WO2021190074A1 - 3d radar scanner for blast furnace burden surface imaging and blast furnace burden surface detection system - Google Patents

Abstract

Disclosed is a 3D radar scanner (100) for blast furnace (50) burden surface imaging, and a blast furnace (50) burden surface detection system. The 3D radar scanner (100) comprises a base member (10) mounted at the top of a blast furnace (50), a high-temperature isolation hood member (20) and a multi-dimensional radar member (30), wherein the base member (10) comprises a base protective pipe (11) and a base flange (12); the high-temperature isolation hood member (20) comprises an isolation hood protection pipe (21), a heat insulation plate (22) and an isolation hood flange (23); and the radar member (30) comprises a radar flange (31), a connecting box (32), a suspension arm (33) and a multi-dimensional scanning radar. The blast furnace (50) burden surface detection system comprises at least one 3D radar scanner (100), a data conversion module, and an upper computer (90). The 3D radar scanner (100) can continuously measure the shape of the burden surface in the blast furnace (50), thereby providing a visual data basis for ironmaking workers to adjust a charging process of the blast furnace (50), and having high economic benefits.

Description

3D radar scanner for blast furnace material surface imaging and blast furnace material surface detection system Technical field

The invention relates to the field of radar level scanners, in particular to a 3D radar scanner used for blast furnace material surface imaging and a blast furnace material surface detection system.

Background technique

Blast furnace production is an important part of iron and steel smelting, and the good shape of the blast furnace inner material surface is of great significance to improve production efficiency and reduce combustion ratio. However, the internal working environment of the blast furnace is extremely harsh: high temperature, pressure, large dust, and high internal gas concentration contains adhesive tar, which brings great difficulties to the measurement of the material level.

To control the uniform distribution of the blast furnace material surface, it is necessary to clearly understand the distribution state of the material surface in the blast furnace. At present, most methods of detecting blast furnace material level adopt single-point detection control, such as mechanical probe, radar probe, furnace video detection system and infrared imaging technology. Among them, although the radar probe and the mechanical probe are accurate and reliable, they cannot traverse every point of the blast furnace material surface, and the material surface in the blast furnace is unevenly distributed, so that the measured data cannot reflect the distribution of the entire material surface. The furnace video monitoring system can see the state of the cloth in the furnace, the development of the flame in the furnace and the flame at the side of the furnace at high temperatures, but it cannot see the state of the cloth in the furnace when the light is dark and the material level is very low. The infrared imaging technology analyzes the infrared image of the surface of the material surface, and indirectly calculates the distribution of the material surface of the blast furnace by detecting the temperature distribution of the material surface. It can construct a three-dimensional image according to the relationship between the pixel value and the pixel to fully reflect the furnace top The shape of the material surface, but the effect is not good in the low temperature zone. The current above-mentioned blast furnace material level detection methods have certain limitations.

Summary of the invention

The purpose of the present invention is to provide a 3D radar scanner for blast furnace material used for blast furnace material surface imaging, which can be installed on the top of the blast furnace and can measure material surface data at different positions in the blast furnace through multi-dimensional radar components; the 3D radar scanner The base component can prevent the dust in the furnace from entering the base protection tube, thereby affecting the measurement accuracy of the radar component; the 3D radar scanner can be cooled by cold air, so that the radar component can work normally in the high temperature environment in the furnace .

Another object of the present invention is to provide a blast furnace material level detection system, which obtains 3D images of the material level in the blast furnace by measuring the material level at a plurality of different positions in the blast furnace, and mathematically modeling through software, and obtaining each level of material level. The coordinates and height information of each point. The shape of the materials in the blast furnace, whether the furnace wall is hanging, whether the feed is uniform, the highest, the lowest, and the average level of the materials in the furnace, are monitored. In turn, the distribution trough is controlled to distribute, so that the distribution in the furnace is more even. In order to achieve the above objectives, the present invention adopts the following technical solutions:

The first aspect of the present invention provides a 3D radar scanner for imaging the surface of a blast furnace. The 3D radar scanner includes a base member installed on the top of the blast furnace, a high-temperature isolation cover member, and a multi-dimensional radar member,

The base member includes a base protection tube and a base flange, one end of the base protection tube is connected to the blast furnace, and the other end is fixedly connected to the base flange, and at least one First air inlet

The high-temperature isolation cover component includes an isolation cover protection tube, a temperature isolation plate and an isolation cover flange. The isolation cover protection tube is located in the base protection tube. A plurality of exhaust ports are provided on the temperature isolation plate, the other end of the isolation cover protection pipe is connected to the isolation cover flange, and the isolation cover flange is fixedly connected above the base flange;

The radar component includes a radar flange, a connection box, a boom, a multi-dimensional mechanical arm, a wave-transmitting dust cover, and a radar ranging unit. The radar flange is a blind flange, which is fixed on the isolation cover. Above the flange, the connection box is installed on the outside of the radar flange, the boom is a hollow pipe body, one end of the boom is connected to the radar flange, and the other end is connected to the multi-dimensional robotic arm , The multi-dimensional manipulator arm can make a reciprocating movement in the horizontal direction and the vertical direction, the radar ranging unit is installed on the multi-dimensional manipulator arm, and the multi-dimensional manipulator arm and the radar ranging unit are located at the In the wave-transmitting dust cover, the wave-transmitting dust-proof cover is located in the shield pipe of the isolation cover, and the end of the wave-transmitting dust-proof cover is provided with a plurality of exhaust holes; wherein, the radar flange is also provided with two Two second air inlets, one of the second air inlets communicates with the isolation cover protective pipe, and the other of the second air inlets communicates with the pipe body of the boom through a pipe, and then communicates with the wave penetration prevention Dust cover.

Preferably, the multi-dimensional mechanical arm includes a horizontal rotation structure and a vertical swing structure, the radar ranging unit is installed at the end of the vertical swing structure, and the radar ranging unit can be mounted on the vertical swing structure. The end of the vertical swinging structure rotates; the top end of the vertical swing structure is sleeved on the end of the horizontal rotating structure, the horizontal rotating structure is installed on a fixed seat, and the fixed seat is fixedly connected to the boom.

Preferably, the horizontal rotation structure can make bidirectional 180-degree reciprocating rotation in a horizontal direction, and the vertical swing structure sleeved at the end of the horizontal rotation structure can swing a maximum of 90 degrees in both directions in a vertical direction, so that the The radar ranging unit can scan in multiple dimensions in the horizontal and vertical directions. In use, the walking path of the radar ranging unit is an equally divided path, or the walking path of the radar ranging unit is preset Location point or data collection path.

Preferably, the end of the vertical swing structure is provided with a mounting frame, the radar ranging unit is installed in the mounting frame, and the mounting frame is mounted on the end of the vertical swing structure through bearings at the left and right ends. Department.

Preferably, the horizontal rotation structure includes a first stepping motor, and a first gear plate is provided on the output shaft of the first stepping motor;

A chain or a toothed belt is sleeved on the first toothed disk, and the vertical swing structure is driven to reciprocate by the chain or toothed belt; or the first toothed disk is meshed with a transmission gear, and the transmission is The gear drives the vertical swing structure to reciprocate.

Preferably, the vertical swing structure includes a second stepping motor, and a second gear plate is provided on the output shaft of the second stepping motor;

A chain or a toothed belt is sleeved on the second gear plate, and the mounting frame is driven to reciprocate through the chain or the toothed belt; or the second gear plate is meshed with a transmission gear, which passes through the transmission gear. The mounting frame is driven to rotate back and forth.

Preferably, three first air inlets are provided around the protective tube of the base, and the three first air inlets are connected to an external air supply source, and when the three first air inlets take in at the same time, A whirling airflow can be formed in the base protection tube.

Preferably, there are two second air inlets on the radar flange, and the two second air inlets are respectively connected to a cold air source through an air supply hose; wherein, in the air supply hose A solenoid valve is also installed.

The second aspect of the present invention also provides a 3D radar scanner for imaging the surface of a blast furnace. The 3D radar scanner includes a base member installed on the top of the blast furnace, a high-temperature isolation cover member, and a multi-dimensional radar member. , Lifting mechanism, protection sleeve and electric ball valve;

The base member includes a base protection tube and a base flange, one end of the base protection tube is connected to the blast furnace, and the other end is fixedly connected to the base flange, and at least one First air inlet

The high-temperature isolation cover component includes an isolation cover protection tube, a temperature isolation panel and an instrument mounting plate. The isolation cover protection tube is provided with the temperature isolation board at one end close to the blast furnace, and a plurality of rows are provided on the temperature isolation board. Air port, the other end of the isolation cover protecting pipe is connected to the instrument mounting board;

The radar component includes a connection box, a boom, a multi-dimensional mechanical arm, a wave-transmitting dust cover, and a radar ranging unit. The connection box is fixed above the instrument mounting plate, and the boom is hollow. Tube body, one end of the boom is connected to the instrument mounting board, and the other end is connected to the multi-dimensional mechanical arm, the multi-dimensional mechanical arm can make a reciprocating movement in the horizontal direction and the vertical direction, the radar ranging The unit is installed on the multi-dimensional mechanical arm, the multi-dimensional mechanical arm and the radar ranging unit are located in the wave-transmitting dust cover, the wave-transmitting dust cover is located in the shield tube of the isolation cover, and the wave-transmitting anti-dust cover The end of the dust cover is provided with a plurality of exhaust holes; wherein, the instrument mounting plate is also provided with two second air inlets, one of the second air inlets is connected to the isolation cover protective pipe, and the other is The second air inlet is communicated with the pipe body of the boom through a pipe, and then communicates with the wave-transmitting dust cover;

One end of the electric ball valve is connected to the base flange, the other end is connected to one end of the protective sleeve, and the other end of the protective sleeve is connected to the lifting mechanism;

The lifting mechanism includes a fixing piece and a lifting piece, the fixing piece is installed above the protective sleeve, one end of the lifting piece is connected to the fixing piece, and the other end is connected to the meter mounting board, and the lifting mechanism is controlled to make The high-temperature isolation cover member and the radar member are selectively located in the base protective tube or the protective sleeve;

When the high temperature isolation cover member and the radar member are located in the base protection pipe, the electric ball valve is in an open state.

Preferably, it further includes a first temperature sensor, a first pressure sensor and a controller;

The first temperature sensor is configured to measure first temperature information in the 3D radar scanner;

The first pressure sensor is configured to measure first pressure information in the 3D radar scanner;

The controller is configured to selectively control the control lifting mechanism according to the first temperature information and/or the first pressure information, so that the high-temperature isolation cover member and the radar member are located on the base protection tube or In the protective sleeve, and when the high temperature isolation cover member and the radar component are in the protective sleeve, the electric ball valve is closed

Preferably, it further includes a second temperature sensor and a second pressure sensor;

The second temperature sensor is configured to measure second temperature information in the blast furnace;

The second pressure sensor device is configured to measure second pressure information in the blast furnace;

The controller is further configured to selectively control the control lifting mechanism according to the second temperature information and/or the second pressure information, so that the high-temperature isolation cover member and the radar member are located on the base guard. The electric ball valve is closed when the high-temperature isolation cover member and the radar member are located in the protective sleeve.

In a third aspect of the present invention, a blast furnace material level detection system is provided. The system includes an upper computer and at least one 3D radar scanner for blast furnace material level imaging as described above;

The 3D radar scanner measures the material level information of multiple measuring points in the blast furnace, and transmits it to the host computer via RS485 or optical fiber. The host computer is equipped with modeling software, and performs mathematical modeling based on the material level height information. The 3D image of the material surface in the blast furnace is simulated and displayed, and the 3D image includes the height data and coordinate data of each measurement point.

Preferably, the system further includes a PLC controller and a distribution trough installed on the top of the blast furnace;

The host computer obtains the high and low material level information and coordinate data of the material surface of the blast furnace by mathematical modeling of material level height information, and controls the distribution trough to distribute the material surface at the low material level through the PLC controller .

The advantages of the present invention are:

The 3D radar scanner for blast furnace material surface imaging provided by the present invention can realize continuous scanning and measurement of the material surface shape in the blast furnace, and provides a visual data basis for iron smelters to adjust the blast furnace charging process. The 3D radar scanning The base component of the detector can prevent the dust in the furnace from entering the base protection tube and suppress the rising high-temperature airflow with dust, while cooling it to improve the measurement accuracy of the radar component; the high-temperature isolation cover component of the 3D radar scanner and the radar ranging unit Through the gas cooling, the high temperature isolation cover components of the 3D radar scanner and the radar ranging unit are cooled by the gas, so that the radar components can work normally in the high temperature environment in the furnace and the high temperature environment in the furnace.

Further, the horizontal rotation structure and the vertical swing structure drive the radar ranging unit to perform two-dimensional or multi-dimensional measurement. In this way, one radar ranging unit can replace multiple instruments, and the number of detected signal points is large, the resolution is high, the measurement range is improved, and the cost performance is improved.

The 3D radar scanner for blast furnace material surface imaging provided by the present invention adopts an automatic interlocking design, which can realize that the radar components are automatically protected after a malfunction occurs in the operation of the radar component, and it is safe even if the furnace does not need to be shut down during the production process. Maintain radar components. Further, the blast furnace material level detection system provided by the present invention measures the material level at multiple different positions in the blast furnace through a 3D radar scanner, and uses software to perform mathematical modeling to obtain 3D images of the material level in the blast furnace, and to measure the material level in the blast furnace. Technical parameters such as the shape, whether the furnace wall is hanging, whether the feed is uniform, the highest, lowest, average material level, and the coordinates of the high and low points of the material in the furnace are monitored. In turn, the distribution trough is controlled to distribute, so that the distribution in the furnace is more even. At the same time, it also provides a new method for the ironmaking technicians to study the charging system of the blast furnace. Through the application of production practice, the measurement results of the 3D radar scanner used for blast furnace material surface imaging and the blast furnace material surface detection system are effective and reliable. The blast furnace gas utilization rate is increased by 1.8%, the combustion ratio is reduced by about 2.6kg/t, and the CO2 emissions are greatly reduced, which has significant economic benefits.

Description of the drawings

Fig. 1 is a schematic diagram of the main structure and partial structure enlarged structure of a 3D radar scanner for imaging the blast furnace material surface according to the present invention.

Fig. 2 is a partial enlarged view of A in Fig. 1.

Fig. 3 is a schematic diagram of the main structure of the radar component of the present invention.

Fig. 4 is a schematic cross-sectional view of the radar component of the present invention.

Fig. 5 is a schematic diagram of the three-dimensional structure of the radar component of the present invention.

Fig. 6 is a schematic diagram of the main structure of a 3D radar scanner for imaging the blast furnace material surface according to another embodiment.

Figures 7 and 8 are partial enlarged views of the 3D radar scanner used for blast furnace material surface imaging.

Fig. 9 is a schematic diagram of the use state when the high temperature isolation cover component and the radar component are located in the base protection pipe.

Fig. 10 is a schematic diagram of the use state when the high-temperature isolation cover member and the radar member are located in the protective sleeve.

Fig. 11 is a schematic diagram of the overhaul status of the 3D radar scanner used for blast furnace material surface imaging.

Fig. 12 is a schematic diagram of the main structure of a 3D radar scanner for imaging the blast furnace material surface according to another embodiment.

Fig. 13 is a schematic diagram of the main structure of the blast furnace material level detection system of the present invention.

Detailed ways

Referring to Figures 1 and 2, Figures 1 and 2 exemplarily show the main structure of a 3D radar scanner used for blast furnace material surface imaging. As shown in Figure 1, the blast furnace material provided by the present invention is used for blast furnace material surface The imaging 3D radar scanner 100 may include: a base member 10 installed on the top of a blast furnace 50, a high-temperature isolation cover member 20, and a multi-dimensional radar member 30. The base member 10 includes a base protection tube 11 and a base flange 12. One end of the base protection tube 11 is connected to the blast furnace 50, and the other end is fixedly connected to the base flange 12. The base protection tube 11 is provided with at least one first inlet.气口111。 Air port 111. The high-temperature isolation cover member 20 includes an isolation cover protection pipe 21, a temperature isolation plate 22 and an isolation cover flange 23. The isolation cover protection tube 21 is located in the base protection tube 11, one end of which is close to the blast furnace is provided with a temperature isolation plate 22, a plurality of exhaust ports 221 are provided on the temperature isolation plate 22, and the other end of the isolation cover protection tube 21 is connected to the isolation cover The flange 23 and the isolation cover flange 23 are fixedly connected above the base flange 12. The radar component 30 includes a radar flange 31, a connection box 32, a boom 33, a multi-dimensional mechanical arm 34, a wave-transmitting dust cover 35 and a radar ranging unit 36. The radar flange 31 is a blind flange, which is fixed above the isolation cover flange 23, the connection box 32 is installed on the outside of the radar flange 31, the boom 33 is a hollow pipe body, and one end of the boom 33 is connected to the radar flange 31. The other end is connected to a multi-dimensional robotic arm 34. The multi-dimensional robotic arm 34 can rotate and reciprocate in the horizontal and vertical directions. The radar ranging unit 36 is installed on the multi-dimensional robotic arm 34. The multi-dimensional robotic arm 34 and The radar ranging unit 36 is located in the wave-transmitting dust cover 35, the wave-transmitting dust cover 35 is located in the isolating cover pipe 21, and the end of the wave-transmitting dust cover 35 is provided with a plurality of exhaust holes 351. Among them, the radar flange 31 is also provided with two second air inlets 311, one of the second air inlets 311 is connected to the isolating cover protective pipe 21, and the other of the second air inlets 311 is connected to the pipe body of the boom 33 through a pipe. , And then communicate with the wave-transmitting dust cover 35.

Specifically, one end of the base protection tube 11 is firmly welded to the top of the blast furnace 50 and communicates with the blast furnace 50 silo, so that the radar component 30 can measure the material level in the blast furnace 50. The other end of the base protection tube 11 is provided with a base flange 12. Three first air inlets 111 are provided around the outer peripheral wall of the base protection pipe 11, and the three first air inlets 111 can be connected to an external air source. When the three first air inlets 111 take in at the same time, they can A rotating airflow is formed in the base protection tube 11 to prevent the dust inside the blast furnace 50 from entering the base protection tube 11, and to ensure the cleanliness of the inside of the base protection tube 11 and the outer surface of the isolation cover protection tube 21, and at the same time, to a certain extent It also prevents the high temperature in the blast furnace 50 from entering the pedestal protection pipe 11, and plays a role of cooling and cleaning. It should be noted that although the above-mentioned base protection pipe 11 is provided with three first air inlets 111, it is not a limitation on the number of the first air inlets 111. It is understandable that those skilled in the art can set a reasonable number of first air inlets 111 according to actual conditions and needs, and only need to set the number of first air inlets 111 to meet the requirements when the first air inlet 111 takes in air. It is only necessary to form a rotating airflow in the base protective tube 11 to prevent the dust inside the blast furnace 50 from entering the base protective tube 11.

The isolation cover protection tube 21 of the high temperature isolation cover member 20 is located in the base protection tube 11, and there is a distance between the isolation cover protection tube 21 and the base protection tube 11, so that the gas entering from the first air inlet 111 can form a rotating airflow . The end of the isolation cover protection tube 21 close to the blast furnace 50 does not extend out of the base protection tube 11 but is located in the base protection tube 11. The temperature-insulating plate 22 is made of a temperature-insulating material, which is provided at the port of the end of the isolating cover protection tube 21 close to the blast furnace 50, and a plurality of exhaust ports 221 are provided on the temperature-insulating plate 22. According to this, the cold air entering through a second air inlet 311 on the radar flange 31 can pass through the inside of the shield pipe 21 and be discharged by the air outlet 211 to form a flowing cold air flow, which uses the exhaust pressure to resist the blast furnace 50 The airflow with viscous dust rising inside prevents the highly viscous dust from adhering to the temperature insulation plate 22, thereby causing the attenuation of the radar signal. Furthermore, the flowing cold air flow can cool the radar component 30 and ensure that the radar component 30 operates in a normal working temperature environment. An isolation cover flange 23 is provided at one end of the isolation cover protection pipe 21 away from the blast furnace 50, and the isolation cover flange 23 is fixedly connected above the base flange 12. The temperature insulation plate 22 is made of a high temperature resistant material that can be penetrated by radar waves, and has a certain endurance. In this embodiment, the temperature insulating plate 22 can withstand a pressure of ^{2Kg/cm 2.}

2 to 5, the radar flange 31 of the radar component 30 is a blind flange, which is fixed above the flange 23 of the isolation cover. The radar flange 31, the isolation cover flange 23 and the base flange 12 are fastened together, so that the inside of the base protection tube 11 and the isolation cover protection tube 21 are isolated from the outside. The connection box 32 is installed on the outer side of the radar flange 31, and is used to drive or control the multi-dimensional manipulator 34 and the radar ranging unit 36. Specifically, the connection box 32 is provided with a drive or control circuit for controlling the horizontal rotation structure 341 to perform bidirectional 180-degree reciprocating rotation in the horizontal direction, control the vertical swing structure 342 to perform bidirectional maximum 90-degree swing in the vertical direction, and the radar When the ranging unit 36 is turned on or off, the boom 33 is a hollow tube, and a wiring box 32 is arranged in the tube to connect the multi-dimensional mechanical arm 34 and the radar ranging unit 36. One end of the boom 33 is connected to the radar flange 31, and the other end is connected to the multi-dimensional mechanical arm 34. Through the boom 33, the radar ranging unit 36 can be extended into the inside of the shield tube 21, that is, the scanning range of the radar ranging unit 36 in the blast furnace 50 can be increased, and the shield tube 21 can be made longer. Some increase the cooling effect when the cold air flows into the shield pipe 21 of the isolation cover. The multi-dimensional mechanical arm 34 and the radar ranging unit 36 are located in the wave-transmitting dust cover 35, and the wave-transmitting dust cover 35 is located in the shield tube 21 of the isolation cover. The wave-transmitting dust cover 35 can transmit radar waves, and the end of the wave-transmitting dust cover 35 is provided with a plurality of exhaust holes 351.

In addition, two second air inlets 311 are provided on the radar flange 31, one of the second air inlets 311 is connected to the isolating cover protective pipe 21, and the other of the second air inlets 311 is connected to the pipe body of the boom 33 through a pipe. , And then communicate with the wave-transmitting dust cover 35. The two second air inlets 311 are respectively connected to the cold air source through the air supply hose 312, so that the cold air in the cold air source can flow into the isolation cover protection pipe 21 through a second air inlet 311, and pass through one end of the isolation cover protection pipe 21. The exhaust port 221 is excluded. The cold air from the cold air source flows into the pipe body of the boom 33 through the other second air inlet 311, and then flows into the wave-transmitting dust cover 35, and is discharged through the exhaust port 351 of the wave-transmitting dust cover 35 to cool the radar component 30 . The cold air source may be cold air such as nitrogen, dry ice, etc. In this embodiment, the cold air source is nitrogen with a pressure of 4-6 bar. A solenoid valve 313 is also installed in the air supply hose 312 to control the cold air source to supply air within a set rated range to ensure the safe operation of the equipment.

The multi-dimensional mechanical arm 34 includes a horizontal rotating structure 341 and a vertical swing structure 342. The radar ranging unit 36 is installed at the end of the vertical swing structure 342, and the radar ranging unit 36 can rotate at the end of the vertical swing structure 342. Movement; the top end of the vertical swing structure 342 is sleeved on the end of the horizontal rotation structure 341, the horizontal rotation structure 341 is installed on a fixed seat 343, and the fixed seat 343 is fixedly connected to the boom 33.

The horizontal rotation structure 341 can make bidirectional 180-degree reciprocating rotation in the horizontal direction, and the vertical swing structure 342 fitted at the end of the horizontal rotation structure 341 can swing a maximum of 90 degrees in both directions in the vertical direction, so that the radar ranging unit 36 can be horizontally Do multi-dimensional scanning in the vertical and vertical directions. The radar ranging unit 36 may be a single-point pulse radar or a frequency modulated continuous wave radar. Taking advantage of the fast response speed of single-point pulse or frequency modulated continuous wave (FMCW) radars, electromagnetic waves are continuously transmitted and received into the blast furnace 50, so as to quickly obtain multi-level material level information in the blast furnace 50. The swing time and path of the radar ranging unit 36 in the horizontal and vertical directions are controlled by the program of the circuit board in the connection box 32. The stop time of the radar ranging unit 36 at a scanning point is controlled according to whether the radar ranging unit 36 detects the material level height signal. If the material level height signal is collected within a certain period of time, the multi-dimensional robotic arm 34 will automatically rotate and move Go to the next scan point. If the set time is exceeded and the material level height signal is still not collected, the program will control the dimension manipulator 34 and the radar ranging unit 36 to automatically collect the next scan point data. In use, the walking path of the radar ranging unit 36 is an equally divided path, or the walking path of the radar ranging unit 36 is a preset scanning point or a data collection path.

The end of the vertical swing structure 342 is provided with a mounting frame 61, the radar ranging unit 36 is installed in the mounting frame 61, and the mounting frame 61 is mounted on the end of the vertical swing structure 342 through the bearings 62 at the left and right ends. The horizontal rotation structure 341 includes a first stepping motor 71. The output shaft of the first stepping motor 71 is provided with a first gear plate 72. A chain or toothed belt is sleeved on the first gear plate 72. The belt 73 drives the vertical swing structure 342 to reciprocate. The first gear plate 72 may also be meshed with a transmission gear, and the vertical swing structure 342 is driven to reciprocate by the transmission gear. The vertical swing structure 342 includes a second stepping motor 81. The output shaft of the second stepping motor 81 is provided with a second gear plate 82. The second gear plate 82 is sleeved with a chain or a toothed belt. The toothed belt 83 drives the mounting frame 61 to reciprocate. The second gear plate 82 can also be meshed with a transmission gear, and the mounting frame 61 is driven to reciprocate and rotate through the transmission gear. In this way, the first stepping motor 71 and the second stepping motor 81 can be controlled by a software program, thereby driving the radar ranging unit 36 to reciprocate in the horizontal direction and the vertical direction to realize multi-dimensional scanning.

Referring to Figs. 6 to 8, Figs. 6 to 8 illustrate another embodiment of a 3D radar scanner for blast furnace material surface imaging. As shown in the figure, the embodiment of the present invention also provides a 3D radar scanner 100 for blast furnace material surface imaging, including a base member 10 installed on the top of the blast furnace, a high temperature isolation cover member 20, and a multi-dimensional radar member 30 , Lifting mechanism 40, protection sleeve 60 and electric ball valve 70. The base member 10 includes a base protection tube 11 and a base flange 12. One end of the base protection tube 11 is connected to the blast furnace 50, and the other end is fixedly connected to the base flange 12. The base protection tube 11 is provided with at least one first inlet.气口111。 Air port 111. The high-temperature isolation cover member 20 includes an isolation cover protection tube 21, a temperature isolation plate 22 and an instrument mounting plate 24. The isolation cover protection tube 21 is provided with a temperature isolation plate 22 at one end close to the blast furnace 50, and a plurality of rows are provided on the temperature isolation plate 22. The air port 221, the other end of the isolation cover protection tube 21 is connected to the instrument mounting board 24; the radar component 30 includes a connection box 32, a boom 33, a multi-dimensional mechanical arm 34, a wave-transmitting dust cover 35 and a radar ranging unit 36. The connection box 32 is fixed above the instrument mounting plate 24. The boom 33 is a hollow tube body. One end of the boom 33 is connected to the instrument mounting plate 24, and the other end is connected to the multi-dimensional mechanical arm 24. The multi-dimensional mechanical arm 24 can be in the horizontal direction. The radar ranging unit 36 is installed on the multi-dimensional robot arm 34, and the multi-dimensional robot arm 34 and the radar ranging unit 36 are located in the wave-transmitting dust cover 35, and the wave-transmitting dust cover 35 Located in the shield pipe 21 of the isolation cover, a plurality of exhaust holes 351 are provided at the end of the wave-transmitting dust cover 35. Among them, the instrument mounting board 24 is also provided with two second air inlets 311, one of the second air inlets 311 is connected to the isolating cover protective pipe 21, and the other of the second air inlets 311 is connected to the pipe body of the boom 33 through a pipe. , And then communicate with the wave-transmitting dust cover 35. One end of the electric ball valve 70 is connected to the base flange 12, the other end is connected to one end of the protective sleeve 60, and the other end of the protective sleeve 60 is connected to the lifting mechanism 40. The lifting mechanism 40 includes a fixing piece 41 and a lifting piece 42. The fixing piece 41 is installed above the protective sleeve 60. One end of the lifting piece 42 is connected to the fixing piece 41, and the other end is connected to the instrument mounting plate 24. The raising and lowering of the high-temperature isolation cover member 20 and the radar member 30 are selectively located in the base protective tube 11 or the protective sleeve 60. Wherein, when the high temperature isolation cover member 20 and the radar member 30 are located in the base protection pipe 11, the electric ball valve 70 is in an open state.

The main difference between this embodiment and the previous embodiment is that the high temperature isolation cover member 20 and the radar member 30 can be selectively located in the base protection tube 11 or the protective sleeve 60 by controlling the lifting mechanism 40. That is, when the radar component 30 needs to be measured, the electric ball valve 70 is opened, and the high temperature isolation cover component 20 and the radar component 30 are moved into the base protection pipe 11 through the lifting mechanism 40 (as shown in FIG. 9). When the radar component 30 needs to be overhauled or other emergency situations, the high temperature isolation cover component 20 and the radar component 30 are moved into the protective sleeve 60 by controlling the lifting mechanism 40 (as shown in FIG. 10). At this time, the ball valve 70 can be electrically operated, and then It plays a role in protecting the radar components and at the same time facilitates the overhaul of the radar components 30.

The lifting mechanism 40 may be a linear telescopic transmission, such as hydraulic, pneumatic or other electric linear telescopic transmission. An elastic telescoping protective cover can be installed on the outside of the fixing member 41 to protect the cleanliness of the lifting member. An elastic sealing ring can be installed under the instrument mounting plate 24. When the radar component 30 moves to the working position of the base protection pipe 11, the elastic sealing ring abuts against the end face of the instrument mounting plate 24 to play a sealing role and prevent the gas in the furnace from invading the upper cavity. .

The connection of the electric ball valve 70 can be a screw and pin shaft. The electric ball valve 70 can rotate along the pin shaft as a whole (as shown in FIG. 11) without disassembling the entire mechanism for maintenance, which reduces maintenance man-hours. When repairing, loosen the bolts, and the electric ball valve 70 will rotate 180 degrees along the pin axis, so that the electric ball valve 70 and the internal mechanism of the protective sleeve 60 are completely staggered. At this time, the radar components in the protective sleeve 60 can be taken out, the repair is completed, and the reverse rotation At 180 degrees, tighten the bolts and restore the original position.

Referring to FIGS. 8 and 12, this embodiment provides a 3D radar scanner for blast furnace material surface imaging, and may also include a first temperature sensor 81, a second temperature sensor 82, a first pressure sensor 83, and a second pressure sensor 84 and controller 85. The first temperature sensor 81 is configured to measure first temperature information in the 3D radar scanner 100; the second temperature sensor 82 is configured to measure second temperature information in the blast furnace 50; the first pressure sensor 83 is configured to Measures the first pressure information in the 3D radar scanner 100; the second pressure sensor 84 is configured to measure the second pressure information in the blast furnace 50; the controller 85 is configured to measure the first temperature information and/or the second temperature information And/or the first pressure information and/or the second pressure information selectively control and control the lifting mechanism 40, so that the high-temperature isolation cover member 20 and the radar member 30 are located in the base protection tube 11 or the protective sleeve 60, and at high temperature When the isolation cover member 20 and the radar member 30 are located in the protective sleeve 60, the electric ball valve 70 is closed. When the high temperature isolation cover member 20 and the radar member 30 are located in the base protection pipe 11, the electric ball valve 70 is in an open state.

Specifically, the first temperature sensor 81 may be installed on the instrument mounting board, and the highest temperature inside the high-temperature isolation cover 20 is set to the sleep temperature of the 3D radar scanner 100, for example, 55°C. In application, the high-temperature isolation cover member 20 is damaged, causing the high temperature inside the high-temperature isolation cover member 20 to rise; it may also be due to the failure of the nitrogen cooling device that the radar component 30 cannot be cooled by nitrogen, or other reasons, the inside of the high-temperature isolation cover member 20 When the temperature reaches 55°C, the first temperature sensor 81 will transmit the temperature information to the controller 85, and the controller 85 will control the lifting mechanism 40 to raise the high temperature isolation cover member 20 and the radar member 30 into the protective sleeve, and then close the electric ball valve 70 . In addition, the controller 85 can also be electrically connected to a computer 86. The computer 86 can input a sleep command and send it to the controller 85. When the controller 85 receives the sleep command, the controller 85 will control the lifting mechanism 40 to remove the high temperature isolation cover. The member 20 and the radar member 30 rise into the protective sleeve 60, and then the electric ball valve 70 is closed. It should be noted that the electric ball valve 70 and the lifting mechanism 40 can also be manually controlled to facilitate the installation, repair or maintenance work of the technicians.

The second temperature sensor 82 can also be arranged on the base protection pipe 11 to measure the second temperature information inside the blast furnace 50. The environment inside the blast furnace 50 is bad, and the controller can judge the temperature inside the blast furnace 50 according to the change in the second temperature information. Abrupt change. When the temperature in the blast furnace 50 changes suddenly, the controller 85 will control the lifting mechanism 40 to raise the high temperature isolation cover member 20 and the radar member 30 into the protective sleeve, and then close the electric ball valve 70.

The second pressure sensor 84 can be arranged on the base protection pipe 11. If the high temperature isolation cover member 20 is damaged, the internal pressure will quickly drop to the blast furnace pressure. The 3D radar scanner can be judged by the first pressure information and the second pressure information Whether the environment 100 is in is abnormal. When an abnormal situation occurs, the controller 85 will control the lifting mechanism 40 to raise the high temperature isolation cover member 20 and the radar member 30 into the protective sleeve 60, and then close the electric ball valve 70 to protect the radar The role of component 30.

The 3D radar scanner 100 for blast furnace material surface imaging provided in this embodiment can automatically protect the automatic radar component 30 when the temperature is abnormal or the pressure is abnormal. The bottom of the radar component 30 can also be provided with an air outlet valve. When the radar component is lifted, the air outlet valve at the bottom of the radar component can be quickly opened to seal the bottom with gas to prevent dust from rising into the protective sleeve.

In this embodiment, two holes and two 3D radar scanners 100 are symmetrically formed on the top of the blast furnace 50. The size of the holes is from 300mm to 3500mm. One end of the base member 10 of the two 3D radar scanners 100 is installed on one hole respectively. . Referring to FIG. 13, an embodiment of the present invention also provides a blast furnace material level detection system. The system includes a host computer 90 and at least one 3D radar scanner 100 for imaging the blast furnace material level as described above. The 3D radar scanner 100 measures the material level information of multiple measuring points in the blast furnace 50, and transmits it to the upper computer 90 through RS485 or optical fiber. A modeling software is installed on the upper computer 90 to perform mathematical modeling based on the material level information, and simulate and display a 3D image of the material surface in the blast furnace 50. The 3D image includes the height data and coordinate data of each measurement point. The upper computer 90 can also display images of whether the wall of the blast furnace 50 is hanging, and the highest, lowest, and average level of the materials in the blast furnace. In this way, the modeling software can display the distribution shape of the material in the blast furnace 50, and the modeling software can also be set to display the height and latitude and longitude coordinates of the location after clicking anywhere on the imaging map. It should be noted that the 3D radar scanner 100 is installed on the top of the blast furnace 50, and it can be one or more, and the number can be set reasonably according to actual needs. In this embodiment, two 3D radar scanners 100 are symmetrically arranged on the top of the blast furnace. The upper computer 90 can also retrieve data based on the data stored in history. At the same time, you can view the historical curve change law of the material level. It should be noted that when there are multiple 3D radar scanners, the host computer simulates the 3D image of the inner material surface based on the material level height information measured by the multiple 3D radar scanners 100.

Further, the blast furnace material level detection system provided by the present invention may also include a PLC controller 91 and a distribution trough 51 installed on the top of the blast furnace 50. The upper computer 90 obtains the high and low material level information of the material surface of the blast furnace 50 and the coordinate data of each measurement point through the mathematical modeling of the material level height information, and controls the distribution trough 51 to control the material at the low material level through the PLC controller 91 The cloth is distributed on the surface to make the cloth uniform in the blast furnace 50. Specifically, the two 3D radar scanners and the PLC controller 91 are respectively connected to the host computer 90 in communication. The PLC controller 91 is communicatively connected to the cloth trough 51 to control the cloth position and cloth amount of the cloth trough 51.

When the blast furnace material level detection system provided by the present invention is in use, the contour and size data in the blast furnace 50 silo are input in advance to the modeling software of the upper computer 90, and a set of scanning points of the radar ranging unit 36 on the horizontal plane are set Data, the scanning point positions of the radar ranging unit 36 on the horizontal plane are distributed as continuously as possible.

After the blast furnace material level detection system is activated, the radar ranging unit 36 first vertically measures the material level directly below the radar ranging unit 36. Then use this position point as the starting point to automatically adjust the horizontal rotation angle and vertical rotation angle of the radar ranging unit 36. After the measurement of each scanning point is completed, the horizontal rotation angle and vertical rotation angle of the radar ranging unit 36 will be measured according to the actual distance measured. The straight rotation angle calculates the height of the material surface at the scanning point. Determine whether the measurement point is a point on the inner wall of the silo according to the position coordinates of the measurement point on the horizontal plane. If it is a point on the inner wall of the silo, reduce the vertical rotation angle of the radar ranging unit 36 and continue scanning until the scanning point is The position point on the real material level. Repeat the above process until all scanning points on the material surface are traversed.

In each subsequent traversal measurement, the height value of the previous scan point and the coordinate value on the horizontal plane are used to achieve infinite approximation to the target scan point, so that the actual scan point and the set scan point basically coincide, and the measurement is more realistic The material surface situation.

The 3D radar scanner 100 for blast furnace material surface imaging provided by the present invention can realize continuous measurement of the shape of the material surface in the blast furnace, and provides a visual data basis for iron smelters to adjust the blast furnace charging process. The 3D radar scan The base member 10 of the detector can prevent the dust in the furnace from entering the base protection tube, and improve the measurement accuracy of the radar component; Can work normally.

The horizontal rotation structure 341 and the vertical swing structure 342 drive the radar ranging unit 36 to perform two-dimensional or multi-dimensional measurement. In this way, one radar ranging unit 36 can replace multiple instruments, and the number of detected signal points is large, and the resolution is high. Then, the measured data is sampled and synthesized by the software later, which can display the shape of the material inside the blast furnace on the host computer 90 3D images, detect whether the furnace wall is hanging, and the highest, lowest, and average material levels in the warehouse, thereby increasing the measurement range and improving the cost performance.

The blast furnace material level detection system provided by the present invention measures the material levels of multiple different positions in the blast furnace 50 through the 3D radar scanner 100, and uses software to perform mathematical modeling to obtain 3D images of the material level in the blast furnace, and compare the materials in the blast furnace 50. Technical parameters such as the shape, whether the furnace wall is hanging, whether the feed is uniform, the highest, the lowest, and the average material level in the furnace, are monitored. Furthermore, the distributing trough 51 is controlled to distribute the cloth, so that the cloth in the furnace is more uniform. At the same time, it also provides a new method for the ironmaking technicians to study the charging system of the blast furnace.

Through the application of production practice, the 3D radar scanner 100 has stable echo data, high resolution, good material surface simulation and high reliability. At the same time, the 3D radar scanner 100 can withstand harsh environments such as high temperature, pressure, and dust. The measurement results of the 3D radar scanner 100 for imaging the blast furnace material surface and the blast furnace material surface detection system are effective and reliable. The utilization rate of blast furnace gas is increased by 1.8%, the combustion ratio is reduced by ~2.6kg/t, and CO2 emissions are greatly reduced, which has significant economic benefits.

Those skilled in the art should be able to realize that the terms "first", "second", etc. herein are used to distinguish similar objects, rather than to describe or indicate a specific order or sequence.

The term "including" or any other similar term is intended to cover non-exclusive inclusion, so that an article or device/device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes these items Or elements inherent in equipment/devices.

The above are the preferred embodiments of the present invention and the technical principles used by them. For those skilled in the art, without departing from the spirit and scope of the present invention, any technical solutions based on the present invention Obvious changes such as equivalent transformations and simple replacements fall within the protection scope of the present invention.

Claims (13)

1. A 3D radar scanner for imaging the surface of a blast furnace, wherein the 3D radar scanner includes a base member installed on the top of the blast furnace, a high-temperature isolation cover member, and a multi-dimensional radar member,

   The base member includes a base protection tube and a base flange, one end of the base protection tube is connected to the blast furnace, and the other end is fixedly connected to the base flange, and at least one First air inlet

   The high-temperature isolation cover component includes an isolation cover protection tube, a temperature isolation plate and an isolation cover flange. The isolation cover protection tube is located in the base protection tube. A plurality of exhaust ports are provided on the temperature isolation plate, the other end of the isolation cover protection pipe is connected to the isolation cover flange, and the isolation cover flange is fixedly connected above the base flange;

   The radar component includes a radar flange, a connection box, a boom, a multi-dimensional mechanical arm, a wave-transmitting dust cover, and a radar ranging unit. The radar flange is a blind flange, which is fixed on the isolation cover. Above the flange, the connection box is installed on the outside of the radar flange, the boom is a hollow pipe body, one end of the boom is connected to the radar flange, and the other end is connected to the multi-dimensional robotic arm , The multi-dimensional manipulator arm can make a reciprocating movement in the horizontal direction and the vertical direction, the radar ranging unit is installed on the multi-dimensional manipulator arm, and the multi-dimensional manipulator arm and the radar ranging unit are located at the In the wave-transmitting dust cover, the wave-transmitting dust-proof cover is located in the shield pipe of the isolation cover, and the end of the wave-transmitting dust-proof cover is provided with a plurality of exhaust holes; wherein, the radar flange is also provided with two Two second air inlets, one of the second air inlets communicates with the isolation cover protective pipe, and the other of the second air inlets communicates with the pipe body of the boom through a pipe, and then communicates with the wave penetration prevention Dust cover.
2. The 3D radar scanner for blast furnace material surface imaging according to claim 1, wherein the multi-dimensional mechanical arm includes a horizontal rotation structure and a vertical swing structure, and the radar ranging unit is installed in the vertical swing The end of the structure, and the radar ranging unit can rotate at the end of the vertical swing structure; the top end of the vertical swing structure is sleeved on the end of the horizontal rotation structure, and the horizontal rotation structure It is installed on a fixed seat, and the fixed seat is fixedly connected with the boom.
3. The 3D radar scanner for blast furnace material surface imaging according to claim 2, characterized in that the horizontal rotation structure is capable of bidirectional 180-degree reciprocating rotation in the horizontal direction, and is sleeved at the end of the horizontal rotation structure. The vertical swing structure can swing up to 90 degrees in both directions in the vertical direction, so that the radar ranging unit can scan in multiple dimensions in the horizontal and vertical directions. In use, the radar ranging unit moves The path is an equally divided path, or the walking path of the radar ranging unit is a preset location point or a data collection path.
4. The 3D radar scanner for blast furnace material surface imaging according to claim 3, wherein the end of the vertical swing structure is provided with a mounting frame, and the radar ranging unit is installed in the mounting frame The mounting frame is installed at the end of the vertical swing structure through the bearings at the left and right ends.
5. The 3D radar scanner for blast furnace material surface imaging according to claim 3, wherein the horizontal rotating structure comprises a first stepping motor, and a first stepping motor is provided on the output shaft of the first stepping motor. Chainring;

   A chain or a toothed belt is sleeved on the first toothed disk, and the vertical swing structure is driven to reciprocate by the chain or toothed belt; or the first toothed disk is meshed with a transmission gear, and the transmission is The gear drives the vertical swing structure to reciprocate.
6. The 3D radar scanner for blast furnace material surface imaging according to claim 4, wherein the vertical swing structure comprises a second stepping motor, and the output shaft of the second stepping motor is provided with a first Two chainring

   A chain or a toothed belt is sleeved on the second gear plate, and the mounting frame is driven to reciprocate through the chain or the toothed belt; or the second gear plate is meshed with a transmission gear, which passes through the transmission gear. The mounting frame is driven to rotate back and forth.
7. The 3D radar scanner for blast furnace material surface imaging according to claim 1, wherein three first air inlets are provided on the protective pipe surrounding the base, and the three first air inlets are connected to each other. The external air source can form a rotating airflow in the base protection pipe when the three first air inlets are simultaneously aired.
8. The 3D radar scanner for blast furnace material surface imaging according to claim 1, wherein there are two second air inlets on the radar flange, and the two second air inlets The ports are respectively connected with a cold air source through an air supply hose; wherein, a solenoid valve is also installed in the air supply hose.
9. A 3D radar scanner for imaging the surface of a blast furnace, wherein the 3D radar scanner includes a base member installed on the top of the blast furnace, a high-temperature isolation cover member, a multi-dimensional radar member, a lifting mechanism, and a protective cover Pipe and electric ball valve;

   The base member includes a base protection tube and a base flange, one end of the base protection tube is connected to the blast furnace, and the other end is fixedly connected to the base flange, and at least one First air inlet

   The high-temperature isolation cover component includes an isolation cover protection tube, a temperature isolation panel and an instrument mounting plate. The isolation cover protection tube is provided with the temperature isolation board at one end close to the blast furnace, and a plurality of rows are provided on the temperature isolation board. Air port, the other end of the isolation cover protecting pipe is connected to the instrument mounting board;

   The radar component includes a connection box, a boom, a multi-dimensional mechanical arm, a wave-transmitting dust cover, and a radar ranging unit. The connection box is fixed above the instrument mounting plate, and the boom is hollow. Tube body, one end of the boom is connected to the instrument mounting board, and the other end is connected to the multi-dimensional mechanical arm, the multi-dimensional mechanical arm can make a reciprocating movement in the horizontal direction and the vertical direction, the radar ranging The unit is installed on the multi-dimensional mechanical arm, the multi-dimensional mechanical arm and the radar ranging unit are located in the wave-transmitting dust cover, the wave-transmitting dust cover is located in the shield tube of the isolation cover, and the wave-transmitting anti-dust cover The end of the dust cover is provided with a plurality of exhaust holes; wherein, the instrument mounting plate is also provided with two second air inlets, one of the second air inlets is connected to the isolation cover protective pipe, and the other is The second air inlet is communicated with the pipe body of the boom through a pipe, and then communicates with the wave-transmitting dust cover;

   One end of the electric ball valve is connected to the base flange, the other end is connected to one end of the protective sleeve, and the other end of the protective sleeve is connected to the lifting mechanism;

   The lifting mechanism includes a fixing piece and a lifting piece, the fixing piece is installed above the protective sleeve, one end of the lifting piece is connected to the fixing piece, and the other end is connected to the meter mounting board, and the lifting mechanism is controlled to make The high-temperature isolation cover member and the radar member are selectively located in the base protective tube or the protective sleeve;

   In addition, when the high-temperature isolation cover member and the radar member are located in the base protection pipe, the electric ball valve is in an open state.
10. The 3D radar scanner for blast furnace material surface imaging according to claim 9, characterized in that it further comprises a first temperature sensor, a first pressure sensor and a controller;

    The first temperature sensor is configured to measure first temperature information in the 3D radar scanner;

    The first pressure sensor is configured to measure first pressure information in the 3D radar scanner;

    The controller is configured to selectively control the control lifting mechanism according to the first temperature information and/or the first pressure information, so that the high-temperature isolation cover member and the radar member are located on the base protection tube or In the protective sleeve, and when the high temperature isolation cover member and the radar component are in the protective sleeve, the electric ball valve is closed
11. The 3D radar scanner for blast furnace material surface imaging according to claim 10, further comprising a second temperature sensor and a second pressure sensor;

    The second temperature sensor is configured to measure second temperature information in the blast furnace;

    The second pressure sensor device is configured to measure second pressure information in the blast furnace;

    The controller is further configured to selectively control the control lifting mechanism according to the second temperature information and/or the second pressure information, so that the high-temperature isolation cover member and the radar member are located on the base guard. The electric ball valve is closed when the high-temperature isolation cover member and the radar member are located in the protective sleeve.
12. A blast furnace material level detection system, characterized in that the system comprises a host computer and at least one 3D radar scanner for blast furnace material level imaging according to any one of claims 1 to 11;

    The 3D radar scanner measures the material level information of multiple measuring points in the blast furnace, and transmits it to the host computer via RS485 or optical fiber. The host computer is equipped with modeling software, and performs mathematical modeling based on the material level height information. The 3D image of the material surface in the blast furnace is simulated and displayed, and the 3D image includes the height data and coordinate data of each measurement point.
13. The blast furnace material level detection system according to claim 12, wherein the system further comprises a PLC controller and a distribution trough installed on the top of the blast furnace;

    The host computer obtains the high and low material level information and coordinate data of the material surface of the blast furnace by mathematical modeling of material level height information, and controls the distribution trough to distribute the material surface at the low material level through the PLC controller .

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