CN114160782A - Oxygen combustion drainage system and use method thereof - Google Patents
Oxygen combustion drainage system and use method thereof Download PDFInfo
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- CN114160782A CN114160782A CN202210040550.0A CN202210040550A CN114160782A CN 114160782 A CN114160782 A CN 114160782A CN 202210040550 A CN202210040550 A CN 202210040550A CN 114160782 A CN114160782 A CN 114160782A
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- drainage
- oxygen
- gun
- oxygen burning
- robot system
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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
- B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
- B22D41/50—Pouring-nozzles
- B22D41/52—Manufacturing or repairing thereof
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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
- B22D11/16—Controlling or regulating processes or operations
- B22D11/18—Controlling or regulating processes or operations for pouring
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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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- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Casting Support Devices, Ladles, And Melt Control Thereby (AREA)
Abstract
The invention discloses an oxygen combustion drainage system, which comprises: the visual positioning system is in butt joint or separation with the robot system, is controlled by the robot system during butt joint, and is used for positioning a water outlet of a ladle to obtain position information and feeding the position information back to the control system; the oxygen burning drainage gun is in butt joint or separation with the robot system, and is controlled by the robot system during butt joint to perform oxygen burning drainage operation on the drainage port; the robot system is in signal connection with the control system, controls the visual positioning system to perform positioning operation on the drainage port, and controls the oxygen burning drainage gun to move to a specified position according to the position information; the monitoring device is in signal connection with the control system and is used for monitoring the pouring condition of the drainage port in real time and feeding the pouring condition back to the control system so as to judge whether drainage of the drainage port is successful. The invention has the beneficial effects that: the oxygen burning drainage gun is quickly and accurately inserted into a ladle down nozzle; burn oxygen drainage rifle and possess the automatic ignition function, need not to carry out the manual work and ignite, avoided the risk that personnel were scalded.
Description
Technical Field
The invention relates to the technical field of steel continuous casting, in particular to an oxygen burning drainage system.
Background
The ladle oxygen-burning drainage refers to an operation that the oxygen-burning drainage is needed when the ladle is not automatically cast in the continuous casting ladle production. At present, oxygen burning drainage is generally performed manually, the tail end of a 3-meter hollow long rod is ignited manually, and the tail end of the long rod is inserted into a water outlet manually and remotely after ignition to perform oxygen burning drainage. And after the oxygen burning is finished, manually and quickly closing the pure oxygen pipeline and stopping the oxygen burning. The explosion-proof oxygen-saving furnace has the advantages that the potential safety hazard of deflagration exists when people ignite, the risk of baking and even igniting other equipment exists when people burn oxygen to expose naked fire, high-temperature molten steel backflow often occurs when people turn off oxygen, and the risk of scalding operators exists.
Disclosure of Invention
The invention aims to solve the problem that explosion or scalding is easily caused by manual oxygen burning drainage, and provides an oxygen burning drainage system and a using method thereof.
The invention provides an oxygen combustion drainage system, which comprises:
the visual positioning system is in butt joint or separation with the robot system and is controlled by the robot system during butt joint so as to position a water outlet of the ladle to obtain position information and feed the position information back to the control system;
the oxygen burning drainage gun is butted with or separated from the robot system and is controlled by the robot system during butting so as to perform oxygen burning drainage operation on the drainage port;
the robot system is in signal connection with the control system, controls the vision positioning system to perform positioning operation on the drainage port, and controls the oxygen burning drainage gun to move to a specified position according to the position information;
and the monitoring device is in signal connection with the control system and is used for monitoring the pouring condition of the drainage port in real time and feeding back the pouring condition to the control system so as to judge whether the drainage of the drainage port is successful.
As a further improvement of the present invention, the vision positioning system comprises a second docking module, a connecting rod and a vision camera;
one end of the connecting rod is connected with the robot system through the second butt joint module, and the other end of the connecting rod is connected with the vision camera;
the vision camera is used for scanning and positioning the water outlet.
As a further improvement of the invention, a fireproof cover is arranged outside the vision camera, and a fireproof layer and a heat insulation layer are sequentially wrapped outside the fireproof cover.
As a further improvement of the invention, the oxygen burning drainage gun comprises a third butt joint module, a connector and an oxygen burning gun barrel;
one end of the connector is connected with the robot system through the third butt joint module, and the other end of the connector is connected with the fixed end of the oxygen burning gun tube;
the free end of the oxygen burning gun pipe is inserted into the lower water port to conduct oxygen burning drainage operation on the lower water port.
As a further improvement of the invention, the connector is internally provided with a one-way valve.
As a further improvement of the invention, the free end of the oxygen combustion gun barrel is arranged in a sharp angle shape, and an ignition wire is arranged inside the free end of the oxygen combustion gun barrel.
As a further improvement of the invention, the oxygen lance tube is provided with at least one bend.
As a further improvement of the present invention, the robot system comprises a robot arm and a first docking module;
the robot system is fixed through one end of the mechanical arm;
the other end of the mechanical arm is connected with the vision positioning system or the oxygen burning drainage gun through the first butt-joint module.
As a further improvement of the invention, the system also comprises a tool storage rack for placing the visual positioning system and the oxygen burning drainage gun.
The invention also provides a using method of the oxygen combustion drainage system, which comprises the following steps:
the robot system is in butt joint with a visual positioning system, the visual positioning system is controlled to move to a position right below a sliding plate mechanism, a drainage port is positioned through the visual positioning system to obtain position information of the drainage port, and the visual positioning system uploads the position information to a control system;
the robot system is separated from the vision positioning system and is butted with an oxygen burning drainage gun, the robot system controls the oxygen burning drainage gun to move to a specified position according to the position information, and the oxygen burning drainage gun conducts oxygen burning drainage operation on the drainage port;
and the monitoring device monitors the oxygen burning drainage condition of the sewage port in real time and feeds the oxygen burning drainage condition back to the control system so as to judge whether the sewage port is drained successfully or not.
The invention has the beneficial effects that: the ladle down nozzle can be accurately positioned through the visual positioning system, and the robot can quickly and accurately insert the oxygen-burning drainage gun into the ladle down nozzle according to the position information of the ladle down nozzle; burn oxygen drainage rifle and possess the automatic ignition function, need not to carry out the manual work and ignite, avoided the risk that personnel were scalded.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a working state diagram of a vision positioning system for positioning a drainage port according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating the operation of the oxygen-burning flow-guiding gun according to the embodiment of the present invention;
FIG. 3 is a schematic layout view of an oxygen-combustion drainage system according to an embodiment of the present invention;
FIG. 4 is a flow chart of a method for using the oxygen-burning drainage system according to the embodiment of the invention.
In the figure, the position of the upper end of the main shaft,
1. a monitoring device; 2. a ladle; 3. a tundish;
4. a robotic system; 401. a mechanical arm; 402. a first docking module;
5. a tool storage rack;
6. a visual positioning system; 601. a second docking module; 602. a connecting rod; 603. a fire-proof cover; 604. a vision camera;
7. a combustion oxygen drainage gun; 701. a third docking module; 702. a connector; 703. an oxygen-fired gun tube;
8. a slide plate mechanism.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, in the description of the present invention, the terms used are for illustrative purposes only and are not intended to limit the scope of the present invention. The terms "comprises" and/or "comprising" are used to specify the presence of stated elements, steps, operations, and/or components, but do not preclude the presence or addition of one or more other elements, steps, operations, and/or components. The terms "first," "second," and the like may be used to describe various elements, not necessarily order, and not necessarily limit the elements. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified. These terms are only used to distinguish one element from another. These and/or other aspects will become apparent to those of ordinary skill in the art in view of the following drawings, and the description of the embodiments of the present invention will be more readily understood by those of ordinary skill in the art. The drawings are only for purposes of illustrating the described embodiments of the invention. One skilled in the art will readily recognize from the following description that alternative embodiments of the structures and methods illustrated in the present application may be employed without departing from the principles described in the present application.
The oxygen combustion drainage system provided by the embodiment of the invention comprises:
the visual positioning system 6 is in butt joint or separation with the robot system 4, is controlled by the robot system 4 during butt joint, and is used for positioning a water outlet of the ladle 2 to obtain position information and feeding the position information back to the control system;
the oxygen burning drainage gun 7 is butted with or separated from the robot system 4 and is controlled by the robot system 4 during butting so as to perform oxygen burning drainage operation on the sewage port;
the robot system 4 is in signal connection with the control system, controls the vision positioning system 6 to perform positioning operation on the drainage port, and controls the oxygen burning drainage gun 7 to move to a specified position according to the position information;
and the monitoring device 1 is in signal connection with the control system and is used for monitoring the pouring condition of the drainage port in real time and feeding back the pouring condition to the control system so as to judge whether the drainage of the drainage port is successful.
It can be understood that, during the continuous casting operation, the monitoring device 1 can directly shoot the lower water gap area of the ladle 2 so as to monitor the area in real time, and according to the situation that the monitoring device 1 monitors the molten steel pouring of the lower water gap, whether the lower water gap is opened automatically successfully or not, whether the steel ladle 2 has a steel vomit condition or not and whether the oxygen-burning drainage of the oxygen-burning drainage gun 7 is successful or not can be judged, for example, after the oxygen-burning drainage gun 7 performs the oxygen-burning drainage operation, the monitoring device 1 monitors that the molten steel flows out from the lower water gap, which indicates that the oxygen-burning drainage operation of the oxygen-burning drainage gun 7 is successful; if the monitoring device 1 monitors that no molten steel flows out of the drain port, the oxygen burning drainage operation of the oxygen burning drainage gun 7 is not successful, and the oxygen burning drainage operation needs to be carried out again.
The robot system 4 executes the operation on the visual positioning system 6 and the oxygen burning drainage gun 7 according to the control instruction of the control system, so that the visual positioning system 6 finishes the positioning work of the drainage port, and the oxygen burning drainage gun 7 finishes the oxygen burning drainage of the drainage port.
Firstly, the robot system 4 accurately positions the sewage port by operating the visual positioning system 6 to obtain the position information of the area where the sewage port is located, and uploads the position information to the control system; and then, the control system sends the position information to the robot system 4, and the robot system 4 operates the oxygen burning drainage gun 7 to reach the position of the lower nozzle according to the acquired position information and performs oxygen burning drainage operation on the lower nozzle.
For example, as shown in fig. 1 to 3, the monitoring device 1 is disposed on a base of the revolving platform of the ladle 2, so that the monitoring device can accurately photograph the position of the drain, and the monitoring device 1 may be, for example, an infrared camera. The vision positioning system 6 and the oxygen burning drainage gun 7 are both placed on the tool storage rack 5, wherein the tool storage rack 5 is fixed on a steel casting platform, and preferably, the vision positioning system 6 and the oxygen burning drainage gun 7 are both provided with a plurality of sets to form a standby state. Robot system 4 sets up on watering the platform of steel platform one side, it is preferred, robot system 4 sets up on watering the steel platform between instrument storage rack 5 and the lower mouth of a river, so that robot system 4 operates vision positioning system 6 and fever oxygen drainage rifle 7, when carrying out the location operation to the lower mouth of a river, robot system 4 accomplishes the butt joint with vision positioning system 6, when carrying out fever oxygen drainage operation to the lower mouth of a river, robot system 4 puts back vision positioning system 6 on instrument storage rack 5, and accomplish the separation with vision positioning system 6, later robot system 4 accomplishes the butt joint with fever oxygen drainage rifle 7, operation fever oxygen drainage rifle 7 burns oxygen drainage operation.
In an alternative embodiment, the vision positioning system 6 includes a second docking module 601, a connecting rod 602, and a vision camera 604;
one end of the connecting rod 602 is connected to the robot system 4 through the second docking module 601, and the other end of the connecting rod 602 is connected to the vision camera 604;
the vision camera 604 is used for scanning and positioning the drain nozzle.
Preferably, a fireproof cover 603 is arranged outside the vision camera 604, and a fireproof layer and a heat insulation layer are sequentially wrapped outside the fireproof cover 603.
It is understood that the second docking module 601 is used to connect the vision positioning system 6 and the robot system 4, and preferably, the second docking module 601 has a quick docking function, i.e. the docking or the separation of the vision positioning system 6 and the robot system 4 can be quickly completed by a simple operation. The connecting rod 602 is used for realizing the connection between the second docking module 601 and the vision camera 604, so that the connecting rod 602 plays a role in fixing and supporting the vision camera 604, and the robot system 4 can realize the movement of the vision camera 604 by controlling the connecting rod 602; preferably, a refractory material or a heat insulating material is coated on the outer side surface of the connecting rod 602 to protect the connecting rod 602 from the high-temperature molten steel in the ladle 2 and to extend the service life thereof. The vision camera 604 is used for detecting the specific position of the drain nozzle, the vision camera 604 uploads the image or video of the drain nozzle shot by the vision camera 604 to the control system, and the control system obtains the specific position information of the drain nozzle by analyzing the related image or video, for example, the specific position coordinate of the drain nozzle can be obtained. The fire prevention cover 603 plays an isolation protection role for the vision camera 604, can prevent molten steel from radiating the vision camera 604 in the tundish 3, and can also block smoke and dust in an impact area from entering the space between the vision camera 604 and the sewage port, so that the definition of the visual field shot by the vision camera 604 is maintained, and the precision of the sewage port positioning is improved. Furthermore, a fire-resistant layer and a thermal insulation layer are sequentially wrapped on the outer side surface of the fire-resistant cover 603, so that the visual camera 604 can be better protected, and the influence of high-temperature molten steel on the visual camera 604 can be avoided. Optionally, the refractory layer and the thermal insulation layer may be made of asbestos, silicon carbide, clay brick, etc. It is understood that when the outer side of the vision camera 604 is provided with the fire-proof cover 603, the fire-proof layer and the thermal insulation layer, the connecting rod 602 needs to be connected with the structure located at the outermost layer of the vision camera 604 to realize the supporting and fixing function of the connecting rod 602 on the vision camera 604.
For example, as shown in fig. 1, the left end of the connection rod 602 is connected to the robot system 4 through the second docking module 601, and the right end of the connection rod 602 is connected to the vision camera 604 through the fireproof cover 603. The connecting rod 602 may be composed of multiple segments, wherein each segment may be freely movable relative to other segments, so as to adjust the position of the vision camera 604 according to the position of the drain, so that the vision camera 604 may be moved to a position right below the drain or other vision angles, so as to acquire picture or video information of the drain from multiple angles, and improve the accuracy of the positioning of the drain.
In an alternative embodiment, the oxygen-fired lance 7 comprises a third docking module 701, a connector 702 and an oxygen-fired lance tube 703;
one end of the connector 702 is connected with the robot system 4 through the third docking module 701, and the other end of the connector 702 is connected with the fixed end of the oxygen lance burning pipe 703;
the free end of the oxygen burning lance pipe 703 is inserted into the lower nozzle to perform oxygen burning drainage operation on the lower nozzle.
It can be understood that the third docking module 701 is used for connecting the oxygen burning drainage gun 7 and the robot system 4, and preferably, the third docking module 701 has a quick docking function, that is, the docking or the separation of the oxygen burning drainage gun 7 and the robot system 4 can be quickly completed through a simple operation. The connector 702 is used for realizing the connection between the third butt-joint module 701 and the oxygen burning lance pipe 703, the robot system 4 can realize the movement of the oxygen burning lance pipe 703 by operating the connector 702, and the oxygen burning lance pipe 703 is driven by the robot system 4 to be inserted into a lower nozzle to complete the oxygen burning drainage operation. Preferably, a check valve is arranged inside the connector 702 to prevent oxygen from flowing back inside the connector 702; more preferably, the oxygen lance pipe 703 is provided with at least one bend, which can effectively prevent the molten steel from flowing back in the oxygen lance pipe 703, so as to protect the robot system 4 and the like. Preferably, the free end of the oxygen burning lance pipe 703 is arranged to be in a sharp angle shape, so that the free end of the oxygen burning lance pipe 703 can be inserted into the steel liquid encrusted in the lower nozzle, and the drainage effect is achieved; furthermore, the ignition wire is arranged inside the free end of the oxygen burning lance pipe 703, so that the tail end of the oxygen burning drainage lance pipe 703 can be automatically ignited, the problem of open fire exposure caused by manual ignition is avoided, and the safety of oxygen burning drainage is improved.
For example, as shown in fig. 2, the left end of the connector 702 is connected to the robot system 4 through the third docking module 701, and the right end of the connector 702 is connected to the inlet end of the oxygen burning lance pipe 703. Optionally, the connector 702 is configured to be tubular, and the communication between the external oxygen pipeline and the oxygen-burning lance pipe 703 is realized through the communication between the connector 702 and the oxygen-burning lance pipe 703, so as to provide oxygen for oxygen-burning diversion operation. The lance tube 703 is provided in a U-shape including two bends to prevent backflow of molten steel in the lance tube 703. The outlet end of the oxygen burning gun tube 703 is needle-shaped, when oxygen burning drainage operation is carried out, the outlet end of the oxygen burning gun tube 703 is inserted into incrustation molten steel of the lower nozzle, and under the condition that the oxygen burning gun tube 703 is filled with oxygen, the ignition wire is automatically ignited to heat the incrustation molten steel so as to achieve the drainage effect on the lower nozzle.
In an alternative embodiment, the robotic system 4 includes a robotic arm 401 and a first docking module 402;
the robot system 4 is fixed by one end of the robot arm 401;
the other end of the mechanical arm 401 is connected with the vision positioning system 6 or the oxygen burning drainage gun 7 through the first butt-joint module 402.
For example, as shown in fig. 1-2, the robot system 4 is fixed on the steel casting platform through one end of the mechanical arm 401, the first docking module 402 is disposed at the other end of the mechanical arm 401, and the connection between the robot system 4 and the vision positioning system 6 or the oxygen burning drainage gun 7 can be realized through the first docking module 402. For example, when the positioning operation is performed on the sewage outlet, the first docking module 402 of the robot system 4 docks with the second docking module 601 of the visual positioning system 6, so as to control the visual positioning system 6 by the robot system 4; when the oxygen burning drainage operation is performed on the sewage outlet, the first butt joint module 402 of the robot system 4 is in butt joint with the third butt joint module 701 of the oxygen burning drainage gun 7, so that the robot system 4 controls the oxygen burning drainage gun 7. Preferably, the first docking module 402 has a quick docking function, that is, the docking with the second docking module 601 or the third docking module 701 can be completed quickly by a simple operation.
The specific use method of the oxygen combustion drainage system in the embodiment comprises the following steps: after the long nozzle top ladle operation is finished, the oil cylinder pulls the sliding plate mechanism 8 open, at the moment, the monitoring device 1 monitors whether molten steel flows out of the water outlet and the long nozzle of the ladle 2, and if no molten steel flows out, the water outlet fails to open automatically, the long nozzle needs to be detached; moving to an avoidance position and keeping the sliding plate mechanism 8 at a pulling position, moving the robot system 4 to a position of the tool storage rack 5, quickly butting with the second butting module 601 through the first butting module 402, and connecting gas and cables required by the work of the vision positioning system 6; after picking up the visual positioning system 6, the mechanical arm 401 moves the visual positioning system to a position right below the sliding plate mechanism 8, the visual camera 604 shoots towards the lower nozzle, and after the visual positioning of the lower nozzle is completed, the control system records the position information of the nozzle; the robot system 4 puts the vision positioning system 6 back on the tool storage rack 5, the first butt-joint module 402 is separated from the second butt-joint module 601, the mechanical arm 401 moves the first butt-joint module 402 to the storage position of the oxygen burning drainage gun 7, the first butt-joint module 402 is in fast butt joint with the third butt-joint module 701 and communicated with a pure oxygen pipeline, after the robot system 4 picks up the oxygen burning drainage gun 7, the oxygen burning gun pipe 703 is moved to the position right below a lower nozzle and the outlet end of the oxygen burning gun pipe is vertically upward, a one-way valve in the connector 702 is opened to fill pure oxygen into the oxygen burning gun pipe 703, a pilot wire is firstly burnt, then the oxygen burning gun pipe 703 is ignited, the mechanical arm 401 drives the oxygen burning drainage gun 7 to be inserted into the lower nozzle of a steel ladle to perform reciprocating puncture action to burn molten steel crusts at the bottom of the steel ladle. In the process, the monitoring device 1 always monitors the state of the ladle down nozzle and judges whether molten steel flows out. If the set of oxygen burning drainage actions is finished, the monitoring device 1 monitors that molten steel flows out, the oxygen burning drainage is successful, the information is fed back to the control system, after the oxygen burning gun tube 703 does not burn any more, the robot puts the oxygen burning drainage gun 7 back to the tool storage rack 5, the robot resets, and the control system prompts the manual replacement of the oxygen burning gun tube 703; if the set of oxygen burning drainage actions is completed, the monitoring device 1 does not monitor that the molten steel flows out, the oxygen burning drainage failure is indicated, the information is fed back to the control system, the robot system 4 replaces the oxygen burning drainage gun 7 to execute the work flow of oxygen burning drainage again, if the two times of automatic oxygen burning drainage actions are executed, the work flow is still unsuccessful, the robot system 4 puts the oxygen burning drainage gun 7 back to the tool storage rack 5, the robot system 4 resets, and the control system prompts field operators to perform manual intervention.
As shown in fig. 4, the present invention also provides a method for using the oxygen combustion drainage system, the method comprising:
the robot system 4 is in butt joint with the vision positioning system 6, the vision positioning system 6 is controlled to move to a position right below the sliding plate mechanism 8, the vision positioning system 6 is used for positioning a water outlet to obtain position information of the water outlet, and the vision positioning system 6 uploads the position information to the control system;
the robot system 4 is separated from the vision positioning system 6 and is butted with an oxygen burning drainage gun 7, the robot system 4 controls the oxygen burning drainage gun 7 to move to a specified position according to the position information, and the oxygen burning drainage gun 7 conducts oxygen burning drainage operation on the drainage port;
the monitoring device 1 monitors the oxygen burning drainage condition of the sewage port in real time and feeds the oxygen burning drainage condition back to the control system so as to judge whether the sewage port is drained successfully or not.
The oxygen combustion drainage system corresponding to the use method of the oxygen combustion drainage system in the embodiment is as follows: the monitoring device 1 is arranged on a base of a rotary platform of the ladle 2, so that the position of a lower nozzle can be accurately shot. The vision positioning system 6 and the oxygen burning drainage gun 7 are both placed on the tool storage rack 5, wherein the tool storage rack 5 is fixed on a steel casting platform, and the vision positioning system 6 and the oxygen burning drainage gun 7 are both provided with a plurality of sets to form standby. The robot system 4 is arranged on a steel casting platform between the tool storage rack 5 and the water outlet. When the positioning operation is performed on the sewage outlet, the first butt-joint module 402 of the robot system 4 is in butt joint with the second butt-joint module 601 of the vision positioning system 6, so that the robot system 4 is connected with the vision positioning system 6; when the oxygen burning drainage operation is performed on the sewage outlet, the first butt joint module 402 of the robot system 4 is in butt joint with the third butt joint module 701 of the oxygen burning drainage gun 7, so that the robot system 4 is connected with the oxygen burning drainage gun 7.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Furthermore, those of ordinary skill in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
It will be understood by those skilled in the art that while the present invention has been described with reference to exemplary embodiments, various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. An oxygen-fired conduction system, the system comprising:
the visual positioning system is in butt joint or separation with the robot system and is controlled by the robot system during butt joint so as to position a water outlet of the ladle to obtain position information and feed the position information back to the control system;
the oxygen burning drainage gun is butted with or separated from the robot system and is controlled by the robot system during butting so as to perform oxygen burning drainage operation on the drainage port;
the robot system is in signal connection with the control system, controls the vision positioning system to perform positioning operation on the drainage port, and controls the oxygen burning drainage gun to move to a specified position according to the position information;
and the monitoring device is in signal connection with the control system and is used for monitoring the pouring condition of the drainage port in real time and feeding back the pouring condition to the control system so as to judge whether the drainage of the drainage port is successful.
2. The system of claim 1, wherein the visual positioning system comprises a second docking module, a connecting rod, and a visual camera;
one end of the connecting rod is connected with the robot system through the second butt joint module, and the other end of the connecting rod is connected with the vision camera;
the vision camera is used for scanning and positioning the water outlet.
3. The system of claim 2, wherein a fire-proof cover is arranged outside the vision camera, and a fire-proof layer and a thermal insulation layer are sequentially wrapped outside the fire-proof cover.
4. The system of claim 1, wherein the oxygen-fired drain gun comprises a third docking module, a connector, and an oxygen-fired barrel;
one end of the connector is connected with the robot system through the third butt joint module, and the other end of the connector is connected with the fixed end of the oxygen burning gun tube;
the free end of the oxygen burning gun pipe is inserted into the lower water port to conduct oxygen burning drainage operation on the lower water port.
5. The system of claim 4, wherein the connector is internally provided with a one-way valve.
6. The system of claim 4, wherein the free end of the oxygen lance tube is configured in a pointed shape and an ignition wire is disposed within the free end of the oxygen lance tube.
7. The system of claim 4 wherein the lance tube is provided with at least one bend.
8. The system of claim 1, wherein the robotic system comprises a robotic arm and a first docking module;
the robot system is fixed through one end of the mechanical arm;
the other end of the mechanical arm is connected with the vision positioning system or the oxygen burning drainage gun through the first butt-joint module.
9. The system of claim 1, further comprising a tool storage rack for placing the vision positioning system and the oxygen-firing drainage gun.
10. A method of using a combustion oxygen drainage system according to any one of claims 1 to 9, the method comprising:
the robot system is in butt joint with a visual positioning system, the visual positioning system is controlled to move to a position right below a sliding plate mechanism, a drainage port is positioned through the visual positioning system to obtain position information of the drainage port, and the visual positioning system uploads the position information to a control system;
the robot system is separated from the vision positioning system and is butted with an oxygen burning drainage gun, the robot system controls the oxygen burning drainage gun to move to a specified position according to the position information, and the oxygen burning drainage gun conducts oxygen burning drainage operation on the drainage port;
and the monitoring device monitors the oxygen burning drainage condition of the sewage port in real time and feeds the oxygen burning drainage condition back to the control system so as to judge whether the sewage port is drained successfully or not.
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| CN202210040550.0A CN114160782B (en) | 2022-01-14 | 2022-01-14 | Oxygen burning drainage system and use method thereof |
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| CN202210040550.0A CN114160782B (en) | 2022-01-14 | 2022-01-14 | Oxygen burning drainage system and use method thereof |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4222506A (en) * | 1976-11-17 | 1980-09-16 | Sumitomo Metal Industries Limited | Molten steel outflow automatically controlling device |
| EP2482019A1 (en) * | 2011-01-31 | 2012-08-01 | Siemens VAI Metals Technologies GmbH | Burning lance holder for holding a burning lance by means of a handling device |
| CN209598188U (en) * | 2019-02-20 | 2019-11-08 | 湖南镭目科技有限公司 | A kind of oxygen blast drainage device |
| CN110653365A (en) * | 2019-10-11 | 2020-01-07 | 宝钢工程技术集团有限公司 | Automatic continuous casting device and using method thereof |
| CN111451467A (en) * | 2020-04-20 | 2020-07-28 | 马鞍山钢铁股份有限公司 | Continuous casting ladle pouring state monitoring system and monitoring method |
| CN112893791A (en) * | 2021-03-23 | 2021-06-04 | 达涅利同创信息科技(北京)有限公司 | Robot burns oxygen drainage device |
| CN214212137U (en) * | 2020-11-27 | 2021-09-17 | 中冶赛迪工程技术股份有限公司 | Molten steel detection system |
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2022
- 2022-01-14 CN CN202210040550.0A patent/CN114160782B/en active Active
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|---|---|---|---|---|
| US4222506A (en) * | 1976-11-17 | 1980-09-16 | Sumitomo Metal Industries Limited | Molten steel outflow automatically controlling device |
| EP2482019A1 (en) * | 2011-01-31 | 2012-08-01 | Siemens VAI Metals Technologies GmbH | Burning lance holder for holding a burning lance by means of a handling device |
| CN209598188U (en) * | 2019-02-20 | 2019-11-08 | 湖南镭目科技有限公司 | A kind of oxygen blast drainage device |
| CN110653365A (en) * | 2019-10-11 | 2020-01-07 | 宝钢工程技术集团有限公司 | Automatic continuous casting device and using method thereof |
| CN111451467A (en) * | 2020-04-20 | 2020-07-28 | 马鞍山钢铁股份有限公司 | Continuous casting ladle pouring state monitoring system and monitoring method |
| CN214212137U (en) * | 2020-11-27 | 2021-09-17 | 中冶赛迪工程技术股份有限公司 | Molten steel detection system |
| CN112893791A (en) * | 2021-03-23 | 2021-06-04 | 达涅利同创信息科技(北京)有限公司 | Robot burns oxygen drainage device |
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| CN114160782B (en) | 2023-06-30 |
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