CN111822664A - Automatic sealing dummy ingot method and device - Google Patents
Automatic sealing dummy ingot method and device Download PDFInfo
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- CN111822664A CN111822664A CN202010708760.3A CN202010708760A CN111822664A CN 111822664 A CN111822664 A CN 111822664A CN 202010708760 A CN202010708760 A CN 202010708760A CN 111822664 A CN111822664 A CN 111822664A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/08—Accessories for starting the casting procedure
- B22D11/088—Means for sealing the starter bar head in the moulds
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D2/00—Arrangement of indicating or measuring devices, e.g. for temperature or viscosity of the fused mass
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Abstract
The embodiment of the application provides an automatic sealing dummy ingot method and device, and relates to the field of continuous casting production processes. The automatic ingot guiding sealing method is mainly automatically carried out by a mechanical arm, a detection mechanism and a sealing ingot guiding mechanism, and comprises the following steps: s1, the mechanical arm drives the detection mechanism to detect the gap between the dummy bar head and the crystallizer to obtain data including the gap track and the gap width; s2, the mechanical arm drives the sealing dummy ingot mechanism to fill and stamp the gap along the gap track; s3, the detection mechanism detects whether to repeat the step S2 according to the deformation resistance of the filling position until the deformation resistance of the filling position is more than or equal to 5-10N/mm2(ii) a And S4, covering the filling part with a cooling material by the sealed dummy ingot mechanism. The automatic dummy ingot sealing method and device are used for sealing the dummy ingot head before continuous casting and casting, the dummy ingot sealing efficiency is high, the effect is good, and steel leakage accidents are effectively avoided.
Description
Technical Field
The application relates to the field of continuous casting production processes, in particular to an automatic sealing dummy ingot method and device.
Background
At present, the metallurgical continuous casting production process is briefly as follows: molten steel passes through the tundish from the ladle, then enters the secondary cooling chamber through the crystallizer, and is cooled and solidified to form casting blanks with various sections. In the metallurgical continuous casting production process, the pouring operation can be carried out discontinuously due to the limitation of the service life of the tundish refractory material, namely once the service life of the tundish refractory material is reached, pouring must be interrupted, the tundish must be replaced again, after the tail billet is discharged, the dummy ingot is fed again for dummy ingot sealing, and then the pouring operation can be carried out again.
In all links, dummy ingot sealing is the most complicated and critical. The dummy ingot sealing is carried out to ensure that the molten steel flowing down is stored in the crystallizer for a short time, and the molten steel is solidified and formed as soon as possible. During the solidification of molten steel, the molten steel must be strictly prevented from seeping outside the crystallizer, otherwise, a steel leakage accident can occur, and once the steel leakage accident occurs, equipment can be burnt out, and pouring can be forced to be interrupted.
At present, the dummy ingot sealing mode is mainly realized manually, and workers fill and tamp filler into a gap between a dummy ingot head and a copper wall of a crystallizer by using a crowbar. The dummy ingot sealing mode has the advantages of low speed, long time consumption and high labor intensity, and workers need to squat and bend in the whole process; most importantly, the manual method cannot ensure the sealing effect of the dummy ingot, and particularly, when workers cannot accurately judge the sealing condition due to fatigue and negligence, the dummy ingot is not sealed completely, so that casting breakout accidents occur.
Disclosure of Invention
The embodiment of the application aims to provide an automatic dummy ingot sealing method and device, which are used for sealing a dummy ingot head before continuous casting is started, have high dummy ingot sealing efficiency and good effect, and effectively avoid steel leakage accidents.
In a first aspect, an embodiment of the present application provides an automatic dummy ingot sealing method, which mainly depends on a mechanical arm, a detection mechanism and a dummy ingot sealing mechanism to perform automatically, and includes the following steps:
s1, the mechanical arm drives the detection mechanism to detect the gap between the dummy bar head and the crystallizer to obtain data including the gap track and the gap width;
s2, the mechanical arm drives the sealing dummy ingot mechanism to select filling materials according to the width of the gap, and the gap is filled and beaten along the gap track;
s3, the detection mechanism detects the filling position and judges whether to repeat the step S2 according to the deformation resistance of the filling position until the deformation resistance of the filling position is more than or equal to 5-10N/mm2；
And S4, covering the filling part with a cooling material by the sealed dummy ingot mechanism.
In the implementation process, the mechanical arm drives the detection mechanism to realize automatic detection of the gap condition, and the mechanical arm drives the sealing dummy ingot mechanism to automatically fill and stamp the gap with the filler until the deformation resistance of the filling position is more than or equal to 5-10N/mm2The sealing effect of the representative filling position is good, and finally, the filling position is automatically covered with the cooling material. The whole process is automatically carried out by the mechanical arm, the detection mechanism and the sealed dummy ingot mechanism, the original dummy ingot sealing operation carried out by workers is replaced, the rapid sealing of the dummy ingot head on the crystallizer before continuous casting and casting is realized, the dummy ingot sealing efficiency is high, the preparation time before production is shortened, and the production rate of a casting machine is improved; the method performs dummy ingot sealing according to a specific standard, ensures the sealing effect, greatly reduces the labor intensity of workers, reduces the accident rate, and avoids the problem of steel leakage accidents caused by poor dummy ingot sealing effect due to the exhaustion negligence of workers.
In a possible implementation manner, the detection mechanism includes a probe and a high-definition imaging camera, and the gap detection method includes: detecting the edge of the crystallizer through a probe, and triggering an in-place signal to position when the edge of the crystallizer is touched; positioning data according to the detection edges to obtain a gap track; and obtaining the gap width through a high-definition imaging camera.
In the implementation process, the gap track can be obtained through the probe, and the gap width can be obtained through the high-definition imaging camera, so that a data base is provided for automatic sealing of the gap, and the sealing effect of the gap is guaranteed.
In a possible implementation mode, before detection, the detection mechanism is moved to reach the position right in front of the crystallizer through the central limit of the crystallizer.
In the implementation process, the detection mechanism is automatically positioned to the gap of the crystallizer where the dummy bar head is arranged by the central limit of the crystallizer, so that the gap is detected.
In a possible implementation mode, for the gap with the gap width less than or equal to 8mm, a pasty material is selected as a filling material for filling; and for the gap with the gap width larger than 8mm, the rope material is selected as the filling material for filling.
In the implementation process, gaps with different widths are filled with different filling materials, so that the filling effect, namely the sealing effect, of all the positions of the gaps is guaranteed. The gaps with the gap width less than or equal to 8mm are filled with the pasty materials, so that the operation is easy, the fluidity is good, all corners of the gaps can be filled, and the gaps with the gap width greater than 8mm are filled with the rope materials, so that a skeleton structure can be formed, and the pasty materials are prevented from being directly filled and flowing out.
In one possible implementation, the pasty material comprises, in percentages by weight: 75-85% of yellow mud and 15-25% of rapeseed oil;
and/or, the rope-like material comprises asbestos rope.
In a possible implementation mode, for a gap with the gap width less than or equal to 13mm, the filled position is rammed for more than 3 times; for gaps with gap width >13mm, the filling position after filling is rammed more than 6 times.
In the implementation process, the gaps with different widths are tamped according to different tamping times, so that the compactness of all positions of the gaps is guaranteed, and the sealing effect is achieved.
In a second aspect, an embodiment of the present application provides an automatic sealing dummy ingot device, which includes a mechanical arm, and a detection mechanism and a sealing dummy ingot mechanism that are mounted on the mechanical arm, where the detection mechanism is used to detect a gap between a dummy ingot head and a crystallizer and a compactness of a filling position; the sealed dummy ingot mechanism comprises an injection pipe for injecting filling materials or cooling materials and an impact hammer for ramming.
In the implementation process, the automatic dummy ingot sealing device can effectively avoid the risk of the existing manual dummy ingot sealing, reduce the labor intensity of workers and improve the dummy ingot sealing effect.
In one possible implementation mode, the detection mechanism, the injection pipe and the impact hammer are all arranged at the movable end of the mechanical arm.
In the implementation process, the detection mechanism, the injection pipe and the impact hammer are all arranged at the movable end of the mechanical arm, so that the mechanical arm can flexibly drive the detection mechanism, the injection pipe and the impact hammer to the specified positions and work.
In one possible implementation mode, the robot further comprises a chassis trolley and a walking rail, wherein the fixed end of the mechanical arm is fixed on the chassis trolley, and the chassis trolley can move along the walking rail;
the walking motor is used for driving the chassis trolley to move; and a rotating motor is also arranged between the fixed end of the mechanical arm and the chassis trolley.
In the implementation process, the mechanical arm can integrally move along the walking rail and can also rotate, so that the detection mechanism, the injection pipe and the impact hammer are driven to move and rotate, and the movement range is wide and flexible.
In a possible implementation manner, the device further comprises a filling material storage tank for storing filling materials and a cooling material storage tank for storing cooling materials, wherein the cooling material storage tank and the cooling material storage tank are respectively communicated with the injection pipe through conveying pipes.
In the implementation process, the filler storage box and the cooling material storage box respectively provide filler and cooling material for the injection pipe, so that the filler or the cooling material can be conveniently injected to the gap.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of an automatic sealing dummy ingot device according to an embodiment of the present application.
Icon: 100-automatic sealing dummy ingot device; 101-a walking drag chain; 102-an articulation motor; 103-a walking rail; 104-a lifting motor; 105-a walking motor; 106-chassis trolley; 107-rotating electrical machines; 108-a delivery catheter; 109-a probe; 110-impact hammer; 111-an injector tube; 112-a first storage tank; 113-a second storage tank; 114-a third storage tank; 115-a robotic arm.
Detailed Description
In the continuous steel casting/iron making process, before casting, a dummy bar head of a dummy bar is arranged in a crystallizer to be used as a movable bottom of the crystallizer, so that the seam of the crystallizer is tightly blocked to prevent molten steel from flowing out. When casting is started, the high-temperature casting blank with the liquid core, which is initially solidified in the crystallizer, is continuously pulled out by the dummy bar, and the operation is called dummy bar. After casting, the molten steel poured into the crystallizer is firmly connected with the dummy bar head, the dummy bar is pulled downwards by a driving roller of a withdrawal and straightening machine or a supporting roller of a secondary cooling area, the hot blank initially solidified in the crystallizer is continuously withdrawn out of the casting machine until the solidified casting blank enters the withdrawal and straightening machine, and the dummy bar head is separated from the casting blank.
Before casting is started, a dummy bar head of the dummy bar is positioned in a joint of the crystallizer, and in order to ensure that the dummy bar head tightly blocks the joint of the crystallizer, a gap between the dummy bar head and the crystallizer needs to be sealed, namely, the dummy bar is sealed.
In order to realize the automatic proceeding of the sealing dummy ingot, the embodiment of the application explores an automatic sealing dummy ingot method and device.
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it is to be noted that the terms "center", "upper", "lower", "inner", "outer", and the like refer to the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which the product of the application is conventionally placed in use, which are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Referring to fig. 1, the present embodiment provides an automatic sealing dummy ingot device 100, which includes a mechanical arm 115, and a detecting mechanism and a sealing dummy ingot mechanism mounted on the mechanical arm 115, wherein the detecting mechanism is used for detecting a gap between a dummy ingot head and a mold and a compactness of a filling position; the sealing dummy bar mechanism includes an injection tube 111 for injecting a filling material or a cooling material, and an impact hammer 110 for performing ramming.
Illustratively, the detection mechanism comprises a probe 109 and a high-definition imaging camera, the probe 109 is used for detecting the track of the gap, the probe 109 is a travel switch which is used for limiting the position or the travel of the mechanical movement, enabling the movement machine to automatically stop, move reversely, move at variable speeds or automatically move back and forth according to a certain position or travel, and the like, and the probe head of the probe can also be used for detecting the deformation resistance of the filling position. The high-definition imaging camera is used for detecting the width of the obtained gap, and the sealing effect of the gap between the dummy bar head and the copper wall of the crystallizer by the filler, namely the shading effect, can be judged by utilizing the shading principle.
Wherein, the injection pipe 111 can also be provided with a matched squeezer, so that the material is jetted out from the injection pipe 111 to reach a designated position; in addition, the impact hammer 110 may be provided with a cylinder for driving the impact hammer 110 to extend and retract and to perform a ramming operation.
It should be noted that the robot arm 115 is also called a robot, and is a mechanical structure that realizes all-directional movement, thereby driving the working mechanism to move and act. As an example, in this embodiment, the robot arm 115 includes two segments that are articulated by the articulation motor 102. The one end of arm 115 is the stiff end, generally is the bottom for realize the holistic installation location of arm 115, and the other end is the expansion end, generally is the other end corresponding with the bottom, and articulated motor 102 can drive the arm body that the relative stiff end of the arm body of expansion end connection is connected and rotate around articulated department, is used for driving the free movement of operating device. In order to realize the integral movement of the mechanical arm 115, the automatic sealing dummy ingot device 100 further comprises a chassis trolley 106, a walking rail 103 and a walking motor 105 for driving the chassis trolley 106 to move, wherein the fixed end of the mechanical arm 115 is fixed on the chassis trolley 106, and the chassis trolley 106 can move along the walking rail 103 so as to drive the mechanical arm 115 to integrally move along the walking rail 103; a rotating motor 107 is further installed between the fixed end of the mechanical arm 115 and the chassis trolley 106 for realizing the integral rotation of the mechanical arm 115, and a lifting motor 104 for realizing the integral lifting of the mechanical arm 115. The robot arm 115 is also provided with a mating walking tow chain 101.
In this embodiment, the detecting mechanism, the injection tube 111 and the impact hammer 110 are working mechanisms, and they are mounted on the movable end of the mechanical arm 115. The mounting positions of the detection mechanism, the injection pipe 111 and the impact hammer 110 at the movable end need not to be mutually influenced, namely when the movable end is opposite to the crystallizer, the detection mechanism can detect the gap of the crystallizer, the material sprayed by the injection pipe 111 can reach the gap, and the impact hammer 110 can stretch and stamp the gap.
In this embodiment, the automatic dummy ingot sealing device 100 further includes a filler storage tank for storing filler, and a coolant storage tank for storing coolant, and the filler storage tank and the coolant storage tank are respectively communicated with the injection tube 111 through the conveying pipe 108. Since the filling material used in this embodiment is divided into the paste material and the rope material, the filling material storage tank is divided into the first storage tank 112 for storing the paste material, the second storage tank 113 for storing the rope material, and the cooling material storage tank is the third storage tank 114. The fill material storage bin and/or the cool material storage bin may be mounted to the robot 115 or may be located independently of the robot 115, as the present application is not limited thereto. Illustratively, the first storage bin 112, the second storage bin 113, and the third storage bin 114 are each mounted on a robotic arm 115 and are in communication with the injector tube 111 via the delivery catheter 108, respectively.
In addition, the embodiment further provides an automatic sealing dummy ingot method, which is implemented by adopting the automatic sealing dummy ingot method, and is mainly performed automatically by the mechanical arm 115, the detection module and the sealing dummy ingot module, and the method comprises the following steps:
s1, the mechanical arm 115 drives the detection mechanism to detect the gap between the dummy bar head and the crystallizer, and data including the gap track and the gap width are obtained.
The specific method for detecting the gap may be as follows:
(a) before detection, the walking motor 105 drives the walking trolley to drive the mechanical arm 115 to walk on the walking track, the center of the crystallizer is limited, namely the initial position is set at the center of an opening of the crystallizer where a dummy ingot head is arranged, and the mechanical arm 115 moves the detection mechanism to stop the detection mechanism right in front of the crystallizer needing sealing the dummy ingot.
(b) Because the positioning coordinate of the mechanical arm 115 is designed to correspond to the initial track of the probe 109, the movable end of the mechanical arm 115 is moved, specifically, the probe 109 of the detection mechanism is started through the cooperation of the hinge motor 102 of the mechanical arm 115, the lifting motor 104 at the bottom, the rotating motor 107 and the like, the mechanical arm 115 drives the probe 109 to carry out edge detection on the crystallizer according to the initial track, the probe 109 can utilize the collision of moving mechanical parts to enable the contact of the probe to act to realize connection or disconnection of a control circuit, and the moving mechanical part can automatically stop, move in the reverse direction, move at a variable speed or automatically move back and forth according to a certain position or stroke; when a contact of the probe 109 (a travel switch) touches the edge of the crystallizer, an in-place signal is triggered and fed back to the control loop for positioning, for example, the mechanical arm 115 drives the probe 109 to move twice according to an initial track, and when the edge of the crystallizer touches the edge of the crystallizer to reach a limit, the in-place signal is triggered and fed back to the control loop for positioning (the position between the crystallizer and a dummy bar head), so that the peripheral position of the crystallizer can be accurately judged.
(c) And (5) compiling to obtain a gap track according to the position data of the detected edge.
(d) Moving the movable end of the mechanical arm 115, starting a high-definition imaging camera of the detection mechanism, obtaining the width of a gap between the dummy bar head and the copper wall of the crystallizer through the high-definition imaging camera, specifically, measuring and judging the width of the gap between the dummy bar head and the copper wall of the crystallizer, and generally, obtaining a picture of the gap through the high-definition imaging camera according to the principle of the method, and calculating the width of the actual gap according to the photographing distance and the size of the gap in the picture.
S2, the mechanical arm 115 drives the sealing dummy ingot mechanism to select filling materials according to the width of the gap, and the gap is filled and beaten along the gap track.
The above process may specifically be:
(a) moving the movable end of the mechanical arm 115, starting the injection pipe 111 of the sealed dummy ingot mechanism, and selecting proper filling materials to fill the gap according to the width of the gap: generally, for a gap with the gap width less than or equal to 8mm, selecting a high-temperature resistant paste material (similar to mud) with certain viscosity as a filling material for filling, opening a first storage box 112 storing the paste material, and filling the gap by flowing through an injection pipe 111 through an extruder; for the gap with the gap width larger than 8mm, the rope material is selected as the filling material for filling, and the second storage tank 113 for storing the rope material is opened.
Illustratively, the rope-like material may be an asbestos rope. When selecting and using the rope class material to fill, the filling mode is similar to the line mode of walking of sewing machine, with the rope class material attached to in the gap to the follow-up ramming of cooperation realizes the closely knit packing of rope class material.
Illustratively, the paste-like material comprises, in weight percent: 75-85% of yellow mud and 15-25% of rapeseed oil. The pasty material adopts common cheap yellow mud and is added with a proper amount of vegetable oil, both the common cheap yellow mud and the vegetable oil are environment-friendly materials, the prepared pasty material is not easy to agglomerate and denature, and still has certain fluidity after being placed for a long time, and the pasty material can be sprayed and injected into a gap between the copper pipe wall of the crystallizer and the dummy ingot head through an extruder, so that the rapid dummy ingot sealing can be realized. The yellow mud is common mud, mainly comprises silicon oxide, aluminum oxide and iron oxide, has certain refractoriness, and comprises the following components: 65% -72% of SiO215 to 18 percent of Al2O33% -7% of Fe2O30.5 to 2 percent of CaO and 0.5 to 2 percent of MgO; the rapeseed oil is common light yellowThe oily liquid has low solidification temperature, a higher boiling point of about 200-300 ℃, is not easy to volatilize or solidify, the Engler viscosity E020 is 13.5-14.0, and the fatty acid standard substance fixed value is as follows: c16: 0(8.9 ± 0.8)%, C18: 0(2.8 ± 0.2)%, C18: 1(22.3 ± 1.0)%, C18: 2(40.1 ± 2.2)%, C18: 3(9.2 ± 0.8)%, C20: 0(0.5 ± 0.1)%, C20: 1(5.1 ± 0.4)%, C22: 1(10.0 +/-1.6)%.
(b) After filling, generally, after the filling material is basically dry and no longer flows, the impact hammer 110 of the sealing dummy ingot mechanism is started, the filling position is rammed according to the width of the gap, and the filling material is fully rammed and filled into the gap: generally, for a gap with the gap width less than or equal to 13mm, the impact hammer 110 stamps the filled position (pasty material or rope material) for more than 3 times; for a gap with a gap width of more than 13mm, usually the gap between the dummy bar head and the copper wall of the crystallizer is more than 13mm due to the deviation of the dummy bar, the number of times of the impact hammer 110 for beating the rope-like filler needs to be doubled, for example, more than 6 times of the filling position after filling.
It should be noted that, in the above process, the gap may be filled and tamped in segments, or along the gap trajectory, after the entire gap is filled, the filling position may be tamped along the gap trajectory, specifically according to actual operation requirements.
S3, the detection mechanism detects the filling position and judges whether to repeat the step S2 according to the deformation resistance or the shading effect of the filling position until the deformation resistance of the filling position is more than or equal to 5-10N/mm2. Illustratively, moving the movable end of the robotic arm 115, re-enabling the probe 109 of the detection mechanism, utilizes 1mm of the probe 1092And (3) vertically pressing the filling position by the standard probe and applying force, and judging the sealing effect filled by the filling material according to the deformation force which can be borne by the filling position. If the shading effect is good, or the deformation resistance of the filling position is more than or equal to 5-10N/mm2If the filling position is 5-10N without deformation applied by the probe 109, the next step S4 is automatically executed; if the shading effect is poor, or the deformation resistance of the filling position is less than 5-10N/mm2I.e. the filling position bears 5-10N applied by the probe 109And (4) repeating the step (S2) until the light shielding effect is good.
And S4, covering the filling part with the cooling material by the sealing dummy ingot mechanism, exemplarily, moving the movable end of the mechanical arm 115, starting the injection pipe 111 of the sealing dummy ingot mechanism again, opening the third storage tank 114 storing the cooling material, and covering the filling part with the cooling material sprayed from the injection pipe 111 along the gap track to complete the sealing dummy ingot operation.
S5, the robot 115 is retracted, and the robot 115 is moved back to the home position.
In summary, the automatic dummy ingot sealing method and device provided by the embodiment of the application are used for sealing the dummy ingot head before continuous casting and casting, the dummy ingot sealing efficiency is high, the effect is good, and steel leakage accidents are effectively avoided.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. An automatic ingot guiding sealing method is characterized in that the automatic ingot guiding method is mainly carried out by a mechanical arm, a detection mechanism and a sealed ingot guiding mechanism, and the method comprises the following steps:
s1, the mechanical arm drives the detection mechanism to detect the gap between the dummy bar head and the crystallizer to obtain data including the gap track and the gap width;
s2, the mechanical arm drives the sealing dummy ingot mechanism to select filling materials according to the width of the gap, and the gap is filled and beaten along the gap track;
s3, the detection mechanism detects the filling position and judges whether to repeat the step S2 according to the deformation resistance of the filling position until the deformation resistance of the filling position is more than or equal to 5-10N/mm2；
And S4, covering the filling part with a cooling material by the sealed dummy ingot mechanism.
2. The automatic dummy ingot sealing method according to claim 1, wherein the detection mechanism comprises a probe and a high-definition imaging camera, and the gap detection method comprises the following steps: detecting the edge of the crystallizer through a probe, and triggering an in-place signal to position when the edge of the crystallizer is touched; positioning data according to the detection edges to obtain a gap track; and obtaining the gap width through a high-definition imaging camera.
3. The method of claim 2, wherein the detection mechanism is moved to a position directly in front of the mold by a mold center stop before detection.
4. The automatic dummy ingot sealing method according to claim 1, wherein for the gap with the gap width less than or equal to 8mm, a pasty material is selected as a filler for filling; and for the gap with the gap width larger than 8mm, the rope material is selected as the filling material for filling.
5. The self-sealing dummy ingot method according to claim 4, wherein the paste-like material comprises, in weight percent: 75-85% of yellow mud and 15-25% of rapeseed oil;
and/or the rope material comprises asbestos ropes.
6. The automatic dummy ingot sealing method according to claim 1, wherein for a gap with a gap width of 13mm or less, the filling position after filling is rammed more than 3 times; for gaps with gap width >13mm, the filling position after filling is rammed more than 6 times.
7. An automatic sealing dummy ingot device is characterized by comprising a mechanical arm, a detection mechanism and a sealing dummy ingot mechanism, wherein the detection mechanism and the sealing dummy ingot mechanism are arranged on the mechanical arm; the sealing dummy ingot mechanism comprises an injection pipe used for injecting filling materials or cooling materials and an impact hammer used for ramming.
8. The self-sealing dummy ingot device according to claim 7, wherein the detecting mechanism, the injection tube and the impact hammer are mounted at a movable end of the mechanical arm.
9. The automatic sealing dummy ingot device according to claim 7, further comprising a chassis trolley and a walking rail, wherein the fixed end of the mechanical arm is fixed on the chassis trolley, and the chassis trolley can move along the walking rail;
the walking motor is used for driving the chassis trolley to move; and a rotating motor is also arranged between the fixed end of the mechanical arm and the chassis trolley.
10. The self-sealing dummy ingot device according to claim 7, further comprising a filler storage tank for storing filler, and a coolant storage tank for storing coolant, wherein the coolant storage tank and the coolant storage tank are respectively communicated with the injection tube through a transfer duct.
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| CN113042696A (en) * | 2021-03-12 | 2021-06-29 | 广东韶钢松山股份有限公司 | Crystallizer covering slag replacing device and crystallizer slag fishing method |
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| CN113042696A (en) * | 2021-03-12 | 2021-06-29 | 广东韶钢松山股份有限公司 | Crystallizer covering slag replacing device and crystallizer slag fishing method |
| CN113042696B (en) * | 2021-03-12 | 2022-11-11 | 广东韶钢松山股份有限公司 | Crystallizer covering slag replacing device and crystallizer slag fishing method |
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