CN201288205Y - Automatic control technology complete set of plant of tap hole gate valve steel slag-blocking system - Google Patents
Automatic control technology complete set of plant of tap hole gate valve steel slag-blocking system Download PDFInfo
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- CN201288205Y CN201288205Y CNU2008201461378U CN200820146137U CN201288205Y CN 201288205 Y CN201288205 Y CN 201288205Y CN U2008201461378 U CNU2008201461378 U CN U2008201461378U CN 200820146137 U CN200820146137 U CN 200820146137U CN 201288205 Y CN201288205 Y CN 201288205Y
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Abstract
A complete set of apparatus of a steel-tapping hole gate-valve slag-blocked system automation control technology relates to a liquid steel slag-blocked apparatus of a steel-making revolving furnace, which comprises a gate-valve slag-blocked apparatus, a water-cooled cylinder, a five-channel rigid rotary connection apparatus, wherein the gate-valve apparatus is a translational valve, a sliding door starts and stops a fireproof spool through pulling, the water-cooled cylinder is a hydraulic cylinder and is put in a cold water tank, and simultaneously, the oil way of the five-channel rigid rotary connection apparatus is arranged in cold water. The function of a slag roughing detecting apparatus comprises doing image treatment to signals input by a far-infrared thermal detector and working out energy ratio of the real-time area by a CPU, then comparing with a set value, and controlling the opening of the gate-value by the comparing result. The complete set of apparatus has the advantages that the translational valve has reasonable structure, the valve is suitable to hot environment as adopting heatproof steels and the fireproof valve, the water-cooled cylinder reduces the cylinder temperature to ensure the working condition of sealing components, the rigidity of the five-channel rigid rotary connection apparatus is communicated, simultaneously, the five-channel rigid rotary connection apparatus cools the oil way, the slag roughing detecting apparatus does the real-time control to the gate valve to block slag by adopting signal image CPU treatment, which improves the quality of liquid steel, and the complete set of apparatus realizes automation control.
Description
Technical field:
The utility model relates to a kind of in steel-making converter molten steel pushing off the slag mechanism.
Background technology:
In order to improve converter pushing off the slag effect, further investigate at the pushing off the slag technical elements both at home and abroad.Since Japanese Utility Model slag-blocking ball pushing off the slag slag-blocked tapping in 1970, various countries for improve converter tapping pushing off the slag technical application novel tens kinds of pushing off the slag methods, also constantly improving and perfect at present.Known converter tapping pushing off the slag method has slag-blocking ball method, floating plug method, pneumatic pushing off the slag method, scum rod method etc.
Pneumatic pushing off the slag is to adopt electronics to show the slag device to the monitoring of steel stream, and carries out pushing off the slag according to detection signal with pneumatics promotion refractory materials stopper shutoff tap hole.Pushing off the slag equipment is under the very abominable condition of high temperature of fire door, is easy to damage, and the inconvenience maintenance, and cost an arm and a leg.Simultaneously, source of the gas, pipeline are arranged inconvenience in shaft, gudgeon, can not adapt to old stove transformation.Therefore this technology fails to be applied at home.
Other pushing off the slag methods drop in tapping latter stage, and the accuracy of input and timing input are difficult to hold.Simultaneously, also be subjected to the influence of slag viscosity size, tap hole erosion condition, pushing off the slag effect instability.
We consider and use the pushing off the slag of translation lock slag, but the structure of gate valve must adapt to hot environment, gate valve opens and closes topworks simultaneously, be that supporting supporting mechanism of topworks also must adapt to the high temperature of converter, the operating condition of rotation, and also be the technology of forming a complete and comprehensive system for collecting real estate fees that to consider in order to improve the quality monitoring automatization control that the pushing off the slag rate just improves molten steel.
Summary of the invention:
The purpose of this utility model is to overcome above-mentioned defective, a kind of tap hole gate valve steel slag-blocking device that is installed on the tap hole end is provided, promote by the water-cool oil cylinder that adapts to high-temperature service, open or valve-off, reach tapping and pushing off the slag purpose, and for oil cylinder provides five-way valve that supply with to support, is the monitoring supporting mechanism that timely control gate valve opens and closes, promptly provide by translation valve, water-cool oil cylinder, upright logical valve, slag detects the automatic control technology complete set of plant of tap hole gate valve steel slag-blocking system that control is formed down.
Scheme of the present utility model is: complexes are made up of spin device, water-cool oil cylinder, gate valve slag-blocking apparatus of the five-way rigidity that is connected with hydro-pump successively by pipeline; The gate valve slag-blocking apparatus comprises valve body, spool, it is characterized in that valve body is made up of web plate parts, mounting plate, doorframe, and the inner nozzle brick is being fixed by web plate parts central authorities, and the web plate top is connected and fixed mounting plate by bolt; Mounting plate central authorities are fixed with the inner slider brick, and the mounting plate top is connecting doorframe by hinge pin; Doorframe central authorities are fixed with outer nozzle brick, two rectangle slide rails are extended to lower convexity in the doorframe both sides, the slide rail upside is fixed with draw runner, below draw runner, slider bar is arranged with mounting plate upper surface space mounting, slider bar central authorities are equipped with outer slide brick, slider bar is terminal to be connected with hinge with the hydraulic cylinder piston rod external part, the slider bar both sides are corresponding to two row's rollers about being equipped with below two rectangle slide rail inboards, doorframe below and the draw runner, this two rows roller is state movingly with slide rail medial surface and draw runner lower surface, be positioned at outer nozzle brick both sides on the doorframe and be separately installed with elastic pressuring clamping device, this hold-down gear is by the spring die cavity, compression spring, and the bolt pressure regulating device of compression spring top is formed, the hold-down gear upper end is fixed on the valve body, and the compression spring bottom compresses with the platform that doorframe two wood side-guides extend laterally and contacts; All there are the circular hole of identical bore in the inner nozzle brick made from refractory materials, inner slider brick, outer slide brick, outer nozzle brick central authorities, and four successively correspondence be close to, outer slide brick and central circular hole uniform thickness, the brick body length before and after its translation direction central circular hole is slightly larger than the central circular hole diameter respectively.
Water-cool oil cylinder is fixed a cooling jacket in the cylinder body gabarit, the cooling jacket inner chamber is hollow shape, both sides opening part and cylinder body gabarit two ends are fixed by the ring cover driving fit respectively, the isolated space of inner chamber and cylinder body gabarit, this space is full of the mobile water coolant, and cooling jacket is provided with water-in and water outlet;
The five-way rigidity spin device by fixing sheath body, can form at the cover that spins of sheath body internal rotation, the spacer shell of fixedlying connected with the cover that spins, converter driven axle; The cover that spins is cylindrical-shaped structure, medium pore is as the through hole of inlet channel, through hole one end is fixed with sealing cover and by bearing and sheath body end fit, there is an enclosing cover to be connected behind the fit and to bearing location, the inlet channel outer wall is disposed with into three oil gas circuits of water circuit, water outlet circuit, water outlet semicircumference circuit, water outlet semicircumference circuit outer wall with the sheath body bolting; The water inlet circuit is the annulus flute profile, bottom land is provided with two circular holes and is communicated with inlet channel, the water outlet circuit is the annulus flute profile and is communicated with water outlet semicircumference circuit, water outlet semicircumference circuit is ring arc semicircumference through hole, three oil gas circuits are all the annulus flute profile, be evenly distributed in three gas channel circular holes with axis parallel at the opposite side of water outlet semicircumference circuit, be communicated with an oil gas circuit by a circular hole respectively at the bottom of the hole of each gas channel circular hole, the aperture is positioned at the other end that spins and overlap; Sheath body is a hollow tubular, have circular hole and fixedly be communicated with water inlet pipe, rising pipe respectively at water inlet circuit, water outlet circuit opposite position, the sheath body inwall is provided with three annular recessess corresponding to three the oil gas circuit positions of cover that spin, one gas thread through hole is all arranged at the bottom of each groove, and the sheath body outer end is realized the rotation socket by fixing a bearing with the cover that spins; The spacer shell structure is cylindricly to apply mechanically bolting with spinning, and corresponding to the inlet channel of cover, the through hole that three gas channel circular hole corresponding positions are provided with same geometry of spinning, be provided with corresponding semicircumference annular groove corresponding to the cover water outlet semicircumference circuit corresponding position that spins, bottom land is provided with the close nipple hole, spacer shell central authorities water outlet outboard end also is provided with gas thread simultaneously, three gas channel circular hole outer ends also are provided with gas thread, and the spacer shell outer wall is provided with and bolted four bolts hole of converter driven axle; Spin cover outer wall and sheath body outer wall is socket movingly, all is provided with ring structure in belled all of its neighbor annular groove junction, spin overlap with spacer shell between dock and also be provided with ring structure.
Advantage of the present utility model is: the translation valve mechanism is reasonable, the employing heat-resisting steels adapts to high-temperature service with the valve refractory materials; Water-cool oil cylinder reduces the oil cylinder temperature and guarantees the sealing part works condition; The device circulation that spins that spins of five-way rigidity is cooled off oil circuit again simultaneously; Following slag detects and adopts signal pattern CPU to handle thermal radiation Energy value and the real-time energy per unit area value that calculates the real-time section area value of beam, this cross section, with set unit cross section energy correlation data and compare, the control gate valve opens and closes pushing off the slag in real time, improves steel quality; Complexes are realized automatization control.
Description of drawings:
Fig. 1 is a gate valve structure synoptic diagram of the present utility model.
Fig. 2 is a gate valve scheme of installation of the present utility model.
Fig. 3 is the A-A sectional view of Fig. 1.
Fig. 4 is the water-cool oil cylinder structural representation.
Fig. 5 is the five-way rigidity apparatus structure synoptic diagram that spins.
The A-A sectional view of Fig. 6 Fig. 5.
Fig. 7 is following slag proofing unit structural representation.
Fig. 8 is a gate valve robot device structural representation.
Fig. 9 is the right view of Fig. 8.
Figure 10 is the A-A sectional view of Fig. 8.
Embodiment:
The gate valve slag-blocking apparatus comprises valve body, spool, it is characterized in that valve body is made up of web plate (2) parts, mounting plate (4), doorframe (9), inner nozzle brick (6) is being fixed by web plate (2) parts central authorities, and web plate (2) top is connected and fixed mounting plate (4) by bolt; Mounting plate (4) central authorities are fixed with inner slider brick (5), and mounting plate (4) top is connecting doorframe (9) by hinge pin; Doorframe (9) central authorities are fixed with outer nozzle brick (10), two rectangle slide rails are extended to lower convexity in doorframe (9) both sides, the slide rail upside is fixed with draw runner (13), with mounting plate (4) upper surface space mounting slider bar (8) is arranged in draw runner (13) below, slider bar (8) central authorities are equipped with outer slide brick (3), slider bar (8) is terminal to be connected with hinge with hydraulic ram (1) piston rod (7) external part, slider bar (8) both sides are corresponding to two row's rollers (11) about being equipped with below two rectangle slide rail inboards, doorframe (9) below and the draw runner (13), this two row's roller (11) is state movingly with slide rail medial surface and draw runner (13) lower surface, be positioned at outer nozzle brick (10) both sides on the doorframe (9) and be separately installed with elastic pressuring clamping device (12), this hold-down gear is by the spring die cavity, compression spring, and the bolt pressure regulating device of compression spring top is formed, the hold-down gear upper end is fixed on the valve body, and the compression spring bottom compresses with the platform that doorframe (9) two wood side-guides extend laterally and contacts; All there are the circular hole of identical bore in inner nozzle brick (6), inner slider brick (5), outer slide brick (3), outer nozzle brick (10) central authorities, and four successively correspondence be close to, outer slide brick (3) and central circular hole uniform thickness, brick body length before and after its translation direction central circular hole is slightly larger than the central circular hole diameter respectively, four all make with refractory materials, and web plate (2) parts, mounting plate (4), slider bar (8), doorframe (9), hydraulic ram (1) are all made with heat-resisting steels.
As Fig. 1, shown in Figure 2, the utility model gate valve slag-blocking apparatus comprises inner nozzle brick (6), inner slider brick (5), outer slide brick (3), outer nozzle brick (10), web plate (2) parts, left and right sides steady brace, the inner nozzle pressing plate, follower bolt, swing bolt, spud, mounting plate (4), doorframe (9), spring, spring bearer plate, slider bar (8), tight sleeve, top-fastener, the top-fastener bolt, face is pressed bolt, fixing thermal baffle, movable thermal baffle, oil cylinder (1) thermal baffle, oil cylinder (1) thermal baffle tumbler pin, oil cylinder (1) supporting base, water-cool oil cylinder (1), oil cylinder (1) connects handle, the air cooling pipe.
As shown in Figure 1 and Figure 2, the utility model is installed on the tap hole end, gate valve slag-blocking apparatus mechanism body comprises web plate (2) parts, mounting plate (4), doorframe (9), slider bar (8), fixedly thermal baffle, movable thermal baffle, oil cylinder (1) thermal baffle, select the steel casting 20CrMo of good heat resistance for use, solved mechanism's rimose problem.
Described web plate (2) is made up of left and right sides steady brace, inner nozzle plate, follower bolt, slip-knot bolt, spud, the fixed mechanism body.
Described inner nozzle plate, follower bolt are used for installing location tap hole, inner nozzle.
Described left and right sides steady brace, spud are used for the Primary Location of off-line mechanism body.
Described slip-knot bolt is used for the final location of off-line mechanism body.
Described mechanism body is made up of mounting plate (4), doorframe (9), slider bar (8), jacking mechanism, spring bearer plate, thermal baffle.
Described mounting plate (4) adopts joint pin to connect with being connected of doorframe (9).
Described slider bar (8) parts are installed between mounting plate (4) and the doorframe (9), the inner draw runner of installing of doorframe (9), and slider bar (8) parts adopt roller to slide.
Described thermal baffle is by fixedly thermal baffle, movable thermal baffle, oil cylinder (1) thermal baffle are formed.
Described anti-material part is made up of inner nozzle brick (6), inner slider brick (5), outer slide brick (3), outer nozzle brick (10).
The surface pressure of described inner slider brick (5), outer slide brick (3) is regulated by the face pressing spring.
Described pressing spring adopts air cooling technique.
Mechanism is except that web plate (2) parts, and mechanism adopts off-line to change form.Web plate (2) parts are installed on revolving furnace body, and inner nozzle pressing plate, follower bolt are used for installing inner nozzle, location and tap hole; Left and right sides steady brace, swing bolt, spud are used for the location and installation of mechanism; Mounting plate (4), doorframe (9), slider bar (8), tight sleeve constitute the hollow die cavity, are used to install inner slider brick (5), outer slide brick (3), outer nozzle brick (10); Tight sleeve, top-fastener, top-fastener bolt are used to install and fix outer nozzle brick (10); Spring, spring bearer plate, face press bolt to be used to guarantee that the face between inner slider brick (5), the outer slide brick (3) presses; Fixedly thermal baffle, movable thermal baffle, oil cylinder (1) thermal baffle are used for the thermal insulation protection of mechanism; The air cooling pipe is used for the cooling of spring; Connect handle by water-cool oil cylinder (1), oil cylinder (1) and promote wheeled slider bar (8), open or close outer slide brick (3), or the control open degree, reach tapping and pushing off the slag purpose.
When slide brick (3) medium pore upper edge was with top putting outside slag and molten steel contact surface are positioned at, the gate valve standard-sized sheet was put.When slag and molten steel contact surface were positioned at the gate valve opening, the by-pass valve control open degree made outer slide brick (3) medium pore upper edge block slag.
Water-cool oil cylinder is made up of cylinder body (203), piston (207), piston rod (206), sealing member (208), hydraulic pressure oil inlet pipe (204), hydraulic pressure oil outlet pipe (205), fix a cooling jacket (201) in the cylinder body gabarit, cooling jacket (201) inner chamber is hollow shape, both sides opening part and cylinder body gabarit two ends are fixed by ring cover (202) driving fit respectively, the isolated space of inner chamber and cylinder body gabarit, this space is full of the mobile water coolant, and cooling jacket (201) is provided with water-in and water outlet.
This kind is provided with designs simplification and easily goes.Water-in constantly flows into water coolant, and water outlet continuously outflows high-temperature water.Oil cylinder is cooled off.
Oil circuit can be to hole on the cylinder body on the oil cylinder, and oil circuit is created in the cylinder body.
Oil circuit can be the cylinder body external pipeline on the oil cylinder, and cooling area is big, and promptly oil circuit is made up of external oil pipe (209), and this external oil pipe (209) is in cooling jacket (201) inner chamber.
And converter structure to be two outer walls be symmetrically fixed with rotation axis, to support that converter rotates, wherein main drive shaft is connected with propulsion source, leads, driven axle all is linked on the bearing support.The converter outer wall is in hot environment all the time, generally adopts rubber hose for on-fixed working order pipe connecting piece, but can be on fire at condition of high temperature bottom hose, and steel pipe is rigidly connected and can not satisfies the converter dynamic operating condition.
The five-way rigidity spin device by fixing sheath body (306), can form at the cover (309) that spins of sheath body (306) internal rotation, the spacer shell (311) of fixedlying connected with the cover (309) that spins, converter driven axle; The cover (309) that spins is a cylindrical-shaped structure, medium pore is as the through hole of inlet channel (304), through hole one end is fixed with sealing cover (302) and by bearing and sheath body (306) end fit, there is an enclosing cover (301) to be connected behind the fit and to bearing location, inlet channel (304) outer wall is disposed with into three oil gas circuits (308) of water circuit (303), water outlet circuit (305), water outlet semicircumference circuit (307), water outlet semicircumference circuit (307) outer wall with sheath body (306) bolting; Water inlet circuit (303) is the annulus flute profile, bottom land is provided with two circular holes and is communicated with inlet channel (304), water outlet circuit (305) is the annulus flute profile and is communicated with water outlet semicircumference circuit (307), water outlet semicircumference circuit (307) is ring arc semicircumference through hole, three oil gas circuits (308) are all the annulus flute profile, be evenly distributed in three gas channel circular holes (312) with axis parallel at the opposite side of water outlet semicircumference circuit (307), be communicated with an oil gas circuit (308) by a circular hole respectively at the bottom of the hole of each gas channel circular hole (312), the aperture is positioned at the other end of cover (309) that spin; Sheath body (306) is a hollow tubular, have circular hole and fixedly be communicated with water inlet pipe (315), rising pipe (314) respectively at water inlet circuit (303), water outlet circuit (305) opposite position, sheath body (306) inwall is provided with three annular recessess corresponding to (309) three oil gas circuits of cover (308) position that spins, one gas thread through hole (313) is all arranged at the bottom of each groove, and sheath body (306) outer end is realized the rotation socket by fixing a bearing with the cover (309) that spins; Spacer shell (311) structure is cylindric and the cover (309) that spins is used bolting, and corresponding to the inlet channel (304) of cover (309) that spin, three gas channel circular holes (312) corresponding position is provided with the through hole of same geometry, be provided with corresponding semicircumference annular groove corresponding to cover (309) water outlet semicircumference circuit (307) corresponding position that spins, bottom land is provided with close nipple hole (310), the central water outlet outboard end of spacer shell (311) also is provided with gas thread simultaneously, three gas channel circular holes (312) outer end also is provided with gas thread, and spacer shell (311) outer wall is provided with and bolted four bolts hole of converter driven axle; Spin cover (309) outer wall and sheath body (306) outer wall is socket movingly, all is provided with ring structure in belled all of its neighbor annular groove junction, docks between spin cover (309) and the spacer shell (311) and also is provided with ring structure.
Sheath body (306) is fixed on the anchor on ground, spacer shell (311) is by being bolted on the converter driven axle, gas thread on the water outlet on the spacer shell (311) is communicated with the water-cool oil cylinder water inlet by rigid conduit, interface holes (310) on the spacer shell (311) is communicated with the water return outlet of water-cool oil cylinder by rigid conduit, last two the gas channel mouths of spacer shell (311) are communicated with the oil circuit of water-cool oil cylinder by the rigidity oil pipe, and another gas channel mouth is communicated with the puff port of translation gate valve.
Two water-in and water-out road junctions on the sheath body (306) are communicated with external water inlet pipe and water outlet pipe (314), and three oil gas gas thread through holes (313) two import and export, the air outlet of air compressor machine of the oil circuit switching solenoid valve by rigid conduit and hydro-pump are respectively realized pipe connection.
When converter is rotated, spacer shell (311), rotary sleeve rotate thereupon, rigid conduit between the two also rotates synchronously, and the rotation of cover (309) with respect to sheath body (306) that spin, loop turn between the two guarantees the circuit shape runner of oil, gas, water all the time, enter the single passage circulation by circuit shape runner again, the circulation effect has guaranteed to spin.
The gate valve slag-blocking apparatus is carried out by the topworks water-cool oil cylinder and is opened and closed, and supplies with supporting mechanism's five-way rigidity device that spins the spin circulation and the water-cooling channel of oil cylinder are provided.
In time the monitoring slag improves steel quality when tapping according to molten steel, and the utility model people introduces supporting following slag proofing unit, and in time by-pass valve control opens and closes.
The structure of following slag proofing unit is at the converter platform or at alignment lens can the be tapped avris orientation fixed installation far infrared hot-probing instrument of beam of stove upper/lower positions, the output terminal of far infrared hot-probing instrument is connected into the input terminus of central processor CPU, and the control output end of CPU is communicated with gate valve switch control device in the converter;
CPU comprises:
1, be used to have the storing device of setting unit's cross section energy correlation data of the beam thermal radiation energy of the big small area of the various cross section of steel beam, this storing device is connected with comparer;
2, be used to receive the steel beam image of far infrared hot-probing instrument collection input and this sharp point position handled determine the image-region cut off value, union goes out the thermal radiation Energy value in the real-time section area value of beam, this cross section and the arithmetic processing apparatus of real-time energy per unit area value, and this device is connected with comparer;
3, be used for real-time energy per unit area value with set the comparer that unit cross section energy correlation data compares; This comparator output terminal is connected with the steering order device;
4, be used for the real-time energy per unit area value of comparer input is inputed to less than the unit cross section Energy value comparison momentary signal of the correlation data of setting the steering order device of hydro-pump switch controlling device.
Converter taphole is equipped with the translation gate valve, and this gate valve is opened and closed by hydro-cylinder control, and CPU steering order device keying signal is by switch controlling device primer fluid pressure motor, thus the keying of enforcement translation gate valve.
Molten steel, comprise that the mixed flow of molten steel and slag is than ambient air thermal radiation value height, therefore the cross section heat picture each point position thermal radiation value of far infrared hot-probing instrument being imported by CPU is determined the border point value in cross section, and calculates section area value, thermal radiation Energy value, energy per unit area value with frontier point bit image infinitesimal analysis.
Because molten steel thermal radiation Energy value height, slag thermal radiation Energy value is low, when sneaking into slag in the therefore same molten steel beam sectional area, the thermal radiation value of its unit surface is low during than clean steel water, as long as the control ratio amount upper limit of setting slag mixed volume is carried out set(ting)value and is compared to determine, just can realize hydro-pump switch controlling device oil supply oil supply cylinder, realize that tap hole translation gate valve opens and closes.
The core link of system is an image processing system, gather molten steel beam energy variation in real time, its real-time energy is carried out integral operation, calculate the dregginess in the beam, and mate with beam heat picture with the moment, both combine and realize identification to the beam slag, and realize the tapping of control slag in conjunction with slide plate pushing off the slag mechanism.
The core link of system is an image processing system, is responsible for finishing the identification to the beam slag, and concrete grammar is as described below:
(1) steel stream detect and obtaining of treatment zone carried out pre-treatment, obtain steel stream zone, for further slag recognizer is prepared.
A) with threshold value t1 image being carried out threshold value cuts apart
B) by the canny operator steel stream is carried out rim detection
Step1: use the Gaussian filter smoothing image;
G(x，y)＝f(m，n)*H(x，y)
Gauss's smooth function
Step2: with the finite difference of single order local derviation the assign to amplitude and the direction of compute gradient;
First order difference convolution template
Step3: gradient magnitude is carried out non-maximum value suppress;
The gradient that only obtains the overall situation is not enough to determine the edge.For determining the edge, must keep the point of partial gradient maximum, and suppress non-maximum value.Utilize the direction of gradient carry out non-maximum value suppress (non-maxima suppression, NMS).
Step4: detect and adjoining edge with the dual threshold algorithm.
The typical method that reduces false edge section quantity is to N[i, j] use a threshold value, all values that will be lower than threshold value is composed null value.
Choose the dual threshold algorithm as solution.It suppresses two threshold tau 1 of image effect and τ 2 to non-maximum value, and 2 τ, 1 ≈ τ 2, obtains two threshold value edge image N1[i, j] and N2[i, j].Since N2[i, j] use high threshold to obtain, thereby contain false edge seldom, but interruption (not closed) is arranged.The dual threshold method is at N2[i, j] in the edge is connected into profile, when arriving the end points of profile, this algorithm is at N1[i, j] 8 adjoint point positions seek the edge can be connected on the profile, like this, algorithm is constantly at N1[i, j] in collect the edge, up to N2[i, j] couple together till.
C) for the image that detects the edge, be 10 with step-length s, from top to bottom image is scanned, obtain the width of steel stream at different heights.
D) choose a regional rectangular sub-regions territory of steel stream, as the input of slag detection next step down.
E) optimize.
● consider the pick up camera setting angle, steel stream upper and lower displacement gap in image is little in tapping process, so in the scanning process of step 3), can suitably dwindle sweep interval, promptly increases initial value and reduces end value.
● consider in the tapping process that it is a process slowly that the left and right displacement of steel stream on image changes, and when scanning about image is carried out, with incremental form sweep interval is changed.
(2) steel of single-frame images stream static nature extracts
A) histogram distribution of gray scale, the mean value of gradation of image and variance.
R: interval [0, L-1] goes up the discrete random variable of discrete gray levels
P (r
i): gray level r
iThe probability estimate value that occurs
The histogram distribution of gray scale, average gray and variance are retouching the integral image feature
State.
B) the intensity profile confidence level is 95%, and the fiducial interval of scope minimum
The most concentrated zone of intensity profile has been described in this interval
C) image level direction grey scale change trend
Be used for detecting slag at the texture that beam forms, judge whether to roll up slag
D) the equal gray scale of steel levelling
(3) the multiple image behavioral characteristics extracts
In tapping Safe period, to the maximum interval probability distribution of the accumulation gray scale Nogata of steel stream picture information.
(4) the hot-probing instrument detects the beam energy
Native system uses the infra-red heat detection instrument to detect the energy variation of beam simultaneously, because the variation of beam energy directly reflects the changing conditions of beam molten steel, slag content, therefore the beam energy signal of gathering is carried out the changing conditions that difference, statistical study can obtain the beam quantity of slag.
System gathers molten steel beam energy variation in real time, and its real-time energy is carried out integral operation, calculates the dregginess in the beam, and with mate with beam heat picture constantly, both combine and realize identification to slag.
(5) identification and the processing of volume slag phenomenon
A) origin cause of formation of volume slag
Because the density of molten steel is greater than the density of slag, therefore, in converter slag generally be positioned at molten steel above; And in tapping process, just have slag after molten steel has gone out and flow out.But because fully significantly boundary line is not arranged between molten steel and the slag, the existenceization slag is not thorough, and is subjected near the influence of the whirlpool of tap hole, the slag phenomenon just may occur rolling up.Volume slag phenomenon mainly is that molten steel and slag respectively account for a part in beam, not exclusively is that molten steel also not exclusively is a slag.
B) roll up the influence that slag causes
Comparatively unfavorable for detecting.The overall intensity of image is compared normal circumstances and is wanted high, does not reach the grey level when really slagging tap fully again, both might cause to postpone to trigger, and might cause again in advance and trigger.
C) weaken the method that the volume slag influences
Notice that under the volume slag situation, general slag is strip and distributes in beam.Therefore, in the horizontal sweep of beam image is analyzed, find that there is spike in its curve.Utilization is carried out the horizontal sweep of some lines to the beam image, can discern volume slag phenomenon.The slag if identification makes the test then abandons it.
(6) the following quantity of slag control of different steel grades
Shut fully to the mouth of a river constantly constantly by detecting down slag, the integration of beam area obtains in the interior image of this time period, calculate each quantity of slag down, as the value of feedback that following slag is detected Controlling System, set up the expert systems of different steel grade quantity of slag controls simultaneously, design control scheme, thus the sensitivity of detection system regulated, and realize of the requirement of different steel grades to the quantity of slag under the difference.
Because tap hole translation gate valve is subjected to hot conditions to limit per 12 stoves and need changes once (per tour need be changed once), requirement is with the fast quick-detach of gate valve mechanism on the stove, and the emergency lock valve system quick and precisely is positioned on the tap hole datum plate, but adopt disassembling furnace machine to cooperate wireline at present as lifting tool, artificial dismounting and positioning action, the mechanism for assembling-disassembling time needs 20 minutes, and it is very big influenced by human factor, exist uncertain, sometimes more the converting mechanism time reaches 30 minutes, and the other hot environment of converter makes task difficulty big, manually be difficult to bear, must fulfil assignment the short period of time, influence the converter rhythm of production, therefore the requirement of incompatibility converter full production must have the specific equipment of changing gate valve to finish the replacing operation.The mechanical manipulator of the stubborn bolt and nut of sophisticated robot device such as automobile factory, after putting in place by the oil motor control link is flexible, the swivel bolt nut apparatus of interlinking lever end is the rotation nut of bolting on automatically, and counter-rotating then can be dismounting.
Other has highway pavement punching mechanism, by forming by linkage assembly, the linkage assembly front end fixed worktable of hydrostatic control in power set, hydraulic efficiency plant, the driving that comprises creeper undercarriage and driving control, the driving, topworks is installed on the worktable, and just reciprocating drill mechanism carries out drilling operation.
If with the swivel bolt nut apparatus of automobile factory as the topworks on the worktable, just can implement the gate valve on the mechanized operation replacing steelwork converter, but the two device all is a positioning operation, can't adapt to the operating condition that converter is in the unmanaged flexibility state of deflection.
It is converter taphole gate valve robot device that gate valve is changed matching special equipment, structure is by power set, hydraulic efficiency plant, comprise creeper undercarriage and the driving of driving control, in the driving by the linkage assembly of hydrostatic control, the stationary work-table of linkage assembly front end is formed, also comprise the automatic swivel bolt nut apparatus that topworks installs, it is characterized in that stationary work-table is connected with the floating work bench (402) in the place ahead is unsteady, be that floating work bench (402) is fixed on the tubular interior axle (401), axle (401) chamber internal fixing has pushing disc in tubular, pushing disc is connected with piston rod, hydraulic piston cylinder (408) is fixed on the permanent seat in tubular outer shaft (411) chamber, hydraulic piston cylinder (408) and hydro-pump pipe connection, axle (401) cylindrical is enclosed within the inner cylinder face of tubular outer shaft (411) movingly in tubular, tubular outer shaft (411) middle part is fixed with short cylindrical pin (412), and this round pin stretches in the elongated slot that is provided with on tubular interior axle (401) tube wall and is inserted in movingly; Closely be with two rubber annular collars (403) between tubular outer shaft (411) external cylindrical surface and tubular holders (406) inner cylinder face, the bottom of tubular holders (406) is fixed on the rotating disk (407), the cylindrical of tubular holders (406) is enclosed within on the interior circle of tubular floating bushing (405) movingly, floating bushing (405) bottom is fixed on the base (409), base (409) outside is equipped with oil motor, and hydraulic motor output shaft is passed floating bushing (405) base (409) medium pore and fixedlyed connected with rotating disk (407); Vertically fixing two rotation axiss up and down of floating bushing (405) cylindrical, these two rotation axiss stretch into the circular deflection cover (404) of floating bushing (405) coaxial inner conductor and go up fixed up and down in two bearing saddle bores, and being state movingly, the output shaft of fixed oil motor transmission rig is fixedlyed connected on the upper end of last turning set and the top chock; Deflection cover (404) cylindrical level is fixed two horizontal rotating shafts respectively to both sides, these two rotation axiss are inserted in respectively in the bearing saddle bore that is fixed on stationary work-table movingly, and wherein the output shaft of fixed oil motor transmission rig is fixedlyed connected on a side rotation axis and this end bearing seat; Floating work bench is installed with topworks on (402), this topworks by the gripper jaw mechanism of automatic swivel bolt nut apparatus, clamping gate valve, gate valve applying converter corresponding position after the locating device of flexible steady brace form.
Floating work bench (402) is around the rotation of horizontal plane X-axis, by hydraulic motor output shaft successively by rotating disk (407), tubular holders (406), two rubber annular collars (403) inside and outside circle press frictional force drive tubular outer shaft (411) rotation, in the short cylindrical pin (412) on this outer shaft (411) is stuck on the elongated slot of axle thereby in driving axle and floating work bench (402) rotate.
Floating work bench (402) is short-range flexible by hydrostatic control piston rod extension and contraction control on X-axis, because the restriction of short cylindrical pin (412) draw-in groove, so interior axle, floating work bench (402) are only done translation and can not rotate this moment.Elongated slot length can be set to 200mm, that is to say that floating work bench (402) needn't employ connecting rod action or driving action in the fine setting of X-axis direct of travel.
Floating work bench (402) is around the rotation of horizontal plane Y-axis, the horizontal rotating shaft that is driven deflection cover (404) by the hydraulic motor output shaft on the stationary work-table rotates, thus drive deflection cover (404) with and on floating bushing (405), floating work bench (402) rotate.
Floating work bench (402) is around the rotation of plumb line Z direction, the vertical rotation axis that is driven the cylindrical on the floating bushing (405) by hydraulic motor output shaft rotates, then floating bushing (405) with deflection cover (404) go up fixed up and down the axial line of diaxon bearing hole be that rotate at the center, the rotation of floating bushing (405) drives floating work bench (402) and rotates.
Tight two the rubber annular collars in back-shaped cross section (403) of fit between floating bushing (405) and the tubular outer shaft (411) in addition, and because the elastic contribution of rubber, in case floating work bench (402) is subjected to the compressing power of converter small angle deflection, the small angle inclination that tubular outer shaft (411) can be done in its axial line 360 degree scopes adapts to, and the relative converter of axle and floating work bench (402) is fitted and produced interlock in making.
Before advancing to converter by driving when changing gate valve, control three axial rotation, automatic swivel bolt nut device on the floating work bench (402) is aimed at four bolt positions on the gate valve, the gripper jaw mechanism action is clamped on the gate valve, four revolve bolt device and rotate simultaneously and back out nut, and then driving is stepped back the linkage assembly action and put down gate valve.And rear grip mechanism is by the new gate valve of hydrostatic control clamping and package steady brace, walk again before the converter, after by driving, linkage assembly control new gate valve adjustment being put in place substantially, by the fine setting of advancing of three axial rotation and floating work bench (402) X-direction, work in coordination adjust to the right place after, the steady brace of locating device inserts in the valve seat pilot hole corresponding in the converter, gripper jaw mechanism is gone into corresponding four borehole jacks of new gate valve on four bolts on the valve seat, by automatic swivel bolt nut apparatus four nuts is tightened simultaneously again.
Claims (6)
1, automatic control technology complete set of plant of tap hole gate valve steel slag-blocking system, complexes are made up of spin device, water-cool oil cylinder, gate valve slag-blocking apparatus of the five-way rigidity that is connected with hydro-pump successively by pipeline; The gate valve slag-blocking apparatus comprises valve body, spool, and water-cool oil cylinder is made up of cylinder body (203), piston (207), piston rod (206), sealing member (208), hydraulic pressure oil inlet pipe (204), hydraulic pressure oil outlet pipe (205), it is characterized in that:
The valve body of gate valve slag-blocking apparatus is made up of web plate (2) parts, mounting plate (4), doorframe (9), and inner nozzle brick (6) is being fixed by web plate (2) parts central authorities, and web plate (2) top is connected and fixed mounting plate (4) by bolt; Mounting plate (4) central authorities are fixed with inner slider brick (5), and mounting plate (4) top is connecting doorframe (9) by hinge pin; Doorframe (9) central authorities are fixed with outer nozzle brick (10), two rectangle slide rails are extended to lower convexity in doorframe (9) both sides, the slide rail upside is fixed with draw runner (13), with mounting plate (4) upper surface space mounting slider bar (8) is arranged in draw runner (13) below, slider bar (8) central authorities are equipped with outer slide brick (3), slider bar (8) is terminal to be connected with hinge with hydraulic ram (1) piston rod (7) external part, slider bar (8) both sides are corresponding to two row's rollers (11) about being equipped with below two rectangle slide rail inboards, doorframe (9) below and the draw runner (13), this two row's roller (11) is state movingly with slide rail medial surface and draw runner (13) lower surface, be positioned at outer nozzle brick (10) both sides on the doorframe (9) and be separately installed with elastic pressuring clamping device (12), this hold-down gear is by the spring die cavity, compression spring, and the bolt pressure regulating device of compression spring top is formed, the hold-down gear upper end is fixed on the valve body, and the compression spring bottom compresses with the platform that doorframe (9) two wood side-guides extend laterally and contacts; The circular hole that identical bore is all arranged with inner nozzle brick (6), inner slider brick (5), outer slide brick (3), outer nozzle brick (10) central authorities of refractory materials making, and four successively correspondence be close to, outer slide brick (3) and central circular hole uniform thickness, the brick body length before and after its translation direction central circular hole is slightly larger than the central circular hole diameter respectively;
Water-cool oil cylinder is fixed a cooling jacket (201) in the cylinder body gabarit, cooling jacket (201) inner chamber is hollow shape, both sides opening part and cylinder body gabarit two ends are fixed by ring cover (202) driving fit respectively, the isolated space of inner chamber and cylinder body gabarit, this space is full of the mobile water coolant, and cooling jacket (201) is provided with water-in and water outlet;
The five-way rigidity spin device by fixing sheath body (306), can form at the cover (309) that spins of sheath body (306) internal rotation, the spacer shell (311) of fixedlying connected with the cover (309) that spins, converter driven axle; The cover (309) that spins is a cylindrical-shaped structure, medium pore is as the through hole of inlet channel (304), through hole one end is fixed with sealing cover (302) and by bearing and sheath body (306) end fit, there is an enclosing cover (301) to be connected behind the fit and to bearing location, inlet channel (304) outer wall is disposed with into three oil gas circuits (308) of water circuit (303), water outlet circuit (305), water outlet semicircumference circuit (307), water outlet semicircumference circuit (307) outer wall with sheath body (306) bolting; Water inlet circuit (303) is the annulus flute profile, bottom land is provided with two circular holes and is communicated with inlet channel (304), water outlet circuit (305) is the annulus flute profile and is communicated with water outlet semicircumference circuit (307), water outlet semicircumference circuit (307) is ring arc semicircumference through hole, three oil gas circuits (308) are all the annulus flute profile, be evenly distributed in three gas channel circular holes (312) with axis parallel at the opposite side of water outlet semicircumference circuit (307), be communicated with an oil gas circuit (308) by a circular hole respectively at the bottom of the hole of each gas channel circular hole (312), the aperture is positioned at the other end of cover (309) that spin; Sheath body (306) is a hollow tubular, have circular hole and fixedly be communicated with water inlet pipe (315), rising pipe (314) respectively at water inlet circuit (303), water outlet circuit (305) opposite position, sheath body (306) inwall is provided with three annular recessess corresponding to (309) three oil gas circuits of cover (308) position that spins, one gas thread through hole (313) is all arranged at the bottom of each groove, and sheath body (306) outer end is realized the rotation socket by fixing a bearing with the cover (309) that spins; Spacer shell (311) structure is cylindric and the cover (309) that spins is used bolting, and corresponding to the inlet channel (304) of cover (309) that spin, three gas channel circular holes (312) corresponding position is provided with the through hole of same geometry, be provided with corresponding semicircumference annular groove corresponding to cover (309) water outlet semicircumference circuit (307) corresponding position that spins, bottom land is provided with close nipple hole (310), the central water outlet outboard end of spacer shell (311) also is provided with gas thread simultaneously, three gas channel circular holes (312) outer end also is provided with gas thread, and spacer shell (311) outer wall is provided with and bolted four bolts hole of converter driven axle; Spin cover (309) outer wall and sheath body (306) outer wall is socket movingly, all is provided with ring structure in belled all of its neighbor annular groove junction, docks between spin cover (309) and the spacer shell (311) and also is provided with ring structure.
2, automatic control technology complete set of plant of tap hole gate valve steel slag-blocking system according to claim 1, the hold-down gear that it is characterized in that the tap hole gate valve steel slag-blocking device are by spring die cavity, compression spring, and the bolt pressure regulating device of compression spring top is formed.
3, automatic control technology complete set of plant of tap hole gate valve steel slag-blocking system according to claim 1 is characterized in that the gate valve slag-blocking apparatus is installed on the tap hole end.
4, automatic control technology complete set of plant of tap hole gate valve steel slag-blocking system according to claim 1 is characterized in that the oil circuit of water-cool oil cylinder is made up of external oil pipe (209), and this external oil pipe (209) is in cooling jacket (201) inner chamber.
5, automatic control technology complete set of plant of tap hole gate valve steel slag-blocking system according to claim 1, the gate valve switch control device that it is characterized in that slag proofing unit under the converter successively with hydro-pump, the five-way rigidity device that spins, water-cool oil cylinder, the tap hole gate valve steel slag-blocking device connects, slag proofing unit structure is at the converter platform or at alignment lens can the be tapped avris orientation fixed installation far infrared hot-probing instrument of beam of stove upper/lower positions under the converter, the output terminal of far infrared hot-probing instrument connects the input terminus of central processor CPU, and the control output end of CPU is communicated with gate valve switch control device in the converter;
CPU comprises:
1. be used to have the storing device of setting unit's cross section energy correlation data of the beam thermal radiation energy of the big small area of the various cross section of steel beam, this storing device is connected with comparer;
2. be used to receive the steel beam image of far infrared hot-probing instrument collection input and the image-region cut off value is determined in this sharp point position processing, union goes out the thermal radiation Energy value in the real-time section area value of beam, this cross section and the arithmetic processing apparatus of real-time energy per unit area value, and this device is connected with comparer;
3. be used for real-time energy per unit area value with set the comparer that unit cross section energy correlation data compares; This comparator output terminal is connected with the steering order device;
4. be used for the real-time energy per unit area value of comparer input is inputed to less than the unit cross section Energy value comparison momentary signal of the correlation data of setting the steering order device of hydro-pump switch controlling device.
6, automatic control technology complete set of plant of tap hole gate valve steel slag-blocking system according to claim 1 or 5, it is characterized in that it is converter taphole gate valve robot device that the gate valve slag-blocking apparatus is changed matching special equipment, structure is by power set, hydraulic efficiency plant, comprise creeper undercarriage and the driving of driving control, in the driving by the linkage assembly of hydrostatic control, the stationary work-table of linkage assembly front end is formed, also comprise the automatic swivel bolt nut apparatus that topworks installs: stationary work-table floats with the floating work bench (402) in the place ahead and is connected, be that floating work bench (402) is fixed on the tubular interior axle (401), axle (401) chamber internal fixing has pushing disc in tubular, pushing disc is connected with piston rod, hydraulic piston cylinder (408) is fixed on the permanent seat in tubular outer shaft (411) chamber, hydraulic piston cylinder (408) and hydro-pump pipe connection, axle (401) cylindrical is enclosed within the inner cylinder face of tubular outer shaft (411) movingly in tubular, tubular outer shaft (411) middle part is fixed with short cylindrical pin (412), and this round pin stretches in the elongated slot that is provided with on tubular interior axle (401) tube wall and is inserted in movingly; Closely be with two rubber annular collars (403) between tubular outer shaft (411) external cylindrical surface and tubular holders (406) inner cylinder face, the bottom of tubular holders (406) is fixed on the rotating disk (407), the cylindrical of tubular holders (406) is enclosed within on the interior circle of tubular floating bushing (405) movingly, floating bushing (405) bottom is fixed on the base (409), base (409) outside is equipped with oil motor, and hydraulic motor output shaft is passed floating bushing (405) base (409) medium pore and fixedlyed connected with rotating disk (407); Vertically fixing two rotation axiss up and down of floating bushing (405) cylindrical, these two rotation axiss stretch into the circular deflection cover (404) of floating bushing (405) coaxial inner conductor and go up fixed up and down in two bearing saddle bores, and being state movingly, the output shaft of fixed oil motor transmission rig is fixedlyed connected on the upper end of last turning set and the top chock; Deflection cover (404) cylindrical level is fixed two horizontal rotating shafts respectively to both sides, these two rotation axiss are inserted in respectively in the bearing saddle bore that is fixed on stationary work-table movingly, and wherein the output shaft of fixed oil motor transmission rig is fixedlyed connected on a side rotation axis and this end bearing seat; Floating work bench is installed with topworks on (402), this topworks by the gripper jaw mechanism of automatic swivel bolt nut apparatus, clamping gate valve, gate valve applying converter corresponding position after the locating device of flexible steady brace form.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201461378U CN201288205Y (en) | 2008-11-04 | 2008-11-04 | Automatic control technology complete set of plant of tap hole gate valve steel slag-blocking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201461378U CN201288205Y (en) | 2008-11-04 | 2008-11-04 | Automatic control technology complete set of plant of tap hole gate valve steel slag-blocking system |
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| Publication Number | Publication Date |
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| CN201288205Y true CN201288205Y (en) | 2009-08-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008201461378U Expired - Fee Related CN201288205Y (en) | 2008-11-04 | 2008-11-04 | Automatic control technology complete set of plant of tap hole gate valve steel slag-blocking system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101392305B (en) * | 2008-11-04 | 2010-06-09 | 福建三钢闽光股份有限公司 | Automatic control technology complete set of plant of tap hole gate valve steel slag-blocking system |
| CN102899442A (en) * | 2012-08-15 | 2013-01-30 | 天津市三特电子有限公司 | Converter tapping process detecting and controlling device |
| CN112410502A (en) * | 2020-10-27 | 2021-02-26 | 安徽云天冶金科技股份有限公司 | Converter slide control system for pushing off slag |
-
2008
- 2008-11-04 CN CNU2008201461378U patent/CN201288205Y/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101392305B (en) * | 2008-11-04 | 2010-06-09 | 福建三钢闽光股份有限公司 | Automatic control technology complete set of plant of tap hole gate valve steel slag-blocking system |
| CN102899442A (en) * | 2012-08-15 | 2013-01-30 | 天津市三特电子有限公司 | Converter tapping process detecting and controlling device |
| CN112410502A (en) * | 2020-10-27 | 2021-02-26 | 安徽云天冶金科技股份有限公司 | Converter slide control system for pushing off slag |
| CN112410502B (en) * | 2020-10-27 | 2022-04-12 | 安徽云天冶金科技股份有限公司 | Converter slide control system for pushing off slag |
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Granted publication date: 20090812 Termination date: 20121104 |