Anti-tipping system and method in dynamic operation process of buggy ladle
By installing an inclination detector on the ladle car, real-time monitoring and preventing the tilt from exceeding the limit, the safety problem of the ladle car tilt during steelmaking is solved, and the safety control of automatic lifting and walking process is achieved.
Patent Information
- Application Number
- CN202411455915.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-18
- Publication Date
- 2025-02-25
AI Technical Summary
During steelmaking, the ladle car is prone to tilt or tipping during cross-rail operation or hoisting, causing liquid steel to flow out, causing equipment damage and safety accidents. The prior art lacks effective monitoring and control means, making it difficult to prevent such accidents from occurring.
An anti-tilt system for dynamic operation of ladle car is designed, and an inclination detector using physical detection method is used to detect the inclination angle of the ladle car in the east, west, south and north directions through four inclination detectors. If the inclination angle exceeds the limit, the inclination monitoring module outputs a signal and stops the roof lifting or walking device of the ladle car to prevent a tilt accident.
It effectively prevents overturning accidents caused by tilting during automatic lifting and walking of ladles, and improves the safety and reliability of the steelmaking process.
Smart Images
Figure CN119501047A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of steelmaking process, and in particular relates to a system and method for preventing a ladle car from tipping over during dynamic operation. Background Art
[0002] During the steelmaking process in a steel plant, ladle cars are used to move the ladle containing molten steel to the target position. Ladle cars often need to cross tracks. If the two rails are not in the same straight line, the ladle car may derail when crossing the tracks. Continuing to run may cause the ladle to tilt or overturn. During the RH vacuum refining of molten steel, after the ladle car transports the ladle containing molten steel to the processing position, the ladle lifting device pushes toward the center of the ladle car, lifts the ladle car and the ladle upward to the target height for vacuum refining. Due to positioning failure, the target position where the ladle car stops running may deviate. The center of the lifting device and the center of the ladle car are not in the same vertical position. During the ladle lifting process, the ladle car tilts at the beginning of the lifting. If the lifting continues, the ladle car and the ladle may overturn, and the molten steel will flow out, which will damage the ladle car, the ground or the lifting pit, and even cause serious safety accidents with casualties.
[0003] With the development of intelligentization in China's steel industry, the steelmaking process pursues the goal of unmanned, intelligent, and high-quality steelmaking. There is a risk of ladle tipping over during ladle lifting and ladle car operation. Due to the high temperature of the ladle and the high power of the ladle car motor, the ordinary angle monitoring electronic device is susceptible to high temperature radiation and electromagnetic interference. There is currently no suitable technical solution to ensure that the ladle car will not tip over during the lifting and operation of the ladle car. Therefore, how to monitor the tilt state of the ladle car during the intelligent lifting and operation process, control the ladle lifting mechanism and the ladle car operation mechanism, and avoid ladle tipping accidents has become an urgent problem to be solved in the development of intelligent steelmaking. Summary of the invention
[0004] In view of the above problems, the purpose of the present invention is to provide a system and method for preventing rollover of a ladle car during dynamic operation. The device can prevent errors caused by high-temperature radiation and electromagnetic interference through a tilt detector in a physical detection manner. During the automatic lifting process of the ladle and the automatic walking process of the ladle car, if the tilt angle of the ladle car exceeds the limit and may cause a ladle rollover accident, the tilt monitoring module outputs a signal to the execution module, and the ladle car lifting device of the execution module stops lifting or the ladle car walking device stops walking, thereby preventing the ladle rollover accident.
[0005] The technical solution of the present invention is: a system for preventing overturning of a ladle car during dynamic operation, comprising a tilt monitoring module and an execution module, wherein the tilt monitoring module comprises a tilt detection device and a signal processor, wherein the execution module comprises a ladle car lifting device and a ladle car walking device, wherein the tilt detection device is fixed on the ladle car and comprises four tilt detectors, wherein the tilt detector is a capsule-type metal container with a vacuum state inside, wherein a vacuum chamber is arranged inside the container, wherein a mercury drop is arranged on one side of the vacuum chamber, and a signal line is arranged on the other side, wherein the signal line comprises a first signal line and a second signal line, wherein the first signal line and the second signal line are parallel to each other, wherein the signal line is electrically connected to the signal processor, wherein the signal processor is electrically connected to the ladle car lifting device and the ladle car walking device respectively, wherein during the automatic lifting process of the ladle and the automatic walking process of the ladle, if the inclination angle of the ladle car exceeds the limit value and may cause a ladle overturning accident, the tilt monitoring module outputs a signal to the execution module, and the ladle car lifting device of the execution module stops lifting or the ladle car walking device stops walking.
[0006] The inclination detector is a capsule-type metal container whose internal material is steel or alloy, the vacuum chamber has a diameter of 2-8 mm and a length of 20-50 mm.
[0007] The volume of the mercury droplets accounts for 10%-20% of the volume of the vacuum chamber.
[0008] The arrangement directions of two adjacent inclination detectors among the four inclination detectors are perpendicular to each other. The four inclination detection devices can simultaneously detect the inclination angles of the ladle car in the east, west, south and north directions. The limit angle range detected by the inclination detector to prevent the ladle from tipping over is 2°-20°.
[0009] A method for preventing a ladle car from tipping over during a dynamic operation process, using the above-mentioned system for preventing a ladle car from tipping over during a dynamic operation process, comprises the following steps: S1: Fix the inclination detection device on the ladle car, the two ends of the inclination detector are respectively a signal receiving end and a mercury storage end, the signal receiving end is connected to the inside and outside of the vacuum chamber by two signal lines, the two inner signal lines do not touch each other, and the outer signal line is connected to the signal processor. When the inclination detector is working, it forms a certain angle with the horizontal plane, including a first angle between the inclination detector and the horizontal plane and a second angle between the inclination detector and the horizontal plane. The signal receiving end of the inclination detector is physically located obliquely above the mercury storage end, and the mercury drop is located at the lower end of the vacuum chamber due to gravity; S2: During the automatic lifting process of the ladle and the automatic walking process of the ladle car, if the inclination angle of the ladle car exceeds the limit, the inclination detection device is tilted, resulting in a smaller angle with the horizontal plane, and the physical position of the signal receiving end is lower than the mercury storage end. The mercury droplet moves toward the signal receiving end of the vacuum chamber due to gravity and contacts the two signal lines inside the vacuum chamber. When the two signal lines are connected, the signal is transmitted to the signal processor; S3: The signal processor filters out the erroneous signal caused by the flow of mercury drops due to the vibration of the ladle car through filtering calculation, thereby converting a stable and accurate signal into a digital signal, which is output to the anti-rollover control center to control the execution module. The ladle car lifting device of the execution module stops lifting or the ladle car walking device stops walking.
[0010] In step S3, the signal processor filters out the error signal caused by the flow of mercury drops due to the vibration of the ladle car through filtering calculation. The specific filtering calculation formula is as follows: (1) (2) In the formula, Da 1 0 、Db 1 0 , Dc 1 0 ,Dd 1 0 It is the detection signal of four inclinometers, which has only two states, 0 and 1. 0 represents no signal and 1 represents signal. ft is the function of the detection signal of the inclinometer with respect to the sampling period t. When one signal is 1, it means that the signal is detected. out is the output result of the signal within the sampling interval t. 0 means no tilting signal is detected and 1 means a tilting signal is detected. n is the filtering time, which is 1-5s.
[0011] The technical effects of the present invention are as follows: 1. The inclination detector of the present invention can prevent errors caused by high temperature radiation and electromagnetic interference through physical detection. During the automatic lifting process of the ladle and the automatic movement of the ladle car, if the inclination angle of the ladle car exceeds the limit and may cause the ladle to tip over, the output signal of the inclination monitoring module is transmitted to the execution module, and the ladle car lifting device of the execution module stops lifting or the ladle car walking device stops walking to prevent the ladle from tipping over. 2. The invention uses filtering calculation through the processor to effectively filter out the erroneous signal caused by the flow of mercury drops due to the vibration of the ladle car, ensuring accurate identification of the output signal of the inclination monitoring module.
[0012] The following is a further description with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1The present invention is a schematic diagram of the composition structure of an anti-tipping system for a ladle car during dynamic operation according to an embodiment of the present invention.
[0014] Figure 2 Schematic diagram of the structure of the tilt monitoring module according to an embodiment of the present invention.
[0015] Figure 3 This is a schematic diagram of a state where the inclination detector according to an embodiment of the present invention has no tilting signal.
[0016] Figure 4 It is a schematic diagram of the tipping warning state of the inclinometer according to an embodiment of the present invention.
[0017] Figure numerals: 1-inclination detector, 2-signal line, 21-first signal line 1, 22-second signal line, 3-first angle between the inclination detector and the horizontal plane, 4-second angle between the inclination detector and the horizontal plane, 5-horizontal plane, 6-signal processor, 7-vacuum chamber, 8-mercury drop. DETAILED DESCRIPTION Example 1
[0018] like Figures 1 to 4 As shown, a system for preventing a ladle car from tipping over during dynamic operation comprises a tilt monitoring module and an execution module, wherein the tilt monitoring module comprises a tilt detection device and a signal processor 6, wherein the execution module comprises a ladle car lifting device and a ladle car walking device, wherein the tilt detection device is fixed on the ladle car and comprises four tilt detectors 1, wherein the tilt detector is a capsule-type metal container with a vacuum state inside, wherein a vacuum chamber 7 is arranged inside the container, wherein a mercury droplet 8 is arranged on one side of the vacuum chamber 7, and a signal line 2 is arranged on the other side, wherein the signal line 2 comprises a first signal line 21 and a second signal line 22, wherein the first signal line 21 and the second signal line 22 are parallel to each other, wherein the signal line 2 is electrically connected to the signal processor 6, wherein the signal processor 6 is electrically connected to the ladle car lifting device and the ladle car walking device respectively, wherein during the automatic lifting process of the ladle and the automatic walking process of the ladle, if the tilt angle of the ladle car exceeds the limit value and may cause a ladle tipping accident, the tilt monitoring module outputs a signal to the execution module, and the ladle car lifting device of the execution module stops lifting or the ladle car walking device stops walking.
[0019] During actual use, the inclination detector of the present invention can prevent errors caused by high-temperature radiation and electromagnetic interference through physical detection. During the automatic lifting process of the ladle and the automatic movement of the ladle car, if the inclination angle of the ladle car exceeds the limit value and may cause the ladle to tip over, the inclination monitoring module outputs a signal to the execution module, and the ladle car lifting device of the execution module stops lifting or the ladle car walking device stops walking, so as to prevent the ladle from tipping over. Example 2
[0020] Preferably, based on Example 1, in this embodiment, the inclination detector is a capsule-type metal container whose internal material is steel or alloy, the vacuum chamber 7 has a diameter of 2-8 mm, and the length of the vacuum chamber 7 is 20-50 mm.
[0021] In actual use, the inclination detector of the present invention has an internal capsule-type metal container made of steel or alloy, which is stable and durable. The diameter of the vacuum chamber 7 is 2-8 mm, and the length of the vacuum chamber 7 is 20-50 mm, which is convenient for setting a mercury drop in the vacuum chamber. Example 3
[0022] Preferably, on the basis of Example 1 or Example 2, in this embodiment, the volume of the mercury droplet 8 accounts for 10%-20% of the volume of the vacuum chamber 7.
[0023] In actual use, the volume of the mercury droplet 8 of the present invention accounts for 10%-20% of the volume of the vacuum chamber 7, which facilitates the control and detection of the extreme angle for preventing the ladle from tipping over by means of the mercury droplet. Example 4
[0024] Preferably, on the basis of Example 1 or Example 3, in this embodiment, the arrangement directions of two adjacent angle detectors 1 among the four inclination detectors 1 are perpendicular to each other, and the four inclination detection devices can simultaneously detect the inclination angles of the ladle car in the east, west, south and north directions, and the limit angle range detected by the inclination detector 1 to prevent the ladle from tipping over is 2°-20°.
[0025] In actual use, the arrangement directions of two adjacent angle detectors 1 of the four inclination detectors 1 of the present invention are perpendicular to each other. The four inclination detection devices can simultaneously detect the inclination angles of the ladle car in the east, west, south and north directions. The two ends of the inclination detector 1 are respectively a signal receiving end and a mercury storage end. The signal receiving end is connected to the inner and outer sides of the vacuum chamber 7 by two signal lines 2. The two inner signal lines 2 do not contact each other, and the outer signal line 2 is connected to the signal processor 6. When the inclination detector is working, it forms a certain angle with the horizontal plane 5, including the first angle 3 between the inclination detector and the horizontal plane and the inclination detection The second angle 4 between the instrument and the horizontal plane, the physical position of the signal receiving end of the inclination detector 1 is located obliquely above the mercury storage end, and the mercury droplet 8 is located at the lower end of the vacuum chamber 7 due to the action of gravity; during the automatic lifting process of the ladle and the automatic walking process of the ladle car, if the inclination angle of the ladle car exceeds the limit, the inclination detection device tilts, causing the angle with the horizontal plane to become smaller, and the physical position of the signal receiving end is lower than the mercury storage end, then the mercury droplet 8 moves toward the signal receiving end of the vacuum chamber 7 due to gravity, and contacts with the two signal lines 2 on the inner side of the vacuum chamber 7. When the two signal lines 2 are connected, the signal is transmitted to the signal processor 6. Example 5
[0026] A method for preventing a ladle car from tipping over during a dynamic operation process, using the above-mentioned system for preventing a ladle car from tipping over during a dynamic operation process, comprises the following steps: S1: Fix the inclination detection device on the ladle car, the two ends of the inclination detector 1 are respectively a signal receiving end and a mercury storage end, the signal receiving end is connected to the inner and outer sides of the vacuum chamber 7 by two signal lines 2, the two inner signal lines 2 do not contact each other, and the outer signal line 2 is connected to the signal processor 6. When the inclination detector is working, it forms a certain angle with the horizontal plane 5, including a first angle 3 between the inclination detector and the horizontal plane and a second angle 4 between the inclination detector and the horizontal plane. The signal receiving end of the inclination detector 1 is physically located obliquely above the mercury storage end, and the mercury droplet 8 is located at the lower end of the vacuum chamber 7 due to gravity; S2: During the automatic lifting process of the ladle and the automatic walking process of the ladle car, if the inclination angle of the ladle car exceeds the limit, the inclination detection device is tilted, resulting in a smaller angle with the horizontal plane, and the physical position of the signal receiving end is lower than the mercury storage end, then the mercury droplet 8 moves toward the signal receiving end of the vacuum chamber 7 due to gravity, and contacts with the two signal lines 2 inside the vacuum chamber 7. The two signal lines 2 are connected, and the signal is transmitted to the signal processor 6; S3: The processor 6 filters out the erroneous signal caused by the flow of mercury drops due to the vibration of the ladle car through filtering calculation, thereby converting a stable and accurate signal into a digital signal, and outputs it to the anti-rollover control center to control the execution module, and the ladle car lifting device of the execution module stops lifting or the ladle car walking device stops walking.
[0027] In step S3, the processor 6 filters out the error signal caused by the flow of mercury drops due to the vibration of the ladle car through filtering calculation. The specific filtering calculation formula is as follows: (1) (2) In the formula, Da 1 0 、Db 1 0 , Dc 1 0 ,Dd 1 0 It is the detection signal of four inclinometers, which has only two states, 0 and 1. 0 represents no signal and 1 represents signal. ft is the function of the detection signal of the inclinometer with respect to the sampling period t. When one signal is 1, it means that the signal is detected. out is the output result of the signal within the sampling interval t. 0 means no tilting signal is detected and 1 means a tilting signal is detected. n is the filtering time, which is 1-5s.
[0028] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.
Claims
1. An anti-tilt system for a ladle car during dynamic operation, characterized in that: The invention comprises a tilt monitoring module and an execution module, wherein the tilt monitoring module comprises a tilt detection device and a signal processor (6), wherein the execution module comprises a ladle car lifting device and a ladle car walking device, wherein the tilt detection device is fixed on the ladle car and comprises four tilt detectors (1), wherein the tilt detectors are capsule-type metal containers with a vacuum state inside, wherein a vacuum chamber (7) is provided inside the containers, wherein one side of the vacuum chamber (7) is provided with a mercury droplet (8), and the other side of the vacuum chamber (7) is provided with a signal line (2), wherein the signal line (2) comprises a first signal line (21) and a second signal line (22). The second signal line (22), the first signal line (21) and the second signal line (22) are parallel to each other, the signal line (2) is electrically connected to the signal processor (6), and the signal processor (6) is electrically connected to the ladle car lifting device and the ladle car walking device respectively. During the automatic lifting process of the ladle and the automatic walking process of the ladle, if the inclination angle of the ladle car exceeds the limit value and may cause a ladle overturning accident, the inclination angle monitoring module outputs a signal to the execution module, and the ladle car lifting device of the execution module stops lifting or the ladle car walking device stops walking.
2. According to claim 1, a ladle car dynamic operation process anti-tilt system is characterized by: The inclination detector is a capsule-type metal container whose internal material is steel or alloy, the vacuum chamber (7) has a diameter of 2-8 mm, and a length of 20-50 mm.
3. According to claim 1, a ladle car dynamic operation process anti-tilt system is characterized by: The volume of the mercury drop (8) accounts for 10%-20% of the volume of the vacuum chamber (7).
4. According to claim 1, a ladle car dynamic operation process anti-tilt system is characterized by: The arrangement directions of two adjacent angle detectors (1) of the four inclination detectors (1) are perpendicular to each other. The four inclination detection devices can simultaneously detect the inclination angles of the ladle car in the four directions of east, west, south and north. The limit angle range detected by the inclination detector (1) to prevent the ladle from tipping over is 2°-20°.
5. A method for preventing a ladle car from tipping over during dynamic operation, using the system for preventing a ladle car from tipping over during dynamic operation as claimed in claim 1, characterized in that: The following steps are involved: S1: The inclination detection device is fixed on the ladle car, the two ends of the inclination detector (1) are respectively a signal receiving end and a mercury storage end, the signal receiving end is connected to the inner and outer sides of the vacuum chamber (7) by two signal lines (2), the two inner signal lines (2) do not contact each other, and the outer signal line (2) is connected to the signal processor (6), when the inclination detector is working, a certain angle is formed with the horizontal plane (5), including a first angle (3) between the inclination detector and the horizontal plane and a second angle (4) between the inclination detector and the horizontal plane, the signal receiving end of the inclination detector (1) is physically located obliquely above the mercury storage end, and the mercury drop (8) is located at the lower end of the vacuum chamber (7) due to gravity; S2: During the automatic lifting process of the ladle and the automatic walking process of the ladle car, if the inclination angle of the ladle car exceeds the limit value, the inclination detection device is tilted so that the angle with the horizontal plane becomes smaller, and the physical position of the signal receiving end is lower than the mercury storage end, then the mercury drop (8) moves toward the signal receiving end of the vacuum chamber (7) due to gravity and contacts the two signal lines (2) inside the vacuum chamber (7). The two signal lines (2) are connected, and the signal is transmitted to the signal processor (6); S3: The processor (6) filters out the error signal caused by the flow of mercury drops due to the vibration of the ladle car through filtering calculation, thereby converting a stable and accurate signal into a digital signal, which is output to the anti-rollover control center to control the execution module, and the ladle car lifting device of the execution module stops lifting or the ladle car walking device stops walking.
6. The method for preventing a ladle car from tipping over during dynamic operation according to claim 5, characterized in that: In step S3, the processor (6) filters out the error signal caused by the flow of mercury drops due to the vibration of the ladle car through filtering calculation. The specific filtering calculation formula is as follows: （1） （2） In the formula, Da 1 0. Db 1 0.Dc 1 0.Dd 1 0 is the detection signal of the four inclinometers, which has only two states, 0 and 1. 0 represents no signal and 1 represents a signal. f(t) is the function of the detection signal of the inclinometer with respect to the sampling period t. When one of the signals is 1, it indicates that a signal is detected. out is the output result of the signal within the sampling interval t. 0 indicates that no tilting signal is detected and 1 indicates that a tilting signal is detected. n is the filtering time, which is 1-5s.
Citation Information
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