JPH04262856A - Method and device for removing slug - Google Patents

Abstract

PURPOSE:To automatically rake out the slug floating on the surface with the raking plate from the inclined side to the outside of the molten metal vessel by inclining the molten metal vessel. CONSTITUTION:The slug is removed by obtaining the three dimensional position data of the molten metal vessel 1 based on the video signal of the 1st television camera to catch the molten metal vessel 1, calculating the most feasible inclining angle of the molten metal vessel 1 based on the video signal of the 2nd television camera 22 and the signal of the distance meter 24, furter calculating the slug surface shape f (x, y, z, theta) with the slug removement control device 26 based on this most feasible inclining angle, also deciding the locus of raking motion of the raking plate 13 based on this slug surface shape, moving the slug working machine 2 so as to make the raking plate along this locus of this motion, and discriminating the slug and the molten metal based on the video signal of the 3rd television camera.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a slag removal method and apparatus for removing slag on the surface of molten steel taken out from a blast furnace, converter, etc. into a slag receiving container.

0002

2. Description of the Related Art FIG. 4 is a schematic diagram showing a conventional slag removal method and apparatus. In the figure, 1 is a molten metal container, 2 is a slag removal working machine, and 3 is a slag receiving container. The molten metal container 1 is rotatably supported by a main hoisting hook 5 suspended from a ladle crane 4 via a trunnion shaft 1a protruding from both sides of the outer peripheral wall, and after being supplied with molten metal in a melting furnace (not shown). On the way to the mold etc., it is stopped facing the slag removal working machine 2, and the slag from the surface is removed. The slag removal work machine 2 is provided with a swivel base 12 on a traveling trolley 11 that runs on rails (not shown) laid on a base B, and has a scraping plate 13 on the swivel base 12 and tilts upward and downward. Possible arm 14
The scraping plate 13 is three-dimensionally moved in the front, rear, left, right, upper and lower directions with respect to the molten metal container 1 by operating the traveling cart 11, the swivel table 12, and the arm 14. It is designed so that it can be moved.

The molten metal container 1 which has been stopped facing the slag removal work machine 2 is operated by the operator to remove the slag in the molten metal container 1 by operating the auxiliary hoist 1c that connects the molten metal container 1 with the ladle crane 4. It is tilted so that it faces the vicinity of the pouring spout 1b. A television camera 33 is placed so as to face the opening of the molten metal container 1 which is tilted.
is installed, and the images from the television camera 33 are output to a surveillance monitor 34.

[0004] The monitoring monitor 34 is placed in an operation room (driver's room) or the like, and is used to give instructions to the operator. The operator operates the slag removal work device 2 to cause the scraping plate 13 to perform a scraping operation pattern as shown in FIG. Enter.

FIG. 5(a) is a side view showing an example of the scraping operation pattern of the scraping plate 13, and FIG. 5(b) is a plan view of the scraping plate 13.
As shown in FIG. 2, first, the arm 14 is held substantially horizontally and the traveling carriage 11 is driven to move forward toward the molten metal container 1 side. After moving forward to a predetermined position, the arm 14 moves forward while gently descending, and when the scraping plate 13 reaches the vicinity of the innermost part of the molten metal container 1, the traveling cart 11 is stopped at that position, and
The arm 14 is further lowered to insert the scraping plate 13 into the slag, and the traveling carriage 11 is moved backward. In this retreating process, the angle of the arm 14 is adjusted so that the lower end of the scraping plate 13 is approximately parallel to the surface of the molten metal, and when the scraping plate 13 reaches the vicinity of the spout 1b of the molten metal container 1, the lower end of the scraping plate 13 reaches the vicinity of the spout 1b. While raising the scraping plate 23 along the peripheral wall, pouring spout 1b
Retract along the top edge.

[0006] Such an operation is performed for one cycle on the slag surface shape in the molten metal container 1, for example, as shown in FIG. 5(b).
As shown in the figure, A, B, C, and D near the center, left, and right peripheral walls.
, E5 scraping operation patterns are performed. The operator manually inputs the above-described slag scraping operation into the slag removal control device 36 as the motion locus of the scraping plate 13 and stores it. Thereafter, the slag removal work machine 2 is automatically operated by a control signal from the slag removal control device 36, and the slag removal operation is repeated.

[0007]

[Problems to be Solved by the Invention] However, in the conventional device as described above, after one or more cycles of scraping out the slag from the molten metal container 1 are completed, the amount of slag decreases, and the scraping of the slag becomes difficult. Since this becomes difficult, the inclination angle θ of the molten metal container 1 is changed again. However, if the inclination angle of the molten metal container 1 is changed, the shape of the slag surface within the molten metal container 1 changes, and the stroke range of the scraping plate 13 also changes, so the operating locus must be changed. However, the operator has to set the motion locus each time, which causes troublesome work and poor work efficiency. Furthermore, the setting of the movement locus of the scraping plate 13 by the operator must be done directly while visually monitoring the slag condition, which requires skill and can lead to problems such as erroneous setting and scraping of molten metal. Ta.

The present invention has been made in view of the above circumstances, and its purpose is to automatically set an appropriate slag removal operation trajectory of a slag removal tool according to the position of the molten metal container and the tilting device. An object of the present invention is to provide a slag removal method and apparatus that enable efficient slag removal.

[0009]

[Means for Solving the Problems] A slag removal method according to the present invention involves tilting a molten metal container placed opposite to a slag removal device main body, and applying a predetermined scraping motion to a slag removal tool of the slag removal device main body. In the slag removal method in which the slag on the surface of the molten metal is discharged out of the molten metal container by performing an operation, after determining the three-dimensional position of the molten metal container facing the slag removal device main body, The container is tilted to a predetermined position optimal for slag discharge,
The slag surface shape is determined by identifying the inclination angle of the molten metal container and the slag and molten metal at that time, and the removal operation trajectory of the slag remover is determined based on the surface shape, and the slag removal tool is moved along the operation trajectory. It is characterized by controlling the main body of the slag removal device so that the slag removal device follows the same.

The slag removing device according to the present invention includes a slag removing device main body provided with a slag removing tool, and a molten metal container positioned opposite to the slag removing device main body, which is tilted so that the slag removing tool of the slag removing device main body is tilted. and a slag removal control device that controls the molten metal container to perform a predetermined slag removal operation to discharge the slag on the surface of the molten metal container to the outside of the molten metal container. means for determining the position; and means for tilting the molten metal container to a predetermined position optimal for slag discharge;
Means for determining the inclination angle of the molten metal container and the slag surface shape when the molten metal container is tilted to an optimal posture, means for setting the slag removal operation locus of the slag remover based on the slag surface shape, and the slag remover The present invention is characterized by comprising means for controlling the main body of the slag removal apparatus so as to cause the slag to follow the slag removal operation locus, and means for discriminating between slag and molten metal.

[0011]

[Operation] In the slag removal method and device according to the present invention, the slag surface shape at that time is automatically determined based on the three-dimensional position data of the molten metal container and the inclination angle when the molten metal container is in the optimal tilted posture. The slag removal operation trajectory of the slag remover can be determined, and the slag removal can be automated.

0012

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be specifically described below with reference to drawings showing embodiments thereof. FIG. 1 is a schematic diagram showing a slag removal device according to the present invention, in which 1 is a molten metal container, 2 is a slag removal work machine which is the main body of the slag removal device, 3 is a slag receiving container, and 4 is a radio-controlled A ladle crane, 5 a main hoisting hook, and 26 a slag removal control device. The molten metal container 1 is rotatably locked to the main hoist hook 5 via the trunnion shaft 1a and suspended from the ladle crane 4, and the auxiliary hoist 1c connected near the bottom of the molten metal container 1 is operated. The molten metal container 1 is attached to the trunnion shaft 1a by
The metal can be conveyed in a conveying position with the opening facing upward, and can be tilted as appropriate from this position to the posture shown in the figure.After being supplied with molten metal from a melting furnace (not shown), etc., it is conveyed to a mold, etc. During the process, the slag is stopped opposite the slag removal work machine 2, and the slag is removed.

The slag removal work machine 2 has a rotating base 12 on a traveling carriage 11, and an arm 14 that is movable upward and downward and has a scraping plate 13 serving as a slag remover at its tip. It consists of a traveling trolley 11
5(a) and 5(b).
It can be operated as shown in the figure.

A first television camera 21 and a distance meter 24 are installed on the sides of the molten metal container 1 that is stopped facing the slag removal working machine 2, and second and third television cameras 2 are installed above it.
2,23 are arranged.

The first television camera 21 is connected to the molten metal container 1.
When the trunnion shaft 1a is in an upright state in the slag removal position, the trunnion shaft 1a is arranged so as to be able to directly face the side surface thereof, specifically the side surface of the part where the first trunnion shaft 1a is provided, and to keep it within the field of view. The video signal is input to a slag removal control device 26 via an image processing section 25.

Further, the second television camera 22 is arranged so that when the molten metal container 1 is tilted at the slag removal position, the pouring spout 1b and its vicinity can be seen within the field of view. 23 is arranged so that when the molten metal container 1 is tilted at the slag removal position, the entire opening surface can be captured within the field of view and the slag surface shape can be captured. It is also input to the slag removal control device 26. The distance meter 24 is disposed close to the first television camera 12 and facing the side surface of the molten metal container 1, and its position signal is directly input to the slag removal control device 26. There is.

The slag removal control device 26 includes the above-mentioned first to
First, the three-dimensional position of the molten metal container 1 is determined based on the video signals from the third television cameras 21, 22, and 23 and the position signal of the distance meter 24, and the molten metal container 1 is placed in the optimum position for removing slag. The tilt angle θ of the molten metal container 1 at that time is determined, and the slag surface shape at that time is determined. Based on this slag surface shape, the scraping plate 1 is
3, the operation locus for performing the scraping operation pattern as shown in FIGS. 5(a) and 5(b) is determined, and the drive of the slag removal working machine 2 is controlled based on this. .

Each operation will be specifically explained below. (Identification of the position of the molten metal container 1) Now, the axis center of one trunnion shaft 1a of the molten metal container 1 is set as the origin O, and the X-axis is set in the axial direction of the trunnion shaft 1a, and from Assuming that the coordinate axes are set such that the Y axis is parallel to the traveling direction and the Z axis is perpendicular to the traveling direction, the three-dimensional position of the molten metal container 1 is determined in a manner as shown in FIG. First, the X-axis coordinate value is directly determined from the detection signal of the distance meter 24.

Furthermore, the Y-axis coordinate value is determined by inputting the video signal of the first camera 21 to the image processing section 25, converting it into a binary value, and then converting it to the base B on which the molten metal container 1 and the slag removal work machine 2 are installed.
The distance W2 on the image from the vertical wall surface to the side wall of the molten metal container 1 is determined, and from the horizontal distance W1 (known) from the side wall of the molten metal container 1 to the center of the trunnion shaft 1a, It is determined based on W1 + αW2 (α: image magnification).

Further, the Z-axis coordinate value is determined by determining the molten metal container 1 and the ground F based on the image data obtained by binarizing the video signal from the first television camera 21 in the image processing section, and then discriminating the molten metal from the ground F. It is determined from the distance h2 on the image to the bottom of the container 1 and the distance h1 (known) from the bottom of the molten metal container 1 to the center of the trunnion shaft 1a as h1 + βh2 (β: image magnification).

(Optimum Tilt Posture of Molten Metal Container 1) The optimal tilt posture of the molten metal container 1 is determined by binarizing the video signal captured by the second television camera 22 in the image processing unit 27. The pouring spout 1b and the slag are identified, and the attitude is determined when the surface of the slag in the molten metal container 1 reaches the same plane as the tip of the pouring spout 1b.

(Optimal inclination angle θ of molten metal container 1) The optimum inclination angle θ of molten metal container 1 is determined based on the data obtained by binarizing the video signal from the image of the first television camera 21 by the image processing section. The container 1 and the background are distinguished, and the angle is determined by the angle formed with the horizontal line (parallel to the ground F) on the image.

(Slag surface shape) The slag surface shape when the molten metal container 1 is set to the optimal tilted posture is expressed as f(x,
y, z, θ). (The slag surface shape in the optimal tilted position is uniquely determined by the tilt angle θ at that time.)

(Determination of the slag removal operation locus of the scraping plate 13) Based on the slag surface shape f (x, y, z, θ), the scraping starting point and scraping point of the scraping plate 13, which are determined in advance and made into a table, are determined. The removal end point, stroke, insertion depth of the scraping plate 23, etc. are selectively set, the operation locus of the scraping plate 13 is traced on the slag surface shape, and the slag removal work machine 2
generates a control signal for the slag removal work machine 2 and sends it to
Output to .

Next, the slag removal operation based on such an apparatus will be explained according to the flowchart shown in FIG. First, the ladle crane 4 is operated by wireless operation, and the molten metal container 1 is moved to a position facing the slag removal working device 2, that is, a slag removal position (step S1). The ladle crane 4 is stopped and the molten metal container 1 is moved based on the video signal of the first television camera 21 and the position signal of the distance meter 24.
(Step S2)
If the identification is not possible, the ladle crane 4 is operated again through the wireless transmitter 28 to adjust the position of the molten metal container 1, and the molten metal container 1 is positioned at the slag removal position or within its permissible range. When the position can be determined, the X, Y, and Z coordinate values of the molten metal container 1 are determined based on the detection signal of the distance meter 24 and the video signal of the first television camera 21, and then the molten metal container 1 is tilted (step S3).

[0026] Based on the video signal from the second television camera 22, it is determined whether the slag surface has been set to the optimum inclined position so as to be flush with the tip edge of the pouring spout 1b (step S4).
), when the optimum tilted posture is reached, the tilt angle θ at that time is detected based on the video signal of the first television camera 21.
(Step S5) Next, the slag surface shape f(x, y, z, θ) is calculated based on the inclination angle θ (Step S5).
6).

Next, this slag surface shape f(x, y, z,
θ), the slag removal operation patterns A to E and ■ to ■ of the scraping plate 13 as shown in FIGS. 5(a) and 5(b) are made.
is set to calculate the movement locus of the scraping plate 13 (step S7), and based on this, a control signal for the slag removal work machine 2 is generated, and this is sent to the slag removal control device 26.
output to the slag removal work machine 2, and the slag removal work machine 2
(Step S8).

When one cycle of scraping operations A to E is completed, it is determined based on the video signal from the third television camera 23 whether or not the surface of the molten metal is exposed on the surface of the molten metal container 1. (Step S9) If the molten metal container 1 is not exposed, the process returns to step S3, the molten metal container 1 is again set to the optimum tilted posture, and the above-described process is repeated. Further, when the surface of the molten metal is exposed, the insertion depth of the scraping plate 13 is set small (step S10), and the exposed surface of the molten metal reaches 80% of the video signal from the third television camera 23. (Step S11)
, when it has not reached 80%, return to step S3 and repeat the above-mentioned process, and when it has reached 80%, calculate the center of gravity position f(x1
,y1,z1) (step S12),
Select one of the operations of the scraping plate 13 from A to E described above that can efficiently scrape out the slag (step S13), and cause the slag removal work device 2 to scrape out the remaining slag. (Step S14).

[0029] The exposed area of the exposed molten metal is approximately 100
% (step S15), and if not, return to step S12 and repeat the above-mentioned process, and if approximately 100% is reached, move the molten metal container 1 to the position at the time of transportation. (step S16), and the slag removal operation is completed.

[0030]

As described above, in the method and apparatus of the present invention, the slag removal operation locus can be automatically set according to the slag surface shape in each tilted posture of the molten metal container.
The present invention has excellent effects such as being able to perform the scraping operation of the slag remover quickly and efficiently.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram showing an embodiment in which the method of the present invention is implemented using an apparatus of the present invention.

FIG. 2 is an explanatory diagram showing the positional relationship between a molten metal container, first and second television cameras, and a range finder.

FIG. 3 is a flowchart showing the operating procedure of the method and apparatus of the present invention.

FIG. 4 is a schematic diagram showing a conventional method and apparatus.

FIG. 5 is an explanatory diagram showing an operation pattern of a slag scraping plate in a conventional method and apparatus.

[Explanation of symbols]

1 Molten metal container 2 Slag removal work machine 3 Slag receiving container 4 Ladle crane 5 Main winding hook 11　Traveling trolley 12 Swivel base 13 Scraping board 14 Arm 21 First TV camera 22 Second TV camera 23 Third TV camera 24 Distance meter 25 Image processing section 26 Slag removal control device 27 Image processing section

Claims (2)

[Claims] 1. A molten metal container placed opposite to a slag removal device main body is tilted, and a slag removal tool of the slag removal device main body performs a predetermined scraping operation to remove slag from the molten metal surface. In a slag removal method in which slag is discharged outside the container, the three-dimensional position of the molten metal container facing the slag removal device body is determined, and then the molten metal container is tilted to a predetermined posture optimal for slag discharge. The inclination angle of the molten metal container and the slag surface shape at that time are determined, the removal operation locus of the slag remover is determined based on the surface shape, and the slag removal device is operated so that the slag removal tool follows the operation locus. A slag removal method characterized by controlling a main body. 2. A slag remover body equipped with a slag remover and a molten metal container positioned opposite to the slag remover body are tilted, and the slag remover of the slag remover body is attached to a predetermined position. In a slag removal apparatus comprising a slag removal control device that performs a slag removal operation to discharge slag on the surface of the molten metal container to the outside of the molten metal container, means for determining a three-dimensional position of the molten metal container; means for tilting the molten metal container to a predetermined optimal posture for slag discharge; means for determining the inclination angle of the molten metal container and the slag surface shape when the molten metal container is tilted to the optimal posture; means for setting the slag removal operation trajectory of the slag removal tool based on the slag removal operation trajectory, means for controlling the slag removal device main body so as to cause the slag removal tool to follow the slag removal operation trajectory, and means for identifying slag and molten metal. A slag removal device characterized by: