System for acquiring positioning data of furnace outlet of submerged arc furnace

Abstract

The utility model relates to a positioning data acquisition system for a furnace outlet of a submerged arc furnace. The positioning data acquisition system comprises a first absolute value rotary encoder, a second absolute value rotary encoder, a temperature sensor, a furnace outlet robot and an industrial personal computer, absolute position data of a target furnace outlet in a furnace body are obtained through a first absolute value rotary encoder, absolute position data of a furnace outlet robot are obtained through a second absolute value rotary encoder, meanwhile, temperature distribution data are obtained through an arranged temperature sensor, and the obtained data are combined to obtain the temperature distribution data of the furnace outlet robot. The positions of the furnace eye at the furnace outlet of the submerged arc furnace and the furnace outlet robot can be accurately monitored; meanwhile, comprehensive analysis and utilization are carried out on the basis of the obtained data, the furnace discharging robot can be operated to the position corresponding to the furnace eye in real time, and operation such as opening, burning, pulling or blocking of the furnace eye is accurately achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of obtaining positioning data of submerged arc furnaces, and particularly relates to a system for obtaining positioning data of the tapping hole of a submerged arc furnace. Background Technique

[0002] The statements here only provide the background technique related to the utility model, and do not necessarily constitute the prior art.

[0003] In the production process of industrial silicon, the smelting link in front of the furnace faces high-intensity operations, high-temperature environments, and significant safety hazards. Such operations involve the operation of the tapping hole, such as opening the hole, burning the hole, pulling the hole, and plugging the furnace hole. There are safety risks such as being burned by the splashes of the silicon furnace, scalded by the overflow of silicon liquid, and heatstroke caused by high temperature. To address these risks, tapping robots in front of the furnace have been introduced in industrial silicon smelting, aiming to reduce the direct participation of personnel, reduce safety risks, and improve production efficiency at the same time.

[0004] The working principle of the high-purity silicon submerged arc furnace requires the furnace body to rotate slowly. This process helps to expand the crucible reaction area in the furnace, facilitates the insertion of electrodes and the sinking of furnace charge, and at the same time prevents the furnace charge from caking, effectively reducing power consumption. The furnace body is designed with five tapping holes distributed on a 360-degree plane to ensure uniform arrangement. The rotation mechanism of the furnace body consists of a rotating support structure composed of a radial beam, an annular track, a roller guide frame, a central shaft, and a drive system, enabling the furnace body to rotate slowly through mechanical transmission (the speed is 90h~240h / 360°).

[0005] However, the continuous rotation of the furnace body brings a technical problem: the position of the upper tapping hole on the submerged arc furnace changes continuously with the rotation of the furnace body and cannot be fixed; at the same time, due to the inability to accurately locate the positions of the tapping hole on the submerged arc furnace and the tapping robot, manual assistance is still required, resulting in certain safety hazards to the staff when operating on the tapping hole, such as opening the hole and burning the hole. Summary of the Utility Model

[0006] The technical problem to be solved by the utility model is to provide a system for obtaining positioning data of the tapping hole of a submerged arc furnace. By using two absolute rotary encoders to respectively obtain the absolute position data of the tapping robot and the furnace hole on the tapping hole of the submerged arc furnace, and at the same time using an infrared array sensor to obtain the regional temperature distribution data of the tapping hole, and inputting the obtained data into an industrial control computer, the positioning data of the tapping hole and the tapping robot on the submerged arc furnace can be accurately obtained, thus eliminating the need for manual assistance and avoiding the safety problems existing in manual participation.

[0007] The purpose of the utility model is to provide a system for obtaining positioning data of the tapping hole of a submerged arc furnace, including a first absolute rotary encoder, a second absolute rotary encoder, a temperature sensor, a tapping robot, and an industrial control computer;

[0008] The first absolute rotary encoder is arranged on the rotary drive speed reducer of the submerged arc furnace body and is used to monitor the absolute position data of the furnace eye on the tapping outlet that needs to be tapped currently;

[0009] The second absolute rotary encoder is arranged on the vehicle body of the tapping robot and is used to monitor the current absolute position data of the tapping robot;

[0010] The temperature sensor is arranged on the vehicle body of the tapping robot and is used to obtain the regional temperature distribution data of the tapping outlet;

[0011] The tapping robot runs around the submerged arc furnace on the track;

[0012] The industrial control computer is used to receive the data obtained by the first absolute rotary encoder, the second absolute rotary encoder and the temperature sensor.

[0013] As a further technical solution, the temperature sensor is an infrared array temperature sensor.

[0014] As a further technical solution, the first absolute rotary encoder, the second absolute rotary encoder and the temperature sensor all include transmitters for transmitting the monitored data to the industrial control computer.

[0015] As a further technical solution, the tapping robot includes a receiver for obtaining the data transmitted by the industrial control computer.

[0016] As a further technical solution, the industrial control computer includes a receiver and a transmitter. The receiver is used to receive the data monitored by the first absolute rotary encoder, the second absolute rotary encoder and the temperature sensor, and the transmitter is used to transmit the data information to the tapping robot.

[0017] As a further technical solution, the communication between the receiver on the industrial control computer and the transmitters on the first absolute rotary encoder, the second absolute rotary encoder and the temperature sensor is wireless communication.

[0018] As a further technical solution, the communication between the transmitter on the industrial control computer and the receiver on the tapping robot is wireless communication.

[0019] As a further technical solution, a battery is arranged inside the first absolute rotary encoder.

[0020] As a further technical solution, a heat insulation layer is coated on the surface of the first absolute rotary encoder.

[0021] As a further technical solution, the wireless communication adopts a communication protocol that conforms to industrial standards.

[0022] Advantages of the above one or more technical solutions:

[0023] (1) In this application, the first absolute rotary encoder is set on the rotary drive speed reducer of the submerged arc furnace body to obtain the absolute position data of the furnace eye on the tapping opening that needs to be discharged; the second absolute rotary encoder is set on the vehicle body of the tapping robot to obtain the current absolute position data of the tapping robot; and the obtained data is transmitted to the industrial control computer, so as to obtain the positioning data information of the furnace eye on the tapping opening and the tapping robot.

[0024] (2) In this application, the infrared array temperature sensor is set on the vehicle body of the tapping robot to obtain the regional temperature distribution data of the tapping opening and transmit it to the industrial control computer, and the accurate position of the furnace eye on the submerged arc furnace can be further obtained by using the temperature distribution data therein.

[0025] (3) Based on the positioning data acquisition system constructed in this application, the position data information of the furnace eye of the submerged arc furnace tapping opening and the tapping robot can be accurately obtained; and based on the obtained position data information, the position positioning and adjustment between the tapping robot and the submerged arc furnace can be realized, without manual assistance, thus avoiding the safety risks existing due to the participation of staff. Brief Description of the Drawings

[0026] The specification drawings forming a part of this application are used to provide a further understanding of this application. For the convenience of understanding, the proportions between various parts of the structure are adjusted. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation to this application.

[0027] Figure 1 It is the installation position diagram of the measuring device in a positioning data acquisition system for the tapping opening of a submerged arc furnace of the present utility model.

[0028] Figure 2 It is the schematic diagram of the temperature sensor of the present utility model.

[0029] Figure 3 It is the data processing flow chart of the present utility model based on a positioning data acquisition system for the tapping opening of a submerged arc furnace after obtaining positioning data.

[0030] Among them, 1. The first absolute rotary encoder, 2. The second absolute rotary encoder, 3. The temperature sensor, 4. The tapping robot, 5. The industrial control computer, 6. The tapping guide rod. Detailed Embodiments

[0031] Next, in combination with the attached Figures 1-3 , the technical solutions in the embodiments of the present utility model are clearly and completely described.

[0032] Embodiment 1

[0033] Referring to Figures 1-2 , a system for obtaining positioning data of the tapping hole of a submerged arc furnace, comprising a first absolute rotary encoder 1, a second absolute rotary encoder 2, a temperature sensor 3, a tapping robot 4 and an industrial control computer 5.

[0034] Among them, the first absolute rotary encoder 1 is arranged on the rotary drive reducer of the furnace body of the submerged arc furnace, and is used to monitor the absolute position data of the furnace eye of the tapping hole that needs to discharge materials currently; the second absolute rotary encoder 2 is arranged on the vehicle body of the tapping robot 4, and is used to monitor the current absolute position data of the tapping robot 4; the tapping robot 4 rotates around the submerged arc furnace on the track.

[0035] Specifically, the absolute position data of the furnace eye of the tapping hole that needs to discharge materials currently is obtained through the first absolute rotary encoder 1 arranged on the rotary drive reducer of the furnace body; the absolute position data of the current vehicle body relative to the zero position of the annular track is obtained through the second absolute rotary encoder 2 installed on the vehicle body.

[0036] Among them, the zero position can be set in advance, and at the same time, the selection of the zero position can be made according to the actual scenario. The absolute position data of the furnace eye obtained by the first absolute rotary encoder 1 is not accurate, and there is still a certain error between the absolute position data and the real position data.

[0037] By installing absolute rotary encoders on the tapping robot 4 and the submerged arc furnace, even if there is relative movement between the two, the rough positioning data information of the furnace eye can be obtained in real time, and the dynamic position of the furnace eye can be tracked, which can be achieved by the absolute rotary encoder itself; and the absolute rotary encoder records the motion state of the rotary drive reducer of the furnace body and the instant position of the vehicle body of the tapping robot 4 relative to the annular track.

[0038] Corresponding transmitters are arranged on the first absolute rotary encoder 1 and the second absolute rotary encoder 2, so as to transmit the obtained position data information to the industrial control computer 5; a receiver is arranged on the industrial control computer 5, and the data monitored by the first absolute rotary encoder 1 and the second absolute rotary encoder 2 is received, so as to obtain the positioning data information of the relative tapping hole positions on the tapping robot 4 and the furnace body of the submerged arc furnace.

[0039] At the same time, a battery is arranged inside the first absolute rotary encoder 1, and a heat insulation layer is smeared on its surface. The purpose is to extend the service life of the first absolute rotary encoder 1 and avoid frequent replacement of the first absolute rotary encoder 1; and the heat insulation layer is to avoid the influence of the heat of the submerged arc furnace itself on the first absolute rotary encoder 1.

[0040] According to Figure 2, in this embodiment, the temperature sensor 3 is also arranged on the vehicle body of the tapping robot 4 to obtain the regional temperature distribution data at the tapping opening; and an infrared array temperature sensor is selected in this application. At the same time, a transmitter is arranged on the temperature sensor 3 to transmit the monitored data to the industrial control computer 5. Through the above settings, the temperature distribution data of the tuyere at the tapping opening of the submerged arc furnace can be transmitted into the industrial control computer 5, which is beneficial to further accurately determine the position information of the tuyere at the tapping opening of the submerged arc furnace.

[0041] A receiver is also arranged on the tapping robot 4 to receive the data transmitted by the industrial control computer 5; and the communication between the first absolute value rotary encoder 1, the second absolute value rotary encoder 2, the temperature sensor 3, the tapping robot 4 and the industrial control computer 5 is all wireless communication; and an industrial standard communication protocol is adopted, such as MODBUS, PROFIBUS or industrial Ethernet protocol.

[0042] Through the above system, the position information of the tuyere and the tapping robot 4 at the tapping opening of the submerged arc furnace can be obtained in real time. Through the obtained position information, the position of the tapping robot 4 and the position of the tuyere can be monitored, so that no staff is required for auxiliary operations, thereby avoiding the safety risks existing due to the participation of staff.

[0043] Embodiment 2

[0044] Based on a system for obtaining tapping opening positioning data of a submerged arc furnace described in Embodiment 1, rough positioning of the tuyere position and the tapping robot 4 position on the submerged arc furnace can be realized, and then the tuyere position on the submerged arc furnace can be accurately positioned further through the regional temperature distribution data obtained by the temperature sensor 3, so as to assist the tapping guide rod 6 on the tapping robot 4 to perform operations such as opening the tuyere and burning the tuyere. The specific implementation process is as follows.

[0045] Based on Figures 1-3 , in this embodiment, the industrial control computer 5 includes a PLC module and a spatial coordinate database; wherein, the PLC module is used to calculate the distance that the tapping robot 4 needs to travel based on the absolute position data obtained by the first absolute value rotary encoder 1 and the second absolute value rotary encoder 2; and the spatial coordinate database is used to accurately position the tapping opening on the submerged arc furnace based on the absolute position obtained by the first absolute value rotary encoder 1.

[0046] Specifically, after receiving the absolute positions monitored by the first absolute value rotary encoder 1 and the second absolute value rotary encoder 2, the PLC module calculates the distance that the tapping robot 4 needs to travel on the track through the PLC algorithm, generates corresponding instructions, and transmits the generated instructions to the receiver on the tapping robot through the transmitter arranged on the industrial control computer 5, and finally controls the tapping robot 4 to run to the specified position.

[0047] Meanwhile, since the furnace body rotates by a gear-pin transmission mechanism, the rotational displacement accuracy is relatively poor, and the positioning result based only on the position information obtained by the first absolute rotary encoder 1 and the second absolute rotary encoder 2 is not accurate. Therefore, in this embodiment, by combining three-dimensional modeling technology and kinematic analysis, a detailed 3D scan is performed on a specific part of the furnace body (here it is the tapping opening) and a model is established to create an accurate spatial coordinate database. Using this database, the system can calculate the instantaneous spatial position of any target tapping opening according to the real-time rotation angle (angular displacement △θ) of the furnace body, realizing the precise positioning of the upper tapping opening of the submerged arc furnace under dynamic conditions.

[0048] The construction process of the spatial coordinate database is as follows: When the furnace body is in the zero-marked state, 3D modeling is performed on the furnace wall of the tapping opening section and the outer shapes of 5 tapping openings to obtain the spatial coordinate value database of the furnace body tapping opening section relative to the furnace body center line in the initial state.

[0049] During the operation of the submerged arc furnace, the angular displacement generated by rotation relative to the zero point is denoted as △θ. Through △θ and the spatial coordinate database, it is easy to calculate the spatial coordinate value of the target tapping opening, thereby realizing the precise positioning of the target tapping opening.

[0050] This method utilizes the combination of static reference and dynamic parameters, and updates the target position information in real time through mathematical calculations, providing navigation data for the tapping robot 4 to ensure that it can accurately move to the specified position to perform the tapping operation.

[0051] When the tapping robot 4 and the furnace opening of the submerged arc furnace are precisely positioned and reach the specified position, it is necessary to adjust the tapping guide rod 6 on the tapping robot 4 and rotate it to the tuyere on the tapping opening to perform operations such as opening the tuyere and burning the tuyere.

[0052] Based on the obtained regional temperature distribution data, the industrial control computer 5 can identify the precise position of the tuyere on the tapping opening, thereby assisting the tapping robot 4 to control the tapping guide rod 6 to reach the tuyere position, and finally ensuring that the tapping robot 4 can perform operations such as opening the tuyere, burning the tuyere, pulling the tuyere or plugging the tuyere.

[0053] Although the specific implementation manners of the present invention are described above in conjunction with the accompanying drawings, it is not a limitation to the protection scope of the present invention. Those skilled in the art should understand that based on the technical solutions of the present invention, various modifications or deformations that can be made by those skilled in the art without creative labor are still within the protection scope of the present invention.

Claims

1. A system for acquiring data for positioning a furnace outlet, comprising a first absolute value rotary encoder, a second absolute value rotary encoder, a temperature sensor, a furnace outlet robot and an industrial computer; The first absolute value rotary encoder is arranged on the rotary drive reducer of the furnace body of the ore-fired furnace, and is used to monitor the absolute position data of the furnace eye on the furnace outlet where the material is currently to be discharged; The second absolute value rotary encoder is arranged on the body of the furnace-outlet robot and is used to monitor the current absolute position data of the furnace-outlet robot; The temperature sensor is arranged on the body of the furnace discharging robot and is used to obtain the regional temperature distribution data of the furnace discharging port; The furnace unloading robot runs around the ore-fired furnace on the track; The industrial computer is used to receive data acquired by the first absolute value rotary encoder, the second absolute value rotary encoder and the temperature sensor.

2. A system for acquiring data on the location of a submerged arc furnace outlet according to claim 1, characterized in that: The temperature sensor is an infrared array temperature sensor.

3. A system for acquiring data on the location of a submerged arc furnace outlet according to claim 1, characterized in that: The first absolute value rotary encoder, the second absolute value rotary encoder and the temperature sensor all include a transmitter for transmitting the monitored data to the industrial computer.

4. A system for acquiring data on the location of a furnace outlet according to claim 1, characterized in that: The furnace-unloading robot includes a receiver for acquiring data transmitted by the industrial computer.

5. A system for acquiring data on the location of a furnace outlet according to claim 1, characterized in that: The industrial computer includes a receiver and a transmitter, wherein the receiver is used to receive data monitored by the first absolute value rotary encoder, the second absolute value rotary encoder, and the temperature sensor, and the transmitter is used to transmit data information to the furnace robot.

6. A system for acquiring data on the location of a submerged arc furnace outlet according to claim 1, characterized in that: The receiver on the industrial computer communicates wirelessly with the transmitters on the first absolute value rotary encoder, the second absolute value rotary encoder and the temperature sensor.

7. A system for acquiring data on the location of a submerged arc furnace outlet according to claim 1, characterized in that: There is wireless communication between the transmitter on the industrial computer and the receiver on the furnace-unloading robot.

8. The system for acquiring data on the location of a submerged arc furnace outlet according to claim 1, characterized in that: A battery is arranged inside the first absolute value rotary encoder.

9. A system for acquiring data on the location of a submerged arc furnace outlet according to claim 1, characterized in that: A heat insulation layer is applied on the surface of the first absolute value rotary encoder.

10. A system for acquiring data on the location of a submerged arc furnace outlet according to claim 6, characterized in that: The wireless communication adopts a communication protocol that complies with industrial standards.

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