JPS601558A - Method and apparatus for automatic sampling of molten iron - Google Patents

Abstract

PURPOSE:To automatically carry out sampling and analysis by real time system through such an arrangement wherein the stand-by of a sampling apparatus, sampling by means of its movable sampling rod and connection of the rod to an analyzing device, etc. are all controlled by robots mounted thereon. CONSTITUTION:The moving device 9 of a sampling apparatus 12 is moved from its stand by position by a robot 11 and a sampling rod provided at the end of a heat resistive hand 10 reaches the front of the sampling hole 1a of a middle trough 1. Further, the descent and ascent of the sampling rod are controlled by a robot 14 and molten iron is sampled. Next, the device 9 is moved backward in the same manner and the sampling rod is connected to an analyzing device 8 and analysis is carried out. Upon completion of this analysis, the device 9 is held in stand-by state for a fixed period of time, and then its similar repetitive operations are controlled. By this composition, molten iron can be automatically sampled and analyzed by real time system.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic hot metal sampling method and device, which collects a small amount of hot metal immediately after skimmering from a blast furnace through a sampling hole in the gutter in front of the furnace and transports it to a silicon analyzer. It is designed to analyze the silicon content in hot metal.

When producing steel by refining pig iron tapped from a blast furnace, conventionally the amounts of differential elements such as carbon, silicon or phosphorus were adjusted all at once in a converter.

However, in recent years, converters have begun to adjust only the carbon bones, which most significantly affect the properties of steel, and other trace elements are adjusted in the process before entering the converter.

For example, in order to fully adjust the amount of silicon, an oxidizing agent such as manganese ore is added to the hot metal before it enters the converter to oxidize the silicon and remove a predetermined amount of silicon.

In order to make such an adjustment, it is necessary to sample the hot metal tapped from the blast furnace, find out the amount of silicon contained in it, and then add manganese ore in an amount corresponding to this amount. Although silicon improves the hardness and mechanical properties of steel, it also has the properties of reducing elongation and impact value, coarsening crystals, and reducing forgeability.

As shown in Fig. 1, sampling of hot metal in the conventional technique involves an operator 4 directly scooping up the hot metal 2 immediately after it is tapped from a blast furnace and skinning it from a gutter (runner) 1 with a ladle 3.
is poured into a sample mold 5 to make a molded sample. This molded sample is then analyzed using an analyzer to determine the amount of silicon. In addition, 6 in FIG. 1 is an inner gutter cover.

By the way, the conventional technology shown in Figure 1 requires manual labor! l) Since the pig iron 2 is sampled and the amount of silicon is analyzed both manually and with an analyzer, there are the following drawbacks.

b) There is a large delay between the time when all the samples are collected and the time when the amount of silicon is analyzed and manganese ore is added, resulting in economic waste as more expensive manganese ore is used than necessary.

(Note) The work of inserting a heavy iron ladle 3 into the inner gutter 1 to collect a sample is harsh, heavy-duty work in a high-temperature atmosphere, and there is also the risk of injury due to the scattering of the pig iron, so it requires less labor. Difficult to secure.

SUMMARY OF THE INVENTION In view of the above-mentioned prior art, it is an object of the present invention to provide a method and apparatus for sampling hot metal that can automatically sample and analyze hot metal in real time without requiring human labor. The present invention achieves this objective by providing heat-resistant
A sampling device consisting of a robot with a hand and a moving device equipped with this robot is used to deposit hot metal on a sampling rod held in the heat-resistant hand, and the sampling rod is passed through a silicon analyzer to determine the temperature of the hot metal. The basis of its technical philosophy is the analysis of silicon content.

Embodiments of the present invention will be described in detail below based on the drawings. Note that parts that are the same as those in the prior art are given the same numbers and redundant explanations will be omitted. As shown in Fig. 2, a hollow trough 1 through which hot metal 2 flows is formed with a sampling port la that can be opened and closed, and a pair of parallel guide tracks 7 are laid toward the sampling port la. . A silicon analyzer 8 is installed on the front side of the guide track 7. A robot 11 having a heat-resistant hand lOi is mounted on the moving device 9 traveling on the guide track 7, and a sampling device 912 for the moving device 9 and the robot 11 is formed, and power supply cables, control couples, etc. are bundled. Predetermined power and control signals are supplied to the cable carrier 13, which is bent as the moving device 9 moves.

At this time, the robot 11 of the sampling device 12 extracts this part and, as shown in more detail in FIG.
is attached to the robot 11 and connected to an internal drive motor, so that the heat-resistant knife 10 can be rotated around a bearing 15 and its tip can be raised and lowered. Further, FIG. 4(a) is a longitudinal cross-sectional view showing an extracted heat-resistant hand 10Th, FIG. 4(b) is a cross-sectional view taken along the line A-A, and FIG.
It is shown in the cross-sectional view taken along the line 13-B. These Figure 4(a)~
As shown in FIG. 4(c), the bracket 16 formed at the tip of the handling robot 14 shown in FIG.
A swing shaft 1 integrally protrudes from the base end of the swing cylinder 17.
8 and an auxiliary link 19, a bottle 20 integrally projecting therewith is rotatably attached to the base end of the auxiliary link 19. 1
8 and the bin 20, which intersects at right angles to the longitudinal direction of the auxiliary link 19, are positioned parallel to each other. The tip of these swing tubes 17 and the auxiliary link 1
The distal end of the swing tube 17 and the auxiliary link 19 are connected via a support block 21e so that they are parallel to each other.
The swing tube 17 and the auxiliary link 19 form a part of a parallelogram link by means of mutually parallel connecting pins 22 which are rotatably connected to the auxiliary link 19. A transmission bevel gear 24 is integrally fixed to the swing shaft 18 and meshes with a drive bevel gear 23 which is connected to a drive source (not shown) and is rotatably supported by a bracket 16. Due to the driving rotation of the gear 23, the swing cylinder 17 swings with respect to the bracket 16 together with the auxiliary link 19, with the entire center of swing @118. The swing tube 17 has an operation frame 25 that passes through the swing tube 17 and is slidably supported by bunches 26 fitted to both ends of the swing tube 17, and is connected to the swing shaft 1B and the connection. Support block 21 via bin 27 parallel to bin 22
One end of a rotating arm 28, which is pivotally attached to the rotating eye, is connected to the tip of the operating frame 25 via a pin. This rotating arm 28
A gripping portion 31 is formed at the other end of the support block 21 to vertically grip a sampling rod 30 immersed in hot metal in cooperation with a sampling rod holder 29 formed integrally with the support block 21. 25 is displaced toward the inner fabric side in FIG. 4(a), the grip portion 31 is displaced to the left in the figure, and the sampling rod 30 is pressed toward the gold sampling rod holder 29 side. A compression spring 3 is provided between the connecting block 32 and the fin 26, which are integrally provided at the base end of the operation frame 25.
3 is interposed, and the bottle 34 protruding from the connecting block 32 is connected to the fluid pressure cylinder 3 fixed to the bracket 16.
In other words, the piston rod 36 of the fluid pressure cylinder 35 engages with the elongated hole 37 formed at the tip of the piston rod 36 of FIG.
) When the grip part 31 is extended to the middle left side, the grip part 31 is displaced in the direction r/mr'- from the sampling rod valve 29 and the sampling rod valve 30 can be attached and detached, but the fluid pressure cylinder 3
When the pressurized fluid is removed from 5, due to the spring force of the compression spring 33,
The sampling rod 30 is pressed and fixed to the sampling rod valve valve 29. A rectangular protective cylinder 39 made of a heat-resistant heat insulating material that surrounds the swing cylinder 17 and the auxiliary link 19 via an air layer 3B is attached to the swing cylinder 17 via a spacer 40. Similarly, around the support block 21, a box-shaped storage case 41 made of a heat-resistant heat insulating material is integrally attached to the support block 21 via a bracket (not shown). These protective tubes 39 and protective cases 41 are lined with thin metal plates for reinforcement, and
Since the protection tube 39 is designed to move relative to the protective case 41, a notch 42 is formed in the protection tube 39. In this embodiment, the air layer 38 is
Cooling air is sucked into the protective case 41 through the protective case 41, and the cooling air that reaches the protective case 41 is released to the outside through the notch 42, the gap between the protective case 41 and the sampling rod 30, etc. Fresh cooling air is constantly supplied into the protection tube 39 and the protection case 41. Further, the reference numeral 43 in the figure is a balance weight.

In this embodiment, the moving device 9 of the sampling device 12, the robot 11, and the analyzing device 8 are controlled by the control device.
, (b) to FIGS. 22(a) and (b).

(2) As shown in FIGS. 6(a) and 6(b), in response to the sampling command, the heat-resistant node 10 of the robot 11 is directed from the origin return posture to the pedestal 44'f on which the sun-rotating rod 30 is mounted.

2) As shown in FIGS. 7(a) and 7(b), the robot 11 extends its arm and takes the yarn ring rod 30 from the pedestal 44.

3) As shown in Figure 8(a) and (b), heat resistance
The robot (115) stops in a running posture with the robot holding the sampling rod 30 and facing the sampling port la'.

4) In response to the robot stop signal, the moving device 9 starts traveling toward the sampling loa.

5) As shown in FIG. 9, the moving device 9 stops in front of the sampling port 1a. As a result, the heat-resistant node 10 is inserted into the inner gutter 1. In this state, the sampling rod 30 is held insulatively by the heat-resistant hand 10 and hangs down, and a voltage is applied thereto.

6) As shown in FIG. 1O, the heat-resistant hand 10 rotates in response to the truck stop signal to start sampling. At this time, when the tip (lower end) of the sampling rod 30 comes into contact with the surface of the hot metal 2, since the bath pig iron 2 is electrically grounded via the building etc., a grounding current starts to flow from the sampling rod 30 toward the hot metal 2. . This detects that the tip of the sampling rod 30 has reached the surface of the hot metal 2.

Furthermore, from this point on, the sampling rod 3 is
0 is lowered at a constant speed and then stopped. As a result, the tip of the sampling rod 30 is immersed to a predetermined depth from the surface of the hot metal 2, and is not affected by the fluctuation of the surface of the hot metal 2. When the time required for sampling has elapsed after stopping, the sampling rod 30 is raised and lifted from the hot metal 2, and some amount of hot metal 2 is deposited on the tip of the sampling rod 30, and sampling is completed.

7) As shown in FIG. 11, upon completion of sampling, the moving device 9 assumes a backward posture.

8) As shown in FIGS. 12(a) and 12(b), in response to the sampling end signal, the moving device 9 moves forward and backward into the analysis chamber housing the analyzer 8.

9) As shown in FIGS. 13(a) and 13(b), the robot 11 assumes a turning attitude in response to the moving device stop signal.

10) As shown in FIGS. 14(a) and 14(b), turn the sample rod 30 by 90 degrees toward the analysis chamber 45 side, and issue a request to the sample center 46 to prepare for receiving the sampling rod 30 while maintaining the rotating posture.

11) As shown in FIG.
0 and stop it on the input port 47 of the sampling rod 30.

12) As shown in FIG. 16, after inserting the sampling rod 30 into the input port 47, a request to support the sampling rod is issued to the sample center 46, and then the heat-resistant hand 1O is taken out of the analysis chamber 45 and takes a rotating posture.

13) As shown in FIGS. 17(a) and 17(b), the machine rotates to the 1TjA point position in the turning attitude and receives the origin return signal.

14) When the robot 11 returns to its home position, the robot 11 shuts off the electrical helix and waits for analysis by the analyzer 8. The analysis at this time is performed, for example, by applying a voltage to the sampling rod 30 to discharge it, and spectroscopically analyzing the resulting light.

15) When the analysis is completed and a sample rod receiving request signal is sent from the sample center 46, the robot 111d is powered on and once returns to the origin.

16) As shown in FIG. 18, the robot 11 changes direction to the analysis room 45 in a rotating posture in response to the sample rod receiving operation signal.

17) As shown in Figure 19, robot) 11 is in the analysis room 4.
5, the heat-resistant hand 10 is inserted into the analysis chamber 45 and the sampling rod 30 is grasped.

18) As shown in FIG. 20, when the sampling rod 30 is grasped, it is pulled out from the heat-resistant node lot analysis chamber 45, assumes a rotating attitude, and issues a sampling rod reception completion signal.

19) As shown in FIG. 21, change direction toward the pedestal 44 and return the sampling rod 30 to the predetermined position on the pedestal 44.

20) When the sampling rod 30 is returned, it assumes the return-to-home position, returns to the home position, and waits until the next D sampling command.

21) Start counting for a predetermined time with the home return signal, and after the elapse of the predetermined time, send another sampling command to perform the above l)~
Repeat the operations up to 20) and repeat the sampling until a stop signal is issued.

Note that the predetermined motion of the robot 11 is taught in advance by having the robot 11 imitate the predetermined motion in a teaching process.

As specifically explained above in conjunction with the embodiments, the present invention provides the following effects.

l) Since sample collection can be carried out automatically by a machine, workers can be freed from dangerous work in front of the blast furnace.

2) Manual sample collection and analysis had limitations on the number of sampling times, and control of the input amount of manganese ore was uneconomical due to large time delays; however, the present invention enables real-time management of p-manganese ore. You can save money.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram conceptually showing the entire prior art, FIG. 2 is an explanatory diagram conceptually showing the entire embodiment of the present invention, FIG. 3 is a front view extracting the sampling device, and FIG. Diagram (a)
Figure 4 (b) is a vertical cross-sectional view showing the entire heat-resistant hand.
) is a sectional view taken along line A-A, and FIG. 4(c) is a cross-sectional view taken along line A-A.
B-line arrow sectional view, Figures 9(a), (b) to 21st
Figure (a). (b) is an explanatory diagram conceptually showing the state of the sampling device at each point in time during sampling. This is the case. In the drawing, the inner gutter 1a, the sampling port 8, the analyzer 9, the moving device 11, the robot 12, and the sampling device 30 are removed by a sampling rod. Patent Applicant: Sumitomo Metal Industries, Ltd. Meidensha Co., Ltd. Agent Patent Attorney: Shibu Mitsuishi (and 1 other person) Figure 5 (a) (b) Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 (a) ) (b) n Figure 12 (a) (b) Figure 13 (Q) (b) Figure 14 Figure 15 Figure 16 (Q) (b) Figure 17 Figure 18 Figure 19 Figure 20 Figure 2I (σ) (b)

Claims (1)

[Scope of Claims] 1) A sampling command is given to the sampling device waiting at the Wr fixed starting position, and the sampling device holding the sampling rod is moved to a position in front of the sampling rod by the moving device, and the tip of the sampling rod is moved to the desired position. The rod was immersed in quantitative hot metal to collect all the hot metal, moved to a predetermined position in front of the analysis tank, attached the sampling rod to the analyzer, waited until the analysis was completed, and after the analysis was completed, the same operation was repeated after waiting for a certain period of time. Features: Automatic hot metal sampling method. 2) A sampling device consisting of a robot with a heat-resistant hand that can grip a sampling rod at the tip, a moving device that carries this robot and moves on a trajectory, and a sampling device that The feature is that a sampling rod is moved forward and the tip is dipped into a predetermined amount of hot metal to sample the hot metal, and a control device is installed to insert this sampling rod into an analyzer and repeat this operation at regular intervals. Hot metal moving sampling device.