中文|English
Products > Intelligent Skim & Robot Docking System for Torpedo Ladle

Intelligent Skim & Robot Docking System for Torpedo Ladle

  • DM_20260724091941_003.JPEG
  • DM_20260724091941_003.JPEG
    • 1
The intelligent skimming system for torpedo ladles adopts AI vision, laser positioning, robotic arms and other technologies to realize automatic plugging and unplugging of torpedo ladle connectors as well as automatic hot metal skimming. It effectively eliminates manual operations under harsh working conditions and prevents safety accidents caused by improper human operation, delivering remarkable economic benefits.

System Composition

The intelligent hot metal skimming system for torpedo ladles consists of industrial robots, laser rangefinders, industrial cameras, infrared thermal imagers, control units, servers and other components.
Industrial cameras capture coordinate data of torpedo ladle power sockets and transmit the data to robots. Based on spatial position data, robots automatically plug in and pull out the torpedo ladle power connection device to realize power-on and power-off of the torpedo ladle tilting motor. Laser rangefinders and limit switches complete automatic positioning of the torpedo ladle car. The system controls torpedo ladle tilting and hot metal tapping via a dedicated algorithm to accurately pour molten iron into the receiving ladle.
Software algorithms adopt infrared thermal imagers to detect molten iron flow and torpedo ladle tilting angles. Combined with receiving ladle weight and other relevant parameters, the algorithms realize precise closed-loop control over the start, stop, backward tilting and rotation speed of torpedo ladles, achieving fully automatic hot metal tapping.
The system collects torpedo ladle numbers and receiving ladle numbers, and builds a database management system to enable complete traceability and query for production staff and managers, thus realizing intelligent management of the hot metal skimming process.

System Functions

1. Automatic Plugging & Unplugging of Power Connection Device by Robot

According to torpedo ladle car position data output by the position detection system, the robot applies image recognition technology to automatically search for feature information of the power socket (target object) in captured images and calculate the target coordinate under the camera coordinate system. The image processor transmits coordinate data as visual feedback signals to the visual servo control unit, realizing accurate power connection and disconnection by the robotHal-Inria.

2. Automatic Control of Hot Metal Skimming

Infrared cameras collect real-time images of the torpedo ladle lip. Image processing algorithms analyze the captured images, compare them with preset system parameters, and precisely control the torpedo ladle tilting angle to automatically tilt the ladle to the designated skimming position.
The system then performs automatic hot metal skimming according to preset skimming & holding waiting time and real-time molten iron flow image signals. The whole skimming process is under full monitoring. The system calculates real-time tilting angle and direction via continuous image capture of the ladle lip, forming closed-loop control with the main control system to guarantee tapping safety.
Meanwhile, the system automatically analyzes and counts slag buildup on ladle lips, and sends out reminders for timely ladle lip cleaning to reduce molten iron splashing during tapping.

3. Receiving Ladle Clearance Monitoring

During the skimming process, the system continuously monitors the liquid level inside the receiving ladle. When the molten iron clearance reaches the adjustable control threshold, combined with weight data from the molten iron weighing trolley, the system automatically stops hot metal skimming to eliminate safety hazards such as molten iron overflow from fully loaded receiving ladles.

4. Identification of Torpedo Ladle & Receiving Ladle Numbers

The system adopts image recognition and artificial intelligence algorithms to extract unique numbers of receiving ladles and torpedo ladles. A ladle-number-centered database is built to query the service status of each receiving ladle and trace which torpedo ladle supplies molten iron to it, realizing intelligent data management for hot metal skimming.

5. Image Recognition of Torpedo Ladle Tilting Angle

The system uses image recognition technology to automatically scan tilting scale marks printed on the torpedo ladle body, calculates the real-time tilting angle of the ladle via image algorithms, and displays the angle value on the operation screen. This design eliminates the complicated installation of encoders on torpedo ladle cars.

6. Anti-Reverse-Tilting Protection for Torpedo Ladles

The system identifies the position of the ladle lip via image recognition technology, combined with real-time tilting angle signals. Once reverse tilting of the torpedo ladle is detected, the infrared thermal imaging subsystem triggers an alarm signal. The central control unit immediately halts ladle tilting and outputs audible & visual alarms; tilting operation remains suspended until the fault is cleared.

Interlock Features of the Intelligent Torpedo Ladle Skimming System

  1. Signal judgment for successful plug connection during robot power assembly;
  2. Interlock between torpedo ladle car position and ladle tilting function: tilting action is strictly prohibited if neither the receiving ladle image signal nor torpedo ladle car weight signal is detected;
  3. The camera captures images of ladle tilting scales to automatically calculate the tilting angle. Combined with ladle lip images, the system judges the molten iron level inside the torpedo ladle. When the tilting angle reaches a preset threshold, the system evaluates skimming progress and executes interlock control: if no molten iron flow is detected at the limit tilting position, the system outputs warning information and suspends ladle tilting;
  4. Interlock between receiving ladle liquid level and weight: hot metal skimming stops automatically when the liquid level or weight reaches the preset value;
  5. Emergency stop buttons are configured across the system to handle sudden failures timely and rapidly switch the site to manual operation mode.

System Technical Specifications

  1. Industrial Robot
    Reach: 0.9 m; Payload: 20 kg; Positioning Accuracy: ±0.2 mm
  2. Laser Rangefinder
    Detection Range: 0.01 m ~ 50 m; Measurement Accuracy: ±3 mm; Operating Frequency: 20 Hz
  3. Infrared Thermal Imager
    Wavelength Range: 8~14 µm; Frame Rate: 50 Hz; Detector Resolution: 640 × 480
  4. Industrial Visible Camera
    Resolution: 1920 × 1080; Frame Rate: 50 Hz
  5. Robot Power Connection Success Rate
    Greater than 95%
  6. Automatic Hot Metal Skimming Success Rate
    Greater than 95%

     





上一个： 没有了
下一个： FCM Fixed Converter Lining Thickness Gauge