On-line detection system for surface peeling of vertical grinding roller sleeve and use method of on-line detection system

Abstract

The invention discloses an on-line detection system for surface peeling of a vertical grinding roller sleeve and a use method. The on-line detection system comprises a point laser ranging device, a double-layer high-pressure air supply device, a line scanning damping device and a sealing isolation device, the point laser ranging device is fixed on the hydraulic cylinder body for high-frequency ranging and calculating the swing angle of the grinding roller body; the double-layer high-pressure air supply device blows air into the vertical mill to blow away dust on a line laser detection path to form an effective laser detection light path; the line scanning damping device is connected with the upper top sealing plate through a damper, vibration of the upper top sealing plate is isolated, and the stability of line scanning detection is guaranteed. The sealing isolation device is connected with the upper top sealing plate and the double-layer high-pressure air supply device, and the double-layer high-pressure air supply device is not affected by vibration of the upper top sealing plate and does not suck dust in the mill; the contour of the roller sleeve is collected through line laser high frequency, coordinates of section contour points of the grinding roller body are corrected through the swinging angle of the grinding roller body, the circumferential morphology of a grinding area of the grinding roller body is formed through merging, and the peeling condition is accurately obtained by analyzing the single-cycle rotation height change of the same position point.

Description

Technical Field

[0001] This invention relates to the field of online detection technology for surface peeling of roller sleeves in vertical grinding equipment, and specifically to an online detection system and method for using surface peeling of roller sleeves in vertical grinding equipment. Background Technology

[0002] The technology for welded roller sleeves in vertical mill units has matured after years of development. However, the problem of wear-resistant weld layer peeling off the roller sleeves is frequent. If not detected and addressed in time, the peeling area will expand, increasing maintenance and operating costs. Furthermore, the peeling fragments will impact the roller sleeves and liners, creating a vicious cycle and exacerbating losses, thus affecting the user's normal production. Currently, due to the high dust concentration inside the vertical mill unit cavity, the high rotation speed of the grinding roller body, and the irregular oscillation of the rocker arm, conventional methods are insufficient to observe the peeling of the roller sleeves, making it difficult to detect the problem in time and missing the optimal treatment window. Summary of the Invention

[0003] The present invention aims to provide an online detection system and method for detecting the peeling of the wear-resistant weld overlay on the surface of the roller sleeve of a vertical grinding mill, in order to solve the problem that it is difficult to detect the peeling of the wear-resistant weld overlay on the surface of the roller sleeve of a vertical grinding mill in the prior art, so as to achieve timely and accurate detection of peeling, provide a basis for the formulation of subsequent maintenance strategies, reduce maintenance costs, and improve production stability.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: An online detection system for surface peeling of vertical grinding roller sleeves includes a vertical grinding unit and a hydraulic unit, as well as a point laser ranging device. This device is mounted on the hydraulic cylinder of the hydraulic unit via positioning bolts on a fixing plate. It detects the real-time change in the swing angle of the grinding roller body and performs point laser ranging. A line scanning damping device is also included. This device consists of four air-floating dampers located at rectangular right-angle positions, connected to an upper sealing plate. Each air-floating damper has bolts at its four corners connected to the lower upper sealing plate, thus isolating the housing from vibration. A line laser scanner is fixed to the bottom surface of the suspended scanner base to complete the line laser scanning of the roller sleeve contour. A double-layer high-pressure air supply device is connected to the upper sealing plate at the top of the vertical grinding unit housing and extends into the vertical grinding unit. It is equipped with a sealing door rope drive device to control the opening and closing of the air outlet, and its air outlet covers the optical path of the line laser scanning. High-pressure airflow removes dust from above the roller sleeve of the vertical grinding unit; a sealing and isolation device, including a top magnetic sealing cover and an internal soft sealing structure, is hollow inside and uses the magnetism of the embedded magnetic strips around its perimeter to adhere to the top sealing plate, covering the line scanning damping device and the square hole of the top sealing plate, thus isolating it from the outside; the top surface of the internal soft sealing structure is fixed to the top sealing plate by bolts, and its bottom surface is fixed to the upper plane of the detection port of the main air inlet by bolts; the data processing module is used for indirect sensing and calculation of the roller body swing angle based on the point laser ranging value, executing the detection area contour extraction and correction algorithm and the peeling judgment algorithm, acquiring the roller sleeve contour through high-frequency line laser, correcting the coordinates of the roller body cross-sectional contour points by the roller body swing angle, merging them to form the circumferential morphology of the grinding area of ​​the roller body, and analyzing the single-circumference rotation height change at the same position point to accurately determine the peeling situation.

[0005] Preferably, the point laser ranging device includes a bracket fixing plate fixed to the hydraulic cylinder body by bolts and a flat steel plate welded to the rear side of the boom of the vertical grinding device. An L-shaped bracket is welded on the bracket fixing plate, and a laser displacement sensor for point laser detection is fixed to the L-shaped bracket by bolts. The change in the distance value between the laser displacement sensor and the flat steel plate can reflect the change in the swing angle of the grinding roller body.

[0006] Preferably, in the line scanning damping device, each air-float damper is supported and fixed to one corner of the rectangular plate of the hanging scanner base by a single bolt; the installation position of the line scanning damping device is directly above the roller sleeve of the grinding roller body and ensures that the line laser collects the cross-sectional profile of the highest point of the roller sleeve.

[0007] Preferably, the double-layer high-pressure air supply device further includes a main air inlet duct with two inclined sections. The inlet section of the main air inlet duct forms a minimum angle with the vertical direction, and the outlet section of the main air inlet duct is parallel to and perpendicular to the linear laser scanning line, covering the laser beam path. The main air inlet duct has three openings from top to bottom: an air inlet for introducing high-pressure air. Detection port for unobstructed scanning channels of line laser scanners And an air outlet for blowing away dust from the area above the roller sleeve to make the roller sleeve visible. ; The double-layer high-pressure air supply device also includes a main air duct that is welded and fixed to the inner wall of the main air inlet duct via side partitions. The main air duct and the main air inlet duct divide the airflow into two layers of air zones. and Both the main air inlet duct and the main air outlet are equipped with a contraction angle to increase air pressure; the double-layer high-pressure air supply device includes an outlet sealing device to prevent dust from entering the mill after a single-cycle data acquisition, and a sealing door rope drive device to control the opening and closing state of the outlet sealing device. The outlet sealing device is located at the outlet. The sealing door rope drive device is located on one side of the main air inlet duct and is connected to the air outlet sealing device. The sealing door rope drive device includes a left rope and a right rope that are driven independently. The left rope and the right rope are guided by a rope guide device. The rope dust cover is hollow inside and is connected and fixed to the main air inlet duct by welding to reduce the friction and impact of dust movement inside the vertical mill on the rope.

[0008] The sealing door rope drive device also includes a stepper motor that is fixed to the motor base by motor fixing bolts. The stepper motor's D-type output shaft is equipped with a motor output pinion. The motor base is fixed to the main air inlet pipe by welding. A large gear spindle is inserted into the motor base and fixed by welding to prevent loosening. A deep groove ball bearing and a large gear with locking pins are sequentially fitted onto the large gear spindle. The motor output pinion meshes with the large gear with locking pins to form a speed reduction transmission. Two vertical locking pins at symmetrical positions on the large gear with locking pins are connected to the left and right ropes respectively. The connection and fixation are achieved by wrapping the ropes around the vertical locking pins 180° and then pressing them with wire rope clips.

[0009] Preferably, the steering support in the rope guiding device is connected and fixed to the main air inlet pipe by welding. The oil-free bushing is installed and fixed in the inner hole of the steering support. The steering rope clamping shaft is installed in the inner hole of the oil-free bushing and can rotate relative to it. The rope is clamped in the groove of the steering rope clamping shaft. The top of the steering rope clamping shaft is a round head with a small contact area with the main air inlet pipe, so that the resistance is small when the rope moves and drives the steering rope clamping shaft to rotate.

[0010] Preferably, the air outlet sealing device includes a rope-driven rotating guide bar, a sealing plate, and a guide bar shaft that is welded to and fixed to the main air inlet duct. The guide bar shaft is inserted into the inner hole of the rope-driven rotating guide bar. The left and right ropes are respectively connected to the upright posts on the rope-driven rotating guide bar. A T-shaped guide rail is rotatably and slidably connected to one side of the rope-driven rotating guide bar. The upright of the T-shaped guide rail passes through the limiting block and forms a sliding pair with it. The head of the upright of the T-shaped guide rail has a column that is embedded in the slide groove of the rope-driven rotating guide bar and is connected to the sealing plate. The opening and closing of the sealing plate is controlled by the left and right ropes to prevent dust backflow. The sealing shaft passes through the inner hole of the sealing plate and the inner hole of the sealing rotating support in sequence. The sealing rotating support is welded and fixed to the side wall of the main air inlet duct. Side columns are welded on both sides of the sealing plate. The upright of the side column is in the slide groove on one side of the crossbar of the T-shaped guide rail and forms a sliding pair with it. The rope-driven rotating guide bar is linked to the sealing plate via a T-shaped guide rail. The left and right ropes move in opposite directions to control the rotation of the rope-driven rotating guide bar, which in turn drives the sealing plate to rotate in opposite directions to open and close.

[0011] Preferably, the outlet section of the main air inlet duct contracts closer to the grinding roller body, adhering to the laser edge receiving line, and the outlet area shrinks, increasing air pressure to improve dust dispersion capability; the main air duct is welded and fixed to the inner wall of the main air inlet duct via a side partition; the main air duct has a large upper ventilation hole and a small lower air outlet hole, and its slope is consistent with the slope of the outlet of the main air inlet duct; when the sealing plate is in the open state, the outlet of the main air inlet duct forms the main air zone. With isolation wind zone To ensure the main wind zone The dust concentration in the air outlet duct is extremely low; when the sealing plate is opened, it is in a vertically downward state, and the sealing plate has an extended surface from the sealing shaft to the side wall of the main air inlet duct. At this time, when the sealing plate is opened, there is only a very small gap at the edge where the sealing plate and the side wall of the main air inlet duct are in contact, which prevents dust from being drawn in large quantities from the contact area between the sealing plate and the side wall of the main air inlet duct due to negative pressure. In addition, the sealing plates on both sides stabilize the airflow when blowing air. The line scan vibration damping device includes a suspended scanner base and four air-floating vibration dampers that are respectively fixed to the four corners of the suspended scanner base by bolts. The bottom of each air-floating vibration damper is bolted to the top sealing plate to isolate the vibration transmitted from the shell to the line laser scanner. The bottom of the suspended scanner base extends through the top sealing plate and the inner soft sealing structure to the inside of the detection port of the main air inlet pipe, and the line laser scanner is fixedly connected to the bottom of the suspended scanner base.

[0012] Preferably, the top magnetic sealing cover is inlaid with magnetic strips around its perimeter, which are adsorbed and fixed to the top sealing plate to achieve dust isolation.

[0013] Preferably, the internal soft seal structure includes an internal soft rubber tube, an internal soft seal top plate, and an internal soft seal bottom plate. The internal soft seal bottom plate is connected to the detection port, and the internal soft seal top plate is fixedly connected to the upper top sealing plate. When high-pressure air is blown in from the air inlet, the detection port will not suck in dust from inside the mill. An internal soft rubber tube connects the internal soft seal top plate and the internal soft seal bottom plate.

[0014] A method for using an online detection system for surface spalling of a vertical grinding roller sleeve includes the following steps: S000: The vertical mill is operating normally, and the roller sleeve of the mill roller body continues to rotate; S100: The air outlet sealing door is opened by the rope drive device. At the same time, the centrifugal fan blows high-pressure air from the main air duct of the double-layer high-pressure air supply device to the top of the inner roller sleeve of the mill, which disperses the dust in the main air duct outlet area and ensures that the line laser emitted by the line laser scanner to the surface of the roller sleeve is not interfered with by the dust along the path. S200: Simultaneously activate the laser displacement sensor and line laser scanner to acquire roller sleeve contour data, and maintain an effective acquisition time greater than or equal to 1.2 times the duration of a single rotation of the roller sleeve; S300: Turn off the internal laser scanning optical path visualization module, simultaneously close the air outlet sealing door and stop blowing high-pressure air into the mill through the high-pressure air supply device; S400: The contour data is processed through the data processing module. The value measured by the laser displacement sensor at the corresponding time is converted into the rotation angle of the grinding roller body according to the relationship formula. Then, the coordinates of the measured roller sleeve contour points are extracted and corrected for detection area. S500: The data processing module performs peeling identification and judgment. The improved threshold algorithm for peeling pit detection is used to analyze the height change of any point on the contour line of the roller sleeve cross section detection area in turn of the roller sleeve. It is determined whether there is peeling on the circumference of the roller sleeve detection area. When no peeling is found, the single detection is completed. After the next acquisition is completed, step S100 is executed again. When peeling is found in the detection area, step S600 is executed. S600: Result output. The length, width, and maximum depth of the spalling zone are calculated from the detected and extracted spalling zone height discrete point information. The dangerous threshold of the spalling zone size is set according to the actual production needs of each vertical mill production line, thereby determining whether the vertical mill unit needs to be shut down for repair.

[0015] In step S400, the conversion of the value measured by the laser displacement sensor into the rotation angle of the grinding roller body according to the relationship formula is as follows: First, the numerical relationship between the distance from the laser emitted by the laser displacement sensor to the flat steel plate and the rotation angle of the grinding roller body is obtained, i.e., the rocker arm angle. Point laser ranging The numerical relationship is used to establish the rocker arm angle with the center point of the fixed shaft of the hydraulic cylinder as the origin. Point laser ranging The mathematical and geometric model between them is used to calculate the coordinates of each point: ; Among them, the angle of the hydraulic cylinder axis relative to the horizontal line , where i is a time node at a certain acquisition moment, and the laser displacement sensor emits a laser to form a straight line. The plane containing the flat steel plate forms a straight line. , The center point of the hydraulic drive end spindle. The center point of the rotation axis For point to the straight line The foot of the perpendicular, For point to the straight line The foot of the perpendicular, This refers to the laser emission point of the laser displacement sensor. The laser emission point of the laser displacement sensor and the straight line The intersection point, l is Click Distance between points; and Known structural parameters representing the vertical mill unit itself. and This represents the known installation position parameters of the laser displacement sensor relative to the hydraulic device. For point and distance, For point and distance, for The angle value, and some parameters in the first formula are expressed as follows: ; straight line The slope is used It is stated that a laser displacement sensor has been launched to detect distance values. The calculation expression is as follows: ; In the formula, and Represent Pointed and Axis coordinate values; From the third equation, we can know and The relationship between them is non-linear, and the parameters affecting the shape of the curve representing this relationship are: and , and The value in the mathematical model is determined by the actual installation position of the flat steel plate; by controlling the hydraulic device to be in two different extension states, the rocker arm angle is measured under the corresponding conditions. and the distance value detected by the laser displacement sensor Two sets of accurate values ​​were obtained: , , ; The PSO algorithm is used to perform optimization calculations within the range of the theoretical value, and the fourth equation is used as the objective function to calculate the value where the deviation between the theoretical and actual values ​​is minimized. and The value is the optimal value.

[0016] The method for extracting and correcting the detection area coordinates of the measured roller sleeve contour points in the contour data processing is as follows: In conclusion and The nonlinear relationship curve between them is then fitted using a higher-order function to obtain the fitting function. The rocker arm angle in any posture can be detected by external testing instruments. Angle relative to the horizontal line of the center line of the corresponding grinding roller body Synchronization at frequency Point laser ranging and line laser scanning are performed when the grinding roller body is in use. After completing one rotation, the point laser ranging and line laser scanning simultaneously acquire a set of data: , The rocker arm deflection angle is different at each moment, and the outer contour points of the cross section at different widths on the circumference of the roller sleeve are continuously collected by line laser scanning; so as to guide the center line of the grinding roller body from the deflection angle Corrected to horizontal state To standardize the data, the outer contour points of the grinding roller body cross-section collected at different times are deflected by the centerline of the grinding roller body at the corresponding collection time. The following steps are taken to perform correction regression and extract the contour points of the detection area: S401: The distance value continuously measured at high frequency by the laser displacement sensor at the point where the grinding roller body completes one revolution. Substitute into the fitting function In the middle, the calculation yields Data volume collected ; S402: From the formula Calculate the deflection angle of the center line of the grinding roller body at different times. ; S403: Will Real-time online laser scanner coordinate system Contour points collected below Transform to coordinate system Next, based on different times Correct the coordinates of the contour points to obtain , ; ; in, D is the laser emission point O of the line laser scanner. The distance between the point and the laser emission point O in the X direction, where H is the distance between the laser emission point O and the laser emission point O of the line laser scanner. The distance of the point in the Y direction, E is the section along the axis of the grinding roller body from the position of the maximum diameter of the roller sleeve. The distance between points, F is the width of the roller sleeve of the grinding roller body, and G is the distance from the axis of the grinding roller body to the roller sleeve. The distance between points; the formula for calculating the coordinates of the corrected contour points is shown in Formula 5, and the contour points of the detection area are further extracted according to Formula 6. , contour points The radius of the contour point on the roller sleeve is obtained by subtracting the value G from the Y-axis coordinate component.

[0017] The corrected detection area contour points are obtained. Then, analyze all the contour points of the roller sleeve cross-section center position on a single circumference of the roller sleeve in turn. Until the inner boundary position is located at all contour points on a single circumference of the roller sleeve. For contour points To identify and determine the spalling situation, the following steps are taken: Analyze the discrete profile points at any location on the roller sleeve cross-section. S501: Apply a filtering algorithm to remove individual outlier points in the contour; calculate the height values ​​of all contour points around any given location on the detection area. average Minimum value ,when If no peeling occurs, proceed with step S502; otherwise, proceed with step S502. in, To account for minor vibrations caused by equipment performance issues, incomplete vibration isolation, and data processing errors, the initial design... ; ; Where max is the number of times the laser scanner collects data during a single rotation of the roller sleeve; S502: To locate all local depressions, set a threshold for identifying spalling pits. Its parameter value is calculated by equation eight, and all values ​​below a certain threshold are searched by enumerating using the enumerate method. Contour discrete points ; in, Affected by the ratio of the length of the peeling pit to the circumference of the roller sleeve, it is generally taken as 0.999 to filter out extremely shallow pits and ensure the detection accuracy of multiple sub-pits intersecting and merging. ; S503: Sequentially merge adjacent parts of the discrete contour points below the threshold to form multiple individual discontinuous spalling pits. And record the starting point of each spalling pit. and the end point Calculate the total length of the discrete point segment corresponding to each sub-pit in each spalling pit. ; S504: Set the threshold value for the width of the spalling pit as follows: The total length of the discrete point segments corresponding to each sub-pit in the spalling pit is removed. Less than the threshold The invalid pits are removed, and what remains after the removal is the real spalling pit; Among them, threshold Used for filtering non-stripping pits caused by wear and small cracks in the weld of the roller sleeve. The number of effective linear laser acquisition points in the detection area is related to the installation position of the line laser scanner relative to the roller sleeve and the size of the roller sleeve. ,but The range of values ​​is ; S505: Calculate the standard deviation of the first derivative of the height values ​​of the contour points for each spalling pit segment. When the calculated value of a certain spalling pit segment A value less than 5 indicates that the pit section is relatively smooth and is a compression pit; when the calculated value of a certain spalling pit section is less than 5, it indicates that the spalling pit section is relatively smooth and is a compression pit. A value greater than 5 indicates that the surface of the pit section is rough and it is a spalling pit.

[0018] In step S200, the roller sleeve contour data acquisition employs a discriminative contour data acquisition algorithm, initially using... or below The low-frequency sampling frequency is used for cyclic detection from step S100 to S500 to quickly scan and identify whether there is any peeling abnormality; when a peeling abnormality is detected through step S505, the next detection cycle switches to the low-frequency sampling frequency. The high-frequency acquisition frequency is used to perform S100 to S600 step cyclic detection, to carry out high-frequency, high-data-stream acquisition and size detection, and to extract the contour data of the peeling area to accurately calculate its size, thus saving computing resources.

[0019] As can be seen from the above technical solutions, the present invention has the following beneficial effects: 1. Achieve accurate and efficient online automatic detection, revolutionizing the traditional manual mode: The system can perform detection while the vertical mill is running normally, without the need to stop the machine or disassemble the equipment, completely avoiding long-term production interruptions caused by traditional manual inspection methods; through laser ranging and algorithm model automatic judgment, the subjectivity and uncertainty of manual inspection are eliminated, and the detection results are more accurate and reliable.

[0020] 2. Improve equipment operation safety and reliability, and avoid catastrophic damage: It can detect the initial and minor peeling defects of the wear-resistant layer in time and issue an early warning before the problem expands; remind users to carry out planned maintenance in the early stage of peeling, effectively avoiding serious damage to the roller sleeve substrate or even equipment downtime caused by the expansion of the peeling area, and ensuring the continuous and stable operation of the production line.

[0021] 3. Significantly reduce maintenance and operating costs, creating direct economic benefits: Early repair only requires addressing localized spalling areas, resulting in less maintenance workload and lower costs. If the spalling is allowed to expand, the entire roller sleeve may need to be replaced, which is costly. It minimizes unplanned downtime, improves equipment uptime, thereby enhancing overall production efficiency and increasing output value. It enables predictive maintenance of roller sleeve wear conditions, making spare parts procurement and replacement plans more informed and reducing capital occupation and emergency procurement costs. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the online detection system for surface peeling of the vertical grinding device roller sleeve according to the present invention; Figure 2 This is a schematic diagram of the vertical grinding device of the present invention; Figure 3 This is a schematic diagram of the installation structure of the point laser ranging device of the present invention; Figure 4 This is a schematic diagram of the structure of the double-layer high-pressure air supply device of the present invention; Figure 5 This is a schematic diagram of the structure of the sealing door rope drive device of the present invention; Figure 6 This is a schematic diagram of the rope guiding device of the present invention; Figure 7 This is a schematic diagram of the air outlet sealing device of the present invention; Figure 8 This is a schematic diagram of the operation of the line scanning vibration damping device and the soft sealing structure inside the mill according to the present invention; Figure 9 This is a schematic diagram of the roller sleeve speed detection structure of the present invention; Figure 10 This is a schematic diagram illustrating the geometric relationship between the swing angle of the grinding roller body and the point laser ranging of the present invention; Figure 11This is a schematic diagram showing the relative positions of the contour points of the lower roller sleeve in the line laser scanner of the present invention. Figure 12 This is a flowchart of the roller sleeve peeling detection process of the present invention; Figure 13 This is a detection effect diagram of the circumferential contour peeling at any point on the cross-section of the roller sleeve according to the present invention; Figure 14 This is a graph showing the relationship between the rocker arm angle and the point laser detection distance of the present invention.

[0023] In the diagram: 1. Vertical grinding unit; 101. Rocker arm; 102. Boom; 103. Rotating shaft; 104. Bearing housing; 105. Bearing cover; 106. Hydraulic drive end spindle; 107. Grinding roller body; 108. Flat steel plate; 109. Seal; 110. Inductive switch; 111. Inductive patch; 112. Inductive switch bracket; 2. Point laser ranging device; 201. Laser displacement sensor; 202. L-shaped bracket; 203. Bracket fixing plate; 204. Fixing 3. Plate positioning bolts; 4. Hydraulic device; 5. Hydraulic cylinder fixing shaft; 6. Hydraulic cylinder body; 7. Hydraulic cylinder telescopic rod; 8. Upper housing; 9. Double-layer high-pressure air supply device; 10. Main air inlet duct; 11. Sealing door rope drive device; 12. Left rope; 23. Right rope; 34. Stepper motor; 55. Motor fixing bolts; 6. Motor base; 7. Motor output pinion; 8. Large gear with locking pinion. 502-8, Large gear spindle; 502-9, Deep groove ball bearing; 502-10, Wire rope clip; 503, Rope guide device; 503-1, Steering support; 503-2, Oil-free bushing; 503-3, Steering rope clamp shaft; 504, Rope dust cover; 505, Air outlet sealing device; 505-1, Rope drive rotation guide bar; 505-2, Guide bar shaft; 505-3, Limit block; 505-4, T-shaped guide rail; 505-5, Sealing plate; 505-6, Side column; 505-7, Sealed rotating shaft; 505-8, Sealed rotating support; 506, Main air duct; 507, Side partition; 6, Top magnetic sealing cover; 7, Line scanning shock absorption device; 701, Hanging scanner base; 702, Air-floating shock absorber; 703, Line laser scanner; 8, Internal soft sealing structure; 801, Internal soft sealing top plate; 802, Soft rubber tube; 803, Internal soft sealing lower plate; 9, Top sealing plate; 10, Fixed base. Detailed Implementation

[0024] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0025] Example: Figures 1-6As shown, the present invention provides an online detection system for surface peeling of vertical grinding roller sleeves, including a vertical grinding device 1, which includes a fixed base 10 at the bottom and a hydraulic device 3 set on the fixed base 10. It also includes a point laser ranging device 2, which is installed on the hydraulic cylinder 302 of the hydraulic device 3 by fixing plate positioning bolts 204. It detects the change of swing angle of the grinding roller body 107 of the vertical grinding device 1 in real time and completes point laser ranging. The hydraulic device 3 has a hydraulic drive end spindle 106 at its top, and a boom 102 is rotatably connected to the hydraulic drive end spindle 106. A fixed base 10 in the middle is fixedly connected to the side of the boom 102, on which a bearing seat 104 is provided, and a bearing cover 105 is fixed to the bearing seat 104 by bolts. The two together form a cavity to accommodate the bearing. The rotating shaft 103 passes through the inner hole of the bearing and is supported in it. A rocker arm 101 is also hinged to the boom 102 by a pin. An upper housing 4, a seal 109 and a grinding roller body 107 are fixed to the rocker arm 101 in sequence. An upper top sealing plate 9 is installed on the top of the upper housing 4.

[0026] like Figure 3 As shown, the point laser ranging device 2 includes a laser displacement sensor 201, which is fixed to the bracket fixing plate 203 by an L-shaped bracket 202. The flat steel plate 108 is welded and fixed to the rear arm of the boom 102 for reflecting the point laser. Its surface remains flat and without deformation. When the vertical mill is working, when the grinding roller body 107 swings up and down and the angle changes, the hydraulic cylinder telescopic rod 303 moves in the hydraulic cylinder body 302 accordingly. Thus, the distance value of the flat steel plate 108 detected by the point laser also changes synchronously. The correspondence between the two is expressed as the third equation.

[0027] like Figures 4-8 As shown, the double-layer high-pressure air supply device 5 is connected to the top sealing plate 9 at the top of the housing of the vertical mill device 1 and extends into the vertical mill device 1. It includes a main air inlet duct 501 with two inclined sections. The air inlet section of the main air inlet duct 501 forms a minimum angle with the vertical direction, and the air outlet section of the main air inlet duct 501 is parallel to and perpendicular to the line laser scanning line, covering the laser beam path. The main air inlet duct 501 has three openings from top to bottom: an air inlet for introducing high-pressure air. Detection port for the unobstructed scanning channel of the 703 line laser scanner And an air outlet for blowing away dust from the area above the roller sleeve to make the roller sleeve visible. These three openings, the main air inlet duct 501, are at the inspection port. The position is connected to the lower internal soft seal plate 803 on the internal soft seal structure 8 of the mill, and the upper internal soft seal plate 801 is fixedly connected to the upper top seal plate 9. When the air inlet is... When high-pressure air is blown in, the detection port The location will not draw in dust from inside the mill.

[0028] In this embodiment, the double-layer high-pressure air supply device 5 further includes a main air duct 506 welded and fixed to the inner wall of the main air inlet duct 501 via a side partition 507. The main air duct 506 and the main air inlet duct 501 divide the airflow into a double-layer air zone. and Both the main air inlet duct 501 and the main air duct 506 have converging angles at their outlets to increase air pressure. The inner wall of the main air inlet duct 501 and the outer wall of the main air duct 506 are welded and fixed together by the main air duct 506 and the side partition 507. The main air duct 506 has a large upper air inlet and a small lower air outlet, and its slope is consistent with the slope of the air outlet of the main air inlet duct 501, that is, the four side walls of both are parallel. When the sealing plate 505-5 is opened and high-pressure air is blown in from the air inlet, the main air inlet duct 501 forms the main air zone at the air outlet. With isolation wind zone Dust is blown away using a dual-zone airflow method to ensure that the line laser channel is in the main airflow zone. The exhaust section has a better dust cleaning effect.

[0029] The double-layer high-pressure air supply device 5 also includes an air outlet sealing device 505 for preventing dust from entering the mill after a single-cycle data acquisition, and a sealing door rope drive device 502 and a rope guide device 503 for controlling the opening and closing state of the air outlet sealing device 505. The air outlet sealing device 505 is located at the air outlet, and the sealing door rope drive device 502 is located on one side of the main air inlet pipe 501 and is connected to the air outlet sealing device 505. The sealing door rope drive device 502 includes a left rope 502-1 and a right rope 502-2 that are driven independently. The rope guide device 503 guides the direction of the left rope 502-1 and the right rope 502-2. The rope dust cover 504 is hollow inside and is connected and fixed to the main air inlet pipe 501 by welding to reduce the friction and impact of dust movement inside the vertical mill on the rope. The sealing door rope drive device 502 also includes a stepper motor 502-3 that is fixed to the motor base 502-5 by a motor fixing bolt 502-4. A motor output pinion 502-6 is mounted on the D-shaped output shaft of the stepper motor 502-3. The motor base 502-5 is fixed to the main air inlet pipe 501 by welding. A large gear spindle 502-8 is inserted into the motor base 502-5 and fixed by welding to prevent loosening. A deep groove ball bearing 502-9 and a large gear with a locking post 502-7 are sequentially fitted onto the large gear spindle 502-8. The motor output pinion 502-6 meshes with the large gear with a locking post 502-7 and forms a speed reduction transmission. Two vertical locking posts at symmetrical positions on the large gear with a locking post 502-7 are connected to the left rope 502-1 and the right rope 502-2 respectively. The connection and fixation are achieved by wrapping the rope around the vertical locking posts 180° and pressing it with a wire rope buckle 502-10.

[0030] In this embodiment, the steering support 503-1 in the rope guide device 503 is connected and fixed to the main air inlet pipe 501 by welding. The oil-free bushing 503-2 is installed and fixed in the inner hole of the steering support 503-1. The steering rope clamping shaft 503-3 is installed in the inner hole of the oil-free bushing 503-2 and can rotate relative to it. The rope is clamped in the groove in the steering rope clamping shaft 503-3. The top of the steering rope clamping shaft 503-3 is a round head, and the contact area with the main air inlet pipe 501 is small. When the rope moves, the resistance to the rotation of the steering rope clamping shaft 503-3 is small.

[0031] The air outlet sealing device 505 includes a rope-driven rotating guide bar 505-1, a sealing plate 505-5, and a guide bar shaft 505-2 that is welded to and fixed to the main air inlet pipe 501. The guide bar shaft 505-2 is inserted into the inner hole of the rope-driven rotating guide bar 505-1. The left rope 502-1 and the right rope 502-2 are respectively connected to the upright posts on the rope-driven rotating guide bar 505-1. A T-shaped guide rail 505-4 is rotatably and slidably connected to one side of the rope-driven rotating guide bar 505-1. The upright of the T-shaped guide rail 505-4 passes through the limiting block 505-3 and forms a sliding pair with it. The head of the pole has a column, which is embedded in the groove of the rope-driven rotating guide bar 505-1 and is connected to the sealing plate 505-5. The opening and closing of the sealing plate 505-5 is controlled by the left rope 502-1 and the right rope 502-2 to prevent dust backflow. The sealing shaft 505-7 passes through the inner hole of the sealing plate 505-5 and the inner hole of the sealing rotating support 505-8 in sequence. The sealing rotating support 505-8 is welded and fixed to the side wall of the main air inlet pipe 501. Side columns 505-6 are welded on both sides of the sealing plate 505-5. The columns of the side columns 505-6 are in the groove on one side of the crossbar of the T-shaped guide rail 505-4 and form a sliding pair with it. In this embodiment, the air outlet sealing device 505 is installed at the air outlet of the main air inlet duct 501, and its opening and closing state is controlled by a rope drive. The rope guide device 503 is installed on the outer wall of the main air inlet duct 501 at the middle position, and the sealing door rope drive device 502 is installed at the air inlet of the main air inlet duct 501. The input end of the drive rope is connected to the sealing door rope drive device 502, passes through the rope guide device 503 for directional deflection, and finally the output section of the rope is connected to the air outlet sealing device 505. Under the rotation of the stepper motor 502-3, the large gear 502-7 with a retaining pin is driven to rotate, so that the large gear with retaining pin is fixed to the large gear. The left rope 502-1 and right rope 502-2 of the two upright posts on 502-7 move in opposite directions; when the left rope 502-1 and right rope 502-2 pass through the rope guide device 503, they are locked in the U-shaped groove at the head of the steering rope locking shaft 503-3. The steering rope locking shaft 503-3 is inserted into the oil-free bushing 503-2, which is installed in the through hole on the steering support 503-1 by interference fit. When the rope moves, it drives the rope locking shaft to rotate relative to the oil-free bushing 503-2. The head of the rope locking shaft is round, and the contact area with the outer wall of the main air inlet pipe 501 is small, thereby reducing its rotational resistance; the left rope The output sections of cable 502-1 and right cable 502-2 are connected to two symmetrical columns on the cable-driven rotating guide bar 505-1. The guide bar shaft 505-2 and the limiting block 505-3 are both fixed to the side wall of the main air inlet duct 501. The middle hole of the cable-driven rotating guide bar 505-1 is fitted onto the guide bar shaft 505-2 and rotates around it. The vertical section of the T-shaped guide rail 505-4 passes through the limiting block 505-3 and the column fixed at its head is stuck in the left end groove of the cable-driven rotating guide bar 505-1. The side column 505-6 is welded and fixed to the sealing plate 505-5. The sealing plate 505-5 rotates around the sealing shaft 505-7. The side column 505-6 moves within the groove on one side of the horizontal section of the T-shaped guide rail 505-4. When the left rope 502-1 and the right rope 502-2 move in opposite directions, they drive the rope-driven rotating guide bar 505-1 to rotate, thereby pulling the T-shaped guide rail 505-4 up and down along the axis of the limiting block 505-3. The horizontal section groove of the T-shaped guide rail 505-4 then drives the side column 505-6 to move up and down while rotating around the sealing shaft 505-7, ultimately controlling the opening and closing state of the sealing plate 505-5. Keeping the sealing plate 505-5 closed during non-collection periods can prevent dust inside the mill from entering the main air inlet duct 501.

[0032] like Figure 8As shown, the line scanning vibration damping device 7 is connected to the upper top sealing plate 9 via four air-floating vibration dampers 702 positioned at rectangular right angles. Each air-floating vibration damper 702 has bolts at its four corners connected to the lower upper top sealing plate 9, thereby isolating the housing vibration and fixing the line laser scanner 703 to complete the line laser scanning. The line scanning vibration damping device 7 is installed on the upper top sealing plate 9. The hanging scanner base 701 is composed of three parts: a horizontal rectangular plate, a rectangular hollow frame with X-shaped reinforcing ribs at the bottom, and a counterweight at the top, which are welded together at the connection points. The lower sides of the four corners of the rectangular plate of the hanging scanner base 701 are connected by a single bolt. Each bolt is connected and supported by an air-floating shock absorber 702. Each air-floating shock absorber 702 is installed on the top sealing plate 9 by four bolts at its four corners. The line laser scanner 703 is installed under the rectangular hollow frame of the hanging scanner base 701 by bolts on its back. The top sealing plate 9 is provided with a rectangular opening for inserting the line scanning vibration damping device with the line laser scanner 703 into the main air inlet duct 501 from top to bottom. The line scanning vibration damping device is installed and positioned with the vertical laser beam path emitted by the line laser scanner 703 aligned with the highest position of the roller sleeve section of the grinding roller body 107 as a reference. like Figure 2 , Figure 9 As shown, the roller sleeve rotates rapidly during the operation of the vertical mill. The inductive switch bracket 112 is fixed to the side of the seal 109 by welding. The inductive switch 110 is tightened and positioned through the threaded hole in the middle of the inductive switch bracket 112. The inductive patch 111 is fixed on the surface of the rotating shaft of the grinding roller body 107. The inductive switch 110 receives a signal once for each rotation of the roller sleeve. The time interval between two adjacent signals is the current single rotation time of the roller sleeve.

[0033] In this embodiment, the sealing and isolation device includes a top magnetic sealing cover 6 and an inner soft sealing structure 8. The inside is hollow, and the magnetic attraction of the magnetic strips embedded around it is used to attach it to the upper top sealing plate 9 to achieve dust isolation. It covers the square hole of the line scanning shock absorption device 7 and the upper top sealing plate 9, and isolates it from the outside.

[0034] The upper surface of the internal soft sealing structure 8 is connected and fixed to the upper top sealing plate 9 by bolts, and its lower surface is connected and fixed to the upper surface of the detection port of the main air inlet pipe 501 by bolts. The internal soft sealing structure 8 includes an internal soft rubber tube 802, an internal soft sealing top buckle plate 801 and an internal soft sealing lower buckle plate 803. The internal soft sealing lower buckle plate 803 is connected to the detection port, and the internal soft sealing top buckle plate 801 is fixedly connected to the upper top sealing plate 9. When high-pressure air is blown in from the air inlet, the detection port will not suck in dust from inside the mill. The internal soft rubber tube 802 is connected between the internal soft sealing top buckle plate 801 and the internal soft sealing lower buckle plate 803.

[0035] In this embodiment, the data processing module is used to indirectly sense and calculate the swing angle of the grinding roller body 107 based on the point laser ranging value, execute the detection area contour extraction and correction algorithm and the peeling judgment algorithm, collect the roller sleeve contour through line laser high frequency acquisition, correct the coordinates of the cross-sectional contour points of the grinding roller body 107 by the swing angle of the grinding roller body 107, merge them to form the circumferential shape of the grinding area of ​​the grinding roller body 107, and analyze the single-circumferential rotation height change of the same position point to accurately know the peeling situation.

[0036] like Figures 10-14 As shown, the present invention provides a method for using an online detection system for surface peeling of vertical grinding roller sleeves, comprising the following steps: S000: The vertical grinding unit 1 is operating normally, and the roller sleeve of the grinding roller body 107 continues to rotate; S100: The air outlet sealing door is opened by controlling the rope drive device. At the same time, the centrifugal fan blows high-pressure air from the main air duct 506 of the double-layer high-pressure air supply device 5 to the top of the inner roller sleeve of the grinding mill, blowing away the dust in the outlet area of ​​the main air duct 506, and ensuring that the line laser emitted by the line laser scanner 703 to the surface of the roller sleeve of the grinding roller body 107 is not interfered with by the dust on the path. S200: Simultaneously activate the laser displacement sensor 201 and the line laser scanner 703 to acquire roller sleeve contour data, and maintain the effective acquisition time at least 1.2 times the duration of a single rotation of the roller sleeve; S300: Turn off the internal laser scanning optical path visualization module, simultaneously close the air outlet sealing door and stop blowing high-pressure air into the mill through the high-pressure air supply device; S400: The contour data is processed by the data processing module. The value measured by the laser displacement sensor 201 at the corresponding time is converted into the rotation angle of the grinding roller body 107 according to the relationship formula. Then, the coordinates of the measured roller sleeve contour points are extracted and corrected for detection area. S500: The data processing module performs peeling identification and judgment. The improved threshold algorithm for peeling pit detection is used to analyze the height change of any point on the contour line of the roller sleeve cross section detection area in turn of the roller sleeve. It is determined whether there is peeling on the circumference of the roller sleeve detection area. When no peeling is found, the single detection is completed. After the next acquisition is completed, step S100 is executed again. When peeling is found in the detection area, step S600 is executed. S600: Result output. The length, width, and maximum depth of the spalling area are calculated from the detected and extracted spalling area height discrete point information. The dangerous threshold of the spalling area size is set according to the actual production needs of each vertical mill production line, so as to determine whether the vertical mill unit 1 needs to be shut down for repair.

[0037] Furthermore, in step S400, the conversion of the value measured by the laser displacement sensor 201 into the rotation angle of the grinding roller body 107 according to the relationship formula is as follows: First, the numerical relationship between the distance value of the laser emitted by the laser displacement sensor 201 to the flat steel plate 108 and the rotation angle value of the grinding roller body 107 is obtained, that is, the angle of the rocker arm 101. Distance value detected by laser displacement sensor 201 The numerical relationship of (i.e., point laser ranging) is used to establish the angle of rocker arm 101 with the center point of the hydraulic cylinder fixed rotating shaft 301 as the origin. Point laser ranging The mathematical and geometric model between them is used to calculate the coordinates of each point: ;

[0038] Among them, the angle of the hydraulic cylinder axis relative to the horizontal line , where i is a time node at a certain acquisition moment, and the laser displacement sensor 201 emits a laser to form a straight line. The plane containing flat steel plate 108 forms a straight line. , The center point of the hydraulic drive end spindle 106 is... Center point of rotation axis 103 For point to the straight line The foot of the perpendicular, For point to the straight line The foot of the perpendicular, The laser emission point of the laser displacement sensor 201 For the laser displacement sensor 201, the laser emission point and the straight line The intersection point, l is Click Distance between points; and The known structural parameters represent the vertical mill unit 1 itself. and The known installation position parameters represent the laser displacement sensor 201 relative to the hydraulic device 3. For point and distance, For point and distance, for The angle value, and some parameters in the first formula are expressed as follows: ; straight line The slope is used It is stated that the laser displacement sensor 201 has been launched to detect distance values. The calculation expression is as follows: ; In the formula, and Represent Pointed and Axis coordinate values; From the third equation, we can know and The relationship between them is non-linear, and the parameters affecting the shape of the curve representing this relationship are: and , and The value in the mathematical model is determined by the actual installation position of the flat steel plate 108; by controlling the hydraulic device 3 to be in two different elongation states, the angle of the rocker arm 101 under the corresponding conditions is measured. and the distance value detected by the laser displacement sensor 201 Two sets of accurate values ​​were obtained: , , ;

[0039] The PSO algorithm is used to perform optimization calculations within the range of the theoretical value, and the fourth equation is used as the objective function to calculate the value where the deviation between the theoretical and actual values ​​is minimized. and The value is the optimal value.

[0040] Furthermore, the method for extracting and correcting the detection area coordinates of the measured roller sleeve contour points in the contour data processing is as follows: In conclusion and The nonlinear relationship curve between them is then fitted using a higher-order function to obtain the fitting function. The angle of the rocker arm at any given posture was detected using external testing instruments. Angle relative to the horizontal line of the center line of the corresponding grinding roller body 107 Synchronization at frequency Point laser ranging and line laser scanning are performed when the grinding roller body 107 is in use. After completing one rotation, the point laser ranging and line laser scanning simultaneously acquire a set of data: , The rocker arm 101 deflects at different angles at each moment, and the outer contour points of the cross section at different widths on the circumference of the roller sleeve are continuously collected by line laser scanning; so as to guide the center line of the grinding roller body from the deflection angle Corrected to horizontal state To standardize the data, the outer contour points of the grinding roller body cross-section collected at different times are deflected by the centerline of the grinding roller body at the corresponding collection time. The following steps are taken to perform correction regression and extract the contour points of the detection area: S401: The distance value continuously measured at high frequency by the laser displacement sensor 201 during the time it takes for the grinding roller body 107 to complete one revolution. Substitute into the fitting function In the middle, the calculation yields Data volume collected ; S402: From the formula Calculate the deflection angle of the center line of the grinding roller body at different times. ; S403: Will 703 Coordinate System of In-Time Online Laser Scanner Contour points collected below Transform to coordinate system Next, based on different times Correct the coordinates of the contour points to obtain , ; ;

[0041] in, D is the laser emission point O of the line laser scanner 703. The distance between the point and the laser emission point O in the X direction, H is the distance between the laser emission point O and the laser emission point O of the line laser scanner 703. The distance of the point in the Y direction, E is the section along the axis of the grinding roller body 107 from the maximum diameter of the roller sleeve to the point where the diameter of the roller sleeve is at its maximum. The distance between the points, F is the width of the roller sleeve of the grinding roller body 107, and G is the distance from the axis of the grinding roller body 107 to the point where F is the width of the roller sleeve of the grinding roller body 107. The distance between points; the formula for calculating the coordinates of the corrected contour points is shown in Formula 5, and the contour points of the detection area are further extracted according to Formula 6. , contour points The radius of the contour point on the roller sleeve is obtained by subtracting the value G from the Y-axis coordinate component.

[0042] Furthermore, after obtaining the corrected detection area contour points... Then, analyze all the contour points of the roller sleeve cross-section center position on a single circumference of the roller sleeve in turn. Until the inner boundary position is located at all contour points on a single circumference of the roller sleeve. For contour points To identify and determine the spalling situation, the following steps are taken: Analyze the discrete profile points at any location on the roller sleeve cross-section. S501: Apply a filtering algorithm to remove individual outlier points in the contour; calculate the height values ​​of all contour points around any given location on the detection area. average Minimum value ,when If no peeling occurs, proceed with step S502; otherwise, proceed with step S502. in, To account for minor vibrations caused by equipment performance issues, incomplete vibration isolation, and data processing errors, the initial design... ; ;

[0043] Where max represents the number of times the laser scanner 703 collects data during a single rotation of the roller sleeve; S502: To locate all local depressions, set a threshold for identifying spalling pits. Its parameter value is calculated by equation eight, and all values ​​below a certain threshold are searched by enumerating using the enumerate method. Contour discrete points ; in, Affected by the ratio of the length of the peeling pit to the circumference of the roller sleeve, it is generally taken as 0.999 to filter out extremely shallow pits and ensure the detection accuracy of multiple sub-pits intersecting and merging. ;

[0044] S503: Sequentially merge adjacent parts of the discrete contour points below the threshold to form multiple individual discontinuous spalling pits. And record the starting point of each spalling pit. and the end point Calculate the total length of the discrete point segment corresponding to each sub-pit in each spalling pit. ; S504: Set the threshold value for the width of the spalling pit as follows: The total length of the discrete point segments corresponding to each sub-pit in the spalling pit is removed. Less than the threshold The invalid pits are removed, and what remains after the removal is the real spalling pit; Among them, threshold Used for filtering non-stripping pits caused by wear and small cracks in the weld of the roller sleeve. The installation position of the roller sleeve relative to the line laser scanner 703 and the size of the roller sleeve are considered. The number of effective line laser acquisition points in the detection area is set. ,but The range of values ​​is ; S505: Calculate the standard deviation of the first derivative of the height values ​​of the contour points for each spalling pit segment. When the calculated value of a certain spalling pit segment A value less than 5 indicates that the pit section is relatively smooth and is a compression pit; when the calculated value of a certain spalling pit section is less than 5, it indicates that the spalling pit section is relatively smooth and is a compression pit. A value greater than 5 indicates that the surface of the pit section is rough and it is a spalling pit.

[0045] Furthermore, in the S200 step above, the roller sleeve contour data acquisition adopts a discriminative contour data acquisition algorithm, initially using... or below The low-frequency sampling frequency is used for cyclic detection from step S100 to S500 to quickly scan and identify whether there is any peeling abnormality; when a peeling abnormality is detected through step S505, the next detection cycle switches to the low-frequency sampling frequency. The high-frequency acquisition frequency is used to perform S100 to S600 step cyclic detection, to carry out high-frequency, high-data-stream acquisition and size detection, and to extract the contour data of the peeling area to accurately calculate its size, thus saving computing resources.

[0046] The above-described embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An online detection system for surface peeling of vertical grinding roller sleeves, comprising a vertical grinding device (1) and a hydraulic device (3), characterized in that, Also includes: The point laser ranging device (2) is installed on the hydraulic cylinder (302) of the hydraulic device (3) to detect the swing angle change of the grinding roller body (107) of the vertical grinding device (1) in real time and complete the point laser ranging. The line scanning damping device (7) isolates the housing vibration by setting an air-floating damper (702) and fixes the line laser scanner (703) to complete the line laser scanning; The double-layer high-pressure air supply device (5) is connected to the top sealing plate (9) on the top of the shell of the vertical mill device (1) and extends into the interior of the vertical mill device (1). It is equipped with a sealing door rope drive device (502) to control the opening and closing state of the air outlet. Its air outlet covers the optical path of the laser scanning line and removes the dust above the roller sleeve of the vertical mill device (1) through high-pressure airflow. The sealing and isolation device includes a top magnetic sealing cover (6) and a soft sealing structure inside the mill (8) to isolate the dusty environment inside the mill from the outside. The data processing module is used for indirect sensing calculation of the swing angle of the grinding roller body (107) based on the point laser ranging value, and executes the detection area contour extraction and correction algorithm and the peeling judgment algorithm.

2. The system according to claim 1, characterized in that, The point laser ranging device (2) includes a bracket fixing plate (203) fixed to the hydraulic cylinder body (302) by bolts and a flat steel plate (108) welded to the rear side of the boom (102) of the vertical grinding device (1). An L-shaped bracket (202) is welded on the bracket fixing plate (203). A laser displacement sensor (201) for point laser detection is fixed to the L-shaped bracket (202) by bolts. The change in the distance value between the laser displacement sensor (201) and the flat steel plate (108) can reflect the change in the swing angle of the grinding roller body (107).

3. The system according to claim 2, characterized in that, The double-layer high-pressure air supply device (5) also includes a main air inlet pipe (501) with two inclined sections. The air inlet section of the main air inlet pipe (501) has a minimum angle with the vertical direction. The air outlet section of the main air inlet pipe (501) is parallel to the line laser scanning line and covers the laser light path vertically. The main air inlet pipe (501) has three openings from top to bottom: an air inlet for introducing high-pressure air, a detection port for the unobstructed scanning channel of the line laser scanner (703), and an air outlet for blowing away dust in the area above the roller sleeve to achieve visualization of the roller sleeve. The double-layer high-pressure air supply device (5) also includes a main air duct (506) welded and fixed to the inner wall of the main air inlet duct (501) via a side partition (507). The main air duct (506) and the main air inlet duct (501) divide the airflow into a double-layer air zone. and Both the main air inlet duct (501) and the main air outlet duct (506) are equipped with a contraction angle to increase air pressure.

4. The system according to claim 3, characterized in that, The double-layer high-pressure air supply device (5) includes an air outlet sealing device (505) for preventing dust from entering the mill after a single-cycle data acquisition is completed, and a sealing door rope drive device (502) for controlling the opening and closing state of the air outlet sealing device (505). The air outlet sealing device (505) is located at the air outlet, and the sealing door rope drive device (502) is located on one side of the main air inlet pipe (501) and is connected to the air outlet sealing device (505). The sealing door rope drive device (502) includes a left rope (502-1) and a right rope (502-2) that are driven independently. The air outlet sealing device (505) includes a rope-driven rotating guide bar (505-1) and a sealing plate (505-5). The rope-driven rotating guide bar (505-1) is rotatable on one side and slidably connected to a T-shaped guide rail (505-4). The head of the T-shaped guide rail (505-4) has a column and is connected to the sealing plate (505-5). The opening and closing of the sealing plate is controlled by the left rope (502-1) and the right rope (502-2) to prevent dust backflow. The rope-driven rotating guide bar (505-1) is linked with the sealing plate (505-5) through the T-shaped guide rail (505-4). The left rope (502-1) and the right rope (502-2) move in opposite directions to control the rotation of the rope-driven rotating guide bar (505-1), which further drives the sealing plate (505-5) to rotate in opposite directions to open and close.

5. The system according to claim 4, characterized in that, The line scanning vibration damping device (7) includes a hanging scanner base (701) and four air-floating vibration dampers (702) that are respectively fixed to the four corners of the hanging scanner base (701) by bolts. The bottom of each air-floating vibration damper (702) is bolted to the top sealing plate (9) to isolate the vibration transmitted from the housing to the line laser scanner (703). The bottom of the hanging scanner base (701) extends through the top sealing plate (9) and the inner soft sealing structure (8) to the inside of the detection port of the main air inlet pipe (501). The line laser scanner (703) is fixedly connected to the bottom of the hanging scanner base (701).

6. A method of using an online detection system for surface peeling of a vertical grinding roller sleeve, applied to the system described in any one of claims 1-5, characterized in that, Includes the following steps: S000: The vertical grinding unit (1) is operating normally, and the roller sleeve of the grinding roller body (107) continues to rotate; S100: The air outlet sealing door is opened by controlling the rope drive device, and at the same time, the centrifugal fan blows high-pressure air from the main air duct (506) of the double-layer high-pressure air supply device (5) to the top of the inner roller sleeve of the mill, blowing away the dust in the outlet area of ​​the main air duct (506) to ensure that the line laser emitted by the line laser scanner (703) to the surface of the roller sleeve is not interfered with by the dust along the path. S200: Simultaneously activate the laser displacement sensor (201) and the line laser scanner (703) to acquire roller sleeve contour data, and maintain the effective acquisition time at least 1.2 times the time of a single rotation of the roller sleeve; S300: Turn off the internal laser scanning optical path visualization module, simultaneously close the air outlet sealing door and stop blowing high-pressure air into the mill through the high-pressure air supply device; S400: The contour data is processed by the data processing module. The value measured by the laser displacement sensor (201) at the corresponding time is converted into the rotation angle of the grinding roller body (107) according to the relationship formula. Then, the coordinates of the measured roller sleeve contour points are extracted and corrected in the detection area. S500: The data processing module performs peeling identification and judgment. The improved threshold algorithm for peeling pit detection is used to analyze the height change of any point on the contour line of the roller sleeve cross section detection area in turn of the roller sleeve. It is determined whether there is peeling on the circumference of the roller sleeve detection area. When no peeling is found, the single detection is completed. After the next acquisition is completed, step S100 is executed again. When peeling is found in the detection area, step S600 is executed. S600: Result output, calculate the length, width and maximum depth of the peeling area based on the detected and extracted discrete point information of the peeling area height, and set the dangerous threshold of the peeling area size according to the actual production needs of each vertical mill production line, so as to determine whether the vertical mill device (1) needs to be shut down for repair.

7. The method of use according to claim 6, characterized in that, In step S400, the value measured by the laser displacement sensor (201) is converted into the rotation angle of the grinding roller body (107) according to the following formula: First, the numerical relationship between the distance value of the laser emitted by the laser displacement sensor (201) to the flat steel plate (108) and the rotation angle value of the grinding roller body (107) is obtained, that is, the angle of the rocker arm (101). Distance value detected by laser displacement sensor (201) The numerical relationship is established, and the angle of the rocker arm (101) is established with the center point of the hydraulic cylinder fixed shaft (301) as the origin. Point laser ranging The mathematical and geometric model between them is used to calculate the coordinates of each point: ； Among them, the angle of the hydraulic cylinder axis relative to the horizontal line i represents a time node at a certain acquisition moment, and the laser displacement sensor (201) emits a laser to form a straight line. The plane containing the flat steel plate (108) forms a straight line. , The center point of the hydraulic drive end spindle (106) is... The center point of the rotation axis (103) For point to the straight line The foot of the perpendicular, For point to the straight line The foot of the perpendicular, The laser emission point of the laser displacement sensor (201) is... For the laser displacement sensor (201), the laser emission point and the straight line The intersection point, l is Click Distance between points; and The known structural parameters of the vertical mill unit (1) itself, and The known installation position parameters representing the laser displacement sensor (201) relative to the hydraulic device (3) For point and distance, For point and distance, for The angle value, and some parameters in the first formula are expressed as follows: ； straight line The slope is used It is stated that a laser displacement sensor (201) has been launched to detect distance values. The calculation expression is as follows: ； In the formula, and Represent Pointed and Axis coordinate values; From the third equation, we can know and The relationship between them is non-linear, and the parameters affecting the shape of the curve representing this relationship are: and , and The value in the mathematical model is determined by the actual installation position of the flat steel plate (108); by controlling the hydraulic device (3) to be in two different elongation states, the angle of the rocker arm (101) under the corresponding conditions is measured. and the laser displacement sensor (201) detects the distance value Two sets of accurate values ​​were obtained: , , ； The PSO algorithm is used to perform optimization calculations within the range of the theoretical value, and the fourth equation is used as the objective function to calculate the value where the deviation between the theoretical and actual values ​​is minimized. and The value is the optimal value.

8. The method of use according to claim 7, characterized in that, The method for extracting and correcting the detection area coordinates of the measured roller sleeve contour points in the contour data processing is as follows: In conclusion and The nonlinear relationship curve between them is then fitted using a higher-order function to obtain the fitting function. The angle of the rocker arm (101) in any posture is detected by an external testing instrument. The angle between the center line of the corresponding grinding roller body (107) and the horizontal line Synchronization at frequency Point laser ranging and line laser scanning are performed when the grinding roller body (107) is in use. After completing one rotation, the point laser ranging and line laser scanning simultaneously acquire a set of data: , The rocker arm (101) deflects at different angles at each moment, and the outer contour points of the cross section at different widths on the circumference of the roller sleeve are continuously collected by line laser scanning; so as to move the center line of the grinding roller body from the deflection angle Corrected to horizontal state To standardize the data, the outer contour points of the grinding roller body cross-section collected at different times are deflected by the centerline of the grinding roller body at the corresponding collection time. The following steps are taken to perform correction regression and extract the contour points of the detection area: S401: The distance value continuously measured at high frequency by the laser displacement sensor (201) at the time when the grinding roller body (107) completes one revolution. Substitute into the fitting function In the middle, the calculation yields Data volume collected ; S402: From the formula Calculate the deflection angle of the center line of the grinding roller body at different times. ; S403: Will Real-time online laser scanner coordinate system Contour points collected below Transform to coordinate system Next, based on different times Correct the coordinates of the contour points to obtain , ； ； in, D is the laser emission point O of the line laser scanner (703) and The distance between the point in the X direction, H is the distance between the laser emission point O of the line laser scanner (703) and... The distance of the point in the Y direction, E is the section along the axis of the grinding roller body (107) at the maximum diameter of the roller sleeve. The distance between the points, F is the width of the roller sleeve of the grinding roller body (107), and G is the distance from the axis of the grinding roller body (107) to the point. The distance between points; the formula for calculating the coordinates of the corrected contour points is shown in Formula 5, and the contour points of the detection area are further extracted according to Formula 6. , contour points The radius of the contour point on the roller sleeve is obtained by subtracting the value G from the Y-axis coordinate component.

9. The method of use according to claim 8, characterized in that, The corrected detection area contour points are obtained. Then, analyze all the contour points of the roller sleeve cross-section center position on a single circumference of the roller sleeve in turn. Until the inner boundary position is located at all contour points on a single circumference of the roller sleeve. For contour points To identify and determine the spalling situation, the following steps are taken: Analyze the discrete profile points at any location on the roller sleeve cross-section. S501: Apply a filtering algorithm to remove individual outlier points in the contour; calculate the height values ​​of all contour points around any given location on the detection area. average Minimum value ,when If no peeling occurs, proceed with step S502; otherwise, proceed with step S502. in, To account for minor vibrations caused by equipment performance issues, incomplete vibration isolation, and data processing errors, the initial design... ; ； Where max is the number of times the laser scanner (703) collects data during a single rotation of the roller sleeve; S502: To locate all local depressions, set a threshold for identifying spalling pits. Its parameter value is calculated by equation eight, and all values ​​below a certain threshold are searched by enumerating using the enumerate method. Contour discrete points ; in, Affected by the ratio of the length of the peeling pit to the circumference of the roller sleeve, a value of 0.999 is used to filter out extremely shallow pits and ensure the detection accuracy of multiple sub-pits intersecting and merging. ； S503: Sequentially merge adjacent parts of the discrete contour points below the threshold to form multiple individual discontinuous spalling pits. And record the starting point of each spalling pit. and the end point Calculate the total length of the discrete point segment corresponding to each sub-pit in each spalling pit. ; S504: Set the threshold value for the width of the spalling pit as follows: The total length of the discrete point segments corresponding to each sub-pit in the spalling pit is removed. Less than the threshold The invalid pits are removed, and what remains after the removal is the real spalling pit; Among them, threshold Used for filtering non-stripping pitted sections of weld seams that have cracked due to roller sleeve wear. The number of effective line laser acquisition points in the detection area is related to the installation position of the line laser scanner relative to the roller sleeve and the roller sleeve size. ,but The range of values ​​is ; S505: Calculate the standard deviation of the first derivative of the height values ​​of the contour points for each spalling pit segment. When the calculated value of a certain spalling pit segment A value less than 5 indicates that the pit segment is smooth and is a compression pit; when the calculated value of a certain spalling pit segment is less than 5, it indicates that the pit segment is smooth and is a compression pit. A value greater than 5 indicates that the surface of the pit section is rough and it is a spalling pit.

10. The method of use according to claim 9, characterized in that, In step S200, the roller sleeve profile data acquisition uses a discriminative profile data acquisition algorithm, initially based on... or below The low-frequency acquisition frequency is used to perform S100 to S500 cyclic detection steps to quickly scan and identify whether there is any peeling abnormality. If an abnormality in peeling is detected through step S505, the next detection cycle will switch to step S505. The high-frequency acquisition frequency is used to perform S100 to S600 step cyclic detection, to carry out high-frequency, high-data-stream acquisition and size detection, and to extract the contour data of the peeling area to accurately calculate its size, thus saving computing resources.

Images