CN110146335A - A kind of steelmaking converter fire door automatic temperature measurement sampling method - Google Patents
A kind of steelmaking converter fire door automatic temperature measurement sampling method Download PDFInfo
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- CN110146335A CN110146335A CN201910494774.7A CN201910494774A CN110146335A CN 110146335 A CN110146335 A CN 110146335A CN 201910494774 A CN201910494774 A CN 201910494774A CN 110146335 A CN110146335 A CN 110146335A
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- 238000005070 sampling Methods 0.000 title claims abstract description 150
- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000009529 body temperature measurement Methods 0.000 title claims abstract description 47
- 238000009628 steelmaking Methods 0.000 title claims abstract description 42
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 75
- 239000010959 steel Substances 0.000 claims abstract description 75
- 239000000523 sample Substances 0.000 claims abstract description 69
- 239000002893 slag Substances 0.000 claims abstract description 53
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 238000003780 insertion Methods 0.000 claims abstract description 21
- 230000037431 insertion Effects 0.000 claims abstract description 21
- 230000001681 protective effect Effects 0.000 claims abstract description 11
- 239000000725 suspension Substances 0.000 claims abstract description 7
- 230000005855 radiation Effects 0.000 claims abstract description 5
- 206010020843 Hyperthermia Diseases 0.000 claims abstract 2
- 230000036031 hyperthermia Effects 0.000 claims abstract 2
- 230000008569 process Effects 0.000 claims description 30
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 15
- 239000001301 oxygen Substances 0.000 claims description 15
- 229910052760 oxygen Inorganic materials 0.000 claims description 15
- 239000000463 material Substances 0.000 claims description 12
- 238000001816 cooling Methods 0.000 claims description 10
- 230000005484 gravity Effects 0.000 claims description 10
- 229910001018 Cast iron Inorganic materials 0.000 claims description 8
- 238000003384 imaging method Methods 0.000 claims description 7
- 238000007689 inspection Methods 0.000 claims description 7
- 238000007664 blowing Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 6
- 238000010079 rubber tapping Methods 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 244000144985 peep Species 0.000 claims description 4
- 238000012790 confirmation Methods 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 2
- 229910052751 metal Inorganic materials 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 8
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 22
- 229910052742 iron Inorganic materials 0.000 description 11
- 239000011159 matrix material Substances 0.000 description 10
- 238000003723 Smelting Methods 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 7
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 6
- 229910052799 carbon Inorganic materials 0.000 description 6
- 239000003638 chemical reducing agent Substances 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 4
- 229910000975 Carbon steel Inorganic materials 0.000 description 3
- 241000209140 Triticum Species 0.000 description 3
- 235000021307 Triticum Nutrition 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 239000010962 carbon steel Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
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- 238000005054 agglomeration Methods 0.000 description 2
- 230000002776 aggregation Effects 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
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- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000008733 Citrus aurantifolia Nutrition 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 229910000805 Pig iron Inorganic materials 0.000 description 1
- 241000251131 Sphyrna Species 0.000 description 1
- 241001062472 Stokellia anisodon Species 0.000 description 1
- 235000011941 Tilia x europaea Nutrition 0.000 description 1
- VVTSZOCINPYFDP-UHFFFAOYSA-N [O].[Ar] Chemical compound [O].[Ar] VVTSZOCINPYFDP-UHFFFAOYSA-N 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 238000009491 slugging Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
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- 238000003756 stirring Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0037—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the heat emitted by liquids
- G01J5/004—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the heat emitted by liquids by molten metals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N2001/1031—Sampling from special places
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- Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
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- Hydrology & Water Resources (AREA)
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- Spectroscopy & Molecular Physics (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
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- Investigating And Analyzing Materials By Characteristic Methods (AREA)
- Carbon Steel Or Casting Steel Manufacturing (AREA)
- Waste-Gas Treatment And Other Accessory Devices For Furnaces (AREA)
Abstract
The present invention provides a kind of steelmaking converter fire door automatic temperature measurement sampling method, including moved on Converter in front of the door ground rail running mechanism, be installed on suspension type stokehold fire-screen door and thermometric sampling robots on running mechanism jointly, wherein, thermometric sampling robots constitute complete clinker splash and hyperthermia radiation protective baffle plate in its steel slag splash protection plate of standby position and suspension type stokehold fire-screen door；Robot acquires fire door real-time image information and safeguards that converter provides information for operative employee, and thermometric sampling probe outreach and insertion position can be made decisions on one's own and be controlled to robot acquisition molten steel and clinker location information.The present invention substitutes artificial progress thermometric sampling using robot, is avoided that operative employee is scalded by steel slag splash, and significantly improve job success ratio, is a kind of advanced technology with wide application prospect.
Description
Technical field
The invention belongs to metallurgical technology fields, more particularly, to a kind of steelmaking converter fire door automatic temperature measurement sampling method.
Background technique
Pneumatic steelmaking is that the advanced technologies of high-quality cheap molten steel are mass produced.The steelmaking process of most of converter is divided into five
Step: a) the steel-making material such as molten iron, steel scrap, pig iron is added in converter；B) it is controlled by control oxygen rifle height and uninterrupted
The blowing state of converter processed is added slag making materials by the feed bin of furnace roof and carries out slugging in converting process；C) prediction is whole
Point, is sampled thermometric；D) component controlling processing, molten steel tapping are carried out；E) slag splashing.Current thermometric samples operation
There are artificial thermometric sampling and sublance thermometric to sample two kinds of forms, middle primary converter majority uses manual work, and advanced large and medium-sized
Converter generally uses sublance.The sampling of sublance automatic temperature measurement does not have to the operation of falling furnace, can save the smelting cycle of 2~3min, be one
The advanced technology that kind is widely used.Sublance quickly provides process carbon content and molten steel temperature, is more advantageous to smelting endpoint and reaches
The double hits of carbon temperature, sublance obtains the data such as endpoint carbon content and oxygen activity data and is conducive to smelt high-quality steel, in the production for improving steel
Amount, quality are meanwhile, it is capable to reduce energy consumption and cost.
But converter lesser for fire door, since oxygen rifle insertion position and sublance insertion position cannot be arranged simultaneously, according to
The operation of falling furnace so is needed, artificial thermometric sampling is carried out before Converter.Even the large and medium-sized converter configured with sublance is being smelted
When special steel grade, multiple thermometric sampling operation is generally required, and the special working of a furnace may make the sampling failure of sublance automatic temperature measurement.This
It is because general converting process is divided into Primary period, mid-term and later period, the feature that three phases have its different.In the first of blowing
Phase, for the molten iron temperature poured at 1300 DEG C or so, temperature is lower, and the slag making materials lime of addition gradually dissolves knot easy to form
Block.The middle and later periods reaction between carbon and oxygen that blows is violent, and FeO is reduced in slag when the temperature is excessively high, is easy to generate dystectic 3CaOSiO2Deng,
So that slag getting dry, is precipitated solid-states particle and the big ion group substances such as part CaO, MgO, form when clinker becomes sticky serious big
Block hampers the insertion of auxiliary lance probe.Therefore existing converter production process still inevitably artificial thermometric sampling.
CN108444616A and CN108359767A discloses " a kind of stokehold automatic temperature measurement of steelmaking converter molten steel and sampling
System " and " a kind of the stokehold automatic temperature measurement and/or sampling method of steelmaking converter molten steel ", with extremely complex device and very numerous
Trivial method realizes stokehold automatic temperature measurement and/or the sampling of steelmaking converter molten steel, but that there are many places is unreasonable, such as from assigning
Thermometric sampling instruction is to probe insertion molten steel, which, which needs to carry out 7 movements, to complete, and the robot configured is not
The operation of thermometric sampling is executed, and the effect of NI Vision Builder for Automated Inspection is only to determine thermometric sampling hammerhead in the change of casing dismounting position
Shape amount.Including CN204903227U molten steel automatic temperature measurement sampler, CN206599583U converter automatic temperature measurement sampler,
CN104697813 B converter automatic temperature measurement sampler, CN202830074U tilting sublance driving device,
Molten steel automatic temperature measurement and sampler, the inspection of CN206052067U BOF Steelmaking Endpoint parameter in CN202793645U steelmaking process
It surveys and molten steel gets sample the public technologies such as automatic sending and taking system and telescopic tube assembly of popping one's head in, or be fixedly installed on fixed bracket,
It or with complicated swing mechanism etc., but is some automation equipments having a single function, it can not real-time selection and change survey
The agglomeration in molten steel is avoided in point position, therefore the success rate of automatic temperature measurement sampling is very low.
However, existing thermometric sampling robots use the mechanical arm of multi-joint six degree of freedom, failure rate is higher, up to empty
Between it is insufficient, and be used primarily in the Workplaces such as electric furnace or refining furnace, it is therefore necessary to study and be suitble to the sampling of converter fire door thermometric
New method and intelligentized multi-functional thermometric sampling robots, overcome above-mentioned deficiency.
Summary of the invention
In view of the above deficiencies of the prior art, the purpose of the present invention is to provide a kind of steelmaking converter fire doors to survey automatically
Warm sampling method manually realizes that safe and accurate thermometric samples to molten steel to substitute, reaches intelligence, economy, one-touch automatic steel-making
Purpose.
In order to achieve the above objects and other related objects, technical solution of the present invention is as follows:
A kind of steelmaking converter fire door automatic temperature measurement sampling method is suitable for stokehold thermometric or sampling, including suspension type stokehold
The installations such as fire-screen door, fire door running mechanism, thermometric sampling robots are integrated, and automatic temperature measurement sampler presses following step
Complete a thermometric or sampling period operation:
1) thermometric sampling robots have been mounted on fire door running mechanism, are moved together with fire door to standby position；
2) oxygen rifle is fallen by normal process after converter hot metal charging and steel scrap and close a blowing, until needing to mention when thermometric or sampling
Out after oxygen rifle fall furnace；
3) manually temperature probe paper tube or sampler paper tube are inserted into advance on the plug connector of robot sampling gun, and confirmed
Signal connection is normal；
4) temp.-measuring sampler people rotates temperature-measuring gun guide rail to position is detected, and is directed toward sampling direction；
5) video camera and infrared temperature sensor being installed on temperature-measuring gun are opened；
6) converter body turns to stokehold, and fire door is directed at temperature-measuring gun guide rail direction；
7) camera launches the video image in furnace body rotation process onto the display screen of operating room, sees convenient for operative employee
Examine situations such as checking fire door slagging；
8) temperature changing process in infrared temperature sensor record furnace body rotation process, extracts in conjunction with furnace body rotational angle
Converter shell temperature, fire door skirtboard temperature, top of the slag temperature in furnace, the much informations such as resistance to material temperature in furnace；
9) in designated position, high-temperature laser survey meter measures the altitude information of the molten steel top of the slag, and data are passed for converter stalling
To robot control system；
10) after converter stalling, the image of camera acquisition is determined the best insertion point of probe by machine vision software automatically, and
Data are passed into robot control system；
11) the information rotation temperature-measuring gun guide rail and stretch out temperature-measuring gun that robot control system is inputted according to sensor, will visit
Head insertion molten steel designated depth position, retracts probe after stopping the defined time, and go back to standby position；
12) automatic control system output data, including unsuccessful alarm are made steel from trend after the completion of thermometric sampling process
Signal；
13) used probe paper tube is manually unloaded, the paper tube probe used next time is replaced.
14) fire door is turned to stokehold by grate after converter tapping, while temp.-measuring sampler people rotates temperature-measuring gun guide rail to detection
Converter mouth is directed toward in position, opens laser detector and carries out working of a furnace detection, data are used for fettling and slag splashing.
Above-mentioned converter automatic temperature measurement sampling method is realized using automatic temperature measurement sampler multi-functional before a kind of Converter
, which is to be respectively installed on two sets of fire door running mechanisms detachable and interchangeablely by fire-screen door before two blind roasters by pin shaft,
Fire door running mechanism moves left and right on the track for be embedded in ground, is opened and closed fire-screen door before Converter；Thermometric sampling robots peace
It is installed therein on a fire door running mechanism, positioned at converter mouth position when closing door state.
The thermometric sampling robots are a kind of multifunctional intellectuals of the programmable two-freedom of computer servo control
Device, including temperature-measuring gun rail brackets, temperature-measuring gun moving trolley, temperature-measuring gun barral of a gun and probe connector, can make paper tube probe end
End is moved by defined curvilinear path and speed, and accurately reaches specified position.
Further, the image that the temperature-measuring gun guide rail end of the thermometric sampling robots is equipped with NI Vision Builder for Automated Inspection passes
The temperature-measuring gun guide rail end of sensor, the thermometric sampling robots installs infrared temperature sensor, the thermometric sampling robots
Temperature-measuring gun guide rail end install high temperature resistant laser detector.
Further, the imaging sensor of the thermometric sampling robots, infrared temperature sensor, high temperature resistant laser acquisition
Instrument is installed on water cooling jointly and is gas-cooled in the protective cover of integrated protection.
Further, the thermometric sampling robots are being equipped with steel slag splash protection plate towards converter mouth on one side,
Complete pushing off the slag thermal radiation resistant structure is formed in standby mode and suspension type fire-screen door；The material of the steel slag splash protection plate is
Heat-resisting cast iron is provided with sensor peep hole with the position on converter mouth opposite and paper tube probe stretches out hole.
Further, the thermometric sampling robots limit the rotary area of robot by the block of setting, and with resistance to
Hot-cast iron protective plate is counterweight, it is ensured that rotatable center of gravity at rotation center vertical line towards converter side, guarantee gravity
Torque makes robot return to standby position.
Further, the thermometric sampling robots temperature-measuring gun moving trolley is equipped with the release mechanism of fall arrest.
As described above, the beneficial effects of the present invention are: middle primary converter can make molten steel terminal using this thermometric sampling robots
Carbon content judges more stable, Oxygen Content in Liquid Steel precise control, can quickly provide the data such as endpoint carbon content and oxygen activity, be fast
Speed tapping provides judgment basis, can more accurately carry out deoxidation alloying operation, reduces alloy consumption, improves alloy and receives
Yield is conducive to kind steel smelting, improves yield in high rhythm production process while ensuring steel quality.
The large and medium-sized special steel grade of converter smelting uses this thermometric sampling robots and samples, it can be achieved that repeatedly automating thermometric,
It avoids operative employee from being scalded by the steel slag splash that may occur, while can be inserted on clinker to avoid probe and make operation failure, mention
The success rate of height operation and reliability, the consistency of data.
Using this method, the much information of converter installation can also be obtained, convenient for the failure anticipation of converter installation and equipment
Maintenance.
Detailed description of the invention
Fig. 1 is a kind of steelmaking converter fire door automatic temperature measurement sampling method flow chart provided of the invention；
Fig. 2 is the converter fire door front view for being equipped with thermometric sampling robots；
Fig. 3 is to bessemerize the state present invention to be in standby position schematic diagram；
Fig. 4 is that the converter state of the falling oven-like present invention is in detection position schematic diagram；
Fig. 5 is that the converter state of the falling oven-like present invention is in thermometric sampling work position schematic diagram；
1, fire-screen door, 2, thermometric sampling robots, 3, running mechanism, 4, converter body, 5, paper tube probe, 21, guide rail branch
Frame, 22, temperature-measuring gun moving trolley, 23, temperature-measuring gun barral of a gun, 24, sensor, 25, shield, 26, slag trap, a, b, c are respectively
Probe farthest may insertion point, optimal insertion point and nearest possible insertion point.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book understands further advantage and effect of the invention easily.
Embodiment 1
By taking certain steel mill 180tAOD converter metallurgical production as an example.The AOD converter is used for smelting stainless steel, and steel, slag are mixed out,
15 furnaces of average tapping daily or so.Its process for making needs carry out six thermometric samplings in smelting process, due to initial smelting period
Slag thickness is more than 1m, and existing sublance usually takes less than steel sample, can only complete the sampling of last time thermometric with sublance smelting the later period, preceding
5 times there is a continuing need for manually sample in fire door.However AOD converter blows stirring using argon oxygen in furnace wall is mixed, and steel can occur in turndown
Liquid splash brings obvious harm to artificial thermometric sampling operation, therefore considers from security standpoint and the intelligent angle that promoted, and increases newly
Fire door thermometric sampling robots.Referring to Fig. 1, being a kind of steelmaking converter fire door automatic temperature measurement sampling method stream provided by the invention
Cheng Tu, specific as follows:
1) robot for implementing automatic temperature measurement sampling has been mounted on fire door running mechanism, is moved together with fire door, more function
It can automatic temperature measurement sampler position as shown in Fig. 1；
2) multi-functional automatic temperature measurement sampler position as shown in attached drawing 2, attached drawing 3, converter fall oxygen rifle by normal process
A blowing is closed, until needing to propose that the when of falling furnace, multi-functional automatic temperature measurement sampler will be in attached after oxygen rifle when thermometric or sampling
Position shown in Fig. 4；
3) manually temperature probe paper tube or sampler paper tube are inserted on the sampling gun plug connector of robot, confirmation signal connects
It connects normal；
4) machine temp.-measuring sampler people rotates temperature-measuring gun guide rail, is directed toward sampling direction, position as shown in Fig. 4；
5) camera being installed on temperature-measuring gun and infrared temperature sensor and laser detector are opened；
6) converter body turns to stokehold, and fire door is directed at temperature-measuring gun guide rail direction；
7) camera launches the video image in furnace body rotation process onto the display screen of operating room, sees convenient for operative employee
Examine situations such as checking fire door slagging；
8) temperature changing process in infrared temperature sensor record furnace body rotation process, extracts in conjunction with furnace body rotational angle
Converter shell temperature, fire door skirtboard temperature, top of the slag temperature in furnace, the much informations such as resistance to material temperature in furnace；
9) in designated position, the image of camera acquisition is determined that probe is best automatically by machine vision software and inserted for converter stalling
Access point, and data are passed into robot control system；
10) after converter stalling, high-temperature laser survey meter measures the altitude information of the molten steel top of the slag, and data are passed to robot
Control system；
11) the information rotation temperature-measuring gun guide rail and stretch out temperature-measuring gun to attached drawing that robot control system is inputted according to sensor
Position shown in 5 inserts a probe into molten steel designated depth position, retracts probe after stopping the defined time, and go back to shown in attached drawing 3
Standby position；
12) automatic control system output data, including unsuccessful alarm are made steel from trend after the completion of thermometric sampling process
Signal；
13) used probe paper tube is manually unloaded, the paper tube probe used next time is replaced.
In the present embodiment, manual work can be substituted using multi-functional automatic temperature measurement sampler completely, thus avoid because
Casualty accident occurs for converter splash；For the steelmaking converter that can not configure revolving furnace sublance, the present invention can substitute execution and sublance
The automatic temperature measurement of identical function samples, and can intelligently choose probe insertion point, ensure automatic temperature measurement sampling success rate and
The consistency of measuring point depth；Steelmaking model realization automatic Steelmaking is avoided interfering because of thermometric sampled data quality problems and be refined
The validity and reliability of steel model.So that except addition molten iron, steel scrap and removing fire door slag and fettling in convertor steelmaking process
Maintenance is outer, and all processes, which are realized, closes wheat operation, improves the safety of converter producing.
In the process of above-mentioned implementation, referring to Fig. 2, multi-functional automatic temperature measurement sampler includes: to be installed on AOD furnace
Thermometric sampling robots on door running mechanism: fire-screen door, which is respectively hung, before 2 sets of AOD furnaces is mounted on 2 sets of fire door running mechanisms,
Wherein a set of running mechanism is equipped with thermometric sampling robots by fire door side, and corresponding fire-screen door is provided with for robot disengaging
Notch, when robot is in standby position, the position of steel slag splash protection plate of the robot towards converter mouth one side installation and shape
Shape is consistent with fire-screen door, plays closing buffer action.Thermometric sampling robots of the invention are a kind of programmable, intelligents of 2DOF
Device, including rotatable temperature-measuring gun rail brackets, linear movement temperature-measuring gun trolley, be fixed with probe connector temperature-measuring gun
The components such as barral of a gun can be such that paper tube probe end moves by defined curvilinear path and speed, and reach specified exact position.
Specifically, thermometric sampling robots include rail brackets 21, temperature-measuring gun moving trolley 22, temperature-measuring gun barral of a gun 23, visit
Head connector and driving device (not shown go out), the rail brackets are set on running mechanism the activity that is freely rotatable, described
Temperature-measuring gun moving trolley is installed on the rail brackets, and the temperature-measuring gun barral of a gun is installed in temperature-measuring gun moving trolley, described
Probe connector is installed on the sampling of temperature-measuring gun barral of a gun thermometric, driving device driving rail brackets, temperature-measuring gun moving trolley and
Temperature-measuring gun barral of a gun is intended to move to the paper tube probe end popped one's head on connector by preset plane curve track and speed
Designated position thermometric or sampling.
Wherein, dedicated for insertion thermometric or the paper tube of sampling probe 5, the driving device includes at least probe connector
First servo motor and the second servo motor, first servo motor connect the first speed reducer, drive guide rail by the first speed reducer
Holder pivots realize the tilt angle to move up and down so as to adjust rail brackets, and the second motor connects the second speed reducer, by the
Two speed reducers drive moving trolley to advance on rail brackets, retreat, stop, for example, controlling first motor by control signal
With the first speed reducer and the second motor and the second speed reducer, is moved and driven on temperature-measuring gun barral of a gun by temperature-measuring gun moving trolley
Paper tube probe stretches, to realize thermometric or/and sampling on converter liquid level.
In some embodiments, rail brackets 21 and temperature-measuring gun barral of a gun 23 are controlled by control system, and temperature-measuring gun moves
Dynamic trolley 22 is movably installed on rail brackets, and the angle-controlled system of the activity rotation of rail brackets instructs control；Temperature-measuring gun
Barral of a gun is movably connected in moving trolley, and thermometric or sampling are realized in the forward and backward sliding on rail brackets of temperature-measuring gun moving trolley
Paper tube probe it is elastic, by two-freedom rotary moveable make paper tube probe by preset curvilinear path and pre-set velocity
Movement reaches designated position and carries out thermometric or sampling, and the thermometric sampling robots in the present embodiment are closed relative to air pressure using more
The mechanical arm of six degree of freedom is saved, failure rate is lower, and occupied space is less, and it is at low cost, it is convenient for safeguarding.
In some embodiments, the temperature-measuring gun guide rail end of the thermometric sampling robots is equipped with NI Vision Builder for Automated Inspection
Imaging sensor, the temperature-measuring gun guide rail end of the thermometric sampling robots install infrared temperature sensor, the thermometric sampling
The temperature-measuring gun guide rail end of robot installs high temperature resistant laser detector (range sensor).
In the present embodiment, each sensor 24 is preferably mounted at rail brackets end, that is, close to the position of converter mouth
It sets, convenient for data in acquisition converter, can be collected by imaging sensor and turn molten steel in the stove image；Pass through (infrared) temperature sensing
Device collects temperature information in converter, extracts converter shell temperature, fire door skirtboard temperature, slag in furnace in conjunction with converter rotational angle
The much informations such as resistance to material temperature in face temperature, furnace；The altitude information (information) of the molten steel top of the slag is acquired by laser detector.
Thermometric sampling robots are controlled by control system, and control system passes through the image information of acquisition, temperature information and height
It spends information and generates control instruction, control thermometric sampling robots in desired guiding trajectory curve, predetermined movement speed and reach designated position
Thermometric or sampling are carried out, as shown in figure 5, at least temperature measuring point or sample point include a, probe insertion farthest point, b, probe insertion are most
Advantage, c, probe insertion closest approach, realizes accurate fast sampling or thermometric.
Specifically, control system is according to the image information in converter；The inactive area in described image information is removed, is obtained
Area-of-interest；The area-of-interest is pre-processed, top slag location information is obtained；It is surveyed according to top slag positional information calculation
The range coverage of warm sampling probe, and the range coverage is divided into several subregions；Calculate the top slag in each subregion
Area accounting；According to top top of the slag product accounting, the optimum measuring point of thermometric sampling is obtained.
In the present embodiment, steel ladle or molten iron package location in image are identified by border circular areas detection, and extracted
Image information inside the position removes the inactive area outside the position as ROI region.By the ROI region of image
Grayscale image is converted to, and the grayscale image is indicated by the gray matrix that m row m is arranged, then the gray matrix is converted into boolean's square
Battle array obtains the location information that slag is pushed up in steel ladle or ladle according to the Boolean matrix.By the way that a gray value threshold value is arranged
Threshold obtains a m by the gray value in gray matrix compared with gray threshold Threshold carries out numerical values recited
The Boolean matrix of row m column extracts the location information of molten steel or molten iron surface top slag according to the numeric state in Boolean matrix.
When the numerical value in Boolean matrix is 0, then illustrate that the position is the position that slag is pushed up on surface；When the numerical value in Boolean matrix is 1,
Then illustrate that the position is the position of molten steel or molten iron.
In this example, for the corresponding Boolean matrix of each lattice, the number that numerical value is 0 in the Boolean matrix is calculated
The accounting of amount, the accounting value are the area accounting of molten steel or molten iron top slag in the small square area.Set an area accounting threshold
Value area_threshold；Compare the area accounting value and area_ of the molten steel or molten iron top slag in each small square area
The size relation of threshold；Lattice of the area accounting value less than area_threshold can be considered as ideal thermometric and take
Sampling point can get the probe insertion optimum point of thermometric or/and sampling through the above way.
The control system generates new desired guiding trajectory according to the location information optimization desired guiding trajectory of probe insertion optimum point,
The control system control thermometric sampling robots are moved by corresponding speed according to new desired guiding trajectory and carry out thermometric or/and take
Sample, can be around slag be pushed up, to improve the accuracy rate of thermometric or/and sampling in converter.
In the present embodiment, since thermometric sampling robots 2 are equipped with sensor 24, image in converter can be collected and believed
Breath, temperature information and elevation information generate control signal control thermometric sampling robots thermometric by the information of feedback or/and take
Sample.On the one hand, collection process is accurately controlled, avoids thermometric in collection process, sampling is encountered the agglomeration in molten steel and caused
Operation error, improve the safety coefficient of acquisition, shorten smelting cycle；On the other hand, it is entirely avoided the ginseng of manual operation
With, reach the purpose of one-touch steel-making, improve thermometric sampling intelligence degree.
Specifically, the imaging sensor of the thermometric sampling robots, infrared temperature sensor, range sensor (resistance to height
Warm laser detector) it is installed on water cooling jointly and is gas-cooled in the protective cover of integrated protection.
In the present embodiment, it is equipped with two kinds of cooling methods of water cooling and air cooling in the shield 25, reduces the temperature in shield
Degree avoids sensor biggish because of the lost of life caused by high temperature or parameter acquisition error to ensure each normal operation of sensor
Phenomenon improves accurate initial parameter for control system.
Specifically, the thermometric sampling robots integral assembling is in the lightweight protective cover that high temperature-proof radiates, with Converter
The position on mouth opposite is provided with sensor peep hole and paper tube probe stretches out hole.
In the present embodiment, by the stretching hole opened up only need sensor externally observe and the probe of thermometric sampling mechanism into
Row is flexible, it is ensured that thermometric sampling mechanism works normally, and is not in the lost of life caused by hot environment or parameter error
Phenomena such as, meanwhile, achieve the purpose that prevent thermometric sampling mechanism by molten steel splash.
In the present embodiment, the thermometric sampling robots are being equipped with steel slag splash protection plate towards converter mouth on one side
(slag trap 26) plays the role of closing isolation；Shape, the size of the protective plate are consistent with fire-screen door with installation site,
The material of the steel slag splash protection plate is heat-resisting cast iron, plays the purpose that protection with cooling are realized in closing isolation.
In the present embodiment, the thermometric sampling robots limit the rotary area of robot by the block of setting, and
Using heat-resisting cast iron plate as counterweight, it is ensured that rotatable center of gravity at rotation center vertical line towards converter side, guarantee gravity
Torque makes robot return to standby position.
In the present embodiment, using rotation (rotation) angle of rail brackets in block limitation thermometric sampling mechanism, meanwhile,
Using the weight of protective plate as counterweight, it is ensured that the rotatable center of thermometric sampling mechanism be in vertical line towards converter one
Side promotes thermometric sampling mechanism to return to position of readiness according to gravity torque, realizes the operative orientation of thermometric sampling mechanism court always
To converter fire door.
Specifically, the thermometric sampling robots temperature-measuring gun moving trolley is equipped with the release mechanism of fall arrest, for example, adopting
Take limited block as release mechanism.
In the present embodiment, the release mechanism includes two limited blocks being arranged on rail brackets, it is ensured that movement is small
Vehicle is docked to position of readiness, detecting location (or, thermometric sampling work position) respectively, it is ensured that moving trolley can be normally in guide rail
It normally slides, is not slid from the both ends of rail brackets on bracket.
Fig. 3 to Fig. 5 is please referred to, respectively automatic temperature measurement sampler is in position of readiness, detecting location, thermometric sampling work
The working state figure of position, specific as follows:
When automatic temperature measurement sampler is in position of readiness, due to temperature-measuring gun moving trolley on rail brackets in
Seat in the plane is set, and rail brackets front end is arranged in each sensor, is not also started to work；
When automatic temperature measurement sampler is in detecting location, rail brackets are directed at converter mouth rotational angle, Ge Gechuan
Sensor start-up operation acquisition parameter information, and temperature-measuring gun moving trolley is also at position of readiness, does not work；
When automatic temperature measurement sampler is in thermometric sampling work position, each sensor is constantly in working condition,
And rail brackets alignment converter mouth rotation, temperature-measuring gun moving trolley are moved forward along rail brackets until being moved to guide rail branch
Spacing place stop motion on frame, and under the action of temperature-measuring gun barral of a gun is set in temperature-measuring gun moving trolley due to gravity traction, from
Protective plate is sequentially passed through in shield, the stretching hole of fire-screen door is extend into converter, pass through control system control thermometric sampler
Device people movement, so that the paper tube probe installed on probe connector moves to specified essence by pre-programmed curve track and pre-set velocity
True position carries out thermometric or sampling.
For example, manual work can be substituted completely using above-mentioned thermometric sampler, to avoid hurting because of converter splash
Die accident；For the steelmaking converter that can not configure revolving furnace sublance, the present invention can substitute the automatic of execution and sublance identical function
Thermometric sampling, and probe insertion point can be intelligently chosen, ensure that the success rate of automatic temperature measurement sampling is consistent with measuring point depth
Property；Steelmaking model realization automatic Steelmaking avoids interfering the validity of steelmaking model because of thermometric sampled data quality problems
And reliability.So that in convertor steelmaking process, in addition to molten iron, steel scrap is added and removes fire door slag and furnace maintenance, whole mistakes
Wheat operation is closed in Cheng Jun realization, improves the safety of converter producing.
So no matter in existing STEELMAKING PRODUCTION process, or in the advanced of the intelligence manufacture being vigorously developed at present
In technology, present invention substitution manually realizes that safe and accurate thermometric samples to molten steel, reaches intelligence, economy, one-touch automatic refining
Steel has broad application prospects.
Embodiment 2
Certain steel mill 100t carbon steel converter does not configure revolving furnace sublance equipment, every heat thermometric and sampling since fire door is smaller
Grate is both needed to stokehold position, by manually carrying out thermometric sampling operation, faces the danger of molten steel splash often.Using of the invention automatic
Thermometric sampling method replaces manual work, executes operation in the steps below:
1) thermometric sampling robots have been mounted in the fire-screen door of self-propelled stokehold, are moved together with fire door；
2) converter falls oxygen rifle by normal process and closes blowing, until falling furnace after needing to propose oxygen rifle when thermometric or sampling；
3) manually temperature probe paper tube or sampler paper tube are inserted on the sampling gun plug connector of robot, confirmation signal connects
It connects normal；
4) machine temp.-measuring sampler people rotates temperature-measuring gun guide rail, is directed toward sampling direction；
5) camera being installed on temperature-measuring gun and infrared temperature sensor and laser detector are opened；
6) converter body turns to stokehold, and fire door is directed at temperature-measuring gun guide rail direction；
7) camera launches the video image in furnace body rotation process onto the display screen of operating room, sees convenient for operative employee
Examine situations such as checking fire door slagging；
8) temperature changing process in infrared temperature sensor record furnace body rotation process, extracts in conjunction with furnace body rotational angle
Converter shell temperature, fire door skirtboard temperature, top of the slag temperature in furnace, the much informations such as resistance to material temperature in furnace；
9) in designated position, the image of camera acquisition is determined that probe is best automatically by machine vision software and inserted for converter stalling
Access point, and data are passed into robot control system；
10) after converter stalling, high-temperature laser survey meter measures the altitude information of the molten steel top of the slag, and data are passed to robot
Control system；
11) the information rotation temperature-measuring gun guide rail and stretch out temperature-measuring gun that robot control system is inputted according to sensor, will visit
Head insertion molten steel designated depth position, retracts probe after stopping the defined time, and go back to standby position；
12) automatic control system output data, including unsuccessful alarm are made steel from trend after the completion of thermometric sampling process
Signal；
13) used probe paper tube is manually unloaded, the paper tube probe used next time is replaced.
14) fire door is turned to stokehold by grate after converter tapping, while temp.-measuring sampler people rotates temperature-measuring gun guide rail and is directed toward and turns
Furnace fire door opens laser detector and carries out working of a furnace detection, and data are used for fettling and slag splashing.
The multi-function device for implementing above-mentioned process is mounted in the carbon steel converter from walking stokehold fire-screen door device
Thermometric sampling robots: left and right two sets from walking stokehold fire-screen door devices carbon steel converter be added molten iron and addition steel scrap when open
It opens, is closed when oxygen blast is smelted.It is wherein a set of that thermometric sampling machine is installed by fire door side from walking stokehold fire-screen door device
People, corresponding fire-screen door are provided with the notch for robot disengaging, and when robot is in standby position, robot is towards converter mouth one
The position of the steel slag splash protection plate of face installation is consistent with shape with fire-screen door, plays closing buffer action.Thermometric of the invention takes
Sample robot is a kind of programmable, intelligent devices of 2DOF, including temperature-measuring gun rail brackets, temperature-measuring gun moving trolley, thermometric
Rifle barral of a gun, the probe components such as connector, move paper tube probe end by defined curvilinear path and speed, and reach specified
Exact position.
Specifically, the temperature-measuring gun guide rail end of the thermometric sampling robots is equipped with the image sensing of NI Vision Builder for Automated Inspection
The temperature-measuring gun guide rail end of device, the thermometric sampling robots installs infrared temperature sensor, the thermometric sampling robots
Temperature-measuring gun guide rail end installs high temperature resistant laser detector.
Specifically, the imaging sensor of the thermometric sampling robots, temperature sensor, range sensor have water cooling and
The comprehensive shield of air cooling.
Specifically, the thermometric sampling robots are being equipped with steel slag splash protection plate towards converter mouth on one side,
Standby mode and suspension type fire-screen door form complete pushing off the slag thermal radiation resistant structure；The material of the steel slag splash protection plate is resistance to
Hot-cast iron is provided with sensor peep hole with the position on converter mouth opposite and paper tube probe stretches out hole.
Specifically, the thermometric sampling robots limit the rotary area of robot by the block of setting, and with heat-resisting
Cast iron plate is counterweight, it is ensured that rotatable center of gravity at rotation center vertical line towards converter side, guarantee that gravity torque makes
Robot returns to standby position.
Specifically the thermometric sampling robots temperature-measuring gun moving trolley is equipped with the release mechanism of fall arrest.
Since embodiment 2 is identical as thermometric sampler used in embodiment 1, corresponding technical detail and technology are imitated
Fruit does not trace one by one herein referring to embodiment 1.
Converter fire door automatic temperature measurement sampling method of the present invention and Installation practice achieve following effect:
1) manual work is substituted, avoids that casualty accident occurs because of converter splash, and significantly improve job success ratio.
2) steelmaking converter that can not configure revolving furnace sublance, can substitute execution and the automatic temperature measurement of sublance identical function takes
Sample, and probe insertion point can be intelligently chosen, ensure the success rate of automatic temperature measurement sampling and the consistency of measuring point depth.
3) Steelmaking model realization automatic Steelmaking avoids interfering steelmaking model because of thermometric sampled data quality problems
Validity and reliability.
4) make in convertor steelmaking process, in addition to molten iron, steel scrap is added and removes fire door slag and furnace maintenance, whole mistakes
Wheat operation is closed in Cheng Jun realization, improves the safety of converter producing.
So no matter in existing STEELMAKING PRODUCTION process, or in the advanced of the intelligence manufacture being vigorously developed at present
In technology, present invention substitution manually realizes that safe and accurate thermometric samples to molten steel, reaches intelligence, economy, one-touch automatic refining
Steel has broad application prospects.
Any person skilled in the art all without departing from the spirit and scope of the present invention, carries out above-described embodiment
Modifications and changes.Therefore, such as those of ordinary skill in the art without departing from disclosed spirit with
All equivalent modifications completed under technical idea or change should be covered by the claims of the present invention.
Claims (8)
1. a kind of steelmaking converter fire door automatic temperature measurement sampling method is suitable for stokehold thermometric or sampling, it is characterised in that: include:
Thermometric or sampling are carried out in converter using multi-functional automatic temperature measurement sampler；Wherein, the multi-functional automatic temperature measurement
Sampler includes the suspension type stokehold fire-screen door being installed on fire door running mechanism and thermometric sampling robots, and the thermometric takes
The steel slag splash protection plate of sample robot constitutes complete clinker splash and hyperthermia radiation protective baffle plate in standby position and fire-screen door,
The multi-functional automatic temperature measurement sampler completes a thermometric or sampling period operation by following step:
1) thermometric sampling robots have been mounted on fire door running mechanism, are moved together with fire door to standby position；
2) oxygen rifle is fallen by normal process after converter hot metal charging and steel scrap and close a blowing, until needing to propose oxygen when thermometric or sampling
After rifle fall furnace；
3) manually temperature probe paper tube or sampler paper tube are inserted into advance on the plug connector of robot sampling gun, and confirmation signal
Connection is normal；
4) temp.-measuring sampler people rotates temperature-measuring gun guide rail to position is detected, and is directed toward sampling direction；
5) camera and infrared temperature sensor being installed on temperature-measuring gun are opened；
6) converter body turns to stokehold, and fire door is directed at temperature-measuring gun guide rail direction；
7) camera launches the video image in furnace body rotation process onto the display screen of operating room, observes inspection convenient for operative employee
Look into fire door slagging situation；
8) temperature changing process in infrared temperature sensor record furnace body rotation process, extracts converter in conjunction with furnace body rotational angle
Casing temperature, fire door skirtboard temperature, resistance to material temperature in top of the slag temperature and furnace in furnace；
9) when converter stalling measures the altitude information of the molten steel top of the slag using high temperature resistant laser detector at designated position, and will
Data pass to robot control system；
10) after converter stalling, the image of camera acquisition is determined the best insertion point of probe by machine vision software automatically, and will be counted
According to passing to robot control system；
11) the information rotation temperature-measuring gun guide rail and stretch out temperature-measuring gun that robot control system is inputted according to sensor, probe is inserted
Enter molten steel designated depth position, retracts probe after stopping the defined time, and go back to standby position；
12) automatic control system output data, including unsuccessful alarm signal are made steel from trend after the completion of thermometric sampling process；
13) used probe paper tube is manually unloaded, the paper tube probe used next time is replaced；
14) converter tapping, slag tap after grate, fire door is turned into stokehold, while temp.-measuring sampler people rotates temperature-measuring gun guide rail extremely
Position is detected, converter mouth is directed toward, laser detector is opened and carries out working of a furnace detection, data are used for fettling and slag splashing.
2. a kind of steelmaking converter fire door automatic temperature measurement sampling method according to claim 1, it is characterised in that: described in two sets
Stokehold fire-screen door is installed on two sets of fire door running mechanisms detachable and interchangeablely by pin shaft, and fire door running mechanism is being embedded in ground
It is moved left and right on the track in face, is opened and closed fire-screen door before Converter, the thermometric sampling robots are installed therein a fire door and walk
In row mechanism, positioned at converter mouth position when closing door state.
3. a kind of steelmaking converter fire door automatic temperature measurement sampling method according to claim 1, it is characterised in that: the thermometric
Sampling robots are a kind of Multifunctional intelligent devices of the programmable two-freedom of computer servo control, including temperature-measuring gun is led
Rail bracket, temperature-measuring gun moving trolley, temperature-measuring gun barral of a gun and probe connector, can make paper tube probe end by defined curvilinear path
It is moved with speed, and reaches specified exact position.
4. a kind of steelmaking converter fire door automatic temperature measurement sampling method according to claim 3, it is characterised in that: the thermometric
The temperature-measuring gun guide rail end of sampling robots be separately installed with the imaging sensor of NI Vision Builder for Automated Inspection, infrared temperature sensor and
High temperature resistant laser detector.
5. a kind of steelmaking converter fire door automatic temperature measurement sampling method according to claim 3, it is characterised in that: the thermometric
Imaging sensor, infrared temperature sensor, the high temperature resistant laser detector of sampling robots have been installed on water cooling and air cooling jointly
In the protective cover of integrated protection.
6. a kind of steelmaking converter fire door automatic temperature measurement sampling method according to claim 3, it is characterised in that: the thermometric
Sampling robots are being equipped with steel slag splash protection plate towards converter mouth on one side, in standby mode and suspension type fire-screen door group
At complete pushing off the slag thermal radiation resistant structure；The material of the steel slag splash protection plate is heat-resisting cast iron, with converter mouth opposite
Position is provided with sensor peep hole and paper tube probe stretches out hole.
7. a kind of steelmaking converter fire door automatic temperature measurement sampling method according to claim 3, it is characterised in that: the thermometric
Sampling robots limit the rotary area of robot by the block of setting, and using heat-resisting cast iron protective plate as counterweight, it is ensured that can
The center of gravity of rotation at rotation center vertical line towards converter side, guarantee that gravity torque makes robot return to standby position.
8. a kind of steelmaking converter fire door automatic temperature measurement sampling method according to claim 3, it is characterised in that: the thermometric
Sampling robots temperature-measuring gun moving trolley is equipped with the release mechanism of fall arrest.
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| CN114317879A (en) * | 2022-01-26 | 2022-04-12 | 南京钢铁股份有限公司 | Method for controlling mouth-melting oxygen lance |
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| CN114593702B (en) * | 2022-02-23 | 2023-08-01 | 本钢板材股份有限公司 | Refining RH slag thickness measuring method based on admittance model |
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