CN110146335B - Automatic temperature measurement sampling method for steelmaking converter door - Google Patents
Automatic temperature measurement sampling method for steelmaking converter door Download PDFInfo
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- CN110146335B CN110146335B CN201910494774.7A CN201910494774A CN110146335B CN 110146335 B CN110146335 B CN 110146335B CN 201910494774 A CN201910494774 A CN 201910494774A CN 110146335 B CN110146335 B CN 110146335B
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- 238000005070 sampling Methods 0.000 title claims abstract description 186
- 238000009529 body temperature measurement Methods 0.000 title claims abstract description 152
- 238000000034 method Methods 0.000 title claims abstract description 59
- 238000009628 steelmaking Methods 0.000 title claims description 44
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 73
- 239000000523 sample Substances 0.000 claims abstract description 73
- 239000010959 steel Substances 0.000 claims abstract description 73
- 239000002893 slag Substances 0.000 claims abstract description 54
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 230000008569 process Effects 0.000 claims description 32
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 24
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 14
- 238000003780 insertion Methods 0.000 claims description 14
- 230000037431 insertion Effects 0.000 claims description 14
- 239000001301 oxygen Substances 0.000 claims description 14
- 229910052760 oxygen Inorganic materials 0.000 claims description 14
- 238000007664 blowing Methods 0.000 claims description 13
- 238000001816 cooling Methods 0.000 claims description 12
- 229910052742 iron Inorganic materials 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 10
- 230000005484 gravity Effects 0.000 claims description 10
- 229910001018 Cast iron Inorganic materials 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 6
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- 239000000725 suspension Substances 0.000 claims description 2
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- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000003723 Smelting Methods 0.000 description 11
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- 229910052799 carbon Inorganic materials 0.000 description 4
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- 235000021307 Triticum Nutrition 0.000 description 3
- 239000010962 carbon steel Substances 0.000 description 3
- 239000000463 material Substances 0.000 description 3
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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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- Spectroscopy & Molecular Physics (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Carbon Steel Or Casting Steel Manufacturing (AREA)
- Investigating And Analyzing Materials By Characteristic Methods (AREA)
- Waste-Gas Treatment And Other Accessory Devices For Furnaces (AREA)
Abstract
The invention provides an automatic temperature measurement sampling method for a steel converter door, which comprises a traveling mechanism, a suspended type furnace front fire door and a temperature measurement sampling robot, wherein the traveling mechanism moves on a ground track in front of the converter door, and the suspended type furnace front fire door and the temperature measurement sampling robot are jointly installed on the traveling mechanism; the robot collects real-time image information of a furnace mouth to provide information for an operator to maintain the converter, and the robot collects position information of molten steel and slag blocks and can independently decide and control the extending distance and the inserting position of the temperature measuring and sampling probe. The invention uses the robot to replace manual work for temperature measurement and sampling, can avoid the operator from being splashed and scalded by the steel slag, obviously improves the success rate of operation, and is an advanced technology with wide application prospect.
Description
Technical Field
The invention belongs to the technical field of metallurgy, and particularly relates to an automatic temperature measurement sampling method for a steel converter door.
Background
Converter steelmaking is an advanced process for producing high-quality and cheap molten steel on a large scale. Most of the steelmaking process of the converter is divided into five steps: a) adding steel-making materials such as molten iron, scrap steel, pig iron and the like into a converter; b) controlling the blowing state of the converter by controlling the height and the flow of the oxygen lance, and adding a slagging material into a bin at the top of the converter and carrying out slagging in the blowing process; c) predicting the end point, and sampling and measuring the temperature; d) deoxidizing and alloying, and tapping molten steel; e) and (5) slag splashing and furnace protection. The existing temperature measurement sampling operation has two modes of manual temperature measurement sampling and sublance temperature measurement sampling, most of medium and small converters adopt manual operation, and advanced large and medium converters generally adopt sublance. The automatic temperature measurement and sampling of the sublance does not need the operation of turning over the furnace, can save the smelting period of 2-3 min, and is an advanced technology widely applied. The sublance can rapidly provide the carbon content and the molten steel temperature in the process, and is more favorable for the smelting end point to reach the carbon-temperature double hit, the sublance can obtain the data such as the end point carbon content, the oxygen activity data and the like, and is favorable for smelting high-quality steel, and the energy consumption and the cost can be reduced while the yield and the quality of the steel are improved.
However, for a converter with a smaller converter mouth, because the insertion positions of the oxygen lance and the auxiliary lance cannot be arranged at the same time, the converter still needs to be turned over, and manual temperature measurement sampling is carried out in front of the converter. Even when a large and medium-sized converter provided with a sublance is used for smelting special steel grades, the temperature measurement sampling operation is often required for multiple times, and the automatic temperature measurement sampling of the sublance can fail under special furnace conditions. This is because the blowing process is generally divided into a blowing early stage, a blowing middle stage and a blowing late stage, and the three stages have different characteristics. In the initial stage of blowing, the temperature of the poured molten iron is about 1300 ℃, the temperature is low, and the added slagging material lime is gradually dissolved to easily form lumps. The carbon-oxygen reaction in the middle and later stages of the blowing is violent, FeO in the slag is reduced when the temperature is too high, and 3CaO & SiO with high melting point is easily generated2And the slag is dried back, partial solid particles such as CaO and MgO and large ion group substances are separated out, and the slag is agglomerated into large blocks when the slag becomes seriously sticky, so that the insertion of a sublance probe is prevented. Therefore, the existing converter production process still has difficulty in avoiding manual temperature measurement and sampling.
CN108444616A and CN108359767A disclose "a system for automatically measuring and sampling the temperature in front of a furnace of molten steel in a steel converter" and "a method for automatically measuring and/or sampling the temperature in front of the molten steel in a steel converter", which are very complicated devices and very complicated methods to achieve automatic temperature measurement and/or sampling in front of the molten steel in a steel converter, but there are many unreasonable places, for example, from issuing a temperature measurement sampling instruction to inserting a probe into the molten steel, the device needs to perform 7 actions to complete, the configured robot does not perform the operation of temperature measurement sampling, and the function of the machine vision system is only to determine the deformation of the temperature measurement sampling gun head at the sleeve mounting and dismounting position. The automatic temperature measuring and sampling device comprises a CN204903227U molten steel automatic temperature measuring and sampling device, a CN206599583U molten steel furnace automatic temperature measuring and sampling device, a CN104697813B molten steel furnace automatic temperature measuring and sampling device, a CN202830074U inclined type sublance driving device, a molten steel automatic temperature measuring and sampling device in a CN202793645U steel making process, a CN206052067U converter steel making end point parameter detection and molten steel sample extraction probe automatic sending system, a telescopic pipe assembly and other disclosed technologies, or the automatic temperature measuring and sampling device is fixedly arranged on a fixed support, or is provided with a complex rotating mechanism and the like, but all the automatic temperature measuring and sampling devices have single functions, can not select and change the position of a measuring point in real time, and avoid agglomeration in the molten steel, so the success rate of automatic temperature measuring and sampling is very low.
However, the existing temperature measuring and sampling robot adopts a multi-joint six-degree-of-freedom mechanical arm, has a high failure rate and insufficient reachable space, and is mainly used in production places such as an electric furnace or a refining furnace, so that a new method suitable for temperature measurement and sampling of a converter door and an intelligent multifunctional temperature measuring and sampling robot need to be researched to overcome the defects.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide an automatic temperature measurement sampling method for a steelmaking converter door, so as to replace manual operation to realize safe and accurate temperature measurement sampling of molten steel and achieve the purpose of intelligent, economic and one-key automatic steelmaking.
In order to achieve the above objects and other related objects, the technical solution of the present invention is as follows:
the automatic temperature measuring and sampling method for the furnace door of the steel-making converter is suitable for the furnace front temperature measurement or sampling, and comprises a suspension type furnace front fire door, a furnace door walking mechanism, a temperature measuring and sampling robot and the like which are integrally installed, wherein the automatic temperature measuring and sampling device completes one temperature measuring or sampling period operation according to the following steps:
1) the temperature measuring and sampling robot is installed on the furnace door walking mechanism and moves to a standby position along with the furnace door;
2) after adding molten iron and waste steel into the converter, lowering the oxygen lance to close the door for blowing according to a normal process until the temperature is measured or the sampling is needed, and pouring the converter after the oxygen lance is taken out;
3) manually pre-inserting a temperature measuring probe or a paper tube of a sampler onto a plug connector of a sampling gun of the robot, and confirming that the signal connection is normal;
4) the temperature measurement sampler rotates the temperature measurement gun guide rail to a detection position and points to the sampling direction;
5) starting a video camera and an infrared temperature sensor which are arranged on a temperature measuring gun;
6) the converter body is turned to the front of the converter, and the furnace mouth is aligned to the guide rail direction of the temperature measuring gun;
7) the camera puts the video image of the furnace body in the rotating process on the display screen of the operation room, so that an operator can observe and check the conditions of furnace mouth slagging and the like conveniently;
8) the infrared temperature sensor records the temperature change process in the rotation process of the furnace body, and extracts various information such as the furnace shell temperature of the converter, the temperature of the apron board of the furnace mouth, the temperature of the slag surface in the converter, the temperature of refractory materials in the converter and the like by combining the rotation angle of the furnace body;
9) stopping the converter at a specified position, measuring height data of a molten steel slag surface by a high-temperature laser detector, and transmitting the data to a robot control system;
10) after the converter stops rotating, the image acquired by the camera automatically judges the optimal insertion point of the probe by machine vision software, and transmits data to a robot control system;
11) the robot control system rotates the guide rail of the temperature measuring gun and extends out of the temperature measuring gun according to information input by the sensor, inserts the probe into a position with a specified depth of molten steel, retracts the probe after staying for a specified time, and returns to a standby position;
12) after the temperature measurement sampling process is finished, data including unsuccessful alarm signals are automatically output to the steelmaking automatic control system;
13) the used probe is manually removed and replaced with the next probe.
14) And (3) rocking the converter after tapping of the converter, turning the converter mouth to the front of the converter, rotating the temperature measuring gun guide rail to a detection position by the temperature measuring sampler person, pointing to the converter mouth, starting the laser detector to detect the furnace condition, and using the data for repairing the converter and protecting the converter by splashing slag.
The automatic temperature measurement sampling method of the converter is realized by adopting a multifunctional automatic temperature measurement sampling device in front of the converter, and the device is characterized in that two sets of furnace front fire doors are detachably and replaceably arranged on two sets of furnace door walking mechanisms respectively through pin shafts, the furnace door walking mechanisms move left and right on a track buried in the ground, and the furnace front fire doors of the converter are opened and closed; the temperature measuring and sampling robot is arranged on one of the furnace door walking mechanisms and is positioned at the position of a converter mouth in a closed state.
The temperature measurement sampling robot is a programmable two-degree-of-freedom multifunctional intelligent device controlled by a computer servo, and comprises a temperature measurement gun guide rail bracket, a temperature measurement gun moving trolley, a temperature measurement gun rod and a probe connector, wherein the tail end of a probe can move according to a specified curve track and speed and can accurately reach an appointed position.
Further, an image sensor of a machine vision system is installed at the tail end of a temperature measuring gun guide rail of the temperature measuring and sampling robot, an infrared temperature sensor is installed at the tail end of the temperature measuring gun guide rail of the temperature measuring and sampling robot, and a high-temperature-resistant laser detector is installed at the tail end of the temperature measuring gun guide rail of the temperature measuring and sampling robot.
Furthermore, an image sensor, an infrared temperature sensor and a high-temperature-resistant laser detector of the temperature measurement sampling robot are jointly installed in a protective cover with water cooling and air cooling comprehensive protection.
Furthermore, a steel slag splashing protection plate is arranged on one surface of the temperature measuring and sampling robot facing the converter mouth, and the temperature measuring and sampling robot and a suspended fire door form a complete slag stopping and heat radiation preventing structure in a standby state; the steel slag splashing protection plate is made of heat-resistant cast iron, and a sensor observation hole and a probe extending hole are formed in the position opposite to the converter mouth.
Furthermore, the temperature measurement sampling robot limits the rotation area of the robot through the arranged stop blocks, and takes the heat-resistant cast iron protection plate as a balance weight, so that the rotatable center of gravity is ensured to be perpendicular to the side, facing the converter, of the rotation center, and the gravity moment is ensured to enable the robot to return to the standby position.
Furthermore, a falling-prevention safety mechanism is arranged on the temperature measuring gun moving trolley of the temperature measuring and sampling robot.
As mentioned above, the beneficial effects of the invention are: the temperature measurement sampling robot used by the medium and small converter can enable the judgment of the carbon content at the end point of the molten steel to be more stable, the oxygen content of the molten steel to be accurately controlled, can quickly provide data such as the carbon content at the end point, the oxygen activity and the like, provides a judgment basis for quick steel tapping, can more accurately perform deoxidation alloying operation, reduces the alloy consumption, improves the alloy yield, is beneficial to smelting of variety steel, improves the yield and ensures the quality of the molten steel in the high-speed production process.
The temperature measurement sampling robot can realize multiple times of automatic temperature measurement sampling when the large and medium-sized converter smelts special steel grades, avoids operators from being splashed and scalded by steel slag which possibly occurs, can avoid the probe from being inserted on a slag block to cause operation failure, and improves the success rate of operation and the reliability and the consistency of data.
By adopting the method, various information of the converter equipment can be obtained, and the fault prejudgment and the equipment maintenance of the converter equipment are facilitated.
Drawings
FIG. 1 is a flow chart of an automatic temperature measuring and sampling method for a steelmaking converter door according to the present invention;
FIG. 2 is a front view of a converter door equipped with a temperature measuring and sampling robot;
FIG. 3 is a schematic view of the converter in a blowing state in a standby position according to the present invention;
FIG. 4 is a schematic view of the converter in a converter-down state at a detection position according to the present invention;
FIG. 5 is a schematic view of the converter in a converter-down state at a temperature measuring sampling station of the present invention;
1. the system comprises a fire door, 2, a temperature measurement sampling robot, 3, a traveling mechanism, 4, a converter body, 5, a probe, 21, a guide rail bracket, 22, a temperature measurement gun moving trolley, 23, a temperature measurement gun rod, 24, a sensor, 25, a protective cover, 26 and a slag blocking plate, wherein a, b and c are respectively a farthest possible insertion point, an optimal insertion point and a nearest possible insertion point of the probe.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Example 1
Take the 180 tAID converter metallurgy production of a certain steel plant as an example. The AOD converter is used for smelting stainless steel, steel and slag are mixed out, and the average tapping per day is about 15 furnaces. The steelmaking process needs six times of temperature measurement sampling in the smelting process, and because the slag thickness in the early stage of smelting exceeds 1m, the conventional sublance can not take a steel sample, the last temperature measurement sampling can only be completed by the sublance in the later stage of smelting, and the sampling on a furnace door is directly needed manually in the first 5 times of homogenization. However, the AOD converter adopts furnace wall argon oxygen mixed blowing stirring, molten steel splashing can occur during furnace tilting, and obvious harm is brought to manual temperature measurement sampling operation, so that a furnace door temperature measurement sampling robot is additionally arranged from the safety perspective and the intelligent promotion perspective. Referring to fig. 1, a flowchart of an automatic temperature measurement and sampling method for a steel converter door provided by the present invention is as follows:
1) the robot for implementing automatic temperature measurement and sampling is arranged on the furnace door walking mechanism and moves along with the furnace door, and the multifunctional automatic temperature measurement and sampling device is arranged at the position shown in the attached figure 1;
2) the multifunctional automatic temperature measurement sampling device is shown as the position shown in the attached figures 2 and 3, the converter descends the oxygen lance door to blow according to the normal process, and is in the position shown in the attached figure 4 when the converter is turned over after the oxygen lance is lifted out when temperature measurement or sampling is needed;
3) manually inserting a temperature measuring probe or a paper tube of a sampler into a sampling gun plug connector of the robot, and confirming that the signal connection is normal;
4) the mechanical temperature measurement sampler rotates the temperature measurement gun guide rail to point to the sampling direction, as shown in the position of the attached figure 4;
5) starting a camera, an infrared temperature sensor and a laser detector which are arranged on a temperature measuring gun;
6) the converter body is turned to the front of the converter, and the furnace mouth is aligned to the guide rail direction of the temperature measuring gun;
7) the camera puts the video image of the furnace body in the rotating process on the display screen of the operation room, so that an operator can observe and check the conditions of furnace mouth slagging and the like conveniently;
8) the infrared temperature sensor records the temperature change process in the rotation process of the furnace body, and extracts various information such as the furnace shell temperature of the converter, the temperature of the apron board of the furnace mouth, the temperature of the slag surface in the converter, the temperature of refractory materials in the converter and the like by combining the rotation angle of the furnace body;
9) the converter stops rotating at a designated position, the image acquired by the camera automatically judges the optimal insertion point of the probe by machine vision software, and data are transmitted to a robot control system;
10) after the converter stops rotating, the high-temperature laser detector detects height data of the molten steel slag surface and transmits the data to the robot control system;
11) the robot control system rotates the guide rail of the temperature measuring gun and extends the temperature measuring gun to the position shown in the attached drawing 5 according to the information input by the sensor, inserts the probe into the position with the appointed depth of the molten steel, retracts the probe after staying for the appointed time, and returns to the standby position shown in the attached drawing 3;
12) after the temperature measurement sampling process is finished, data including unsuccessful alarm signals are automatically output to the steelmaking automatic control system;
13) the used probe is manually removed and replaced with the next probe.
In the embodiment, the multifunctional automatic temperature measuring and sampling device can completely replace manual operation, so that casualty accidents caused by converter splashing are avoided; aiming at the steel-making converter which can not be provided with the converter sublance, the invention can replace the automatic temperature measurement sampling which has the same function as the sublance, and can intelligently select the probe insertion point, thereby ensuring the success rate of the automatic temperature measurement sampling and the consistency of the depth of the measuring point; the automatic steelmaking is realized by matching with a steelmaking model, and the problem that the effectiveness and the reliability of the steelmaking model are interfered by the quality problem of temperature measurement sampling data is avoided. In the converter steelmaking process, except for adding molten iron and scrap steel, removing slag at the furnace mouth and repairing the furnace for maintenance, the whole process realizes wheat closing operation, and the safety of converter production is improved.
In the above-described implemented process, referring to fig. 2, the multifunctional automatic temperature measurement sampling device includes: install temperature measurement sampling robot on AOD furnace gate is walked to line mechanism: 2 sets of AOD furnace front fire-blocking doors are respectively installed on 2 sets of furnace door walking mechanisms in a hanging mode, one side, close to a furnace opening, of one set of walking mechanism is provided with a temperature-measuring sampling robot, a notch for the robot to go in and out is formed in the corresponding fire-blocking door, and when the robot is in a standby position, the position and the shape of a steel slag splashing protection plate installed on one side, facing the furnace opening of the converter, of the robot are consistent with those of the fire-blocking doors, and the sealing and isolating effects are achieved. The temperature measuring and sampling robot is a programmable intelligent device with 2 degrees of freedom, and comprises a rotatable temperature measuring gun guide rail bracket, a linearly moving temperature measuring gun trolley, a temperature measuring gun rod fixed with a probe connector and the like, so that the tail end of a probe can move according to a specified curve track and speed and reaches a specified accurate position.
Specifically, the temperature measurement sampling robot comprises a guide rail support 21, a temperature measurement gun moving trolley 22, a temperature measurement gun rod 23, a probe connector and a driving device (not shown in the figure), wherein the guide rail support is arranged on a walking mechanism and can freely rotate and move, the temperature measurement gun moving trolley is arranged on the guide rail support, the temperature measurement gun rod is arranged on the temperature measurement gun moving trolley, the probe connector is arranged on the temperature measurement gun rod for temperature measurement sampling, and the driving device drives the guide rail support, the temperature measurement gun moving trolley and the temperature measurement gun rod to move so that the tail end of a probe on the probe connector can move to reach an appointed position for temperature measurement or sampling according to a preset plane curve track and speed.
The probe connector is specially used for inserting a probe 5 for temperature measurement or sampling, the driving device at least comprises a first servo motor and a second servo motor, the first servo motor is connected with a first speed reducer, the first speed reducer drives the guide rail support to rotate to realize vertical movement so as to adjust the inclination angle of the guide rail support, the second motor is connected with a second speed reducer, and the second speed reducer drives the moving trolley to move forwards, backwards and stop on the guide rail support, for example, the first motor and the first speed reducer are controlled by control signals, the second motor and the second speed reducer drive the probe on the gun rod of the temperature measuring gun to stretch through the movement of the temperature measuring gun moving trolley, so that the temperature measurement or/and sampling are realized on the liquid level of the converter.
In some embodiments, the rail bracket 21 and the temperature measuring gun rod 23 are controlled by a control system, the temperature measuring gun moving trolley 22 is movably arranged on the rail bracket, and the movable rotation angle of the rail bracket is controlled by a control command; temperature measurement rifle stock swing joint is on the travelling car, and temperature measurement rifle travelling car is flexible around the probe that temperature measurement or sample was realized to the front and back slip on the rail brackets, makes the probe according to predetermined curve orbit and predetermines the speed motion through the rotatory activity of two degrees of freedom, reaches the assigned position and carries out temperature measurement or sample, and temperature measurement sampling robot in this embodiment adopts the arm of six degrees of freedom of many joints for atmospheric pressure, and the fault rate is lower, and occupation space is less, and is with low costs, is convenient for maintain.
In some embodiments, an image sensor of a machine vision system is mounted at the end of a temperature measuring gun guide rail of the temperature measuring and sampling robot, an infrared temperature sensor is mounted at the end of the temperature measuring gun guide rail of the temperature measuring and sampling robot, and a high-temperature-resistant laser detector (distance sensor) is mounted at the end of the temperature measuring gun guide rail of the temperature measuring and sampling robot.
In the present embodiment, each sensor 24 is preferably installed at the end of the rail bracket, i.e. near the mouth of the converter, so as to facilitate the collection of data in the converter, and the image of the molten steel in the converter can be collected by the image sensor; acquiring temperature information in the converter through an (infrared) temperature sensor, and extracting various information such as converter shell temperature, converter mouth apron board temperature, converter slag surface temperature, converter refractory temperature and the like by combining a converter rotation angle; and collecting height data (information) of the molten steel slag surface by a laser detector.
The temperature measurement sampling robot is controlled by the control system, the control system generates a control instruction through the acquired image information, temperature information and height information, and controls the temperature measurement sampling robot to measure or sample at a preset track curve and a preset movement speed reaching a specified position, as shown in fig. 5, at least a temperature measurement point or a sampling point comprises a point a where a probe is inserted farthest, a point b where the probe is inserted most, and a point c where the probe is inserted closest, so that accurate and rapid sampling or temperature measurement is realized.
Specifically, the control system is based on image information in the converter; removing invalid regions in the image information to obtain regions of interest; preprocessing the region of interest to acquire the position information of the top slag; calculating the reachable area of the temperature measurement sampling probe according to the position information of the top slag, and dividing the reachable area into a plurality of sub-areas; calculating the area ratio of the top slag in each sub-area; and acquiring an optimal measuring point for temperature measurement sampling according to the top slag area ratio.
In this embodiment, the ladle or ladle position in the image is identified by circular region detection, and the image information inside the position is extracted as the ROI region, while the invalid region outside the position is removed. And converting the ROI area of the image into a gray-scale image, expressing the gray-scale image by using a gray-scale matrix of m rows and m columns, converting the gray-scale matrix into a Boolean matrix, and acquiring the position information of the top slag in the ladle or the foundry ladle according to the Boolean matrix. The method comprises the steps of setting a gray value Threshold value Threshold, comparing the gray value in a gray matrix with the gray value Threshold value Threshold in numerical value, obtaining a Boolean matrix with m rows and m columns, and extracting the position information of the top slag on the surface of the molten steel or the molten iron according to the numerical value state in the Boolean matrix. When the value in the Boolean matrix is 0, the position is the position of the surface top slag; when the value in the boolean matrix is 1, this indicates that the position is a position of molten steel or molten iron.
In this example, for each small square corresponding boolean matrix, the ratio of the number of 0's in the boolean matrix is calculated, and the ratio is the area ratio of the molten steel or the molten iron top slag in the small square area. Setting an area ratio threshold value area _ threshold; comparing the area ratio of molten steel or molten iron top slag in each small grid area with the area _ threshold; the small squares with the area ratio smaller than the area _ threshold can be regarded as ideal temperature measurement sampling points, and the probe insertion optimal point for temperature measurement or/and sampling can be obtained through the method.
The control system optimizes the preset track according to the position information of the optimal point inserted by the probe to generate a new preset track, and controls the temperature measurement sampling robot to move at a corresponding speed according to the new preset track to measure the temperature or/and sample so as to bypass the top slag in the converter, thereby improving the accuracy of temperature measurement or/and sampling.
In the embodiment, the temperature measuring and sampling robot 2 is provided with the sensor 24, so that image information, temperature information and height information in the converter can be acquired, and the feedback information is used for generating a control signal to control the temperature measuring and sampling of the temperature measuring and sampling robot. On one hand, the collection process is accurately controlled, so that misoperation caused by the fact that temperature measurement and sampling touch caking in molten steel in the collection process is avoided, the safety coefficient of collection is improved, and the smelting period is shortened; on the other hand, the participation of manual operation is completely avoided, so that the purpose of one-key steel making is achieved, and the temperature measurement sampling intelligentization degree is improved.
Specifically, an image sensor, an infrared temperature sensor and a distance sensor (a high-temperature-resistant laser detector) of the temperature measurement sampling robot are jointly installed in a protective cover with water cooling and air cooling comprehensive protection.
In this embodiment, be equipped with two kinds of cooling methods of water-cooling and air-cooling in this protection casing 25, reduce the temperature in the protection casing in order to ensure that each sensor normally works, avoid the sensor because of the life-span shortening or the great phenomenon of parameter acquisition error that high temperature leads to, improve accurate original parameter for control system.
Specifically, the temperature measurement sampling robot is integrally sleeved in a high-temperature radiation-proof light protective cover, and a sensor observation hole and a probe extending hole are formed in the position opposite to a converter mouth.
In the embodiment, the probe of the temperature measurement sampling mechanism can be observed and stretched only by the sensor through the arranged extending hole, so that the normal work of the temperature measurement sampling mechanism is ensured, the phenomena of service life shortening or parameter errors and the like caused by a high-temperature environment can be avoided, and meanwhile, the purpose of preventing the temperature measurement sampling mechanism from being splashed by molten steel is achieved.
In this embodiment, a steel slag splashing protection plate (slag baffle plate 26) is installed on one surface of the temperature measurement sampling robot facing to a converter mouth, and plays a role in sealing and isolating; the shape, the size and the installation position of the protection plate are consistent with those of the fire door, and the steel slag splashing protection plate is made of heat-resistant cast iron, so that the aims of sealing, isolating, protecting and cooling are fulfilled.
In this embodiment, the temperature measurement sampling robot limits the rotation area of the robot through the arranged stop blocks, and uses the heat-resistant cast iron plate as a counterweight to ensure that the rotatable center of gravity is positioned on one side of the vertical line of the rotation center, which faces the converter, and ensure that the gravity moment enables the robot to return to the standby position.
In this embodiment, adopt dog restriction temperature measurement sampling mechanism in guide rail bracket's rotation (rotation) angle to, simultaneously, the weight of preventing the backplate is the counter weight, ensures the rotatable center of temperature measurement sampling mechanism is in the perpendicular line towards converter one side, makes temperature measurement sampling mechanism get back to standby position according to gravity moment, realizes that temperature measurement sampling mechanism's working direction is towards the converter furnace gate all the time.
Specifically, the temperature measuring and sampling robot temperature measuring gun moving trolley is provided with a falling prevention safety mechanism, for example, a limiting block is adopted as the safety mechanism.
In this embodiment, safety mechanism is including setting up two stoppers on the guide rail bracket, ensures that the travelling car stops standby position, detection position respectively (or, temperature measurement sample operating position), ensures that the travelling car can normally slide on the guide rail bracket, does not follow the both ends landing of guide rail bracket.
Referring to fig. 3 to 5, there are shown working status diagrams of the automatic temperature measurement sampling device at a standby position, a detection position, and a temperature measurement sampling working position, respectively, as follows:
when the automatic temperature measurement sampling device is in a standby position, each sensor is arranged at the front end of the guide rail bracket and does not start to work because the temperature measurement gun moving trolley is in the standby position on the guide rail bracket;
when the automatic temperature measurement sampling device is in a detection position, the guide rail bracket is aligned with the rotation angle of the converter mouth, each sensor starts to work to collect parameter information, and the temperature measurement gun moving trolley is also in a standby position and does not work;
when the automatic temperature measurement sampling device is located at a temperature measurement sampling working position, all sensors are always in a working state, the guide rail support is aligned with a converter mouth to rotate, the temperature measurement gun moving trolley moves forwards along the guide rail support until the temperature measurement gun moving trolley moves to a limit position on the guide rail support and stops moving, a temperature measurement gun rod arranged on the temperature measurement gun moving trolley sequentially penetrates through the protection plate and the extending hole of the fire door from the protection cover to extend into the converter under the action of gravity traction, and the temperature measurement sampling robot is controlled to move through the control system, so that a probe installed on the probe connector moves to an appointed accurate position according to a preset curve track and a preset speed to measure temperature or sample.
For example, the temperature measuring and sampling device can completely replace manual operation, thereby avoiding casualty accidents caused by the splashing of the converter; aiming at the steel-making converter which can not be provided with the converter sublance, the invention can replace the automatic temperature measurement sampling which has the same function as the sublance, and can intelligently select the probe insertion point, thereby ensuring the success rate of the automatic temperature measurement sampling and the consistency of the depth of the measuring point; the automatic steelmaking is realized by matching with a steelmaking model, and the problem that the effectiveness and the reliability of the steelmaking model are interfered by the quality problem of temperature measurement sampling data is avoided. In the converter steelmaking process, except for adding molten iron and scrap steel, removing slag at the furnace mouth and repairing the furnace for maintenance, the whole process realizes wheat closing operation, and the safety of converter production is improved.
Therefore, in the existing steelmaking production flow and the advanced technology of intelligent manufacturing which is developed vigorously at present, the invention replaces manual work to realize safe and accurate temperature measurement and sampling of molten steel, achieves intelligent, economic and one-key automatic steelmaking and has wide application prospect.
Example 2
In a 100t carbon steel converter in a certain steel mill, because a furnace mouth is small and no converter sublance equipment is arranged, the furnace is required to be rocked to the front position of the furnace during each time of temperature measurement and sampling, and the temperature measurement and sampling operation is carried out manually, so that the risk of molten steel splashing is frequently encountered. The automatic temperature measuring and sampling method of the invention is adopted to replace manual operation, and the operation is executed according to the following steps:
1) the temperature measuring and sampling robot is installed on a self-propelled stokehole fire door and moves along with the stokehole;
2) the converter lowers the oxygen lance closing door for blowing according to the normal process until the converter is lifted out of the oxygen lance and then is turned down when temperature measurement or sampling is needed;
3) manually inserting a temperature measuring probe or a paper tube of a sampler into a sampling gun plug connector of the robot, and confirming that the signal connection is normal;
4) the mechanical temperature measurement sampler rotates a temperature measurement gun guide rail to point to the sampling direction;
5) starting a camera, an infrared temperature sensor and a laser detector which are arranged on a temperature measuring gun;
6) the converter body is turned to the front of the converter, and the furnace mouth is aligned to the guide rail direction of the temperature measuring gun;
7) the camera puts the video image of the furnace body in the rotating process on the display screen of the operation room, so that an operator can observe and check the conditions of furnace mouth slagging and the like conveniently;
8) the infrared temperature sensor records the temperature change process in the rotation process of the furnace body, and extracts various information such as the furnace shell temperature of the converter, the temperature of the apron board of the furnace mouth, the temperature of the slag surface in the converter, the temperature of refractory materials in the converter and the like by combining the rotation angle of the furnace body;
9) the converter stops rotating at a designated position, the image acquired by the camera automatically judges the optimal insertion point of the probe by machine vision software, and data are transmitted to a robot control system;
10) after the converter stops rotating, the high-temperature laser detector detects height data of the molten steel slag surface and transmits the data to the robot control system;
11) the robot control system rotates the guide rail of the temperature measuring gun and extends out of the temperature measuring gun according to information input by the sensor, inserts the probe into a position with a specified depth of molten steel, retracts the probe after staying for a specified time, and returns to a standby position;
12) after the temperature measurement sampling process is finished, data including unsuccessful alarm signals are automatically output to the steelmaking automatic control system;
13) the used probe is manually removed and replaced with the next probe.
14) And (3) rocking the converter after tapping of the converter, turning the converter mouth to the front of the converter, rotating a temperature measuring gun guide rail by a temperature measuring sampler person to point to the converter mouth, starting a laser detector to detect the furnace condition, and using data for repairing the converter and protecting the converter by splashing slag.
The multifunctional device for implementing the process method is a temperature measuring and sampling robot arranged on the self-walking stokehold fire-stopping device of the carbon steel converter: the left and right sets of self-walking stokehold fire-blocking door devices are opened when molten iron and scrap steel are added into the carbon steel converter, and are closed when oxygen is blown for smelting. One of the self-walking stokehole fire-stopping door devices is provided with a temperature-measuring sampling robot at one side close to a stokehole, the corresponding fire-stopping door is provided with a notch for the robot to go in and out, and when the robot is at a standby position, the position and the shape of a steel slag splashing protection plate arranged on one side of the stokehole of the converter facing the robot are consistent with those of the fire-stopping door, so that the self-walking stokehole fire-stopping door device plays a role in sealing and isolating. The temperature measuring and sampling robot is a programmable intelligent device with 2 degrees of freedom, and comprises a temperature measuring gun guide rail bracket, a temperature measuring gun moving trolley, a temperature measuring gun rod, a probe connector and the like, so that the tail end of a probe moves according to a specified curve track and speed and reaches a specified accurate position.
Specifically, an image sensor of a machine vision system is installed at the tail end of a temperature measuring gun guide rail of the temperature measuring and sampling robot, an infrared temperature sensor is installed at the tail end of the temperature measuring gun guide rail of the temperature measuring and sampling robot, and a high-temperature-resistant laser detector is installed at the tail end of the temperature measuring gun guide rail of the temperature measuring and sampling robot.
Specifically, an image sensor, a temperature sensor and a distance sensor of the temperature measuring and sampling robot are all provided with a water-cooling and air-cooling comprehensive protective cover.
Specifically, a steel slag splashing protection plate is arranged on one surface of the temperature measuring and sampling robot facing a converter mouth, and the temperature measuring and sampling robot and a suspended fire door form a complete slag blocking heat radiation prevention structure in a standby state; the steel slag splashing protection plate is made of heat-resistant cast iron, and a sensor observation hole and a probe extending hole are formed in the position opposite to the converter mouth.
Specifically, the temperature measurement sampling robot limits the rotation area of the robot through the arranged stop blocks, and uses a heat-resistant cast iron plate as a counterweight to ensure that the rotatable center of gravity is positioned on one side, facing the converter, of the vertical line of the rotation center, and ensure that the robot returns to a standby position by gravity moment.
And particularly, a falling-preventing safety mechanism is arranged on the temperature measuring gun moving trolley of the temperature measuring and sampling robot.
Since the temperature measuring and sampling device used in embodiment 2 is the same as that used in embodiment 1, the technical details and technical effects thereof are not repeated herein with reference to embodiment 1.
The embodiment of the automatic temperature measurement sampling method and the device for the converter door of the invention achieves the following effects:
1) the manual operation is replaced, casualty accidents caused by the splashing of the converter are avoided, and the operation success rate is obviously improved.
2) The steelmaking converter which cannot be provided with the converter sublance can replace the automatic temperature measurement sampling which has the same function as the sublance, and can intelligently select the probe insertion point, thereby ensuring the success rate of the automatic temperature measurement sampling and the consistency of the depth of the measurement point.
3) The automatic steelmaking is realized by matching with a steelmaking model, and the problem that the effectiveness and the reliability of the steelmaking model are interfered by the quality problem of temperature measurement sampling data is avoided.
4) In the converter steelmaking process, except for adding molten iron and scrap steel, removing slag at the furnace mouth and repairing the furnace for maintenance, the whole process realizes wheat closing operation, and the safety of converter production is improved.
Therefore, in the existing steelmaking production flow and the advanced technology of intelligent manufacturing which is developed vigorously at present, the invention replaces manual work to realize safe and accurate temperature measurement and sampling of molten steel, achieves intelligent, economic and one-key automatic steelmaking and has wide application prospect.
Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (8)
1. An automatic temperature measurement sampling method for a steelmaking converter door is suitable for temperature measurement or sampling in front of a furnace, and is characterized in that: the method comprises the following steps:
adopting a multifunctional automatic temperature measurement sampling device to measure or sample in the converter; wherein, multi-functional automatic temperature measurement sampling device is including installing suspension type stokehold fire door and temperature measurement sampling robot on the fire door walks capable mechanism, temperature measurement sampling robot's slag splash guard plate constitutes complete slag splash and high temperature radiation guard shield with the fire door at standby position, multi-functional automatic temperature measurement sampling device accomplishes one time temperature measurement or sample cycle operation according to following step:
1) the temperature measuring and sampling robot is installed on the furnace door walking mechanism and moves to a standby position along with the furnace door;
2) after adding molten iron and waste steel into the converter, lowering the oxygen lance to close the door for blowing according to a normal process until the temperature is measured or the sampling is needed, and pouring the converter after the oxygen lance is taken out;
3) manually pre-inserting a temperature probe paper tube or a sampler paper tube into a plug connector of a robot sampling gun, and confirming that the signal connection is normal;
4) the temperature measurement sampler rotates the temperature measurement gun guide rail to a detection position and points to the sampling direction;
5) starting a camera and an infrared temperature sensor which are arranged on a temperature measuring gun;
6) the converter body is turned to the front of the converter, and the furnace mouth is aligned to the guide rail direction of the temperature measuring gun;
7) the camera puts the video image of the furnace body in the rotating process on the display screen of the operation room, so that an operator can observe and check the slagging condition of the furnace mouth conveniently;
8) the infrared temperature sensor records the temperature change process in the furnace body rotation process, and extracts the converter shell temperature, the converter mouth apron plate temperature, the furnace slag surface temperature and the furnace refractory temperature by combining the furnace body rotation angle;
9) when the converter stops rotating at a designated position, measuring height data of a molten steel slag surface by using a high-temperature-resistant laser detector, and transmitting the data to a robot control system;
10) after the converter stops rotating, the image acquired by the camera automatically judges the optimal insertion point corresponding to the paper tube type of the plug connector on the robot sampling gun by machine vision software, and transmits the optimal insertion point data to the robot control system;
11) the robot control system rotates the temperature measuring gun guide rail and extends out of the temperature measuring gun according to information input by the sensor, inserts the temperature measuring probe paper tube or the sampler paper tube into the position with the appointed depth of the molten steel, retracts the temperature measuring probe paper tube or the sampler paper tube after staying for the appointed time, and returns to the standby position;
12) after the temperature measurement sampling process is finished, data including unsuccessful alarm signals are automatically output to the steelmaking automatic control system;
13) manually detaching the used temperature probe paper tube or the sampler paper tube, and replacing the sampler paper tube or the temperature probe paper tube to be used next time according to the requirement;
14) and (3) rocking the converter after tapping and deslagging the converter, turning the converter mouth to the front of the converter, rotating a temperature measurement probe guide rail to a detection position by a temperature measurement sampler person at the same time, pointing to the converter mouth, starting a laser detector to detect the furnace condition, and using data for repairing the converter and protecting the converter by splashing slag.
2. The automatic temperature measurement and sampling method for the furnace door of the steelmaking converter as claimed in claim 1, wherein: the two sets of furnace door traveling mechanisms are detachably and replaceably installed on the two sets of furnace door traveling mechanisms through pin shafts, the furnace door traveling mechanisms move left and right on rails buried in the ground to open and close the converter furnace door, and the temperature measurement sampling robot is installed on one of the furnace door traveling mechanisms and is located at the position of a converter mouth in a closed state.
3. The automatic temperature measurement and sampling method for the furnace door of the steelmaking converter as claimed in claim 1, wherein: the temperature measuring and sampling robot is a programmable two-degree-of-freedom multifunctional intelligent device controlled by a computer servo, and comprises a temperature measuring gun guide rail bracket, a temperature measuring gun moving trolley, a temperature measuring gun rod and a probe connector, so that the tail end of a temperature measuring probe paper tube or a sampler paper tube can move according to a specified curve track and speed and reach a specified accurate position.
4. The automatic temperature measurement and sampling method for the furnace door of the steelmaking converter as claimed in claim 3, wherein: and the tail end of a temperature measuring gun guide rail of the temperature measuring and sampling robot is respectively provided with an image sensor, an infrared temperature sensor and a high-temperature-resistant laser detector of a machine vision system.
5. The automatic temperature measurement and sampling method for the furnace door of the steelmaking converter as claimed in claim 3, wherein: the image sensor, the infrared temperature sensor and the high-temperature-resistant laser detector of the temperature measurement sampling robot are jointly installed in a protective cover with water cooling and air cooling comprehensive protection.
6. The automatic temperature measurement and sampling method for the furnace door of the steelmaking converter as claimed in claim 3, wherein: the temperature measurement sampling robot is provided with a steel slag splashing protection plate on one surface facing to a converter mouth, and forms a complete slag blocking and heat radiation preventing structure with a suspended fire door in a standby state; the steel slag splashing protection plate is made of heat-resistant cast iron, and a sensor observation hole and a paper tube extending hole are formed in the position opposite to the converter mouth.
7. The automatic temperature measurement and sampling method for the furnace door of the steelmaking converter as claimed in claim 3, wherein: the temperature measurement sampling robot limits the rotation area of the robot through the arranged stop blocks, and uses the heat-resistant cast iron protection plate as a balance weight to ensure that the rotary gravity center is perpendicular to the side, facing the converter, of the rotation center, and ensure that the gravity moment enables the robot to return to the standby position.
8. The automatic temperature measurement and sampling method for the furnace door of the steelmaking converter as claimed in claim 3, wherein: and the temperature measuring and sampling robot is provided with a falling-preventing safety mechanism on the temperature measuring gun moving trolley.
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| CN110450169B (en) * | 2019-09-03 | 2023-12-22 | 中冶赛迪工程技术股份有限公司 | Robot temperature measurement sampling control method and control system |
| CN110631709A (en) * | 2019-09-24 | 2019-12-31 | 湖北理工学院 | Non-contact molten steel temperature detection method during converter steelmaking and converter reversing |
| CN110823382A (en) * | 2019-12-04 | 2020-02-21 | 娄底市兴华有色金属有限公司 | Temperature measuring device for antimony ore smelting |
| CN111088414A (en) * | 2019-12-17 | 2020-05-01 | 湖北理工学院 | Oxygen lance with online continuous temperature measurement function and use method thereof |
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| CN112611480A (en) * | 2020-11-27 | 2021-04-06 | 中冶赛迪工程技术股份有限公司 | Temperature measurement sampling method and system |
| CN113686449B (en) * | 2021-08-19 | 2023-12-05 | 中冶赛迪工程技术股份有限公司 | Distance and temperature measuring gun for robot temperature measuring and sampling |
| CN114317879B (en) * | 2022-01-26 | 2023-04-11 | 南京钢铁股份有限公司 | Method for controlling mouth-melting oxygen lance |
| 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 |
| CN114544251A (en) * | 2022-03-23 | 2022-05-27 | 武汉科技大学 | Molten iron sampling device and method based on visual positioning |
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