CN116475392A - Continuous casting tundish molten steel liquid level measuring device and application method thereof - Google Patents
Continuous casting tundish molten steel liquid level measuring device and application method thereof Download PDFInfo
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- CN116475392A CN116475392A CN202210048750.0A CN202210048750A CN116475392A CN 116475392 A CN116475392 A CN 116475392A CN 202210048750 A CN202210048750 A CN 202210048750A CN 116475392 A CN116475392 A CN 116475392A
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- measuring rod
- robot
- tundish
- molten steel
- measuring
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 56
- 239000010959 steel Substances 0.000 title claims abstract description 56
- 238000009749 continuous casting Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000007788 liquid Substances 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 75
- 238000012545 processing Methods 0.000 claims abstract description 14
- 230000000007 visual effect Effects 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims abstract description 4
- 210000000078 claw Anatomy 0.000 claims description 32
- 238000005259 measurement Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 5
- 230000003068 static effect Effects 0.000 claims description 2
- 238000005303 weighing Methods 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 239000002893 slag Substances 0.000 abstract description 5
- 238000005266 casting Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000001914 calming effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009628 steelmaking Methods 0.000 description 1
Classifications
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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
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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
- B22D2/003—Arrangement of indicating or measuring devices, e.g. for temperature or viscosity of the fused mass for the level of the molten metal
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Continuous Casting (AREA)
Abstract
The invention discloses a continuous casting tundish molten steel liquid level measuring device and a using method thereof, wherein the device comprises a robot, a measuring rod clamping mechanism, a visual mechanism, an image processing mechanism and a placing frame; the robot is arranged on one side of the tundish, and the measuring rod clamping mechanism is arranged on the robot; the placing frame is internally used for placing a measuring rod and is arranged on one side of the robot; the visual mechanism is connected with the image processing mechanism in a data communication way, is arranged beside the robot, and the image acquisition side of the visual mechanism is arranged towards the direction of the tundish. The invention improves the accuracy of weighing the molten steel in the tundish, improves the yield of continuous casting pouring, prevents accidents caused by slag falling of the crystallizer, and improves the production automation degree.
Description
Technical Field
The invention relates to a detection technology of continuous slab casting, in particular to a continuous casting tundish molten steel liquid level measuring device and a using method thereof.
Background
In the continuous casting production process, molten steel enters a tundish from a ladle, then enters a crystallizer from a pouring channel through a stopper rod or a sliding plate flow control system arranged on the tundish, and is continuously cooled to form a continuous casting slab. During the period, the tundish plays roles of transferring molten steel, ensuring continuous pouring, calming inclusion floating and the like. During pouring of the tundish, the accuracy of weighing the molten steel in the tundish greatly influences the quality of the slab, and when pouring of the tundish is finished, the accuracy of weighing the molten steel in the tundish influences the pouring yield and has a decisive effect on preventing accidents caused by slag falling off a crystallizer.
The weight of molten steel in the tundish is mainly detected by a weighing device on a tundish car at present, but the weighing accuracy is insufficient due to the fact that the weighing device has high failure rate in a high-temperature environment and the deformation of the tundish in use is large. Meanwhile, the surface of molten steel in the tundish is provided with a covering agent heat-insulating agent and residual slag at the end of the ladle, and the liquid level weight deviation of the same height is large. Therefore, in order to improve the yield of molten steel and prevent accidents caused by slag in the tundish entering the crystallizer, operators need to continuously measure the height of the molten steel manually when pouring of the tundish is finished.
At present, the measurement of the liquid level of molten steel in a tundish is mainly based on a weighing method, various methods and literature publications exist, and the most main methods are an electromagnetic method, a laser method, an ultrasonic method, an electrode method and the like, but the technology or the cost and the like cannot meet the requirement of mass production, so that the method is rarely used for actual production.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a continuous casting tundish molten steel liquid level measuring device and a using method thereof, which improve the accuracy of weighing molten steel in a tundish, improve the yield of continuous casting pouring, prevent accidents caused by slag falling off a crystallizer and improve the degree of production automation.
In order to achieve the above purpose, the invention adopts the following technical scheme:
on the one hand, the continuous casting tundish molten steel level measuring device comprises a robot, a measuring rod clamping mechanism, a visual mechanism, an image processing mechanism and a placing frame;
the robot is arranged on one side of the tundish, and the measuring rod clamping mechanism is arranged on the robot;
the placing frame is internally used for placing a measuring rod and is arranged on one side of the robot;
the visual mechanism is connected with the image processing mechanism in a data communication way, is arranged beside the robot, and the image acquisition side of the visual mechanism is arranged towards the direction of the tundish.
Preferably, the robot vision system further comprises a measurement platform, and the robot vision mechanism and the placing frame are all arranged on the measurement platform.
Preferably, the robot is located between the tundish and the placing frame.
Preferably, the visual mechanism is a thermal infrared imager or a camera.
Preferably, the measuring rod clamping mechanism comprises a clamping rod, an air cylinder, a clamping claw and a movable claw;
the rear end of the clamping rod is connected to the robot through a flange or a joint, and the front end of the clamping rod is fixedly connected with the clamping claw and movably connected with the movable claw;
the cylinder is connected with the clamping rod, and the movable end of the cylinder is connected with the movable claw.
Preferably, the movable claw is connected to the front end of the clamping rod through a pin shaft.
Preferably, a plurality of clamping columns are further arranged on the inner side surfaces of the clamping claw and the movable claw.
On the other hand, the using method of the continuous casting tundish molten steel level measuring device comprises the following steps:
a worker sends an instruction to the robot through a robot operating panel, the robot moves the measuring rod clamping mechanism to the position of the placing frame, and a certain measuring rod in the placing frame is clamped through the measuring rod clamping mechanism;
the robot moves the measuring rod clamping mechanism to the upper side of the measuring hole in the tundish, the measuring rod clamping mechanism vertically inserts the measuring rod along the measuring hole in the tundish to the bottom of the tundish after the measuring rod stays for N seconds, the measuring rod clamping mechanism vertically lifts the measuring rod upwards along the measuring hole in the tundish to the upper side of the tundish and keeps static, the vision mechanism performs image acquisition on the measuring rod and transmits images to the image processing mechanism, the image processing mechanism measures the length of the molten steel part stuck on the measuring rod, and the measured value is fed back to staff.
Preferably, the measuring rod clamping mechanism clamps the measuring rod further includes:
the movable claw is opened through the action of the air cylinder, the robot moves the measuring rod clamping mechanism to the corresponding measuring rod position, and then the air cylinder acts to close the movable claw so as to clamp the measuring rod.
Preferably, the residence time of the measuring rod in the bottom of the tundish is 2 to 5 seconds.
The device for measuring the molten steel level of the continuous casting tundish and the using method thereof can be widely applied to occasions of various continuous casting machine tundish operations, can measure the molten steel level in the tundish by utilizing an automatic mechanical device or a robot, help steelmaking production to realize automatic, unmanned and remote operation of continuous casting and casting of steel, and avoid potential safety hazards caused by close contact of operators with molten steel. Meanwhile, the measurement is standardized, the measurement accuracy is not influenced by personnel skills, the steel mill is convenient to reduce the residual steel amount of the tundish, the yield of continuous casting molten steel is improved, and the economic benefit is remarkable.
Drawings
FIG. 1 is a schematic structural view of a continuous casting tundish molten steel level measuring apparatus according to the present invention;
FIG. 2 is a schematic structural view of a measuring rod clamping mechanism in the continuous casting tundish molten steel level measuring device of the invention, which is connected with a robot by adopting a flange;
FIG. 3 is a schematic diagram of a structure in which a measuring rod clamping mechanism is connected with a robot by a joint in the continuous casting tundish molten steel level measuring device of the invention;
FIG. 4 is a schematic view of a measuring rod inserted into a tundish in a method of using the continuous casting tundish molten steel level measuring device of the present invention;
FIG. 5 is a schematic view of a vision mechanism for shooting in the method of use of the continuous casting tundish molten steel level measuring device of the present invention;
FIG. 6 is a schematic flow chart of an embodiment of a method of using the continuous casting tundish molten steel level measuring apparatus of the present invention.
Detailed Description
In order to better understand the above technical solution of the present invention, the technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Referring to fig. 1, the invention provides a continuous casting tundish molten steel level measuring device, which comprises a robot 1, a measuring rod clamping mechanism 2, a vision mechanism 5, an image processing mechanism 6 and a placing frame 4.
The robot 1 is located in the middle of 7 one side, and measuring rod fixture 2 is located on the robot 1, and measuring rod fixture 2 is used for snatching the measuring rod 3 of placing in putting frame 4. The robot 1 is a six-axis robot.
The placing frame 4 is used for placing the measuring rod 3, is arranged on one side of the robot 1, and the robot 1 is positioned between the tundish 7 and the placing frame 4.
The vision mechanism 5 and the image processing mechanism 6 are connected in a data communication mode, the vision mechanism is arranged beside the robot 1, and the image acquisition side of the vision mechanism 5 is arranged towards the direction of the tundish 7 and is used for capturing images. The vision mechanism 5 is a thermal infrared imager or a camera.
The invention further provides a measuring platform 9, and the robot 1, the vision mechanism 5 and the placing frame 4 are all arranged on the measuring platform 9.
As shown in fig. 2 and 3 in combination, the measuring rod holding mechanism 2 includes a holding rod 201, an air cylinder 202, a holding claw 203, and a movable claw 204.
The rear end of the clamping rod 201 is connected to the robot 1 through a flange 205 or a joint 207, the front end is fixedly connected with a clamping claw 203, and the front end is connected with a movable claw 204 through a pin shaft, and the movable claw 204 can rotate around the pin shaft.
The cylinder 202 is fixedly connected with the clamping rod 201, the movable end of the cylinder 202 is connected with the movable claw 204, the opening and closing between the clamping claw 203 and the movable claw 204 are realized through the action of the cylinder 202, and the power gas of the robot 1 is communicated with the cylinder 202.
The inner sides of the clamping jaw 203 and the movable jaw 204 are also provided with a plurality of clamping posts 206 for clamping the measuring rod 3.
The single function robot does not require tool change and can be connected using flange 205 in fig. 2; the multi-function robot requires tool change, and may be connected using a joint 207 in fig. 3 (the robot grips the joint via a cylinder, which is in the form of a universal joint for the robot tool).
The invention also provides a using method of the continuous casting tundish molten steel liquid level measuring device, which is shown in the combination of fig. 4 and 5, comprising the following steps:
the staff sends out instructions to the robot 1 through a robot operating panel, the robot 1 moves the measuring rod clamping mechanism 2 to the position of the placing frame 4, and a certain measuring rod 3 in the placing frame 4 is clamped through the measuring rod clamping mechanism 2;
the robot 1 moves the measuring rod clamping mechanism 2 to the upper side of the measuring hole on the tundish 7, the measuring rod clamping mechanism 2 vertically inserts the measuring rod 3 to the bottom of the tundish 7 along the measuring hole on the tundish 7, and after the measuring rod clamping mechanism 2 stays for 2 to 5 seconds, the measuring rod 3 is vertically lifted to the upper side of the tundish 7 along the measuring hole on the tundish 7 and kept still, at the moment, the vision mechanism 5 performs image acquisition on the measuring rod 3 and transmits the image to the image processing mechanism 6, the image processing mechanism 6 measures the length of the molten steel part stuck on the measuring rod 3, and the measured value is fed back to a worker in a digital, image or voice conversion mode. Finally, the robot 1 puts the used measuring rod 3 into the tundish 7 or places the measuring rod into a waste measuring rod collecting position, and the measurement of the molten steel level 8 in the tundish 7 is completed once.
The measuring rod clamping mechanism 2 clamps the measuring rod 3 further includes:
the movable claw 204 is opened by the action of the air cylinder 202, the robot 1 moves the measuring rod clamping mechanism 2 to the corresponding measuring rod 3 position, and the air cylinder 202 closes the movable claw 204 to clamp the measuring rod 3.
Examples
In connection with the illustration of fig. 6, a certain steel enterprise steelworks # 3 continuous casting machine is adopted, and the tundish is operated by a robot. When the tundish is used for final casting, the liquid level measuring device for the molten steel in the continuous casting tundish and the using method thereof are adopted to measure the liquid level 8 of the molten steel in the tundish 7: the operator sends an instruction to the robot 1 connected with the measuring rod clamping mechanism 2 through the robot operating panel, the robot 1 moves the measuring rod clamping mechanism 2 to the position A near the placing frame 4, opens the movable claw 204 through the air cylinder 202, moves to the position of a certain measuring rod 3 set by a program again, and closes the movable claw 204 through the action of the air cylinder 202 so as to clamp the measuring rod 3. The measuring rod clamping mechanism 2 moves to the position above the measuring hole B on the tundish 7 with the measuring rod 3, after the measuring rod 3 is vertically inserted to the bottom of the tundish 7 and then stopped for 2 to 5 seconds, the measuring rod 3 is vertically lifted upwards to the position above the tundish 7 and kept still, at the moment, the vision mechanism 5 carries out image detection on the measuring rod 3, the length of the high-temperature molten steel part adhered to the measuring rod 3 is measured, the measured value is fed back to an operator in a digital mode, an image mode or a voice mode, finally the measuring rod clamping mechanism 2 inputs the used measuring rod 3 into the pouring hole C of the tundish 7, or is placed into a waste measuring rod collecting position, and the measuring of the molten steel liquid level of the tundish is completed once. And pouring the residual steel of the tundish according to the liquid level height of the molten steel measured by the robot by an operator.
The continuous casting tundish molten steel level measuring device and the using method thereof are mature and reliable according to the related technology, have universality and practicability, and can be widely applied to continuous casting operation with robots or automatic mechanical devices. The invention has obvious economic benefit and high operation safety, can realize unmanned and remote continuous casting of steel, and has wide market prospect.
It will be appreciated by persons skilled in the art that the above embodiments are provided for illustration only and not for limitation of the invention, and that variations and modifications of the above described embodiments are intended to fall within the scope of the claims of the invention as long as they fall within the true spirit of the invention.
Claims (10)
1. The utility model provides a continuous casting tundish molten steel liquid level measurement device which characterized in that: the device comprises a robot, a measuring rod clamping mechanism, a visual mechanism, an image processing mechanism and a placing frame;
the robot is arranged on one side of the tundish, and the measuring rod clamping mechanism is arranged on the robot;
the placing frame is internally used for placing a measuring rod and is arranged on one side of the robot;
the visual mechanism is connected with the image processing mechanism in a data communication way, is arranged beside the robot, and the image acquisition side of the visual mechanism is arranged towards the direction of the tundish.
2. The continuous casting tundish molten steel level measuring device according to claim 1, wherein: the robot vision mechanism and the placing frame are arranged on the measuring platform.
3. The continuous casting tundish molten steel level measuring device according to claim 1, wherein: the robot is located between the tundish and the placing frame.
4. The continuous casting tundish molten steel level measuring device according to claim 1, wherein: the visual mechanism is a thermal infrared imager or a camera.
5. The continuous casting tundish molten steel level measuring device according to claim 1, wherein: the measuring rod clamping mechanism comprises a clamping rod, an air cylinder, a clamping claw and a movable claw;
the rear end of the clamping rod is connected to the robot through a flange or a joint, and the front end of the clamping rod is fixedly connected with the clamping claw and movably connected with the movable claw;
the base of the air cylinder is connected with the clamping rod, and the movable end of the air cylinder is connected with the movable claw.
6. The continuous casting tundish molten steel level measuring device according to claim 5, wherein: the movable claw is connected to the front end of the clamping rod through a pin shaft.
7. The continuous casting tundish molten steel level measuring device according to claim 5, wherein: the inner side surfaces of the clamping claw and the movable claw are also provided with a plurality of clamping columns.
8. A method of using a continuous casting tundish molten steel level measuring apparatus according to any one of claims 1 to 7, characterized in that:
a worker sends an instruction to the robot through a robot operating panel, the robot moves the measuring rod clamping mechanism to the position of the placing frame, and a certain measuring rod in the placing frame is clamped through the measuring rod clamping mechanism;
the robot moves the measuring rod clamping mechanism to the upper side of the measuring hole in the tundish, the measuring rod clamping mechanism vertically inserts the measuring rod along the measuring hole in the tundish to the bottom of the tundish after the measuring rod stays for N seconds, the measuring rod clamping mechanism vertically lifts the measuring rod upwards along the measuring hole in the tundish to the upper side of the tundish and keeps static, the vision mechanism performs image acquisition on the measuring rod and transmits images to the image processing mechanism, the image processing mechanism measures the length of the molten steel part stuck on the measuring rod, and the measured value is fed back to staff.
9. The method of using a continuous casting tundish molten steel level measurement apparatus according to claim 8, wherein the measuring rod clamping mechanism clamps the measuring rod further comprises:
the movable claw is opened through the action of the air cylinder, the robot moves the measuring rod clamping mechanism to the corresponding measuring rod position, and then the air cylinder acts to close the movable claw so as to clamp the measuring rod.
10. The method for using the continuous casting tundish molten steel level measuring device according to claim 8, wherein: the residence time of the measuring rod in the bottom of the tundish is 2 to 5 seconds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210048750.0A CN116475392A (en) | 2022-01-17 | 2022-01-17 | Continuous casting tundish molten steel liquid level measuring device and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210048750.0A CN116475392A (en) | 2022-01-17 | 2022-01-17 | Continuous casting tundish molten steel liquid level measuring device and application method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116475392A true CN116475392A (en) | 2023-07-25 |
Family
ID=87210615
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210048750.0A Pending CN116475392A (en) | 2022-01-17 | 2022-01-17 | Continuous casting tundish molten steel liquid level measuring device and application method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116475392A (en) |
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2022
- 2022-01-17 CN CN202210048750.0A patent/CN116475392A/en active Pending
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