CN101975679B - Exactly temperature-measuring and sampling system of molten steel and method thereof - Google Patents
Exactly temperature-measuring and sampling system of molten steel and method thereof Download PDFInfo
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- CN101975679B CN101975679B CN2010102888620A CN201010288862A CN101975679B CN 101975679 B CN101975679 B CN 101975679B CN 2010102888620 A CN2010102888620 A CN 2010102888620A CN 201010288862 A CN201010288862 A CN 201010288862A CN 101975679 B CN101975679 B CN 101975679B
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Abstract
The invention discloses an exactly temperature-measuring and sampling system of molten steel and a method thereof, belonging to the technical field of liquid metal treatment process in the metallurgy field, and comprising an intelligent robot system, an automatic temperature measuring and sampling gun system, a liquid level height detector and an industrial control computer. The whole system is integrally controlled by the industrial control computer. The liquid level height detector is used for measuring the depth of the liquid level of the molten steel firstly, and then the intelligent robot is responsible for of installing probes, finally the automatic temperature measuring and sampling gun system is used for realizing the automatic temperature measurement and sampling. The invention has the advantages of realizing the exact position of temperature measurement and sampling of each gun on the basis of the infrared molten steel liquid level measurement and the servo position control, completely eliminating the system accidental error of measuring results caused by a manual measuring manner and providing reliable guarantee for improvements on the quality control and the precision of the molten steel.
Description
Technical field
The invention belongs to field of metallurgy liquid metal processing procedure technical field, accurate thermometric sampling system of a kind of molten steel and method thereof particularly are provided.
Background technology
In the STEELMAKING PRODUCTION, external refining is improving the steel product quality, is enlarging kind, is reducing cost, optimizes aspect such as steel-smelting production process and bringing into play important effect.Especially since sheet billet continuous casting is implemented permanent pulling rate cast, temperature, composition to refined molten steel have had more strict requirement, the precision of artificial thermometric sampling can not satisfy the requirement of next procedure to steel quality, therefore realize the accurate thermometric sampling of refining treatment process, have crucial meaning improving liquid steel temperature measuring accuracy and smelting quality, reduction raw materials consumption and worker's labour intensity.
When the thermometric sampling was manually carried out in refining, position, temperature-measuring gun insertion point and insertion depth were difficult to reach the regulation requirement, and long its stability meeting variation of manual temperature-measuring gun heated time, influenced accuracy.Therefore artificial thermometric, poor, the appearance composition existence fluctuation of the temperature value precision of sampling mode gained, thus the production efficiency of conticaster and the quality of strand influenced.
Therefore how improving thermometric accuracy rate, sampling success ratio to satisfy the requirement of next procedure to steel quality, is the emphasis of refining link.
Summary of the invention
The purpose of this utility model is to provide accurate thermometric sampling system of a kind of molten steel and method thereof, realize the accurate thermometric sampling of liquid steel refining process, reduce human intervention, improve the liquid steel temperature measuring accuracy, improve the sampling success ratio, reduce production costs, shorten smelting cycle and reduce labor strength.
The present invention includes intelligent robot system, automatic temperature measurement sampling gun system, liquid level detection device and industrial control computer, total system is carried out integral body control by industrial control computer, at first liquid level detection device is measured the liquid steel level degree of depth, intelligent robot is responsible for installing probe then, and last automatic temperature measurement sampling gun is realized the automatic temperature measurement sampling.
Intelligent robot system comprises servo-control system, robot body, robot handgrip, robot running gear, servo-control system control robot body and robot handgrip grasp probe, and robot arrives the automatic installation or removal probe in automatic temperature measurement sampling gun position by travel mechanism again.Servo-control system comprises servocontrol cabinet and teach programming device, and servo-control system is entire machine people's a control maincenter; Robot adopts external shaft control, by external shaft compound action is decomposed, and realization is accurately taken arms and adorned the rifle action.The robot handgrip is an air clamper, can adapt to the probe of on-the-spot different-diameter, and the guiding groove type that the robot handgrip itself carries has been corrected the biasing displacement that rifle causes under the barral of a gun, realizes precisely grasping; Travel mechanism has increased the travel distance of robot, away from ladle furnace, effectively reduces the damage of heat radiation to robot when not carrying out the thermometric sampling.
Automatic temperature measurement sampling gun system comprises automatic temperature measurement rifle body, chain type lifting gear, chain type lifting gear V-type location and barral of a gun pneumatic power positioner, chain type lifting gear V-type location and barral of a gun pneumatic power positioner are mainly avoided rocking of rifle body, the lifting of chain type lifting gear control automatic temperature measurement rifle body, the automatic temperature measurement rifle body that probe is installed finally immerses molten steel finishes the thermometric sampling operation.Automatic temperature measurement rifle body uses nitrogen air cooling barral of a gun, has increased barral of a gun serviceable life greatly; The chain type lifting gear is selected driven by servomotor for use, can accurately control down the degree of depth of rifle; The lifting gear amount of swinging has been limited in chain type lifting gear V-type location, makes the loading, unloading rifle of robot more accurate; The barral of a gun pneumatic power positioner has reduced the side-play amount of rifle head, has reduced the dress rifle difficulty of robot.
Liquid level detection device adopts the high precision infrared distance sensor, and measured deviation realizes the accurate measurement of liquid steel level at ± 1cm, after system acquisition puts signal in place to ladle, measure liquid steel level automatically, union goes out rifle distance down, need not manual intervention, realize increasingly automated.
This system is when operation, at first utilize infrared liquid level detection device that the liquid steel level height is measured, the storage data, when system received thermometric sampling instruction, robot gripping's rifle head was by adorning rifle near the travel mechanism arrival barral of a gun, cylinder is shown and is put in place, the automatic temperature measurement sampling gun is measured according to rifle under the liquid level data of storage, and when thermometric or decide to carry when oxygen obtains data result rifle, cylinder is put and got back to the position, robot ambulation comes to unload rifle, away from the steel stove, get back to holding state then, successively circulation, need not manual intervention, realize increasingly automatedly,, finally realized robot accurate automatic temperature measurement sampling for continuous casting working procedure provides high-quality stable molten steel.
Rifle distance is down calculated in the highly automated detection of liquid steel level automatically; Robot plugs thermometric, decides oxygen and sampling probe; The automatic temperature measurement sampling gun possesses the self-protection function and precisely locatees.
By the running orbit of the one-level computer control model specification in the system, control mechanical arm, carry out the thermometric sampling during operation.This cover equipment adopts infrared liquid level sensor to carry out level gauging, guarantees that the measuring height deviation is in ± 1cm scope.After robot received thermometric sampling instruction, the liquid steel level height good according to Infrared survey calculated down the rifle distance.In addition, the accurate location that liquid steel level is measured and servo position control has realized each rifle thermometric and sampling has been eliminated the error that artificial thermometric sample position and change in depth cause measurement result fully.
After adopting this accurate thermometric sampling method, thermometric deviation fluctuation is less, be stabilized in ± 2 ℃ of scopes in; The qualification rate of sampling reaches more than 97%, and relative and hand sampling has improved about 12%; The ratio that sampling does not conform to is reduced to below 3% by 7% of hand sampling; Shorten the time of refining thermometric sampling in addition, reduced working strength of workers.
The invention has the advantages that by infrared liquid steel level and measure and servo position control, realized the accurate location of each rifle thermometric and sampling, eliminated system's accidental error that the manual measurement mode causes measurement result fully, for control and the precision that improves steel quality provides reliable guarantee.
Description of drawings
Fig. 1 is a thermometric sampler synoptic diagram of the present invention.Wherein, intelligent robot system 1, automatic temperature measurement sampling gun system 2, liquid level detection device 3.
Embodiment
Below in conjunction with accompanying drawing concrete enforcement of the present utility model is elaborated.
This accurately automatic temperature measurement sampling method mainly be rely on infrared liquid level sensor 3 accurately to detect liquid steel levels and calculate the rifle degree of depth, intelligent robot 1 down automatically plug thermometric sampling probe, the servomotor reasonable combination of accurately controlling 2 times rifle degree of depth of automatic temperature measurement sampling gun, three big systems realize the purpose of accurate thermometric sampling operation.
When molten steel enters the station, system acquisition puts in place to ladle behind the signal, and infrared liquid level detection device is measured the liquid steel level height, and measurement result is stored data to remote control computer, and this moment, the thermometric sampling system was in holding state.When thermometric sampling instruction is received in system's inspection, robot grasps ready probe to corresponding magazine, robot adorns the rifle operation near arriving automatic barral of a gun by travel mechanism then, robot returned and treats the seat in the plane after probe installed, the barral of a gun pneumatic power positioner is opened simultaneously, and cylinder is shown ladle thermometric sample position, and pneumatic power positioner is held tightly, the barral of a gun lifting gear records data according to liquid level and begins to descend rifle to put beginning thermometric or sampling in place.When thermometric obtains data result or surpass delay protection (during sampling; the default time; in molten steel, extract automatically after the certain time); lifting gear begins to rise to a high position, and cylinder is put back, and the barral of a gun pneumatic power positioner is held the rifle head tightly simultaneously; this moment, robot unloaded rifle near arriving automatic barral of a gun by travel mechanism; arrive useless rifle by travel mechanism then and get rid of the bucket rifle that will give up and throw in the bucket, holding state is got back to by robot, successively circulation.
Infrared liquid level sensor is used for detecting the liquid steel level height, the normal insertion depth of thermometric sampling gun 300mm under liquid steel level is advisable, and have some differences between molten steel amount stove in the actual ladle and the stove, thermometric is inaccurate, sampling is not full if insertion depth can cause inadequately, insertion depth is crossed conference increases the rifle residence time of body in molten steel, cause the burning rifle, thus liquid level measured accurately, and then it is most important to calculate the suitable following rifle degree of depth.Intelligent robot cooperates automatic gun to plug probe, and difficult point is that the robot handgrip grasps the probe dynamics and accurately discerns magazine and automatic gun position.Handgrip is an air clamper, adopts rectilinear motion when grabbing rifle, clamps from two direction straight lines, and such grasping movement is not subjected to the influence of rifle diameter, can guarantee that grasping movement is not eccentric, has avoided rifle to be grabbed flat phenomenon and has taken place.The lifting gear amount of swinging has been limited in chain type lifting gear V-type location, makes the loading, unloading rifle of robot more accurate.The barral of a gun pneumatic power positioner has reduced the side-play amount of rifle head, has reduced the dress rifle difficulty of robot.
The automatic temperature measurement sampling gun is the topworks of final thermometric sampling operation, according to the decline depth data of storing in the system, relies on servomotor accurately to control the rifle body and inserts distance, finally finishes the thermometric sampling operation.
This system divides long-range and local two kinds of operator schemes, and when the local operation pattern, the post personnel can select the single cycle mode, according to selected thermometric, decide oxygen, sampling and testing requirement, finishes the robot rifle-following rifle of taking arms-adorn automatically and tests-get useless rifle process.Also can select the substep mode, useless two processes of rifle are tested-got to robot is taken arms-adorn rifle and following rifle separately.When the operated from a distance pattern, the operative employee can finish all operations that the local operation pattern can realize on remote computer, and the operation of total system is monitored.
After this accurate automatic temperature measurement sampling system operation, thermometric fidelity factor height and the fluctuation of thermometric deviation are less, and precision fluctuates in ± 2 ℃ of scopes; The qualification rate of sampling reaches more than 97%, and relative and hand sampling has improved about 12%; The ratio that sampling does not conform to is reduced to below 3% by 7% of hand sampling.
After this accurate automatic temperature measurement sampling system operation, shortened the time of refining thermometric sampling, improve thermometric and decided oxygen accuracy and sampling success ratio, realize unmanned, sequencing, the normalizing operation of the sampling of external refining thermometric, the beginning that domestic use robot uses in metallurgical thermometric sampling field has been opened up in the invention of this method, has excellent popularization and is worth.
Claims (2)
1. accurate thermometric sampling system of molten steel, it is characterized in that, comprise intelligent robot system, automatic temperature measurement sampling gun system, liquid level detection device and industrial control computer, total system is carried out integral body control by industrial control computer, at first liquid level detection device is measured the liquid steel level degree of depth, intelligent robot is responsible for installing probe then, and last automatic temperature measurement sampling gun is realized the automatic temperature measurement sampling;
Intelligent robot system comprises servo-control system, robot body, robot handgrip, robot running gear, servo-control system control robot body and robot handgrip grasp probe, and robot arrives the automatic installation or removal probe in automatic temperature measurement sampling gun position by travel mechanism again; Servo-control system comprises servocontrol cabinet and teach programming device, and servo-control system is entire machine people's a control maincenter; Robot adopts external shaft control, by external shaft compound action is decomposed, and realization is accurately taken arms and adorned the rifle action; The robot handgrip is an air clamper, adapts to the probe of on-the-spot different-diameter, and the guiding groove type that the robot handgrip itself carries has been corrected the biasing displacement that rifle causes under the barral of a gun, realizes precisely grasping; Travel mechanism has increased the travel distance of robot, away from ladle furnace, effectively reduces the damage of heat radiation to robot when not carrying out the thermometric sampling;
Automatic temperature measurement sampling gun system comprises automatic temperature measurement rifle body, chain type lifting gear, chain type lifting gear V-type location and barral of a gun pneumatic power positioner, chain type lifting gear V-type location and barral of a gun pneumatic power positioner are avoided rocking of rifle body, the lifting of chain type lifting gear control automatic temperature measurement rifle body, the automatic temperature measurement rifle body that probe is installed finally immerses molten steel finishes the thermometric sampling operation; Automatic temperature measurement rifle body uses nitrogen air cooling barral of a gun, has increased barral of a gun serviceable life; The chain type lifting gear is selected driven by servomotor for use, accurately the degree of depth of rifle under the control; The lifting gear amount of swinging has been limited in chain type lifting gear V-type location, makes the loading, unloading rifle of robot accurate; The barral of a gun pneumatic power positioner has reduced the side-play amount of rifle head, has reduced the dress rifle difficulty of robot;
Liquid level detection device adopts the high precision infrared distance sensor, and measured deviation realizes the accurate measurement of liquid steel level at ± 1cm, after system acquisition puts signal in place to ladle, measures liquid steel level automatically, and union goes out rifle distance down, the realization robotization.
2. method that adopts the sampling of the accurate thermometric of the described system of claim 1 molten steel, it is characterized in that, at first utilize liquid level detection device that the liquid steel level height is measured, the storage data, when system receives thermometric sampling instruction, robot gripping's rifle head, by adorning rifle near the travel mechanism arrival barral of a gun, cylinder is shown and is put in place, and the automatic temperature measurement sampling gun is measured according to rifle under the liquid level data of storage, when thermometric or decide to carry when oxygen obtains data result rifle, the cylinder pendulum is got back to the position, and robot ambulation comes to unload rifle, then away from the steel stove, get back to holding state, circulation has finally realized the accurate automatic temperature measurement sampling of robot successively;
Liquid level detects automatically, calculates rifle distance down automatically; Robot plugs thermometric, decides oxygen and sampling probe.
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