Large converter intelligent installation system and method based on digital twin

Abstract

The present invention discloses a large-scale converter intelligent installation system and method based on digital twin, which belongs to the technical field of converter installation. The present invention includes an intelligent lifting auxiliary system, a pushing-in-place system, a lateral intelligent deviation correction system and a converter in-place alignment detection system, wherein the intelligent lifting auxiliary system is used to lift the various components of the converter onto the pushing-in-place system in sequence for assembly, the pushing-in-place system is used to transport the assembled converter body to the converter base for installation, the lateral intelligent deviation correction system is used to detect and adjust in real time whether there is a lateral offset in the conveying trajectory of the converter body; the converter in-place alignment detection system is used to detect the alignment of the bolt mounting holes on the converter body and the converter base to control timely braking. The present invention can not only realize the intelligence and automation of converter installation, improve installation efficiency, but also ensure its installation accuracy.

Description

Technical Field

[0001] The present invention belongs to the technical field of converter installation, and in particular relates to a large-scale converter intelligent installation system and method based on digital twins. Background Art

[0002] The converter (BOF) is the backbone of steel production and the heart of the steelmaking process. Due to its high efficiency, short smelting cycle, low steel production costs, and suitability for smelting a wide range of steel grades, BOF steelmaking has become one of the most widely used steelmaking methods in the world.

[0003] However, due to the large size and heavy weight of the converter body, the existing converter installation method mainly relies on on-site staff to perform manual assembly, inspection, and adjustment, which is very inefficient. It often takes dozens of staff to spend up to a month on-site construction and installation, which not only seriously affects the construction progress, but also causes a high consumption of human resources.

[0004] Therefore, how to improve the installation efficiency of the converter and ensure its installation accuracy is of great significance to improving production efficiency and ensuring production safety. Summary of the Invention

[0005] The present invention provides a large-scale converter intelligent installation system and method based on digital twins, which can not only effectively solve the problem of low installation efficiency in the existing technology that mainly relies on manual installation, but also effectively ensure the installation accuracy requirements of the converter and reduce safety hazards.

[0006] In order to achieve the above object, the technical solution provided by the present invention is as follows:

[0007] The first aspect of the present invention provides a large-scale converter intelligent installation system based on digital twin, comprising:

[0008] An intelligent lifting auxiliary system is used to sequentially lift the various components of the converter to designated positions on the push-in-place system and assemble them into the converter body;

[0009] A push-in-place system, which is used to transport the assembled converter body to the converter base for installation;

[0010] A lateral intelligent deviation correction system, which is used to detect and adjust in real time whether there is lateral deviation of the conveying track of the converter body; and

[0011] A converter alignment detection system is used to detect the alignment of the bolt mounting holes on the converter body and the converter base. When the longitudinal distance between the bolt mounting holes on the converter body and the converter base reaches the braking distance of the push-in-place system, the push-in-place system is controlled to brake, thereby aligning the converter body with the bolt mounting holes on the converter base;

[0012] The above-mentioned intelligent lifting auxiliary system, pushing-in-place system, lateral intelligent correction system and converter in-place alignment detection system are all connected to the control system.

[0013] According to any technical solution described in the first aspect of the present invention, the intelligent lifting assistance system includes a gantry crane, a point cloud data acquisition module, a converter point cloud reconstruction module and a digital twin model construction module, wherein the gantry crane is used to lift the various components of the converter, the point cloud data acquisition module is used to collect and obtain the point cloud data of the various components of the converter and the converter stand during the assembly process, the converter point cloud reconstruction module is used to construct a point cloud three-dimensional reconstruction model of the converter components based on the above-collected point cloud data, and the digital twin model construction module is used to establish a digital twin three-dimensional model of the converter that matches the on-site environment based on the point cloud three-dimensional reconstruction model of the converter components, so as to map the information of the graphic model into the digital twin model and realize data interaction with the physical entity.

[0014] According to any of the technical solutions described in the first aspect of the present invention, the intelligent lifting assistance system includes a ranging sensor, which detects the distance between the lifting component and the ground or the target position and feeds it back to the host computer. The host computer includes a voice module, and the worker accurately controls the gantry car through voice prompts to achieve precise lifting and horizontal movement of various components of the converter.

[0015] According to any of the technical solutions described in the first aspect of the present invention, the system also includes a real-time strain monitoring system, which includes a resistance strain gauge and an alarm module. The resistance strain gauge is used to monitor the strain generated in different parts of the converter stand and the converter itself during the lifting and assembly process in real time and feed it back to the control system. When the strain value at a certain position exceeds the set safety threshold, the control system controls the alarm module to sound an alarm.

[0016] According to any of the technical solutions described in the first aspect of the present invention, the pushing-in-place system includes a ladle car and a self-climbing drive mechanism, wherein the converter frame is correspondingly installed on the ladle car for fixedly supporting the converter body; the self-climbing drive mechanism is used to drive the ladle car to move along the track, thereby transporting the converter body to the converter base for installation.

[0017] According to any technical solution described in the first aspect of the present invention, the converter stand includes four columns symmetrically distributed along the vertices of a rectangle, and the two columns spaced apart along the horizontal direction are connected by a first crossbeam, a second crossbeam and a third crossbeam sequentially arranged from top to bottom. The two columns spaced apart along the longitudinal direction are connected by a first longitudinal beam and a second longitudinal beam sequentially arranged from top to bottom. Cross supports are connected between the four corners of adjacent crossbeams on the same side and between the four corners of two longitudinal beams. The upper parts of the four columns are also connected to the top of the ladle car by diagonal supports; the above-mentioned crossbeams, longitudinal beams, cross supports and diagonal supports are all connected to the column bolts by connecting corner members.

[0018] Furthermore, the columns adopt a circular tube structure, which is composed of multiple sections of longitudinal columns, and adjacent longitudinal columns are bolted together by flanges; the cross beams and longitudinal beams are both made of H-shaped steel, and the connecting angle members between them and the columns are both made of transverse circular tubes, and the above-mentioned cross beams and longitudinal beams are connected to the transverse circular tubes by flange bolts; the cross supports are both installed back to back by two channel steels, and the connecting angle members between the cross supports and the columns are both made of flat plate structures, which are distributed on the longitudinal median vertical planes of the transverse circular tubes and the longitudinal columns, and are fixedly connected to the transverse circular tubes and the longitudinal columns.

[0019] Furthermore, lifting hydraulic cylinders are installed on the tops of the four columns of the converter stand. The lifting operations of the four lifting hydraulic cylinders are controlled by a fuzzy PID control system for master-slave synchronization. One of the lifting hydraulic cylinders serves as the active cylinder system. When it reaches the target displacement, the remaining three lifting hydraulic cylinders are controlled separately by a fuzzy PID control system. During the process, the displacement is compared with the active cylinder in real time to ensure that the displacement error is no more than 5mm.

[0020] According to any of the technical solutions described in the first aspect of the present invention, the intelligent lateral correction system includes a distance detection module installed on the ladle car or the converter body for detecting whether there is a lateral installation deviation of the converter body, and a plurality of groups of lateral correction units installed on the ladle car and corresponding to the plurality of wheels on the ladle car, each group of lateral correction units includes two correction devices, and the two correction devices are respectively located on the inner and outer sides of the same wheel, and each correction device is provided with a group of correction wedge blocks of different thicknesses; the distance detection module and the lateral correction unit are both connected to the control system, and when the distance detection module detects that there is a lateral installation deviation of the converter body, the control system controls the lateral correction unit on the corresponding side to start, and transfers the corresponding correction wedge block to fit with the side of the track, thereby realizing lateral correction.

[0021] Furthermore, the cross-sectional profile of the correcting side of the correcting wedge is designed to be a smooth continuous curve, and the profile curve equation is:

[0022] ;

[0023] In the above formula, w is the length of the correcting wedge; v1 is the average forward speed of the ladle car along the track direction; a' is the maximum acceleration along the correcting direction during the correction process.

[0024] The second aspect of the present invention further provides a large-scale converter intelligent installation method based on digital twins, which adopts the large-scale converter intelligent installation system described in the first aspect of the present invention, comprising the following steps:

[0025] Step 1: Use the lifting intelligent auxiliary system to lift the various components of the converter to the designated positions on the push-in-place system in sequence, and assemble them to form the converter body;

[0026] Step 2: After the converter body is assembled, the converter body is transported by means of the push-in-place system. During the transportation process, the transport trajectory of the converter body is detected in real time to see if there is a lateral deviation. If there is a lateral deviation, the control system controls the lateral intelligent correction system to perform lateral correction.

[0027] Step 3: Use the converter positioning alignment detection system to detect the alignment of the bolt mounting holes on the converter body and the converter base. When the longitudinal distance between the bolt mounting holes on the converter body and the converter base reaches the braking distance of the ladle car, the push-in-position system is controlled to brake, thereby achieving precise positioning of the converter body.

[0028] According to the technical solution described in the second aspect of the present invention, when lateral correction is performed by the lateral intelligent correction system, multiple segmented correction operations are adopted, that is, the correction distances of the correction wedge blocks on the same correction device are all the same, all y0, and based on the first correction wedge block, the subsequent correction wedge blocks increase a compensation thickness in sequence, and the compensation thicknesses of all correction wedge blocks are 0, y0, 2·y0,…, (n-1)·y0, respectively.

[0029] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0030] (1) The present invention provides a large-scale converter intelligent installation system and method based on digital twin, which can not only realize the intelligent and automated operation of converter installation, greatly improving the converter installation efficiency, but also effectively ensure the installation accuracy of the converter, thereby improving the operation safety of the converter.

[0031] (2) When assembling the converter body, the present invention constructs a digital twin three-dimensional model of the converter, which is used to guide the actual installation process of the converter, which is conducive to further improving the installation accuracy of the converter; at the same time, by real-time monitoring of the stress-strain distribution and deformation of different parts of the converter during the assembly process and combining them with the converter three-dimensional model for visual display, it is not only conducive to improving the safety of the converter assembly process, but also can remotely observe and judge the assembly status of the converter, which is conducive to timely safety warning.

[0032] (3) The present invention, through the provision of a lateral intelligent deviation correction system and an optimized structural design, can directly detect and control the lateral installation deviation of the converter in real time during the pushing process, thereby further improving the installation efficiency of the converter without requiring a large-scale position adjustment when the converter is in place. At the same time, the present invention achieves lateral deviation correction of the ladle car by using the guiding effect of the deviation correction wedge block, designs the deviation correction side profile of the deviation correction wedge block into a smooth continuous curve, and optimizes its profile curve, thereby effectively ensuring the smooth operation of the deviation correction process and preventing the converter body from sliding or flipping relative to the support column during the deviation correction process.

[0033] (4) The present invention provides a detachable converter stand and optimizes its structure, which not only facilitates the installation and disassembly of the converter stand, but also effectively ensures the overall structural strength and stability of the converter stand, prevents large deformation during the process of supporting the converter, and is conducive to further ensuring the installation accuracy of the converter. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In the drawings, the sizes and proportions do not represent the sizes and proportions of actual products. The drawings are merely illustrative and some non-essential elements or features are omitted for clarity.

[0035] Figure 1 This is a schematic diagram of the overall structure of a large-scale converter intelligent installation system according to an embodiment of the present invention;

[0036] Figure 2 It is a schematic diagram of the converter body in the embodiment of the present invention being about to be pushed into place.

[0037] Figure 3 It is a schematic diagram of the installation structure of the lateral intelligent correction system in an embodiment of the present invention.

[0038] Figure 4 It is a schematic diagram of the overall structure of the lateral intelligent deviation correction system in an embodiment of the present invention.

[0039] Figure 5 Schematic diagram of the structure of the chain tool changing mechanism and the propulsion module in an embodiment of the present invention.

[0040] Figure 6Schematic diagram of the contour curve of the correcting wedge block in an embodiment of the present invention.

[0041] Figure 7 Schematic diagram of the lateral deviation correction process in an embodiment of the present invention.

[0042] Figure 8 2 is a schematic structural diagram of a self-climbing drive mechanism in an embodiment of the present invention.

[0043] Figure 9 It is a structural schematic diagram of the converter stand in an embodiment of the present invention.

[0044] Figure 10 2 is a schematic diagram of the connection structure of the corner members in an embodiment of the present invention.

[0045] Figure 11 It is a schematic diagram of the hydraulic principle of the jacking hydraulic cylinder in an embodiment of the present invention.

[0046] Figure 12 This is a point cloud extraction diagram of the converter model in an embodiment of the present invention.

[0047] Figure 13 This is a converter model diagram obtained through point cloud reconstruction in an embodiment of the present invention.

[0048] Figure 14 This is a stress cloud diagram of the support ring installed on the converter stand in the embodiment of the present invention.

[0049] Figure 15 It is a stress conversion cloud diagram of the overall installation error of the converter in the embodiment of the present invention.

[0050] Figure 16 It is a calculation diagram for the installation and detection of the converter bottom and furnace body in an embodiment of the present invention.

[0051] Figure 17 This is a diagram of the detection of the overall axis division of the converter in an embodiment of the present invention.

[0052] Description of reference numerals:

[0053] 1. Gantry car;

[0054] 2. Push-in-place system;

[0055] 21. Ladle car; 211. Wheel;

[0056] 22. Self-climbing drive mechanism; 221. Driving trolley; 222. Left driving hydraulic cylinder; 223. Right driving hydraulic cylinder; 224. Locking unit;

[0057] 23. Converter stand; 231. Column; 231-1. Longitudinal column; 232. First crossbeam; 233. Second crossbeam; 234. Third crossbeam; 235. First longitudinal beam; 236. Second longitudinal beam; 237. Cross support; 238. Connecting angle member; 239. Diagonal support; 2310. Flange;

[0058] 24. Lifting hydraulic cylinder; 241. Electro-hydraulic proportional reversing valve; 242. Throttle speed regulating valve; 243. Overflow valve; 244. Check valve; 245. Displacement sensor; 246. Fuzzy PID controller;

[0059] 3. Converter body;

[0060] 4. Converter base;

[0061] 5. Track;

[0062] 6. Horizontal intelligent correction system;

[0063] 61. Linear guide rail; 62. Connecting arm; 63. Tool change drive motor; 64. Chain tool change mechanism; 641. Chain tool feed plate; 642. Pneumatic chuck; 643. Connecting rod; 644. Positioning block; 65. Correction wedge; 66. Propulsion module; 661. Piston rod; 662. Propulsion cylinder; 663. Propulsion slide; 664. Guide rod; 665. Fixture; DETAILED DESCRIPTION

[0064] To further understand the content of the present invention, the present invention is now described in detail in conjunction with the accompanying drawings and examples. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is obvious that one or more embodiments can also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0065] The structures, proportions, sizes, etc. depicted in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not intended to limit the conditions under which the present invention can be implemented and therefore have no substantive technical significance. Any structural modifications, changes in proportional relationships, or adjustments in size should still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and objectives that can be achieved by the present invention.

[0066] At the same time, in the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "middle", "vertical", "horizontal", "transverse", "longitudinal" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are mainly intended to better describe the present application and its embodiments, and are not intended to limit the indicated devices, elements or components to having a specific orientation, or to be constructed and operated in a specific orientation. Moreover, in addition to being used to indicate orientations or positional relationships, some of the above terms may also be used to indicate other meanings. For example, the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present application can be understood according to the specific circumstances.

[0067] In addition, the terms “include”, “comprising” and the like used herein indicate the existence of the stated features, steps, operations and / or components, but do not preclude the existence or addition of one or more other features, steps, operations or components.

[0068] Combine Figure 1 、 Figure 2 As shown, an embodiment of the present invention provides a large-scale converter intelligent installation system based on digital twins, which includes a lifting intelligent auxiliary system, a pushing and positioning system 2, a lateral intelligent correction system 6, and a converter positioning alignment detection system, wherein:

[0069] The intelligent lifting auxiliary system is used to sequentially lift the various components of the converter (including the upper furnace shell, furnace body, furnace bottom, converter support ring, converter bearing seat, tilting device, etc.) to the specified positions on the pushing and positioning system 2, and assemble them into the converter body 3;

[0070] The push-in-place system 2 is used to transport the assembled converter body 3 to the converter base 4 for installation;

[0071] The lateral intelligent deviation correction system 6 is used to detect and adjust in real time whether there is lateral deviation in the conveying track of the converter body 3;

[0072] The converter alignment detection system is used to detect the alignment of the bolt mounting holes on the converter body 3 and the converter base 4. When the longitudinal distance between the bolt mounting holes on the converter body 3 and the converter base 4 reaches the braking distance (braking distance) of the push-in-place system 2, the push-in-place system 2 is controlled to brake, thereby aligning the bolt mounting holes on the converter body 3 and the converter base 4 in the longitudinal direction.

[0073] The above-mentioned intelligent lifting auxiliary system, pushing and positioning system, lateral intelligent correction system 6 and converter positioning and alignment detection system are all connected to the control system, which controls the lifting and assembly of the converter, lateral intelligent correction and pushing and positioning braking, etc. The control system is preferably a PLC control system.

[0074] In this embodiment of the present invention, the intelligent lifting assistance system includes a gantry crane 1, a distance measuring sensor, a point cloud data acquisition module, a converter point cloud reconstruction module, and a digital twin model construction module. The gantry crane 1 is responsible for sequentially lifting the various converter components onto the push-in-place system 2, assembling the converter body using the converter assembly method. The push-in-place system 2 is equipped with a converter stand 23, which supports the converter body 3.

[0075] The point cloud data acquisition module is used to collect and obtain the point cloud data of each component of the converter and the converter stand during the assembly process, and obtain the point cloud extraction map of the converter model. The point cloud extraction map of the assembled converter is as follows: Figure 12 The collected point cloud data includes physical parameters, spatial position information, installation status information and other data; the point cloud data collection module can use a structured light camera or a 3D laser scanner.

[0076] The converter point cloud reconstruction module is used to construct a point cloud 3D reconstruction model of the converter components based on the structure and connection relationship of the converter and the point cloud data collected above, wherein the nodes represent the various components of the converter, and the edges represent the connection relationship and spatial position relationship between the components, and the nodes and edges are given corresponding attributes; the assembled converter point cloud 3D reconstruction model is as follows Figure 13 In the embodiment of the present invention, point cloud registration and point cloud 3D reconstruction technology are specifically used to construct a graphic model of the converter component.

[0077] The digital twin model construction module builds a 3D digital twin model of the converter based on the graphical model of the converter components, matching the on-site environment. This maps the graphical model information into the digital twin model, enabling data interaction with the physical entity. Specifically, in this embodiment of the present invention, Unity3D software is used to edit the digital twin model.

[0078] During the hoisting and assembly process, distance sensors detect the distance between the hoisted components and the ground or target location (actual installation location) and provide feedback to a host computer. The host computer includes a voice module, allowing workers to precisely control the gantry crane through voice prompts, achieving precise lifting and horizontal movement of the converter components. These distance sensors are preferably laser rangefinders.

[0079] More preferably, the converter intelligent installation system also includes a real-time strain monitoring system, which monitors and warns in real time the stress and strain generated by the converter stand and the converter itself during the assembly process, thereby helping to further ensure the safety of the converter installation.

[0080] In an embodiment of the present invention, the real-time strain monitoring system includes a resistance strain gauge and an alarm module, wherein the resistance strain gauge is respectively installed on the converter stand 23 and the converter, and is used to monitor the stress and strain conditions of the converter itself and different parts of the converter stand 23 during the lifting and assembly process in real time and feed back to the host computer. If the strain value at a certain position exceeds the set safety threshold after detection, the alarm module is controlled by the control system to issue an alarm.

[0081] It is further preferred to visualize the strain, stress distribution and deformation of each part during the converter assembly process to obtain the corresponding stress cloud map, such as Figure 14 The figure shows the stress cloud map when the support ring is installed on the converter stand. After the converter is installed, the point cloud extraction map of the entire converter and the stress cloud maps of each component during the lifting process are preprocessed and then associated. Based on the geometric shape and position of the objects in the point cloud data and stress cloud map, a spatial correspondence is established between the two.

[0082] Specifically, in the embodiment of the present invention, the feature points (such as corner points, edge points, etc.) of the point cloud and the feature information of the object in the stress cloud map are extracted by the feature matching method, and then matched. Then, according to the spatial position of the point cloud point, its corresponding position in the stress cloud map is found to obtain the stress value of the position. The associated stress value is assigned to the corresponding point in the point cloud data, so that each point contains not only three-dimensional coordinate information but also stress information. The stress value can be stored by adding a new attribute field in the point cloud data structure. Use professional visualization software (such as CloudCompare) to visualize the fused data, such as Figure 15 During visualization, different points can be color-coded according to the stress value, thus intuitively displaying the stress distribution of the object. For example, points in high stress areas can be displayed in red, and points in low stress areas can be displayed in blue.

[0083] After the converter is hoisted, the laser sensor is used to measure the difference between the furnace bottom and the furnace body, and the installation deviation is calculated based on the measured value. Figure 16 Furthermore, the axis of the converter as a whole is segmented according to the 3D reconstruction model of the converter point cloud, and the axis detection map is obtained, as shown in Figure 17 According to the axis detection diagram, it can be determined whether the converter as a whole is on the same axis.

[0084] like Figure 2As shown, the pushing-in-place system of an embodiment of the present invention includes a ladle car 21 and a self-climbing drive mechanism 22, wherein the converter stand 23 is correspondingly installed on the ladle car 21 for fixedly supporting the converter body 3; the self-climbing drive mechanism 22 is used to drive the ladle car 21 to move along the track 5, thereby transporting the converter body 3 to the converter base 4 for installation.

[0085] The existing converter stand 23 is usually made of welded steel profiles, which has the problems of difficulty in disassembly and poor adaptability. Based on this situation, the embodiment of the present invention provides an assembled and detachable converter stand, which not only facilitates the installation and disassembly of the converter stand, but also effectively ensures its structural strength, prevents deformation, and adapts to the use needs of different types of converters. Specifically, Figure 7 As shown, the converter stand 23 of this embodiment of the present invention includes four columns 231 symmetrically arranged along the vertices of a rectangle. Two columns 231 spaced apart in the transverse direction (perpendicular to the track) are connected by a first crossbeam 232, a second crossbeam 233, and a third crossbeam 234, arranged sequentially from top to bottom. Two columns 231 spaced apart in the longitudinal direction are connected by a first longitudinal beam 235 and a second longitudinal beam 236, arranged sequentially from top to bottom. Cross supports 237 are connected between the four corners of adjacent crossbeams and between the four corners of two longitudinal beams on the same side. The first longitudinal beam 235 and the second crossbeam 233 are flush with each other and are located in the middle of the columns 231. The second longitudinal beam 236 and the third crossbeam 234 are flush with each other and are located near the bottom of the columns 231. The upper portions of the four columns 231 are also connected to the top of the ladle car 21 by diagonal supports 239 to enhance the structural stability of the converter stand 23. The first crossbeam 232 , the second crossbeam 233 , the third crossbeam 234 , the first longitudinal beam 235 , the second longitudinal beam 236 , the cross support 237 and the diagonal support 239 are all connected to the column 231 by bolts via the connecting angle member 238 , thereby facilitating the installation and disassembly of the converter stand 23 .

[0086] Preferably, combined Figure 9 、 Figure 10As shown, the columns 231 are constructed of circular tubular structures (i.e., longitudinal circular tubes) and are composed of multiple longitudinal columns 231-1. Adjacent longitudinal columns are bolted together via flanges 2310. The first crossbeams 232, second crossbeams 233, third crossbeams 234, first longitudinal beams 235, and second longitudinal beams 236 are all constructed of H-shaped steel. The connecting angle members 238 between these and the columns 231 are all constructed of circular tubular structures (i.e., transverse circular tubes). These crossbeams and longitudinal beams are bolted to the transverse circular tubes via flanges 2310. The cross supports 237 are each constructed of two channel steels installed back-to-back. The connecting angle members 238 between the cross supports 237 and the columns 231 are each constructed of flat plate structures. These flat plate structures are distributed on the mid-vertical plane of the transverse circular tubes and are fixedly connected to the transverse circular tubes and the longitudinal columns 231-1, respectively, thereby further enhancing the overall structural strength.

[0087] In order to further improve the structural strength of the converter stand, a plurality of parallel and spaced connecting rods are connected between the first longitudinal beams 235 on both sides. The two first longitudinal beams 235 and the connecting rods together form an intermediate horizontal frame. All connecting rods are further preferably parallel to the horizontal beams.

[0088] Furthermore, the tops of the four columns 231 of the converter stand are all equipped with lifting hydraulic cylinders 24. By adjusting the lifting height of the lifting hydraulic cylinders 24, the working position of the converter body can be accurately controlled to adapt to different steelmaking process requirements. Figure 11 As shown, the system drives the hydraulic pump through an electric motor to provide power for the overall jacking hydraulic system. To ensure the safety of the system, the overflow valve 243 is installed at the oil inlet to serve as a safety valve for the system to maintain a safe pressure. The direction of the liquid flow and the size of the valve port are adjusted by the electro-hydraulic proportional reversing valve 241 to control the extension and retraction of the jacking hydraulic cylinder and its speed. Each jacking hydraulic cylinder circuit is equipped with a throttling speed regulating valve 242 and a one-way valve 244 to assist in controlling the system flow and play a protective role. When oil flows into the rodless cavity, the hydraulic cylinder extends and the converter body rises; when oil flows into the rod cavity, the hydraulic cylinder contracts, the converter body descends, and the hydraulic oil flows back to the oil tank. When the system is in the middle position, it is unloaded and the operation stops.

[0089] However, it should be noted that the synchronous lifting operation of the four lifting hydraulic cylinders is crucial. Due to the large weight of the converter, if the four cylinders cannot be accurately synchronized, the converter will be deflected and the support ring will be worn, posing certain safety hazards. Therefore, in order to effectively ensure the synchronous lifting of the four lifting hydraulic cylinders and ensure the stability of their lifting, the embodiment of the present invention preferably adopts a fuzzy PID control system and performs master-slave synchronous control on the four lifting hydraulic cylinders. One of the lifting hydraulic cylinders serves as the active cylinder system. When it reaches the target displacement, the remaining three lifting hydraulic cylinders are controlled separately using a fuzzy PID control system. During the process, the displacement is compared with the active cylinder in real time to ensure that the displacement error is no more than 5mm. The input port of the fuzzy PID controller 246 is respectively connected to the displacement output signal end of each lifting hydraulic cylinder (that is, connected to the displacement sensor 245 of each lifting hydraulic cylinder), and the output port is connected to the electro-hydraulic proportional reversing valve in the slave system. By controlling the valve core opening size and direction, the system synchronization is better controlled.

[0090] Combine Figure 8 As shown, in some embodiments, the self-climbing drive mechanism 22 includes a drive trolley 221. The wheels of the drive trolley 221 are equipped with a drive motor. The forward and reverse rotation of the drive motor is controlled by a PLC, thereby achieving forward and reverse movement of the drive trolley 221. The front and left sides of the drive trolley 221 are connected to the rear and left sides of the ladle car 21 via a left drive hydraulic cylinder 222 and a right drive hydraulic cylinder 223, respectively. This allows the drive trolley 221 to drive the ladle car 21 to move. Locking units 224 are provided on both sides of the frame of the drive trolley 221, located between the front and rear wheels. These locking units 224 clamp the rails, thereby braking the ladle car and the drive trolley. In a preferred embodiment, the locking units 224 utilize hydraulic clamps. Specifically, the clamps are controlled by hydraulic cylinders to clamp the rails, thereby securing the drive trolley 221 relative to the rails or braking the ladle car. This application does not limit the specific structure of the clamps; existing hydraulic clamp structures can be directly adopted.

[0091] The specific process of driving the ladle car to move using the self-climbing drive mechanism 22 is as follows: pressure sensors detect the oil pressure of the left driving hydraulic cylinder 222, the right driving hydraulic cylinder 223, and the clamping hydraulic cylinder and feed it back to the PLC control system. The PLC control system controls the actions of the left driving hydraulic cylinder 222, the right driving hydraulic cylinder 223, and the clamping hydraulic cylinder based on the automatic control program and the feedback data from the pressure sensors. During a working cycle, the piston rod of the clamping hydraulic cylinder extends, causing the clamping fixture to clamp the track. The pressure sensor in the clamping hydraulic cylinder oil circuit feeds the oil circuit pressure data back to the PLC. When the pressure reaches the set value, oil is supplied to the rodless side of the driving hydraulic cylinders on both sides, causing the piston rod to extend and the ladle car to move forward. When the maximum stroke of the driving hydraulic cylinder is reached, the piston rod of the clamping hydraulic cylinder shortens, causing the clamping fixture to release the track, and oil is supplied to the rod side of the driving hydraulic cylinders on both sides. Since the mass of the ladle car is much greater than that of the self-climbing drive mechanism 22, the ladle car does not move at this time, and the driving trolley 221 advances, causing the piston rods of the driving hydraulic cylinders on both sides to return to their initial positions.

[0092] Combine Figure 3 As shown, as a preferred embodiment, the lateral intelligent correction system 6 includes a distance detection module installed on the ladle car 21 or the converter body 3 for detecting whether there is a lateral installation deviation of the converter body, and multiple groups of lateral correction units installed on the ladle car 21 and corresponding to the multiple wheels 211 on the ladle car. Each group of lateral correction units includes two correction devices, and the two correction devices are respectively located on the inner and outer sides of the same wheel 211. The distance detection module detects whether the bolt mounting holes on the converter body are laterally offset relative to the bolt mounting holes on the converter base 4 during the movement of the ladle car and feeds back to the control system. If there is a lateral offset, the control system controls the corresponding correction device to operate according to the size of the offset distance, thereby achieving lateral correction of the ladle car and the converter body.

[0093] like Figure 4 As shown, the correction device includes a linear guide rail 61, a connecting arm 62, a chain tool changing mechanism 64 and a propulsion module 66, wherein:

[0094] The linear guide rail 61 is fixedly mounted on the ladle car 21 in a direction parallel to the track 5 (the length of the ladle car), and is used to mount the entire deviation correction device on the inner side or outer side of the wheel 211;

[0095] The connecting arm 62 is distributed in the vertical direction, and its top end can be slidably mounted on the linear guide rail 61 in a direction parallel to the track 5, and its bottom end is connected to the chain tool changing mechanism 64 and the propulsion module 66;

[0096] The chain tool changing mechanism 64 is equipped with a plurality of correcting wedge blocks 65 of different thicknesses. Under the control of the control system, the chain tool changing mechanism 64 selects the corresponding correcting wedge block 65 and transfers it to the top of the propulsion module 66.

[0097] The propulsion module 66 is used to push the corresponding correction wedge block 65 forward to fit with the side of the track 5 for correction when lateral correction is required, and to reset the correction wedge block 65 after the correction of the corresponding correction wedge block 65 is completed, that is, the correction wedge block 65 can be driven by the propulsion module 66 to reciprocate in a direction perpendicular to the track 5.

[0098] Furthermore, if Figure 5 As shown, the chain tool change mechanism 64 includes a chain tool feed disc 641, which is provided with a group of pneumatic chucks 642 distributed along an annular interval. Each pneumatic chuck 642 is correspondingly mounted with a correcting wedge block 65. The chain tool feed disc 641 is driven to rotate by the tool change drive motor 63, so that different correcting wedge blocks 65 can be transported to the top of the propulsion module 66. Specifically, in the embodiment of the present invention, the correcting wedge block 65 is fixedly mounted on one end of a connecting rod 643, and the other end of the connecting rod 643 is adapted to the pneumatic chuck 642. The correcting wedge block 65 can be fixed and separated from the chain tool feed disc 641 by clamping and loosening the pneumatic chuck 642.

[0099] As a further preferred embodiment, the top of the correcting wedge block 65 and the side in contact with the track are designed to be a planar structure to ensure the stability of its contact with the track; the thickness of the correcting side of the correcting wedge block 65 (the side away from the track and in contact with the wheel of the ladle car) gradually increases, that is, the distance between the correcting side and the contact surface with the track gradually increases along the forward direction of the ladle car during correction, and its cross-sectional profile is designed to be a smooth continuous curve to ensure the stability of the entire system during the correction process.

[0100] The advancing direction of the correcting wedge profile (the length of the correcting wedge, i.e., parallel to the track) is defined as the x-direction, and the thickness direction (perpendicular to the track) is defined as the y-direction. Furthermore, preferably, a half-cycle sine function is selected as the correcting acceleration function (the waveform range is 0 to π, with the acceleration being maximum in the middle). The correcting side profile curve equation of the correcting wedge 65 is:

[0101] ;

[0102] In the above formula, wis the length of the correcting wedge block, which can be designed according to the situation and is preferably 5~10 cm; v1 is the average forward speed of the ladle car along the track direction, and a' is the maximum acceleration along the correcting direction during the correction process. This acceleration must ensure that the converter body does not slide, detach or flip relative to the contact surface of the column 231 during the correction process.

[0103] The maximum acceleration of the converter body without sliding on the contact surface of the column 231 during the correction process is a f max for: ; In the above formula, f is the static friction coefficient between the support contact surface of the column 231 and the converter body, and g is the acceleration due to gravity;

[0104] The maximum acceleration of the converter body without flipping or separation from the contact surface of the column 231 during the correction process , where l is the horizontal distance between the center of gravity of the converter and the support point of the contact surface of the column 231 (the contact point between the converter body and the four columns) (this distance is the horizontal distance along the correction direction, parallel to the direction in which the correction acceleration is generated, that is, perpendicular to the length direction of the track), and h is the height of the center of gravity of the converter from the support point of the contact surface of the column 231;

[0105] Taking into account the safety factor S (which can be selected within the range of 1.5 to 3 according to actual conditions), the maximum acceleration a' along the correction direction during the correction process is controlled to be ≤ a max = .

[0106] Through the contour curve design of the correction side, it can be effectively ensured that the acceleration of the converter and the ladle car transitions continuously during the correction process, without rigid impact and sudden acceleration changes. The converter will not slide against the support point of the column 231 of the converter stand under the influence of acceleration, nor will it detach from the column 231.

[0107] According to the correction side profile curve equation of the correction wedge 65, the maximum correction distance of a single correction wedge is:

[0108] ;

[0109] The previously calculated a max Substitute into the above formula to calculate and get y' max , when the maximum allowable error value of the converter installation hole positioning accuracy Δ is greater than y' max When the correction distance of the correction wedge (maximum thickness of the correction side) y0 is y' max Make a design.

[0110] But if Δ is less than y' max, then the correction distance y0 of the correction wedge is designed according to Δ. Theoretically, as long as the maximum acceleration a’ No more than a max Both are possible, but considering the standardization of the structure and the difficulty in adjusting the original motion state of the equipment, in this case it is more preferred to set the maximum acceleration of the correcting wedge block. a’ To make a reduction adjustment:

[0111] .

[0112] As one of the implementation methods, the contour curves of the correction sides of different correction wedge blocks 65 on the chain tool changing mechanism 64 are the same, but the correction distances are different, so that different correction wedge blocks 65 can be controlled and selected for correction according to the size of the lateral offset of the converter body.

[0113] As another embodiment, the contour curves and the correction distances y0 of the correction sides of the different correction wedge blocks 65 on the chain tool changing mechanism 64 are the same, but Figure 6 As shown, different correcting wedges 65 have varying compensation thicknesses. Starting with the first correcting wedge, subsequent correcting wedges increase in thickness by one, with the compensation thicknesses for all correcting wedges increasing by one, respectively. During lateral correction, the control system determines the number of required lateral corrections, n, based on the lateral installation deviation of the converter body. It then controls the chain tool changer 64 to sequentially transport n correcting wedges of varying thicknesses to the top of the pusher module. The pusher module 66 then cooperates to push the corresponding correcting wedge 65 until it aligns with the side of the track for correction.

[0114] Furthermore, the top end of the connecting arm 62 is slidably mounted on the linear guide rail 61 through a slide, and the slide is driven by a motor to slide along the linear guide rail 61, thereby driving the connecting arm 62, the chain tool changing mechanism 64 and the propulsion module 66 to move back and forth in a direction parallel to the track.

[0115] Combine Figure 5 As shown in one embodiment, the propulsion module 66 includes a propulsion cylinder 662. The free end of the piston rod 661 of the propulsion cylinder 662 is connected to a propulsion slider 663. A fixing fixture 665 is fixed to the propulsion slider 663. The connecting rod 643 is provided with a corresponding positioning block 644 that cooperates with the fixing fixture 665. Therefore, the propulsion cylinder 662 can drive the correcting wedge block 65 to extend and retract in a direction perpendicular to the track. Furthermore, preferably, the fixing fixture 665 uses a pneumatic clamping device (pneumatic chuck) to facilitate the clamping and release of the correcting wedge block.

[0116] Furthermore, a guide rod mounting seat is provided on the other side of the propulsion slider 663 (the side opposite to the propulsion cylinder 662), and a guide rod 664 is connected between the side where the propulsion cylinder is located and the guide rod mounting seat. The propulsion slider 663 can be slidably installed on the guide rod 664, thereby facilitating the guidance of the running direction of the propulsion slider and improving the stability of its movement.

[0117] In the embodiment of the present invention, the specific process of using the lateral intelligent deviation correction system 6 to correct the lateral deviation of the converter body is as follows:

[0118] Step 1: Use the distance detection module to detect the lateral distance between the current position of the converter and the target position, and transmit the measured lateral distance data (lateral installation deviation) to the control system for processing;

[0119] Specifically, a laser ranging sensor can be used to detect the distance between the bolt mounting holes on the converter body and the converter base. Alternatively, a three-dimensional laser scanner can be used to scan the on-site converter and environmental structure in real time, and the lateral deviation between the bolt holes on the converter body and the bolt holes on the converter base can be analyzed by comparison with the theoretical model. A laser ranging sensor can also be installed on one side of the ladle car to measure the distance between the sensor and the outside of the track. By comparing the difference between the distance value and the initial value during the movement of the ladle car, it can be determined whether the ladle car has undergone lateral deviation.

[0120] Step 2: If the converter body is detected to have a lateral deviation, the control system controls the lateral correction unit on the corresponding side to start, and according to the size of the converter's lateral installation deviation, the corresponding correction wedge is transferred to the top of the propulsion module;

[0121] In an embodiment of the present invention, it is preferred to adopt multiple segmented correction operations, that is, the correction distance of each correcting wedge block is the same, which is y0. The number of corrections n (n≥1) required is determined according to the size of the lateral installation deviation W of the converter, and n correcting wedge blocks with different compensation thicknesses (the compensation thicknesses are 0, y0, 2·y0,…, (n-1)·y0, respectively) are sequentially conveyed to the top of the propulsion module.

[0122] For example, if the current position of the converter is offset to the right, it is necessary to use the guiding role of the left-side correcting wedge block to correct it to the left. At this time, the control system controls the left-side correcting unit to start and transfer the corresponding correcting wedge blocks to the top of the propulsion module 66.

[0123] Step 3: Use the fixing fixture 665 to clamp the corresponding correcting wedge block 65 on the propulsion module 66, and control the pneumatic chuck corresponding to the correcting wedge block to loosen, so that the correcting wedge block is separated from the chain tool changing mechanism, so that the correcting wedge block 65 can be driven forward by the propulsion module 66 to fit with the side of the track.

[0124] Step 4: After the correcting wedge moves forward until it is in contact with the side of the track, the control system controls the connecting arm 62 to drive the chain tool changing mechanism 64 and the propulsion module 66 to move along the linear guide rail 61. The moving direction is opposite to the direction of travel of the ladle car, and the moving speed is the same as the current speed of the ladle car, so that the wedge block and the track remain relatively stationary. When the wheel moves to the correcting wedge block, it is guided by the correcting wedge block, thereby performing a lateral correction on the ladle car and the converter body.

[0125] Step 5: After the ladle car has completely passed the above-mentioned correcting wedge block, the control system controls the propulsion module to drive the correcting wedge block to reset, that is, the correcting wedge block is re-clamped and fixed on the chain tool changing mechanism, and separated from the fixing fixture 665 and the propulsion module; then the control system controls the connecting arm 62 to drive the chain tool changing mechanism and the propulsion module to move quickly along the linear guide rail to the front of the wheel (initial position) to prepare for the next correction.

[0126] In some embodiments, the converter alignment detection system includes a laser distance sensor, which detects the longitudinal spacing between the bolt mounting holes on the converter body 3 and the converter base 4 in real time and provides feedback to the control system. Specifically, the laser distance sensor can be installed in a bolt mounting hole on the converter body, with a baffle installed in the corresponding bolt mounting hole on the converter base. The longitudinal spacing between the bolt mounting holes on the converter body 3 and the converter base 4 is directly reflected by measuring the distance between the laser distance sensor and the baffle. Furthermore, for ease of installation, a reflective baffle can be installed on the front side of the converter base. The longitudinal spacing between the bolt mounting holes on the converter body 3 and the converter base 4 is determined by real-time detection of the distance between the laser distance sensor and the reflective baffle and subtracting the distance between the reflective baffle and the corresponding bolt hole on the converter base (which can be measured in advance).

[0127] In other embodiments, the converter alignment detection system includes a 3D camera or a 3D laser scanner mounted on the front side of the converter base. The 3D camera or the 3D laser scanner acquires point cloud data of corresponding bolt mounting holes on the converter body 3 and the converter base 4. After data processing, the alignment of the corresponding bolt mounting holes on the converter body 3 and the converter base 4 can be determined. Specifically, the process of detecting the alignment of the corresponding bolt mounting holes on the converter body 3 and the converter base 4 using a 3D camera as an example is as follows:

[0128] S1. Before the ladle car transports the converter, a 3D camera is used to capture the bolt mounting holes on the front side of the converter base to obtain their point cloud data.

[0129] S2. Preprocessing the collected point cloud data, including mean filtering and image enhancement; wherein the mean filtering is preferably performed by using the mean_image() operator in Halcon, and the image enhancement is preferably performed by using the emphasize(lmage:lmageEmphasize: MaskWidth, MaskHeight, Factor:) operator;

[0130] S3, using a circle-based template matching method to identify circles in the preprocessed image;

[0131] Since some unnecessary circles may be identified, but their area is relatively small, the select_shape() operator in Halcon can be used to filter by area, thereby filtering out the circles with smaller areas and obtaining the circles formed by the bolt mounting holes;

[0132] S4. Use the gen_area_center() operator to extract the coordinates of the center of the circle, and then mark the coordinates of the center of the bolt mounting hole on the front side of the converter base as the origin of the world coordinate system (0, 0).

[0133] S5. When the ladle car advances to the point where the bolt mounting holes on the converter body reach the working range of the 3D camera, the 3D camera is used to capture point cloud data of the bolt mounting holes on the front side of the converter body. Then, S2 to S4 are repeated to obtain the center coordinates of the bolt mounting holes on the front side of the converter body. The horizontal and vertical distance deviations between the converter base and the corresponding bolt mounting holes on the converter body are calculated.

[0134] S6. If the lateral installation deviation between the corresponding bolt mounting holes on the converter base and the converter body still exceeds the installation accuracy requirement, the lateral intelligent correction system is controlled again to perform lateral correction; when the longitudinal distance between the corresponding bolt mounting holes on the converter base and the converter body reaches the braking distance of the ladle car, the ladle car is controlled to brake, that is, the locking rail is clamped by the locking unit 224, and the driving hydraulic cylinders on both sides stop running, so that the converter base and the corresponding bolt mounting holes on the converter body are longitudinally aligned.

[0135] The embodiment of the present invention further provides a large-scale converter intelligent installation method based on digital twin, using the large-scale converter intelligent installation system, the installation method includes the following steps:

[0136] Step 1: Use the intelligent lifting auxiliary system to lift the various components of the converter to the designated positions on the push-in-place system 2 in sequence, and assemble them into the converter body 3;

[0137] Step 2: After the converter body is assembled, the converter body is transported by means of the push-in-place system 2. During the transportation process, the transport trajectory of the converter body 3 is detected in real time to see if there is a lateral deviation. If there is a lateral deviation, the control system controls the lateral intelligent correction system 6 to perform lateral correction.

[0138] Step three: Use the converter positioning alignment detection system to detect the distance between the bolt mounting holes on the converter body 3 and the converter base 4. When the longitudinal distance between the bolt mounting holes on the converter body 3 and the converter base 4 reaches the braking distance of the ladle car, control the pushing positioning system 2 to brake, thereby achieving precise positioning of the converter body 3.

[0139] More preferably, in step 1, the converter assembly process is guided by digital twin technology, specifically including the following steps:

[0140] The point cloud data of the converter components is acquired through multi-view laser scanning, the internal parameters of the laser scanner are calibrated, and the converter is scanned in sections using the laser scanner to collect point cloud data of each part of the converter;

[0141] Then the point cloud data is preprocessed and the normal vector is estimated. Since the initially acquired converter point cloud data contains external points, noise and invalid data, PCL is used to preprocess the original converter point cloud data;

[0142] After preprocessing, the converter point cloud data is subjected to feature point detection, point cloud segmentation, and point cloud registration. In the embodiment of the present invention, the converter point cloud segmentation adopts the point cloud region growing segmentation algorithm. After point cloud segmentation, a feature matching-based registration method is used to achieve coarse registration of the converter point cloud. Then, an improved ICP fine registration algorithm is used to optimize the coarse registration result, and finally, the complete converter point cloud data is obtained. Then, a three-dimensional reconstruction algorithm is used to complete the surface reconstruction of the converter point cloud, that is, to obtain a three-dimensional graphic model of the converter.

[0143] Subsequently, the structural semantic features of the graph model are extracted based on the graph neural network, and the graph model features are trained and analyzed using graph learning to explore the potential relationships and features between the converter components, thereby constructing a digital twin model with both geometric and structural information to achieve data interaction with the physical entity.

[0144] In terms of error modeling, the system abstracts the installation error of each component as a node feature in a time-series graph, with edges representing error propagation paths. The system then predicts error trends using a time-aware graph network. The prediction results are fed into the strategy generation module, which generates strategic recommendations, including position adjustment and sequence optimization. Operators follow these instructions to perform 3D modeling of the converter, comparing the actual converter data with the 3D reconstructed data and making adjustments if any errors are detected.

[0145] The scope of protection of the present invention is limited only by the claims. Thanks to the teachings of the present invention, those skilled in the art will readily recognize that alternative structures to the structures disclosed in the present invention can be used as viable alternative embodiments, and that the embodiments disclosed in the present invention can be combined to produce new embodiments, which also fall within the scope of the appended claims.

Claims

1. Large converter intelligent installation system based on digital twin, characterized by: include: An intelligent hoisting auxiliary system, wherein the intelligent hoisting auxiliary system is used to hoist the various components of the converter to the designated positions on the push-in-place system (2) in sequence, and to form a converter body (3) after assembly, and comprises a gantry (1), a point cloud data acquisition module, a converter point cloud reconstruction module and a digital twin model construction module, wherein the gantry (1) is used to hoist the various components of the converter, the point cloud data acquisition module is used to collect and obtain point cloud data of the various components of the converter and the converter stand during the assembly process, the converter point cloud reconstruction module is used to construct a point cloud three-dimensional reconstruction model of the converter components based on the above-collected point cloud data, and the digital twin model construction module is used to establish a converter digital twin three-dimensional model that matches the on-site environment based on the point cloud three-dimensional reconstruction model of the converter components; A push-in-place system (2) is used to transport the assembled converter body (3) to the converter base (4) for installation; A transverse intelligent deviation correction system (6) is used to detect and adjust in real time whether there is a transverse deviation of the conveying track of the converter body (3); and A converter in-place alignment detection system, wherein the converter in-place alignment detection system is used to detect the alignment of the bolt mounting holes on the converter body (3) and the converter base (4); when the longitudinal spacing between the bolt mounting holes on the converter body (3) and the converter base (4) reaches the braking distance of the push-in-place system (2), the push-in-place system (2) is controlled to brake, thereby aligning the bolt mounting holes on the converter body (3) and the converter base (4) in the longitudinal direction; The above-mentioned intelligent lifting auxiliary system, pushing and positioning system, horizontal intelligent deviation correction system and converter positioning alignment detection system are all connected to the control system; The converter intelligent installation system also includes a real-time strain monitoring system, which includes a resistance strain gauge and an alarm module. The resistance strain gauge is installed on the converter stand (23) and the converter, respectively, and is used to monitor the strain generated by different parts of the converter stand and the converter itself during the hoisting and assembly process in real time and feed it back to the control system. When the strain value at a certain position exceeds a set safety threshold, the control system controls the alarm module to sound an alarm. The strain, stress distribution and deformation of each part during the converter assembly process are visualized to obtain the corresponding stress cloud map. After the converter is installed, the point cloud extraction map of the entire converter and the stress cloud map of each component during the lifting process are preprocessed, and then data association is performed. According to the geometric shape and position of the objects in the point cloud data and stress cloud map, a spatial correspondence between the two is established.

2. The large converter intelligent installation system according to claim 1, characterized in that: The intelligent lifting assistance system includes a distance measuring sensor, which detects the distance between the lifting component and the ground or the target position and feeds it back to the host computer. The host computer also contains a voice module, and workers use voice prompts to accurately control the gantry crane to achieve precise lifting and horizontal movement of various components of the converter.

3. The large converter intelligent installation system according to claim 1 or 2, characterized in that: The pushing-in-place system (2) comprises a ladle car (21) and a self-climbing drive mechanism (22), wherein a converter stand (23) is correspondingly mounted on the ladle car (21) for fixedly supporting the converter body (3); the self-climbing drive mechanism (22) is used to drive the ladle car (21) to move along the track (5), thereby transporting the converter body (3) to the converter base (4) for installation.

4. The large converter intelligent installation system according to claim 3, characterized in that: The converter stand (23) includes four columns (231) symmetrically distributed along the vertices of a rectangle. Two columns (231) spaced apart in the transverse direction are connected by a first crossbeam (232), a second crossbeam (233), and a third crossbeam (234) arranged in sequence from top to bottom. Two columns (231) spaced apart in the longitudinal direction are connected by a first longitudinal beam (235) and a second longitudinal beam (236) arranged in sequence from top to bottom. Cross supports (237) are connected between the four corners of adjacent crossbeams and between the four corners of two longitudinal beams on the same side. The upper parts of the four columns (231) are also connected to the top of the ladle car (21) by an oblique support (239). The above-mentioned crossbeams, longitudinal beams, cross supports (237), and oblique supports (239) are all bolted to the columns (231) through connecting corner members (238).

5. The large converter intelligent installation system according to claim 4, characterized in that: The columns (231) are of circular tube structure, which is composed of multiple sections of longitudinal columns (231-1), and adjacent longitudinal columns are bolted together via flanges (2310); the cross beams and longitudinal beams are both H-shaped steel, and the connecting angle members (238) between them and the columns (231) are both horizontal circular tubes, and the cross beams and longitudinal beams are bolted together with the horizontal circular tubes via flanges (2310); the cross supports (237) are both installed in a back-to-back manner by two channel steels, and the connecting angle members (238) between the cross supports (237) and the columns (231) are both of plane plate structure, which are distributed on the longitudinal mid-vertical plane of the horizontal circular tubes and the longitudinal columns (231-1), and are fixedly connected to the horizontal circular tubes and the longitudinal columns (231-1).

6. The large converter intelligent installation system according to claim 4, characterized in that: The tops of the four upright columns (231) of the converter stand are all equipped with lifting hydraulic cylinders (24), and the lifting operations of the four lifting hydraulic cylinders (24) are controlled by master-slave synchronization using a fuzzy PID control system.

7. The large converter intelligent installation system according to claim 3, characterized in that: The lateral intelligent correction system includes a distance detection module installed on the ladle car (21) or the converter body (3) for detecting whether the converter body has a lateral installation deviation, and a plurality of lateral correction units installed on the ladle car (21) and corresponding to the plurality of wheels (211) on the ladle car, each group of lateral correction units includes two correction devices, the two correction devices are respectively located on the inner and outer sides of the same wheel (211), and each correction device is provided with a group of correction wedge blocks (65) of different thicknesses; the distance detection module and the lateral correction unit are both connected to a control system, and when the distance detection module detects that the converter body has a lateral installation deviation, the control system controls the lateral correction unit on the corresponding side to start, and transmits the corresponding correction wedge block (65) to fit with the side of the track, thereby achieving lateral correction.

8. The large converter intelligent installation system according to claim 7, characterized in that: The cross-sectional profile of the correcting side of the correcting wedge block (65) is designed to be a smooth continuous curve, and the profile curve equation is: ； In the above formula, w is the length of the correcting wedge; v1 is the average forward speed of the ladle car along the track direction; a' is the maximum acceleration along the correcting direction during the correction process.

9. The intelligent installation method of large converter based on digital twin is characterized by: The large converter intelligent installation system according to any one of claims 1 to 8 comprises the following steps: Step 1: Using the intelligent lifting auxiliary system, the various components of the converter are sequentially lifted to the designated positions on the push-in-place system (2), and assembled into the converter body (3); Step 2: After the converter body is assembled, the converter body (3) is transported by means of the push-in-place system (2). During the transport process, whether the transport trajectory of the converter body (3) has a lateral deviation is detected in real time. If a lateral deviation exists, the lateral intelligent deviation correction system (6) is controlled by the control system to perform lateral deviation correction; Step 3: The alignment of the bolt mounting holes on the converter body (3) and the converter base (4) is detected by the converter positioning alignment detection system. When the longitudinal spacing between the bolt mounting holes on the converter body (3) and the converter base (4) reaches the braking distance of the ladle car, the pushing positioning system (2) is controlled to brake, thereby achieving accurate positioning of the converter body (3).

10. The large converter intelligent installation method according to claim 9, characterized in that: When performing lateral correction by the lateral intelligent correction system (6), multiple segmented correction operations are adopted, that is, the correction distances of the correction wedge blocks on the same correction device are all the same, namely y0. Based on the first correction wedge block, the subsequent correction wedge blocks increase a compensation thickness in sequence. The compensation thicknesses of all correction wedge blocks are 0, y0, 2·y0, …, (n-1)·y0, respectively.

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