Automatic torpedo ladle inserting and pulling system and inserting and pulling method

Abstract

The invention discloses an automatic torpedo ladle inserting and pulling system and an inserting and pulling method. The torpedo ladle plug comprises a torpedo ladle plug female head, wherein the torpedo ladle plug female head is mounted on a torpedo ladle; the device comprises a torpedo ladle plug male head, the torpedo ladle plug male head is installed at the execution end of a plugging mechanism, the fixed end of the plugging mechanism is connected with an industrial robot system through a connecting flange, and a laser vision system is installed on the connecting flange. The industrial robot system comprises a robot body, the robot body is connected with the control system through a connecting cable, and the control system is connected with the demonstrator. Laser vision is adopted to detect the position of the plug male head on the torpedo tank car, and automatic plugging power taking of the torpedo tank car can be achieved in cooperation with a robot and a specially-designed plugging mechanism; the robot is good in flexibility and can execute complex actions; the stability is high, the device can be suitable for severe work, and the maintenance cost and workload are low; the working radius is large, and automatic plugging work of various torpedo tank cars can be met.

Description

Technical field: [0001] The invention relates to an automatic plug-in and pull-out system for a torpedo tank. Background technique: [0002] The torpedo tank is a container for molten iron, and the long-distance transfer of molten iron is realized by a special transport train, and the molten iron is transported from the blast furnace of the ironworks to the pouring room of the steelworks. In the pouring room, the torpedo tank is rotated by the rotating mechanism to pour out the molten iron. The weight of a torpedo tank body plus the molten steel inside is about 300-400 tons, and the motor power required for rotation is relatively large. However, there is no high-power power supply on the special transport train, and it needs to be powered externally and connected by a plug. [0003] At present, it is basically implemented manually (such as figure 1 shown). The working environment is high in temperature and has a lot of iron scales, and the work is labor-intensive. Current...

AI Technical Summary

Problems solved by technology

[0006] (1) The difference in the body of the torpedo tank special transport truck itself, the difference in the parking position, the size difference of the plug female head, etc., make the position of the plug female head on the torpedo tank truck uncertain;

[0007] (2) The connection and locking method of the male and female plugs of the torpedo tanker is designed according to the convenience of manual operation, and it is not convenient to adopt an automated method, which increases the difficulty of the design of the plug-in mechanism

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