CN205448978U - Converter lining is automatic positioning device for thickness measurement with laser - Google Patents
Converter lining is automatic positioning device for thickness measurement with laser Download PDFInfo
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- CN205448978U CN205448978U CN201521047335.5U CN201521047335U CN205448978U CN 205448978 U CN205448978 U CN 205448978U CN 201521047335 U CN201521047335 U CN 201521047335U CN 205448978 U CN205448978 U CN 205448978U
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- spheroid
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- positioning equipment
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Abstract
The utility model provides a converter lining is automatic positioning device for thickness measurement with laser, this automatic positioning device fixed mounting is at the converter trunnion ring, including the three spheroid that is triangular distribution. Because automatic positioning device fixed mounting on the converter trunnion ring, can confirm the coordinate figure of the three spheroid centre of sphere at the converter coordinate system, because the spheroid has the distinctive appearance, can guarantee to realize, acquire the coordinate figure of the spheroid centre of sphere at the laser thickness gauge coordinate system in the accuracy of each position scanning time point cloud data automatic identification and match function to the conversion relationship of two coordinate systems, the location of realizing laser thickness gauge acquire.
Description
Technical field
This utility model relates to converter steeling technology field, particularly to a kind of converter lining thickness measurement with laser automatic positioning equipment.
Background technology
In Converter Oxigen Blowing smelting process, the Long Term Contact such as furnace lining and high temperature liquid iron, slag and furnace gas and produce local erosion's phenomenon；Meanwhile, furnace lining also can be added the operation impacts such as steel scrap, deslagging, tapping and local damage occurred.Along with the carrying out produced, lining thickness can be the most thinning；When current thickness is less than safety value, then it is susceptible to wear the serious accidents such as steel.
At present, along with development and the extensive application of Technology of Slag Splashingfor Furnace Maintenance of lining repairing technology, can reach 1-2 ten thousand stove the service life of converter lining, the probability that steel accident is worn in converter within the expection stove labour phase is almost nil；But accurately detection converter lining depth information everywhere, reduces transition and repair the waste caused, make converter lining keep optimal profile pattern thus extend its furnace life and reduce furnace lining and heavily build cold repair number of times there is important function.Meanwhile, accurately converter molten pool liquid level and tapping angle can be predicted by detection converter lining depth information everywhere, optimize oxygen rifle position and tapping angle, and then instruct pneumatic steelmaking.
Therefore, periodic detection convertor lining thickness situation is to ensureing that STEELMAKING PRODUCTION safety, optimization process for making are the most necessary.At present, it is widely used in converter lining thickness measurement technology field owing to laser measurement convertor lining thickness has noncontact, quick, accuracy height and the advantage of strong interference immunity.
During utilizing laser thickness gauge to detect convertor lining thickness, the location of equipment is very important link, and the convenience of location, speed and operational suitability directly affect the accurate quick of kiln lining thickness measuring to be carried out.For using laser range finder and total powerstation as the converter lining laser thickness gauge of laser component, its location is to be realized by point known to outside manual operation laser range finder or total powerstation scanning converter three and converter position relationship, operate artificial bad adaptability, positioning time long, and owing to anchor point is easily blocked by dust, Position location accuracy is poor.For external employing three-dimensional laser scanner is as the converter lining laser thickness gauge of laser component, it uses reflecting strips positioning mode, achieve and be automatically positioned, but location laser instrument is separate with measurement laser instrument, relatively costly, simultaneously reflection bar surface be stained with ash and converter lining laser thickness gauge can not horizontal positioned time, all there will be bigger position error, and for for the fixed position positioning mode that platform before converter arranges labelling point group, converter lining laser thickness gauge can only be fixed on several position and measure, it is unfavorable for that equipment measures converter lining depth information everywhere flexibly.
Utility model content
For solve existing utilize laser thickness gauge that convertor lining thickness is detected during positioning action complexity of laser thickness gauge, time loss length, problem that Position location accuracy is the highest, this utility model a kind of new converter lining thickness measurement with laser automatic positioning equipment of offer.
This utility model provides a kind of converter lining thickness measurement with laser automatic positioning equipment, is fixedly mounted on converter trunnion ring, and including three relatively-stationary spheroids in position, three described spheroids are isosceles triangle distribution；It is positioned at the centre of sphere of at isosceles triangle base angle two described spheroids to be positioned in converter trunnion ring midline plane, be positioned at the centre of sphere of the described spheroid at isosceles triangle drift angle and be located normal to trunnion of converter axis and divide equally in the plane of revolving furnace body.
Optionally, the radius R of described spheroid meets: 60mm < R < 80mm.
Optionally, described automatic positioning equipment also has carriage assembly；Described carriage assembly is fixing with converter trunnion ring to be connected；Three described spheroids are fixedly mounted on described carriage assembly.
Optionally, described spheroid is specially segment；Described segment is fixed on described carriage assembly by the screwed hole on bottom surface.
Optionally, also there is the slag trap dropping on described spheroid for anti-falling stop slag and support the slag trap reinforcement of described slag trap；Described slag trap and described slag trap reinforcement are all fixing with described carriage assembly to be connected.
Optionally, described carriage assembly also has carriage assembly reinforcement.
The converter lining thickness measurement with laser automatic positioning equipment that this utility model provides, including installing the spheroid of three distributions triangular in shape, laser thickness gauge can realize the quick scanning to automatic positioning equipment in the position that distance converter is nearer with less scanning angle；Owing to automatic positioning equipment is fixedly mounted on converter trunnion ring, it is possible to accurately calculate three spheroid centre ofs sphere coordinate in converter coordinate system according to automatic positioning equipment size, installation site and converter trunnion ring external diameter very easily, improve positioning precision；Owing to spheroid has distinctive appearance, it is ensured that laser thickness gauge is in the accurate realization of each position scanning time point cloud data automatic identification with matching function, thus ensures laser thickness gauge being automatically positioned in each position.
In this utility model one detailed description of the invention, three spheroids are isosceles triangle distribution, the centre of sphere being positioned at isosceles triangle base angle two spheroids is in backing ring midline plane, the centre of sphere being positioned at the spheroid at drift angle is located normal to the axis of trunnion of converter and divides equally in the plane of revolving furnace body, it is easy to the calculating of coordinate figure in converter coordinate system of three spheroid centre ofs sphere, also allows for converter lining laser thickness gauge and gather cloud data, quickly calculate three the spheroid centre ofs sphere being obtained from dynamic positioning system at the coordinate figure of laser thickness gauge coordinate system.
In this utility model one detailed description of the invention, automatic positioning equipment has carriage assembly and spheroid and is fixed on converter trunnion ring through carriage assembly, and also there is corresponding slag trap, slag trap reinforcement and carriage assembly reinforcement, high temperature in converter producing, many dirt and the slag that falls can be reduced to automatic positioning equipment structure and the adverse effect of shape.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in describing below is only embodiments more of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is this utility model detailed description of the invention laser thickness gauge structural representation when being automatically positioned；
Fig. 2 is the automatic positioning equipment topology view of this utility model detailed description of the invention；
Fig. 3 is the automatic positioning equipment front view of this utility model detailed description of the invention；
Fig. 4 is spheroid schematic diagram in this utility model detailed description of the invention automatic positioning equipment；
Fig. 5 is the flow chart of this utility model detailed description of the invention converter lining thickness measurement with laser automatic positioning method；
In Fig. 1-Fig. 4: 1-revolving furnace body, 2-converter trunnion ring, 3-trunnion of converter, 4-automatic positioning equipment, 41-spheroid, 42-carriage assembly, 43-slag trap, 44-slag trap reinforcement, 45-carriage assembly reinforcement, 5-laser thickness gauge.
Detailed description of the invention
This utility model provides a kind of converter lining thickness measurement with laser automatic positioning equipment, it is achieved the location quick, convenient of converter lining laser thickness gauge.
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is clearly and completely described, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole embodiments.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of this utility model protection.
Fig. 1 is this utility model detailed description of the invention converter lining laser thickness gauge structural representation when being automatically positioned, Fig. 2 is the automatic positioning equipment topology view of this utility model detailed description of the invention,, Fig. 3 is the automatic positioning equipment front view of this utility model detailed description of the invention.Can be seen that automatic positioning equipment 4 of the present utility model is arranged on the converter trunnion ring 2 driving converter body 1 to rotate from Fig. 1, Fig. 2 and Fig. 3, it includes three spheroids 41；Three spheroid 41 positions are relatively fixed and are distributed in isosceles triangle, and the centre of sphere being positioned at isosceles triangle base angle two spheroids 41 is in the midline plane of converter trunnion ring 2, the centre of sphere of another spheroid 41 is located normal to the axis of trunnion of converter 3 and divides equally in the plane of revolving furnace body 1.
Owing to spheroid has distinctive appearance and protrudes setting relative to whole converter, therefore use laser thickness gauge 5 when each position scanning automatic positioning equipment 4, identification and the matching automatically of the sphere cloud data of spheroid 41, the quickly centre of sphere of three spheroids 41 of acquisition coordinate figure in laser thickness gauge coordinate system can be realized exactly.
Owing to three spheroid 41 centre ofs sphere position on converter trunnion ring is fixed in automatic positioning equipment 4, therefore three spheroid centre ofs sphere coordinate figure in converter coordinate system can be determined according to the radius of three spheroids 41 in converter trunnion ring 2 external diameter, automatic positioning equipment 4 position on converter trunnion ring, automatic positioning equipment 4.
Obtain the conversion relation of two coordinate systems subsequently according to three spheroids 41 coordinate in laser thickness gauge 5 coordinate system and converter coordinate system, it is achieved laser thickness gauge 5 in each position relative to the location of converter, it is ensured that the quick, convenient of follow-up furnace lining thickness measurement with laser is carried out.
For existing manual positioning and reflection bar location mode, converter lining thickness measurement with laser automatic positioning method based on automatic positioning equipment 4 is capable of laser thickness gauge 5 being accurately positioned when each position measurement, locating speed can be accelerated simultaneously, improve the convenience of location.
It is contemplated that, it is achieved laser thickness gauge 5 location mainly obtains three spheroid centre ofs sphere coordinate figure in laser thickness gauge coordinate system by the appearance of three spheroids；Consider from application principle angle, three spheroids of automatic positioning equipment 4 are the most spacing to be fixed at aforementioned location, could be secured in a regional extent of this position, but it should ensure that actually used middle laser thickness gauge can obtain the spheroid cloud data of abundant three spheroid features of expression；Certainly, the relative position relation of three spheroids is not limited to form isosceles triangle, it is possible to form the triangle of other structures, but it should reduce by three spheroid impacts overlapped, close and that obtain spheroid cloud data as far as possible.
Further, can successfully realize identifying object ball face cloud data from automatic positioning equipment cloud data and simulating ball sphere centre coordinate during for ensureing converter lining thickness measurement with laser, the radius R of spheroid 41 is the most satisfied: 60mm < R < 80mm；Considering that the convenience that actually used spheroid 41 is installed is protruded with guarantee spheroid position, spheroid 41 is arranged to segment shape, the high L of segment4The most satisfied: 125mm < L < 145mm.It should be noted that, although use segment, but be still spheroid sphere due to segment exposed parts, therefore it is apparent is still spheroid；Certainly, in other are embodied as, it is possible to use complete spheroid 41 to be installed on carriage assembly 42.It shall yet further be noted that the radius of sphericity of three spheroids 41 herein can be the same or different, it is considered to its size of its ease of processing is preferably identical.
In actual installation, three spheroids 41 in this utility model automatic positioning equipment 4 are not to be directly installed on converter trunnion ring 2, but by being first installed on carriage assembly 42, then carriage assembly 42 is fixedly mounted on converter trunnion ring 2 realization location；It is contemplated that such mounting means can facilitate the location positioning between spheroid 41, improve the convenience installed.In being embodied as of the present utility model one, the bottom surface of three segments having screwed hole, segment is bolted mode and is fixed on carriage assembly 42, realizes segment installation on carriage assembly 42 very easily.
In production operation, because of pneumatic steelmaking fall slag and tapping time the oxygen rifle slag that falls can be splashed on spheroid 41 surface and carriage assembly 42 to change spheroid 41 and the profile of carriage assembly 42, affect the accuracy of post laser thickness measurer of furnace liner Scan orientation；For this, slag trap 43 and the slag trap reinforcement 44 of support block slag plate 43 that anti-falling stop slag drops on spheroid 41 also can be set on automatic positioning equipment 4, slag trap 43 and slag trap reinforcement 44 are respectively positioned on the upside of carriage assembly 42, can fixing with carriage assembly 42 be connected, it is simple to processing is installed.Additionally, be the structural strength improving carriage assembly 42, carriage assembly 42 also can arrange carriage assembly reinforcement 45, to prevent deformation.
In this utility model is embodied as, spheroid 41 can be hard aluminium alloy 2A12 material or round steel Q235 material, and other assemblies on automatic positioning equipment 4 can use Q235 material or No. 45 steel matter.Additionally, cause spheroid 41 to deform for anti-falling stop slag, spheroid 41 is preferentially set to solid construction.
It is contemplated that, owing to have employed above safeguard structure and location structure, automatic positioning equipment 4 has preferable non-deformability, the position of spheroid 41 centre of sphere is stablized, spheroid 41 centre of sphere stability in converter coordinate system is effectively ensured, can adapt to converter scene high temperature, the adverse circumstances of many dirt, meet convenient, the functional need of converter lining thickness measurement with laser.
Foregoing automatic positioning equipment 4 should be arranged on converter trunnion ring 2, with regard to how, automatic positioning equipment 4 is arranged on converter trunnion ring 2 below and does simple an introduction: first, converter is shaken midline position that is flat and that mark converter trunnion ring 2, make the centre of sphere of two spheroids 41 in downside in automatic positioning equipment 4 be positioned at this position, then utilize horizon rule measurement to make the centre of sphere of one spheroid 41 in top be positioned at the symmetrical position of converter；(this section needs to keep consistent with statement above) it is welded on converter trunnion ring 2 after thereby determining that automatic positioning equipment 4 installation site.
Because the radius of size, installation site and the converter trunnion ring 2 of automatic positioning equipment 4 all determines that, just can determine that three spheroid 41 centre ofs sphere coordinate figure in converter coordinate system according to corresponding size.Determine spheroid 41 sphere centre coordinate for convenience, can be using the intersection point of the axis of trunnion of converter 3 and the axis being perpendicular to trunnion of converter 3 and the plane dividing revolving furnace body 1 equally as initial point in concrete application, with converter screw mandrel as z-axis, with the axis of trunnion of converter 41 as x-axis, to be perpendicular to xz axial plane and through the straight line of initial point as y-axis；Certainly, it is possible to use other coordinate systems to demarcate the sphere center position of three spheroids 41.
In addition to providing above converter lining thickness measurement with laser automatic positioning equipment, this utility model also provides for a kind of converter lining thickness measurement with laser automatic positioning method.Such as the flow chart that Fig. 4, Fig. 4 are this utility model detailed description of the invention furnace lining thickness measurement with laser automatic positioning method, this method comprises the following steps:
Step S101: the automatic positioning equipment on scanning converter trunnion ring 2, is obtained from the spatial point cloud coordinate data of dynamic positioning system.
Owing to automatic positioning equipment 4 is arranged on converter trunnion ring 2, laser thickness gauge 5 can be arranged on the position (generally 2-3m) close to converter, with less horizontal field of view angle (generally 25 °-30 °) just to scanning automatic positioning equipment 4, it is thus achieved that the spatial point cloud coordinate data including automatic positioning equipment 4.
Step S102: identify and simulate in the spatial point cloud coordinate data of automatic positioning equipment three spheroid centre ofs sphere coordinate figure in laser thickness gauge coordinate system.
The step for spatial point cloud coordinate data is carried out data process, extract the umbilical point cloud coordinate data of three spheroids 41 in automatic positioning equipment 4, and utilize umbilical point cloud coordinate data to be calculated the centre of sphere of three spheroids 41 coordinate figure in laser thickness gauge 5 coordinate system.
In being embodied as of the present utility model one, according to the spatial point cloud data of automatic positioning equipment 4 obtain the sphere centre coordinate of three spheroids 41 be specifically divided into following step by step:
(1) utilizing clustering algorithm based on Euclidean distance to process the spatial point cloud coordinate data of automatic positioning equipment 4, obtain all similar spheroid things slightly extracts cloud data.
(2) employing sampling consistency algorithm carries out process to thick extraction cloud data and obtains middle extraction cloud data.
In cloud data after thick extraction in addition to comprising three target spheroid cloud datas, also there is more similar spheroid cloud data, these similar spheroid cloud datas can ask calculation sphere centre coordinate to produce impact on utilizing target spheroid cloud data, and can get rid of most spheroidal cloud data after using sampling consistency algorithm.
(3) centre is extracted cloud data and is processed by the position relationship using three spheroids 41, obtains three target spheroid cloud datas；
Extract in cloud data because of centre and still suffer from the cloud data of non-targeted spheroid, and the cloud data of these non-targeted spheroids be positioned at three spheroids 41 outside, spherical ball scheming is produced a very large impact.Owing to the position relationship between three spheroids 41 determines that, therefore non-targeted spheroid cloud data can be got rid of by the position relationship of three spheroids.
(4) coordinate figure that space spherical equation and the principle of least square, target spheroid cloud data according to three spheroids 41 ask the centre of sphere calculating three spheroids in laser thickness gauge coordinate system is utilized.
It should be noted that, the precision of spheroid cloud data identification and the realization of centre of sphere fitting algorithm and success rate depend on radius and the height of spheroid 41 of spheroid 41.So that fit to power to be more than 99%, on aforementioned setpoint distance, the radius R of spheroid 41 is the most satisfied: 60mm < R < 80mm；Considering that actually used spheroid is segment, the high L of segment is the most satisfied: 125mm < L < 145mm.
In each step, calculation process purpose is that rapid extraction goes out the cloud data of three spheroids 41 and then obtains the sphere centre coordinate of spheroid 41 above；Certainly, other detailed description of the invention are not limited in algorithm above processing sequence and algorithm types, it is possible to other Processing Algorithm known to those skilled in the art.
After obtaining three spheroids 41 coordinate in laser thickness gauge 5 and converter coordinate system, just can carry out step S103: use Rodrigo seven parameter model, seek the conversion relation calculating two coordinate systems according to three spheroid centre ofs sphere coordinate figure in laser thickness gauge coordinate system and converter coordinate system, it is achieved the location of described laser thickness gauge.
This step is with specific reference to coordinate figure in converter coordinate system and laser thickness gauge 5 coordinate system of the centre of sphere of three spheroids 41, Rodrigo seven parameter model is utilized to try to achieve three translational movement (Δ x of numerical value conversion between laser thickness gauge 5 coordinate system and converter coordinate system, Δ y, the spin matrix R of Δ z), three rotation amounts composition and a dimensional variation parameter lambda, determine the relative position relation between two coordinate systems, realize the location of laser thickness gauge 5.
In step S101, it is very big that laser thickness gauge 5 scans the spatial point cloud data data volume that automatic positioning equipment 4 obtains, and has noise spot simultaneously, is likely to result in that the follow-up success rate automatically extracting spheroid cloud data is low, the time is longer.The problem that spheroid cloud data success rate of extracting is low, extraction time is longer that and data noise very big for solution factor data amount causes, also can be filtered processing before carrying out step S102, Filtering Processing can include down-sampling Filtering Processing and the statistical parameter filtering carried out successively；Wherein down-sampling filtering for being diluted to rational density by the cloud data of automatic positioning equipment 4, and statistical parameter filtering is for eliminating the trailing noise in cloud data；Certainly, in other detailed description of the invention, it is possible to use those skilled in the art it is contemplated that other algorithms the spatial point cloud data of automatic positioning equipment 4 is filtered process.
Use above automatic positioning equipment 4 and automatic positioning method, actual application can all be automatically positioned each position of platform before converter, converter lining depth information everywhere can be measured by flexible laser thickness gauge 5；Through practice test, each positioning time is less than 30s, effectively reduces location and uses the time.
Above the converter lining thickness measurement with laser automatic positioning equipment in this utility model embodiment is described in detail.Apply specific case herein principle of the present utility model and embodiment are set forth; the explanation of above example is only intended to help to understand core concept of the present utility model; in the case of without departing from this utility model principle; also this utility model can be carried out some improvement and modification, these improve and modification also falls in protection domain of the present utility model.
Claims (6)
1. a converter lining thickness measurement with laser automatic positioning equipment, is fixedly mounted on converter trunnion ring (2), it is characterised in that: include that three the relatively-stationary spheroid in positions (41), three described spheroids are isosceles triangle distribution；Be positioned at the centre of sphere of at isosceles triangle base angle two described spheroids (41) be positioned at converter trunnion ring (2) center line in the plane, the centre of sphere that is positioned at the described spheroid (41) at isosceles triangle drift angle is located normal to trunnion of converter (3) axis and divides equally in the plane of revolving furnace body (1).
Converter lining thickness measurement with laser automatic positioning equipment the most according to claim 1, it is characterised in that the radius R of described spheroid (41) meets: 60mm < R < 80mm.
Converter lining thickness measurement with laser automatic positioning equipment the most according to claim 2, it is characterised in that: also there is carriage assembly (42)；Described carriage assembly (42) is fixing with converter trunnion ring (2) to be connected；Three described spheroids (41) are fixedly mounted on described carriage assembly (42).
Converter lining thickness measurement with laser automatic positioning equipment the most according to claim 3, it is characterised in that: described spheroid (41) is specially segment；Described segment is fixed on described carriage assembly (42) by the screwed hole on bottom surface.
5. according to the converter lining thickness measurement with laser automatic positioning equipment described in claim 3 or 4, it is characterised in that: also there is the slag trap (43) dropping on described spheroid (41) for anti-falling stop slag and support the slag trap reinforcement (44) of described slag trap (43)；Described slag trap (43) and described slag trap reinforcement (44) are all fixing with described carriage assembly (42) to be connected.
Converter lining thickness measurement with laser automatic positioning equipment the most according to claim 5, it is characterised in that: also there is on described carriage assembly (42) carriage assembly reinforcement (45).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521047335.5U CN205448978U (en) | 2015-12-15 | 2015-12-15 | Converter lining is automatic positioning device for thickness measurement with laser |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201521047335.5U CN205448978U (en) | 2015-12-15 | 2015-12-15 | Converter lining is automatic positioning device for thickness measurement with laser |
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| CN205448978U true CN205448978U (en) | 2016-08-10 |
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| CN201521047335.5U Active CN205448978U (en) | 2015-12-15 | 2015-12-15 | Converter lining is automatic positioning device for thickness measurement with laser |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105423928A (en) * | 2015-12-15 | 2016-03-23 | 湖南镭目科技有限公司 | Automatic positioning device and automatic positioning method for measuring thickness of converter lining with laser |
| CN110976839A (en) * | 2019-12-24 | 2020-04-10 | 中冶南方工程技术有限公司 | Upper structure of continuous casting machine and automatic loading and unloading method of long nozzle |
-
2015
- 2015-12-15 CN CN201521047335.5U patent/CN205448978U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105423928A (en) * | 2015-12-15 | 2016-03-23 | 湖南镭目科技有限公司 | Automatic positioning device and automatic positioning method for measuring thickness of converter lining with laser |
| CN105423928B (en) * | 2015-12-15 | 2018-09-11 | 湖南镭目科技有限公司 | A kind of converter lining thickness measurement with laser automatic positioning equipment and automatic positioning method |
| CN110976839A (en) * | 2019-12-24 | 2020-04-10 | 中冶南方工程技术有限公司 | Upper structure of continuous casting machine and automatic loading and unloading method of long nozzle |
| CN110976839B (en) * | 2019-12-24 | 2021-06-11 | 中冶南方工程技术有限公司 | Upper structure of continuous casting machine and automatic loading and unloading method of long nozzle |
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