Caster below continuous casting slag removal robot

Abstract

The utility model belongs to metallurgical industry continuous casting technical field relates to a kind of continuous casting roller below slag removal robot, comprising: mobile chassis, for in the complex terrain below continuous casting roller Autonomous movement;Slag removal operation system, installation in the mobile chassis, including multiple degrees of freedom mechanical arm and quick replaceable end effector;Environment perception system, for real-time acquisition of the three-dimensional form of accumulated slag, temperature distribution and environmental barrier information;Central controller, for fusion perception data, identification accumulated slag, planning mechanical arm collision-free operation trajectory and control end effector switching.The utility model completely replaces manual operation, through mobile chassis in complex terrain Autonomous navigation, environment perception system real-time identification accumulated slag and high temperature risk, central controller planning collision-free trajectory, operator does not need to enter high temperature, dust pervades the foundation pit, eliminate mechanical injury, high place fall and occupational disease risk, realize the safe operation of zero personnel exposure.

Description

Technical Field

[0001] This utility model belongs to the field of continuous casting technology in the metallurgical industry, and relates to a slag cleaning robot under the continuous casting roller table, which is used for automated slag cleaning operations in the area under the roller table of the continuous casting production line. Background Technology

[0002] In the continuous steel casting process, high-temperature billets move forward continuously under the conveying action of roller conveyors. During this process, iron oxide scale forms on the surface of the billet, and various impurities are introduced by the sprayed cooling water. Combined with occasional drips of lubricating grease, these substances mix to form highly adhesive slag. This slag falls and gradually accumulates in the equipment foundation pit below the roller conveyor. Currently, slag removal in this area is mainly done manually. Workers must wear heavy protective gear and work for extended periods in extremely harsh conditions. This working environment presents numerous disadvantages: continuous high temperatures and pervasive dust in the air. Workers under such conditions are highly susceptible to heatstroke, pneumoconiosis, and other serious occupational diseases, resulting in extremely high labor intensity and health risks.

[0003] Furthermore, the safety risks in this work area remain high. The space inside the equipment foundation pit is narrow, restricting the movement of workers, while surrounding equipment is constantly running. In this environment, workers face the potential threat of mechanical injury; a slight misstep could result in being struck by moving equipment parts. There is also the risk of falls from heights; without adequate protective measures, a fall from a height is highly likely. Additionally, accumulated debris in the pit can make the ground slippery, increasing the likelihood of slips and falls. Regarding cleaning efficiency, manual cleaning is slow and inefficient. Especially during scheduled maintenance, the production line needs to be restored to operation as quickly as possible, and debris cleaning often becomes a key factor restricting the rapid recovery of the production line, becoming a bottleneck in the entire production process. In terms of cleaning effectiveness, manual cleaning is difficult to achieve ideal results. Due to the limitations of the work space and conditions, it is difficult to thoroughly clean some corner areas manually, and debris residue is quite common. These residual slags can have many adverse effects on the equipment. For example, they can affect the normal heat dissipation of the equipment, causing it to malfunction due to overheating. Flammable substances in the slags may also cause fires, posing a serious threat to production safety. Furthermore, corrosive substances in the slags will gradually corrode the equipment, shortening its service life.

[0004] Although some companies have attempted to introduce simple mechanical devices to assist in slag removal, these devices generally have significant drawbacks: low levels of automation, inability to flexibly adjust to different operating environments and slag accumulation conditions, and poor adaptability. Furthermore, due to design limitations, they cannot cover all blind spots, failing to achieve comprehensive and thorough slag removal. Therefore, the development of a specialized device that can replace manual labor and achieve safe, efficient, and thorough automated slag removal is urgently needed. Utility Model Content

[0005] In view of this, the purpose of this utility model is to provide a slag cleaning robot under the continuous casting roller table to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: A slag removal robot under a continuous casting roller conveyor includes: Mobile chassis for autonomous movement in complex terrain beneath continuous casting roller conveyors; The slag removal system, installed on the mobile chassis, includes a multi-degree-of-freedom robotic arm and a quick-change end effector; An environmental sensing system is used to acquire real-time information on the three-dimensional morphology, temperature distribution, and environmental obstacles of the accumulated slag. The central controller is used to integrate sensing data, identify accumulated debris, plan the collision-free operation trajectory of the robotic arm, and control the switching of the end effector. The power and communication system is used to provide power to the slag removal robot.

[0007] Furthermore, the mobile chassis is a tracked or heavy-duty Mecanum wheel chassis, and integrates an autonomous navigation module based on SLAM technology, fusing data from lidar and inertial measurement units to achieve precise positioning and dynamic path planning in dim dust environments.

[0008] Furthermore, the end effector includes at least one of the following tools that can be automatically switched via a quick-switch interface: High-speed rotating wire brushes are used to remove loose and hardened residue from surfaces. Hydraulic breakers or vibratory shovels are used to break up hard, large pieces of debris. The negative pressure suction nozzle connected to the multi-degree-of-freedom robotic arm is connected to the onboard dust collection system to simultaneously remove dust and achieve dust-free operation.

[0009] Furthermore, the airborne dust collection system includes a dust collection bin mounted on a mobile chassis.

[0010] Furthermore, the environmental perception system includes: Depth vision sensor used to construct a 3D point cloud model of the slag; Thermal imaging sensors are used to identify high-temperature slag blocks and generate avoidance commands; A laser rangefinder array is arranged around the robotic arm and mobile chassis for real-time collision warning.

[0011] Furthermore, the depth vision sensor is a 3D depth camera mounted on the mobile chassis.

[0012] Furthermore, the power and communication system employs a high-capacity lithium battery pack built into the mobile chassis or a tow cable connected to an external power source.

[0013] Furthermore, the central controller incorporates a slag state classification model and AI algorithm, which automatically determines the hardness and distribution of slag based on the perceived data, dynamically selects and serializes the end effector's operating sequence, and generates a spiral or layered robotic arm trajectory that covers blind spots.

[0014] The beneficial effects of this utility model are as follows: First, this utility model completely replaces manual labor. Through the mobile chassis, it can autonomously navigate complex terrain, the environmental perception system can identify the risk of slag accumulation and high temperature in real time, and the central controller can plan a collision-free trajectory. Operators do not need to enter the high temperature and dusty foundation pit, eliminating the risk of mechanical injury, fall from height and occupational disease, and achieving safe operation with zero personnel exposure.

[0015] Secondly, operational efficiency is significantly improved. The robot supports 24-hour uninterrupted operation. SLAM precise positioning combined with AI algorithms and slag state classification models dynamically serializes the end effector (such as crushing before cleaning and then vacuuming, or cleaning directly and then vacuuming), achieving a slag removal speed several times faster than manual cleaning, eliminating the bottleneck of manual slag removal and ensuring the rapid recovery of the continuous casting production line.

[0016] Finally, the cleaning process is more thorough and environmentally friendly. A multi-functional quick-change actuator, combined with spiral / layered trajectories, covers blind spots, while 3D point cloud and thermal imaging ensure accurate modeling and high residue removal rates. Simultaneous negative pressure vacuuming controls dust dispersion, and intelligent remote monitoring lowers the operational threshold, comprehensively improving cleaning effectiveness and the workshop environment.

[0017] Other advantages, objectives, and features of this invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination and study, or may be learned from practice of this invention. The objectives and other advantages of this invention can be realized and obtained through the following description. Attached Figure Description

[0018] To make the objectives, technical solutions, and advantages of this utility model clearer, the preferred embodiments of this utility model will be described in detail below with reference to the accompanying drawings, wherein: Figure 1 This is a schematic diagram of the structure of a slag-cleaning robot under a continuous casting roller conveyor in one embodiment.

[0019] Reference numerals: 1. Mobile chassis; 2. Multi-degree-of-freedom robotic arm; 3. Quick-change interface; 4. Rotating wire brush; 5. Hydraulic breaker; 6. LiDAR; 7. 3D depth camera; 8. Dust collection bin; 9. Hose; 10. Negative pressure suction nozzle; 11. Central controller; 12. Trailing cable. Detailed Implementation

[0020] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this utility model. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0021] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the present invention. To better illustrate the embodiments of the present invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0022] In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this utility model. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0023] Example 1 See Figure 1 As shown, this embodiment provides a slag-cleaning robot for use under continuous casting roller conveyors, suitable for slag-cleaning operations in the foundation pit under the roller conveyors of small and medium-sized continuous casting production lines. The robot has a compact overall structure, making it suitable for working environments with limited space.

[0024] The slag removal robot below the continuous casting roller conveyor includes: Mobile chassis 1 is used for autonomous movement in complex terrain below the continuous casting roller conveyor; The slag removal system, installed on the mobile chassis, includes a multi-degree-of-freedom robotic arm and a quick-change end effector; An environmental sensing system is used to acquire real-time information on the three-dimensional morphology, temperature distribution, and environmental obstacles of the accumulated slag. The central controller 11 is used to integrate sensing data, identify slag accumulation, plan the collision-free operation trajectory of the robotic arm, and control the switching of the end effector.

[0025] The mobile chassis 1 adopts a tracked structure made of high-temperature resistant rubber composite steel chains to ensure adhesion on wet, slippery, or sludge-laden terrain. The chassis integrates an autonomous navigation module based on SLAM technology, fusing data from a lidar 6 (180° scanning range) and an inertial measurement unit to achieve high-precision positioning in dimly lit, dusty environments. The lidar 6 is mounted at the front of the mobile chassis 1 for navigation.

[0026] The slag removal system is mounted on a mobile chassis 1 and includes a six-degree-of-freedom robotic arm 2 (which is a high-temperature resistant, dustproof articulated robotic arm) and a quick-change interface 3. The end effector includes a rotating wire brush 4 and a hydraulic breaker 5 that are automatically switched via the quick-change interface 3, as well as a negative pressure suction nozzle 10 mounted on the six-degree-of-freedom robotic arm 2 and arranged parallel to the quick-change interface 3. The rotating wire brush 4 is used to remove loose slag; the hydraulic breaker 5 is used to break up large, hardened slag; and the negative pressure suction nozzle 10 is connected to the dust collection chamber 8 mounted on the mobile chassis 1 via a hose 9 to achieve synchronous dust collection.

[0027] Furthermore, a fixed bracket (not shown in the figure) for placing the rotating wire brush 4 and the hydraulic breaker 5 is also provided on the mobile chassis 1 to realize the automatic switching of the rotating wire brush 4 and the hydraulic breaker 5 by the quick-change interface 3.

[0028] The environmental sensing system includes: A 3D depth camera 7 is mounted on the mobile chassis 1 and is used to construct a three-dimensional point cloud of the slag. A thermal imaging sensor (not shown in the figure) is mounted on the mobile chassis 1 to identify high-temperature areas; A laser rangefinder array (not shown in the figure), with at least four laser rangefinder sensors, is arranged around the mobile chassis 1 and the multi-degree-of-freedom robotic arm 2 to provide real-time collision warning.

[0029] Furthermore, multiple buffer anti-collision strips are provided on the mobile chassis 1 and the multi-degree-of-freedom robotic arm 2 to achieve multiple obstacle avoidance protection.

[0030] The central controller 11, serving as the "brain" of the slag-cleaning robot, is housed in a waterproof and dustproof enclosure. It connects to the aforementioned components (such as the mobile chassis 1, the slag-cleaning system, and the environmental sensing system) to transmit control signals and power. The enclosure can be built into the mobile chassis 1 or placed outside the continuous casting roller conveyor, transmitting signals and power via a tow cable 12. The central controller 11 receives data from the environmental sensing system, identifies slag accumulation areas using a built-in slag classification model and AI algorithm, generates the optimal slag-cleaning trajectory, and coordinates the mobile chassis 1 and the slag-cleaning system to work together. The system supports both fully automatic and remote-controlled operation modes.

[0031] Specifically, the central controller 11 employs an industrial-grade embedded computer with a built-in slag classification model (based on a convolutional neural network, inputting point cloud and heat map data) to plan the trajectory of the spiral robotic arm. The central controller 11 supports a remote monitoring system, uploading video streams (latency <200ms) and status data via a 5G module. When a temperature >600℃ or a path obstruction is detected, it automatically pauses and issues an audible and visual alarm.

[0032] Furthermore, the slag removal robot also includes a power and communication system, which uses a large-capacity lithium battery pack (built into the mobile chassis) or a tow cable 12 to provide power to the slag removal robot; and uses an industrial-grade wireless AP and 5G / 4G modules or a tow cable 12 for data communication to ensure signal stability and real-time remote monitoring in complex industrial environments.

[0033] It should be noted that the key to the slag removal robot under the continuous casting roller table provided in this embodiment lies in the combination of the above-mentioned systems and components, rather than the innovation of a single component. Therefore, the specific structure of each component will not be described in detail.

[0034] A control method for the aforementioned slag-cleaning robot below the continuous casting roller table includes the following steps: 1) Map building and task import: When the slag cleaning robot enters the work area for the first time, it starts the SLAM function to build a fine point cloud map under the roller conveyor. The operator can delineate the slag cleaning task area on the map, or the slag classification model and AI algorithm built into the central controller 11 can autonomously delineate the slag cleaning task area. 2) Autonomous navigation and positioning: The slag removal robot moves autonomously to the starting point of the operation according to the planned overall path.

[0035] 3) Slag Identification and Modeling: After arriving at the target area, the environmental perception system is activated to perform three-dimensional scanning and identification of the slag ahead, generate a local operation map, and assess the amount and hardness of the slag.

[0036] 4) Intelligent operation planning and execution: The central control system intelligently selects the optimal end effector (such as crushing, sweeping and then absorbing) based on the slag accumulation model, and plans the efficient and collision-free operation trajectory of the multi-free robotic arms to control the multi-free robotic arms to complete the slag cleaning action.

[0037] 5) Movement and Collaboration: After completing the work at the current location, the slag removal robot moves to the next adjacent location and repeats steps 3)-4) until the slag removal work of the entire designated area is completed.

[0038] 6) Status monitoring and feedback: Throughout the process, the slag removal robot will upload the operation progress and equipment status (such as power and temperature) to the remote monitoring center in real time. In case of abnormality, it can automatically pause and alarm, waiting for manual intervention.

[0039] The specific operating procedure is as follows: After the slag removal robot starts, it uses LiDAR 6 in conjunction with an autonomous navigation module based on SLAM technology to construct a point cloud map, which the operator imports into the task area via a host computer. The robot autonomously navigates to the starting point and integrates 3D depth camera 7 and thermal imaging data to model the accumulated slag. The central controller determines that the slag is of medium hardness, first switching to the hydraulic breaker 5 for crushing, then switching to the rotating wire brush 4 for cleaning, while the negative pressure suction nozzle 10 removes dust. After completing one point, it moves to the next adjacent point, repeating the operation until the task is completed. Powered by a large-capacity lithium battery pack built into the mobile chassis, the slag removal robot can work continuously throughout the entire process.

[0040] Example 2 The difference between this embodiment and Embodiment 1 is that this embodiment provides a slag cleaning robot under the continuous casting roller table, which is suitable for slag cleaning operations in the wide foundation pit under the roller table of a large continuous casting production line, emphasizing high load and long-term operation capabilities.

[0041] The mobile chassis 1 adopts a heavy-duty Mecanum wheel structure to achieve omnidirectional movement, and the power is provided by the tow cable 12. The tow cable 12 also contains a communication optical cable to transmit control signals while providing power.

[0042] During operation, the slag removal robot is connected to a power source and a host computer outside the pit via a tow cable 12. It first uses a lidar 6 to construct an environmental map, and the operator delineates the slag removal area in the central control room. The robot moves autonomously and identifies the slag pile using a 3D camera 7 and a thermal imaging camera, deciding on specific execution plans; for example, using a breaker hammer 5 for crushing, then switching to a wire brush 4 for cleaning, while simultaneously activating a negative pressure dust extraction function. Both the rotating wire brush 4 and the hydraulic breaker hammer 5 are housed in fixed brackets on a mobile chassis 1, automatically loaded and unloaded by a robotic arm, with a quick-change interface 3 featuring an automatic locking function. All actions are coordinated by a central controller 11, requiring only remote monitoring by the operator.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of this technical solution, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A slag-cleaning robot under a continuous casting roller conveyor, characterized in that, include: Mobile chassis for autonomous movement in complex terrain beneath continuous casting roller conveyors; The slag removal system, installed on the mobile chassis, includes a multi-degree-of-freedom robotic arm and a quick-change end effector; An environmental sensing system is used to acquire real-time information on the three-dimensional morphology, temperature distribution, and environmental obstacles of the accumulated slag. The central controller is used to integrate sensing data, identify accumulated debris, plan the collision-free operation trajectory of the robotic arm, and control the switching of the end effector. The power and communication system is used to provide power to the slag removal robot.

2. The slag-cleaning robot according to claim 1, characterized in that, The mobile chassis is a tracked or heavy-duty Mecanum wheel chassis, and integrates an autonomous navigation module based on SLAM technology, which fuses data from lidar and inertial measurement units to achieve accurate positioning and dynamic path planning in dim dusty environments.

3. The slag-cleaning robot according to claim 1 or 2, characterized in that, The end effector includes at least one of the following tools that can be automatically switched via a quick-switch interface: High-speed rotating wire brushes are used to remove loose and hardened residue from surfaces. Hydraulic breakers or vibratory shovels are used to break up hard, large pieces of debris. The negative pressure suction nozzle connected to the multi-degree-of-freedom robotic arm is connected to the onboard dust collection system to simultaneously remove dust and achieve dust-free operation.

4. The slag-cleaning robot according to claim 3, characterized in that, The airborne dust collection system includes a dust collection bin installed on a mobile chassis.

5. The slag-cleaning robot according to claim 3, characterized in that, The environmental sensing system includes: Depth vision sensor used to construct a 3D point cloud model of the slag; Thermal imaging sensors are used to identify high-temperature slag blocks and generate avoidance commands; A laser rangefinder array is arranged around the robotic arm and mobile chassis for real-time collision warning.

6. The slag-cleaning robot according to claim 1, characterized in that, The depth vision sensor is a 3D depth camera mounted on the mobile chassis.

7. The slag-cleaning robot according to claim 1, characterized in that, The power and communication system uses a large-capacity lithium battery pack built into the mobile chassis or a tow cable connected to an external power source.

8. The slag-cleaning robot according to claim 1, characterized in that, The central controller has a built-in slag state classification model and AI algorithm. Based on the sensing data, it automatically judges the hardness and distribution of the slag, dynamically selects and serializes the operation sequence of the end effector, and generates a spiral or layered robotic arm trajectory that covers blind spots.

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