An oxygen lance holder and nozzle burning system with visual recognition

Abstract

This invention belongs to the technical field of iron and steel metallurgical equipment and discloses an oxygen lance clamp and nozzle burning system with visual recognition. The system includes a housing, a clamping device, and an image acquisition device. Both the clamping device and the image acquisition device are housed within the housing. The housing has a through hole corresponding to the position of the clamping device, through which the oxygen lance tube passes and is clamped. The housing also has an image acquisition hole corresponding to the position of the image acquisition device, allowing the image acquisition device to acquire on-site image information. This oxygen lance clamp and nozzle burning system enables unmanned operation during nozzle burning, preventing splashed molten steel from threatening the safety of on-site personnel.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of steel metallurgical equipment, in particular to an oxygen lance clamp with visual identification and a nozzle burning system. BACKGROUND

[0002] In the hot repair steel operation of a ladle, an oxygen lance pipe is needed to burn the nozzle of the lower nozzle to blow the solidified steel slag in the lower nozzle into molten steel and flow out of the lower nozzle, so that the next ladle of molten steel can flow out of the lower nozzle smoothly. The existing nozzle burning method is mostly manual holding of the oxygen lance pipe to burn the nozzle. Manual operation is not conducive to the personal safety of workers on site. Some schemes use robots to hold the oxygen lance pipe to burn the nozzle. When the robot holds the oxygen lance pipe to burn the nozzle, an observer needs to be arranged on site to observe whether the position of the oxygen lance pipe held by the robot is aligned with the lower nozzle and the blowing condition of the steel slag in the lower nozzle. This situation also threatens the personal safety of the observer on site. SUMMARY

[0003] In order to solve the problem that the nozzle burning operation based on the robot cannot realize unmanned operation on site, the present application provides an oxygen lance clamp for nozzle burning and a nozzle burning system.

[0004] In order to solve the above technical problems, the present application provides an oxygen lance clamp for nozzle burning. The oxygen lance clamp comprises a shell, a clamping device and an image acquisition device. The clamping device and the image acquisition device are both arranged in the shell. The shell is provided with a through hole corresponding to the position of the clamping device, through which the oxygen lance pipe passes and is clamped by the clamping device. The shell is provided with an image acquisition hole corresponding to the position of the image acquisition device, through which the image acquisition device acquires image information on site.

[0005] In the embodiment of the present application, the image acquisition device comprises a camera and an infrared detector, and the image information comprises a two-dimensional image and a thermal image. The camera acquires the two-dimensional image through the image acquisition hole, and the infrared detector acquires the thermal image through the image acquisition hole.

[0006] In the embodiment of the present application, the oxygen lance clamp with visual identification further comprises a lens protection device. The lens protection device comprises a protection sheet and a driving member. The driving member is fixed in the shell and connected with the protection sheet to drive the protection sheet to close or open the image acquisition hole.

[0007] In the embodiment of the present application, the driving member is a three-axis cylinder, and the protection sheet is a ceramic sheet. The three-axis cylinder is provided with a mounting plate on the output shaft for connecting the ceramic sheet.

[0008] In an embodiment of the present invention, the oxygen lance clamp with visual recognition further includes a control module disposed within the housing. The image acquisition device and the driving component are both electrically connected to the control module, so that when the image acquisition device acquires image information, it triggers the control module to control the driving component to drive the lens protection to open the image acquisition hole.

[0009] In an embodiment of the present invention, a quick-change female disk is provided on the housing, the quick-change female disk is flush with the outer surface of the housing, the control module is electrically connected to the quick-change female disk and integrates a signal jack on the outer surface of the quick-change female disk.

[0010] In an embodiment of the present invention, the surface of the housing is provided with a nitrogen connection pipe that can be connected to an external nitrogen source to cool the interior of the housing by nitrogen blowing; and / or the outer surface of the housing is covered with a heat insulation sheet, and a heat-conducting sheet is provided inside the housing.

[0011] To solve the above-mentioned technical problems, the present invention also provides a sprue burning system, the sprue burning system including a robot, a control cabinet and the above-mentioned oxygen lance clamp, the control cabinet being electrically connected to the robot to control the movement of the robot, and the end of the robot being provided with a connector that connects to the housing.

[0012] In an embodiment of the present invention, the control cabinet is equipped with a display screen, and the image information acquired by the image acquisition device is transmitted to the display screen through the robot.

[0013] In an embodiment of the present invention, a temperature sensor is provided inside the housing, and the internal temperature of the housing detected by the temperature sensor is transmitted to the display screen through the robot.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] The oxygen lance clamp is connected to the robot, and the oxygen lance tube is clamped by the clamping device. The image acquisition device collects image information from the site, so that the staff can remotely control the robot to perform the sprue burning operation. The image information collected by the image acquisition device can obtain the location of the sprue and the slag purging situation. There is no need to arrange staff at the sprue burning operation site, which prevents the personal safety of the staff from being endangered by splashing molten steel. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0017] Figure 1This is a three-dimensional structural diagram of an oxygen lance clamp connected to a robot according to an embodiment of the present invention;

[0018] Figure 2 This is a three-dimensional structural diagram of an oxygen lance clamp provided in an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the frontal explosion structure of an oxygen lance clamp provided in an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the exploded structure of the oxygen lance clamp on the back according to an embodiment of the present invention;

[0021] Figure 5 This is a three-dimensional structural diagram of the image acquisition device and lens protection device in an oxygen lance clamp provided in an embodiment of the present invention.

[0022] Explanation of reference numerals in the attached figures

[0023] 1. Oxygen lance clamp; 11. Housing; 12. Clamping device; 13. Image acquisition device; 14. Lens protection device; 15. Control module; 111. Through hole; 112. Image acquisition hole; 113. Quick-change mother plate; 114. Nitrogen connection pipe; 115. Heat insulation sheet; 116. Heat conduction sheet; 131. Camera; 132. Infrared detector; 141. Protective sheet; 142. Drive component; 143. Mounting plate; 1131. Signal jack; 2. Robot; 3. Oxygen lance tube. Detailed Implementation

[0024] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0025] Embodiments of the present invention provide an oxygen lance clamp with visual recognition, which enables workers to remotely observe the slag blowing situation inside the nozzle through a vision module inside the oxygen lance clamp when the robot is connected to the oxygen lance clamp and holds the oxygen lance tube for nozzle burning operations. This eliminates the need for on-site observers to monitor the slag blowing situation inside the nozzle, avoiding injury to on-site observers from splashed molten iron, and achieving the effect of unmanned operation of the ladle during robot-based nozzle burning.

[0026] like Figures 1-3As shown, the oxygen lance clamp 1 with visual recognition of the present invention includes a housing 11, a clamping device 12, and an image acquisition device 13. The clamping device 12 and the image acquisition device 13 are both disposed inside the housing 11. The housing 11 has a through hole 111 at the position corresponding to the clamping device 12, through which the oxygen lance tube 3 passes and is clamped by the clamping device 12. The housing 11 has an image acquisition hole 112 at the position corresponding to the image acquisition device 13, so that the image acquisition device 13 can acquire on-site image information through the image acquisition hole 112.

[0027] An image acquisition device 13 and a clamping device 12 are installed inside the housing 11, and a through hole 111 is opened in the housing 11 at the position corresponding to the clamping device 12, so that the oxygen lance tube 3 passes through the through hole 111 and is clamped by the clamping device 12. An image acquisition hole 112 is opened in the housing 11 at the position corresponding to the image acquisition device 13, so that the image acquisition device 13 can collect the position of the drain outlet and the purging situation of the steel slag in the drain outlet through the image acquisition hole 112. During the slag ablation operation, the oxygen lance clamp 1 is mounted on the robot 2. The robot 2 moves the oxygen lance clamp 1 to hold the oxygen lance tube 3. As the oxygen lance clamp 1 moves with the robot 2, the image acquisition device 13 captures the image of the slag ablation port 112 in real time. Remote personnel control the robot 2 to insert the oxygen lance tube 3 into the slag ablation port based on the image of the slag ablation port for slag purging. During purging, the image acquisition device 13 can also capture the slag purging situation in the slag ablation port, so that remote personnel can observe the slag ablation port and control the robot 2 to pull the oxygen lance tube 3 out of the slag ablation port in time after the slag ablation port is cleared, thus avoiding the waste of oxygen resources.

[0028] In the above example, by installing the oxygen lance clamp 1 on the robot 2 and using the image acquisition device 13 to obtain the position of the slag outlet and the slag blowing situation inside the slag outlet, the robot 2 can achieve unmanned operation of the slag outlet burning operation site after clamping the oxygen lance tube 3 with the oxygen lance clamp 1, thus avoiding the molten iron from causing personal injury to the on-site observers.

[0029] In the above example, the clamping device 12 can be in the form of a pneumatic gripper or a chuck. In order to strengthen the clamping of the oxygen lance tube 3 by the clamping device 12, the clamping device 12 in this invention adopts a three-jaw chuck to clamp the oxygen lance tube 3. When the three-jaw chuck is in the open state, the oxygen lance tube 3 passes through the through hole 111 and is located in the center position of the three-jaw chuck. By controlling the three-jaw chuck to close, the three jaws of the three-jaw chuck move closer to the center position at the same time and clamp the oxygen lance tube 3, thereby completing the clamping of the oxygen lance tube 3. By connecting the external oxygen source to the oxygen lance tube 3, oxygen can be sprayed out from the end of the oxygen lance tube 3 near the drain outlet. The sprayed oxygen can be blown and burned when it encounters an open flame, thus achieving the purpose of burning the drain outlet.

[0030] likeFigure 3 As shown, in an embodiment of the present invention, the image acquisition device 13 includes a camera 131 and an infrared detector 132. The image information includes a two-dimensional image and a thermal image. The camera 131 acquires the two-dimensional image through the image acquisition hole 112, and the infrared detector 132 acquires the thermal image through the image acquisition hole 112.

[0031] By acquiring two-dimensional images through camera 131, the robot 2 can move the oxygen lance tube 3 to search for the outlet. The camera 131 can also acquire two-dimensional images of the ladle in real time. Remote personnel can then search for the outlet from the two-dimensional images of the ladle. When the personnel find the outlet in the two-dimensional images of the ladle, they can control the robot 2 to move towards the outlet and continue to acquire two-dimensional images of the oxygen lance tube 3 and the outlet through camera 131. This allows the personnel to determine whether the positions of the oxygen lance tube 3 and the outlet are aligned, preventing damage to the ladle furnace caused by the oxygen lance tube 3 not being accurately inserted into the outlet for oxygen blowing.

[0032] Infrared detector 132 detects thermal images, or thermal images, so that when robot 2 drives oxygen lance tube 3 to perform nozzle burning operations, infrared detector 132 detects the thermal images inside the nozzle. This allows remote personnel to determine whether the steel slag inside the nozzle has been completely burned and whether the nozzle is clear. It can be understood that when there is unburned steel slag inside the nozzle, the temperature of the steel slag rises when oxygen lance tube 3 blows oxygen into the nozzle for burning, resulting in a significant difference in thermal radiation between the nozzle and the surrounding area. When the steel slag inside the nozzle is completely burned, the oxygen and heat blown by oxygen lance tube 3 enter the ladle furnace, while the temperature rise at the nozzle is less. Therefore, the difference in thermal radiation between the nozzle and the surrounding area is smaller at this time. This allows personnel to accurately determine the slag blowing status inside the nozzle and avoid wasting oxygen resources by continuing to blow oxygen after the nozzle has been cleared.

[0033] Because the temperature inside the sprue and oxygen lance tube 3 becomes excessively high during the sprue burning operation, and the image acquisition device 13 needs to acquire images from the site through the image acquisition hole 112, the high temperature in the environment and splashing molten steel can also enter the housing 11 through the image acquisition hole 112, which may cause the lens of the image acquisition device 13 to be damaged by the high temperature. Therefore, the image acquisition device 13 also needs to be protected. Figure 5 As shown, in an embodiment of the present invention, the oxygen lance clamp 1 further includes a lens protection device 14, which includes a protective sheet 141 and a driving member 142. The driving member 142 is fixed inside the housing 11 and connected to the protective sheet 141 to drive the protective sheet 141 to close or open the image acquisition hole 112.

[0034] The image acquisition device 13 is protected by the lens protection device 14, thereby preventing damage to the image acquisition device 13 caused by high temperature and molten iron. Specifically, when the image acquisition device 13 needs to acquire on-site image information, the lens protection device 14 does not protect the image acquisition device 13. That is, the driving component 142 drives the protective plate 141 to move away from the image acquisition hole 112 so that the image acquisition device 13 can acquire on-site image information normally. When the image acquisition device 13 does not need to acquire on-site image information, the lens protection device 14 begins to protect the image acquisition device 13. That is, the driving component 142 drives the protective plate 141 to move to the image acquisition hole 112 to close the image acquisition hole 112, thereby preventing high temperature and molten iron from entering the housing 11 from the image acquisition hole 112 and causing damage to the image acquisition device 13.

[0035] In an embodiment of the present invention, the driving component 142 is a three-axis cylinder, the protective plate 141 is a ceramic plate, and the output shaft of the three-axis cylinder is provided with a mounting plate for connecting the ceramic plate.

[0036] The drive unit 142 is equipped with a three-axis cylinder, and the protective plate 141 is a ceramic plate. After the ceramic plate is mounted on the three-axis cylinder through the mounting plate, it can be driven by the three-axis cylinder to move. The movement of the ceramic plate by the three-axis cylinder can make the movement of the ceramic plate more stable and prevent the movement trajectory of the ceramic plate from being uneven, which would prevent the ceramic plate from completely sealing the image acquisition hole 112. By using the ceramic plate as the protective plate 141, after the ceramic plate seals the image acquisition hole 112, it can not only prevent molten iron from entering the housing 11, but also isolate most of the high temperature at the site, preventing the heat at the site from being transferred to the inside of the housing 11 through the ceramic plate, which would cause the internal components of the housing 11 to overheat and malfunction.

[0037] The protective plate 141 is driven to move by a three-axis cylinder, which simplifies the driving method and structure of opening or closing the image acquisition hole 112 and makes it easier to maintain the lens protection device 14. In other embodiments, the driving component 142 can also be a combination of a motor, gear, and rack. The protective plate 141 is fixedly connected to the rack. The rotation of the motor drives the gear to rotate, and the rack changes the rotational motion into linear motion, thereby allowing the protective plate 141 to open or close the image acquisition hole 112 under the linear motion of the rack. Similarly, the image acquisition device 13 can collect image information on site when the image acquisition hole 112 is open, and close the image acquisition hole 112 when the image acquisition device 13 does not need to collect image information, so as to protect the image acquisition device 13.

[0038] In an embodiment of the present invention, the oxygen lance clamp 1 further includes a control module 15 disposed within the housing 11. The image acquisition device 13 and the drive component 142 are both electrically connected to the control module 15, so that when the image acquisition device 13 acquires image information, it triggers the control module 15 to control the drive component 142 to drive the lens protection to open the image acquisition hole 112.

[0039] By setting the control module 15 inside the housing 11 and electrically connecting the control module 15 to the drive unit 142 and the image acquisition device 13, when it is necessary to acquire image information of sprue burn, the control module 15 can control the drive unit 142 to drive the protective plate 141 to move away from the image acquisition hole 112. After acquiring the image information of sprue burn, the control module 15 can control the drive unit 142 to drive the protective plate 141 to close the image acquisition hole 112. Specifically, when the staff remotely controls the image acquisition device 13 to perform image acquisition operations on the control cabinet of robot 2, the control module 15 receives the image acquisition command issued by the image acquisition device 13 and triggers the drive component 142 to drive the protective plate 141 to move away from the image acquisition hole 112. When the image acquisition work is completed, the staff controls the image acquisition device 13 to end the image acquisition work through the control cabinet. After the control module 15 receives the end image acquisition command issued by the image acquisition device 13, it triggers the drive component 142 to drive the protective plate 141 to close to the image acquisition hole 112, thereby realizing intelligent protection of the image acquisition device 13 under the action of the control module 15.

[0040] In an embodiment of the present invention, a quick-change mother plate 113 robot 2 is provided on the housing 11. The quick-change mother plate 113 robot 2 is flush with the outer surface of the housing 11. The control module 15 is electrically connected to the quick-change mother plate 113 robot 2 and integrates a signal jack 1131 on the outer surface of the quick-change mother plate 113 robot 2.

[0041] The quick-change disc is set flush with the outer surface of the housing 11, which reduces the overall volume of the oxygen lance holder 1 and facilitates the connection of the robot 2 to the oxygen lance holder 1 via the quick-change disc. This allows the robot 2 to drive the oxygen lance holder 1 for subsequent nozzle burning operations. The quick-change mother disc 113 of the robot 2 is integrated with a signal jack 1131 that is electrically connected to the control module 15. This allows the robot 2 to supply power to the control module 15 via the signal jack 1131 after being connected to the quick-change mother disc 113. Since the image acquisition device 13 and the drive component 142 are both electrically connected to the control module 15, the image acquisition device 13 can perform image acquisition operations after the oxygen lance holder 1 is connected to the robot 2. With the cooperation of the control module 15 and the drive component 142, the protective plate 141 protects the image acquisition device 13.

[0042] It is understood that the end of robot 2 is equipped with a quick-change male plate that is compatible with quick-change female plate 113 robot 2, and the quick-change male plate and quick-change female plate 113 robot 2 cooperate to connect with oxygen lance clamp 1, so as to facilitate quick connection and disassembly of robot 2 and oxygen lance clamp 1. The quick-change female plate 113 robot 2 also integrates a power and air socket for electrical connection of quick-change male plate. The quick-change male plate is equipped with a plug that aligns with the socket. After the quick-change male plate is inserted into quick-change female plate 113 robot 2, the plug is inserted into the socket and the circuit and air circuit inside quick-change female plate 113 robot 2 are activated. At this time, the piston plate inside quick-change female plate 113 robot 2... Driven by the electrical circuit and pneumatic circuit, the piston plate moves and causes the balls inside the quick-change female disc 113 robot 2 to abut against the quick-change male disc and form a locking engagement. The piston plate is held in its current position by the air pressure in the pneumatic circuit, thus preventing the quick-change male disc from separating from the quick-change female disc 113 robot 2. By controlling the electrical circuit and pneumatic circuit inside the quick-change female disc 113 robot 2 to disconnect, the piston plate can be moved away from its current position, thereby giving the balls room to move. Once the balls are released from the contact with the quick-change male disc, the quick-change male disc can be pulled out of the quick-change female disc 113 robot 2, thus completing the disassembly of the quick-change male disc and the quick-change female disc 113 robot 2.

[0043] like Figures 3-4 As shown, in an embodiment of the present invention, the surface of the housing 11 is provided with a nitrogen connection pipe 114 that can be connected to an external nitrogen source to blow nitrogen into the interior of the housing 11 for cooling. Thus, when using the oxygen lance clamp 1 to perform sprue burning operations, the external nitrogen source is connected to the nitrogen connection pipe 114 so that nitrogen is blown into the interior of the housing 11 under the action of the nitrogen connection pipe 114, thereby avoiding the situation where the temperature inside the housing 11 is too high and the image acquisition device 13 is damaged by high temperature.

[0044] In an embodiment of the present invention, the outer surface of the housing 11 is covered with a heat insulation sheet 115, and a heat-conducting sheet 116 is disposed inside the housing 11.

[0045] By providing a heat insulation sheet 115 on the outer surface of the housing 11, the outer surface of the housing 11 is insulated from the high temperature of the site by the heat insulation sheet 115, thus preventing heat from being transferred from the surface of the housing 11 to the interior of the housing 11 and causing adverse effects on the image acquisition device 13. By providing a heat conduction sheet 116 inside the housing 11, the heat emitted by the image acquisition device 13 during operation is transferred to the heat conduction sheet 116, which also prevents the image acquisition device 13 from malfunctioning due to excessive temperature. The heat insulation sheet 115 is a ceramic sheet, and the heat conduction sheet 116 is a heat-conducting aluminum profile.

[0046] To address the problems existing in the prior art, the present invention also provides a sprue burning system, which includes a robot 2, a control cabinet, and the aforementioned oxygen lance clamp 1. The control cabinet is electrically connected to the robot 2 to control the movement of the robot 2, and the end of the robot 2 is provided with a connector that connects to the housing 11.

[0047] During the sprue burning operation, robot 2 can be deployed at the work site, and the control cabinet placed in the office. The oxygen lance clamp 1 is connected to robot 2 via a connector, allowing robot 2 to move the oxygen lance clamp 1. An image acquisition device 13 collects on-site image information, enabling staff to control robot 2 to move the oxygen lance clamp 1 to grasp the oxygen lance tube 3 and perform subsequent sprue burning. This achieves unmanned operation at the sprue burning site, preventing injury to on-site observers from molten iron. During the sprue burning operation, the image acquisition device 13 monitors the slag purging status inside the sprue, allowing remote staff to observe and promptly control robot 2 to pull the oxygen lance tube 3 out of the sprue after it is cleared, avoiding waste of oxygen resources. The connector is a quick-change male plate; robot 2 and oxygen lance clamp 1 are connected via the quick-change male plate and quick-change female plate 113, allowing robot 2 to quickly connect the oxygen lance clamp 1 to its end for subsequent sprue burning.

[0048] In the above example, the image information acquired by the image acquisition device 13 can be transmitted within a local area network via wired or wireless signals. When staff access the local area network, they can view the real-time image information acquired by the image acquisition device 13 and use the image information to control the robot 2 to drive the oxygen lance clamp 1 to grab the oxygen lance tube 3 and perform subsequent water nozzle burning operations.

[0049] In an embodiment of the present invention, a display screen is provided on the control cabinet. The image information collected by the image acquisition device 13 is transmitted to the display screen through the robot 2, so that the staff can directly view the image information collected by the image acquisition device 13 through the display screen, and the staff can operate the robot 2 on the control cabinet to perform the sprue burning operation according to the image information, thereby improving the operation and portability of the sprue burning system.

[0050] In an embodiment of the present invention, a temperature sensor is provided inside the housing 11. The internal temperature of the housing 11 detected by the temperature sensor is transmitted to the display screen through the robot 2. Thus, when the robot 2 drives the oxygen lance clamp 1 to perform the sprue burning operation, the temperature sensor monitors the internal temperature of the housing 11 in real time, and the operator can obtain the internal temperature of the housing 11 through the display screen. Furthermore, when the internal temperature of the housing 11 is too high, nitrogen can be blown into the housing 11 by controlling the nitrogen connection pipe 114 to achieve the purpose of cooling the internal temperature of the housing 11 and preventing the image acquisition device 13 from being damaged due to excessively high internal temperature.

[0051] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings; however, the present invention is not limited thereto. Within the scope of the inventive concept, various simple modifications can be made to the technical solutions of the present invention, including combinations of various specific technical features in any suitable manner. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately. However, these simple modifications and combinations should also be considered as the content disclosed in the present invention and are all within the protection scope of the present invention.

[0052] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0053] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0054] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A visual identification oxygen lance clamp for robot nozzle preheating operation, characterized in that, The oxygen lance clamp comprises a shell, a clamping device and an image acquisition device, the clamping device and the image acquisition device are arranged in the shell, the shell is provided with a through hole corresponding to the position of the clamping device for the oxygen lance pipe to pass through, so that the oxygen lance pipe is clamped by the clamping device after passing through the through hole, and the shell is provided with an image acquisition hole corresponding to the position of the image acquisition device, so that the image acquisition device acquires image information on the spot through the image acquisition hole; The image acquisition device comprises a camera and an infrared detector, the image information comprises a two-dimensional image and a thermal image, the camera acquires the two-dimensional image through the image acquisition hole, and the infrared detector acquires the thermal image through the image acquisition hole; The oxygen lance clamp further comprises a lens protection device, the lens protection device comprises a protection sheet and a driving member, the driving member is fixed in the shell and connected with the protection sheet to drive the protection sheet to close or open the image acquisition hole; The driving member is a three-axis cylinder, the protection sheet is a ceramic sheet, and the three-axis cylinder is provided with a mounting plate connected with the ceramic sheet on the output shaft; The surface of the shell is provided with a nitrogen connection pipe capable of being connected with an external nitrogen source to cool the inside of the shell by blowing nitrogen; the outer surface of the shell is covered with a heat insulation sheet, and the shell is provided with a heat conducting sheet.

2. The lance clamp of claim 1, wherein: The oxygen lance clamp further comprises a control module arranged in the shell, the image acquisition device and the driving member are electrically connected with the control module, so that when the image acquisition device acquires image information, the control module controls the driving member to drive the protection sheet to open the image acquisition hole.

3. The lance clamp of claim 2, wherein: The shell is provided with a quick-change female disc flush with the outer surface of the shell, the control module is electrically connected with the quick-change female disc and integrated with a signal jack on the outer surface of the quick-change female disc.

4. A shroud burner system, characterized by, The water gap burning system comprises a robot, a control cabinet and the oxygen lance clamp according to any one of claims 1-3, the control cabinet is electrically connected with the robot to control the movement of the robot, and the end of the robot is provided with a connector connected with the shell.

5. The shroud system of claim 4, wherein: The control cabinet is provided with a display screen, and the image information acquired by the image acquisition device is transmitted to the display screen through the robot.

6. The shroud system of claim 5, wherein: The shell is provided with a temperature sensor, and the temperature inside the shell detected by the temperature sensor is transmitted to the display screen through the robot.

Images