Slag thickness monitoring device and monitoring method based on automatic slag adding of mechanical arm

Abstract

The invention discloses a slag thickness monitoring device and method based on automatic slag adding of a mechanical arm, and belongs to the technical field of metallurgical continuous casting automatic slag adding. In the slag adding process, a distance measuring module moves along with a slag adding device to scan the slag surface, and the distance measuring module and a liquid level detection module are matched with a processing device to monitor the slag thickness; the thickness of the slag layer can be automatically detected very conveniently, the thickness of the slag layer at different positions in the section of the crystallizer can be measured in real time, and under the control action of the processing device, automatic adjustment and closed-loop control are carried out on the casting powder adding speed of each area according to the measured thickness of the slag layer, so that the slag layer of the whole section is uniformly distributed, and the casting powder adding efficiency is improved. The effects of reducing the labor intensity of workers, reducing the slag consumption and improving the slag adding standardization are achieved; and the corresponding slag adding speed can be automatically adjusted to meet the actual production requirement, and the aims of relieving the labor intensity of workers, reducing the slag consumption of each furnace, reducing the total using amount of covering slag every year and improving the slag adding standardization are achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic slag adding in metallurgical continuous casting, and in particular relates to a slag thickness monitoring device and a monitoring method based on automatic slag adding by a manipulator. Background Art

[0002] In the field of continuous casting of steel, adding protective slag is an important auxiliary process. The process requirements of ensuring less, frequent and uniform addition of protective slag are of great significance to ensuring the quality of steel. The commonly reported automatic slag adding system of mechanical devices solves the quality problems and safety hazards caused by relying entirely on manual experience in continuous casting production in the past, and realizes the quantitative addition of protective slag on the entire section, which is a big step forward in the field of unmanned casting platform and continuous casting intelligence. However, in the actual production process, since the consumption of protective slag in each area of ​​the casting section is different, the consumption at both ends is often large, and the slag consumption of different steel grades, different furnaces, different molten steel temperatures, and different types of protective slag is also different, the traditional mechanical device for quantitative addition of protective slag still faces some problems that need to be solved: 1. Each time you switch to different steel grade information, protective slag information, etc., you need to pre-set it once and cannot adjust it automatically; 2. Each slag adding cycle requires manual slag pushing and material feeding. Adding more or less will also result in different slag consumption, which increases the total annual usage of protective slag, manual workload and safety hazards.

[0003] Based on the above requirements, the present invention proposes a slag thickness monitoring device and a monitoring method based on automatic slag adding by a robot. Summary of the invention

[0004] The purpose of the present application is to provide a slag thickness monitoring device based on automatic slag adding by a manipulator.

[0005] To achieve the above-mentioned purpose, the present application provides a slag thickness monitoring device based on automatic slag adding by a manipulator, comprising a slag adding device, a slag thickness measuring device and a processing device; The slag thickness measuring device includes a distance measuring module and a liquid level detection module; the distance measuring module is arranged on the slag adding device and moves with the slag adding device to obtain the laser distance L1 between the lower surface of the distance measuring module and the upper surface of the slag adding layer in the preset area; the liquid level detection module is arranged in the cross section of the crystallizer to obtain the molten steel level distance L3; The distance measuring module, the liquid level detection module and the slag adding device are electrically connected to the processing device respectively; The processing device is used to compare and analyze the measured slag layer thickness in the preset area in combination with the preset slag adding thickness; the processing device controls the speed of the servo motor in the slag adding device, thereby controlling the slag discharge amount of the slag adding device, thereby realizing real-time dynamic intelligent adjustment.

[0006] Furthermore, in a preferred embodiment, the distance measurement module is a laser distance meter; and the liquid level detection module is a molten steel level meter.

[0007] Further, in a preferred embodiment, the processing device divides the cross section of the crystallizer into a preset number of preset areas; The distance measuring module moves together with the slag adding device, detects the preset areas divided into a preset number, and obtains the laser distance L1 from the slag surface of different preset areas in the cross section of the crystallizer to the distance measuring module; The average value of the corresponding preset number of laser distances L1 is taken as the calculated laser distance value.

[0008] Furthermore, in a preferred embodiment, when the laser distance L1 is too high or too low, an abnormal slag thickness alarm is issued by the processing device.

[0009] Further, in a preferred embodiment, the processing device obtains a preset first distance from the distance measuring module to the liquid level detection module; The liquid level detection module measures the molten steel level distance L3 and feeds it back to the processing device.

[0010] Further, in a preferred embodiment, the processing device uses a calculation formula to calculate the real-time slag thickness distance L in the preset area in real time; The calculation formula is: L=L0+L2--L3, where L0 is the height of the installation position of the liquid level detection module.

[0011] Further, in a preferred embodiment, a preset slag thickness is obtained, marked as l; The processing device compares the real-time slag thickness distance L with the preset slag thickness l to obtain the slag thickness difference X. ; Use the processing device to give an alarm for abnormal slag thickness; like , the processing device calculates the adjustment speed y of the servo motor using the calculation formula.

[0012] Preferably, the calculation formula of the adjustment speed y of the servo motor is: y=ax+y1, wherein a is the first adjustment coefficient, x is the set cross-sectional width of the crystallizer, and y1 is the minimum speed of the servo motor to maintain the set slag thickness; The method of obtaining y1 is: y1=a1x-b, a1 is the second adjustment coefficient, x is the set crystallizer cross-sectional width; b is the speed adjustment constant.

[0013] Furthermore, in a preferred embodiment, it further comprises an air guide device, wherein the air guide device is connected to a cooling air source; The cooling gas blown out by the air guide device synchronously cools the cables, connectors and laser rangefinder in the pipe during the transportation process.

[0014] The present application also provides a slag thickness monitoring method based on a slag thickness monitoring device with automatic slag addition by a manipulator, comprising: Obtain a first distance from a preset distance measuring module to a liquid level detection module and a height L0 of a position where the liquid level detection module is installed; The distance measuring module moves with the slag adding device, detects the preset areas divided into a preset number, and sends the acquired laser distances L1 corresponding to the preset number to the processing device, and the processing device takes the average value of the laser distances L1 corresponding to the preset number as the laser distance calculation value; The liquid level detection module measures the molten steel level distance L3 and feeds it back to the processing device; The processing device uses a calculation formula to calculate the real-time slag thickness distance L in the preset area in real time; The processing device performs comparative analysis based on the measured slag layer thickness of the preset area and the preset slag addition thickness to obtain the preset slag addition thickness l; The processing device compares the real-time slag thickness distance L with the preset slag thickness l to obtain the slag thickness difference X. ; Use the processing device to give an alarm for abnormal slag thickness; like , the processing device calculates the adjustment speed y of the servo motor using a calculation formula; The processing device controls the speed of the servo motor of the slag adding device according to the calculated adjustment speed y of the servo motor, thereby controlling the slag adding amount per unit time of the slag adding device.

[0015] Compared with the prior art, the present invention has the following beneficial effects: During the slag adding process, the distance measuring module moves with the slag adding device to scan the slag surface. By cooperating with the distance measuring module and the liquid level detection module and the processing device, it is possible to extremely conveniently complete the automatic detection of the slag layer thickness, and measure the slag layer thickness at different positions in the crystallizer section in real time. Under the control of the processing device, the protective slag adding speed of each area is automatically adjusted and closed-loop controlled according to the measured slag layer thickness, so that the slag layer of the entire section is evenly distributed, thereby reducing the labor intensity of workers, reducing slag consumption, and improving the standardization of slag adding.

[0016] It can monitor the slag layer thickness in different areas under different steel grades, different furnaces, different molten steel temperatures, and different protective slag types, and automatically adjust the corresponding slag adding speed and slag adding amount to meet actual production needs, thereby reducing the labor intensity of employees, reducing the slag consumption of each furnace, and at the same time reducing the total annual use of protective slag and improving the standardization of slag adding. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the prior art and the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 This is a structural block diagram of a slag thickness monitoring device based on automatic slag adding by a manipulator according to the present invention; Figure 2 The present invention is a flowchart of a slag thickness monitoring method based on automatic slag adding by a manipulator. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0020] Example 1 Please refer to Figure 1 , an embodiment of the present invention provides a slag thickness monitoring device based on automatic slag adding by a manipulator, the slag thickness monitoring device comprises a slag adding device, a slag thickness measuring device and a processing device; The slag thickness measuring device comprises a distance measuring module 1 and a liquid level detection module 2; the distance measuring module 1 is arranged on the slag adding device and moves with the slag adding device to scan the slag surface, thereby obtaining the distance between the lower surface of the distance measuring module 1 and the upper surface of the slag adding layer in the preset area; The liquid level detection module 2 is arranged in the cross section of the crystallizer and is used to obtain the liquid level distance of the molten steel; In a specific embodiment, the distance measuring module 1 is a laser distance meter; the liquid level detection module 2 is a molten steel level meter; The distance measuring module 1, the liquid level detection module 2, and the slag adding device are electrically connected to the processing device respectively; the processing device controls the slag adding device to intelligently and automatically add protective slag according to the detection results of the distance measuring module 1 and the liquid level detection module 2.

[0021] The slag thickness monitoring device based on automatic slag adding by a robot proposed in this embodiment, during the process of adding protective slag, the distance measuring module 1 moves together with the slag adding device, and scans the slag surface during the movement, and the processing device simultaneously controls the liquid level detection module 2 to obtain the distance between the upper surface of the crystallizer and the upper surface of the slag adding layer in the preset area; through the cooperation of the distance measuring module 1, the liquid level detection module 2 and the processing device, the automatic detection of the slag layer thickness in the preset area inside the crystallizer is realized; the slag layer thickness at different positions in the cross section of the crystallizer is judged in real time, and the slag layer thickness obtained in this way is accurate and reliable.

[0022] Preferably, the processing device divides the cross-section of the crystallizer into a preset number of areas, which may be 8 to 10 preset areas; under the control of the processing device, a comparative analysis is performed based on the measured slag layer thickness of the preset area combined with the preset slag adding thickness to determine whether the slag adding amount needs to be reduced or increased, and then the processing device controls the speed of the servo motor in the spiral slag adding device, thereby controlling the slag discharge amount of the spiral slag adding device. If the real-time slag adding thickness is less than the preset slag adding thickness, the speed of the servo motor is increased to increase the slag discharge amount; if the real-time slag adding thickness is greater than the preset slag adding thickness, the speed of the servo motor is reduced to reduce the slag discharge amount, thereby achieving real-time dynamic intelligent adjustment.

[0023] Specifically, the distance measuring module 1 moves with the slag adding device, detects the preset areas divided into a preset number, and obtains the laser distance L1 from the slag surface of different preset areas in the cross section of the crystallizer to the distance measuring module 1. This distance measuring module 1 is a laser rangefinder; It should be noted that the position of the distance measuring module 1 is obtained by manually detecting the slag thickness and calibrating it; The distance measuring module 1 sends the acquired laser distance L1 corresponding to the preset number to the processing device; the processing device processes and analyzes the received laser distance L1; Furthermore, when the laser distance L1 is abnormally high or low, an abnormal slag thickness alarm is issued through the processing device.

[0024] When there is no abnormal situation such as super-high or super-low, the average value of the corresponding preset number of laser distances L1 is taken as the laser distance calculation value; The processing device obtains a preset first distance from the distance measuring module 1 to the liquid level detection module 2; wherein the first distance L2 is preset by the processing device according to the specific situation of the slag thickness monitoring device; In the present application, the liquid level detection module 2 measures the molten steel level distance L3 and feeds it back to the processing device; The processing device uses a calculation formula to calculate the real-time slag thickness distance L in the preset area in real time; The calculation formula is: L=L0+L2--L3, where L0 is the height of the installation position of the liquid level detection module 2; By calculating through the above formula, the real-time slag thickness distance in the preset area in the crystallizer can be measured extremely conveniently, and the measurement result is accurate and reliable.

[0025] Specifically, the processing device performs comparative analysis based on the measured slag layer thickness of the preset area and the preset slag addition thickness, and the process includes: Get the preset slag thickness, marked as l; Wherein, the processing device matches the preset slag adding thickness l corresponding to the steel type according to the steel type information transmitted by the continuous casting machine.

[0026] Specifically, different steel grades correspond to different slag systems. The slag system data corresponding to different steel grades are preset in the processing device of the slag adding equipment. The slag thickness monitoring device selects the corresponding slag thickness data according to the steel grade information transmitted from the continuous casting machine, thereby realizing the slag system setting adjustment standard and effectively improving the slag adding accuracy.

[0027] The processing device compares the real-time slag thickness distance L with the preset slag thickness l (real-time slag thickness distance L - preset slag thickness l) to obtain the slag thickness difference X. If ; Use the processing device to give an alarm for abnormal slag thickness; like , the processing device calculates the adjustment speed y of the servo motor using a calculation formula; The calculation formula is: y=ax+y1, in which a is the first adjustment coefficient, and a∈(0,1), x is the set crystallizer section width, and y1 is the minimum speed of the servo motor to maintain the set slag thickness; Among them, when the difference X is less than zero, it means that the real-time slag thickness is less than the preset slag thickness, so the servo motor speed is increased to increase the slag discharge amount; When the difference X is greater than zero, it means that the real-time slag thickness is greater than the preset slag thickness, so the servo motor speed is reduced to reduce the slag discharge amount; It should be noted in the present application that slag thickness is a dynamic process that changes in real time. When the real-time slag thickness is monitored to be less than the preset slag thickness or the real-time slag thickness is greater than the preset slag thickness, it means that the slag thickness is not within the standard range, and it is necessary to appropriately increase the slag discharge amount of the protective slag or reduce the slag discharge amount of the protective slag in order to achieve a dynamic balance process, so that the slag thickness is maintained within the standard range, and finally the corresponding slag addition speed and slag addition amount are completed to meet the actual production needs, thereby reducing the labor intensity of employees, reducing the slag consumption of each furnace, and at the same time reducing the total annual usage of protective slag and improving the standardization of slag addition.

[0028] In the present application, y1 is obtained as follows: y1=a1x-b, where a1 is the second adjustment coefficient and a1∈(0,1), x is the set cross-sectional width of the crystallizer; and b is the speed adjustment constant.

[0029] In a specific embodiment, the first adjustment coefficient a and the second adjustment coefficient a1 are parameter weights defined by the operator according to actual experience, and the first adjustment coefficient a and the second adjustment coefficient a1 are substituted into the calculation formula to calculate the adjustment speed y of the servo motor; they may be derived from experience values ​​or expert values; Or the first adjustment coefficient a and the second adjustment coefficient a1 are obtained by optimizing a large amount of experimental data; Specifically, the influence of the first adjustment coefficient a and the second adjustment coefficient a1 on the slag addition adjustment result was tested under various slag addition environments, and finally the optimal range a∈(0, 1) and a1∈(0, 1) of slag addition amount to meet actual production needs was selected.

[0030] Specifically, the process in which the processing device controls the rotation speed of the servo motor in the spiral slag adding device and then controls the slag discharge amount of the spiral slag adding device includes: The processing device controls the speed of the servo motor of the slag adding device according to the calculated adjustment speed y of the servo motor, thereby controlling the slag adding amount per unit time of the slag adding device; The speed y of the servo motor is adjusted in real time according to the real-time calculation, and the system automatically adjusts to make the slag layer of the entire crystallizer section evenly distributed, thereby reducing the labor intensity of workers, reducing slag consumption, and improving the standardization of slag addition.

[0031] It should be noted that the slag thickness monitoring device based on automatic slag addition by a manipulator further includes an air guide device, and the air guide device is connected to a cooling air source; The slag thickness measuring device can be cooled very well. The cooling gas blown out by the air guide device can synchronously cool the cables, joints and laser rangefinder in the pipe during the transportation process to prevent overheating and burning. It can also maintain the sweeping effect of fast airflow on the mirror surface to a certain extent, preventing it from being directly baked by high temperature and effectively solving the problem of dust accumulation on the mirror.

[0032] The above formulas are all calculated by removing dimensions and taking their numerical values. The formula is a formula that is closest to the actual situation obtained by collecting a large amount of data and performing software simulation. The preset parameters and preset thresholds in the formula are set by technical personnel in this field according to actual conditions or obtained by simulating a large amount of data.

[0033] Working principle of the present invention: Figure 2 The present invention proposes a slag thickness monitoring method based on automatic slag adding by a manipulator, which comprises the following steps: Obtain a first distance from the preset distance measuring module 1 to the liquid level detection module 2 and a height L0 of a position where the liquid level detection module 2 is installed; The distance measuring module 1 moves with the slag adding device, detects the preset areas divided into a preset number, and sends the acquired laser distances L1 corresponding to the preset number to the processing device, and the processing device takes the average value of the laser distances L1 corresponding to the preset number as the laser distance calculation value; The liquid level detection module 2 measures the molten steel level distance L3 and feeds it back to the processing device; The processing device uses a calculation formula to calculate the real-time slag thickness distance L in the preset area in real time; The processing device performs comparative analysis based on the measured slag layer thickness of the preset area and the preset slag addition thickness to obtain the preset slag addition thickness l; The processing device compares the real-time slag thickness distance L with the preset slag thickness l to obtain the slag thickness difference X. ; Use the processing device to give an alarm for abnormal slag thickness; like , the processing device calculates the adjustment speed y of the servo motor using a calculation formula; The processing device controls the speed of the servo motor of the slag adding device according to the calculated adjustment speed y of the servo motor, thereby controlling the slag adding amount per unit time of the slag adding device.

[0034] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A slag thickness monitoring device based on automatic slag adding by a manipulator, characterized in that: It includes a slag adding device, a slag thickness measuring device and a processing device; The slag thickness measuring device comprises a distance measuring module (1) and a liquid level detection module (2); the distance measuring module (1) is arranged on the slag adding device and moves together with the slag adding device to obtain a laser distance L1 between the lower surface of the distance measuring module (1) and the upper surface of the slag adding layer in a preset area; the liquid level detection module (2) is arranged in the cross section of the crystallizer and is used to obtain the molten steel liquid level distance L3; The distance measuring module (1), the liquid level detection module (2), and the slag adding device are electrically connected to the processing device respectively; The processing device is used to compare and analyze the measured slag layer thickness in the preset area in combination with the preset slag adding thickness; the processing device controls the speed of the servo motor in the slag adding device, thereby controlling the slag discharge amount of the slag adding device, thereby realizing real-time dynamic intelligent adjustment.

2. A slag thickness monitoring device based on automatic slag adding by a manipulator as claimed in claim 1, characterized in that: The distance measuring module (1) is a laser distance measuring device; The liquid level detection module (2) is a molten steel level gauge.

3. The slag thickness monitoring device based on automatic slag adding by a manipulator according to claim 1, characterized in that: The processing device divides the cross section of the crystallizer into a preset number of preset areas; The distance measuring module (1) moves together with the slag adding device, detects the preset areas divided into a preset number, and obtains the laser distance L1 from the slag surface of different preset areas in the cross section of the crystallizer to the distance measuring module (1); The average value of the corresponding preset number of laser distances L1 is taken as the calculated laser distance value.

4. A slag thickness monitoring device based on automatic slag adding by a manipulator as claimed in claim 3, characterized in that: When the laser distance L1 is too high or too low, the processing device will issue an alarm to remind you of abnormal slag thickness.

5. The slag thickness monitoring device based on automatic slag adding by a manipulator according to claim 4, characterized in that: The processing device obtains a preset first distance from the distance measuring module (1) to the liquid level detection module (2); The liquid level detection module (2) measures the molten steel liquid level distance L3 and feeds it back to the processing device.

6. The slag thickness monitoring device based on automatic slag adding by a manipulator according to claim 5, characterized in that: The processing device uses a calculation formula to calculate the real-time slag thickness distance L in the preset area in real time; The calculation formula is: L=L0+L2--L3, where L0 is the height of the installation position of the liquid level detection module (2).

7. The slag thickness monitoring device based on automatic slag adding by a manipulator according to claim 6, characterized in that: Get the preset slag thickness, marked as l; The processing device compares the real-time slag thickness distance L with the preset slag thickness l to obtain the slag thickness difference X. ; Use the processing device to give an alarm for abnormal slag thickness; like , the processing device calculates the adjustment speed y of the servo motor using the calculation formula.

8. The slag thickness monitoring device based on automatic slag adding by a manipulator according to claim 7, characterized in that: The calculation formula of the servo motor's adjustable speed y is: y=ax+y1, y1=a1x-b, Among them, a is the first adjustment coefficient, and a∈(0,1), x is the set crystallizer section width, y1 is the minimum speed of the servo motor to maintain the set slag thickness, a1 is the second adjustment coefficient, and a1∈(0,1), and b is the speed adjustment constant.

9. The slag thickness monitoring device based on automatic slag adding by a manipulator according to claim 1, characterized in that: It also includes an air guide device, which is connected to a cooling air source; The cooling gas blown out by the air guide device synchronously cools the cables, connectors and laser rangefinder in the pipe during the transportation process.

10. The slag thickness monitoring method of the slag thickness monitoring device based on automatic slag adding by a manipulator according to claim 8, characterized in that: include: Obtaining a first distance from a preset distance measuring module (1) to a liquid level detection module (2) and a height L0 of a position at which the liquid level detection module (2) is installed; The distance measuring module (1) moves together with the slag adding device, detects the preset areas divided into a preset number, and sends the acquired laser distances L1 corresponding to the preset number to the processing device, and the processing device takes the average value of the laser distances L1 corresponding to the preset number as the laser distance calculation value; The liquid level detection module (2) measures the molten steel liquid level distance L3 and feeds it back to the processing device; The processing device uses a calculation formula to calculate the real-time slag thickness distance L in the preset area in real time; The processing device performs comparative analysis based on the measured slag layer thickness of the preset area and the preset slag addition thickness to obtain the preset slag addition thickness l; The processing device compares the real-time slag thickness distance L with the preset slag thickness l to obtain the slag thickness difference X. ; Use the processing device to give an alarm for abnormal slag thickness; like , the processing device calculates the adjustment speed y of the servo motor using a calculation formula; The processing device controls the speed of the servo motor of the slag adding device according to the calculated adjustment speed y of the servo motor, thereby controlling the slag adding amount per unit time of the slag adding device.

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