Blast furnace converter oxygen lance rapid unblocking and slag removing equipment

Abstract

The invention relates to the technical field of smelting equipment maintenance, in particular to a blast furnace converter oxygen lance quick unblocking and slag removing device which comprises a mechanical arm, a cart and a control box, a mounting plate is fixed to the movable end of the mechanical arm, a mechanical shovel device and a spray head are mounted on the mounting plate, and the spray head is connected with a high-pressure water system. The trolley is provided with an electromagnetic heating system and comprises an electromagnetic heating coil, a temperature control module and a heat insulation protective cover, and the electromagnetic heating coil is encircled to form a ring; a servo rotary table is arranged at the movable end of the mechanical arm, and a visual sensor is further installed on the installation plate. According to the combined process of electromagnetic heating softening and high-pressure water spraying cooperating with mechanical unblocking, bonded slag is preheated and softened through electromagnetic heating, and the unblocking difficulty is reduced; by combining high-pressure water jet impact, high-frequency vibration stripping and mechanical movement slag removal of the mechanical shovel device, a complete blockage removal process of softening, slag breaking and slag removal is formed, and the blockage removal time is obviously shortened for high-hardness slag bonding.

Description

Technical Field

[0001] This application relates to the field of metallurgical equipment maintenance technology, and in particular to a rapid unclogging and slag removal device for oxygen lances in blast furnaces and converters. Background Technology

[0002] The domestic oxygen lance cleaning and slag removal technology has evolved from "manual mechanical operation" to "mechanical + high-pressure water combination": In the early stage, it relied on manual tools such as steel chisels and hammers, which was inefficient and the slag removal was not thorough; in the later stage, mechanical and high-pressure water synergy technology was introduced, which improved the cleaning efficiency, but key problems still exist: the mechanical structure is prone to exceeding the size limit and has a weak ability to adapt to different specifications of oxygen lances; the pressure of the high-pressure water system fluctuates greatly, and the cleaning force is unstable.

[0003] Overseas developments: Mechanical structures employ topology optimization design to address issues of excessive size and weight, resulting in more compact devices and better adaptability to various operating conditions. High-pressure water systems achieve stable pressure and flow through precise pump control and specialized nozzle design, ensuring controllable jet impact. Electrical controls utilize advanced protocols such as EtherCAT, offering high response speed and control precision, with seamless subsystem collaboration. However, overseas technologies suffer from high costs and poor localization adaptability, making them difficult to popularize among small and medium-sized enterprises in China. Furthermore, they require modifications to suit the complex smelting environment in China before application.

[0004] Traditional oxygen lance cleaning and slag removal technology uses a combination of mechanical shovels and high-pressure water, which is still insufficient for removing stubborn residues and has room for improvement. Summary of the Invention

[0005] This application provides a rapid slag removal and cleaning device for oxygen lances in blast furnaces and converters. By combining a carrying trolley with an electromagnetic heating system, thermal expansion and contraction stress is generated inside the slag, reducing the adhesion between the slag and the oxygen lance surface, making it easier to remove stubborn residues. The device is also easy to move.

[0006] This application provides a rapid unclogging and slag removal device for oxygen lances in blast furnace converters, which adopts the following technical solution: A rapid declogging and slag removal device for blast furnace converter oxygen lances includes a robotic arm. A mounting plate is fixed to the movable end of the robotic arm. A mechanical shovel device and a nozzle are mounted on the mounting plate. The nozzle is connected to a high-pressure water system. The device further includes a trolley with a control box fixed to it. An electromagnetic heating system is mounted on the trolley. The electromagnetic heating system includes an electromagnetic heating coil, a temperature control module, and a heat-insulating protective cover. The electromagnetic heating coil is arranged in a ring. The robotic arm is fixed to the heat-insulating protective cover. The movable end of the robotic arm is a servo turntable. The mounting plate is fixed to the rotating surface of the servo turntable. A vision sensor is also mounted on the mounting plate. The vision sensor and the mechanical shovel device are arranged opposite to each other and face the radial sides of the servo turntable.

[0007] By adopting the above technical solution, electromagnetic heating is used to preheat and soften the slag, reducing the difficulty of removal. Combined with high-pressure water jet impact and mechanical shovel cleaning, a complete "softening-slag breaking-slag removal" unblocking process is formed, significantly shortening the unblocking time for high-hardness slag. A vision sensor collects the location data of the slag on the oxygen lance surface and measures the distance, feeding this data back to the electrical control system to determine the unblocking location. A robotic arm then moves to adjust the vision sensor to the correct position for unblocking. By controlling the servo turntable to rotate 180 degrees, the position of the vision sensor is replaced by the mechanical shovel, automatically aligning the mechanical shovel with the slag location.

[0008] Optionally, the high-pressure water system includes a dual plunger pump, a bladder accumulator, and a high-pressure pipeline. The dual plunger pump is connected to the nozzle through the high-pressure pipeline, and the bladder accumulator is connected in series in the high-pressure pipeline.

[0009] By adopting the above technical solutions, the high-pressure water system provides a stable high-pressure water source for the nozzles, the dual plunger pump adopts a staged pressurization method, and the bladder accumulator is used to buffer pressure fluctuations. The bladder accumulator absorbs pressure pulses in the pipeline and controls pressure fluctuations within the range of ±0.5MPa to ensure stable jet impact force.

[0010] Optionally, two nozzles are symmetrically arranged on both sides of the mechanical shovel device, and the high-pressure pipeline is connected to the two nozzles respectively through two branch pipes.

[0011] By adopting the above technical solution, water jets are sprayed in two directions, reducing dead zones and improving the cleaning effect on sludge.

[0012] Optionally, the mechanical shovel device includes a housing, a drive motor, and an eccentric shaft driven to rotate by the drive motor. A slider is slidably connected to the housing, and a shovel blade is fixed on the slider. A rocker arm is rotatably connected to the eccentric shaft, and the other end of the rocker arm is rotatably connected to the slider.

[0013] By adopting the above technical solution, the drive motor runs continuously, and the crank rocker mechanism drives the blade to move back and forth.

[0014] Optionally, a control valve is installed on the branch pipe. The control valve includes a valve body, a valve core slidably connected to the valve body, and a pressure block fixed to the valve core. A return spring is installed between the pressure block and the valve body. When the pressure block is pressed, the valve body is opened.

[0015] By adopting the above technical solution, the opening of the control valve is controlled by a pressure block, and the automatic closing of the control valve is achieved by a return spring. High-pressure water is used to impact the contact area between the slag and the oxygen lance. The timing of water spraying is controlled by the control valve to avoid water being sprayed onto the shovel blade and wasting water, while greatly saving water consumption.

[0016] Optionally, the pressure block protrudes from the inner wall of the housing, and the rocker arm presses down on the pressure block when it moves.

[0017] By adopting the above technical solution, the rocker arm automatically presses down on the pressure block when it moves, thereby realizing the automatic opening and closing of the control valve.

[0018] Optionally, the two pressure blocks are located on opposite sides of the rotation axis of the eccentric shaft, and the rocker arm moves to press down on the pressure blocks, corresponding to the middle position of the slider's sliding.

[0019] By adopting the above technical solution, the blade only starts spraying water in the middle of its movement, avoiding water spraying onto the blade and causing waste. It operates automatically, and the blade's operating frequency can also be adjusted adaptively.

[0020] Optionally, the high-pressure pipeline is connected to a high-frequency vibration unit.

[0021] By adopting the above technical solution, ultrasonic high-frequency vibration is used to peel off the slag from the surface of the oxygen lance, thereby improving the removal efficiency.

[0022] Optionally, the bottom of the trolley is rotatably connected to four casters, and the casters are equipped with a manual locking mechanism.

[0023] By adopting the above technical solution, when the equipment is moved to the oxygen gun unblocking station, the manual locking mechanism is activated, and the brake pads are pressed against the casters to lock the cart in place, thus preventing the system from shifting during operation.

[0024] In summary, this application includes at least one of the following beneficial technical effects: 1. A combined process of electromagnetic heating softening and high-pressure water spraying combined with mechanical unblocking: electromagnetic heating preheats and softens the slag, reducing the difficulty of removal; 2. Combining high-pressure water jet impact with high-frequency vibration stripping and mechanical slag removal by mechanical shovel device, a complete unblocking process of "softening-slag breaking-slag removal" is formed, which significantly shortens the unblocking time for high-hardness slag. 3. Through the coordinated operation of vision sensors, electrical control systems and robotic arms, the mechanical shovel device can automatically adjust to the unblocking position, achieving a high degree of automation. Attached Figure Description

[0025] Figure 1 This is a perspective view of a rapid unclogging and slag removal device for oxygen lances in a blast furnace converter, according to an embodiment. Figure 2 This is a partial view of an embodiment; Figure 3 This is a perspective view of the components on the mounting plate of the embodiment; Figure 4 This is an internal structural diagram of the mechanical shovel device in the embodiment; Figure 5 This is a schematic diagram of the high-pressure water system in an embodiment.

[0026] Explanation of reference numerals in the attached drawings: 1. Cart; 2. Robotic arm; 11. Control box; 12. Electromagnetic heating coil; 13. Heat insulation protective cover; 14. Caster wheel; 21. Mounting plate; 3. Mechanical shovel device; 4. Nozzle; 22. Servo turntable; 5. Vision sensor; 41. Double plunger pump; 42. Blade accumulator; 43. High-pressure pipeline; 44. High-frequency vibration unit; 45. Branch pipe; 31. Housing; 32. Drive motor; 33. Eccentric shaft; 34. Slider; 35. Shovel blade; 36. Rocker arm; 6. Control valve; 61. Valve body; 62. Pressure block; 63. Return spring. Detailed Implementation

[0027] The present application will be further described in detail below with reference to the accompanying drawings.

[0028] Reference Figure 1 This embodiment discloses a rapid cleaning and slag removal device for oxygen lances in blast furnace converters, including a trolley 1 and a robotic arm 2, with a control box 11 fixed to the trolley 1.

[0029] Reference Figure 1 and Figure 2 The trolley 1 is equipped with an electromagnetic heating system, which includes an electromagnetic heating coil 12, a temperature control module, and a heat-insulating protective cover 13. The electromagnetic heating coil 12 is arranged in a ring, and the robotic arm 2 is fixed to the heat-insulating protective cover 13. The heat-insulating protective cover 13 has a through-hole, with the electromagnetic heating coil 12 located on the wall of the hole. The top opening of the hole is used for the oxygen gun to enter, and the bottom opening is used for water and residue to pass through.

[0030] The bottom of the trolley 1 is rotatably connected to four casters 14. The casters 14 are equipped with a manual locking mechanism for easy movement. The casters 14 can rotate 360° to adapt to the movement needs of different work positions in the workshop. The wheel surface can reduce wear on the workshop floor. The manual locking mechanism is based on existing technology. When the equipment is moved to the oxygen gun unblocking position, the manual locking mechanism is activated. The brake pads are pressed against the casters 14 to fix the trolley 1 in place and prevent the system from shifting during operation.

[0031] The control box 11 serves as the central location for electrical control, housing controllers for various electrical appliances. It can also be equipped with a built-in PC to enhance functionality and performance. Large components such as the double plunger pump 41 in the high-pressure water system are also installed within the control box 11.

[0032] Reference Figure 2 and Figure 3The robotic arm 2 has at least five axes and a flexible range of motion. A mounting plate 21 is fixed to the movable end of the robotic arm 2, on which a mechanical shovel device 3 and a nozzle 4 are mounted. Specifically, the movable end of the robotic arm 2 is a servo turntable 22. The mounting plate 21 is fixed to the rotating surface of the servo turntable 22, and a vision sensor 5 is also mounted on the mounting plate 21. The vision sensor 5 and the mechanical shovel device 3 are positioned opposite each other and face radially to opposite sides of the servo turntable 22. By controlling the servo turntable 22 to rotate 180 degrees, the position of the vision sensor 5 can be changed to that of the mechanical shovel device 3. The lens of the vision sensor 5 is coated with a hydrophobic layer to prevent water droplets from affecting the imaging.

[0033] Reference Figure 3 and Figure 5 The nozzle 4 is connected to a high-pressure water system, which includes a dual plunger pump 41, a bladder accumulator 42, and a high-pressure pipeline 43. The high-pressure pipeline 43, which is attached to the robotic arm 2, is made of flexible tubing. The dual plunger pump 41 is connected to the nozzle 4 through the high-pressure pipeline 43. The bladder accumulator 42 is connected in series in the high-pressure pipeline 43. The high-pressure pipeline 43 is also connected to a high-frequency vibration unit 44, which is specifically an ultrasonic vibration unit.

[0034] Two nozzles 4 are symmetrically arranged on both sides of the mechanical shovel device 3. The high-pressure pipeline 43 is connected to the two nozzles 4 through two branch pipes 45 respectively. The two branch pipes 45 are rigid pipes to prevent spontaneous bending, so that the orientation of the nozzles 4 corresponds to the slag removal position of the mechanical shovel device 3.

[0035] Reference Figure 3 and Figure 4 The mechanical shovel device 3 includes a housing 31, a drive motor 32, and an eccentric shaft 33 driven to rotate by the drive motor 32. A slider 34 is slidably connected to the housing 31, and a shovel blade 35 is fixed on the slider 34. A rocker arm 36 is rotatably connected to the eccentric shaft 33, and the other end of the rocker arm 36 is rotatably connected to the slider 34. When the drive motor 32 is working, it drives the slider 34 to reciprocate through the eccentric shaft 33 and the rocker arm 36, thereby realizing the continuous reciprocating movement of the shovel blade 35.

[0036] Reference Figure 3 and Figure 5 A control valve 6 is installed on branch pipe 45. The control valve 6 is a normally closed gate valve. Specifically, the control valve 6 includes a valve body 61, a valve core slidably connected to the valve body 61, and a pressure block 62 fixed to the valve core. A return spring 63 is installed between the pressure block 62 and the valve body 61. The pressure block 62 acts as the actuator for the movement of the valve core. When the pressure block 62 is pressed, it connects to the valve body 61. When the pressure block 62 is released, the return spring 63 drives the pressure block 62 to reset, so that the control valve 6 returns to the closed state. The pressure block 62 protrudes from the inner wall of the housing 31. When the rocker arm 36 moves, it presses down on the pressure block 62. The pressure block 62 is made of polytetrafluoroethylene to reduce frictional loss.

[0037] Two pressure blocks 62 are located on either side of the rotation axis of the eccentric shaft 33. When the rocker arm 36 moves to press down on the pressure blocks 62, it corresponds to the middle position of the sliding block 34. That is, the front and rear ends of the movement of the two pressure blocks 62 and the rocker arm 36 are respectively located at the four equal division positions of the rotation axis of the drive motor 32. The blade 35 only starts spraying water at the middle stroke of its movement. The high-pressure water is used to impact the contact area between the slag and the oxygen lance, producing a peeling effect, avoiding water spraying onto the blade 35 and causing waste, while greatly saving water consumption. When the drive motor 32 rotates at high speed and is not spraying water, it is buffered by energy storage through the bladder accumulator 42, and the double plunger pump 41 remains in a normally open state.

[0038] The implementation principle of a rapid unclogging and slag removal device for oxygen lances in a blast furnace converter according to an embodiment of this application is as follows: This equipment requires an external water and power source. The oxygen lance is kept vertical by hoisting and its height can be adjusted. Push the trolley 1 to directly below the oxygen lance and lower the oxygen lance so that its lower end enters the electromagnetic heating coil 12.

[0039] The electromagnetic heating system is used to locally preheat and soften the slag on the oxygen lance surface. Utilizing the principle of electromagnetic induction, the annular electromagnetic heating coil 12 generates an alternating magnetic field when energized. Eddy currents are generated in the oxygen lance body and the slag due to electromagnetic induction, causing them to heat up. The temperature control module monitors the slag temperature in real time through thermocouple sensors, controlling the temperature between 300-500℃ to prevent overheating damage to the oxygen lance body. This temperature range also induces thermal expansion and contraction stress within the slag, reducing the adhesion between the slag and the oxygen lance surface, thus simplifying the subsequent unclogging operation by the robotic arm 2. After completion, the oxygen lance is raised and the electromagnetic heating system is turned off.

[0040] The combination of vision sensor 5 and multi-degree-of-freedom robotic arm 2 allows for omnidirectional movement by adjusting the attitude and position of the end effector based on the oxygen lance's location and slag distribution. Vision sensor 5 collects location data of slag on the oxygen lance surface and measures the distance, feeding this data back to the electrical control system to determine the unclogging location. The robotic arm 2 then moves to position vision sensor 5 directly opposite the unclogging area. Since vision sensor 5 outputs images in real time, it can complete the position adjustment. This process, based on existing image recognition technology and automatic control systems, is mature and will not be elaborated further.

[0041] Then, the servo turntable 22 rotates 180 degrees, replacing the position of the vision sensor 5 with the mechanical shovel device 3. The mechanical shovel device 3 is now directly facing the unclogging location. After power is turned on, the shovel blade 35 reciprocates to clean the slag, while simultaneously spraying high-pressure water from the nozzle 4 to reliably remove the slag. During the cleaning process, because the vision sensor 5 faces downwards, the lens is not contaminated by solid residue, and the lens remains clean thanks to the hydrophobic layer. After several seconds of cleaning, the water spraying and mechanical shovel device 3 are paused. The servo turntable 22 reverses 180 degrees to reset, re-identifies the slag location through the vision sensor 5, and then readjusts its position via the robotic arm 2. This process is repeated automatically, completing the unclogging and slag removal of the entire oxygen lance.

[0042] When nozzle 4 is working, the high-pressure water system provides a stable high-pressure water source for nozzle 4. The dual plunger pump 41 adopts a staged pressurization method, and the output pressure can be adjusted according to the hardness of the slag. The bladder accumulator 42 is used to buffer pressure fluctuations. By absorbing pressure pulses in the pipeline, the bladder accumulator 42 controls the pressure fluctuations within ±0.5MPa to ensure stable jet impact force. The high-pressure water forms a high-impact jet through nozzle 4. At the same time, the high-frequency vibration unit 44 is activated. Through high-frequency vibration, the slag is peeled off from the surface of the oxygen lance, realizing the synergistic unblocking of jet impact and vibration peeling, and improving the removal efficiency of hard slag.

[0043] In summary, this oxygen lance rapid unclogging and slag removal equipment utilizes a combined process of electromagnetic heating softening and high-pressure water jet combined with mechanical unclogging: electromagnetic heating preheats and softens the slag, reducing the difficulty of removal; combined with high-pressure water jet impact and high-frequency vibration peeling, as well as the mechanical movement of the mechanical shovel device 3 to remove slag, a complete unclogging process of "softening-breaking-removing" is formed. For high-hardness slag, it significantly shortens the unclogging time and has a high degree of automation.

[0044] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A rapid cleaning and slag removal device for oxygen lances in blast furnace converters, comprising a robotic arm (2), wherein a mounting plate (21) is fixed to the movable end of the robotic arm (2), and a mechanical shovel device (3) and a nozzle (4) are mounted on the mounting plate (21), wherein the nozzle (4) is connected to a high-pressure water system, characterized in that: It also includes a trolley (1), which is fixed with a control box (11). The trolley (1) is equipped with an electromagnetic heating system, which includes an electromagnetic heating coil (12), a temperature control module, and a heat insulation cover (13). The electromagnetic heating coil (12) is arranged in a ring. The robotic arm (2) is fixed on the heat insulation cover (13). The movable end of the robotic arm (2) is a servo turntable (22). The mounting plate (21) is fixed on the rotating surface of the servo turntable (22). A vision sensor (5) is also installed on the mounting plate (21). The vision sensor (5) and the mechanical shovel device (3) are arranged opposite to each other and are respectively facing the radial sides of the servo turntable (22).

2. The rapid unclogging and slag removal equipment for blast furnace converter oxygen lances according to claim 1, characterized in that: The high-pressure water system includes a dual plunger pump (41), a bladder accumulator (42), and a high-pressure pipeline (43). The dual plunger pump (41) is connected to the nozzle (4) through the high-pressure pipeline (43), and the bladder accumulator (42) is connected in series in the high-pressure pipeline (43).

3. The rapid unclogging and slag removal equipment for blast furnace converter oxygen lances according to claim 1, characterized in that: Two nozzles (4) are symmetrically arranged on both sides of the mechanical shovel device (3), and the high-pressure pipeline (43) is connected to the two nozzles (4) respectively through two branch pipes (45).

4. The rapid unclogging and slag removal equipment for blast furnace converter oxygen lances according to claim 3, characterized in that: The mechanical shovel device (3) includes a housing (31), a drive motor (32), and an eccentric shaft (33) driven to rotate by the drive motor (32). A slider (34) is slidably connected to the housing (31), and a shovel blade (35) is fixed on the slider (34). A rocker arm (36) is rotatably connected to the eccentric shaft (33), and the other end of the rocker arm (36) is rotatably connected to the slider (34).

5. The rapid unclogging and slag removal equipment for blast furnace converter oxygen lances according to claim 4, characterized in that: A control valve (6) is installed on the branch pipe (45). The control valve (6) includes a valve body (61), a valve core that is slidably connected to the valve body (61), and a pressure block (62) that is fixed to the valve core. A return spring (63) is installed between the pressure block (62) and the valve body (61). When the pressure block (62) is pressed, it opens the valve body (61).

6. The rapid unclogging and slag removal equipment for blast furnace converter oxygen lances according to claim 5, characterized in that: The pressure block (62) protrudes from the inner wall of the housing (31), and the rocker arm (36) presses down on the pressure block (62) when it moves.

7. A rapid unclogging and slag removal device for blast furnace converter oxygen lances according to claim 6, characterized in that: The two pressure blocks (62) are located on both sides of the rotation axis of the eccentric shaft (33), and the rocker arm (36) moves to press down on the pressure block (62) at the middle position of the sliding block (34).

8. The rapid unclogging and slag removal equipment for blast furnace converter oxygen lances according to claim 2, characterized in that: The high-pressure pipeline (43) is connected to a high-frequency vibration unit (44).

9. A rapid unclogging and slag removal device for blast furnace converter oxygen lances according to claim 1, characterized in that: The bottom of the trolley (1) is rotatably connected to four casters (14), and the casters (14) are equipped with a manual locking mechanism.

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