Iron and steel metallurgy high-temperature unmanned detection system and detection method

Abstract

The invention provides a ferrous metallurgy high-temperature unmanned detection system and a detection method, and relates to the technical field of steel quality detection, the ferrous metallurgy high-temperature unmanned detection system comprises a conveying device, a sample pre-detection unit, an analysis detection unit, a sample collection unit, a first mechanical arm and a second mechanical arm; the sample pre-detection unit comprises a first conveyor belt, and a camera and an ink-jet printer arranged on the side surface of the first conveyor belt; the first mechanical arm is arranged on the side face of the sample pre-detection unit, the first conveying belt drives the sample to pass through the camera and the code spraying machine, size measurement and surface defect detection are conducted on the sample, and code spraying is conducted on the sample according to the size measurement result; the upper surfaces of the first conveying belt and the conveying device are made of high-temperature-resistant materials; and the second mechanical arm is arranged on the rear side of the sample pre-detection unit, and is used for transferring the sample into the corresponding detection device for detection according to the code spraying result of the sample, and placing the detected sample on the second conveying belt. The steel detection efficiency and the energy utilization rate can be improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of steel quality inspection, and particularly relates to a high-temperature unmanned inspection system and inspection method for steel metallurgy. Background Art

[0002] Steel quality inspection is an important link in the steel production process. In traditional steel production enterprises, steel samples are usually sent to a laboratory for manual inspection. However, this method highly relies on manual operation, with low inspection efficiency and being easily affected by human factors, resulting in instability and errors in inspection results. In addition, since some inspection equipment has requirements for the inspection temperature, related technologies often cool the samples and then send them to the laboratory for reheating before inspection. However, reheating not only consumes additional energy, causing energy waste, but also takes extra time in the heating process, reducing the inspection efficiency. Summary of the Invention

[0003] To solve the problems existing in the prior art, embodiments of the present disclosure provide a high-temperature unmanned inspection system and inspection method for steel metallurgy to improve the steel inspection efficiency and energy utilization rate. The technical solutions are as follows:

[0004] In a first aspect, a high-temperature unmanned inspection system for steel metallurgy is provided, including a conveying device, a sample pre-inspection unit, an analysis and inspection unit, a sample collection unit, a first robotic arm, and a second robotic arm;

[0005] The sample pre-inspection unit includes a first conveyor belt, a camera, and a coding machine arranged on the side of the first conveyor belt; the first robotic arm is arranged on the side of the sample pre-inspection unit and is used to transfer the sample conveyed by the conveying device onto the first conveyor belt. The first conveyor belt drives the sample to pass by the camera and the coding machine to measure the size of the sample and detect surface defects, and code the sample according to the size measurement result; the upper surfaces of the first conveyor belt and the conveying device are made of high-temperature resistant materials;

[0006] The second robotic arm is arranged at the rear of the sample pre-inspection unit. The analysis and inspection unit includes a second conveyor belt and multiple detection devices. The second conveyor belt is arranged around the outside of the second robotic arm, and the detection devices are arranged at intervals outside the second conveyor belt; the second robotic arm transfers the sample into the corresponding detection device for inspection according to the coding result of the sample, and places the inspected sample on the second conveyor belt; the second conveyor belt conveys the inspected sample to the sample collection unit.

[0007] In a second aspect of the present invention, based on the high-temperature unmanned inspection system for steel metallurgy provided in the first aspect, a high-temperature unmanned test method for steel metallurgy is further provided, including:

[0008] Sampling the uncooled samples on the production line;

[0009] Measure the dimensions and detect surface defects of the sampled samples, and perform inkjet coding according to the measurement results;

[0010] Scan the inkjet code, and transfer the sample to the corresponding detection device for detection according to the obtained inkjet code result;

[0011] Classify and store the tested samples according to the test results.

[0012] The beneficial effects brought by the technical solution provided by the embodiments of the present disclosure are:

[0013] The embodiments of the present disclosure provide a high-temperature unmanned detection system and detection method for iron and steel metallurgy. A sample pre-inspection unit is designed. While detecting defects of the sample, the dimensions are measured synchronously, and inkjet coding is performed according to the measurement results to classify the samples, so that the subsequent second robotic arm can determine the detection tasks required for the samples according to the scanning results, meeting the requirements of unmanned full-automatic detection; the present invention changes the configuration method of setting a separate robotic arm for traditional single equipment, and designs the second conveyor belt to surround the second robotic arm, and each monitoring device is arranged at intervals around the outside of the second conveyor belt. Only one second robotic arm can complete the detection tasks of full-process detection, sample fetching and sending, realizing a high degree of automation of system integration; the conveying device and the sample pre-inspection unit are made of high-temperature resistant materials, which can directly detect samples not higher than 850°C, avoiding energy loss and waste caused by the cooling and reheating processes in traditional detection.

[0014] Advantages of additional aspects of the present disclosure will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 is a schematic diagram of a high-temperature unmanned detection system for iron and steel metallurgy provided by an embodiment of the present disclosure from a first perspective;

[0017] Figure 2 is a schematic diagram of a high-temperature unmanned detection system for iron and steel metallurgy provided by an embodiment of the present disclosure from a second perspective;

[0018] Figure 3 is a schematic diagram of the structure of the sample pre-inspection unit in the embodiments of the present disclosure;

[0019] Figure 4 It is a schematic diagram of the overall architecture of a high-temperature unmanned detection system for iron and steel metallurgy provided by an embodiment of the present disclosure.

[0020] The reference numerals respectively represent: 1, conveying device; 2, sample pre-inspection unit; 201, camera; 202, inkjet printer; 203, first conveyor belt; 204, sample pre-inspection test bench; 3, first robotic arm; 4, first waste hopper; 5, second robotic arm; 6, second conveyor belt; 7, impact testing machine; 8, tensile testing machine; 9, end-quench testing machine; 10, upset testing machine; 11, test bench; 12, hardness detector; 13, metallographic microscope; 14, chemical composition analyzer; 15, second waste hopper; 16, third robotic arm; 17, specimen cabinet; 18, display screen. Specific embodiments

[0021] To make the purpose, technical solutions and advantages of the present disclosure clearer, the following will further describe the embodiments of the present disclosure in detail with reference to the accompanying drawings.

[0022] The terms "first", "second", etc. in the specification, claims and drawings of the present disclosure are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0023] In an embodiment of the present disclosure, as Figures 1-4 shown, first, a high-temperature unmanned detection system for iron and steel metallurgy is provided, including a conveying device 1, a sample pre-inspection unit 2, an analysis and detection unit, a sample collection unit, a first robotic arm 3, and a second robotic arm 5.

[0024] The sample pre-inspection unit includes a sample pre-inspection test bench 204. A camera 201, an inkjet printer 202, and a first conveyor belt 203 are arranged on the top of the sample pre-inspection test bench 204. The camera 201 is a high-precision camera, which is arranged on the side of the first conveyor belt and is used to scan the surface image of the sample, and measure the outer contour dimensions of the sample and detect surface defects of the sample (such as cracks, scratches, rust, etc.) by means of an image processing algorithm; the inkjet printer 202 is arranged on the side of the first conveyor belt and is located behind the camera in the forward direction of the first conveyor belt, and can spray different inkjets on the samples on the first conveyor belt. The sample pre-inspection unit classifies the samples according to the outer dimension information obtained by the high-precision camera, sends different signals to the inkjet printer, and sprays inkjets on the samples to distinguish different subsequent devices for different path detections.

[0025] The first robotic arm 3 is arranged on the side of the sample pre-inspection unit 2 and is used to transfer the samples conveyed by the conveying device 1 onto the first conveyor belt 203. The first conveyor belt drives the samples to pass by the camera and the inkjet printer in sequence, measures the size of the samples and detects surface defects, and performs inkjet coding on the samples according to the size measurement results.

[0026] To overcome the problems of energy waste and high time consumption caused by reheating the samples that need to be cooled before detection, in the embodiments of the present disclosure, the conveying device 1 is used to convey the samples. The conveying device 1 is an AGV cart, and the whole cart is made of high-temperature resistant materials, which is iron-chromium-nickel alloy in this embodiment and can withstand a high temperature of over 850 °C, so as to directly convey the high-temperature samples above 750 °C obtained by production and processing to the sample pre-inspection unit. The AGV cart has autonomous navigation and obstacle avoidance functions and can convey the samples to the sample pre-inspection unit quickly and stably. During the conveying process, the system can monitor the position and state of the samples in real time through sensors to ensure that the samples can be delivered accurately and in a timely manner. Samples to be detected on the production line are selected by sampling, and the sampling rules can be customized according to factors such as the type of product, production process, and quality requirements. For example, sampling can be carried out at regular time intervals, or random sampling can be carried out according to the batches and specifications of the products.

[0027] The manipulator of the first robotic arm is made of high-temperature resistant materials, which is iron-chromium-nickel alloy in this embodiment, so as to grasp and place the high-temperature samples on the first conveyor belt.

[0028] The first conveyor belt is also made of high-temperature resistant materials, which is iron-chromium-nickel alloy in this embodiment, so as to undertake the task of conveying high-temperature samples. After the first robotic arm places the samples on the first conveyor belt, the first conveyor belt drives the samples to pass by the camera and the inkjet printer in sequence. The high-precision camera scans the surface images of the samples, and through image processing algorithms, the outer contour dimensions of the samples conveyed for detection are measured and surface defects (such as cracks, scratches, rust, etc.) are detected; the sample pre-inspection unit classifies the samples according to the external dimension information obtained by the high-precision camera and sends different signals to the inkjet printer to spray different codes on the samples to distinguish different subsequent detection devices for different detection paths.

[0029] A first waste hopper 4 is also arranged on the side of the sample pre-inspection unit and is used to store the unqualified samples after pre-inspection by the sample pre-inspection unit. For the samples that are unqualified in size and surface defect detection, the first robotic arm grabs them and places them in the first waste hopper for retention and processing.

[0030] The second robotic arm 5 is arranged at the rear side of the sample pre-inspection unit, that is, in front of the advancing direction of the first conveyor belt. The analysis and detection unit includes a second conveyor belt 6 and a plurality of detection devices. The second conveyor belt 6 is arranged in a surrounding manner outside the second robotic arm 5, and the detection devices are arranged at intervals outside the second conveyor belt. The second robotic arm scans the inkjet code on the sample, transfers the sample to the corresponding detection device for detection according to the inkjet code result of the sample, and places the detected sample on the second conveyor belt for subsequent classification and storage.

[0031] The detection devices are used to complete the detection of mechanical properties, internal quality and chemical composition, including the detection of indexes such as impact toughness, tensile strength, yield strength, elongation, hardenability, upsetting property, hardness, crystal phase structure and chemical composition. In this embodiment, the detection devices include an impact testing machine 7, a tensile testing machine 8, an end-quenching testing machine 9, an upsetting testing machine 10, as well as a hardness detector 12, a metallographic microscope 13 and a chemical composition analyzer 14 and other fully automatic professional detection devices arranged on the experimental table 11. According to the common detection logic and usage frequency of the samples, and comprehensively considering various factors such as heat energy utilization, the equipment is arranged. These devices adopt advanced detection technologies and high-precision sensors, and can quickly and accurately detect various indexes of the detected samples according to the preset detection procedures.

[0032] Impact testing machine: It is used to determine the resistance of materials when subjected to sudden impact loads through impact tests on materials, and the impact toughness of materials is measured by the impact absorption energy;

[0033] Tensile testing machine: It is used to test the mechanical property indexes such as the tensile strength, yield strength and elongation of steel. By applying a gradually increasing tensile force to the specimen until the specimen breaks, the force and deformation data during the whole process are recorded;

[0034] End-quenching testing machine: By performing specific heating, heat preservation and rapid cooling (i.e., end-quenching) operations on standard specimens, simulating the rapid cooling conditions during the quenching process of materials, and then measuring the hardness at different positions along the axis of the specimens, so as to determine the hardenability of materials;

[0035] Upsetting testing machine: By performing upsetting tests on materials, the performance of materials under pressure deformation can be intuitively understood, so as to evaluate the forgeability of materials;

[0036] Hardness detector: It adopts advanced mechanical sensors and data analysis algorithms to accurately measure the hardness value of products;

[0037] Metallographic microscope: It can clearly display the microscopic structure characteristics such as the grain size, shape, distribution and phase composition of metal materials;

[0038] Chemical composition analyzer: Adopting spectral analysis technology, it can quickly analyze the chemical composition of products.

[0039] The second conveyor belt is of a double-sided design. There is a second conveyor belt on each side of the second robotic arm. The two conveyor belts converge at a set position behind the second robotic arm and further extend backward to the blanking position. The purpose of the double-sided design is to enable all detection devices to be within the reach of the second robotic arm. Through program control, a single robotic arm can simultaneously complete the sample fetching and delivery for different devices, improving the working efficiency of the robotic arm and achieving high integration and automation. The detected samples are placed on the second conveyor belt by the second robotic arm and conveyed backward to the sample collection unit for sorting and collection.

[0040] The second robotic arm is mainly controlled by two parts: scanning the code and the feedback signal from the detection device. The second robotic arm scans the code sprayed on the pre-inspection unit of the sample to identify the device detection required for the sample and transfers it to the corresponding device. Since the detected samples are one-time detection samples, there is no situation where the same sample is transferred between different devices. After the detection device completes the detection, it sends a signal to the second robotic arm. The robotic arm takes the sample and places it on the second conveyor belt, which conveys it to the subsequent sample collection.

[0041] A sample collection unit is set at the blanking position of the second conveyor belt. The sample collection unit includes a third robotic arm 16 and a specimen cabinet 17. The third robotic arm sorts the samples conveyed by the second conveyor belt according to the detection results and stores the samples that need to be retained after analysis and detection in the specimen cabinet as required. A second waste hopper 15 is also set at the blanking position of the second conveyor belt for the third robotic arm to place the samples that fail the detection.

[0042] In some embodiments, it further includes a display screen 18. A process monitor display screen is hung on the indoor wall of the unmanned detection laboratory, which is used for the real-time visualization of the detection process, the real-time transparency of the detection data, and the timely handling of process problems. It can display the working status of each device and the detection results in real time.

[0043] The high-temperature unmanned detection system for iron and steel metallurgy adopts a unified data processing system to analyze and process the data collected by each device, and then generates a detailed detection report. The content of the detection report includes sample information, detection results, defect classification, and suggestions, etc. The data processing system has powerful data processing capabilities and analysis algorithms, and can quickly process a large amount of detection data and extract useful information from it. For example, data mining technology, machine learning algorithms, etc. can be used to deeply analyze the detection data to discover potential problems and trends in product quality. At the same time, the data processing system should also have a good user interface to facilitate users to view and manage the detection report.

[0044] The detection device transmits the collected data to the data processing system in real time. The data processing system analyzes and processes these data, using advanced data analysis algorithms and models to deeply mine and analyze the detection data. For example, by methods such as data comparison and trend analysis, it can determine whether the quality of the product meets the standards; based on historical detection data, it can predict the changing trend of product quality to provide decision-making support for production management. After analyzing and processing the data, the data processing system generates a detailed detection report, including various detection indicators of the product, quality evaluation, analysis of non-conforming items, etc. In addition, the data processing system has strong data storage and management capabilities and can store and manage a large amount of detection data. Database management systems such as MySQL and Oracle can be used to store and manage the detection data. At the same time, data can be backed up and restored to ensure the security and reliability of the data.

[0045] If the test result shows that the sample is qualified, continue to test the next sample; if the sample is unqualified, the system will issue an alarm and record the information of the unqualified sample. The alarm can be in various forms such as audible and visual alarms and SMS notifications to promptly notify relevant personnel for handling. At the same time, record the information of the unqualified sample, including the batch number, specifications, test results of the product, etc., for subsequent quality traceability and analysis.

[0046] The entire unmanned detection system is coordinated and controlled by the control system to ensure the normal operation of each link. The control system uses devices such as programmable logic controllers (PLCs) and industrial computers, and through writing specialized control programs, it realizes precise control of various parts such as the sample pre-inspection unit, conveyor device, and detection equipment. The control software has high flexibility and scalability and can coordinate and control the entire unmanned detection system; it can achieve precise control of various parts such as the sample pre-inspection unit, conveyor device, and detection equipment, and can monitor the operating status of the system in real time to promptly detect and handle faults. For example, the control system can automatically adjust the sampling frequency and conveyor speed according to the product flow rate and detection requirements on the production line; it can set and adjust the parameters of the detection equipment to adapt to different detection tasks; it can also monitor the operating status of the system in real time to promptly detect and handle faults.

[0047] In addition, the control system also includes a remote monitoring and management platform, which provides a friendly user interface for users to operate and view, and supports web and / or mobile application access.

[0048] The method provided by the embodiment of the present invention has significant advantages in the detection of metallurgical products, including high automation and intelligence, advanced detection equipment and technologies, diverse functions of the robotic arm, efficient data processing and analysis, and flexible control and scalability.

[0049] (1) High degree of automation and intelligence: Achieve fully automated unmanned detection, and can intelligently adjust detection parameters and processes to adapt to diverse production environments and quality requirements.

[0050] (2) Advanced detection equipment and technologies: The detection equipment utilizes advanced sensor technologies, data analysis algorithms, and high-precision measuring instruments to ensure rapid and accurate detection.

[0051] (3) Realize direct detection of high-temperature samples: The transportation equipment and detection equipment are made of new heat-resistant materials, enabling direct detection of samples not higher than 850 °C, avoiding energy loss and waste during the cooling and reheating processes in traditional detection.

[0052] (4) Diversified functions of the robotic arm: It changes the configuration of a separate robotic arm for each traditional single device. Through precise coordination and control of the control system, one robotic arm can simultaneously complete sample picking and delivery for different devices, achieving a high degree of automation in system integration and reducing equipment costs.

[0053] (5) Efficient data processing and analysis: The data processing system is powerful, capable of quickly processing a large amount of data, analyzing it using advanced methods, extracting useful information, and generating a detection report to support decision-making.

[0054] (6) Flexible control and scalability: The control system is flexible and customizable, precisely controlling each part, facilitating upgrades and expansions to meet the development needs of steel mills.

[0055] Based on the above-provided high-temperature unmanned detection system for iron and steel metallurgy, the embodiments of the present invention further provide a high-temperature unmanned testing method for iron and steel metallurgy, including:

[0056] Sampling uncooled samples on the production line;

[0057] Measuring the dimensions and detecting surface defects of the sampled samples, and performing inkjet coding according to the dimension measurement results;

[0058] Scanning the inkjet code, and transferring the sample to the corresponding detection device for detection according to the obtained inkjet code result;

[0059] Classifying and storing the tested samples according to the detection results.

[0060] The above are only the preferred embodiments of the present disclosure and are not used to limit the present disclosure. For those skilled in the art, various changes and modifications can be made to the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A high-temperature unmanned detection system for iron and steel metallurgy, characterized in that: It includes a conveying device, a sample pre-inspection unit, an analysis and detection unit, a sample collection unit, a first mechanical arm, and a second mechanical arm; The sample pre-inspection unit includes a first conveyor belt and a camera and a printer arranged on the side of the first conveyor belt; The first mechanical arm is arranged on the side of the sample pre-inspection unit, and is used to transfer the sample conveyed by the conveying device to the first conveyor belt. The first conveyor belt drives the sample through the camera and the inkjet printer to measure the size and detect surface defects of the sample, and to inkjet the sample according to the size measurement results; the upper surface of the first conveyor belt and the conveying device is made of high temperature resistant material; The second robotic arm is arranged at the rear side of the sample pre-inspection unit, and the analysis and detection unit includes a second conveyor belt and a plurality of detection devices. The second conveyor belt is arranged around the outside of the second robotic arm, and the detection devices are arranged at intervals on the outside of the second conveyor belt. The second robotic arm transfers the sample to the corresponding detection device for detection according to the coding result of the sample, and places the detected sample on the second conveyor belt. The second conveyor belt transports the detected sample to the sample collection unit.

2. The high-temperature unmanned detection system for iron and steel metallurgy according to claim 1, characterized in that: It also includes a first waste hopper, which is arranged on the side of the sample pre-inspection unit and is used to store unqualified samples after pre-inspection by the sample pre-inspection unit.

3. The high-temperature unmanned detection system for iron and steel metallurgy according to claim 1, characterized in that: The detection device includes one or more of an impact tester, a tensile tester, an end quenching tester, an upset tester, a hardness tester, a metallographic microscope, and a chemical composition analyzer.

4. The high-temperature unmanned detection system for iron and steel metallurgy according to claim 1, characterized in that: The second conveyor belt is a double-sided design. A second conveyor belt is arranged on both sides of the second robotic arm. The two second conveyor belts converge at a set position on the rear side of the second robotic arm and further extend backward to the unloading position.

5. The high-temperature unmanned detection system for iron and steel metallurgy according to claim 1, characterized in that: The sample collection unit includes a third robotic arm and a sample cabinet. The third robotic arm sorts the samples transmitted by the second conveyor belt according to the detection results, and stores the samples in the sample cabinet as needed.

6. The high-temperature unmanned detection system for iron and steel metallurgy as claimed in claim 5, characterized in that A second waste hopper is also provided at the unloading position of the second conveyor belt, for the third robotic arm to place samples that fail the inspection.

7. The unmanned high-temperature detection system for iron and steel metallurgy according to claim 1, characterized in that: The high temperature resistant material is an iron-chromium-nickel alloy.

8. The unmanned high-temperature detection system for iron and steel metallurgy according to claim 1, characterized in that: The conveying device is an AGV trolley.

9. The unmanned high-temperature detection system for iron and steel metallurgy according to claim 1, characterized in that: It also includes a display screen, which is arranged on the indoor wall and is used to display the working status and detection results of each detection device in real time.

10. A high-temperature unmanned detection method for iron and steel metallurgy, characterized in that: A high-temperature unmanned detection system for iron and steel metallurgy according to any one of claims 1 to 9, comprising: Sampling of uncooled samples on the production line; The samples are measured for size and surface defects, and the codes are sprayed according to the size measurement results; Scan the inkjet code and transfer the sample to the corresponding detection device for detection according to the obtained inkjet code result; The tested samples are classified and stored according to the test results.

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