Tundish nozzle insertion depth control method, controller and system

Abstract

The invention provides a method, a controller and a system for controlling the insertion depth of a tundish nozzle. The reference distance between the top surface of a crystallizer cover plate and the lower bottom surface of a tundish nozzle mounting plate is determined according to the height, the theoretical depth, the first distance and the second distance of the tundish nozzle; controlling a photoelectric switch to move a reference distance from an initial position to a target position; the lifting component is controlled to move to drive the tundish nozzle to descend from the highest position, and the lifting component is controlled according to the shielding state of the photoelectric switch and the displacement of the lifting component, so that the insertion depth of the tundish nozzle is consistent with the theoretical depth; therefore, even if the tundish structure deforms, the theoretical depth of the tundish nozzle corresponding to different steel grades on the tundish deformation mounting plate can be determined, and as the target position of the photoelectric switch is flush with the theoretical depth of the tundish nozzle mounting plate, when the photoelectric switch is shielded, it is indicated that the tundish nozzle reaches the theoretical depth; and the insertion depth of the tundish nozzle can be accurately controlled.

Description

Technical Field

[0001] The invention relates to the technical field of continuous casting, and in particular to a control method, a controller and a system for controlling the insertion depth of a tundish nozzle. Background Art

[0002] During the continuous casting process, the molten steel in the tundish needs to flow into the crystallizer through the nozzle on the tundish, and a shell is formed on the surface of the ingot through the cooling of the crystallizer, and then the slabs are formed through the straightening and secondary cooling of the fan-shaped segments and the cutting of the cutting machine. In this process, the depth of the tundish nozzle inserted into the crystallizer and the height of the nozzle embedded below the liquid level of the crystallizer have a decisive influence on the quality of the ingot product. Once the nozzle insertion depth is not appropriate, it will cause abnormal fluctuations in the liquid level of the crystallizer, and even cause quality defects such as slag rolls and inclusions.

[0003] Generally speaking, different steel grades have clear requirements and regulations for the nozzle insertion depth during the casting process. However, in the actual production process, due to the deformation of the tundish body structure, the tundish nozzle (usually there are two nozzles) has different bases. In this way, even if the lifting height of the tundish nozzle is controlled at the same preset height, the actual insertion depth of the two nozzles is different, which will cause great differences in the quality of the ingot products and even cause batch quality defects.

[0004] Therefore, how to eliminate the influence of the tundish body structural deformation on the tundish nozzle insertion depth is crucial to ensuring and improving the quality of ingot products. Summary of the invention

[0005] In response to the problems existing in the prior art, an embodiment of the present invention provides a method, a controller and a system for controlling the insertion depth of the water nozzle of the tundish, so as to solve or partially solve the technical problem in the prior art that the insertion depth of the water nozzle of the tundish cannot be accurately controlled when the structure of the tundish body is deformed, thereby affecting the quality of the cast product.

[0006] A first aspect of the present invention provides a method for controlling the insertion depth of a tundish nozzle, the method comprising:

[0007] When the tundish moving carriage mechanism is in the casting position, the height of the tundish water inlet, the theoretical depth of the tundish water inlet inserted below the molten steel surface, the first distance between the molten steel surface and the bottom surface of the crystallizer cover plate, and the second distance between the top surface of the crystallizer copper plate and the top surface of the crystallizer cover plate are obtained;

[0008] Determine a reference distance between the top surface of the crystallizer cover plate and the lower bottom surface of the tundish water inlet mounting plate according to the height of the tundish water inlet, the theoretical depth, the first distance, and the second distance;

[0009] Controlling the photoelectric switch to move the reference distance from the initial position to the target position; the initial position is the position where the photoelectric switch is flush with the top surface of the crystallizer cover plate; the photoelectric switch is located on the side of the tundish moving trolley mechanism;

[0010] Control the movement of multiple lifting components to drive the tundish water inlet to descend from the highest position, and control the lifting components according to the blocking state of the photoelectric switch and the displacement of the lifting components, so that the insertion depth of the tundish water inlet is consistent with the theoretical depth.

[0011] In the above scheme, the step of determining the reference distance between the top surface of the crystallizer cover plate and the lower bottom surface of the tundish water inlet mounting plate according to the height of the tundish water inlet, the theoretical depth, the first distance and the second distance comprises:

[0012] The reference distance c between the top surface of the crystallizer cover plate and the bottom surface of the tundish water inlet mounting plate is determined according to the formula c=hxya; wherein,

[0013] The h is the height of the tundish water inlet itself, the x is the theoretical depth, the y is the first distance, and the a is the second distance.

[0014] In the above scheme, the tundish water inlets include two; the photoelectric switches include two, each photoelectric switch detects the position of a tundish water inlet; the lifting components include four, and every two lifting components control the insertion depth of one tundish water inlet; the lifting components are controlled according to the shielding state of the photoelectric switches and the displacement of the lifting components, including:

[0015] When it is determined that any one of the two photoelectric switches is blocked, two first target lifting components located on the same side as the blocked photoelectric switch are controlled to stop moving, and a first average displacement of the two first target lifting components is determined;

[0016] The two remaining first lifting components are controlled to continue to descend until it is determined that another photoelectric switch is blocked, and the two remaining first lifting components are controlled to stop moving.

[0017] In the above solution, after controlling the two first remaining lifting components to stop moving, the method further includes:

[0018] Obtaining a second average displacement of the two first remaining lifting components;

[0019] determining an absolute value of a difference between the second average displacement and the first average displacement;

[0020] If it is determined that the absolute value of the difference is greater than or equal to the first preset threshold, a prompt message of “Both sides of the tundish are severely deformed, please repair” is sent.

[0021] In the above solution, if it is determined that the absolute value of the difference is less than the first preset threshold, the method further includes:

[0022] Send a prompt message that "the deformation of the tundish is normal";

[0023] The lifting component is controlled to rise according to the received casting end signal, the tundish is lifted to the highest position, and the displacement value of the lifting component is set to zero.

[0024] In the above solution, the controlling of the lifting component according to the shielding state of the photoelectric switch and the displacement of the lifting component includes:

[0025] When it is determined that both of the photoelectric switches are not blocked, respectively obtaining the displacements of the four lifting components;

[0026] If it is determined that the displacement difference between the maximum displacement and the minimum displacement among the four displacements is greater than the second preset threshold, the second target lifting component corresponding to the maximum displacement is controlled to stop moving until all the second remaining lifting components move to the maximum displacement, and the second target lifting component is controlled to descend synchronously with the second remaining lifting components.

[0027] A second aspect of the present invention provides a controller for the insertion depth of a tundish nozzle, the controller comprising:

[0028] an acquisition unit, for acquiring, when the tundish moving carriage mechanism is in the casting position, the height of the tundish water inlet, the theoretical depth of the tundish water inlet inserted below the molten steel liquid surface, the first distance between the molten steel liquid surface and the bottom surface of the crystallizer cover plate, and the second distance between the top surface of the crystallizer copper plate and the top surface of the crystallizer cover plate;

[0029] a determination unit, configured to determine a reference distance between the top surface of the crystallizer cover plate and the lower bottom surface of the tundish water inlet mounting plate according to the height of the tundish water inlet, the theoretical depth, the first distance, and the second distance;

[0030] A first control unit is used to control the photoelectric switch to move the reference distance from the initial position to the target position; the initial position is the position where the photoelectric switch is flush with the top surface of the crystallizer cover plate; the photoelectric switch is located on the side of the tundish moving trolley mechanism;

[0031] The second control unit is used to control the movement of multiple lifting components to drive the water outlet of the tundish to descend from the highest position, and control the lifting components according to the blocking state of the photoelectric switch so that the insertion depth of the water outlet of the tundish is consistent with the theoretical depth.

[0032] A third aspect of the present invention provides a control system for the insertion depth of a tundish nozzle, the system comprising: a tundish moving trolley mechanism, a position detection mechanism, and a controller;

[0033] The tundish moving trolley mechanism includes a lifting component, and the lifting component is used to drive the tundish water outlet to rise or fall;

[0034] The position detection mechanism is installed on one side of the tundish moving trolley mechanism, and is used to send the shielding state of the photoelectric switch to the controller during the descent of the tundish water inlet;

[0035] The controller is used for obtaining the height of the tundish water inlet, the theoretical depth of the tundish water inlet inserted below the molten steel liquid surface, the first distance between the molten steel liquid surface and the bottom surface of the crystallizer cover plate, and the second distance between the top surface of the crystallizer copper plate and the top surface of the crystallizer cover plate when the tundish moving carriage mechanism is in the casting position; determining the reference distance between the top surface of the crystallizer cover plate and the bottom surface of the tundish water inlet mounting plate according to the height of the tundish water inlet, the theoretical depth, the first distance and the second distance; controlling the photoelectric switch to move the reference distance from an initial position to a target position; the initial position is a position where the photoelectric switch is flush with the top surface of the crystallizer cover plate; the photoelectric switch is located on the side of the tundish moving carriage mechanism; controlling the movement of multiple lifting components to drive the tundish water inlet to descend from the highest position, and controlling the lifting components according to the shielding state of the photoelectric switch so that the insertion depth of the tundish water inlet is consistent with the theoretical depth.

[0036] In the above scheme, the lifting components include multiple ones, and the tundish car moving mechanism also includes: a car body, multiple lifting plates, multiple guide columns and multiple distance meters; wherein,

[0037] Each of the lifting plates is located at the four corners of the vehicle body, and the plurality of lifting plates are used to carry the tundish. A nozzle mounting plate is installed on one side of the tundish, and a tundish nozzle is installed on the nozzle mounting plate.

[0038] Each guide column is correspondingly installed on one side of each lifting plate, and the guide column is used to provide direction guidance when the lifting plate moves;

[0039] One end of each lifting component is connected to the lifting plate, and the other end of each lifting component is connected to the vehicle body. The plurality of lifting components are used to drive the tundish to rise or fall.

[0040] Each of the distance meters is correspondingly installed on the lifting component and is used to measure the displacement of the lifting component.

[0041] In the above scheme, the position detection mechanism includes:

[0042] A base plate, installed on the foundation and located on one side of the tundish trolley mechanism;

[0043] A moving mechanism, mounted on the substrate;

[0044] A photoelectric switch is installed on the moving mechanism, and the photoelectric switch can rise or fall as the moving mechanism is extended or retracted;

[0045] A displacement sensor, located at one end of the moving mechanism, for detecting the moving distance of the photoelectric switch;

[0046] The receiving plate is located on the other side of the tundish trolley mechanism.

[0047] The present invention provides a control method, controller and system for the insertion depth of a tundish water nozzle, the method comprising: when a tundish moving carriage mechanism is in a casting position, obtaining the self-height of the tundish water nozzle, the theoretical depth of the tundish water nozzle inserted below the molten steel liquid surface, the first distance between the molten steel liquid surface and the bottom surface of a crystallizer cover plate, and the second distance between the top surface of a crystallizer copper plate and the top surface of a crystallizer cover plate; determining a reference distance between the top surface of the crystallizer cover plate and the lower bottom surface of a tundish water nozzle mounting plate according to the self-height of the tundish water nozzle, the theoretical depth, the first distance and the second distance; controlling a photoelectric switch to move the reference distance from an initial position to a target position; the initial position is a position where the photoelectric switch is flush with the top surface of the crystallizer cover plate; the photoelectric switch is located on the side of the tundish moving carriage mechanism; controlling a plurality of lifting components to move belts The movable tundish water inlet descends from the highest position, and the lifting component is controlled according to the blocking state of the photoelectric switch and the displacement of the lifting component, so that the insertion depth of the tundish water inlet is consistent with the theoretical depth; in this way, even if the tundish structure is deformed, the theoretical depth (reference distance) of the tundish water inlet corresponding to different steel grades on the deformed tundish mounting plate can be determined in advance according to the tundish water inlet's own height, the theoretical depth of the tundish water inlet inserted below the molten steel surface, the first distance between the molten steel surface and the bottom surface of the crystallizer cover plate, and the second distance between the top surface of the crystallizer copper plate and the top surface of the crystallizer cover plate. Since the target position of the photoelectric switch is flush with the theoretical depth of the tundish water inlet mounting plate, when the photoelectric switch is blocked, it means that the tundish water inlet has reached the theoretical depth, and then the insertion depth of the tundish water inlet can be accurately controlled when the tundish body structure is deformed. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0049] Figure 1 A front view showing the overall structure of a control system for the insertion depth of a tundish nozzle according to an embodiment of the present invention;

[0050] Figure 2 A side view showing the overall structure of a control system for the insertion depth of a tundish nozzle according to an embodiment of the present invention;

[0051] Figure 3 A top view showing the overall structure of a control system for the insertion depth of a tundish nozzle according to an embodiment of the present invention;

[0052] Figure 4A schematic flow chart of a method for controlling the insertion depth of a tundish nozzle according to an embodiment of the present invention is shown;

[0053] Figure 5 A schematic diagram of the structure of a controller for the insertion depth of a tundish nozzle according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0054] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0055] In order to better understand the technical solution of the present application, the control system of the tundish nozzle insertion depth is first introduced here, such as Figure 1 As shown, the system includes: a tundish moving trolley mechanism, a position detection mechanism and a controller;

[0056] The tundish moving carriage mechanism includes a lifting component, which is used to drive the tundish water inlet to rise or fall;

[0057] The position detection mechanism is installed on one side of the tundish moving trolley mechanism. The position detection mechanism is used to send the blocking state of the photoelectric switch to the controller during the descent process of the tundish water outlet;

[0058] The controller is used for obtaining the height of the tundish water inlet, the theoretical depth of the tundish water inlet inserted below the molten steel liquid surface, the first distance between the molten steel liquid surface and the bottom surface of the crystallizer cover plate, and the second distance between the top surface of the crystallizer copper plate and the top surface of the crystallizer cover plate when the tundish moving carriage mechanism is in the casting position; determining the reference distance between the top surface of the crystallizer cover plate and the bottom surface of the tundish water inlet mounting plate according to the height of the tundish water inlet, the theoretical depth, the first distance and the second distance; the photoelectric switch moves the reference distance from the initial position to the target position; the initial position is the position where the photoelectric switch is flush with the top surface of the crystallizer cover plate; the photoelectric switch is located on the side of the tundish moving carriage mechanism; controlling the movement of multiple lifting components to drive the tundish water inlet to descend from the highest position, and controlling the lifting components according to the shielding state of the photoelectric switch so that the insertion depth of the tundish water inlet is consistent with the theoretical depth.

[0059] Specifically, continue to refer to Figure 1 The tundish moving trolley mechanism includes: a trolley body 1, a plurality of lifting components 2, a plurality of lifting plates 3, a plurality of guide columns 4, a plurality of distance meters 5, a tundish 6, and a nozzle mounting plate 7; wherein,

[0060] The lifting components 2 include four, which may be hydraulically driven lifting components or motor driven lifting components. The lifting plates 3 also include four, the guide posts 4 also include four, and the rangefinders 5 also include four.

[0061] Specifically, each lifting plate 3 is located at the four corners of the vehicle body 1 , and the multiple lifting plates 3 are used to carry the tundish 6 . After being lifted onto the vehicle body 1 , the tundish 6 falls on the four lifting plates 3 , and the lifting plates 3 bear the entire weight of the tundish 6 .

[0062] A water inlet mounting plate 7 is installed on one side of the tundish 6 (the bottom of the tundish 6 ), and a tundish water inlet 8 is installed on the water inlet mounting plate 7 ; the tundish water inlets 8 include two, one of which is located at one end of the tundish 6 , and the other is located at the other end of the tundish 6 .

[0063] After the tundish 6 is placed on the lifting plate 3, the lifting plate 3, the tundish 6, the nozzle mounting plate 7 and the tundish nozzle 8 become a whole, one end of each lifting component 2 is connected to the lifting plate 3, and the other end of each lifting component 2 is connected to the vehicle body 1. The lifting component 2 is located between the lifting plate 3 and the vehicle body 1, and multiple elevators 2 are used to drive the tundish 6 to rise or fall. In this way, the insertion depth of the tundish nozzle 8 can be adjusted by the rise or fall of each lifting component 2.

[0064] Since a distance meter 5 is installed on each lifting component 2, the displacement of the lifting component 2 can be accurately measured in real time, thereby achieving accurate control of the insertion depth of the tundish water inlet 8.

[0065] Each guide column 4 is correspondingly installed on one side of each lifting plate 3. The guide column 4 is used to provide directional guidance when the lifting plate 3 moves, so as to effectively prevent the tundish 6 from being offset or tilted during the lifting process.

[0066] Continue to refer Figure 1 A crystallizer cover plate 9 is installed on the foundation, which is mainly used to protect the crystallizer. A crystallizer is installed below the crystallizer cover plate 9. The crystallizer mainly includes two crystallizer wide copper plates 10 and two crystallizer narrow copper plates 11. During the casting process, the tundish 6 injects molten steel into the crystallizer through the tundish water inlet 8, and there is molten steel inside the crystallizer.

[0067] The first distance y between the molten steel level of the crystallizer and the bottom surface of the crystallizer cover plate 9 is generally fixed, and the value range is 90 to 170 mm. The specific value can be determined according to the type of steel. Each type of steel corresponds to a first distance y.

[0068] After the two wide copper plates 10 and the two narrow copper plates 11 form a crystallizer, the crystallizer has a top surface of the copper plate. The second distance between the top surface of the copper plate and the top surface of the crystallizer cover plate 9 is a fixed value a, which can be determined based on actual measurements.

[0069] The height h of the tundish water inlet 8 is also fixed, but for different types of tundish water inlets 8, the corresponding height h is also different.

[0070] The insertion depth x of the tundish nozzle 8 is also a fixed value, which can be determined according to the type of steel. For example, when the casting steel is medium carbon steel, the value range of x is 120-150mm; when the casting steel is low carbon steel, the value range of x is 150-170mm; when the casting steel is automotive plate steel, the value of x is 170mm.

[0071] Then, assuming that the insertion depth x of the tundish water inlet 8 is the theoretical depth, the reference distance c between the top surface of the crystallizer cover plate 9 and the bottom surface of the tundish water inlet mounting plate 7 can be determined according to formula (1):

[0072] c=hxya (1)

[0073] It should be noted that when the tundish body structure is deformed, since the tundish water inlet 8 includes two, a corresponding reference distance c needs to be determined on both the left and right sides.

[0074] Here, reference Figure 1 The tundish moving trolley mechanism also includes: a walking wheel 12, a reducer 13, and a driving component 14; wherein,

[0075] The car body 6 is the main support and connection mechanism of the tundish moving trolley mechanism; the middle ladle car body 6 is designed with running wheels 12, reducer 13 and driving components 14, which are mainly used to drive the tundish moving trolley mechanism system to move horizontally as a whole and achieve precise control of the horizontal position. Two tracks 15 are installed on the foundation, and the horizontal heights of the two tracks 15 are consistent, which are used to provide guidance and support for the lateral movement of the running wheels 12.

[0076] In order to accurately detect whether the insertion depth of the tundish water inlet 8 has reached a reference depth, the present invention further provides a position detection mechanism installed on one side of the tundish moving trolley mechanism. The position detection mechanism is used to send the blocking state of the photoelectric switch to the controller during the descent of the tundish water inlet 8.

[0077] Since there are two tundish water inlets 8, there are also two position detection mechanisms, and the structures and detection principles of the two position detection mechanisms are the same.

[0078] For the convenience of description, one of the position detection mechanisms is taken as an example for detailed description.

[0079] refer to Figure 1 and Figure 2 , the position detection mechanism includes:

[0080] A base plate 16 is installed on the foundation and is located on one side of the tundish trolley mechanism;

[0081] A moving mechanism 17 is mounted on the base plate 12;

[0082] The photoelectric switch 18 is installed on the moving mechanism 13. The photoelectric switch 14 can rise or fall with the extension and retraction of the moving mechanism 13.

[0083] A displacement sensor 19, located at one end of the moving mechanism, for detecting the moving distance of the photoelectric switch;

[0084] The receiving plate 20 is located on the other side of the tundish trolley mechanism.

[0085] It should be noted that, as the tundish 6 is in the process of descending, if the installation layout of the position detection mechanism is not appropriate, the photoelectric switch 14 may be blocked by the tundish water inlet 8, may be blocked by the tundish water inlet mounting plate 7, or may be blocked by other components; however, it is most accurate only when the tundish water inlet mounting plate 7 blocks the photoelectric switch 14.

[0086] Therefore, in order to prevent the photoelectric switch 14 from being blocked by mistake, Figure 3 One position detection mechanism needs to be installed at the oblique front position of the tundish moving trolley mechanism, and the other position detection mechanism needs to be installed at the oblique rear position of the tundish moving trolley mechanism. Both the oblique front position and the oblique rear position need to ensure that the photoelectric switch 14 can be blocked by the tundish water inlet mounting plate 7 but cannot be blocked by other components.

[0087] In this way, during the process of the tundish 6 descending from the highest position, the photoelectric switch 14 and the receiving plate 20 can monitor the position of the tundish water inlet mounting plate 7.

[0088] Among them, the photoelectric switch 18 can be understood as a transmitter, and the receiving plate 20 can be understood as a receiver. The photoelectric switch 18 emits an infrared light beam. In the absence of obstruction, the receiving plate 20 can normally receive the infrared light beam and generate a first signal to send to the controller; when the photoelectric switch 18 is blocked, the receiving plate cannot receive the infrared light beam and generates a second signal to the controller. The first signal and the second signal can be current signals, but the specific values ​​are different. Then the controller can determine whether the tundish water inlet mounting plate has reached the theoretical position (the corresponding position when the actual distance between the top surface of the crystallizer cover plate 9 and the lower bottom surface of the tundish water inlet mounting plate 7 is the reference distance) based on the first signal and the second signal. If it is determined that the theoretical position has been reached, it means that the insertion depth of the tundish water inlet has reached the theoretical depth.

[0089] That is, since the target position of the photoelectric switch 14 is flush with the theoretical depth of the tundish water inlet mounting plate 7, when the photoelectric switch 14 is blocked, it means that the tundish water inlet 8 has reached the theoretical depth; when the photoelectric switch 14 is not blocked, it is also necessary to adjust the synchronization of the descent of the two tundish water inlets 8. Therefore, when the controller receives the blocking state of the photoelectric switch 14, it can control the lifting component 3 based on it.

[0090] The specific implementation principle of the controller controlling the lifting component 3 according to the shielding state of the photoelectric switch will be described in detail in the subsequent embodiments of the controller side, so it will not be repeated here.

[0091] In this way, even if the tundish structure is deformed, the theoretical depth (reference distance) of the tundish tundish water inlet corresponding to different steel grades on the deformed tundish mounting plate can be determined in advance based on the tundish tundish water inlet's own height, the theoretical depth of the tundish tundish water inlet inserted below the molten steel surface, the first distance between the molten steel surface and the bottom surface of the crystallizer cover plate, and the second distance between the top surface of the crystallizer copper plate and the top surface of the crystallizer cover plate. Since the target position of the photoelectric switch is flush with the theoretical depth of the tundish tundish water inlet mounting plate, when the photoelectric switch is blocked, it means that the tundish tundish water inlet has reached the theoretical depth, and the insertion depth of the tundish tundish water inlet can be accurately controlled when the tundish body structure is deformed.

[0092] Based on the same inventive concept as in the above-mentioned embodiment, this embodiment also provides a method for controlling the insertion depth of the tundish nozzle, which is applied in a controller, such as Figure 4 As shown, the method mainly includes the following steps:

[0093] S410, when the tundish moving trolley mechanism is in the casting position, obtain the height of the tundish water inlet, the theoretical depth of the tundish water inlet inserted below the molten steel surface, the first distance between the molten steel surface and the bottom surface of the crystallizer cover plate, and the second distance between the top surface of the crystallizer copper plate and the top surface of the crystallizer cover plate.

[0094] When the tundish moving trolley mechanism is before the casting position, it is necessary to use the lifting components of the tundish moving trolley mechanism to lift the tundish to the highest position, and the distance meter is reset. Then the tundish is moved from the baking position to the casting position using the tundish moving trolley mechanism. If the "casting signal" is received, it means that the tundish has moved to the preset position, and the tundish moving trolley mechanism is controlled to stop moving.

[0095] Read the type of casting steel and the type of tundish nozzle, and find the height of the tundish nozzle from the preset mapping file according to the type of tundish nozzle. Determine the theoretical depth of the tundish nozzle inserted below the molten steel surface and the first distance between the molten steel surface and the bottom surface of the crystallizer cover plate according to the type of casting steel.

[0096] Then, a second distance between the top surface of the copper plate of the crystallizer and the top surface of the cover plate of the crystallizer is obtained. The second distance can be measured by a distance measuring device (such as a laser rangefinder).

[0097] As mentioned above, the first distance y between the molten steel surface of the crystallizer and the bottom surface of the crystallizer cover plate is generally fixed, ranging from 90 to 170 mm, and each steel type corresponds to a first distance y.

[0098] After two wide copper plates and two narrow copper plates form a crystallizer, the crystallizer has a top surface of the copper plate. The second distance between the top surface of the copper plate and the top surface of the crystallizer cover plate is a fixed value a, which can be determined based on actual measurements.

[0099] The height h of the tundish water inlet is also fixed, but for different types of tundish water inlets, the corresponding heights are also different.

[0100] The insertion depth x of the tundish nozzle is also a fixed value, which can be determined according to the type of steel. For example, when the casting steel is medium carbon steel, the value range of x is 120-150mm; when the casting steel is low carbon steel, the value range of x is 150-170mm; when the casting steel is automotive plate steel, the value of x is 170mm.

[0101] S411, determining a reference distance between the top surface of the crystallizer cover plate and the lower bottom surface of the tundish water inlet mounting plate according to the height of the tundish water inlet, the theoretical depth, the first distance and the second distance.

[0102] In one embodiment, determining a reference distance between the top surface of the crystallizer cover plate and the lower bottom surface of the tundish water inlet mounting plate according to the height of the tundish water inlet, the theoretical depth, the first distance, and the second distance includes:

[0103] Determine the reference distance c between the top surface of the crystallizer cover plate and the bottom surface of the tundish water inlet mounting plate according to the formula c = hxya; where,

[0104] h is the height of the tundish nozzle itself, x is the theoretical depth, y is the first distance, and a is the second distance.

[0105] It can be understood that when the height of the tundish water inlet itself, the theoretical depth of the tundish water inlet inserted below the molten steel surface, the first distance between the molten steel surface of the crystallizer and the bottom surface of the crystallizer cover plate, and the second distance between the top surface of the crystallizer copper plate and the top surface of the crystallizer cover plate are all determined, then when the actual distance between the top surface of the crystallizer cover plate and the lower bottom surface of the tundish water inlet mounting plate is determined to be the reference distance c, it can be determined that the tundish water inlet has reached the optimal insertion depth.

[0106] Therefore, this step needs to determine the reference distance between the top surface of the crystallizer cover plate and the lower bottom surface of the tundish water inlet mounting plate, so that in the subsequent steps the position of the photoelectric switch can be adjusted according to the reference distance, so that the photoelectric switch can be used to accurately detect whether the depth of the tundish water inlet inserted below the molten steel surface has reached the theoretical depth.

[0107] S412, control the photoelectric switch to move the reference distance from the initial position to the target position; the initial position is the position where the photoelectric switch is flush with the top surface of the crystallizer cover plate; the photoelectric switch is located on the side of the tundish moving trolley mechanism.

[0108] As mentioned above, since there are two tundish water inlets, there are also two photoelectric switches, and each photoelectric switch detects the position of one tundish water inlet. Figure 3 , one of the photoelectric switches needs to be installed in the oblique front position of the tundish moving trolley mechanism, and the other photoelectric switch needs to be installed in the oblique rear position of the tundish moving trolley mechanism. Both the oblique front position and the oblique rear position need to ensure that the photoelectric switches can be blocked by the tundish water inlet mounting plate but cannot be blocked by other components.

[0109] In this way, during the descent of the tundish from the highest position, the photoelectric switch and the receiving board can monitor the position of the tundish water inlet mounting plate.

[0110] Since the initial position of the photoelectric switch is the position where the photoelectric switch is flush with the top surface of the crystallizer cover plate, after controlling the photoelectric switch to move the reference distance from the initial position to the target position, it can accurately detect whether the tundish water inlet mounting plate has reached the target position. Among them, when the tundish water inlet mounting plate has not reached the target position, the photoelectric switch will not be blocked; when the photoelectric switch is blocked, it means that the tundish water inlet mounting plate has reached the target position, and the tundish water inlet insertion depth has also reached the theoretical depth.

[0111] S413, controlling the movement of multiple lifting components to drive the tundish water inlet to descend from the highest position, and controlling the lifting components according to the blocking state of the photoelectric switch and the displacement of the lifting components, so that the insertion depth of the tundish water inlet is consistent with the theoretical depth.

[0112] Controlling the descent of multiple lifting components drives the tundish to descend from its highest position, thereby driving the tundish nozzle to descend from its own highest position. During the descent process, the lifting components can be controlled according to the blocking state of the photoelectric switch and the displacement of the lifting components, so that the insertion depth of the tundish nozzle is consistent with the theoretical depth.

[0113] There are four lifting components, and every two lifting components control the insertion depth of a tundish nozzle. Figure 3 The two lifting components arranged on the left side can control the insertion depth of the water outlet of the left middle ladle, and the two lifting components arranged on the right side can control the insertion depth of the water outlet of the right middle ladle.

[0114] During the movement of the lifting component, the displacement of the lifting component can be monitored in real time by a distance meter. Then in one embodiment, the lifting component is controlled according to the shielding state of the photoelectric switch and the displacement of the lifting component, including:

[0115] When it is determined that any one of the two photoelectric switches is blocked, two second target lifting components located on the same side as the blocked photoelectric switch are controlled to stop moving, and a first average displacement of the two second target lifting components is determined;

[0116] The two remaining first lifting components are controlled to continue to descend until it is determined that another photoelectric switch is blocked, and the two remaining first lifting components are controlled to stop moving.

[0117] Specifically, when any photoelectric switch is blocked by the tundish water inlet mounting plate, it indicates that the insertion depth of the tundish water inlet on that side has reached the theoretical depth. Therefore, the two first target lifting components located on the same side as the blocked photoelectric switch are controlled to stop moving; and the first displacement of the two first target lifting components is obtained through the rangefinder, and the first average displacement of the two first target lifting components is determined based on the first displacement.

[0118] The two remaining first lifting components on the other side are controlled to continue to descend until the other photoelectric switch is blocked, indicating that the insertion depth of the tundish water inlet on the other side has also reached the theoretical depth. At this time, the two remaining first lifting components are controlled to stop moving.

[0119] Similarly, the displacements of the two first remaining lifting components may also be acquired from the corresponding distance meter, and the second average displacement of the two first remaining lifting components may be determined according to the displacements of the two first remaining lifting components.

[0120] In order to detect the deformation degree of the tundish, after controlling the two first remaining lifting components to stop moving, the method further includes:

[0121] Obtaining a second average displacement of the two first remaining lifting components;

[0122] Obtaining an absolute value of a difference between the second average displacement and the first average displacement;

[0123] If it is determined that the absolute value of the difference is greater than or equal to the first preset threshold, a prompt message of “Both sides of the tundish are severely deformed, please repair” is sent.

[0124] Among them, the first preset threshold is the height deviation threshold allowed for the left and right sides of the tundish, which is generally 5 to 20 mm. If the absolute value of the difference is determined to be greater than or equal to the first preset threshold, it means that the height deviation of the left and right sides of the tundish is too large and the deformation is serious. Therefore, a prompt message "The deformation of both sides of the tundish is serious, please repair" will be pushed to the human-machine interface to prompt the staff to repair it in time.

[0125] In one embodiment, if it is determined that the absolute value of the difference is less than a first preset threshold, the method further includes:

[0126] Send a prompt message that "the deformation of the tundish is normal";

[0127] The lifting component is controlled to rise according to the received casting end signal, the tundish is lifted to the highest position, and the displacement value of the lifting component is set to zero.

[0128] If it is determined that the absolute value of the difference is less than the first preset threshold, it means that the height deviation between the left and right sides of the tundish is within the allowable range, so a prompt message "the deformation of the tundish is normal" will be pushed to the human-machine interface.

[0129] At this time, since the tundish has completed the casting work, it will be controlled to lift to the highest position, the readings of each distance meter will be cleared, and the tundish moving trolley mechanism will be controlled to move the tundish from the casting position to the baking position. After the next tundish is placed in the tundish moving trolley mechanism, the next casting work will be carried out.

[0130] In this way, even if the tundish structure is deformed, the theoretical depth (reference distance) of the tundish water outlet corresponding to different steel grades on the tundish deformation mounting plate can be determined in advance based on the tundish water outlet's own height, the theoretical depth of the tundish water outlet inserted below the molten steel surface, the first distance between the molten steel surface and the bottom surface of the crystallizer cover plate, and the second distance between the top surface of the crystallizer copper plate and the top surface of the crystallizer cover plate. Since the target position of the photoelectric switch is flush with the theoretical depth of the tundish water outlet mounting plate, when the photoelectric switch is blocked, it means that the tundish water outlet has reached the theoretical depth, and the insertion depth of the tundish water outlet can be accurately controlled when the tundish body structure is deformed. In addition, the size of the tundish water outlet and the tundish water outlet mounting plate will not change, so this method can achieve precise control of the tundish water outlet insertion depth, solving the problem of different water outlet insertion depths caused by tundish deformation.

[0131] In addition, in order to maintain the synchronization of the four lifting components and avoid that some lifting components move too fast and some lifting components move too slowly, resulting in inconsistent synchronization of the lifting components and causing the risk of the tundish tipping, in one embodiment, the lifting components are controlled according to the shielding state of the photoelectric switch and the displacement of the lifting components, including:

[0132] When it is determined that both photoelectric switches are not blocked, the displacements of the four lifting components are obtained respectively;

[0133] If it is determined that the first displacement difference between the maximum displacement and the minimum displacement among the four displacements is greater than the second preset threshold, the second target lifting component corresponding to the maximum displacement is controlled to stop moving until all the second remaining lifting components move to the maximum displacement, and the second target lifting component is controlled to descend synchronously with the second remaining lifting components.

[0134] Specifically, when it is determined that both photoelectric switches are not blocked, it means that the two tundish water inlets have not yet reached the theoretical depth. In order to maintain the synchronization of the four lifting components, it is necessary to obtain the displacement of the four lifting components, and determine the maximum displacement and the minimum displacement from the four displacements. If the displacement difference between the maximum displacement and the minimum displacement is greater than or equal to 10 mm, it means that the second target lifting component corresponding to the maximum displacement has descended too fast. Therefore, the second target lifting component corresponding to the maximum displacement will be controlled to stop moving, waiting for the other three second remaining lifting components to continue to descend until the other three second remaining lifting components also descend to the maximum displacement, and then the second target lifting component will be controlled to restart, so that the four lifting components continue to descend synchronously.

[0135] In this way, during the descent of the tundish, the actual displacements of the various lifting components are compared in real time to determine whether the tundish water inlets on the left and right sides of the tundish are descending synchronously. If it is determined that they are not descending synchronously, the above control strategy is executed to improve the synchronization of the descent of the two tundish water inlets.

[0136] Based on the same inventive concept as in the above-mentioned embodiment, this embodiment also provides a controller for the insertion depth of the tundish nozzle, such as Figure 5 As shown, the controller includes:

[0137] The acquisition unit 51 is used to acquire the height of the tundish nozzle, the theoretical depth of the tundish nozzle inserted below the molten steel surface, the first distance between the molten steel surface and the bottom surface of the crystallizer cover plate, and the second distance between the top surface of the crystallizer copper plate and the top surface of the crystallizer cover plate when the tundish moving carriage mechanism is in the casting position;

[0138] A determination unit 52, configured to determine a reference distance between the top surface of the crystallizer cover plate and the lower bottom surface of the tundish water inlet mounting plate according to the height of the tundish water inlet, the theoretical depth, the first distance, and the second distance;

[0139] A first control unit 53 is used to control the photoelectric switch to move the reference distance from the initial position to the target position; the initial position is the position where the photoelectric switch is flush with the top surface of the crystallizer cover plate; the photoelectric switch is located on the side of the tundish moving trolley mechanism;

[0140] The second control unit 54 is used to control the movement of multiple lifting components to drive the tundish water inlet to descend from the highest position, and control the lifting components according to the blocking state of the photoelectric switch so that the insertion depth of the tundish water inlet is consistent with the theoretical depth.

[0141] Since the controller introduced in the embodiment of the present invention is a controller used to implement the method for controlling the insertion depth of the tundish nozzle of the embodiment of the present invention, based on the method introduced in the embodiment of the present invention, the person skilled in the art can understand the specific structure and deformation of the device, so it is not repeated here. All devices used in the method of the embodiment of the present invention belong to the scope of protection of the present invention.

[0142] Through one or more embodiments of the present invention, the present invention has the following beneficial effects or advantages:

[0143] The present invention provides a control method, controller and system for the insertion depth of a tundish water nozzle, the method comprising: when a tundish moving carriage mechanism is in a casting position, obtaining the self-height of the tundish water nozzle, the theoretical depth of the tundish water nozzle inserted below the molten steel liquid surface, the first distance between the molten steel liquid surface and the bottom surface of a crystallizer cover plate, and the second distance between the top surface of a crystallizer copper plate and the top surface of a crystallizer cover plate; determining a reference distance between the top surface of the crystallizer cover plate and the lower bottom surface of a tundish water nozzle mounting plate according to the self-height of the tundish water nozzle, the theoretical depth, the first distance and the second distance; controlling a photoelectric switch to move the reference distance from an initial position to a target position; the initial position is a position where the photoelectric switch is flush with the top surface of the crystallizer cover plate; the photoelectric switch is located on the side of the tundish moving carriage mechanism; controlling a plurality of lifting components to move belts The movable tundish water inlet descends from the highest position, and the lifting component is controlled according to the blocking state of the photoelectric switch and the displacement of the lifting component, so that the insertion depth of the tundish water inlet is consistent with the theoretical depth; in this way, even if the tundish structure is deformed, the theoretical depth (reference distance) of the tundish water inlet corresponding to different steel grades on the deformed tundish mounting plate can be determined in advance according to the tundish water inlet's own height, the theoretical depth of the tundish water inlet inserted below the molten steel surface, the first distance between the molten steel surface and the bottom surface of the crystallizer cover plate, and the second distance between the top surface of the crystallizer copper plate and the top surface of the crystallizer cover plate. Since the target position of the photoelectric switch is flush with the theoretical depth of the tundish water inlet mounting plate, when the photoelectric switch is blocked, it means that the tundish water inlet has reached the theoretical depth, and then the insertion depth of the tundish water inlet can be accurately controlled when the tundish body structure is deformed.

[0144] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0145] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling the insertion depth of a tundish nozzle, characterized in that: The method comprises: When the tundish moving carriage mechanism is in the casting position, the height of the tundish water inlet, the theoretical depth of the tundish water inlet inserted below the molten steel surface, the first distance between the molten steel surface and the bottom surface of the crystallizer cover plate, and the second distance between the top surface of the crystallizer copper plate and the top surface of the crystallizer cover plate are obtained; Determine a reference distance between the top surface of the crystallizer cover plate and the lower bottom surface of the tundish water inlet mounting plate according to the height of the tundish water inlet, the theoretical depth, the first distance, and the second distance; Controlling the photoelectric switch to move the reference distance from the initial position to the target position; the initial position is the position where the photoelectric switch is flush with the top surface of the crystallizer cover plate; the photoelectric switch is located on the side of the tundish moving trolley mechanism; Control the movement of multiple lifting components to drive the tundish water inlet to descend from the highest position, and control the lifting components according to the blocking state of the photoelectric switch and the displacement of the lifting components, so that the insertion depth of the tundish water inlet is consistent with the theoretical depth.

2. The method according to claim 1, characterized in that The step of determining the reference distance between the top surface of the crystallizer cover plate and the lower bottom surface of the tundish water inlet mounting plate according to the height of the tundish water inlet, the theoretical depth, the first distance, and the second distance comprises: The reference distance c between the top surface of the crystallizer cover plate and the bottom surface of the tundish water inlet mounting plate is determined according to the formula c=hxya; wherein, The h is the height of the tundish water inlet itself, the x is the theoretical depth, the y is the first distance, and the a is the second distance.

3. The method according to claim 1, characterized in that The tundish water inlets include two; the photoelectric switches include two, each photoelectric switch detects the position of a tundish water inlet; the lifting components include four, and every two lifting components control the insertion depth of one tundish water inlet; The lifting component is controlled according to the shielding state of the photoelectric switch and the displacement of the lifting component, including: When it is determined that any one of the two photoelectric switches is blocked, two first target lifting components located on the same side as the blocked photoelectric switch are controlled to stop moving, and a first average displacement of the two first target lifting components is determined; The two remaining first lifting components are controlled to continue to descend until it is determined that another photoelectric switch is blocked, and the two remaining first lifting components are controlled to stop moving.

4. The method according to claim 3, characterized in that After controlling the two first remaining lifting components to stop moving, the method further includes: Obtaining a second average displacement of the two first remaining lifting components; determining an absolute value of a difference between the second average displacement and the first average displacement; If it is determined that the absolute value of the difference is greater than or equal to the first preset threshold, a prompt message of "Both sides of the tundish are severely deformed, please repair" is sent.

5. The method according to claim 4, characterized in that If it is determined that the absolute value of the difference is less than a first preset threshold, the method further includes: Send a prompt message that "the deformation of the tundish is normal"; The lifting component is controlled to rise according to the received casting end signal, the tundish is lifted to the highest position, and the displacement value of the lifting component is set to zero.

6. The method according to claim 1, characterized in that The controlling the lifting component according to the shielding state of the photoelectric switch and the displacement of the lifting component comprises: When it is determined that both of the photoelectric switches are not blocked, respectively obtaining the displacements of the four lifting components; If it is determined that the displacement difference between the maximum displacement and the minimum displacement among the four displacements is greater than the second preset threshold, the second target lifting component corresponding to the maximum displacement is controlled to stop moving until all the second remaining lifting components move to the maximum displacement, and the second target lifting component is controlled to descend synchronously with the second remaining lifting components.

7. A controller for the insertion depth of a tundish nozzle, characterized in that: The controller comprises: an acquisition unit, for acquiring, when the tundish moving carriage mechanism is in the casting position, the height of the tundish water inlet, the theoretical depth of the tundish water inlet inserted below the molten steel liquid surface, the first distance between the molten steel liquid surface and the bottom surface of the crystallizer cover plate, and the second distance between the top surface of the crystallizer copper plate and the top surface of the crystallizer cover plate; a determination unit, configured to determine a reference distance between the top surface of the crystallizer cover plate and the lower bottom surface of the tundish water inlet mounting plate according to the height of the tundish water inlet, the theoretical depth, the first distance, and the second distance; A first control unit is used to control the photoelectric switch to move the reference distance from the initial position to the target position; the initial position is the position where the photoelectric switch is flush with the top surface of the crystallizer cover plate; the photoelectric switch is located on the side of the tundish moving trolley mechanism; The second control unit is used to control the movement of multiple lifting components to drive the water outlet of the tundish to descend from the highest position, and control the lifting components according to the blocking state of the photoelectric switch so that the insertion depth of the water outlet of the tundish is consistent with the theoretical depth.

8. A control system for the insertion depth of a tundish nozzle, characterized in that: The system comprises: a tundish moving trolley mechanism, a position detection mechanism and a controller; The tundish moving trolley mechanism includes a lifting component, and the lifting component is used to drive the tundish water outlet to rise or fall; The position detection mechanism is installed on one side of the tundish moving trolley mechanism, and is used to send the shielding state of the photoelectric switch to the controller during the descent of the tundish water inlet; The controller is used for obtaining the height of the tundish water inlet, the theoretical depth of the tundish water inlet inserted below the molten steel liquid surface, the first distance between the molten steel liquid surface and the bottom surface of the crystallizer cover plate, and the second distance between the top surface of the crystallizer copper plate and the top surface of the crystallizer cover plate when the tundish moving carriage mechanism is in the casting position; determining the reference distance between the top surface of the crystallizer cover plate and the bottom surface of the tundish water inlet mounting plate according to the height of the tundish water inlet, the theoretical depth, the first distance and the second distance; controlling the photoelectric switch to move the reference distance from an initial position to a target position; the initial position is a position where the photoelectric switch is flush with the top surface of the crystallizer cover plate; the photoelectric switch is located on the side of the tundish moving carriage mechanism; controlling the movement of multiple lifting components to drive the tundish water inlet to descend from the highest position, and controlling the lifting components according to the shielding state of the photoelectric switch so that the insertion depth of the tundish water inlet is consistent with the theoretical depth.

9. The system according to claim 8, characterized in that The lifting components include multiple ones, and the tundish car moving mechanism also includes: a car body, multiple lifting plates, multiple guide columns and multiple distance meters; wherein, Each of the lifting plates is located at the four corners of the vehicle body, and the plurality of lifting plates are used to carry the tundish. A nozzle mounting plate is installed on one side of the tundish, and a tundish nozzle is installed on the nozzle mounting plate. Each guide column is correspondingly installed on one side of each lifting plate, and the guide column is used to provide direction guidance when the lifting plate moves; One end of each lifting component is connected to the lifting plate, and the other end of each lifting component is connected to the vehicle body. The plurality of lifting components are used to drive the tundish to rise or fall. Each of the distance meters is correspondingly installed on the lifting component and is used to measure the displacement of the lifting component.

10. The system according to claim 8, characterized in that The position detection mechanism comprises: A base plate, installed on the foundation and located on one side of the tundish trolley mechanism; A moving mechanism, mounted on the substrate; A photoelectric switch is installed on the moving mechanism, and the photoelectric switch can rise or fall as the moving mechanism is extended or retracted; A displacement sensor, located at one end of the moving mechanism, for detecting the moving distance of the photoelectric switch; The receiving plate is located on the other side of the tundish trolley mechanism.

Images