Smelting molten liquid temperature measurement control method, device, temperature measurement robot and smelting system

Abstract

The present application relates to a smelting molten liquid temperature measurement control method, device, temperature measurement robot and smelting system, and belongs to the technical field of smelting molten liquid temperature measurement. The present application includes: in the process of inserting the temperature measuring gun into the smelting molten liquid, obtaining vibration data detected by a vibration sensor installed on the temperature measuring gun; using the vibration data to determine whether the temperature measuring gun extends through the slag layer into the smelting molten liquid; when it is determined that the temperature measuring gun extends through the slag layer into the smelting molten liquid, controlling the temperature measuring gun to perform temperature measurement. Through this application, it is helpful to solve the problem that when the robot inserts the temperature measuring gun into the smelting molten liquid for temperature measurement at a fixed insertion depth, the temperature measuring gun may not be inserted into the smelting molten liquid or may be inserted too shallowly into the smelting molten liquid due to the existence of the slag layer, resulting in inaccurate temperature measurement or temperature measurement failure. Alternatively, the temperature measuring gun may be inserted too deeply into the smelting molten liquid, resulting in the problem of the gun tip burning and temperature measurement failure.

Description

Technical Field

[0001] The present application belongs to the technical field of smelting melt temperature measurement, and specifically relates to a smelting melt temperature measurement control method, device, temperature measurement robot and smelting system. Background Art

[0002] During the metal smelting process, the molten metal needs to be measured multiple times. Operators can manually measure the temperature of the molten metal with a handheld temperature gun. However, this is prone to safety accidents. Improving the intelligence of equipment and improving the safe working environment are directional plans for the development of the manufacturing industry. It is also the unremitting pursuit of various smelters to reduce accidents, reduce labor costs, and improve the level of automation and intelligence.

[0003] For this reason, in smelting related technologies, it has become a new trend to equip smelting furnaces (such as electric arc furnaces and refining furnaces) with robot temperature measurement systems. The robot is used to insert the temperature gun into the smelting melt for temperature measurement to replace manual operation. In actual operation, the robot inserts the temperature gun into the smelting melt for temperature measurement through a preset fixed insertion depth. However, in actual application, it is not as simple as expected. The following problems often exist: due to the uncertain thickness of the slag layer floating on the smelting melt, when the robot inserts the temperature gun according to the fixed insertion depth, the gun tip of the temperature gun may be inserted too shallowly and fail to reach the surface of the smelting melt, resulting in inaccurate temperature measurement or temperature measurement failure. Alternatively, although the gun tip of the temperature gun passes through the slag layer and is inserted into the smelting melt, the insertion depth is too deep, causing the gun tip to burn and the temperature measurement failure. Summary of the invention

[0004] To this end, the present application provides a smelting melt temperature measurement control method, device, temperature measuring robot and smelting system, which helps to solve the problem that when the robot operates the temperature measuring gun to insert the smelting melt for temperature measurement at a fixed insertion depth, the temperature measuring gun may not be inserted into the smelting melt or may be inserted too shallowly into the smelting melt due to the presence of a slag layer, resulting in inaccurate temperature measurement or temperature measurement failure; or, the temperature measuring gun may be inserted too deeply into the smelting melt, resulting in the gun tip burning and temperature measurement failure.

[0005] To achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, the present application provides a method for measuring and controlling the temperature of a smelting molten metal, the method comprising:

[0007] During the process of inserting the temperature measuring gun into the smelting melt, vibration data detected by a vibration sensor installed on the temperature measuring gun is obtained;

[0008] Using the vibration data, determine whether the temperature measuring gun penetrates the slag layer and extends into the smelting liquid;

[0009] When it is determined that the temperature measuring gun has penetrated through the slag layer and extended into the smelting melt, the temperature measuring gun is controlled to perform temperature measurement.

[0010] Further, the use of the vibration data to determine whether the temperature measuring gun penetrates the slag layer and extends into the smelting molten metal includes:

[0011] Using the vibration data, the vibration condition of the temperature measuring gun is obtained, and the vibration condition includes: amplitude change and / or vibration frequency change;

[0012] When the vibration condition of the temperature measuring gun meets the small amplitude and / or large frequency conditions of the preset standard, it is determined that the temperature measuring gun penetrates the slag layer and extends into the smelting melt.

[0013] Further, when it is determined that the temperature measuring gun penetrates the slag layer and extends into the smelting molten metal, controlling the temperature measuring gun to perform temperature measurement processing includes:

[0014] When it is determined that the temperature measuring gun has penetrated the slag layer and extended into the smelting molten liquid, the temperature measuring gun is controlled to continue extending into the preset distance within the preset time;

[0015] When the preset distance is reached, the temperature measurement is turned on, and when the temperature measurement stays for the preset time, the temperature gun is lifted at the preset fastest speed.

[0016] In a second aspect, the present application provides a smelting molten liquid temperature measurement and control device, the device comprising:

[0017] A vibration data acquisition module is used to acquire vibration data detected by a vibration sensor installed on the temperature measuring gun during the process of inserting the temperature measuring gun into the smelting molten metal;

[0018] A module for determining penetration into the molten metal is used to determine whether the temperature measuring gun penetrates through the slag layer and extends into the smelting molten metal by using the vibration data;

[0019] The temperature measurement processing module is used to control the temperature measuring gun to perform temperature measurement processing when it is determined that the temperature measuring gun passes through the slag layer and extends into the smelting melt.

[0020] In a third aspect, the present application provides a smelting melt temperature measuring robot, which is equipped with a temperature measuring gun, and the temperature measuring gun is equipped with a vibration sensor. The smelting melt temperature measuring robot is used to execute any of the methods described above.

[0021] Furthermore, the vibration sensor is a three-dimensional vibration sensor.

[0022] In a fourth aspect, the present application provides a smelting system, comprising: a smelting furnace, and a smelting melt temperature measuring robot as described above.

[0023] Furthermore, the smelting furnace is an electric arc furnace or a refining furnace.

[0024] This application adopts the above technical solution, which has at least the following beneficial effects:

[0025] Through the present application, when the robot is executing the process of extending the temperature measuring gun into the molten metal, due to the viscosity of the slag layer, the large buoyancy of the molten metal and the constant stirring due to the argon gas stirring factor, when the temperature measuring gun passes through the slag layer into the molten metal, the vibration of the temperature measuring gun will have a significant difference. Therefore, by obtaining the vibration data detected by the vibration sensor installed on the temperature measuring gun, it is possible to determine whether the temperature measuring gun has passed through the slag layer and extended into the molten metal through the change in the vibration data. When it is determined that the temperature measuring gun has passed through the slag layer and extended into the molten metal, the temperature measuring gun is controlled to perform temperature measurement processing, so that the temperature of the molten metal can be accurately measured, thereby improving the practicality of the temperature measurement of the smelting molten metal by the robot.

[0026] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 is a flow chart of a smelting molten metal temperature measurement and control method according to an exemplary embodiment;

[0029] Figure 2 It is a block diagram of a smelting molten metal temperature measurement and control device according to an exemplary embodiment;

[0030] Figure 3 It is a schematic block diagram of a smelting molten metal temperature measuring robot according to an exemplary embodiment;

[0031] Figure 4 It is a schematic block diagram of a smelting system according to an exemplary embodiment. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other implementation methods obtained by ordinary technicians in the field without creative work belong to the scope of protection of the present application.

[0033] See also Figure 1 , Figure 1The present invention is a flow chart of a smelting molten liquid temperature measurement control method according to an exemplary embodiment. The method of the present application is applied to a smelting molten liquid temperature measurement robot. The smelting molten liquid temperature measurement robot is equipped with a temperature measuring gun, and the temperature measuring gun is equipped with a vibration sensor. The smelting molten liquid temperature measurement control method includes the following steps:

[0034] Step S11, while inserting the temperature measuring gun into the smelting melt, obtaining vibration data detected by a vibration sensor installed on the temperature measuring gun.

[0035] This application also uses the smelting molten liquid temperature measurement robot to insert the temperature measuring gun into the smelting molten liquid for temperature measurement to replace manual operation. Under the scheme of this application, the control of the smelting molten liquid temperature measurement robot is not to insert the temperature measuring gun according to a preset fixed insertion depth, but to obtain the vibration data of the temperature measuring gun during the insertion into the smelting molten liquid for subsequent processing and control. In practical applications, the vibration data obtained can be collected continuously or at preset time intervals, such as but not limited to setting the collection time interval to 10ms.

[0036] Step S12: using the vibration data, determine whether the temperature measuring gun penetrates the slag layer and extends into the smelting melt.

[0037] When the smelting molten liquid temperature measuring robot is inserting the temperature measuring gun into the smelting molten liquid, the slag layer is viscous, the smelting molten liquid has large buoyancy, and the argon gas stirring factor keeps turning over. When the temperature measuring gun passes through the slag layer and enters the smelting molten liquid, the vibration of the temperature measuring gun will be significantly different. Therefore, by obtaining the vibration data and analyzing the changes in the vibration data, it can be determined whether the temperature measuring gun has passed through the slag layer and extended into the smelting molten liquid. This can ensure that the temperature measuring gun is inserted into the smelting molten liquid at an appropriate depth, rather than being inserted too shallowly, or not reaching the smelting molten liquid surface, or being inserted too deep.

[0038] In one embodiment, the use of the vibration data to determine whether the temperature measuring gun penetrates the slag layer and extends into the smelting molten metal includes:

[0039] Using the vibration data, the vibration condition of the temperature measuring gun is obtained, and the vibration condition includes: amplitude change and / or vibration frequency change;

[0040] When the vibration condition of the temperature measuring gun meets the small amplitude and / or large frequency conditions of the preset standard, it is determined that the temperature measuring gun penetrates the slag layer and extends into the smelting melt.

[0041] Specifically, the vibration conditions may include: changes in amplitude and / or changes in vibration frequency. The more types of vibration data there are, the more conducive it is to judging whether the temperature gun has penetrated the slag layer and extended into the smelting molten liquid. Taking the vibration data including changes in amplitude and vibration frequency as an example, when the temperature gun passes through the slag layer and enters the smelting molten liquid, the vibration of the temperature gun will be significantly different, which is specifically reflected in the amplitude being significantly smaller, but the vibration frequency being significantly larger. In practical applications, the amplitude and vibration frequency thresholds when the temperature gun passes through the slag layer and enters the smelting molten liquid can be determined experimentally, with the small amplitude and large vibration frequency conditions being less than or equal to the amplitude threshold and greater than or equal to the vibration frequency threshold as the preset standards. When this condition is met, it is determined that the temperature gun has penetrated the slag layer and extended into the smelting molten liquid.

[0042] Step S13: When it is determined that the temperature measuring gun has penetrated the slag layer and extended into the smelting molten metal, the temperature measuring gun is controlled to perform temperature measurement.

[0043] Through the vibration data of the temperature measuring gun, it can be determined that the temperature measuring gun extends through the slag layer into the smelting melt. In this case, controlling the temperature measuring gun to perform temperature measurement can accurately measure the temperature of the smelting melt, thereby improving the practicality of the smelting melt robot temperature measurement.

[0044] In a practical application, when it is determined that the temperature measuring gun has penetrated through the slag layer and extended into the smelting melt, the temperature measuring gun can be controlled to start temperature measurement, and after the temperature is measured, the gun can be immediately retracted.

[0045] In another embodiment, in order to ensure that the temperature measurement is accurate and reliable, the present application also provides the following solution for step S13:

[0046] Further, when it is determined that the temperature measuring gun penetrates the slag layer and extends into the smelting molten metal, controlling the temperature measuring gun to perform temperature measurement processing includes:

[0047] When it is determined that the temperature measuring gun has penetrated the slag layer and extended into the smelting molten liquid, the temperature measuring gun is controlled to continue extending into the preset distance within the preset time;

[0048] When the preset distance is reached, the temperature measurement is turned on, and when the temperature measurement stays for the preset time, the temperature gun is lifted at the preset fastest speed.

[0049] Specifically, the temperature measuring gun continues to extend a preset distance within a preset time, and the preset distance is the redundancy of the temperature measuring gun's continued penetration. By controlling the temperature measuring gun to continue to extend a preset distance within a preset time when it is determined that the temperature measuring gun extends through the slag layer into the smelting melt, the depth of the temperature measuring gun extending into the smelting melt can be guaranteed to be reliable. In actual applications, after determining that the temperature measuring gun extends through the slag layer into the smelting melt, the distance that the temperature measuring gun continues to penetrate into the smelting melt is controlled not to be too large, such as inserting 10 cm in depth within 500ms.

[0050] When the preset distance is reached, it can be ensured that the temperature measuring gun has been reliably inserted into the molten metal. At this time, the temperature measurement is turned on, and the preset dwell time (the preset dwell time may include but is not limited to 3 seconds) helps to ensure that the temperature of the molten metal is transmitted to the temperature measuring element in the gun head, thereby accurately measuring the temperature of the molten metal. Then, the temperature measuring gun is lifted at the preset fastest speed, which helps the gun head not to be stuck with slag.

[0051] Through the above-mentioned embodiment scheme explanation, using the method of the present application, the smelting melt temperature measuring robot can measure the temperature of the smelting melt to obtain accurate temperature, which helps to greatly improve the practicality of the equipment and helps to avoid inaccurate temperature measurement or burning of the gun tip.

[0052] See also Figure 2 , Figure 2 1 is a block diagram of a smelting molten liquid temperature measurement control device according to an exemplary embodiment. The smelting molten liquid temperature measurement control device 2 includes:

[0053] A vibration data acquisition module 21 is used to acquire vibration data detected by a vibration sensor installed on the temperature measuring gun during the process of inserting the temperature measuring gun into the smelting molten metal;

[0054] A determination module 22 for reaching the molten metal is used to determine whether the temperature measuring gun penetrates the slag layer and reaches the smelting molten metal by using the vibration data;

[0055] The temperature measurement processing module 23 is used to control the temperature measurement gun to perform temperature measurement processing when it is determined that the temperature measurement gun has penetrated the slag layer and extended into the smelting melt.

[0056] Furthermore, the module 22 for penetrating into the melt is specifically used for: utilizing the vibration data to obtain the vibration condition of the temperature measuring gun, wherein the vibration condition includes: amplitude change and / or vibration frequency change; when the vibration condition of the temperature measuring gun meets the preset standard small amplitude and / or large frequency conditions, it is determined that the temperature measuring gun passes through the slag layer and extends into the smelting melt.

[0057] Furthermore, the temperature measurement processing module 23 is specifically used to: when it is determined that the temperature measuring gun has penetrated the slag layer and extended into the smelting melt, control the temperature measuring gun to continue to extend a preset distance within a preset time; when the preset distance is completed, start the temperature measurement, and when the temperature measurement residence reaches a preset residence time, lift the temperature measuring gun at a preset fastest speed.

[0058] Regarding the smelting melt temperature measurement and control device 2 in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiments of the above related methods, and will not be elaborated here.

[0059] See also Figure 3 , Figure 3It is a block diagram of a smelting melt temperature measuring robot according to an exemplary embodiment. The smelting melt temperature measuring robot 3 is configured with a temperature measuring gun 31, and the temperature measuring gun 31 is configured with a vibration sensor 301. The smelting melt temperature measuring robot 3 is used to execute any of the methods described above.

[0060] Furthermore, the vibration sensor 301 may be a three-dimensional vibration sensor.

[0061] In practical applications, the vibration sensor 301 can be configured in the gun barrel of the temperature measuring gun 31, for example, set at the front end of the gun barrel. When the temperature measuring gun 31 passes through the slag layer and enters the smelting melt, the vibration of the temperature measuring gun 31 will have obvious differences. By setting the vibration sensor 301 at the front end of the gun barrel, the detected vibration difference will be more obvious.

[0062] In actual applications, the smelting melt temperature measuring robot 3 can be configured with a PLC controller, and the vibration sensor 301 is connected to the PLC controller. The PLC controller can obtain the vibration data detected by the vibration sensor 301 with a period of 10ms, and analyze the vibration of the temperature measuring gun 31 to determine whether the temperature measuring gun 31 passes through the slag layer and enters the smelting melt, so as to control the temperature measuring gun 31 to perform temperature measurement.

[0063] See also Figure 4 , Figure 4 It is a schematic block diagram of a smelting system according to an exemplary embodiment. The smelting system 4 includes: a smelting furnace 5, and the smelting melt temperature measuring robot 3 as described above.

[0064] Furthermore, the smelting furnace 5 may be an electric arc furnace or a refining furnace.

[0065] Specifically, taking the smelting of steel in the smelting furnace 5 as an example, after the ore is melted, the state in the smelting furnace 5 is molten steel and slag floating on the molten steel. When the temperature measuring gun 31 of the smelting molten liquid temperature measuring robot 3 passes through the slag layer and enters the molten steel, due to the large influence of the buoyancy of the molten steel and the continuous stirring of the argon gas, the temperature measuring gun 31 has obvious differences. Through the difference in the change of vibration data, it can be determined that the temperature measuring gun 31 passes through the slag layer and extends into the molten steel. In this way, the temperature measuring gun 31 is controlled to perform temperature measurement processing, and the temperature of the molten steel can be accurately measured.

[0066] Specifically, for the smelting system 4, the specific method of measuring the temperature of the smelting melt has been described in detail in the embodiment of the method, and will not be elaborated here.

[0067] In addition, the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute any of the above methods. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk (HDD), or a solid-state drive (SSD); the storage medium may also include a combination of the above-mentioned types of memory.

[0068] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0069] It should be noted that, in the description of this application, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" and "multiple" refers to at least two.

[0070] It should be understood that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. In addition, the "connection" used here may include wireless connection; the wording "and / or" used includes any unit and all combinations of one or more associated listed items.

[0071] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0072] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0073] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0074] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0075] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0076] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0077] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for measuring and controlling the temperature of smelting liquid, characterized in that: The method comprises: During the process of inserting the temperature measuring gun into the smelting melt, vibration data detected by a vibration sensor installed on the temperature measuring gun is obtained; Using the vibration data, determining whether the temperature measuring gun penetrates the slag layer and extends into the smelting molten metal, including: using the vibration data, obtaining the vibration condition of the temperature measuring gun, the vibration condition including: amplitude change and / or vibration frequency change; when the vibration condition of the temperature measuring gun meets the small amplitude and / or large vibration frequency conditions of the preset standard, determining that the temperature measuring gun penetrates the slag layer and extends into the smelting molten metal; When it is determined that the temperature measuring gun has penetrated the slag layer and extended into the smelting melt, the temperature measuring gun is controlled to perform temperature measurement, including: when it is determined that the temperature measuring gun has penetrated the slag layer and extended into the smelting melt, the temperature measuring gun is controlled to continue to extend a preset distance within a preset time; when the preset distance is completed, the temperature measurement is turned on, and when the temperature measurement residence reaches a preset residence time, the temperature measuring gun is lifted at a preset maximum speed.

2. A smelting molten liquid temperature measurement and control device, characterized in that: The device comprises: A vibration data acquisition module is used to acquire vibration data detected by a vibration sensor installed on the temperature measuring gun during the process of extending the temperature measuring gun into the smelting molten metal; a module for determining whether the temperature measuring gun extends through the slag layer into the smelting molten metal is used to use the vibration data to determine whether the temperature measuring gun extends through the slag layer into the smelting molten metal; specifically, it is used to: use the vibration data to obtain the vibration condition of the temperature measuring gun, and the vibration condition includes: amplitude change and / or vibration frequency change; when the vibration condition of the temperature measuring gun meets the preset standard small amplitude and / or large vibration frequency conditions, it is determined that the temperature measuring gun extends through the slag layer into the smelting molten metal; The temperature measurement processing module is used to control the temperature measuring gun to perform temperature measurement processing when it is determined that the temperature measuring gun has penetrated the slag layer and extended into the smelting melt. Specifically, when it is determined that the temperature measuring gun has penetrated the slag layer and extended into the smelting melt, it controls the temperature measuring gun to continue to extend a preset distance within a preset time; when the preset distance is completed, the temperature measurement is started, and when the temperature measurement residence reaches a preset residence time, the temperature measuring gun is lifted at a preset fastest speed.

3. A smelting molten liquid temperature measuring robot, the smelting molten liquid temperature measuring robot is equipped with a temperature measuring gun, characterized in that: The temperature measuring gun is provided with a vibration sensor, and the smelting melt temperature measuring robot is used to execute the method as claimed in claim 1.

4. The smelting melt temperature measuring robot according to claim 3 is characterized in that: The vibration sensor is a three-dimensional vibration sensor.

5. A smelting system, characterized in that: include: A smelting furnace and a smelting melt temperature measuring robot as claimed in claim 3 or 4.

6. The smelting system according to claim 5, characterized in that: The smelting furnace is an electric arc furnace or a refining furnace.

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