Method and device for distributing material in the area of the nozzle of a continuous casting crystallizer intelligent slagging robot

Abstract

The present application relates to the technical field of steelmaking, and particularly relates to a continuous casting crystallizer intelligent slagging robot ring water gap area distribution method and device, which comprises a ring water gap area distribution optimization technology and a device mechanism design for realizing the optimization method. Through the design of an omega-shaped slagging track and the application of an automatic turnover technology of a double-discharge opening, the present application realizes the maximization of a distribution coverage area and the intelligentization of a mechanical slagging system by cooperating with the action of an industrial robot, helps to realize the unmanned operation of a slagging process, and thus effectively avoids the invasion of a slagging worker in a harsh slagging environment, and makes contributions to improving the intelligentization of a continuous casting process and ensuring production safety.

Description

Technical Field

[0001] This invention relates to the field of steelmaking technology, and in particular to a method and apparatus for material distribution in the annular inlet area of ​​an intelligent slag-adding robot in a continuous casting crystallizer. Background Technology

[0002] In the steel industry, mold flux is a crucial additive in the production of continuously cast steel billets. A uniform layer of mold flux is needed to cover the surface of the molten steel in the rectangular molten cavity of the mold to stabilize the casting process and improve billet quality.

[0003] Chinese Patent Publication No. CN108941491A discloses an automatic slag feeder for a crystallizer, comprising: a base module, a movable frame mounted on the base module, a first driving device mounted on the movable frame for driving the movable frame to move longitudinally, a storage tank mounted on the movable frame, a material distribution device mounted on the movable frame and connected to the storage tank, a second driving device mounted on the movable frame for driving the material distribution device to move laterally, and a linkage mechanism mounted between the material distribution device and the second driving device and cooperating with the second driving device for driving. The material feeding device is equipped with symmetrical first and second mushroom-shaped material feeders. The first drive device drives the material feeding device to move longitudinally, and the second drive device drives the material feeding device to move laterally. This allows the first and second mushroom-shaped material feeders to move in a precise circular trajectory around the crystallizer nozzle. When the protective slag is dispersed along the discharge channel, a circular dispersion area is formed. However, the following problems exist: the slag feeding robot can only perform simple tasks, and workers are still required to perform high-intensity labor near the crystallizer nozzle in a harsh and dangerous environment. This method restricts the progress of continuous casting production technology. Summary of the Invention

[0004] To address this issue, the present invention provides a method and apparatus for material distribution in the ring nozzle area of ​​an intelligent slag-adding robot for continuous casting crystallizers, thereby overcoming the problem of manual material replenishment near the crystallizer nozzle in the prior art.

[0005] To achieve the above objectives, the present invention provides a method for material distribution in the annular nozzle area of ​​an intelligent slag-adding robot in a continuous casting crystallizer, comprising the following steps:

[0006] Step S1: Determine the basic flow rate of molten steel when the continuous casting machine starts casting;

[0007] Step S2: During the process of the molten steel level rising in the crystallizer, try closing the stopper rod 1-2 times, while ensuring the required emergence time is met.

[0008] Step S3: When the molten steel in the crystallizer reaches 70-100mm from the top opening, the casting machine starts the billet pulling and vibration devices while ensuring the emergence time.

[0009] Step S4: After the submerged nozzle outlet is submerged in molten steel, add protective slag.

[0010] Step S5: Add slag according to the calibrated motion trajectory. The robot's material conveying pipe moves to the vicinity of the water inlet and moves around the water inlet in an Ω-shaped trajectory.

[0011] Step S6: Automatic tilting via the discharge port reduces the dead zone during slag addition.

[0012] Step S7: Actively lift the material through the discharge port to eliminate blind spots in the fabric.

[0013] Step S8: Design the shape of the material outlet and adjust the angle of the discharge outlet so that the protective slag inside the discharge outlet falls evenly in a "curtain" manner and can be evenly distributed.

[0014] Step S9, reciprocating motion to achieve repeated continuous slag addition, repeating step S4.

[0015] Furthermore, in step S1, the germination time is ensured to be between 30 and 90 seconds.

[0016] Furthermore, in step S3, the starting pulling speed is executed at 0.3-0.6 m / min according to the process specifications.

[0017] Furthermore, in step S4, when continuous casting just begins, the slag surface is gently stirred with a slag-removing rod. If no crust is found, protective slag is added in the normal manner. The protective slag in the crystallizer should be kept at a certain thickness to ensure that the thick slab is controlled between 40 and 50 mm. During normal casting, frequent stirring is prohibited as it may damage the molten surface of the protective slag.

[0018] Furthermore, in step S5, a teach pendant is used to teach and calibrate the position, and determine the position of the Ω-shaped trajectory slag.

[0019] The specific calculation for the location of the slag is as follows:

[0020] Establish a coordinate axis with the center of the sprue circle as the origin. If the radius of the sprue is r1, then the formula for the sprue region is:

[0021] x 2 +y 2 =r1 2

[0022] Design an Ω-shaped trajectory around the sprue with a radius of r2. Then, the formula for the sprue region is:

[0023] x 2 +y 2 =r2 2

[0024] Let P1 be the starting point for the robot's movement around the sluice gate.

[0025] The calculated position of the starting point is The discharge port location is determined based on the starting point. Due to the gravity-induced fall of the protective slag, it falls in a parabolic trajectory near the inlet. Given that the origin is the vertex of the parabola, the equation of the downward-opening parabola is x... 2 = -2py, where p is its focal length, the specific value of which is obtained experimentally; if the distance from the discharge port to the ground is d, then the distance on the x-axis between the discharge port and the point where the protective slag falls is calculated as: The starting position of the discharge port is When the z-axis position is fixed during the motion around the water inlet, and the plane is considered, the position of the starting point can be calculated as follows: The discharge port location is determined based on the starting point. Due to the gravity-induced fall of the protective slag, it falls in a parabolic trajectory near the inlet. Given that the origin is the vertex of the parabola, the equation of the downward-opening parabola is x... 2 = -2py, where p is its focal length, the specific value of which is obtained experimentally; if the distance from the discharge port to the ground is d, then the distance on the x-axis between the discharge port and the point where the protective slag falls is calculated as: The starting position of the discharge port is When the z-axis position is fixed during the movement around the sprue, and it is considered as a plane, the discharge port trajectory is:

[0026]

[0027] Furthermore, in step S6, through programming, based on the automatic flipping technology of the double-outlet design, when the double-outlet conveying pipe is on the left side of the sprue, the right outlet drops material downwards; the conveying pipe moves along the planned trajectory, and flips when it reaches halfway along the Ω-shaped trajectory, so that the left outlet drops material downwards, while the other side is in an idle state facing upwards; it continues to move along the trajectory to complete the movement around the sprue.

[0028] Furthermore, in step S7, during the actual slag addition process, the discharge port needs to maintain a certain safe distance from the water inlet and cannot move close to the water inlet, resulting in a blind spot in the material distribution; the lateral displacement caused by the active lifting of the discharge port needs to be considered in calculating the actual position of the discharge port.

[0029] Furthermore, in step S8, the designed spiral conveyor pipe has an appropriate outlet shape to ensure that the protective slag inside the outlet falls evenly in a "curtain" manner, and the purpose of uniform material distribution is achieved by adjusting the outlet angle; the spiral conveyor pipe adopts a side-inclined outlet with an inclination angle of 3°, an opening length of 200mm, and a width of 15mm, so that the protective slag is distributed more evenly. The landing point of the protective slag at this inclination angle is calculated.

[0030] Furthermore, in steps S5, S6, S7, and S8, the positional difference between the falling position of the protective slag and the position of the discharge port is used to adjust the trajectory of the actual discharge port, so that the falling trajectory of the protective slag conforms to an Ω-shaped trajectory, thereby eliminating the dead zone of slag addition as much as possible.

[0031] The present invention also provides a material distribution device for the ring nozzle area of ​​an intelligent slag feeding robot in a continuous casting crystallizer. The device is an industrial robot automatic slag feeding system including a material storage device, a protective slag conveying hose, a robot guide rail, an industrial robot, an automatic slag feeding screw conveying mechanism, and a control system.

[0032] The discharge port of the spiral conveying pipe of the automatic slag-adding spiral conveying mechanism has a simple venting baffle. After the spiral conveying device is started in advance and the discharge port cover is sealed, the pipe can be filled with protective slag after running for a period of time.

[0033] The protective slag conveying hose can be directly connected to the conveying pipe;

[0034] The industrial robot has a robot gripper handle, which is gripped by a robotic arm. The gripper handle is fixed to the spiral tube in multiple places.

[0035] The control system controls the motor speed to compare the effects of different speeds on the fabric condition and the effects of the 0° and 3° angle between the outlet and the ground on the fabric uniformity.

[0036] Compared with existing technologies, the advantages of this invention are as follows: This invention uses an industrial robot as a platform to study the optimization technology of material distribution in the ring inlet area. Based on the on-site operating conditions and the requirements for slag addition control at the ring inlet, an overall framework for a slag addition system with an industrial robot and an industrial programmable logic controller (PLC) as its core was designed. Addressing the problem of large dead zones in the ring inlet area of ​​existing robot slag addition systems, an Ω-shaped slag addition trajectory was designed to fully utilize the industrial robot's degrees of freedom and eliminate material distribution gaps. Regarding the issue that the discharge port must maintain a certain distance from the inlet for safety reasons, an automatic discharge port flipping technology based on a dual discharge port design was proposed. This technology utilizes the gravity-falling law of protective slag, combined with the industrial robot's movements, to maximize the material distribution coverage area.

[0037] Furthermore, the implementation of optimized material distribution in the sprue area helps to achieve unmanned operation of the slag addition process, thereby effectively preventing slag addition workers from being harmed in the harsh slag addition environment, and contributing to improving the intelligence of the continuous casting process and ensuring production safety. Attached Figure Description

[0038] Figure 1 An optimized flowchart of the material distribution method in the annular water inlet area of ​​the intelligent slag-adding robot for continuous casting crystallizer;

[0039] Figure 2 A schematic diagram of the overall architecture of the material distribution device system in the annular water inlet area of ​​the intelligent slag feeding robot for continuous casting crystallizer;

[0040] Figure 3 Structural diagram of the intelligent slag feeding robot for continuous casting crystallizer, including the material distribution device in the annulus area;

[0041] Figure 4 A schematic diagram of the high-utilization annular slag feeding trajectory (Ω-shaped trajectory) of the material distribution device in the annular slag feeding area of ​​the intelligent slag feeding robot for continuous casting crystallizer;

[0042] Figure 5 Structural diagram of the automatic slag feeding screw conveyor system for the intelligent slag feeding robot in the annular water inlet area of ​​a continuous casting crystallizer;

[0043] Figure 6 A diagram showing the weight distribution of protective slag at different inclination angles at the discharge port of the intelligent slag feeding robot in the annular water inlet area of ​​the continuous casting crystallizer.

[0044] Figure 7 A schematic diagram showing the rotation of the spiral tube outlet of the material distribution device in the annular water inlet area of ​​the intelligent slag-adding robot in a continuous casting crystallizer.

[0045] Figure 8 A schematic diagram of the simulation model of the active lifting slag feeding trajectory of the material distribution device in the annular water inlet area of ​​the intelligent slag feeding robot in the continuous casting crystallizer.

[0046] Figure 9 A schematic diagram showing the lifting of the spiral tube outlet of the material distribution device in the annular water inlet area of ​​the intelligent slag feeding robot for continuous casting crystallizer.

[0047] The diagram includes: storage device 3.1, discharge port 3.2, water inlet 3.3, crystallizer 3.4, spiral conveyor pipe 3.5, robotic arm 3.6; p1, p2, and p3 are the slag addition trajectory positions; detachable discharge port cover 5.1, discharge port 5.2, spiral conveyor pipe 5.3, protective slag conveying hose 5.4, robot gripper handle 5.5; A discharge port 7.1, curtain-shaped protective slag 7.2, water inlet cross-section 7.3, B discharge port 7.4; industrial robot 8.1. Detailed Implementation

[0048] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0049] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0050] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0051] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0052] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0053] like Figure 1 As shown, it is an optimized flowchart of the material distribution method in the annular water inlet area of ​​the intelligent slag-adding robot in the continuous casting crystallizer.

[0054] This invention provides a method for optimizing the material distribution in the annular nozzle area of ​​a continuous casting crystallizer based on an intelligent slag-adding robot, comprising the following steps:

[0055] 1) Add protective slag immediately after the submerged nozzle outlet is submerged in molten steel;

[0056] 2) Add slag near the water inlet according to the marked trajectory, and move it around the water inlet in an Ω-shaped trajectory. Step 1) The specific steps are as follows:

[0057] 1-1) Considering the lateral displacement caused by the active lifting of the discharge port and an appropriate discharge port shape to ensure that the protective slag falls evenly in a "curtain" pattern, and to achieve uniform material distribution by adjusting the discharge port angle. The spiral conveyor pipe uses a side-inclined discharge port with an inclination angle of 3°, an opening length of 200mm, and a width of 15mm. In this case, the protective slag is distributed more evenly. The specific calculation of the landing point of the protective slag is as follows:

[0058] Establish a coordinate axis with the center of the sprue circle as the origin. If the radius of the sprue is r1, then the formula for the sprue region is:

[0059] x 2 +y 2 =r1 2

[0060] Design an Ω-shaped trajectory around the sprue with a radius of r2. Then, the formula for the sprue region is:

[0061] x 2 +y 2 =r2 2

[0062] If we set the starting point for the robot's movement around the sluice gate, then the position of the starting point is: r1 is used to determine the outlet location. Due to the law of gravity, the protective slag falls in a parabolic trajectory near the inlet. It is known that if the vertex of the parabola is taken as the origin, the equation of the downward-opening parabola is x. 2 = -2py, where p is its focal length, the specific value of which can be obtained experimentally. If the distance from the discharge port to the ground is d, then the distance on the x-axis between the discharge port and the point where the protective slag falls can be calculated as... The starting position of the feed inlet can be determined as follows: Since the z-axis position is fixed during the movement around the sprue, it can be considered as a plane. Therefore, the discharge port trajectory is:

[0063]

[0064] 1-2) Use the teaching pendant to teach and calibrate the position, determine the position of the Ω-shaped trajectory for slag distribution, and adjust the actual trajectory of the discharge port by combining the position difference between the falling position of the protective slag and the discharge port position in steps 5, 6, 7, and 8.

[0065] In step 2), the position conversion between the feed outlet position and the protective slag falling position is determined, so that the falling trajectory of the protective slag conforms to the Ω-shaped trajectory, and the dead zone of slag addition is eliminated as much as possible.

[0066] 3) Implement automatic discharge port flipping technology based on dual discharge port design. Step 3) The specific process is as follows: When the dual discharge port conveying pipe is on the left side of the water inlet, the right discharge port drops material downwards; the conveying pipe moves along the planned trajectory, and flips when it reaches half of the Ω-shaped trajectory, so that the left discharge port drops material downwards, and the other side is in an idle state with the other side facing upwards; continue to move along the trajectory to complete the movement around the water inlet, further eliminating the blind zone for slag addition.

[0067] 4) Actively raising the discharge port allows the protective slag to have a greater lateral displacement, thereby further eliminating blind spots in the material distribution.

[0068] Example 1:

[0069] In the steel industry, mold flux is a crucial additive in the production of continuously cast steel billets. A uniform layer of mold flux is needed to cover the surface of the molten steel in the rectangular molten cavity of the mold to stabilize the casting operation and improve billet quality. This invention uses an industrial robot as a platform to study the optimization technology of material distribution in the annular nozzle area. Based on the on-site operating conditions and the requirements for slag addition control at the annular nozzle, such as... Figure 2The diagram shows the overall architecture of the intelligent slag-feeding robot in the ring nozzle area of ​​the continuous casting crystallizer. It establishes the overall framework of the slag-feeding system with industrial robots and industrial programmable logic controllers as the core.

[0070] Step 1: Immediately add protective slag after the submerged nozzle outlet is submerged in molten steel.

[0071] like Figure 3 The diagram shows the structure of the intelligent slag-adding robot in the annular nozzle area of ​​a continuous casting crystallizer, specifically the automatic slag-adding machine. As can be seen, one end of the spiral conveyor pipe 3.5 is hinged to the robotic arm 3.6. To allow the robotic arm 3.5 to swing around the hinge point, it is controlled by a robot control cabinet. The joints of the robotic arm 3.6 move in tandem, causing the spiral conveyor pipe 3.5 to swing accordingly. The spiral conveyor pipe 3.5 is connected to the storage device 3.1 via a flexible conveying hose. Thus, when slag addition is required, the robot mechanism can cause the spiral conveyor pipe 3.5 to swing left and right. Simultaneously, driven by a motor, the spiral conveyor transports the protective slag to the outlet 3.2 and distributes it in the annular nozzle area to complete the slag addition. This invention utilizes an optimized slag addition method for the annular nozzle area based on an intelligent slag-adding robot in a continuous casting crystallizer to optimize slag addition in the nozzle area.

[0072] The molten steel flow rate should be set based on the principle of not damaging the ingot head or causing blockages in the dummy ingot head, to ensure an appropriate steel flow in the tundish when the continuous casting machine starts casting. At the beginning of continuous casting, the molten steel in the crystallizer (3.4) dissipates heat rapidly, and the added protective slag absorbs a large amount of heat, potentially causing a crust to form on the surface. In this case, gently stir the slag surface with a slag-removing rod. Once it is confirmed that no crust has formed, protective slag can be added normally. Note that protective slag should only be added when the molten steel has submerged the side hole of the submerged entry nozzle.

[0073] The protective slag in crystallizer 3.4 should maintain a certain thickness to ensure that the thickness of the slab is controlled between 40 and 50 mm. The protective slag layer in crystallizer 3.4 should melt evenly and the liquid slag layer should be stable, while also serving as a heat preservation function. Frequent stirring should be avoided during normal pouring to prevent damage to the molten surface of the protective slag, so as to monitor the performance of the protective slag at any time.

[0074] Step 2: Add slag near the water inlet according to the marked motion trajectory, and move around the water inlet in an Ω-shaped trajectory.

[0075] Figure 4This diagram illustrates the high-utilization annular slag-adding trajectory (Ω-shaped trajectory) of the intelligent slag-adding robot in the annular nozzle area of ​​a continuous casting crystallizer. This trajectory starts above one side of the nozzle, follows a parallel path at a safe distance from the nozzle, and then moves to the top of the other side to complete the annular slag addition. Theoretically, this method can achieve full and uniform material coverage. Note: This diagram is an intermediate view of the entire crystallizer slag-adding process, specifically the annular nozzle slag-adding process. Since the slag-adding process in the rectangular area of ​​the crystallizer is not the focus of this study, it is omitted from this diagram. This process can also be incorporated into the overall crystallizer slag-adding process.

[0076] The slag addition process at the annular inlet begins when slag addition is completed in the first half of the rectangular area. Slag addition starts at position p1, with the discharge port facing the inlet. Upon reaching position p2, the discharge port flips. The process eventually reaches position p3. If a stop switch is triggered during the movement from p1 to p3, the entire process will stop, and an interrupt task will be executed. The final trajectory will then be reset.

[0077] like Figure 5 The diagram shows the structure of the automatic slag feeding spiral conveyor system of the intelligent slag feeding robot in the annular water inlet area of ​​the continuous casting crystallizer. The outlet 5.2 of the spiral conveyor pipe 5.3 has a simple venting baffle to prepare for the slag feeding process: the spiral conveyor device is pre-started and the removable outlet cover 5.1 is sealed. After running for a period of time, the pipe is filled with protective slag. This ensures that the slag discharge is as uniform as possible from the beginning of slag feeding. The protective slag conveying hose 5.4 can directly connect to the spiral conveyor pipe 5.3. The robot gripper handle 5.5 is held by the robotic arm. The gripper handle 5.5 is fixed to the spiral conveyor pipe 5.3 in multiple places. Combined with the good rigidity of the spiral conveyor pipe 5.3, it can maintain stable slag feeding during the process. The end of the spiral conveyor pipe 5.3 will not experience violent shaking, which could cause the actual slag feeding trajectory to deviate from the expected slag feeding. This ensures that the actual slag feeding trajectory remains within the allowable error range.

[0078] By controlling the motor speed, we compared the effects of different speeds on the fabric distribution and the effects of the discharge port angle (0° and 3° relative to the ground) on the fabric uniformity. Finally, we obtained the experimental results. The weight of the protective slag in each region was measured. The weight of the protective slag in each region was plotted as a line graph. Figure 6 This diagram illustrates the weight distribution of protective slag at different inclination angles at the discharge port of the intelligent slag-feeding robot in the annular water inlet area of ​​a continuous casting crystallizer. Figure 6 In section a, when the inclination angle is 0°, the difference in slag weight in different areas under the material distribution of the spiral conveyor pipe is relatively large, and the higher the rotation speed, the greater this effect.

[0079] By comparing the experimental results with an inclination angle of 0° and 3°, it can be concluded that at the same rotational speed, the discharge port 3.2 with an inclination angle of 3° provides more uniform slag distribution. Finally, a continuous slag feeding experiment was conducted using a side-inclined discharge port 3.2 with an inclination angle of 3°, an opening length of 200mm, and a width of 15mm. The automatic slag feeder for the crystallizer achieved uniform slag feeding along the length of the crystallizer.

[0080] Step 3: Implement automatic discharge port flipping technology based on dual discharge port design.

[0081] like Figure 7 The diagram shows the rotating spiral tube outlet of the material distribution device in the annular nozzle area of ​​the intelligent slag-adding robot in a continuous casting crystallizer. At the start of slag addition, the protective slag is distributed in a curtain shape from outlet B (7.4) near the nozzle section (7.3), and the outlet rotation begins. The robot then moves to... Figure 7 At position p2, the discharge port completes the flipping function. At this time, discharge port B 7.4 flips to the top, and discharges slag from discharge port A 7.1, with the direction facing the water inlet section 7.3.

[0082] like Figure 8 This is a simulation modeling diagram of the active lifting slag-addition trajectory of the discharge port of the intelligent slag-addition robot in the annular inlet area of ​​the continuous casting crystallizer. When the discharge port reaches p2, the industrial robot 8.1 sets the digital value of the do01_Roll discharge port flipping output signal to 1, and sends a digital signal to the PLC to trigger the discharge port flipping command. The industrial robot 8.1 waits at p2 for 3 seconds until the discharge port flipping is complete, and the slag-addition work continues for the remaining half of the annular inlet slag-addition process. After reaching p3, do01_Roll is set to 0, and the discharge port maintains the posture at p3 until the entire slag-addition process is completed.

[0083] Step 4: Actively raise the discharge port to allow the protective slag to move laterally further.

[0084] like Figure 9 This diagram illustrates the lifting of the spiral tube outlet of the material distribution device in the annular nozzle area of ​​the intelligent slag-adding robot for continuous casting crystallizers. Due to the extremely high surface temperature of the nozzle and the regular vibrations of the crystallizer during continuous casting, the outlet 5.2 must maintain a certain safe distance from the nozzle during actual slag addition, making it impossible to move close to the nozzle, resulting in a blind zone in material distribution. To minimize this blind zone, this invention proposes an active outlet lifting technology. Specifically, before the outlet moves around the nozzle, the Y-axis position of the outlet 5.2 is actively raised to fully utilize the lateral displacement of the protective slag caused by the tilting of the outlet 5.2 (e.g., ...). Figure 9 As shown in the figure, this enhances the lateral compensation effect of slag discharge and reduces the blind spot of material distribution. Figure 9 The image shows an active lifting of the discharge port for lateral compensation enhancement. At a normal height (e.g.) Figure 9(a) If there is still a blind zone for slag addition near the inlet, such as implementing active lifting of the discharge port 5.2 (e.g.) Figure 9 (b) shows that the protective slag can then have a greater lateral displacement (d). b >d a This further eliminates blind spots in the fabric.

[0085] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0086] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for material distribution in the annular nozzle area of ​​an intelligent slag-adding robot in a continuous casting crystallizer, characterized in that, Includes the following steps: Step S1: Determine the basic flow rate of molten steel when the continuous casting machine starts casting; Step S2: During the process of the molten steel level rising in the crystallizer, try closing the stopper rod 1-2 times, while ensuring the required emergence time is met. Step S3: When the molten steel in the crystallizer reaches 70-100mm from the top opening, the continuous casting machine starts the billet pulling and vibration devices, ensuring the emergence time is met. Step S4: After the submerged nozzle outlet is submerged in molten steel, add protective slag. Step S5: Add slag according to the calibrated motion trajectory. Move the conveying pipe to the vicinity of the water inlet and move around the water inlet in an Ω-shaped trajectory. Step S6: The discharge port is automatically flipped to reduce the dead zone when adding slag; Step S7: Actively lift the material through the discharge port to eliminate blind spots in the fabric. Step S8: Design the shape of the discharge port and adjust the angle of the discharge port so that the protective slag inside the discharge port falls evenly in a "curtain" manner and can be evenly distributed. Step S9, reciprocating motion to achieve repeated and continuous slag addition; Step S6 is implemented by programming. In step S6, the conveying pipe maintains a safe distance from the water inlet, and the protective slag falls in a parabolic arc to a designated area near the water inlet by utilizing the law of gravity. When the conveying pipe with dual outlets is on the left side of the sprue, the right outlet drops material downwards; the conveying pipe moves along the planned trajectory, and flips over when it reaches halfway along the Ω-shaped trajectory, so that the left outlet drops material downwards, while the other side is in an idle state with its outlet facing upwards; it continues to move along the trajectory to complete the movement around the sprue.

2. The method for material distribution in the annular nozzle area of ​​an intelligent slag-adding robot in a continuous casting crystallizer according to claim 1, characterized in that, In step S1, the germination time is ensured to be between 30 and 90 seconds.

3. The method for material distribution in the annular nozzle area of ​​an intelligent slag-adding robot in a continuous casting crystallizer according to claim 1, characterized in that, In step S3, the starting speed is between 0.3 and 0.6 m / min.

4. The method for material distribution in the annular nozzle area of ​​an intelligent slag-adding robot in a continuous casting crystallizer according to claim 1, characterized in that, In step S4, when continuous casting just begins, the slag surface is gently stirred with a slag-removing rod. Once it is confirmed that there is no crust, protective slag is added. The protective slag in the crystallizer should be kept at a certain thickness to ensure that the resulting thick slab is controlled between 40 and 50 mm. Frequent stirring is prohibited during normal casting to prevent damage to the molten surface of the protective slag.

5. The method for material distribution in the annular nozzle area of ​​an intelligent slag-adding robot in a continuous casting crystallizer according to claim 1, characterized in that, In step S5, a teach pendant is used to teach and calibrate the position, and the position of the Ω-shaped trajectory is determined. The specific calculation for the location of the slag is as follows: Establish a coordinate axis with the center of the sprue as the origin. If the radius of the sprue is... The formula for the water inlet region is: ； Design an Ω-shaped trajectory around the sluice gate with a radius of [missing information]. ,and Then the formula for the water inlet region is: ； Let P1 be the starting point for the robot's movement around the sluice gate. Calculation The discharge port position is determined based on the starting point. Due to the gravity-induced fall of the protective slag, it falls in a parabolic trajectory near the inlet. The equation of the parabola, with its vertex as the origin and opening downwards, is set as follows: ,in, Its focal length; If the distance from the discharge port to the ground is Calculate the distance on the x-axis between the discharge port and the point where the protective slag falls. The starting position of the feed inlet is determined to be... When the z-axis position is fixed during the movement around the sprue, and it is considered as a plane, the discharge port trajectory is: 。 6. The method for material distribution in the annular nozzle area of ​​an intelligent slag-adding robot in a continuous casting crystallizer according to claim 1, characterized in that, In step S7, during the slag addition process, the Y-axis running position of the discharge port is actively raised according to the calculated actual position of the discharge port.

7. The method for material distribution in the annular nozzle area of ​​an intelligent slag-adding robot in a continuous casting crystallizer according to claim 1, characterized in that, In step S8, the conveying pipe has an appropriate outlet shape so that the protective slag in the outlet falls evenly in a "curtain" manner, and the material is evenly distributed by adjusting the outlet angle; the conveying pipe adopts a side-inclined outlet with an inclination angle of 3°, an opening length of 200mm and a width of 15mm, so that the protective slag is spread more evenly; calculate the landing point of the protective slag under this inclination angle.

8. The method for material distribution in the annular nozzle area of ​​an intelligent slag-adding robot in a continuous casting crystallizer according to any one of claims 5-7, characterized in that, By combining the positional difference between the falling position of the protective slag and the position of the discharge port, the trajectory of the actual discharge port is adjusted so that the falling trajectory of the protective slag conforms to an Ω-shaped trajectory, thereby eliminating the dead zone of slag addition as much as possible.

9. A material distribution device for the annular nozzle area of ​​an intelligent slag-adding robot in a continuous casting crystallizer, based on the material distribution method for the annular nozzle area of ​​an intelligent slag-adding robot in a continuous casting crystallizer according to any one of claims 1-8, characterized in that, The industrial robot automatic slag feeding system includes a storage device, a protective slag conveying hose, a robot guide rail, an industrial robot, an automatic slag feeding screw conveyor mechanism, and a control system; The discharge port of the conveying pipe of the automatic slag-adding screw conveyor mechanism has a simple venting baffle. After the screw conveyor is started in advance and the venting baffle is sealed, the pipe can be filled with protective slag after running for a period of time. The protective slag conveying hose can be directly connected to the conveying pipe; The industrial robot has a robot gripper handle, which is held by a robotic arm. The robot gripper handle is fixed to the material conveying pipe in multiple places.

Images