JP2003073725A - Transportation line for cupola pot carriage and transportation controlling method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transportation controlling method for a cupola pot carriage, which stops the cupola pot carriage for transporting the cupola pot at a pig-receiving position with a high degree of precision. SOLUTION: This transportation controlling method comprises a step of mounting the cupola pot on the cupola pot carriage, a step of detecting a position difference for the mounted cupola pot on the cupola pot carriage, a step of detecting the mileage of the cupola pot carriage, a step of giving a command to the cupola pot carriage so as to stop at the pig-receiving position, after correcting the position difference according to the information on the mileage and on the position difference of the mounted cupola pot on the cupola pot carriage. Thereby, the cupola pot carriage is made to stop at the pig-receiving position by correcting a position difference of the cupola pot on the cupola pot carriage.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to transport control of a hot metal ladle truck for transporting a hot metal ladle.

[0002]

2. Description of the Related Art In a steelmaking factory, a hot metal ladle is used for supplying hot metal to converters and the like. As a method for receiving hot metal in the hot metal ladle, a dolly transportation line system is used in which the hot metal ladle is placed on a dolly, transported to the hot metal position, and the tope car is tilted to pour the hot metal. 62-32994 publication, JP-B-60-11087 publication, etc.). The hot metal ladle trolley on which the hot metal ladle is placed is also called a weighing dolly because it has a function of weighing the weight of the hot metal received. Here, the hot metal ladle cart is also referred to as a weighing cart or simply a cart.

First, FIG. 2 is a partial cross-sectional view showing the hot metal 21 of the hot metal at the hot metal position. Here, 20 shows the hot metal flow poured into the hot metal ladle 1 from the tope car 12. At the receiving position, the hot metal ladle 1 on the carriage 2 is covered with a dust collecting hood 13. Next, based on FIG. 3, a conventional hot metal ladle trolley carrier line for supplying the hot metal to the hot metal ladle will be described.

Since the hot metal ladle 1 receives the hot metal from the speeded car 12, it is usually hung and mounted on a trolley 2 located below the transportation line of the speeded car 12. In addition, 15 is
It is a side wall. In suspending it on the carriage 2, it is necessary to accurately align both the hot metal ladle 1 and the carriage 2, but a slight positional deviation (error) is unavoidable. Therefore, by controlling the stop position of the trolley 2 at the receiving position,
It is necessary to correct this displacement.

Specifically, a limit switch 16 is provided on the carrier line of the carriage 2 before the receiving iron position.
When the limit switch 16 is actuated, the carriage is decelerated to run at low speed. Further, a laser master 17 is provided at a position where the hot metal ladle 1 will shield the laser at the receiving position, and the carriage is stopped when the laser master 17 is shielded from light. By doing so, the carriage can be accurately stopped at the receiving position regardless of the displacement of the hot metal ladle 1 on the carriage 2.

Here, as the limit switch 16, an overcurrent sensor type proximity switch, a striker type contact switch, or the like is used, and the laser master 17 has a laser projector for projecting a laser and a light receiving for receiving the laser. A sensor configured to detect passage of light by detecting interruption of laser light reception has been used. The traveling control of the vehicle is performed by the vehicle traveling control controller 9. The deceleration / stop command of the bogie to the bogie traveling control controller 9 is performed by taking in signals from the limit switch 16 and the laser master 17.

[0007]

However, in the conventional trolley transportation line, the limit switch is located near the pig iron position.
16, it is necessary to provide sensors such as the laser master 17, and there is a problem that scattered hot metal, so-called metal, adheres and malfunctions. Therefore, the removal of metal after stopping the line was an irreversible task. Moreover, in the worst case, the sensor was damaged, and there were many troubles that forced the line to stop.

The present invention solves the above-mentioned problems and eliminates the need for installing sensors in the vicinity of the pig iron line and realizes essentially maintenance-free operation, thereby improving the stable operation and reliability of the hot metal ladle trolley transport line. The purpose is to realize.

[0009]

SUMMARY OF THE INVENTION The present invention comprises a hot metal ladle, a hot metal ladle trolley for placing the hot metal ladle and transporting the hot metal ladle to a receiving position.
A position detector that detects a mounting position shift of the hot metal ladle on the hot metal ladle dolly, a mileage detector that detects a mileage of the hot metal ladle dolly, and mileage information detected by the mileage detector. A transfer control device that receives the placement position deviation information detected by the position detector, corrects the placement position deviation, and issues a command to stop the pig iron position to the hot metal ladle trolley. The above problems were solved by a hot-pot ladle trolley carrier line characterized by.

Further, the present invention comprises the steps of placing the hot metal ladle on the hot metal ladle dolly, the step of detecting the placement position deviation of the placed hot metal ladle on the hot metal ladle dolly, and the hot metal ladle dolly of the hot metal ladle dolly. From the step of detecting the mileage, the mileage information, and the placement position shift information of the hot metal ladle on the hot metal ladle dolly, the placement position offset is corrected to receive the hot metal ladle dolly position. And a step of issuing a stop command at the hot metal ladle trolley, which corrects the displacement of the placement position of the hot metal ladle on the hot metal ladle dolly and stops the hot metal ladle dolly at the receiving iron position. The above-mentioned problem was solved by the control method.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention is shown in FIG.
It will be explained based on. The same members already described in FIGS. 2 and 3 are designated by the same reference numerals, and the description thereof will be omitted. The present invention is characterized in that a position detector 3 for detecting the mounting position of the hot metal ladle is disposed near the hoisting / hanging position of the hot metal ladle 1.

The position detector 3 is provided with a deck 11 near the line, for example, and is attached near the deck 11 to facilitate maintenance. The position detector 3 is not particularly limited as long as it can measure the mounting position of the hot metal ladle 1 on the trolley 2, but its installation location, measurement method, etc. are not particularly limited, but for example, the distance to the target is measured by ultrasonic waves. Ultrasonic sensor,
It is preferable to adopt a non-contact measurement method such as a laser range finder using a laser. Hereinafter, an example in which an ultrasonic sensor is used as the position detector 3 will be specifically described.

In the hot metal ladle trolley carrier line to which the present invention is applied, the trolley traveling control controller 9 performs highly precise trolley traveling control, and the stop position of the trolley itself can be controlled very accurately. Is. According to the present invention, based on the highly accurate carriage transfer control, by correcting the mounting position deviation of the hot metal ladle 1 on the carriage 2 described above, the reliability and the stable operation of the hot metal ladle carriage line can be further improved. It was realized.

That is, when the hot metal ladle 1 is placed on the dolly 2 stopped at the hoisting / hanging position, the placement deviation of the hot metal ladle 1 is measured by the ultrasonic sensor 3 and the dolly is based on the information about the location. By correcting the traveling control and correcting the bogie stop position at the pig iron position, the displacement of the hot metal ladle 1 at the pig iron position was eliminated. Hereinafter, the hot metal ladle carriage transfer control method of the present invention will be described in detail for each step. The applicable line is
It is the hot metal ladle transfer line shown in FIG.

In this line, the carriage control device 7 controls the carriage of the carriage 2. The transport control device 7 is composed of a sequencer 8, a vehicle traveling control controller 9, and a GP 10, and is controlled based on sequence control preprogrammed in the sequencer 8. Here, the details of the control that is not directly related to the present invention in the traveling control by the vehicle traveling control controller 9, the sequence control by the sequencer 8, etc. are omitted. In addition, GP10 is
It is a graphic panel for setting the program and displaying the control status for the sequencer. (1) Process of placing the hot metal ladle on the hot metal ladle dolly The empty hot metal ladle 1 is hung and placed on the hot metal ladle dolly 2 at the stop position of the hot metal ladle transport line. At this time, the displacement of the mounting position of the hot metal ladle 1 occurs, as described above. The hot metal does not scatter at the position where the hot metal pot is hung. (2) Process of detecting the mounting position shift of the hot metal ladle placed on the hot metal ladle dolly The ultrasonic sensor 3 which is a position detector for detecting the mounting position shift of the hot metal ladle 1 is installed near the deck 11. Everything, ultrasonic 4
By detecting the distance, the mounting position shift of the hot metal ladle 1 is detected. This measurement data (placement position shift information) is loaded into the sequencer 8 via the ultrasonic sensor amplifier 5.

Here, a shutter (not shown) is attached to the ultrasonic sensor 3 as a measure against dust and radiant heat from the hot metal ladle, and the shutter is automatically opened only during measurement. For the purpose of preventing dust from entering the inside of the ultrasonic sensor 3 and cooling the internal equipment, it is preferable to air purge the inside of the sensor. (3) Step for detecting the traveling distance of the hot metal ladle truck In accordance with the above step (2), the traveling distance detector 6 provided in the hot metal ladle truck 2 measures the current position of the stopped bogie and the data is sequenced. Take in 8.

After the measurement in (2) above is completed, the trolley 2 starts automatic traveling toward the piggy-back position based on the transport sequence process. The current traveling position is always taken into the sequencer 8. Keep it. (4) Process of issuing a stop command at the receiving position to the hot metal ladle trolley, the travel distance information of the trolley 2 collected in step (3),
Based on the placement position deviation information of the hot metal ladle 1 on the dolly 2 collected in the step (2), the placement position deviation of the hot metal ladle 1 on the dolly 2 is corrected to calculate an accurate stop position of the dolly 2. The sequencer 8 issues appropriate deceleration commands and stop commands to the vehicle traveling controller 9 to decelerate and stop the vehicle 2.

Through the above steps, it becomes possible to accurately stop the truck 2 so that the hot metal ladle 1 on the truck 2 comes to the pig iron receiving position. The sequencer 8 constantly monitors the status signals such as normality of equipment such as the ultrasonic sensor 3 and travel distance detector 6, normality of measurement, normal operation of the trolley, and normality of the control system, and confirms that these conditions are complete. It goes without saying that the control is executed after confirmation.

When an abnormality occurs in these statuses, an abnormality alarm is displayed on the screen of GP10 and the carriage of the carriage is stopped. By the steps described above, it becomes possible to accurately position the hot metal ladle 1 at the hot metal hot metal receiving position from the speede car 12 and stop the trolley 2. In addition,
After the hot metal is received at the receiving position, the trolley 2 is hoisted / reversely sent to the hoisting position, the hot pot ladle 1 is hoisted, and carried to the next step.

[0020]

As described above, according to the present invention, it is not necessary to dispose a sensor in the vicinity of the receiving position, and it is possible to essentially eliminate the adhesion of metal to the sensor, and to realize stable operation and reliability improvement of the carriage transport line. I was able to.

[Brief description of drawings]

FIG. 1 is a schematic diagram for explaining transport control of a hot metal ladle truck according to the present invention.

FIG. 2 is a partial sectional view schematically showing how hot metal is poured into a hot metal ladle from a tope car.

[Fig. 3] Fig. 3 is a schematic diagram for explaining transport control of a conventional hot metal ladle cart.

[Explanation of symbols]

1 hot metal pot 2 Hot metal pan dolly (weighing dolly) 3 Ultrasonic sensor (position detector) 4 ultrasonic waves 5 Ultrasonic sensor amplifier 6 mileage detector 7 Transport control device 8 sequencer Nine-car trolley controller 10 GP (display / operation unit) 11 decks 12 Topeed Car 13 Dust hood 15 Side wall 16 limit switch 17 Laser master 20 Hot metal flow 21 hot metal

Claims (2)

[Claims] 1. A hot metal ladle, a hot metal ladle dolly on which the hot metal ladle is placed and is transported to a hot metal position, and a position detector for detecting a mounting position deviation of the hot metal ladle on the hot metal ladle dolly, A mileage detector for detecting the mileage of the hot metal pan truck, mileage information detected by the mileage detector, and placement position shift information detected by the position detector are input, and the placement position shift is performed. And a carrier control device including a function for issuing a command to stop the hot metal position to the hot metal ladle dolly by correcting the above. 2. A step of placing the hot metal ladle on a hot metal ladle cart,
A step of detecting a mounting position deviation of the placed hot metal ladle on the hot metal ladle truck, a step of detecting a traveling distance of the hot metal ladle truck, the traveling distance information, and the hot metal ladle truck of the hot metal ladle From the placement position deviation information on the above, the step of correcting the placement position deviation and issuing a stop command at the receiving position to the hot metal ladle dolly, and having the hot metal ladle on the hot metal ladle dolly A hot metal ladle trolley transportation control method characterized by compensating for a displacement of a placement position and stopping the hot metal ladle trolley at a receiving position.