CN114576989A - Electric arc furnace device and blowing control method thereof - Google Patents
Electric arc furnace device and blowing control method thereof Download PDFInfo
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- CN114576989A CN114576989A CN202111669946.3A CN202111669946A CN114576989A CN 114576989 A CN114576989 A CN 114576989A CN 202111669946 A CN202111669946 A CN 202111669946A CN 114576989 A CN114576989 A CN 114576989A
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- electric arc
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- arc furnace
- furnace
- blowing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27B—FURNACES, KILNS, OVENS, OR RETORTS IN GENERAL; OPEN SINTERING OR LIKE APPARATUS
- F27B3/00—Hearth-type furnaces, e.g. of reverberatory type; Tank furnaces
- F27B3/08—Hearth-type furnaces, e.g. of reverberatory type; Tank furnaces heated electrically, with or without any other source of heat
- F27B3/085—Arc furnaces
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27B—FURNACES, KILNS, OVENS, OR RETORTS IN GENERAL; OPEN SINTERING OR LIKE APPARATUS
- F27B3/00—Hearth-type furnaces, e.g. of reverberatory type; Tank furnaces
- F27B3/10—Details, accessories, or equipment peculiar to hearth-type furnaces
- F27B3/22—Arrangements of air or gas supply devices
- F27B3/225—Oxygen blowing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27B—FURNACES, KILNS, OVENS, OR RETORTS IN GENERAL; OPEN SINTERING OR LIKE APPARATUS
- F27B3/00—Hearth-type furnaces, e.g. of reverberatory type; Tank furnaces
- F27B3/10—Details, accessories, or equipment peculiar to hearth-type furnaces
- F27B3/28—Arrangement of controlling, monitoring, alarm or the like devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/20—Recycling
Abstract
The invention discloses an electric arc furnace device and an injection control method thereof, belongs to the field of electric arc furnaces, and solves the problem of manual whole-course intervention in the movement process of the existing injection structure. The electric arc furnace device comprises an electric arc furnace, a blowing structure and a control system; the control system comprises a detection unit, a processing unit and a control unit; the detection unit is used for detecting the relevant information of the electric arc furnace and the injection structure and sending the relevant information of the electric arc furnace and the injection structure to the processing unit; the processing unit is used for receiving and processing the relevant information of the injection structure and the electric arc furnace from the detection unit and sending the corresponding processing result information to the control unit; the control unit is used for receiving the processing result information from the processing unit, comprehensively calculating the processing result information to obtain the movement route of the blowing structure, and sending out a control instruction. The electric arc furnace device and the control method thereof can effectively solve the problem that the whole process of the movement of the injection structure needs manual intervention.
Description
Technical Field
The invention belongs to the technical field of electric arc furnace steelmaking, and particularly relates to an electric arc furnace device and an injection control method thereof.
Background
The oxygen lance in the furnace door blowing structure of the electric arc furnace is used as an important auxiliary device for electric arc furnace smelting, and can play roles in cutting scrap steel, heating up for fluxing, foaming slag, stirring of a molten pool, decarburization refining and the like.
At present, the automation level of a traditional furnace door injection structure of an electric arc furnace is low, workers must perform inching operation in the whole process when entering a working position, and an oxygen lance can avoid furnace front obstacles, a furnace door frame, slag and steel scrap areas and perform injection at a correct position. Because the position states of the electric arc furnace body and the furnace door blowing structure can not be sensed in time, the actions of advancing, retreating, ascending, descending, left swinging, right swinging, upward pitching, downward pitching and the like of the furnace door blowing structure can not realize one-key type automatic control, and the electric arc furnace body can not make linkage reaction in time when tilting operation or abnormal conditions occur, and only can depend on manual intervention, so that the operation difficulty is increased.
Disclosure of Invention
In view of the foregoing analysis, the present invention aims to provide an electric arc furnace apparatus and a blowing control method thereof, which can enable a blowing structure to enter and exit a furnace door in a "one-click" manner, reduce manual intervention, and establish interlocking between the blowing structure and the electric arc furnace to prevent the blowing structure from colliding with the furnace door of the electric arc furnace, so as to solve the problem that the movement process of the blowing structure needs manual full-distance intervention.
The purpose of the invention is mainly realized by the following technical scheme:
in one aspect, the present invention provides an electric arc furnace apparatus comprising an electric arc furnace, a blowing structure and a control system;
the control system comprises a detection unit, a processing unit and a control unit; the detection unit is used for detecting the relevant information of the electric arc furnace and the injection structure and sending the relevant information of the electric arc furnace and the injection structure to the processing unit;
the processing unit is used for receiving and processing the relevant information of the injection structure and the electric arc furnace from the detection unit and sending the corresponding processing result information to the control unit;
the control unit is used for receiving the processing result information from the processing unit, comprehensively calculating the processing result information to obtain the movement route of the blowing structure, and sending out a control instruction.
Furthermore, the injection structure mainly comprises a base, a swinging unit, a rotating unit, a lifting unit, a large arm, a pitching unit and an oxygen lance; the gun body of the oxygen gun is arranged on the rotary unit, and the swing unit and the lifting unit are arranged above the base; the swing unit is connected with the rotary unit, and the lifting unit is connected with the rotary unit through a large arm; the pitching unit is connected with the rotating unit and the gun body;
the swinging unit is used for realizing the left-right swinging of the gun body; the rotary unit is used for realizing the advancing and retreating actions of the gun body; the pitching unit is used for realizing the pitching action of the gun body; the lifting unit is used for realizing the lifting action of the gun body.
Further, the detection unit comprises a displacement sensor and a visual sensor; the displacement sensor is arranged on the blowing structure to detect the related information of the blowing structure; the visual sensor is installed in front of the furnace door of the electric arc furnace to detect the relevant information of the electric arc furnace.
Furthermore, the displacement sensor comprises a forward and backward displacement sensor, a swinging displacement sensor, a pitching displacement sensor and a lifting displacement sensor; the advancing and retreating displacement sensor is arranged on the rotary unit, and the swinging displacement sensor is arranged on the swinging unit; the elevation displacement sensor is arranged on the elevation unit, and the pitching displacement sensor is arranged on the pitching unit.
Furthermore, the swinging unit, the rotating unit, the lifting unit and the pitching unit in the blowing structure are all electrically connected with the control unit.
The invention also provides an electric arc furnace blowing control method which is applied to the electric arc furnace device and comprises the following steps:
s1, detecting the blowing structure and the electric arc furnace by the detection unit to acquire the related information of the blowing structure and the electric arc furnace;
s2, the detection unit sends the relevant information of the injection structure and the electric arc furnace to the processing unit;
s3, after receiving the relevant information of the blowing structure and the electric arc furnace, the processing unit processes the relevant information of the blowing structure and the electric arc furnace to obtain the corresponding processing result information;
s4, the processing unit sends the corresponding processing result information to the control unit;
s5, after receiving the processing result information, the control unit carries out comprehensive calculation on the processing result information to obtain the movement route of the blowing structure; the principle of the movement route is that the blowing structure does not collide with the furnace door;
and S6, the control unit sends a control command to the blowing structure to enable the blowing structure to act according to the movement route.
Further, before executing step S1, the control method further includes:
s01, the control unit acquires the angle of the furnace body of the electric arc furnace and the tilting driving signal of the furnace body to judge the state of the electric arc furnace and judge whether the electric arc furnace is in the tilting state; if the electric arc furnace is in a tilting state, the blowing structure cannot act; if the arc furnace is in a non-tilting state, steps S1-S6 are performed.
Further, before the step of the control unit sending a control instruction to the blowing structure, the control method further includes:
the position of the furnace door of the electric arc furnace is calibrated so that the axial center of the oxygen lance in the injection structure coincides with the geometric center of the furnace door.
Further, the control method further comprises:
the moving interval of the oxygen lance in the injection structure is judged so as to prevent the oxygen lance from colliding with the furnace door of the electric arc furnace.
Further, the judging the activity interval of the oxygen lance in the injection structure comprises:
firstly, establishing a rectangular coordinate system with O as an original point, wherein the O point is the rotation center of the base, the rotation center of the oxygen lance is the point A ', and the lance head of the oxygen lance is the point B'; l is1Is the length of OA ', and alpha is the included angle between OA' and the X axis; l is2Is the length of A ' B ', beta is the angle between A ' B ' and OA ', DYIs the distance from the central line of the furnace door to the X axis; c is the left edge point in the furnace door, D is the right edge point in the furnace door;
secondly, the judgment is carried out according to the following formula:
in the formula, when alpha is larger than beta, the oxygen lance can normally swing, otherwise, the head of the oxygen lance collides with the inner wall C of the furnace door;
in the formula, when alpha is less than beta, the oxygen lance can normally swing, otherwise, the head of the oxygen lance collides with the inner wall D of the furnace door.
Compared with the prior art, the invention can realize at least one of the following beneficial effects:
a) according to the electric arc furnace device, the displacement sensor is additionally arranged at the key part of the injection structure, the visual sensor is arranged in front of the furnace door of the electric arc furnace, and the injection structure has self position sensing capability and visual analysis function by combining the corresponding position processing module and the visual processing module, and can realize automatic control on the injection structure based on the control unit; through the control unit for communication connection is established with the electric arc furnace body to the jetting structure and is formed the interlocking, when the electric arc furnace carries out the operation of fascinating, the oxygen rifle can't advance the rifle, or when the oxygen rifle is in the electric arc furnace, the electric arc furnace can't fascinate, and can avoid jetting structure and electric arc furnace body to bump and cause the damage, and then guarantee equipment safety. By adopting the electric arc furnace device, the technical problem that the moving process of the blowing structure needs manual whole-course intervention can be effectively solved.
b) According to the electric arc furnace injection control method, the electric arc furnace device is adopted, the injection structure and the electric arc furnace are detected through the detection unit so as to obtain the relevant information of the injection structure and the electric arc furnace, the injection structure and the electric arc furnace body are in communication connection to form interlocking, and when the electric arc furnace is in a tilting state, the control unit controls the injection structure to be incapable of acting until the electric arc furnace returns to the normal state; or when the injection structure acts, the control unit controls the electric arc furnace to tilt, so that the injection structure is prevented from colliding with the electric arc furnace body to cause damage. And through the judgement to the activity interval of oxygen rifle to prevent that jetting structure and electric arc furnace from colliding, realize the crashproof control of electric arc furnace jetting structure.
c) The blowing structure has four independent dimensional actions of advancing and retreating, pitching, left-right swinging and lifting, and can realize the free movement of the oxygen lance in the furnace. The four independent dimensional actions can be realized by hydraulic, pneumatic, electric and other driving modes.
d) The invention adopts a spatial four-bar linkage structure, and solves the problem of conflict between a lifting structure and a linkage structure.
e) In the method, because the electric arc furnace and the injection structure have the sensing capability of the self position, whether the injection structure is started or not can be analyzed through analyzing the self position, and a movement path for preventing the injection structure from colliding with the electric arc furnace is provided, so that the production efficiency is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings, in which like reference numerals refer to like parts throughout, are for the purpose of illustrating particular embodiments only and are not to be considered limiting of the invention.
FIG. 1 is a schematic structural view of a blowing structure provided by the present invention;
FIG. 2 is a diagram of an application scenario of the control system provided by the present invention;
fig. 3 is a schematic structural diagram of a swing unit provided in the present invention;
FIG. 4 is a relationship between the swing center and the swing angle of the oxygen lance of the present invention;
FIG. 5 is a schematic view of the maximum depression angle of a conventional oxygen lance;
FIG. 6 is a schematic view of the maximum depression angle of the oxygen lance structure of the present invention;
FIG. 7 is a schematic structural component view of the lifting unit of the present invention;
FIG. 8 is a spatial four bar linkage configuration of the present invention;
FIG. 9 is a view of the displacement sensor arrangement of the present invention;
FIG. 10 is a schematic view of an oven door index point provided by the present invention;
FIG. 11 is a schematic view illustrating collision discrimination of an oxygen lance according to the present invention during the swinging process.
Reference numerals:
1-base, 2-swing unit, 3-rotation unit, 4-lifting unit, 5-guide frame, 6-pitching unit, 7-rotary head, 8-big arm, 9-pull rod, 10-rotary disc, 11-rotary support, 12-lifting support, 13-first guide wheel, 14-lifting guide rail, 15-lifting hydraulic cylinder, 16-advance and retreat displacement sensor, 17-swing displacement sensor, 18-pitching displacement sensor, 19-lifting displacement sensor, 20-advance and retreat hydraulic cylinder, 21-electric arc furnace, 2101-furnace door, 22-oxygen lance, 23-upper computer, 24-lower computer and 25-vision sensor.
The device comprises a Z1-base rotating shaft, a Z2-rotating head rotating shaft, a Z3-pull rod support rotating shaft, a Z4-pull rod support rotating shaft, a J1-spherical hinge, a G1-first virtual connecting rod, a G2-second virtual connecting rod, a G3-third virtual connecting rod, a G4-fourth virtual connecting rod, an A-furnace door left side calibration point, a B-furnace door right side calibration point, a C-furnace door inner left edge point, a D-furnace door inner right edge point, an E-furnace door inner upper edge point and an F-furnace door inner lower edge point.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention and not to limit its scope.
The jetting structure of current electric arc furnace device needs artifical whole journey to intervene at the during operation, and operating personnel controls the jetting structure according to the state of observing the electric arc furnace, can't in time make the linkage reaction when the operation of fascinating or abnormal conditions appear in the electric arc furnace body, has increased the operation degree of difficulty, is unfavorable for improving production efficiency.
And, the jetting structure of conventional electric arc furnace is applicable to general operating mode, but to large capacity electric arc furnace because the molten bath grow and become dark, its home range and converting effect just have obvious not enough, for example: (1) the advancing and retreating angle of the traditional furnace door oxygen lance is small; (2) the traditional furnace door oxygen lance is usually designed for a small electric furnace, and because the furnace size limits the distance of a lance head extending into a furnace door, the swing center of a lance body is far away from the furnace door, so that the left-right swing range of the oxygen lance is narrow; (3) the traditional furnace door oxygen lance does not have the lifting function, and the pitching movement is limited by the height of the furnace door and the position of a pitching rotating shaft of the oxygen lance.
The invention provides an electric arc furnace device, as shown in fig. 2, the electric arc furnace device comprises an electric arc furnace, a blowing structure and a control system; the control system comprises a detection unit, a processing unit and a control unit; the detection unit is used for detecting the relevant information of the electric arc furnace 21 and the blowing structure and sending the relevant information of the electric arc furnace 21 and the blowing structure to the processing unit; the processing unit is used for receiving and processing the relevant information of the injection structure and the electric arc furnace 21 from the detection unit and sending the corresponding processing result information to the control unit; the control unit is used for receiving the processing result information from the processing unit, comprehensively calculating the processing result information to obtain the movement route of the blowing structure, and sending out a control instruction.
Specifically, the relevant information of the blowing structure comprises current position information and self posture information of the blowing structure; the information related to the electric arc furnace 21 includes furnace body tilting information, furnace front environment information, furnace door frame position information, and information on steel scrap and slag in the furnace.
Specifically, the structure of the injection structure is shown in fig. 1, and the injection structure mainly comprises a base 1, a swing unit 2, a rotation unit 3, a lifting unit 4, a large arm 8, a pitching unit 6 and an oxygen lance 22; the body of the oxygen lance 22 is arranged on the rotary unit 3, and the swing unit 2 and the lifting unit 4 are both arranged above the base 1; the swing unit 2 is connected with the rotary unit 3, and the lifting unit 4 is connected with the rotary unit 3 through a large arm 8; the pitching unit 6 is connected with the revolving unit 3 and the gun body; the swinging unit 2 is used for realizing the left-right swinging of the gun body; the rotary unit 3 is used for realizing the advance and retreat actions of the gun body; the pitching unit 6 is used for realizing pitching action of the gun body; the lifting unit 4 is used for realizing the lifting action of the gun body.
Specifically, the swing unit 2 and the lifting unit 4 are arranged on the base 1, the lifting unit 4 is connected with the rotary unit 3 through a large arm 8, in addition, the swing unit 2 is also connected with the rotary unit 3, and the oxygen lance 22 is arranged above the rotary unit 3; the pitching unit 6 is arranged at the end of the gun body and connected with the rotating unit 3. The blowing structure can realize the actions of four independent dimensions of advancing and retreating, pitching, left-right swinging and lifting, thereby ensuring the free movement of the oxygen lance in the furnace; compared with the existing blowing device, the device has the characteristics of larger moving range and suitability for smelting in a large-scale electric arc furnace with the power of more than 100 t.
Compared with the prior art, the advancing and retreating angle of the oxygen lance of the traditional rotary advancing and retreating type furnace door is smaller, and compared with the prior art, the advancing and retreating angle of the blowing structure provided by the invention is (90 degrees and 110 degrees), so that the swing center can be closer to the furnace door, and the moving range of swing and pitching operation is enlarged.
The traditional oxygen lance is designed aiming at a small electric furnace, the distance of a lance head extending into a furnace door is limited due to the size limitation of a hearth, the swing center of a lance body is far away from the furnace door, so that the left-right swing range of the oxygen lance is narrow, compared with the prior art, the swing structure designed by the invention places the swing center of the lance body at a position close to the furnace door, so that the left-right swing angle of the oxygen lance body can reach (10 degrees and 15 degrees), the jet flow blowing coverage range is larger, and the smelting requirement of an electric arc furnace with more than 100t can be completely met.
It should be explained that the gun body swing can be seen as a sector area centered on the turret head 7 and bordered by the gun body. When the width of the oven door is fixed, the closer the rotary center is to the oven door, the larger the angle of non-collision is, and vice versa. The oxygen lance can increase the swing angle of the oxygen lance by reducing the distance between the rotation center and the furnace door.
The traditional furnace door oxygen lance does not have the lifting function, and the pitching movement is limited by the height of the furnace door and the position of a pitching rotating shaft of the oxygen lance; compared with the prior art, as shown in figures 5 and 6, the blowing structure provided by the invention is provided with the lifting unit, the height of the lance body is lifted through the lifting unit to increase the depression angle, so that a lower lance position is obtained, and the depression angle is (10 degrees and 20 degrees).
In order to ensure that the blowing structure realizes the rotation action and further the rotation unit 3 drives the gun body to rotate and swing, as shown in fig. 3, the rotation unit 3 comprises a rotation head 7 and a crank arm, the crank arm is arranged on the rotation head 7 and is used for being hinged with a long rod spherical hinge J1 of the swing unit 2, and the gun body is arranged on the rotation head 7; the rotary head 7 is connected with the large arm 8, and the rotary head 7 can drive the gun body to rotate around the central shaft of the rotary head 7; the swing unit 2 comprises a pull rod 9 and a pull rod support, and the pull rod support is arranged on the base 1; the pull rod 9 comprises a long rod and a short rod which are mutually inserted, wherein the first end of the short rod is connected with the pull rod support, the first end of the long rod is connected with the crank arm, a swing hydraulic cylinder is arranged between the long rod and the short rod, one end of the swing hydraulic cylinder is connected with the second end of the short rod, and the other end of the swing hydraulic cylinder is connected with the second end of the long rod; the swing hydraulic cylinder is used for changing the distance between the long rod and the short rod, so that the long rod drives the rotary unit 3 to rotate, and then the gun body is driven to swing left and right.
Compared with the prior art, as shown in fig. 4, the blowing structure of the present invention has a horizontal swing range of (0 °,15 °).
It should be noted that the pull rod support of the invention is provided with a pin shaft, and the pull rod support is connected with the first end of the short rod by a pin.
In order to realize the lifting function of the oxygen lance, as shown in fig. 7, the lifting unit 4 of the invention comprises a rotating disc 10, a slewing bearing 11, a lifting bracket 12, a guide wheel, a vertical lifting guide rail 14, a guide frame 5 and a lifting hydraulic cylinder 15; the rotating disc 10 is arranged above the base 1, the rotating disc 10 is connected with the base 1 through a slewing bearing 11, the bottom end of the guide frame 5 is fixedly connected with the rotating disc 10, and the vertical lifting guide rail 14 is arranged on the guide frame 5; the guide wheel is arranged on the lifting support 12, the lifting support 12 is provided with a hollow cavity, the guide frame 5 is embedded in the hollow cavity of the lifting support 12, the guide wheel is arranged on the lifting support 12 and penetrates through the lifting support 12, the penetrating part of the guide wheel is clamped in the lifting slide rail, and the guide wheel is in sliding connection with the vertical lifting guide rail 14; the lifting support 12 is connected with the rotating disc 10 through a lifting hydraulic cylinder, and the large arm 8 is connected with the lifting support 12 through a bolt.
It should be explained that the lifting bracket 12 is connected with the rotating disc 10 through a lifting hydraulic cylinder, on one hand, when the rotating disc rotates, the rotating disc 10 can drive the lifting bracket 12 to rotate, the lifting bracket 12 is connected with the large arm 8, the large arm 8 is connected with the turret head 7, and the turret head 7 is connected with the gun body, so that the gun body can be finally driven to rotate through the rotation of the rotating disc; on the other hand, when the lifting support 12 is lifted by the lifting hydraulic cylinder, the lifting support drives the rotary head 7 and the gun body to synchronously lift through the large arm.
The lifting hydraulic cylinder 15 is arranged on one side of the lifting support 12 and fixedly connected with the lifting support 12, a lifting cylinder is arranged at the bottom of the lifting hydraulic cylinder 15, the lifting support 12 is connected with the large arm 8 through a bolt through the lifting cylinder, and finally the lifting movement of the gun body is realized.
The pitch angle of the existing oxygen lance in the electric arc furnace is limited by the pitch rotating shaft of the oxygen lance and the height of the furnace mouth. The traditional furnace door oxygen lance has no height adjusting function, so that the suitable lance position is not designed to be too high, the depression angle of the oxygen lance is reduced and is generally less than 10 degrees. The oxygen blowing effect is influenced by overlong jet flow caused by low liquid level in the initial smelting stage. The blowing structure designed by the invention is provided with the lifting unit, and a better and reasonable rotation position can be obtained by adopting a large advancing and retreating angle design, so that the depression angle of the oxygen lance can reach 20 degrees, enough penetration stirring capacity can be obtained even if the liquid level of molten steel is lower, and the smelting effect is greatly improved.
It should be noted that the vertical lifting guide rail 14 includes a first lifting guide rail and a second lifting guide rail, and the first lifting guide rail and the second lifting guide rail are disposed on opposite surfaces of each other; the guide wheels comprise a first guide wheel 13 to a fourth guide wheel, wherein the first guide wheel 13 and the second guide wheel can slide along the first lifting guide rail; the third guide wheel and the fourth guide wheel can slide along the second lifting guide rail.
The lifting process of the oxygen lance comprises the following steps: when the oxygen lance does not blow, the lance body and the large arm can be folded together and placed at one side of the electric arc furnace. When oxygen is blown, the advancing and retreating hydraulic cylinder 20 is shortened, the lifting bracket 12 rotates along with the advancing and retreating hydraulic cylinder, and the large arm 8 is driven by the lifting bracket to rotate towards the electric arc furnace so as to drive the gun body to advance. In the rotating process, the gun body swings towards the electric arc furnace under the influence of the spatial four-bar mechanism, the rotating angle is related to the length of the pull rod 9, and the whole gun head is kept towards the direction of the furnace door. In the approaching process, if the gun body is interfered with the track of the gun body, the length of the pull rod 9 is adjusted through the action of the swing hydraulic cylinder, so that the gun body swings in the opposite direction to avoid collision. Meanwhile, the lifting hydraulic cylinder 15 can ensure that the height of the gun body is between the upper limit and the lower limit of the furnace door by adjusting the self-extension according to the height relationship between the gun body and the furnace door. In the whole gun feeding process, the gun body is kept in a horizontal state, and when the gun body deviates from the horizontal state, the gun body is adjusted through the pitching system.
After the large arm 8 rotates and reverses, the advancing and retreating hydraulic cylinder 20 stops, and at this time, normal oxygen blowing is started. The jet flow direction of the oxygen lance is adjusted to meet the requirements of the smelting process through swinging, pitching, lifting and advancing and retreating actions according to the oxygen blowing requirements. For example, the two sides of the furnace door are swept through swinging, the height and the distance of jet flow are adjusted through height and pitching, the front and back positions of the jet flow are adjusted through advancing and retreating, and the like. After the oxygen blowing is finished, the oxygen lance reversely rotates back to the standby direction to wait for the next oxygen blowing operation.
In order to realize the advance and retreat of the gun body, the rotating disc 10 is connected with the advance and retreat hydraulic cylinder 20 through the push arm, and the advance and retreat hydraulic cylinder 20 pulls the rotating disc 10 to rotate through the push arm so as to drive the large arm 8, the rotary head 7 and the gun body to rotate.
In order to ensure the stability and firmness of the clamping of the gun body, the gun body is arranged on a rotary head 7 through a movable support, a first lug plate is further arranged on the rotary head 7, a first trunnion is arranged on the first lug plate, and the rotary head 7 is connected with a pitching unit 6 through the first trunnion; the movable support is used for centre gripping and support rifle body, and the concrete structure of movable support is: the movable support comprises a supporting plate and a clamping block, the clamping block is arranged above the supporting plate and used for clamping the gun body and fixing the gun body on the supporting plate, a second ear plate is arranged below the supporting plate, a second trunnion is arranged on the second ear plate, the movable support is connected with the rotary head 7 through the second trunnion, a third ear plate is arranged at the tail of the supporting plate, and a third trunnion is arranged on the third ear plate.
In order to realize the pitching action of the gun body, the pitching unit 6 comprises a pitching hydraulic cylinder, one end of the pitching hydraulic cylinder is in pin joint with the first lug plate, the other end of the pitching hydraulic cylinder is in pin joint with the third lug plate, and the movable support is driven to perform the pitching action relative to the rotary head through the length change of the hydraulic cylinder.
The pitching process of the oxygen lance is as follows: the movable support and the rotary head, the movable support and the pitching hydraulic cylinder, and the pitching hydraulic cylinder and the rotary head are connected through pin shafts to form three vertexes of a triangle, and three sides of the triangle are formed by structures among the three pin shafts. When the length of the pitching hydraulic cylinder changes, the length of one side of the triangle changes, so that the included angle of the other two sides changes correspondingly, and the rotating head is relatively fixed, so that the angle between the movable support and the rotating head changes along with the extension and the shortening of the pitching hydraulic cylinder, and corresponds to the pitching action of the gun body.
In order to be able to accurately control the yaw angle, the elevation height, the pitch angle, and the advance/retreat angle of the gun body, as shown in fig. 9, the detection unit includes an advance/retreat displacement sensor 16, a swing displacement sensor 17, a pitch displacement sensor 18, an elevation displacement sensor 19, and a visual sensor 25; the advancing-retreating displacement sensor 16 is provided on the advancing-retreating hydraulic cylinder 20; the swing displacement sensor 17 is arranged on the swing hydraulic cylinder, the pitch displacement sensor 18 is arranged on the lifting hydraulic cylinder, and the lifting displacement sensor 19 is arranged on the pitch hydraulic cylinder; the visual sensor 25 is used to detect information about the electric arc furnace 21, and the visual sensor 25 is installed at a suitable position in front of the door of the electric arc furnace 21.
Specifically, the control unit is used for controlling the left-right swing angle, the lifting height, the pitching angle and the advancing and retreating angle of the gun body.
Compared with the prior art, the invention can realize posture self-perception under the coordination of the detection unit formed by each sensor by additionally arranging the corresponding displacement sensor on each hydraulic cylinder, utilizing the displacement data fed back by each displacement sensor, calculating the position of the gun body through the length and position data of each part of the furnace door oxygen lance device and transmitting the data to the control unit, and can realize intelligent control by coordinating with the software control model.
Compared with the prior art, the four-degree-of-freedom electric arc furnace oxygen lance injection structure has the pitch angle of (0 degrees and 20 degrees), the advance and retreat angle of (90 degrees to 110 degrees) and the lifting height of 500 mm to 800 mm.
It is emphasized that the lance body of the oxygen lance of the invention exits the range of the furnace door in the non-oxygen blowing period, and the integral folding reduces the occupation of the platform in front of the furnace, thereby being convenient for operation.
It should be noted that the folding of the oxygen lance is realized through the spatial four-bar linkage mechanism, namely the lance body and the large arm 8 are in an overlapped state when the oxygen lance is at the standby position, and the occupied area is greatly reduced.
In order to facilitate the operation, the oxygen lance adopts a four-bar mechanism, and the lance body naturally swings when advancing and retreating, so that the stroke of the swing hydraulic cylinder is reduced while the operation amount is reduced. The existing gun motion is completed in a plane, four rotating shafts of a four-bar linkage mechanism adopted by the existing gun motion are required to be perpendicular to a movable plane, and a lifting function is added to destroy the plane structure of the four-bar linkage mechanism, so that the lifting function and the four-bar linkage mechanism cannot coexist in the prior art.
The device adopts a space link mechanism, a lifting system is added, and meanwhile, the link mechanism is kept, the space four-link mechanism is shown in figure 8, a base rotating shaft Z1, a rotating head rotating shaft Z2, a spherical hinge J1 (a connecting lever is hinged with a long rod through the spherical hinge), a pull rod support rotating shaft Z3 and a pull rod support rotating shaft Z4 form the space four-link mechanism, and G1-G4 are space virtual link positions. The rotating shafts Z1, Z2 and Z3 are all vertical to the horizontal plane, the rotating shaft Z4 is parallel to the horizontal plane, and the spherical hinge J1 can be in any direction. The four virtual links G1, G2, G4 are all parallel to the horizontal plane, and the virtual link G3 changes with the height, so that the four-link mechanism can be realized in space.
It should be explained that the oxygen lance has the largest swing angle, the shortest stroke and the most reasonable cylinder body motion range of the advancing and retreating hydraulic cylinder 20 by adjusting the positions of the advancing and retreating hydraulic cylinder 20 and the pushing arm.
It should be noted that the gun body advancing and retreating process of the present invention is as follows: the big arm 8 of the oxygen lance is connected to the guide frame 5 through the lifting cylinder, and the guide frame 5 can rotate by taking the rotation center of the base 1 as an axis. When the length of the advancing and retreating hydraulic cylinder is changed, the guide frame 5 is rotated through the pushing arm of the guide frame 5, and the large arm 8 connected with the guide frame is correspondingly rotated. The other end of the large arm 8 is connected with the rotary head 7, and the movable bracket and the gun body are connected on the rotary head 7. Along with the rotation of the large arm 8, the gun body on the movable bracket also moves correspondingly along with the rotary head 7. It should be noted that, because the present invention adopts a spatial four-bar linkage, the turret 7 and the rotating disc 10 rotate in opposite directions under the action of the pull rod 9 while rotating with the large arm 8, the rotation range of the gun body itself is not large under the cooperation of the turret 7, the rotating disc 10 and the pull rod 9, especially when the length of the pull rod 9 is equal to that of the large arm 8, a parallel four-bar linkage is formed, and at this time, the gun body only translates. The blowing structure of the invention is driven by a forward and backward hydraulic cylinder 20, the position of the gun body relative to the furnace body changes along with the rotation of the large arm 8, and the gun feeding and the gun withdrawing actions in the operation are corresponded.
The specific implementation process of the gun body swing is as follows: the furnace door oxygen lance of the invention adopts a space four-bar mechanism, and the large arm 8, the crank arm of the revolving head 7, the pull rod 9 and the base 1 form four edges of a four-bar. When the length of the pull rod 9 is changed under the action of the swing hydraulic cylinder, the crank arm of the rotary head 7 is caused to rotate around the rotary head 7. The gun body is fixed on the rotary head 7 through the movable support and rotates along with the rotary head, and the gun head correspondingly swings.
Specifically, the processing unit of the invention comprises a position processing module and a vision processing module; the position processing module is used for receiving and processing related information from the displacement sensor so as to obtain the position information of the gun head and the posture information of the gun body of the oxygen lance in real time; specifically, the position processing module is used for receiving and processing relevant information from the displacement sensor. The vision processing module is used for receiving and processing the relevant information of the electric arc furnace from the vision sensor so as to acquire the furnace body tilting information, the furnace front environment information, the furnace door frame position information, the steel scrap and the furnace slag in the furnace in real time.
Specifically, the control unit of the present invention includes an upper computer 23 and a lower computer 24; the lower computer 24 is used for receiving the processing result information from the processing unit and comprehensively calculating the processing result information to obtain a movement route of the injection structure (wherein the principle of the movement route of the injection structure mainly comprises that when the furnace body tilts, an oxygen lance cannot be started to enter the injection structure, the maximum movement range of the movement of each part in the injection structure is calculated to avoid the collision of the oxygen lance with a furnace door), and the processing result information and the movement route information of the injection structure are sent to the upper computer 23; the upper computer 23 is used for displaying the processing result information and the movement route information of the blowing structure from the lower computer 24 and sending a control instruction to the lower computer 24 according to the information.
The upper computer 23 is a computer that can directly issue a control command, and is typically a PC (personal computer), and displays various signal changes (hydraulic pressure, water level, temperature, etc.) on a screen. The lower computer 24 is a computer that directly controls the injection structure and obtains the status of the injection structure, and is generally a PLC (programmable logic controller) or a single chip microcomputer. The upper computer 23 and the lower computer 24 establish communication connection, commands sent by the upper computer 23 are firstly sent to the lower computer 24, and the lower computer 24 is interpreted into corresponding time sequence signals according to the commands to directly control the blowing structure. Specifically, the swinging unit, the rotating unit, the lifting unit and the pitching unit in the blowing structure are all electrically connected with the control unit.
Specifically, the lower computer 24 is preferably a PLC. Compared with a single chip microcomputer, the PLC has the advantages of high reliability, strong anti-interference capability, convenience in programming, convenience in use, strong applicability to severe industrial environments and the like.
Compared with the prior art, the electric arc furnace device has the advantages that the displacement sensor is additionally arranged at the key part of the injection structure, the visual sensor is arranged in front of the furnace door of the electric arc furnace, and the corresponding position processing module and the corresponding visual processing module are combined, so that the injection structure has the position sensing capability and the visual analysis function, and the injection structure can realize automatic control based on the control unit; through the control unit for communication connection is established with the electric arc furnace body to the jetting structure and is formed the interlocking, when the electric arc furnace carries out the operation of fascinating, the oxygen rifle can't advance the rifle, or when the oxygen rifle is in the electric arc furnace, the electric arc furnace can't fascinate, and can avoid jetting structure and electric arc furnace body to bump and cause the damage, and then guarantee equipment safety. By adopting the electric arc furnace device, the technical problem that the movement process of the injection structure needs manual whole-course intervention can be effectively solved.
The invention also provides an electric arc furnace blowing control method which is applied to the electric arc furnace device and comprises the following steps:
s1, the detection unit detects the blowing structure and the electric arc furnace 21 to acquire the related information of the blowing structure and the electric arc furnace 21;
s2, the detection unit sends the relevant information of the blowing structure and the electric arc furnace 21 to the processing unit;
s3, after receiving the relevant information of the blowing structure and the electric arc furnace 21, the processing unit processes the relevant information of the blowing structure and the electric arc furnace 21 to obtain the corresponding processing result information;
s4, the processing unit sends the corresponding processing result information to the control unit;
s5, after receiving the processing result information, the control unit carries out comprehensive calculation on the processing result information to obtain the movement route of the blowing structure;
and S6, the control unit sends a control command to the blowing structure to enable the blowing structure to act according to the movement route.
Specifically, before executing step S1, the control method further includes:
s01, judging whether the electric arc furnace 21 is in a tilting state; if the electric arc furnace 21 is in a tilting state, the blowing structure cannot be operated; if the electric arc furnace 21 is in the non-tilting state (normal state), steps S1-S6 are executed.
Specifically, in S01, the control unit may acquire the angle of the body of the electric arc furnace 21 and the drive signal of the tilting of the body to determine the state of the electric arc furnace 21. If the angle of the body of the electric arc furnace is not zero or the control unit receives a driving signal for tilting the body, it determines that the electric arc furnace 21 is in a tilting state. At this time, the control unit cannot issue a control instruction to the blowing structure.
Specifically, the control method further includes:
s02, calibrating the position of the furnace door 2101 of the electric arc furnace 21 to ensure that the axial center of the oxygen lance coincides with the geometric center of the furnace door 2101 when the oxygen lance enters the electric arc furnace 21 in the state of 0-degree oscillating angle and 0-degree pitching angle.
Specifically, in S02, the control unit acquires an image signal of the oven door through the vision sensor 25, performs recognition through a contour recognition algorithm, and establishes a corresponding relationship between the actual size of the oven door and the image size according to the actual size and the image size of the oven door. The position of the calibration point of the oven door is shown in fig. 10, and the calibration method is as follows:
firstly, selecting two calibration points A and B on the edge of a furnace door, wherein A is a calibration point on the left side of the furnace door, and B is a calibration point on the right side of the furnace door; measuring the actual distance between the two calibration points A and B as M;
secondly, selecting the collected image, determining the coordinate of the calibration point through a contour recognition algorithm, wherein the coordinate of the calibration point A is (x)1，y1) The coordinate of the index point B is (x)2，y2) (ii) a Obtaining the distance of the two calibration points in the image as N according to the coordinates of the two calibration points A and B, and then calculating the proportion K of the actual distance M and the image distance N according to the formula:
K＝M/N (1)
in the formula, K is a calculation calibration coefficient.
It should be noted that the visual sensor position and the oven door size need to be recalibrated when they change.
Specifically, before executing step S6, the control method further includes:
s03, the activity interval of the oxygen lance in the blowing structure is judged (considering that the furnace door frame edge has residual steel scrap and slag, so the actual activity interval is not the original size of the furnace door) so as to prevent the oxygen lance from colliding with the furnace door 2101 of the electric arc furnace 21.
Specifically, in S03, the control unit acquires an image signal through the vision sensor due to a color difference between the interior of the furnace and the edge of the furnace door, and determines the movement space of the interior of the furnace door through a contour recognition algorithm. Referring to FIGS. 10 and 11, the method for determining the oxygen lance movement interval is as follows:
firstly, determining a left edge point C in a furnace door and a right edge point D in the furnace door according to a contour recognition algorithm, wherein the corresponding abscissas are x respectively3、x4The corresponding vertical coordinates of the edge point E at the inner upper side of the furnace door and the edge point F at the inner lower side of the furnace door are respectively y3、y4. When the oxygen lance moves in the furnace, the left and right actual width of the moving section in the furnace door is equal to K (x)4-x3) The actual height j is K (y)4-y3)。
Secondly, after the activity interval of the oxygen lance relative to the furnace door is determined, the oxygen lance can be controlled to enter the furnace door, and the control unit calculates the maximum activity range of the actions of each part in the injection structure so as to avoid the collision between the oxygen lance and the furnace door 2101. In the process of automatically advancing and retreating the lance, the lifting of the large arm 8 in the injection structure and the pitching range of the oxygen lance can be limited by upper and lower side edge points E and F in the furnace door in a graph 10, and the left and right swinging range of the oxygen lance needs to be judged by a judgment formula.
As shown in fig. 11, a rectangular coordinate system with O as the origin is established, the rotation center of the base 1 in the injection structure is the point O, the rotation center of the oxygen lance is the point a ', and the tip of the oxygen lance is the point B'. L is1Is the length of OA '(large arm 8) and alpha is the angle between OA' and the X-axis (i.e. large)The angle of rotation of the arm 8); l is2Is the length of A ' B ' (i.e. the length of the lance), and beta is the included angle between A ' B ' and OA ' (i.e. the included angle between the lance and the large arm 8). DXIs the distance from the front end of the furnace door to the Y axis, DYIs the distance from the central line of the furnace door to the X axis. Point C, D is the two edge points of the inside of the oven door, which coincides with point C, D in fig. 10.
The judgment formula is as follows:
in the formula (2), when alpha is larger than beta, the oxygen lance can normally swing, otherwise, the head of the oxygen lance collides with the inner wall C of the furnace door.
In the formula (3), when alpha is less than beta, the oxygen lance can normally swing, otherwise, the head of the oxygen lance collides with the inner wall D of the furnace door.
Thirdly, after the lifting of the large arm 8 in the injection structure and the moving range of the oxygen lance are determined, the control unit calculates the specific motion parameters of each part of the injection structure by taking the geometric center of the movable section of the furnace door determined by the contour recognition algorithm as a target point, and performs PID closed-loop control, thereby finally achieving the purpose of gun feeding without collision between the injection structure and the furnace door.
Specifically, when the electric arc furnace is in a non-tilting state (normal state), the concrete process of the anti-collision control method for the blowing structure is as follows:
first, the detection unit acquires information relating to the blowing configuration and the electric arc furnace 21, including the length L of the boom 81Length L of oxygen lance2The rotation angle alpha of the big arm 8, the included angle beta between the oxygen lance and the big arm 8, the left and right actual width i of the movable interval in the furnace door, and the distance D from the central line of the furnace door to the X axisY(ii) a And sending the relevant information to a processing unit for processing;
then, the processing unit processes the information to obtain corresponding processing result information and sends the processing result information to the control unit; the control unit rapidly judges the self position of the injection structure and the posture of the oxygen lance according to the processing result information; if the position of the blowing structure does not trigger the limit switch, the control unit does not receive the limit signal, and the control unit judges that the blowing structure does not reach the working position;
and secondly, the control unit carries out comprehensive calculation on the processing result information, and calculates the movement route of the injection structure to the working position, namely the movement control parameters of each part in the injection structure on the principle that the oxygen lance does not collide with a furnace door frame and obstacles such as slag, steel scrap and the like.
Finally, the control unit sends out a control instruction to drive the blowing structure to act according to the movement route; when the control unit receives the limiting signal, the blowing structure is indicated to move to the working position, and at the moment, the gun feeding action of the oxygen lance stops and blowing is started.
According to the anti-collision control method for the electric arc furnace blowing structure in the technical scheme, the electric arc furnace device is adopted, the blowing structure and the electric arc furnace are detected through the detection unit so as to obtain the relevant information of the blowing structure and the electric arc furnace, the blowing structure and the electric arc furnace body are in communication connection to form interlocking, and when the electric arc furnace is in a tilting state, the control unit controls the blowing structure to be incapable of acting until the electric arc furnace returns to the right state; or when the injection structure acts, the control unit controls the electric arc furnace to tilt, so that the injection structure is prevented from colliding with the electric arc furnace body to cause damage. And the collision between the injection structure and the electric arc furnace is prevented by judging the moving interval of the oxygen lance.
In the method, because the electric arc furnace and the injection structure have the sensing capability of the self position, whether the injection structure is started or not can be analyzed through analyzing the self position, a movement path for preventing the injection structure from colliding with the electric arc furnace is provided, the movement path is judged after being observed by a worker manually, then the operation is carried out, and the production efficiency is favorably improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. An electric arc furnace apparatus, characterized in that the electric arc furnace apparatus comprises an electric arc furnace, a blowing structure and a control system;
the control system comprises a detection unit, a processing unit and a control unit; the detection unit is used for detecting the relevant information of the electric arc furnace and the blowing structure and sending the relevant information of the electric arc furnace and the blowing structure to the processing unit;
the processing unit is used for receiving and processing the relevant information of the injection structure and the electric arc furnace from the detection unit and sending the corresponding processing result information to the control unit;
the control unit is used for receiving the processing result information from the processing unit, comprehensively calculating the processing result information to obtain the movement route of the blowing structure, and sending out a control instruction.
2. The arc furnace installation of claim 1, wherein the lance structure essentially comprises a base, a swing unit, a swivel unit, a lift unit, a boom, a pitch unit, and an oxygen lance; the gun body of the oxygen gun is arranged on the rotary unit, and the swing unit and the lifting unit are arranged above the base; the swinging unit is connected with the rotating unit, and the lifting unit is connected with the rotating unit through a large arm; the pitching unit is connected with the rotating unit and the gun body;
the swinging unit is used for realizing the left-right swinging of the gun body; the rotary unit is used for realizing the advancing and retreating actions of the gun body; the pitching unit is used for realizing the pitching action of the gun body; the lifting unit is used for realizing the lifting action of the gun body.
3. The electric arc furnace apparatus of claim 2, wherein the detection unit comprises a displacement sensor and a visual sensor; the displacement sensor is arranged on the blowing structure to detect relevant information of the blowing structure; the visual sensor is installed in front of a furnace door of the electric arc furnace to detect relevant information of the electric arc furnace.
4. The electric arc furnace installation of claim 3, wherein the displacement sensors include a forward and backward displacement sensor, a roll displacement sensor, a pitch displacement sensor, and a heave displacement sensor; the advancing and retreating displacement sensor is arranged on the rotary unit, and the swinging displacement sensor is arranged on the swinging unit; the lifting displacement sensor is arranged on the lifting unit, and the pitching displacement sensor is arranged on the pitching unit.
5. The electric arc furnace installation of claim 4, wherein the swinging unit, the lifting unit and the pitching unit of the blowing structure are all electrically connected with the control unit.
6. An arc furnace blowing control method applied to the arc furnace apparatus of claims 1 to 5, characterized in that the control method comprises the steps of:
s1, the detection unit detects the blowing structure and the electric arc furnace to acquire the related information of the blowing structure and the electric arc furnace;
s2, the detection unit sends the relevant information of the blowing structure and the electric arc furnace to the processing unit;
s3, after receiving the relevant information of the blowing structure and the electric arc furnace, the processing unit processes the relevant information of the blowing structure and the electric arc furnace to obtain corresponding processing result information;
s4, the processing units send the corresponding processing result information to the control unit;
s5, after receiving the processing result information, the control unit carries out comprehensive calculation on the processing result information to obtain the movement route of the blowing structure; the principle of the movement route is that the blowing structure does not collide with the furnace door;
and S6, the control unit sends a control instruction to the blowing structure to enable the blowing structure to act according to the movement route.
7. The electric arc furnace blowing control method of claim 6, before performing step S1, said control method further comprising:
s01, acquiring the angle of the furnace body of the electric arc furnace and the driving signal of the tilting of the furnace body through the control unit to judge the state of the electric arc furnace and judge whether the electric arc furnace is in the tilting state; if the electric arc furnace is in a tilting state, the blowing structure cannot act; if the arc furnace is in a non-tilting state, steps S1-S6 are performed.
8. The electric arc furnace blowing control method of claim 6, wherein prior to the step of the control unit issuing control instructions to the blowing structure, the control method further comprises:
and calibrating the position of the furnace door of the electric arc furnace so as to enable the axial center of the oxygen lance in the injection structure to coincide with the geometric center of the furnace door.
9. The electric arc furnace blowing control method of claim 6, further comprising:
and judging the moving interval of the oxygen lance in the injection structure so as to prevent the oxygen lance from colliding with a furnace door of the electric arc furnace.
10. The method of claim 9, wherein determining the activity zone of the lance in the lance structure comprises:
firstly, establishing a rectangular coordinate system with O as an original point, wherein the O point is the rotation center of the base, the rotation center of the oxygen lance is the point A', and the lance head of the oxygen lance is the point B；L1Is the length of OA ', and alpha is the included angle between OA' and the X axis; l is2Is the length of A ' B ', beta is the angle between A ' B ' and OA ', DYIs the distance from the central line of the furnace door to the X axis; c is the left edge point in the furnace door, D is the right edge point in the furnace door;
secondly, the judgment is carried out according to the following formula:
in the formula (2), when alpha is larger than beta, the oxygen lance can normally swing, otherwise, the head of the oxygen lance collides with the inner wall C of the furnace door;
in the formula (3), when alpha is less than beta, the oxygen lance can normally swing, otherwise, the head of the oxygen lance collides with the inner wall D of the furnace door.
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| CN211227207U (en) * | 2019-11-14 | 2020-08-11 | 宁波钢铁有限公司 | Converter oxygen lance structure with height detection device |
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| JP2000303115A (en) * | 1999-04-16 | 2000-10-31 | Kawasaki Steel Corp | Device for operating oxygen-blown lance for electric furnace |
| CN201180145Y (en) * | 2008-04-02 | 2009-01-14 | 深圳市库马克新技术股份有限公司 | Revolving furnace incline movement and oxygen gun hoisting control system |
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