CN107868923B - A kind of strip Continuous Heat coating producing line online robot device for dragging dregs - Google Patents
A kind of strip Continuous Heat coating producing line online robot device for dragging dregs Download PDFInfo
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- CN107868923B CN107868923B CN201711418300.1A CN201711418300A CN107868923B CN 107868923 B CN107868923 B CN 107868923B CN 201711418300 A CN201711418300 A CN 201711418300A CN 107868923 B CN107868923 B CN 107868923B
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- Prior art keywords
- slag
- robot body
- dross
- slag bath
- scum collector
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- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C2/00—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor
- C23C2/003—Apparatus
-
- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C2/00—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor
- C23C2/04—Hot-dipping or immersion processes for applying the coating material in the molten state without affecting the shape; Apparatus therefor characterised by the coating material
- C23C2/06—Zinc or cadmium or alloys based thereon
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- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Engineering & Computer Science (AREA)
- Materials Engineering (AREA)
- Mechanical Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Coating With Molten Metal (AREA)
Abstract
A kind of strip Continuous Heat coating producing line online robot device for dragging dregs, belongs to hot coating technology field.Including automatic control system, safe fence, pedestal, robot body, slag bath and scum collector；Robot body is mounted on the base, and scum collector is connected with robot body, and slag bath is fixed on robot body side, and automatic control system is located at the outside of safe fence.Starting automatic control system control scum collector is moved to the reduction point far from the side plating solution pot A；Starting robot body starts to act, and scum collector pushes away slag, fishing slag movement, and then slag, is poured into slag bath after dross is picked up.The advantage is that the dangerous plating solution pot region for being exposed to high temperature, high pollution, high noisy for effectively avoiding operative employee excessive；Reduce the generation for the safety accidents such as high temperature coating liquid splashes, machinery is hurted sb.'s feelings.
Description
Technical field
The invention belongs to hot coating technology field, in particular to a kind of strip Continuous Heat coating producing line online robot fishes out slag
Device.
Background technique
In recent years, more than China's scale zinc-plated manufacturing enterprise possesses galvanized sheet producing line and increases year by year.Producing line type is mainly wrapped
Include galvanization production line (GI), alloying galvanization production line (GA) etc.；And plating solution pot is the Core equipment of above-mentioned producing line, fishes out slag work
Skill directly affects product quality, production cost and operation safety.
Online plating solution pot fishing slag mode 95% domestic at present is artificial fishing slag, and to guarantee fishing slag safety, operator need to be worn
Protective garment, the splashproof helmet, preventing noise ear cover are worn, and is worn Safety Belt, therefore, there are security risks, work for artificial fishing slag
The problems such as bad environments.Started using robot fishing slag universal in hot-dip industry.
It is had the following problems at present using robot fishing slag:
1) robot fishing slag working area is narrow: due to robot placement position and the limitation of robot fishing slag technological design
Property, robot can only carry out fishing slag according to the narrow route of regulation, it is very limited can only to cover plating solution pot 3m (length) × 1m (width)
Region.
2) the robot fishing quantity of slag is small: the problem of due to robot placement position, fishing slag track and fishing out the planning of slag movement, mesh
The preceding robot fishing slag operation fishing quantity of slag is less than 3kg/min, does not meet zinc-plated producing line rhythm of production requirement.
3) can not effectively substitute artificial: because robot fishing slag work surface is narrow, robot fishes out the problems such as quantity of slag is small, to meet
Producing line normally produces, and needs a large amount of human assistance fishing slag operations, therefore can not achieve robot and substitute artificial purpose.
Summary of the invention
The purpose of the present invention is to provide a kind of strip Continuous Heat coating producing line online robot device for dragging dregs, solve existing
Having robot to fish out, slag working area is narrow, the fishing quantity of slag is smaller, can not effectively substitute artificial problem.
A kind of strip Continuous Heat coating producing line online robot device for dragging dregs, including automatic control system 1, safe fence
2, pedestal 3, robot body 4, slag bath 5 and scum collector 6；Robot body 4 is installed on pedestal 3, scum collector 6 with
Robot body 4 is connected, and slag bath 5 is fixed on robot body side, pedestal 3, robot body 4, slag bath 5 and scum collector
6 outsides are equipped with safe fence 2；Automatic control system 1 is located at the outside of safe fence 2, respectively with robot body 4 and slag bath
Slag bath weighing sensor 7 in 5 is connected by conducting wire, and automatic control system 1 controls scum collector by robot body 4
Dross is poured into slag bath 5 by 6.
The safe fence 2 is metal material, is highly 1m~1.5m, width 4m~7m, and safe fence 2 is surrounded in three faces
Shape.The safe fence 2 of above-mentioned size range can guarantee the safety in robot motion footprint.
The pedestal 3 is closed with ground by foundation bolt handle, and pedestal 3 visits robot body 4 to plating solution pot pot edge,
The lateral distance of robot body 4 and plating solution pot is maintained at 400~600mm.It is arranged such between robot body 4 and pedestal 3
Relationship, robot body 4 can be made to possess higher movement remaining, and be in contact robot body 4 with plating solution pot, side
Just plating solution pot is replaced.
The scum collector 6 is the spade porous structure with connecting rod, is fixed on robot body 4 by flange, is floated
Slag collector 6 can all around be moved up and down by robot body 4, depth bounds of the scum collector 6 in plating solution pot
For 0~0.5m, liquid fluctuating can be reduced, movement radius is 0.2m~6m；It can be by the cadmia complete set in plating solution pot
In get up to be fished for, improve work efficiency.Spade porous structure can ensure not accumulate in scum collector 6 and slag bath 5
Plating solution.
The slag bath 5 includes slag bath weighing sensor 7, slag bath ontology 9 and dross vertical loading board 8, and slag bath ontology 9 is slag bath 5
Core component, dross vertical loading board 8 is located in slag bath ontology 9, including hanging ring, stock and bracket, and hanging ring is located at the top of the stock
End, bracket is located at the bottom end of stock, for lifting by crane dross；Dross is by being cooled into dross ingot, and by 8 adhesion of dross vertical loading board
Wherein.Slag bath weighing sensor 7 is located at 9 bottom of slag bath ontology, and slag bath weighing sensor 7 works as dross for detecting dross weight
When weight is more than setting value, control system, which will be prompted to dross in slag bath, to have expired, and robot stops fishing slag.
A kind of fishing slag method of above-mentioned device for dragging dregs, specific step and parameter are as follows:
1, start automatic control system 1, control the scum collector 6 on robot body 4 and be moved to far from plating solution pot A
The reduction point of side；
2, starting robot body 4 starts to act, and scum collector 6 pushes away slag movement, successively according to the road Tui Zha of 1~N
Diameter carries out pushing away slag, and dross is rushed to the plating solution pot internal edge close to 4 side of robot body；Wherein, N is scum collector 6
Push away slag path number, N range is 2~30；
3, scum collector 6 does fishing slag movement, will rush to according to perpendicular to pushing away slag path direction close to robot body 4 one
The dross of side picks up；
4, scum collector 6 does the movement of falling slag, is poured into slag bath 5 after dross is picked up；
5, the work of fishing slag terminates, and scum collector 6 resets, and waits fishing slag order next time.
By pushing away slag and fishing slag movement described in step 2 and 3, can cover 90% in the plating solution pot at furnace nose rear~
95% region.
The slag path that pushes away of 1~N is parallel path in the step 2, is successively arranged from the left side of plating solution pot to plating solution pot
Right side.
In the step 3, the fishing slag speed of scum collector 6 is 4kg/min~10kg/min, can guarantee zincincation
Be normally carried out.
The present invention has the advantages that
1) by improving the working environment of operative employee, effectively avoid operative employee it is excessive be exposed to high temperature, high pollution, height are made an uproar
The dangerous plating solution pot region of sound；
2) the fishing slag work of the high-intensitive repeatability of operative employee can be effectively reduced；Meanwhile it improving work efficiency；
3) generation for the safety accidents such as high temperature coating liquid splashes, machinery is hurted sb.'s feelings can be effectively reduced；
4) the fishing slag rate for fishing out slag collector is consistent with rhythm of production, it can be ensured that production process is carried out continuously；
5) it can reduce the loss of zinc liquid, reduce cost, realize upgrading synergy.Other features and advantages of the present invention will with
It is illustrated in specification afterwards, also, partial feature and advantage are as will become apparent from the description, or by implementing this hair
It is bright and understand.The objectives and other advantages of the invention can be special by institute in the written description, claims, and drawings
The structure do not pointed out is achieved and obtained.
Detailed description of the invention
Fig. 1 strip Continuous Heat coating producing line online robot device for dragging dregs top view.Wherein, automatic control system 1, peace
Full fence 2, pedestal 3, robot body 4, slag bath 5, scum collector 6；I-IX is to push away slag path, and X is fishing slag path, and α is plating
Liquid pot, β are furnace nose, and A is the side A inside plating solution pot pot edge, and B is the side B inside plating solution pot pot edge, and C is C inside plating solution pot pot edge
Side.
Fig. 2 is the partial enlarged view of strip Continuous Heat coating producing line online robot device for dragging dregs.Wherein, γ is plating solution pot
Pot edge, δ are ground.
Fig. 3 is the top view of scum collector.
Fig. 4 is the main view of scum collector.
Fig. 5 is the main view of slag bath.Wherein, slag bath weighing sensor 7, slag bath ontology 9, dross vertical loading board 8.
Fig. 6 is the top view of slag bath.
Specific embodiment
Embodiment 1
A kind of strip Continuous Heat coating producing line online robot device for dragging dregs, including automatic control system 1, safe fence
2, pedestal 3, robot body 4, slag bath 5 and scum collector 6；Robot body 4 is installed on pedestal 3, scum collector 6 with
Robot body 4 is connected, and slag bath 5 is fixed on robot body side, pedestal 3, robot body 4, slag bath 5 and scum collector
6 outsides are equipped with safe fence 2；Automatic control system 1 is located at the outside of safe fence 2, respectively with robot body 4 and slag bath
Slag bath weighing sensor 7 in 5 is connected by conducting wire, and automatic control system 1 controls scum collector by robot body 4
Dross is poured into slag bath 5 by 6.
Safe fence 2 is metal material, is highly 1.2m, width 6m, and safe fence 2 surrounds shape in three faces.
Pedestal 3 and ground are closed by foundation bolt handle, and pedestal 3 visits robot body 4 to plating solution pot pot edge, machine
The lateral distance of human body 4 and plating solution pot is maintained at 600mm.
Scum collector 6 is the spade porous structure with connecting rod, is fixed on robot body 4 by flange, and dross is received
Storage 6 can all around be moved up and down by robot body 4, and depth bounds 0 of the scum collector 6 in plating solution pot~
0.5m, it is adjustable according to zinc liquid height, liquid fluctuating can be reduced, movement radius is 3m；It can be by the cadmia in plating solution pot
It puts together and is fished for completely, improved work efficiency.Spade porous structure can ensure in scum collector and slag bath not
Accumulate plating solution.
The slag bath 5 includes slag bath weighing sensor 7, slag bath ontology 9 and dross vertical loading board 8, and slag bath ontology 9 is slag bath 5
Core component, dross vertical loading board 8 is located in slag bath ontology 9, including hanging ring, stock and bracket, and hanging ring is located at the top of the stock
End, bracket is located at the bottom end of stock, for lifting by crane dross；Dross is by being cooled into dross ingot, and by 8 adhesion of dross vertical loading board
Wherein.Slag bath weighing sensor 7 is located at 9 bottom of slag bath ontology, and slag bath weighing sensor 7 works as dross for detecting dross weight
When weight is more than setting value, control system, which will be prompted to dross in slag bath, to have expired, and robot stops fishing slag.
A kind of fishing slag method of above-mentioned device for dragging dregs, specific step and parameter are as follows:
Step 1, starting automatic control system 1, control the scum collector 6 on robot body 4 and are moved to far from plating
The reduction point of the side liquid pot A；
Step 2, starting robot body 4 start to act, and scum collector 6 pushes away slag movement, successively pushing away according to I~IX
Slag path carries out pushing away slag, and dross is rushed to the plating solution pot internal edge close to 4 side of robot body；
Step 3, scum collector 6 do fishing slag movement, will rush to according to perpendicular to pushing away slag path X close to robot body 4
The dross of side picks up；
Step 4, scum collector 6 do the movement of falling slag, are poured into slag bath 5 after dross is picked up；
Step 5, fishing slag work terminate, and scum collector 6 resets, and wait fishing slag order next time.
Plating solution pot surface scum method is fished for online by above-mentioned strip Continuous Heat coating producing line robot, can cover furnace nose β
93%% region in the plating solution pot α at rear.
Plating solution pot surface scum device and method is fished for online by the strip Continuous Heat coating producing line robot of the present embodiment, fits
It is 400 DEG C~550 DEG C with temperature, is suitable for GI, GA, zinc-aluminum-magnesium series alloy coated article.
It is noted that the present embodiment galvanization production line it is online robot removal galvanization production line plating solution pot surface close
The method of golden slag, it is 0~0.5m of plating solution surface or less that robot body 4, which drives the fishing slag depth of scum collector 6,；
It is noted that the fishing slag speed of the present embodiment robot body is 5kg/min；It can guarantee zincincation just
Often operation；
It is noted that embodiment plating solution pot dimensions length is 5m, width 2m；
It is noted that embodiment robot fishes out slag tool distalmost end motion range are as follows: with 3 base center of robot body
Centered on point, it is 3m that robot, which fishes out slag radius,；
It is noted that the present embodiment robot application zinc liquid temperature in plating solution pot is 400 DEG C~550 DEG C.
In conclusion the embodiment of the invention provides a kind of strip Continuous Heat coating producing line online robot fishing slag system and
Process, the present invention, which fishes out slag system, can improve working environment, avoid the danger for being excessively exposed to high temperature, high pollution, high noisy
Dangerous plating solution pot region；Reduce the fishing slag work of the high-intensitive repeatability of operative employee；Meanwhile effectively reduce high temperature coating liquid splash,
Machinery such as is hurted sb.'s feelings at the generations of safety accidents.
Claims (4)
1. a kind of strip Continuous Heat coating producing line online robot device for dragging dregs, which is characterized in that including automatic control system
(1), safe fence (2), pedestal (3), robot body (4), slag bath (5) and scum collector (6)；Robot body (4) peace
Loaded on pedestal (3), scum collector (6) is connected with robot body (4), and slag bath (5) is fixed on robot body side, bottom
Safe fence (2) are equipped with outside seat (3), robot body (4), slag bath (5) and scum collector (6)；Automatic control system
(1) it is located at the outside of safe fence (2), it is logical with the slag bath weighing sensor (7) in robot body (4) and slag bath (5) respectively
Conducting wire connection is crossed, dross is poured into slag bath by robot body (4) control scum collector (6) by automatic control system (1)
(5)；
The fishing slag method of above-mentioned device for dragging dregs, specific step and parameter are as follows:
1) start automatic control system (1), the scum collector (6) in control robot body (4) is moved to far from plating solution
The reduction point of the side pot A；
2) starting robot body (4) starts to act, and scum collector (6) pushes away slag movement, successively according to the road Tui Zha of 1~N
Diameter carries out pushing away slag, and dross is rushed to the plating solution pot internal edge close to robot body (4) side；Wherein, N is scum collector
(6) push away slag path number, N range is 2~30；
3) scum collector (6) does fishing slag movement, will rush to according to perpendicular to pushing away slag path direction close to robot body (4) one
The dross of side picks up；
4) scum collector (6) does the movement of falling slag, is poured into slag bath (5) after dross is picked up；
5) work of fishing slag terminates, and scum collector (6) resets, and waits fishing slag order next time；
The safe fence (2) is metal material, is highly 1m~1.5m, width 4m~7m, and safe fence (2) is enclosed in three faces
Around shape；
For the pedestal (3) and ground by foundation bolt closing, pedestal (3) visits robot body (4) to plating solution pot pot edge
On, the lateral distance of robot body (4) and plating solution pot is maintained at 400~600mm.
The scum collector (6) is the spade porous structure with connecting rod, is fixed on robot body (4) by flange,
Scum collector (6) can all around be moved up and down by robot body (4), and scum collector (6) is in plating solution pot
Depth bounds are 0~0.5m, can reduce liquid fluctuating, movement radius is 0.2m~6m；Cadmia in plating solution pot is complete
It puts together and is fished for entirely；Spade porous structure can ensure not accumulate plating solution in scum collector (6) and slag bath (5)；
The slag bath (5) includes slag bath weighing sensor (7), slag bath ontology (9) and dross vertical loading board (8), slag bath ontology (9)
For slag bath (5) core component, dross vertical loading board (8) is located in slag bath ontology (9), including hanging ring, stock and bracket, hanging ring are located at
The top of the stock, bracket is located at the bottom end of stock, for lifting by crane dross；Dross will be floated by being cooled into dross ingot
Slag vertical loading board (8) adhesion is wherein；Slag bath weighing sensor (7) is located at slag bath ontology (9) bottom, and slag bath weighing sensor (7) is used
In detection dross weight, when dross weight is more than setting value, control system, which will be prompted to dross in slag bath, to have expired, and robot stops
Fish out slag.
2. the apparatus according to claim 1, which is characterized in that step 2) and 3) described in push away slag and fishing slag movement, energy
Enough cover in the plating solution pot at furnace nose rear 90%~95% region.
3. the apparatus according to claim 1, which is characterized in that the slag path that pushes away of 1~N is parallel road in the step 2)
Diameter is successively arranged from the left side of plating solution pot to the right side of plating solution pot.
4. the apparatus according to claim 1, which is characterized in that in the step 3), the fishing slag speed of scum collector (6)
For 4kg/min~10kg/min, it can guarantee being normally carried out for zincincation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711418300.1A CN107868923B (en) | 2017-12-23 | 2017-12-23 | A kind of strip Continuous Heat coating producing line online robot device for dragging dregs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711418300.1A CN107868923B (en) | 2017-12-23 | 2017-12-23 | A kind of strip Continuous Heat coating producing line online robot device for dragging dregs |
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| Publication Number | Publication Date |
|---|---|
| CN107868923A CN107868923A (en) | 2018-04-03 |
| CN107868923B true CN107868923B (en) | 2019-05-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711418300.1A Active CN107868923B (en) | 2017-12-23 | 2017-12-23 | A kind of strip Continuous Heat coating producing line online robot device for dragging dregs |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110670006A (en) * | 2019-09-11 | 2020-01-10 | 湖南华菱涟钢薄板有限公司 | Robot slag fishing system |
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|---|---|---|---|---|
| RU2075369C1 (en) * | 1993-12-24 | 1997-03-20 | Алексей Иванович Майоров | Method and apparatus to remove slag from smelt metal surface in steel casting ladle |
| JP2001150140A (en) * | 1999-11-22 | 2001-06-05 | Kobe Steel Ltd | Method and device for removing slag |
| JP2011033315A (en) * | 2009-08-05 | 2011-02-17 | Toyota Motor Corp | Automatic slag recovery device |
| CN201841259U (en) * | 2010-10-29 | 2011-05-25 | 长沙有色冶金设计研究院 | Automatic submerged slag conveyer |
| CN102494544A (en) * | 2011-12-26 | 2012-06-13 | 重庆科技学院 | Scum dredger |
| CN205343142U (en) * | 2016-01-21 | 2016-06-29 | 北京中远通科技有限公司 | Manipulator is automatic to drag for slag system all |
| EP3165618A1 (en) * | 2015-11-03 | 2017-05-10 | Befesa Aluminio, S.L. | Crucible skimming, stirring and sample taking station |
-
2017
- 2017-12-23 CN CN201711418300.1A patent/CN107868923B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2075369C1 (en) * | 1993-12-24 | 1997-03-20 | Алексей Иванович Майоров | Method and apparatus to remove slag from smelt metal surface in steel casting ladle |
| JP2001150140A (en) * | 1999-11-22 | 2001-06-05 | Kobe Steel Ltd | Method and device for removing slag |
| JP2011033315A (en) * | 2009-08-05 | 2011-02-17 | Toyota Motor Corp | Automatic slag recovery device |
| CN201841259U (en) * | 2010-10-29 | 2011-05-25 | 长沙有色冶金设计研究院 | Automatic submerged slag conveyer |
| CN102494544A (en) * | 2011-12-26 | 2012-06-13 | 重庆科技学院 | Scum dredger |
| EP3165618A1 (en) * | 2015-11-03 | 2017-05-10 | Befesa Aluminio, S.L. | Crucible skimming, stirring and sample taking station |
| CN205343142U (en) * | 2016-01-21 | 2016-06-29 | 北京中远通科技有限公司 | Manipulator is automatic to drag for slag system all |
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| CN107868923A (en) | 2018-04-03 |
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