Intelligent travelling crane type slag salvaging machine

Abstract

The utility model belongs to the technical field of ferrous metallurgy, and mainly relates to an intelligent traveling slag conveyor which comprises a sliding rail, a slag conveyor platform, a traveling platform, a push rod and a controller. The number of the sliding rails is two. The slag salvaging platform is assembled on the two sliding rails in a sliding manner; the travelling crane platform is movably assembled on the slag salvaging platform in the front-back direction. The push rod is vertically movably assembled on the crane platform; clamping jaws are connected to the bottoms of the push rods; a first laser range finder is arranged on the push rod; a second laser range finder and a third laser range finder are arranged on the slag salvaging platform; the controller is in signal connection with the first laser range finder, the second laser range finder, the third laser range finder and the clamping jaw so as to control the clamping jaw to move and dredge slag according to the measured distance. In addition, the intelligent traveling slag conveyor is in a suspended state and is not limited by space, and the problem that in the prior art, manual slag conveying operation is difficult is solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of steel metallurgy, and mainly relates to an intelligent traveling slag scooping machine. Background Art

[0002] In the iron and steel metallurgical process, molten iron purification is a crucial step. Currently, to improve metal purity and casting quality, traditional slag removal technology is commonly used after the pretreatment stage of the molten iron. After the pretreatment stage, the molten iron smelted in the blast furnace is poured into a ladle. A crane moves the ladle to a working position, and a manually controlled vehicle-mounted slag remover removes the slag from the ladle. This slag is primarily composed of oxides formed by impurities in the metal materials (such as molten iron and scrap steel) under the action of oxidants. These oxides then react physically and chemically with slag-forming agents and the furnace lining to form products. Steelmaking slag has a lower density than molten steel and typically coats the surface of the molten steel. However, when the molten iron is poured into the ladle, some slag flows into the ladle along with the molten iron. Due to the density difference, this slag eventually settles to the bottom of the ladle. The slag remover removes this slag at the bottom of the ladle, purifying the molten iron and improving the quality of the final product. Normally, the temperature of molten iron is around 1400℃. At this temperature, the slag removal process is often accompanied by dust, thick smoke, etc., and most of the current factories are renovation projects, and the space is limited, which undoubtedly seriously increases the operating intensity of the operators. Utility Model Content

[0003] The utility model provides an intelligent traveling slag scooping machine to solve the problem of difficulty in manual slag scooping operation in the prior art.

[0004] In order to solve the above problems, the present invention adopts the following technical solutions:

[0005] The slag collecting machine of claim 1, wherein the slag collecting platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving platform is movable along the front-rear direction and the driving

[0006] Beneficial effects: The first laser rangefinder, the second laser rangefinder and the third laser rangefinder respectively measure the distance between the clamping claw and the slag in the up and down, left and right, and front and back directions. The controller controls the clamping claw to move in the up and down, left and right, and front and back directions according to the measured distance and implements the slag scooping. There is no need for personnel to observe and control with the naked eye. Moreover, the intelligent traveling slag scooping machine is in a suspended state and will not be restricted by space, which solves the problem of difficult manual slag scooping operation in the existing technology.

[0007] Furthermore, the slide rail is provided with a rack and a rolling groove extending in the left and right directions, the slag scooping platform is provided with a driving motor and a plurality of rollers distributed in a rectangular shape and adapted to the rolling groove, and the output end of the driving motor is connected to a transmission gear meshing with the rack.

[0008] Beneficial effect: The roller slides left and right in the rolling groove extending in the left and right directions, thereby preventing the slag scooping platform from deflecting when the slag scooping platform slides left and right.

[0009] Furthermore, the slag scooping platform is provided with a slide extending in the front-to-back direction, the traveling platform is provided with a slide bar adapted to the slide, and the slag scooping platform is also provided with a first linear drive component arranged in the front-to-back direction, and the output end of the first linear drive component is connected to the traveling platform.

[0010] Beneficial Effects: The platform slides back and forth along the slideway extending in the forward and backward direction, preventing the platform from shifting when sliding forward and backward. Furthermore, the output end of the first linear drive member is directly connected to the platform, simplifying the structure and facilitating installation.

[0011] Furthermore, a second linear drive component is provided on the driving platform along the up-down direction, and an output end of the second linear drive component is connected to the push rod.

[0012] Beneficial effects: The output end of the second linear drive member is directly connected to the push rod, which simplifies the structure and facilitates installation.

[0013] Furthermore, the first linear driving component is a first hydraulic cylinder, the piston rod end of the first hydraulic cylinder is connected to the traveling platform, and the second linear driving component is a second hydraulic cylinder, the piston rod end of the second hydraulic cylinder is connected to the push rod.

[0014] Beneficial effect: The hydraulic cylinder can provide greater power, which is convenient for driving the traveling platform and the push rod.

[0015] Furthermore, a workstation camera for identifying the position of the molten iron ladle is provided above the slide rail, and the workstation camera is connected to the controller signal to confirm whether the molten iron ladle is in the working position and promptly respond to the controller.

[0016] Beneficial effect: The workstation camera identifies whether the ladle is in the working position and promptly responds to the controller, ensuring the accuracy of the slag removal by the clamp.

[0017] Furthermore, the slag scooping platform is provided with a first vehicle-mounted camera and a second vehicle-mounted camera, which are connected to the controller signal. The first vehicle-mounted camera shoots from front to back, and the second vehicle-mounted camera shoots from top to bottom, which are used to segment and identify the slag distribution in the molten iron ladle and assist in guiding the slag scooping action.

[0018] Beneficial Effects: The first and second onboard cameras provide intuitive visual images for identifying the shape, size, and type of slag. These images assist operators or automated systems in selecting the optimal slag removal path or gripper action. Furthermore, the first and second onboard cameras, along with workstation cameras, provide comprehensive security coverage for the work area, ensuring overall safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0020] Figure 1 It is a structural diagram of the present utility model.

[0021] Description of reference numerals:

[0022] 1. Workstation camera; 2. Third laser rangefinder; 3. First laser rangefinder; 4. Push rod; 5. Driving platform; 6. Roller; 7. First vehicle-mounted camera; 8. Gripper; 9. Second vehicle-mounted camera; 10. Slide rail; 11. Slag scooping platform; 12. Second laser rangefinder. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Those skilled in the art should know that the embodiments described below are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0024] The following describes various non-limiting embodiments of the present invention. The numbers of any elements in the accompanying drawings are for illustrative purposes only and are not intended to be limiting. Any nomenclature is provided for distinction only and does not have any limiting meaning. It should be noted that the embodiments and features of the embodiments of the present invention may be combined with one another unless there is a conflict.

[0025] An embodiment of an intelligent traveling slag scooping machine provided by the utility model:

[0026] like Figure 1 As shown, an intelligent traveling slag scoop machine includes two parallel slide rails 10 arranged in the front-to-back direction, a slag scoop platform 11, a traveling platform 5, a push rod 4, and a controller. In this embodiment, for ease of description, the slag scoop platform 11 is defined as having a longitudinal direction, a width direction as a left-right direction, and a height direction as a top-to-bottom direction.

[0027] like Figure 1 As shown, the slide rail 10 is provided with a rack and a rolling groove extending in the left-right direction. The rack is located on the outside of the slide rail 10, and the rolling groove is located on the upper side of the slide rail 10. Drive motors are fixed to the front and rear sides of the slag scooping platform 11. The lower side of the slag scooping platform 11 is also provided with four rollers 6 distributed in a rectangular shape and adapted to the rolling groove. The output end of the drive motor is connected to a transmission gear meshing with the rack, and the drive motor drives the slag scooping platform 11 to move left and right. The slag scooping platform 11 is provided with a chute extending in the front-to-back direction and a first linear drive member placed in the front-to-back direction. The first linear drive member is a first hydraulic cylinder. The driving platform 5 is provided with a slide bar adapted to the chute. The piston rod end of the first hydraulic cylinder is fixedly connected to the driving platform 5. The first hydraulic cylinder drives the slide bar and the chute to slide back and forth. A second linear drive member, arranged vertically, is connected to the driving platform 5. This second linear drive member is a second hydraulic cylinder. The piston rod end of the second hydraulic cylinder is connected to the push rod 4. The lower end of the push rod 4 is connected to a clamping jaw 8 for slag scooping. The piston rod of the hydraulic cylinder is extended and retracted to drive the clamping jaw 8 up and down. The slag scooping platform 11 is also provided with a passage cavity extending in the front-to-back direction for the push rod 4 to pass through vertically. In other embodiments, the first linear drive member may be a first electric push rod, and the second linear drive member may be a second electric push rod.

[0028] like Figure 1 As shown, the push rod 4 is provided with a first laser rangefinder 3 for measuring the distance between the clamping jaw 8 and the slag in the up-down direction; the slag scooping platform 11 is provided with a second laser rangefinder 12 and a third laser rangefinder 2 for measuring the distance between the clamping jaw 8 and the slag in the left-right and front-back directions; the first laser rangefinder 3, the second laser rangefinder 12, the third laser rangefinder 2, the first hydraulic cylinder, the second hydraulic cylinder, the drive motor, the clamping jaw and the controller are connected by signal; the controller is connected to the above three laser rangefinders to control the clamping jaw to move in the up-down, left-right and front-back directions and scoop the slag according to the measured distance.

[0029] like Figure 1 As shown, a workstation camera 1 for identifying the position of the molten iron ladle is installed above the slide rail 10. The workstation camera is connected to the controller signal and is used to confirm whether the molten iron ladle is in the working position and promptly report to the controller to ensure that the molten iron ladle is placed in the correct position. A first vehicle-mounted camera 7 and a second vehicle-mounted camera 9 are installed on the slag removal platform 11. The first vehicle-mounted camera 7 shoots from the front and back, while the second vehicle-mounted camera 9 shoots from the top and bottom. The first vehicle-mounted camera 7 and the second vehicle-mounted camera 9 are connected to the controller signal and are used to segment and identify the distribution of slag in the molten iron ladle and assist in guiding the slag removal operation. Furthermore, the first vehicle-mounted camera 7, the second vehicle-mounted camera 9, and the workstation camera 1 are used to provide full security coverage of the work area, ensuring the overall safety of the work area.

[0030] The working process of this utility model is as follows:

[0031] Before the intelligent traveling slag scoop machine works, the molten iron ladle is placed at the working position, and the work station camera 1 identifies the position of the molten iron ladle to ensure its working position. The work station camera 1, the first vehicle-mounted camera 7 and the second vehicle-mounted camera 9 provide full security coverage of the working area to ensure the overall safety of the working area. The first laser rangefinder 3, the second laser rangefinder 12 and the third laser rangefinder 2 respectively measure the distance between the clamping jaw 8 and the slag in the up and down, left and right, and front and back directions. The first vehicle-mounted camera 7 and the second vehicle-mounted camera 9 segment and identify the slag distribution in the molten iron ladle and assist in guiding the slag scooping action. The controller controls the clamping jaw 8 to move in the up and down, left and right, and front and back directions according to the measured distance and implements slag scooping. There is no need for personnel to observe and control with the naked eye. In addition, the intelligent traveling slag scoop machine is in a suspended state and will not be restricted by space, which solves the problem of difficult manual slag scooping operation in the prior art.

Claims

1. An intelligent traveling slag scooping machine, characterized in that: Including slide rails, slag scooping platform, driving platform, push rod and controller; The slide rails are suspended and arranged in parallel in the front-to-back direction with two rails spaced apart, each rail extending in the left-right direction; The slag scooping platform is slidably assembled on two slide rails; The driving platform moves in the front-back direction and is assembled on the slag scooping platform; The push rod is movably assembled on the traveling platform; the bottom of the push rod is connected to a clamping claw for scooping slag; A first laser rangefinder is provided on the push rod, and the first laser rangefinder is used to measure the distance between the clamping claw and the slag in the vertical direction; a second laser rangefinder and a third laser rangefinder are provided on the slag scooping platform, and the second laser rangefinder is used to measure the distance between the clamping claw and the slag in the left-right direction, and the third laser rangefinder is used to measure the distance between the clamping claw and the slag in the front-back direction; The controller is connected to the first laser rangefinder, the second laser rangefinder, the third laser rangefinder and the clamping claw signal to control the clamping claw to move in the up and down, left and right, front and back directions and pick up the slag according to the measured distance.

2. The intelligent traveling slag scooping machine according to claim 1, characterized in that: The slide rail is provided with a rack and a rolling groove extending in the left and right directions, the slag scooping platform is provided with a driving motor and a plurality of rollers distributed in a rectangular shape and adapted to the rolling groove, and the output end of the driving motor is connected to a transmission gear meshing with the rack.

3. The intelligent traveling slag scooping machine according to claim 1, characterized in that: The slag scooping platform is provided with a chute extending in the front-to-back direction, the traveling platform is provided with a slide bar adapted to the chute, and the slag scooping platform is also provided with a first linear drive component arranged in the front-to-back direction, and the output end of the first linear drive component is connected to the traveling platform.

4. The intelligent traveling slag scooping machine according to claim 3, characterized in that: The driving platform is provided with a second linear driving member arranged in an up-down direction, and an output end of the second linear driving member is connected to the push rod.

5. The intelligent traveling slag scooping machine according to claim 4, characterized in that: The first linear driving component is a first hydraulic cylinder, the piston rod end of the first hydraulic cylinder is connected to the traveling platform, and the second linear driving component is a second hydraulic cylinder, the piston rod end of the second hydraulic cylinder is connected to the push rod.

6. An intelligent traveling slag scooping machine according to any one of claims 1 to 5, characterized in that: A workstation camera for identifying the position of the molten iron ladle is provided above the slide rail. The workstation camera is connected to the controller signal to confirm whether the molten iron ladle is in the working position and to promptly respond to the controller.

7. The intelligent traveling slag scooping machine according to claim 5, characterized in that: The slag scooping platform is provided with a first vehicle-mounted camera and a second vehicle-mounted camera, which are connected to the controller signal. The first vehicle-mounted camera shoots from front to back, and the second vehicle-mounted camera shoots from top to bottom, which are used to segment and identify the slag distribution in the molten iron ladle and assist in guiding the slag scooping action.

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