is connected to the paint supply component 003 through the delivery hose 540, and is also connected to the gas supply component 004 through the hose; during spraying, the gas and paint are controlled to be sprayed out from the paint nozzle 520 simultaneously, and the gas plays a pressurizing role; during the spraying interval, the gas is controlled to continue to be sprayed out from the paint nozzle 520 for a few seconds to clear the paint nozzle 520 and prevent the paint from drying on the nozzle and clogging it.

[0090] To avoid the excessive length of the hoses for conveying paint and gas affecting the operation, preferably, one or more connecting blocks 530 are slidably positioned on the rod-shaped guide rail 410; the hoses for conveying paint and gas are directly fixed or tied to the connecting blocks 530.

[0091] Preferably, a scrubbing brush 550 is fixed on the rotating carrier 300 near the rod-shaped guide rail 410; the scrubbing brush 550 is a brush with bristles, with the bristle side facing the rod-shaped guide rail 410, and is fixed on the rotating carrier 300 by a rigid bracket; when the nozzle carrier block 510 is moved in a controlled manner to a position close to the scrubbing brush 550, it can reciprocate along the rod-shaped guide rail 410 to scrub and clean the paint nozzle 520 (scrub away the dried residual paint on the paint nozzle 520).

[0092] Preferably, the transfer robot is equipped with a sensing probe (infrared / laser ranging sensor) for identifying the arrival signal of the slag bag.

[0093] Furthermore, the telescopic carrier 200 is provided with a corrugated dustproof sleeve.

[0094] Preferably, the entire transfer robot is enclosed within a protective cover.

[0095] Furthermore, a water-cooling heat dissipation system is provided along the conveying hose 540. The water-cooling heat dissipation system is existing technology and is used to reduce the impact of the temperature of the slag bag 001 on the conveying of the coating (to prevent the coating from curing).

[0096] Preferably, the coating supply component 003 of the steelmaking slag bag anti-sticking coating spraying device of this application includes two mixing tanks, which operate simultaneously to avoid malfunctions and insufficient supply affecting the normal operation of the spraying process.

[0097] Preferably, the transfer robot is equipped with a camera; the camera lens is normally covered, and there is an air passage blowing air towards the camera lens; when the camera lens is not covered, cleaning air is continuously blown towards the lens to reduce the probability of the camera lens getting dirty.

[0098] When using the anti-sticking coating spraying device for steelmaking slag bags in this application:

[0099] First, control the slag bag carrier 002 to load the slag bag 001 to be sprayed to the spraying position and rotate it to the set angle;

[0100] Control the operation of the transfer robot (adjust its posture according to the preset program), and insert the transfer guide rail assembly into the slag bag 001 so that the rotation axis of the rotating frame 300 is coaxial with the slag bag 001;

[0101] Control the rotating frame 300 to rotate one revolution, and control the air jet 411 to continuously spray air during the rotation; during this period, use the sound receiving component 005 to collect and compare the sound, and if the sound is abnormal, an alarm will be issued to prompt the operator to check the status inside the slag bag 001.

[0102] Once no problems are found or the problems are resolved, the rotating carrier 300 continues to rotate with the shifting guide rail assembly. During this time, the air jet duct 411 is controlled to spray air while the nozzle carrier block 510 moves back and forth along the rod-shaped guide rail 410 to perform the spraying operation. During spraying, the air curtain sprayed from the air jet duct 411 blows away the floating dust and small particles at the location where the paint is about to be sprayed. Since the air jet angle is not perpendicular to the inner wall of the slag bag 001, it will not affect the paint spraying. During the spraying process, the operation sound is continuously collected and compared to determine whether the spraying is continuous. If it is not continuous, the paint nozzle 520 is controlled to return for touch-up coating.

[0103] Once the coating thickness reaches the set value (1mm-3mm), the control components are reset, and the slag bag transport equipment 002 transports the slag bag away.

[0104] To reduce dust during operation, preferably, the steelmaking slag bag anti-sticking coating spraying device of this application also includes a dust collection component; such as Figure 8As shown, the dust removal and suction assembly includes a suction column 610, a fan 620 positioned near one end of the suction column 610, and a baffle 630 positioned between the suction column 610 and the rod-shaped guide rail 410. The suction column 610 is a filter cartridge with one end closed. One end of the suction column 610 is directly fixed or fixed to the end of the rod-shaped guide rail 410 away from the rotating frame 300 by a rigid bracket, and the other end is positioned on the rotating frame 300. The length direction of the suction column 610 is the same as the length direction of the rod-shaped guide rail 410, and the distance between the side wall and the rod-shaped guide rail 410 is greater than 15 cm. The fan 620 is fixed to the non-closed end of the suction column 610, preferably an axial flow fan, and is used to make the suction column 610 have a suction function by means of air extraction. The system has the ability to attract dust and debris. The baffle 630 is a strip-shaped, arc-shaped rigid plate positioned on the suction column 610, covering at least a quarter of the side wall of the suction column 610 to prevent the suction force of the suction column 610 from affecting the trajectory of the sprayed paint. Under the blocking effect of the baffle 630 and the isolation effect of the air curtain, the dust collection has minimal impact on the paint spraying. During the air spraying of the air duct 411, the dust collection component continuously draws air. After the spraying is completed and reset, the operation of the fan 620 can be stopped, and the telescopic carrier 200 and / or the rotating carrier 300 can be controlled to shake off larger particles of debris. To ensure the dust collection effect, the suction column 610 needs to be disassembled and cleaned regularly or moved to a preset area to discharge the dust through reverse ventilation.

[0105] The dust removal and suction components also reinforce the shifting guide rail components.

[0106] The technical solutions described in the embodiments of this application have at least the following technical effects or advantages:

[0107] This invention solves the technical problems of high risk, low efficiency, low reliability of accessories for monitoring spraying, poor nozzle stability, and poor coating performance in the existing technology for spraying anti-stick coatings on steelmaking slag bags. It achieves the technical effects of low safety risk, high efficiency, high reliability of accessories for monitoring spraying, good nozzle stability, and less ash inclusion and delamination after spraying.

[0108] Example 2

[0109] Considering that the inner wall of slag bag 001 will gradually develop more pits and protrusions with use, and that when the slag bag transport equipment 002 carries slag bag 001 to dump steel slag, it is difficult to completely empty it due to the limited tilt angle (slag bag 001 can generally only tilt up to 90 degrees) and the unevenness of the side wall of slag bag 001, leaving a lot of particles and fine powder inside slag bag 001. While cleaning the inner wall of slag bag 001 before and during spraying using the solution described in the above embodiment can significantly remove residual particles and fine powder (floating dust) and thus ensure the spraying effect, the pits and protrusions on the side wall of slag bag 001 obstruct the process, causing the bottom side wall area (such as...) to be obstructed when slag bag 001 is tilted. Figure 9 As shown, the area (which is strip-shaped) may still contain a small amount of particulate matter that is difficult to blow away in time. To address this issue, this application's embodiment optimizes and improves the structure of the displacement arm based on the above embodiment, specifically as follows:

[0110] like Figure 10 As shown, the displacement arm also includes a connector 220; the connector 220 is a rigid block that serves as a connector.

[0111] The connector 220 is rotatably connected to the combined frame 210. The axis of the rotating shaft is parallel to the horizontal ground. It rotates under the coordinated control of the control unit and the power component. Its existence makes the angle between the displacement guide rail assembly and the ground adjustable.

[0112] The rotating carrier 300 is rotatably connected to the connector 220, and the connection part is located on the surface of the connector 220 away from the combined frame 210, and is rotated in a controlled manner.

[0113] When the anti-sticking coating spraying device for steelmaking slag bags according to the embodiments of this application is used:

[0114] The rotating carrier 300 is controlled to rotate one revolution, during which the air spray channel 411 continuously sprays air to sweep away floating dust and particles; the shifting guide rail assembly is controlled to rotate to the top of the dust removal and suction assembly; then the connecting body 220 is controlled to rotate, adjusting the posture of the suction column 610 so that it is close to the inner wall near the bottom of the slag bag 001; the slag bag transport equipment 002 is used to drive the slag bag 001 to tilt, and the shifting robot is controlled to work in coordination with the slag bag transport equipment 002, moving synchronously with the slag bag 001; during this period, the dust removal and suction assembly is continuously controlled to suck air, adsorbing the remaining particles onto the suction column 610; then the shifting robot is controlled to move the suction column 610 out of the slag bag 001 and the blower 620 is stopped to unload the adsorbed particles; then the shifting guide rail assembly is reinserted into the slag bag 001 for spraying operations.

[0115] Preferred, such as Figures 10 to 13 As shown, the baffle 630 also has the function of bearing particulate matter. The whole is a U-shaped plate, including a base plate 631 and a side plate 632.

[0116] The base plate 631 is a strip-shaped arc-shaped rigid plate, with the surface near the suction column 610 being concave and the distance between this surface and the side wall of the suction column 610 being greater than 2 cm; the side plates 632 are rigid plates, two in number, fixed at both ends of the base plate 631, and the two side plates 632 are respectively rotatably connected to both ends of the suction column 610, with the rotation axis coaxial with the suction column 610;

[0117] A limiting body 633 is provided on the side plate 632 near the rotating carrier 300 to restrict the relative movement between the baffle 630 and the rotating carrier 300; the limiting body 633 is a combination of an electric pin and a pin hole; when the electric pin is inserted into the pin hole, the baffle 630 is fixed; under normal conditions, the baffle 630 is fixed between the suction column 610 and the rod-shaped guide rail 410; when the baffle 630 is not fixed, it will rotate to the bottom of the suction column 610 under its own gravity.

[0118] A slag trough 634 is provided near the end of the surface of the base plate 631 away from the dust collection column 610, and a slag storage container 635 is also provided; the slag trough 634 is a through groove; the slag storage container 635 is a plate-shaped container that communicates with the slag trough 634; when the base plate 631 is located below the dust collection column 610, the slag storage container 635 is located below the slag trough 634; particles that detach from the dust collection column 610 will fall onto the concave surface of the baffle 630 and slide into the slag storage container 635; the surface of the slag storage container 635 away from the baffle 630 has a controlled opening that can be opened and closed.

[0119] After the residual particles are adsorbed onto the suction column 610, before spraying, the baffle 630 can be removed from its fixed position and rotated to the bottom of the suction column 610. Then, the blower 620 is stopped, allowing the collected particles to fall onto the concave surface of the baffle 630 and enter the slag storage container 635 from the slag chute 634. After that, the baffle 630 is re-fixed between the rod-shaped guide rail 410 and the suction column 610. Then, spraying is performed. This improvement can eliminate the step of the entire spraying device entering and exiting the slag bag 001.

[0120] Preferably, an end brush 420 is fixed to the end of the rod-shaped guide rail 410 away from the rotating carrier 300; the end brush 420 is provided with brushes on at least the surface away from the rod-shaped guide rail 410 and the surface away from the suction column 610; during operation, the interior of the slag bag 001 can be brushed as needed by adjusting the posture of the shifting guide rail assembly, thereby removing large pieces of debris that the suction column 610 may not be able to pick up.

[0121] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A steelmaking slag ladle anti-sticking coating spraying device, used to spray anti-sticking coating onto the interior of a slag ladle (001) carried by a slag ladle transport device (002), comprising a coating supply component (003), characterized in that: It also includes a gas supply assembly (004), a radio assembly (005), a transfer robot, a transfer guide assembly, and a spraying assembly; The sound receiving component (005) is positioned on the transfer robot, the transfer guide rail assembly and / or the spraying assembly, and is used to collect the sound generated by each component during the operation; The transfer robot is set up on the spraying station, carrying the transfer guide rail assembly and probing it into the slag bag (001) in a timely manner, and driving it to rotate in a timely manner to assist the spraying operation. The displacement guide rail assembly is positioned on the displacement robot and is a rigid rod-shaped guide rail. One side is provided with a through groove for generating an air curtain, which serves to guide the movement of the spraying assembly and temporarily clean the inner wall of the slag bag (001) to be sprayed by blowing air. The spraying assembly includes a nozzle carrier block (510) slidably positioned on a shift guide assembly, a paint nozzle (520) positioned on the nozzle carrier block (510), and a delivery hose (540) connected to the paint supply assembly (003) and used for delivering paint; the paint nozzle (520) is also connected to the gas supply assembly (004). The transfer robot includes a base carrier (100) and a transfer arm; The base carrier (100) is provided with a traveling component (110) at its bottom; The displacement arm includes a telescopic carrier (200) and a rotating frame (300); The telescopic carrier (200) is a vertically arranged rigid telescopic rod, and a combined frame (210) is fixed at the top near one side; The rotating frame (300) is a rigid strip-shaped frame that is inclined and has an angle of 50 to 80 degrees with the horizontal ground. It is rotatably connected to the combined frame (210), and the axis of rotation is perpendicular to its own length direction. During the spraying process, the axis of rotation of the rotating carrier (300) coincides with the axis of the slag bag (001) which is in an inclined state; It also includes dust removal and vacuuming components; The dust removal and suction assembly includes a suction column (610), a fan (620) positioned near one end of the suction column (610), and a baffle (630) positioned between the suction column (610) and the rod-shaped guide rail (410). The suction column (610) is a filter cartridge with one end closed; One end of the suction column (610) is directly fixed or fixed by a rigid bracket to the end of the rod-shaped guide rail (410) away from the rotating frame (300), and the other end is positioned on the rotating frame (300); The fan (620) is fixed at the non-enclosed end of the dust collection column (610) and is an axial flow fan; The baffle (630) is a strip-shaped arc-shaped rigid plate, positioned on the suction column (610), covering at least a quarter of the side wall of the suction column (610), and is used to prevent the suction force of the suction column (610) from affecting the trajectory of the sprayed paint.

2. The anti-sticking coating spraying device for steelmaking slag bags as described in claim 1, characterized in that: The shift guide assembly includes a rod-shaped guide rail (410); The overall shape of the rod-shaped guide rail (410) matches the inner wall of the slag bag (001), and it is an L-shaped rigid hollow rod with an arc corner; The rod-shaped guide rail (410) is fixed on the surface of the rotating frame (300) away from the telescopic carrier (200), and its length direction is perpendicular to the length direction of the rotating frame (300). The internal space of the rod-shaped guide rail (410) is connected to the gas supply assembly (004); A blower slot (411) is provided on one side of the rod-shaped guide rail (410); The air spray channel (411) is a through channel used to output the gas in the rod-shaped guide rail (410) and form an air curtain to blow onto the inner wall of the slag bag (001) to temporarily blow and clean the inner wall of the slag bag (001) where the coating is about to be sprayed.

3. The anti-sticking coating spraying device for steelmaking slag bags as described in claim 2, characterized in that: The angle between the air curtain ejected by the air jet (411) and the inner wall of the slag bag (001) is 40 to 60 degrees; after the rod-shaped guide rail (410) is inserted into the slag bag (001), the distance between it and the inner wall of the slag bag (001) is 20 to 35 centimeters.

4. The anti-sticking coating spraying device for steelmaking slag bags as described in claim 2, characterized in that: The nozzle carrier (510) is a rigid block that is slidably positioned on the rod-shaped guide rail (410) and carries the paint nozzle (520) to slide. The paint nozzle (520) is connected to the paint supply assembly (003) through the delivery hose (540) and also to the gas supply assembly (004) through the hose. During spraying, the gas and paint are controlled to be sprayed out from the paint nozzle (520) at the same time, and the gas plays a role in pressurization. During the spraying interval, the gas is controlled to continue to be sprayed out from the paint nozzle (520) for a few seconds to clear the paint nozzle (520) and prevent the paint from drying on the nozzle and clogging it.

5. The anti-sticking coating spraying device for steelmaking slag bags as described in claim 1, characterized in that: A scrubbing brush (550) is fixed on the rotating frame (300) near the rod-shaped guide rail (410); The scrubbing brush (550) is a brush with bristles, with the bristle side facing the rod-shaped guide rail (410), and is fixed on the rotating carrier (300) by a rigid bracket; When the nozzle carrier (510) is moved in a controlled manner to a position close to the scrubbing brush (550), it can be moved back and forth along the rod-shaped guide rail (410) to scrub and clean the paint nozzle (520).

6. The anti-sticking coating spraying device for steelmaking slag bags as described in claim 1, characterized in that: The displacement arm also includes a connector (220); The connector (220) is a rigid block that serves as a connector; The connector (220) is rotatably connected to the combined frame (210), and the axis of the rotating shaft is parallel to the horizontal ground. It rotates in a controlled manner, and its existence makes the angle between the displacement guide rail assembly and the ground adjustable. The rotating carrier (300) is rotatably connected to the connecting body (220), with the connection point located on the surface of the connecting body (220) away from the combined frame (210), and is rotated in a controlled manner.

7. The anti-sticking coating spraying device for steelmaking slag bags as described in claim 6, characterized in that: The baffle (630) also serves to support particulate matter. It is a U-shaped plate, including a base plate (631) and a side plate (632). The base plate (631) is a strip-shaped arc-shaped rigid plate, with the surface near the dust collection column (610) being concave and the distance between this surface and the side wall of the dust collection column (610) being greater than 2 cm. The side plates (632) are rigid plates, two in number, fixed at both ends of the base plate (631). The two side plates (632) are respectively rotatably connected to both ends of the suction column (610), and the rotation axis is coaxial with the suction column (610). A limiting body (633) is provided on the side plate (632) near the rotating carrier (300) to limit the relative movement between the baffle (630) and the rotating carrier (300).

8. The anti-sticking coating spraying device for steelmaking slag bags as described in claim 7, characterized in that: The base plate (631) is provided with a slag trough (634) near the end on the surface away from the dust collection column (610), and a slag storage container (635) is also provided. The slag trough (634) is a through trough; The slag storage container (635) is a plate-shaped container that is connected to the slag discharge chute (634); When the base plate (631) is located below the dust collection column (610), the slag container (635) is located below the slag chute (634); Particles detached from the suction column (610) fall onto the concave surface of the baffle (630) and slide into the residue container (635); the residue container (635) has a controlled opening on the surface away from the baffle (630).

Images