[0044] An automatic temperature measurement and/or sampling method for molten steel in a steel-making converter in front of the furnace. The method adopts an automatic temperature measurement and sampling system in front of the steel-making converter to perform temperature measurement or sampling alone, or to perform temperature measurement and sampling at the same time.
[0045] Such as Figure 1-7 As shown, the automatic temperature measurement and sampling system in front of the steel-making converter includes: an automatic temperature measurement and sampling part in front of the furnace, an automatic casing disassembly part and an electrical control part of the system.
[0046] The automatic temperature measurement and sampling part in front of the furnace is composed of a longitudinal moving device 3, a turning device 4, a turning safety device 5, a rotating device 6, a lateral moving device 7 and a traveling trolley 8. The traveling trolley 8 drives the entire system to follow the furnace The front fire door 2 moves; the lateral movement device 7 drives the temperature measuring gun 13-1 and/or the sampling gun 13-2 to move laterally to each working position; the rotating device 6 realizes the temperature measuring gun 13-1 and/ Or the sampling gun 13-2 is switched at an angle of 90°; the turnover safety device 5 is a safety protection device for the vertical movement mechanism of up to 6 meters; the turnover device 4 is used to realize the temperature measuring gun 13-1 And/or the automatic switching of the sampling gun 13-2 from the vertical downward position to the working position opposite to the furnace mouth after the tipping; the vertical movement device 3 is used to drive the temperature measuring gun 13-1 and/or the sampling gun 13-2 Enter and exit the converter to realize the temperature measurement and sampling of molten steel;
[0047] The casing automatic disassembly and assembly part is composed of a robot 9 and its gripper, a casing magazine 10, a molten steel sample and waste casing collection warehouse 11, and a machine vision system 12; the robot 9 and its gripper are used to realize the casing The pipe can be disassembled and assembled as needed, and each casing can be accurately installed and removed to the corresponding position. The gripper is also used to overcome fluctuations in the outer diameter of various casings; the casing magazine 10 provides various casings for the robot 9 Kind of casing; the molten steel sample and waste casing collection bin 11 is used for the collection of collected molten steel samples, the collection and placement of various used casings, and subsequent classification and use;
[0048] The machine vision system 12 measures the actual head position of the temperature measuring gun 13-1 and/or the sampling gun 13-2, and calculates the temperature measuring gun by comparing with the preset coordinates of the temperature measuring gun and/or the sampling gun 13-2 And/or sample the deformation of the head of the gun 13-2, and provide the deformation to the robot 9, so that the robot 9 controls the displacement of the gripper according to the shown deformation, and accurately installs each sleeve.
[0049] The electrical control part of the system includes electrical hardware and control programs for automatic temperature measurement and sampling according to process requirements.
[0050] The connection relationship between the components of the system is as follows: the traverse device 7, the robot and its gripper 9, the casing magazine 10, the molten steel sample and waste casing collection warehouse 11, and the machine vision system 12 are directly connected to the walking trolley 8. Connected, move left and right with the walking trolley. The rotating device 6 is connected with the traverse device 7 and moves laterally with the traverse device. The turning device 4 is connected to the rotating device 6 and rotates with the rotating device 90 degrees back and forth. The overturning safety device 5 is connected to the overturning device 4, and is a safety protection device of the longitudinal shift device. The longitudinal moving device 3 is connected with the turning device 4, and turns back and forth within a certain angle with the turning device. The temperature measuring gun 13-1 and the sampling gun 13-2 are connected with the longitudinal moving device. The temperature measuring gun and the sampling gun can move back and forth with the longitudinal moving device separately or at the same time to realize the temperature measurement and sampling of molten steel in the converter.
[0051] Further, the machine vision system includes a memory subsystem and a computing subsystem. The memory subsystem pre-stores a preset coordinate set, the preset as a mark set includes a plurality of preset coordinate points, and the memory subsystem is further used to store the actual measured temperature measuring gun 13-1 and/ Or the head position of the sampling gun 13-2; the calculation subsystem compares the plurality of preset coordinate points in the preset coordinate set according to the detected head position, and selects the same as the head position The closest preset coordinate point is a reference point, and the deformation amount of the temperature measuring gun and/or the sampling gun head is calculated according to the reference point, and the deformation amount is transmitted to the robot.
[0052] The working principle of the automatic temperature measurement and/or sampling method of the molten steel in the steelmaking converter is as follows:
[0053] The method of automatic temperature measurement and/or sampling of molten steel in front of the steelmaking converter 1 includes the following steps:
[0054] S1. Order temperature measurement and/or sampling in front of the furnace;
[0055] S2. The converter 1 is tilted to the process angle, the front fire door 2 is opened to a certain size, and the system walking trolley 8 moves to the vicinity of the central axis of the converter;
[0056] S3. The lateral movement device 7 drives the temperature measuring gun 13-1 and/or the sampling gun 13-2 to the working position in the temperature measuring and sampling direction;
[0057] S4. The rotating device 6 drives the temperature measuring gun 13-1 and/or the sampling gun 13-2 to rotate 90° facing the converter 1;
[0058] S5. Turn the safety device 5 out of the safety pin;
[0059] S6. Turning device 4 drives the temperature measuring gun 13-1 and/or the sampling gun 13-2 to turn to the working position of the temperature measuring and sampling space;
[0060] S7. The longitudinal movement device 3 with the temperature measuring gun 13-1 and/or the sampling gun 13-2 extended into the molten steel of the converter 1 to successfully measure the molten steel temperature or/and obtain a molten steel sample;
[0061] S8. The automatic temperature measurement and/or sampling part makes the reverse working process until the temperature measurement gun 13-1 and/or the sampling gun 13-2 return to the casing disassembly position;
[0062] S9. The robot 9 pulls out the sampling sleeve, knocks the sample into the sample collection bin 11, and then puts the sleeve in the corresponding position in the waste sleeve collection bin 11;
[0063] S10. The robot 9 pulls out the temperature measuring sleeve and puts it into the corresponding position in the waste sleeve collection bin 11;
[0064] S11. At the working position of the machine vision system 12, measure the actual head position of the temperature measuring gun 13-1 and/or sampling gun 13-2, and pass the presets with the temperature measuring gun 13-1 and/or sampling gun 13-2 Coordinate comparison calculates the amount of deformation of the temperature measuring gun 13-1 and/or the sampling gun 13-2 head, and provides the amount of deformation to the robot 9;
[0065] S12. The lateral movement device 7 brings the temperature measuring gun 13-1 and/or the sampling gun 13-2 to the casing disassembly and assembly position;
[0066] S13. The robot 9 grabs the relevant casing from the casing magazine 10 and installs it on the corresponding gun barrel;
[0067] S14. Once the workflow ends, wait for the start of the next workflow at this position.
