Automatic positioning of the tuyere in a rotary furnace

Abstract

The application provides a rotary ore-heating furnace automatic positioning furnace eye operation method, which comprises the following steps: automatically rotating a furnace body of a rotary ore-heating furnace and detecting furnace body rotation data; calculating the rotation position of the furnace body; collecting the position parameters of automatic furnace discharge equipment and sending the position parameters to a calculation control module; determining the position information of the automatic furnace discharge equipment by the calculation control module and comparing the position information of the automatic furnace discharge equipment with the rotation position of the furnace body; when the position information of the automatic furnace discharge equipment corresponds to the rotation position of the furnace body, the automatic furnace discharge equipment operates the furnace eye; when there is deviation, the deviation value is calculated, and the automatic furnace discharge equipment is sent with an action instruction according to the deviation value data; and the automatic furnace discharge equipment operates the furnace eye after moving to the position according to the instruction. In the application, the position data is detected in real time, the position information is compared, the position is adjusted when there is deviation, and then the furnace eye is accurately operated, which is very safe and reliable.

Description

Technical Field

[0001] This invention generally relates to the operation of the borehole of a submerged arc furnace, and more specifically, to a method for automatically positioning the borehole of a rotary submerged arc furnace. Background Technology

[0002] A rotary submerged arc furnace is a type of smelting furnace that rotates over time during the smelting process. Rotation increases the smelting area within the furnace, reduces dead zones, and increases the yield. Because the furnace rotates continuously and non-directionally, manual operation of the unloading robot to locate the furnace borehole is time-consuming, increasing unloading time. Furthermore, the harsh environment—high temperatures, dust, and strong light—makes most detection systems unable to detect furnace rotation. The high temperatures also prevent most cameras and sensors from directly detecting the rotation. Additionally, the sheer size of the rotating furnace limits the measurement range of most testing institutions, leading to over-range detection issues.

[0003] Currently, some domestic tapping equipment only realizes the function of finding the furnace hole in fixed furnaces. However, finding the furnace hole in rotary furnaces often requires the full participation of personnel. When the on-site tapping environment deteriorates, personnel often need to evacuate from the tapping platform. If the tapping robot does not have the function of automatically finding the furnace hole, it will affect the on-site tapping operation.

[0004] Therefore, there is a need for a control method that can monitor the furnace rotation angle in real time and locate the furnace eye under high temperature and high brightness conditions, so as to improve the output efficiency of rotary submerged arc furnace. Summary of the Invention

[0005] A primary objective of this invention is to overcome at least one of the deficiencies of the prior art and to provide an automatic positioning method for the borehole of a rotary submerged arc furnace that can accurately position and operate the borehole.

[0006] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0007] According to one aspect of the present invention, an automatic positioning method for a rotary submerged arc furnace is provided, for automatically positioning the furnace bore of the rotary submerged arc furnace, comprising:

[0008] The furnace body of the rotary submerged arc furnace rotates automatically, and the rotation data of the furnace body is detected;

[0009] The detected rotation data of the furnace body is sent to the calculation and control module, and the rotation position of the furnace body is calculated.

[0010] The position parameters of the automatic unloading equipment are collected and sent to the calculation and control module.

[0011] The calculation and control module determines the position information of the automatic unloading equipment based on the position parameters of the automatic unloading equipment, and compares the position information of the automatic unloading equipment with the rotation position of the furnace body;

[0012] When the position information of the automatic unloading device corresponds to the rotation position of the furnace body, the automatic unloading device is activated to operate the furnace eye.

[0013] When the position information of the automatic unloading device deviates from the rotation position of the furnace body, the deviation value is calculated, and an action command is sent to the automatic unloading device based on the deviation value data.

[0014] After the automatic unloading equipment moves into position according to the instruction, it operates the furnace opening.

[0015] According to one embodiment of the present invention, an encoder is provided on the furnace body, the encoder detects the rotation data of the furnace body and sends the data to the computing control module.

[0016] According to one embodiment of the present invention, the automatic unloading equipment is an unloading machine.

[0017] According to one embodiment of the present invention, the furnace tapping machine includes a traveling part and an operating part, wherein the operating part includes any one or any combination of eye-opening device, eye-blocking device and eye-pulling device.

[0018] According to one embodiment of the present invention, when the position information of the automatic unloading device deviates from the rotation position of the furnace body, the angular deviation value between the two is calculated, and the calculated value of the position deviation between the two is calculated based on the angular deviation value. The actual value of the position deviation between the two includes the calculated value and the gap value.

[0019] According to one embodiment of the present invention, when the furnace body rotation direction is consistent with the gap value formation direction, the actual value is the sum of the calculated value and the gap value; when the furnace body rotation direction is opposite to the gap value formation direction, the actual value is the difference between the calculated value and the gap value.

[0020] According to one embodiment of the present invention, the calculated value is L = (2πR*α / 360)*η; where:

[0021] L: Calculated value;

[0022] R: Furnace body radius;

[0023] α: Angular deviation value;

[0024] η: Rotation detection conversion ratio.

[0025] According to one embodiment of the present invention, η is the rotation detection conversion ratio of the encoder.

[0026] According to one embodiment of the present invention, the computing control module is a central control module LP1210.

[0027] According to one embodiment of the present invention, the method further uses a video monitoring system, which includes a field camera device and a background control platform. The field camera device moves with the furnace eye control position under the control of the computing control module. The background control platform displays the field video information sent by the field camera device and can selectively send manual control commands to the automatic furnace unloading equipment and the field camera device.

[0028] As can be seen from the above technical solution, the advantages and positive effects of the synchronous measurement device for electrode pressure release in the electric arc furnace of the present invention are as follows:

[0029] In this invention, the furnace body rotation data and the automatic unloading equipment position data are detected in real time, the position information is compared, and the position is adjusted when there is a deviation. Then, the furnace hole is operated precisely, which is very safe and reliable and improves the operation quality. Attached Figure Description

[0030] Various objects, features, and advantages of the invention will become more apparent from the following detailed description of preferred embodiments of the invention, taken in conjunction with the accompanying drawings. The drawings are merely illustrative of the invention and are not necessarily drawn to scale. In the drawings, the same reference numerals always denote the same or similar parts. Wherein:

[0031] Figure 1 This is a schematic diagram illustrating the operation of the rotary submerged arc furnace automatic positioning borehole using an automatic unloading device in an exemplary embodiment of the present invention.

[0032] Figure 2 This is a schematic diagram illustrating the use of an encoder to detect furnace rotation data in the automatic positioning furnace eye operation method of the rotary submerged arc furnace of the present invention, as shown in an exemplary embodiment.

[0033] Figure 3 This is a schematic diagram illustrating a specific implementation of the calculation and control module in the automatic positioning furnace eye operation method of the rotary submerged arc furnace of the present invention, as shown in an exemplary embodiment.

[0034] Figure 4 This is a schematic diagram illustrating the use of a camera device for monitoring in the automatic positioning furnace eye operation method of the rotary submerged arc furnace of the present invention, as shown in an exemplary embodiment.

[0035] Figure 5 This is a schematic diagram illustrating the automatic positioning furnace eye operation method of the rotary submerged arc furnace of the present invention in an exemplary embodiment. Detailed Implementation

[0036] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that the invention will be thorough and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0037] In the following description of various examples of the invention, reference is made to the accompanying drawings, which form part of the invention, and in which different exemplary structures, systems, and steps that can implement various aspects of the invention are shown by way of example. It should be understood that other specific embodiments of the components, structures, exemplary devices, systems, and steps may be used, and structural and functional modifications may be made without departing from the scope of the invention. Furthermore, while the terms “top,” “bottom,” “front,” “rear,” “side,” etc., may be used in this specification to describe various exemplary features and elements of the invention, these terms are used herein only for convenience, such as the orientation according to the examples shown in the drawings. Nothing in this specification should be construed as requiring a specific three-dimensional orientation of the structure to fall within the scope of the invention.

[0038] Figure 1 This is a schematic diagram illustrating the operation of the rotary submerged arc furnace automatic positioning borehole using an automatic unloading device in an exemplary embodiment of the present invention.

[0039] Figure 2 This is a schematic diagram illustrating the use of an encoder to detect furnace rotation data in the automatic positioning furnace eye operation method of the rotary submerged arc furnace of the present invention, as shown in an exemplary embodiment.

[0040] Figure 3 This is a schematic diagram illustrating a specific implementation of the calculation and control module in the automatic positioning furnace eye operation method of the rotary submerged arc furnace of the present invention, as shown in an exemplary embodiment.

[0041] Figure 4 This is a schematic diagram illustrating the use of a camera device for monitoring in the automatic positioning furnace eye operation method of the rotary submerged arc furnace of the present invention, as shown in an exemplary embodiment.

[0042] Figure 5 This is a schematic diagram illustrating the automatic positioning furnace eye operation method of the rotary submerged arc furnace of the present invention in an exemplary embodiment.

[0043] like Figures 1 to 5 As shown, the automatic positioning method for the furnace bore 11 of the rotary submerged arc furnace in this embodiment is used to automatically position the furnace bore 11 of the rotary submerged arc furnace, including:

[0044] The furnace body 1 of the rotary submerged arc furnace rotates automatically, and the rotation data of the furnace body 1 is detected;

[0045] The detected rotation data of furnace body 1 is sent to the calculation and control module 4, and the rotation position of furnace body 1 is calculated.

[0046] The position parameters of the automatic unloading device 2 are collected and sent to the calculation and control module. The calculation and control module determines the position information of the automatic unloading device 2 based on the position parameters of the automatic unloading device 2 and compares the position information of the automatic unloading device 2 with the rotation position of the furnace body 1.

[0047] When the position information of the automatic unloading device 2 corresponds to the rotation position of the furnace body 1, the automatic unloading device 2 will operate and operate the furnace hole 11.

[0048] When the position information of the automatic unloading device 2 deviates from the rotation position of the furnace body 1, the deviation value is calculated, and an action command is sent to the automatic unloading device 2 based on the deviation value data.

[0049] After the automatic unloading device 2 moves into position according to the instructions, it operates the furnace hole 11.

[0050] In this embodiment, an external measuring structure 12 is provided on the furnace body 1. The external measuring structure 12 is a gear or a toothed column. The encoder 3 is fixedly installed close to the furnace body 1. The detection gear 31 of the encoder 3 meshes with the external measuring structure 12. When the external measuring structure 12 rotates with the furnace body 1, it drives the detection gear 31 to rotate, thereby enabling the encoder 3 to detect the rotation data of the furnace body 1 and send the data to the calculation and control module 4.

[0051] In this embodiment, the automatic unloading device 2 is an unloading machine, which includes a walking part 21 and an operating part 22. The walking part 21 moves precisely to a fixed position on a fixed track according to instructions, and the operating part 22 can operate the furnace hole 11 by extending, retracting and tilting.

[0052] In this embodiment, the operation unit 22 includes any one or a combination of several of the following: an opening device, a plugging device, and a pulling device. It can use various operating tools such as drill rods, pull rods, and electrode rods, with one end clamped on the furnace tapping machine and the other end performing corresponding operations on the furnace hole 11.

[0053] In this embodiment, when the position information of the automatic unloading device 2 deviates from the rotation position of the furnace body 1, the angular deviation value between the two is calculated, and the calculated value of the position deviation between the two is calculated based on the angular deviation value. The actual value of the position deviation between the two includes the calculated value and the gap value.

[0054] In this embodiment, when the rotation direction of the furnace body 1 is consistent with the direction in which the gap value is formed, the actual value is the sum of the calculated value and the gap value; when the rotation direction of the furnace body 1 is opposite to the direction in which the gap value is formed, the actual value is the difference between the calculated value and the gap value.

[0055] In this embodiment, the calculated value is L = (2πR*α / 360)*η; where:

[0056] L: Calculated value;

[0057] R: Radius of the furnace body;

[0058] α: Angular deviation value;

[0059] η: Rotation detection conversion ratio.

[0060] In this embodiment, η is the rotation detection conversion ratio of the encoder.

[0061] In this embodiment, the computing control module 4 is the central control module LP1210, which is communicatively connected to the display device 5 and the control device 6.

[0062] In this embodiment, a video monitoring system is also used. The video monitoring system includes a field camera device 7 and a back-end control platform. The field camera device 7 is mounted on a follow-up frame 71, which moves along the hanging rail 8 under the control of the computing control module 4, thereby allowing the field camera device 7 to move with the control position of the furnace eye 11. In this embodiment, the back-end control platform can be integrated with the computing control module 4. The display device 5 connected to it displays the field video information sent by the field camera device 7, and the control device 6 connected to it can selectively send manual control commands to the automatic furnace unloading equipment 2 and the field camera device 7.

[0063] As can be seen from the above technical solution, the advantages and positive effects of the synchronous measurement device for electrode pressure release in the electric arc furnace of the present invention are as follows:

[0064] In this invention, the rotation data of the furnace body 1 and the position data of the automatic unloading device 2 are detected in real time, the position information is compared, and the position is adjusted when there is a deviation. Then, the furnace hole 11 is operated precisely, which is very safe and reliable and improves the operation quality.

[0065] The operation process is as follows in the specific embodiments below:

[0066] Combination Figure 5 This embodiment describes the following steps:

[0067] Step 1: The high-temperature furnace body rotation detection unit (high-temperature encoder 3) transmits the real-time data of the furnace body 1 rotation to the control unit (computation control module 4);

[0068] Step 2: The robot unit (automatic processing device 2) transmits the spatial coordinates and multi-dimensional motion coordinates of the robot body (automatic processing device 2) to the control unit (computation and control module 4);

[0069] Step 3: The operator selects the tools (drill rod, tie rod, electrode rod, etc.) from the tool unit to be used.

[0070] Step 4: After receiving the information, the control unit (computation control module 4) performs path planning for the robot unit (automatic processing device 2) and transmits the information to the robot unit (automatic processing device 2).

[0071] Step 5: The mobile video monitoring unit (on-site camera device 7) transmits real-time information to the control unit (computation control module 4);

[0072] Step 6: The robot unit (automatic processing device 2) grabs the corresponding tool and moves it to the location of the furnace hole 11;

[0073] Step 7: Determine if the position of furnace hole 11 is the optimal unloading area. If yes, proceed with the alignment operation; otherwise, remind the unloading personnel whether to proceed with Step 7.

[0074] Step 8: If the position is confirmed, proceed with aligning the tool with the furnace eye 11; otherwise, return the tool.

[0075] Those skilled in the art should understand that the specific structures and processes shown in the above detailed embodiments are merely exemplary and not restrictive. Furthermore, those skilled in the art can combine the various technical features described above in various possible ways to form new technical solutions or make other modifications, all of which fall within the scope of this invention.

Claims

1. A method for automatically positioning the borehole of a rotary submerged arc furnace, used for automatically positioning the borehole of a rotary submerged arc furnace, characterized in that, include: The furnace body of the rotary submerged arc furnace rotates automatically, and the rotation data of the furnace body is detected. The high-temperature furnace body rotation detection unit transmits the real-time data of the furnace body rotation to the control unit. The detected rotation data of the furnace body is sent to the calculation and control module, and the rotation position of the furnace body is calculated. The position parameters of the automatic unloading equipment are collected and sent to the calculation and control module. The calculation and control module determines the position information of the automatic unloading equipment based on the position parameters of the automatic unloading equipment. The robot unit transmits the spatial coordinates and multi-dimensional motion coordinates of the robot body to the control unit and compares the position information of the automatic unloading equipment with the rotation position of the furnace body. When the position information of the automatic unloading device corresponds to the rotation position of the furnace body, the automatic unloading device is activated, and the operator selects the tool in the tool unit to operate the furnace eye. After receiving the information, the control unit performs path planning for the robot unit and transmits the information to the robot unit. When there is a deviation between the position information of the automatic unloading device and the rotation position of the furnace body, the deviation value is calculated, and an action command is sent to the automatic unloading device based on the deviation value. When there is a deviation between the position information of the automatic unloading device and the rotation position of the furnace body, the angular deviation value between the two is calculated, and the calculated value of the positional deviation is calculated based on the angular deviation value. An encoder is installed on the furnace body, which detects the rotation data of the furnace body and sends the data to the calculation control module. The calculated value is L = (2πR*α / 360)*η; where: L: Calculated value; R: Furnace body radius; α: Angular deviation value; η: Rotation detection conversion ratio of the encoder; After the automatic unloading equipment moves into position according to the instructions, the robot unit grabs the corresponding tool, moves to the location of the furnace eye, and determines whether the furnace eye position is the optimal unloading area. If yes, it performs the alignment operation with the furnace eye; otherwise, it reminds the unloading personnel whether to operate the furnace eye. If the position is confirmed, align the tool with the furnace eye; otherwise, return the tool.

2. The automatic positioning furnace eye operation method for a rotary submerged arc furnace as described in claim 1, characterized in that, An external measuring structure is installed on the furnace body, and the detection gear of the encoder meshes with the external measuring structure, with a gap value between the two meshing; the actual value of the deviation between the position information of the automatic furnace unloading device and the rotation position of the furnace body includes a calculated value and a gap value; when the rotation direction of the furnace body is consistent with the direction in which the gap value is formed, the actual value is the sum of the calculated value and the gap value; when the rotation direction of the furnace body is opposite to the direction in which the gap value is formed, the actual value is the difference between the calculated value and the gap value.

3. The automatic positioning furnace eye operation method for a rotary submerged arc furnace as described in claim 1, characterized in that, The automatic unloading equipment is a furnace unloading machine.

4. The automatic positioning furnace eye operation method for a rotary submerged arc furnace as described in claim 3, characterized in that, The furnace tapping machine includes a traveling part and an operating part. The operating part includes any one or a combination of several of the following: an eye-opening device, an eye-blocking device, and an eye-pulling device.

5. The automatic positioning furnace eye operation method for a rotary submerged arc furnace as described in claim 1, characterized in that, The computing control module is the central control module LP1210.

6. The automatic positioning furnace eye operation method for a rotary submerged arc furnace as described in any one of claims 1-5, characterized in that, The method also uses a video monitoring system, which includes on-site camera equipment and a back-end control platform. The on-site camera equipment moves with the furnace eye control position under the control of the computing control module. The back-end control platform displays the on-site video information sent by the on-site camera equipment and can selectively send manual control commands to the automatic furnace unloading equipment and the on-site camera equipment.

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