KR stirrer erosion state self-judgment device and method

Abstract

The invention discloses a KR stirrer erosion state self-judgment device and method, the KR stirrer erosion state self-judgment device comprises a lifting system, a rotating system and a three-dimensional scanning system, the driving end of the lifting system is connected with the rotating system, and the lifting system is used for driving the rotating system to lift in the vertical direction; the driving end of the rotating system is connected with the stirrer and used for driving the stirrer to rotate; the three-dimensional scanning system is located on the outer side of the rotation range of the stirrer and used for scanning the erosion state of the stirrer. The device is simple in overall structure, low in price and high in applicability. The device is mainly composed of a lifting system, a rotating motor, a three-dimensional scanning system, a control system and the like, all the parts are tightly connected, and operation is stable. Meanwhile, due to the adoption of a standardized design, the device can adapt to stirrers with different specifications and different shapes, and has relatively high universality and expandability. In addition, compared with a traditional monitoring method, the device is lower in cost and easier to accept and popularize by vast enterprises.

Description

Technical Field

[0001] The invention belongs to the technical field of agitators, and in particular relates to a device and method for self-determining the erosion state of a KR agitator. Background Art

[0002] In the industrial production process, agitators, as a key equipment, are widely used in various material mixing, dissolving, reaction and other processes. Especially in the fields of desulfurization, chemical industry, metallurgy, etc., the operating status of the agitator directly affects the production efficiency and product quality. However, during the long-term operation of the agitator, due to factors such as material corrosion and wear, its surface often shows different degrees of erosion, which not only reduces the mixing efficiency, but also may cause equipment failure and even pose a threat to production safety. Therefore, how to accurately and efficiently monitor the erosion state of the agitator and take maintenance measures in time has become an urgent problem to be solved in industrial production. For this reason, it is necessary to establish a KR agitator erosion state self-determination system to automatically determine the use of the agitator and correct the parameters of the KR desulfurization control model to ensure a good desulfurization effect.

[0003] In order to understand the technical status of online evaluation of KR agitator erosion status, a search was conducted on related technologies. Through the search, a total of 4 patents related to KR agitators were found, as follows:

[0004] Jiangsu Shagang Iron and Steel Research Institute Co., Ltd. has developed a system and method for automatically measuring the insertion depth of a KR stirring head (Xia Qi, Zou Changdong, Liu Fei, Yang Jinli, Yu Zhou. System and method for automatically measuring the insertion depth of a KR stirring head. China, invention patent, CN201110204090.2.2012.4.11.), which includes a lifting mechanism for driving the stirring head to move in the vertical direction, a weighing device and a displacement sensing device for real-time monitoring the weight and position of the stirring head during the descent of the stirring head, and a control unit for receiving and processing the weight signal and position signal of the stirring head transmitted in real time by the weighing device and the displacement sensing device, and controlling the lifting mechanism. The method is based on the basic principle of buoyancy, and automatically and accurately measures the height position of the stirring head when it contacts the molten iron liquid surface by monitoring the weight change of the stirring head during the descent process, and then gives the insertion depth, and automatically controls the stirring head to descend to the processing height, so as to realize the automatic measurement of the insertion depth of the stirring head. The present invention has simple equipment, concise process, low cost, and is easy to implement. It can accurately measure the insertion depth of the KR stirring head to ensure a good desulfurization effect in the KR stirring process. However, the patent cannot judge the erosion state of the agitator.

[0005] Shougang Corporation has disclosed a method for improving the service life of a KR stirring head (Gao Pan, Wang Fei, Cui Yuanyuan, Li Haibo, Cao Yong, Sun Liang, Yang Jian, Jiang Renbo, Pang Zaigang. A method for improving the service life of a KR stirring head. China, invention patent, CN201610166048.9.2016.06.15.), which controls the ratio of the blade length of the KR stirring head to the diameter of the molten iron ladle to be 0.35-0.45, and controls the ratio of the area of ​​the KR stirring head blade facing the iron surface to the area of ​​the longitudinal section of the molten iron ladle to be 0.10-0.12. Before the stirring head enters the molten iron and starts stirring, the KR stirring head is controlled to be baked above the molten iron ladle for 5-20 minutes. During the desulfurization process, the maximum rotation speed of the KR stirring head is controlled to be 70-100rpm, and the ratio of the immersion depth of the KR stirring head to the depth of the molten iron is controlled to be 0.35-0.50. The method for increasing the service life of the KR stirring head provided in an embodiment of the present invention prevents cracks from being generated inside the KR stirring head while ensuring efficient desulfurization, reduces the shear stress on the KR stirring head, and increases the service life of the KR stirring head, but is unable to judge the erosion state of the agitator.

[0006] Zhengzhou Yufeng Refractory Material Co., Ltd. discloses a KR mixing head (Zhang Huimin, Zhang Zhiming, Zhang Jingyi, Wang Yonghong, Zheng Hua. KR mixing head. China, utility model patent, CN201220454267.4.2013.03.20.), which includes an intermediate shaft, a connecting flange, and a stirring blade. The number of the stirring blades is three or four, and the stirring blades are evenly distributed on the circumferential side wall of the lower end of the intermediate shaft. The cross-section of the stirring blade is circular or a quadrilateral including upper and lower parallel horizontal edges and left and right symmetrical arc edges. The outermost end of the stirring blade is a convex arc surface, and a corundum mullite thickening layer is filled at the angle between two adjacent stirring blades. The outer side surface of the thickening layer is a plane structure. The addition of the thickening layer eliminates the edge knots between the angles of the stirring blades, making the stirring head more resistant to erosion. The utility model effectively prolongs the service life of the KR stirring head and makes the flow of molten iron smoother and more consistent during the stirring process, while making the desulfurizer and molten iron more evenly mixed, thereby improving the desulfurization effect. However, the patent cannot judge the erosion state of the stirrer.

[0007] Taizhou Keboli New Materials Technology Co., Ltd. discloses a KR stirring head with a locking function at the end (Lu Shikui, Zhang Tao, Wang Kun, He Qi, etc. A KR stirring head with a locking function at the end. China, utility model patent, CN202320963927.X.2023.09.29.), including an iron component, a penetration component and a locking component, the top end of the iron component is provided with a locking component, and the bottom end of the iron component is provided with a penetration component, the locking component includes a cylindrical shell, a left half plate, a right half plate, a gasket and a knob, and the outer surface of the cylindrical shell is provided with a knob, the bottom end of the cylindrical shell is provided with a left half plate, and one end of the left half plate is provided with a right half plate. The end of the KR stirring head is provided with a locking function. The left half plate and the right half plate can be extended and retracted along the inner wall of the cylindrical shell, so that the left half plate and the right half plate can lock the iron component to prevent the stirring head from falling off after long-term use. The right half plate can be rotated out and retracted by turning the knob. The mechanical structure is simple and easy to operate. At the same time, the knob with raised points can increase the friction between the hand and the knob to prevent the hand from slipping during the locking process and causing the unlocking phenomenon. However, this patent cannot judge the erosion state of the stirrer.

[0008] In summary, in the publicly available literature reviewed, no device or related patent technology that can self-diagnose the erosion status of a KR agitator was found. Summary of the invention

[0009] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a device and method for self-determination of the erosion state of a KR agitator, aiming to achieve rapid and accurate monitoring of the erosion state of the agitator through automated and intelligent means.

[0010] To achieve the above object, the present invention is implemented by the following technical solutions:

[0011] On the one hand, the present invention provides a device for self-determining the erosion state of a KR agitator, the device comprising a lifting system, a rotation system and a three-dimensional scanning system, the driving end of the lifting system is connected to the rotation system, and is used to drive the rotation system to lift and lower in a vertical direction; the driving end of the rotation system is used to connect to an agitator, and is used to drive the agitator to rotate; the three-dimensional scanning system is located outside the rotation range of the agitator, and the three-dimensional scanning system is used to scan the erosion state of the agitator.

[0012] As a further optimization scheme of the present invention, the lifting system includes a lifting motor and a lifting rod, one end of the lifting motor is fixed to the foundation, the other end of the lifting motor is drivingly connected to the lifting rod, and the other end of the lifting rod is connected to the rotating system.

[0013] As a further optimization scheme of the present invention, the rotating system includes a rotating motor, an output shaft and an encoder, wherein the encoder is installed on the rotating motor for accurately controlling the rotation speed and angle of the rotating motor; one end of the rotating motor is connected to the lifting rod of the lifting system, and the other end is drivingly connected to the output shaft, and the other end of the output shaft is connected to the agitator through a connecting structure.

[0014] As a further optimization scheme of the present invention, the connection structure includes an upper flange, a lower flange and a connecting column, the upper flange is fixedly connected to the output shaft, the lower flange is fixedly connected to the upper flange by bolts, one end of the connecting column is fixedly connected to the lower flange, and the other end is connected to the agitator.

[0015] As a further optimization scheme of the present invention, the device also includes a limiting system for limiting the position of the agitator during the descending process, and the limiting system includes a boss, a mounting block and a mechanical limit. The boss is installed on the side of the rotating motor of the rotating system, and the mounting block is installed on the foundation opposite the boss. The mechanical limit is installed on the mounting block and is located directly below the boss.

[0016] As a further optimization scheme of the present invention, the three-dimensional scanning system includes a mounting plate and a transmitting array element, a receiving array element and a light source mounted on the mounting plate. The mounting plate is installed on a foundation, and the transmitting array element and the receiving array element are distributed on the mounting plate in a vertical direction. The transmitting array element is used to transmit a signal to the agitator, the receiving array element is used to receive a signal reflected back by the agitator, and the light source is used for lighting.

[0017] As a further optimization solution of the present invention, the number n of the transmitting array elements is determined according to the height h1 of the on-site mixer and the following formula:

[0018] R near =R0-r0

[0019]

[0020] n×h0≥h1, n is a positive integer

[0021] Where R0 is the radius of the cylindrical 3D imaging, r0 is the radius of the cylindrical 3D imaging, h0 is the height of the imaging area, H0 is the height of the cylindrical 3D imaging, and θz represents the beam angle of the transmitting array element along the z-axis.

[0022] On the other hand, the present invention provides a method for self-determination of the erosion state of a KR agitator, comprising the following steps:

[0023] S1. Start the system and drive the rotating motor and agitator down to the mechanical limit position through the lifting system;

[0024] S2, start the rotating motor to the set speed V and keep it rotating at a constant speed, and start the three-dimensional scanning system at the same time;

[0025] S3, determine the scanning stop time according to the encoder count and speed matching;

[0026] S4, stitching the scan results to form a three-dimensional model of the blender;

[0027] S5. Compare the actual volume V of the 3D model 扫 The initial volume V of the stirrer 初 , and determine the erosion state of the agitator based on the comparison results.

[0028] As a further optimization scheme of the present invention, in step S3, the encoder of the rotating motor is cleared and starts counting, and its value is converted into the rotation angle value of the agitator and recorded as α. The three-dimensional scanning system starts scanning. If there are n three-dimensional scanning systems, when α=1 / (V×n), the scanning is stopped, the rotating motor stops rotating, and the process proceeds to step S4.

[0029] As a further optimization solution of the present invention, in step S5, when V 扫 / V 初 >1.1, the system displays: the agitator is seriously contaminated with slag and needs to be manually cleaned; if 1.1>V 扫 / V 初 >0.9, the system displays: the agitator is in normal condition; if 0.9≥V 扫 / V 初 ≥0.8, the system displays: the agitator is seriously corroded, please repair it. At the same time, during the desulfurization stirring process, the agitator speed is increased by 10%, and the agitator insertion depth is increased by 5%; when 0.8>V 扫 / V 初 >0.6, the system displays: the agitator is seriously corroded, please repair it. During the desulfurization stirring process, the agitator speed is increased by 20%, and the agitator insertion depth is increased by 10%; if 0.6≥V 扫 / V 初 , the system displays: The agitator is damaged, please replace it.

[0030] Compared with the prior art, the present invention has the following significant advantages and beneficial effects:

[0031] (1) The overall system has a simple structure, low price and strong applicability. The device is mainly composed of a lifting system, a rotating motor, a three-dimensional scanning system and a control system. The components are tightly connected and operate stably. At the same time, due to the use of a standardized design, the device can adapt to agitators of different specifications and shapes, and has strong versatility and scalability. In addition, compared with traditional monitoring methods, the device has a lower cost and is easier to be accepted and promoted by the majority of enterprises.

[0032] (2) The lifting system can realize the rapid lifting and lowering of the entire stirring system. At the same time, through the coordination of the boss and the mechanical limit, the stirrer can reach the center of the height of the 3D scanning system to ensure the scanning effect and quality. The introduction of the lifting system allows the stirrer to be easily moved to the scanning area without manual movement or adjustment. The design of the boss and the mechanical limit ensures the stability and accuracy of the stirrer during the scanning process, avoiding scanning errors caused by position deviation.

[0033] (3) The rotating motor and agitator can be quickly installed and disassembled through flanges and bolts. This design not only simplifies the installation process and improves work efficiency, but also facilitates the maintenance and replacement of the equipment. When the agitator is severely corroded or damaged, it can be quickly removed from the rotating motor and replaced with a new one, thus ensuring the continuity and stability of production.

[0034] (4) By arranging one or more three-dimensional scanning systems around the agitator, the erosion status of the agitator can be quickly scanned. The three-dimensional scanning system uses advanced millimeter wave technology to achieve high-precision, all-round scanning of the agitator surface. At the same time, through the matching of the motor encoder and the rotation speed, the accuracy and reliability of the three-dimensional reconstruction of the entire agitator can be ensured to avoid the occurrence of mis-scanning. This scanning method is not only fast and efficient, but also can generate a three-dimensional model of the agitator, providing rich data support for subsequent analysis and processing.

[0035] (5) By adding multiple light sources to the mounting plate, sufficient lighting can be provided for the entire scanning system and maintenance is facilitated. The introduction of light sources not only improves the visibility and clarity of the scanning system, but also makes it easier for maintenance personnel to inspect and repair the equipment. This design not only improves the service life and reliability of the equipment, but also reduces maintenance costs and time costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a front view of the device of the present invention.

[0037] Figure 2 yes Figure 1 AA section view.

[0038] Figure 3 It is the radiation range diagram of the transmitting array element.

[0039] Markings in the figure: 1. lifting motor; 2. lifting rod; 3. boss; 4. mounting block; 5. mechanical limit; 6. flange; 7. connecting column; 8. mounting plate; 9. transmitting array element; 10. receiving array element; 11. light source; 12. agitator; 13. bolt; 14. flange; 15. output shaft; 16. rotating motor; 17. encoder. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the technical solution of the present invention, the preferred implementation scheme of the present invention is described below in conjunction with specific embodiments. However, it should be understood that the drawings are only used for exemplary description and cannot be understood as a limitation on this patent. In order to better illustrate this embodiment, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product. For those skilled in the art, the omission of some well-known structures and their descriptions in the drawings is understandable. The positional relationship described in the drawings is only used for exemplary description and cannot be understood as a limitation on this patent.

[0041] Example 1

[0042] The present embodiment provides a device for self-determination of the erosion state of a KR agitator, comprising a lifting system, a rotation system and a three-dimensional scanning system. The driving end of the lifting system is connected to the rotation system and is used to drive the rotation system to lift and lower in a vertical direction; the driving end of the rotation system is used to connect to the agitator 12 and to drive the agitator 12 to rotate; the three-dimensional scanning system is located outside the rotation range of the agitator 12, and the three-dimensional scanning system is used to scan the erosion state of the agitator 12.

[0043] like Figure 1 As shown, the lifting system includes a lifting motor 1 and a lifting rod 2. The upper end of the lifting motor 1 is fixed to the foundation, the lower end of the lifting motor 1 is connected to the lifting rod 2, and the lower end of the lifting rod 2 is connected to the rotating motor 16 on the rotating system. Since one end of the lifting system is fixed to the foundation, the rotating motor 16 and the agitator 12 fixed thereon can be driven to move up and down as a whole only by extending and retracting the lifting rod 2. The agitator 12 can be designed as a three-blade, four-blade or five-blade structure.

[0044] like Figure 1 As shown, the rotating system includes a rotating motor 16, an output shaft 15 and an encoder 17. The encoder 17 is mounted on the rotating motor 16 and is used to accurately control the speed and angle of the rotating motor 16. One end of the rotating motor 16 is connected to the lifting rod 2 of the lifting system, and the other end is connected to the output shaft 15. The other end of the output shaft 15 is connected to the agitator 12 through a connecting structure. When the rotating motor 16 rotates, the agitator 12 can be driven to rotate.

[0045] In order to facilitate the connection and disassembly of the agitator 12, the connection structure includes an upper flange 6, a lower flange 14 and a connecting column 7 (the diameter of the connecting column 7 is D). The upper flange 6 is fixedly connected to the output shaft 15, and the lower flange 14 is fixedly connected to the upper flange 6 by bolts 13. One end of the connecting column 7 is fixedly connected to the lower flange 14, and the other end is connected to the agitator 12.

[0046] In some examples, the device further includes a position limiting system for limiting the position of the agitator 12 during the descent process, the position limiting system includes a boss 3, a mounting block 4 and a mechanical limit 5, the boss 3 is mounted on the side of the rotating motor 16 of the rotating system, the mounting block 4 is mounted on the foundation opposite the boss 3, and the mechanical limit 5 is mounted on the mounting block 4 and is located directly below the boss 3. When the lifting system drives the rotating motor 16 to descend, the lifting can be stopped when the boss 3 contacts the mechanical limit 5, so as to prevent the position of the agitator 12 from deviating too much from the position of the scanning area, causing a scanning error.

[0047] like Figure 1 and 2 As shown, one or more three-dimensional scanning systems are designed around the agitator 12, and each three-dimensional scanning system includes a mounting plate 8 and a transmitting array element 9, a receiving array element 10 and a light source 11 mounted on the mounting plate 8. The mounting plate 8 (with a height of h) is mounted on the foundation, and the transmitting array element 9 and the receiving array element 10 are distributed on the mounting plate 8 in the vertical direction. The transmitting array element 9 is used to transmit millimeter waves and other signals to the agitator 12, and the receiving array element 10 is used to receive millimeter waves and other signals reflected back by the agitator 12. The light source 11 is mainly used to provide sufficient lighting for the entire scanning system and facilitate maintenance.

[0048] like Figure 3 As shown in the figure, a cylindrical three-dimensional imaging system is composed of a three-dimensional scanning system. The height of the cylindrical three-dimensional imaging is H0, the radius is R0, the height of the imaging area is h0, and the radius is r0. With the center of the cylinder as the origin, a rectangular coordinate system is established. The coordinate F of the transmitting array element in the figure is x (x r, y r ,z r ), the coordinates of the receiving array element are S x (x t, y t ,z t ); P is any target point in the imaging area, and its coordinates are represented by (x, y, z), so the launch distance R t and receiving distance R r It can be expressed as:

[0049]

[0050] Since the echo equation of the signal is as follows:

[0051]

[0052] Where c represents the propagation speed of millimeter waves, which is equal to 3×10 8 m / s, σ(x,y,z) is the backscatter coefficient of the target. e is a natural constant with a value of approximately 2.71828

[0053] j is the imaginary unit

[0054] Substituting equation (1) into equation (2), we can obtain the three-dimensional imaging echo equation:

[0055]

[0056] Where K ω represents the wave number, record:

[0057]

[0058] The frequency of the transmitted millimeter wave is f

[0059] If the system adopts cylindrical 3D imaging with a common transmit and receive mode, it can be considered that {S x (x t ,y t ,z t )-F(x r ,y r ,z r )}→0, that is, the transmitting array element and the receiving array element are regarded as the same coordinate, which is EPC(x e ,y e ,z e ), then the distance Re between this point and the target point can be written as:

[0060]

[0061] Substituting formula (5) into formula (3) yields:

[0062]

[0063] In the signal radiation diagram of the transmitting array element, θz represents the beam angle of the transmitting array element along the z-axis. R near Indicates the minimum distance between the transmitting array element and the imaging area (such as Figure 3 ), the number of transmitting array elements can be determined according to the scanning height requirement of the on-site mixer and the following formula (7).

[0064] R near =R0-r0

[0065]

[0066] n×h0≥h1, n is a positive integer

[0067] If R0=200cm, r0=100cm, then R near =200-100=100cm;θz=50cm;H0=100cm, then the height of the imaging area of ​​a single transmitting antenna is h0=100+2×100×tan25=193.26cm. At this time, if the height h1 of the object I need to scan is 300cm, then n×h0≥300 must be satisfied, then n must be ≥2, so two transmitting antennas must be arranged in the vertical direction.

[0068] Example 2

[0069] Based on Example 1, this example proposes a method for self-determination of the erosion state of a KR agitator, comprising the following steps:

[0070] 1. The system starts, the mechanical limit 5 is energized, and the lifting system drives the rotating motor 16 and the agitator 12 to descend together through the lifting rod 2. When the mechanical limit 5 signal arrives, the lifting system stops descending. At this time, the agitator 12 is exactly in the center of the height of the three-dimensional scanning system in the Z-axis direction, and enters step 2.

[0071] 2. Start the rotating motor 16 so that its agitator 12 reaches the set speed V (in revolutions per second) and continues to rotate at a constant speed, start the three-dimensional scanning system, reset the encoder 17 of the rotating motor 16 and start counting, and convert its value into the rotation angle value of the agitator 12, recorded as α, and the three-dimensional scanning system starts scanning. If there are n three-dimensional scanning systems, then when α=1 / (V×n), stop scanning, the rotating motor 16 stops rotating, and proceed to step 3.

[0072] 3. The system stitches the images according to the scanning results to form a three-dimensional model of the blender 12, and automatically converts the actual volume V 扫 The initial volume V of the stirrer 12 初 For comparison, when V 扫 / V 初 >1.1, the system displays "Agitator 12 is seriously contaminated with slag, and manual slag removal is required"; if 1.1>V 扫 / V 初 >0.9, the system displays "Agitator 12 is in normal condition"; if 0.9≥V 扫 / V 初 ≥0.8, the system displays "Agitator 12 is seriously corroded, please repair it", and during the desulfurization stirring process, the speed of agitator 12 is increased by 10%, and the insertion depth of agitator 12 is increased by 5%; when 0.8>V 扫 / V 初>0.6, the system displays "Agitator 12 is seriously corroded, please repair", and during the desulfurization stirring process, the speed of agitator 12 is increased by 20%, and the insertion depth of agitator 12 is increased by 10%; if 0.6≥V 扫 / V 初 , the system displays "Agitator 12 is damaged, please replace it". After agitator 12 is replaced, go to step 4.

[0073] 4. The lifting system drives the rotary motor 16 and the agitator 12 to rise together through the lifting rod 2, and stops rising after reaching the initial position, and the system ends.

[0074] In summary, the device and method for self-determination of the erosion state of a KR agitator proposed in the present invention have the advantages of simple structure, low price, strong applicability, accurate scanning, and convenient operation. The successful application of the device and method will effectively improve the accuracy and efficiency of monitoring the erosion state of the agitator, reduce the production costs and safety risks of enterprises, and make positive contributions to the intelligent and automated development of industrial production.

[0075] According to the description and drawings of the present invention, those skilled in the art can easily manufacture or use the device and method for self-determination of the erosion state of a KR agitator of the present invention, and can produce the positive effects described in the present invention.

[0076] Unless otherwise specified, in the present invention, the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicating orientation or positional relationships are based on the orientation or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the orientation or positional relationship in the present invention are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood in conjunction with the drawings and according to specific circumstances.

[0077] Unless otherwise clearly specified and limited, in the present invention, the terms "disposed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0078] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A device for self-determining the erosion state of a KR agitator, characterized in that: The device comprises a lifting system, a rotating system and a three-dimensional scanning system. The driving end of the lifting system is connected to the rotating system and is used to drive the rotating system to lift and lower in a vertical direction. The driving end of the rotating system is used to connect to an agitator (12) and is used to drive the agitator (12) to rotate. The three-dimensional scanning system is located outside the rotation range of the agitator (12) and is used to scan the erosion state of the agitator (12).

2. The device for self-determining the erosion state of a KR agitator according to claim 1, characterized in that: The lifting system comprises a lifting motor (1) and a lifting rod (2); one end of the lifting motor (1) is fixed to a foundation; the other end of the lifting motor (1) is drivingly connected to the lifting rod (2); and the other end of the lifting rod (2) is connected to the rotating system.

3. The device for self-determining the erosion state of a KR agitator according to claim 1, characterized in that: The rotating system comprises a rotating motor (16), an output shaft (15) and an encoder (17); the encoder (17) is mounted on the rotating motor (16) and is used to accurately control the rotation speed and angle of the rotating motor (16); one end of the rotating motor (16) is connected to the lifting rod (2) of the lifting system, and the other end is drivingly connected to the output shaft (15); the other end of the output shaft (15) is connected to the agitator (12) via a connecting structure.

4. The device for self-determining the erosion state of a KR agitator according to claim 3, characterized in that: The connection structure comprises an upper flange (6), a lower flange (14) and a connection column (7); the upper flange (6) is fixedly connected to the output shaft (15); the lower flange (14) is fixedly connected to the upper flange (6) via bolts (13); one end of the connection column (7) is fixedly connected to the lower flange (14) and the other end is connected to the agitator (12).

5. The device for self-determining the erosion state of a KR agitator according to claim 1, characterized in that: The device also includes a limiting system for limiting the position of the agitator (12) during the descending process, and the limiting system includes a boss (3), a mounting block (4) and a mechanical limit (5), wherein the boss (3) is mounted on the side of the rotating motor (16) of the rotating system, the mounting block (4) is mounted on a foundation opposite to the boss (3), and the mechanical limit (5) is mounted on the mounting block (4) and is located directly below the boss (3).

6. The device for self-determining the erosion state of a KR agitator according to claim 1, characterized in that: The three-dimensional scanning system comprises a mounting plate (8) and a transmitting array element (9), a receiving array element (10) and a light source (11) mounted on the mounting plate (8); the mounting plate (8) is mounted on a foundation; the transmitting array element (9) and the receiving array element (10) are distributed on the mounting plate (8) along a vertical direction; the transmitting array element (9) is used to transmit a signal to the stirrer (12); the receiving array element (10) is used to receive a signal reflected by the stirrer (12); and the light source (11) is used for illumination.

7. The device for self-determining the erosion state of a KR agitator according to claim 6, characterized in that: The number n of the transmitting array elements is determined according to the height h1 of the on-site mixer and the following formula: R near =R0-r0 n×h0≥h1, n is a positive integer Where R0 is the radius of the cylindrical 3D imaging, r0 is the radius of the cylindrical 3D imaging, h0 is the height of the imaging area, H0 is the height of the cylindrical 3D imaging, and θz represents the beam angle of the transmitting array element along the z-axis.

8. A method for self-determination of the erosion state of a KR agitator, using the device according to any one of claims 1 to 7, characterized in that: The steps include: S1, start the system, and drive the rotary motor (16) and the stirrer (12) to descend to the mechanical limit (5) position through the lifting system; S2, starting the rotating motor (16) to a set speed V and maintaining a constant speed of rotation, while starting the three-dimensional scanning system; S3, determining the scanning stop timing according to the count of the encoder (17) and the speed matching; S4, performing image stitching on the scanning results to form a three-dimensional model of the stirrer (12); S5. Compare the actual volume V of the 3D model 扫 The initial volume V of the stirrer (12) 初 , and determine the erosion state of the agitator (12) based on the comparison result.

9. The method for self-determination of the erosion state of a KR agitator according to claim 8, characterized in that: In step S3, the encoder (17) of the rotating motor (16) is reset and starts counting, and at the same time, its value is converted into the rotation angle value of the agitator (12), recorded as α, and the three-dimensional scanning system starts scanning. If there are n three-dimensional scanning systems, then when α=1 / (V×n), the scanning is stopped, the rotating motor (16) stops rotating, and the process enters step S4.

10. The method for self-determination of the erosion state of a KR agitator according to claim 8, characterized in that: In step S5, when V 扫 / V 初 >1.1, the system displays: the agitator (12) is seriously contaminated with slag and needs to be manually cleaned; if 1.1>V 扫 / V 初 >0.9, the system displays: the agitator (12) is in normal condition; if 0.9≥V 扫 / V 初 ≥0.8, the system displays: the agitator (12) is seriously corroded, please repair it. At the same time, during the desulfurization stirring process, the agitator (12) speed is increased by 10%, and the agitator (12) insertion depth is increased by 5%; when 0.8>V 扫 / V 初 >0.6, the system displays: The agitator (12) is seriously corroded, please repair it. At the same time, during the desulfurization stirring process, the speed of the agitator (12) is increased by 20%, and the insertion depth of the agitator (12) is increased by 10%; If 0.6 ≥ V 扫 / V 初 , the system displays: The agitator (12) is damaged, please replace it.

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