CN1507971A - Automatic skimming method and apparatus - Google Patents

Abstract

The present invention relates to a skimming method for auxiliary equipment in steel-smelting technique and an automatic skimming machine. It is characterized by that a visual sensor is mounted over the ladle, said visual sensor can be used for detecting steel slag on the surface of ladle, then the detected image can be inputted into computer, after having been processed by computer a signal can be outputted by computer and transferred into programmable controlled to control manipulator of skimming machine to implement skimming operation.

Description

Automatic slag skimming method and device

Technical field

The present invention relates in the steel-smelting technology auxiliary equipment with the slag skimming method and the device of skimming.

Technical background

In STEELMAKING PRODUCTION, need before casting, remove slag and return the sulphur rephosphorization to avoid molten steel, make molten steel purer, thereby obtain high-quality strand.Existing ladle (or ladle) process of skimming is comparatively single, only relies on artificial visually examine's slag range degree and hand control Cinder Machine to carry out and skims, and the effect of skimming has randomness, influenced bad quality of casting, and labor intensity of operating staff is bigger in the process of skimming.

Summary of the invention

The present invention has overcome the existing device of skimming and has adopted manually-operated, labor intensity of operating staff is big, the effect of skimming has random defective, a kind of automatic slag skimming method and device are provided, adopt sensor and computer control, the realization automation is skimmed, alleviated labor intensity of operating personnel, apparatus structure is simple, and the effect of skimming is obvious.

The present invention is achieved in that a kind of automatic slag skimming method, be that vision sensor is housed above ladle, vision sensor detects ladle surface slag, detected image is imported computer, output signal to the skim manipulator of device of Controlled by Programmable Controller after computer is handled image and implement to take off slag operation.

In the above-mentioned automatic slag skimming method, described computer is handled image and the method for output control manipulator is:

(1) at first target slag position is discerned, determined the slag position by presetting surperficial subregion, the setting starting point is zero point, the anglec of rotation is θ, and the anglec of rotation and surperficial Y-axis are along surface level direction angulation θ 1, and θ 2, θ n, the surface is divided into some sector regions, sets θ value (90 °＜θ＜90 °), then θ 1=θ, θ 2=2 θ, θ 3=3 θ, θ 4=4 θ ... θ n=n θ is divided into n zone with whole surf zone;

(2), judge that by vision sensor slag is in a certain location point to target slag location;

(3) divide judgement θ value according to the zone, the slag position is in a certain zoning, and then there is corresponding angle value in this zone;

(4) controlling mechanical hand-screw according to angle value changes the β angle, wherein: β 1=1/2 θ, β 2=θ+1/2 θ, β 3=2 θ+1/2 θ, β 4=3 θ+1/2 θ ..., β n=(n-1) θ+1/2 θ;

(5) the skim manipulator of device implements to take off slag operation.

Implement the device of above-mentioned automatic slag skimming method, comprise vision sensor, computer, the Programmable Logic Controller and the device of skimming that are loaded on the ladle top, a plurality of vision sensors connect computer, computer connects Programmable Logic Controller, Programmable Logic Controller connects the device of skimming, the device of skimming comprises manipulator, and vision sensor is infrared camera or charge coupling camera.

Operation principle of the present invention is by adopting vision sensor to obtain surperficial slag condition diagram picture, and the input computer is discerned, behind the location, judgment processing, is implemented to skim by computer output control Programmable Logic Controller and then the control device for mechanical hand of skimming.This device has been realized the automation of the process of skimming owing to adopted the technology of skimming automatically, has improved the efficient of skimming, and has alleviated labor intensity of operating personnel.The present invention not only is applicable to ladle, molten steel pocket deslagging, and is applicable to skimming of other various stoves.

Description of drawings

Fig. 1 is the device block diagram of skimming automatically, and Fig. 2 is the vision sensor scheme of installation, and Fig. 3 is surperficial subregion schematic diagram for the slag position presets, and Fig. 4 is automatic slag skimming method flow chart.

Among the figure: 1 ladle (or ladle), 2 vision sensors, 3 computers, 4 Programmable Logic Controllers, 5 devices (manipulator) of skimming, θ presets the surperficial anglec of rotation, the β manipulator anglec of rotation.

The specific embodiment

Referring to Fig. 2, Fig. 3, Fig. 4, a kind of automatic slag skimming method, be to detect, detected image is imported computer 3, output signal to the skim manipulator 5 of device of Programmable Logic Controller 4 controls after the 3 pairs of images of computer are handled and implement to take off slag operation by 2 pairs of ladles of vision sensor, 1 surperficial slag.Computer is handled image and the method for output control manipulator is:

(1) at first target slag position is discerned, determined the slag position by presetting surperficial subregion, the setting starting point is zero point, the anglec of rotation is θ, and the anglec of rotation and surperficial Y-axis are along surface level direction angulation θ 1, and θ 2, θ n, the surface is divided into some sector regions, sets θ value (90 °＜θ＜90 °), then θ 1=θ, θ 2=2 θ, θ 3=3 θ, θ 4=4 θ ... θ n=n θ is divided into n zone with whole surf zone;

(2), judge that by vision sensor slag is in a certain location point to target slag location;

(3) divide judgement θ value according to the zone, the slag position is in a certain zoning, and then there is corresponding angle value in this zone;

(4) controlling mechanical hand-screw according to angle value changes the β angle, wherein: β 1=1/2 θ, β 2=θ+1/2 θ, β 3=2 θ+1/2 θ, β 4=3 θ+1/2 θ ..., β n=(n-1) θ+1/2 θ;

(5) the skim manipulator of device implements to take off slag operation, and manipulator is from leading zero's, and rotation β angle is stretched to the target slag and implemented to skim.

The positioning requirements to the target slag is depended in the setting of above-mentioned θ value, and the more little location of θ value is accurate more, and the effect of skimming is more obvious.

Referring to Fig. 1, Fig. 2, the device of skimming automatically comprises vision sensor 2, computer 3, the Programmable Logic Controller 4 that is loaded on ladle (or ladle) 1 top and the device 5 of skimming.Vision sensor 2 is infrared camera or charge coupling camera, and a plurality of vision sensors 2 are installed in ladle 1 top.Shown in Fig. 2 two vision sensors 2, vision sensor 2 installation sites are to included angle≤90 of ladle 1 centre of surface point O point line and central shaft °, vertical range to trunnion axis is R, and the R value is determined optimum size according to the difference of selected vision sensor 2 parameters.The spatial dimension of vision sensor 2 installation sites is conical, can install a plurality of, thereby obtain the optimum efficiency of required detected image.A plurality of vision sensors 2 connect computer 3, and computer 3 connects Programmable Logic Controller 4, and Programmable Logic Controller 4 connects the device 5 of skimming, and the device of skimming comprises parts such as manipulator.

Claims (4)

1. automatic slag skimming method, it is characterized in that above ladle, being equipped with vision sensor, vision sensor detects ladle surface slag, detected image is imported computer, output signal to the skim manipulator of device of Controlled by Programmable Controller after computer is handled image and implement to take off slag operation.

2. automatic slag skimming method according to claim 1 is characterized in that computer is handled image and the method for output control manipulator is:

(1) at first target slag position is discerned, determined the slag position by presetting surperficial subregion, the setting starting point is zero point, the anglec of rotation is θ, and the anglec of rotation and surperficial Y-axis are along surface level direction angulation θ 1, and θ 2, θ n, the surface is divided into some sector regions, sets θ value (90 °＜θ＜90 °), then θ 1=θ, θ 2=2 θ, θ 3=3 θ, θ 4=4 θ ... θ n=n θ is divided into n zone with whole surf zone;

(2), judge that by vision sensor slag is in a certain location point to target slag location;

(3) divide judgement θ value according to the zone, the slag position is in a certain zoning, and then there is corresponding angle value in this zone;

(4) controlling mechanical hand-screw according to angle value changes the β angle, wherein: β 1=1/2 θ, β 2=θ+1/2 θ, β 3=2 θ+1/2 θ, β 4=3 θ+1/2 θ ..., β n=(n-1) θ+1/2 θ;

(5) the skim manipulator of device implements to take off slag operation.

3. device of implementing the automatic slag skimming method of claim 1 or 2, it is characterized in that this device comprises vision sensor, computer, Programmable Logic Controller and the device of skimming that is loaded on the ladle top, a plurality of vision sensors connect computer, computer connects Programmable Logic Controller, Programmable Logic Controller connects the device of skimming, and the device of skimming comprises manipulator.

4. the device of skimming automatically according to claim 3 is characterized in that vision sensor is infrared camera or charge coupling camera.

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