Cleaning machine and method

Abstract

The invention relates to a cleaning machine (10) and a method for cleaning at least one blowpipe (11) of a plurality of blowpipes of a converter, for example a Peirce-Smith converter, wherein the blowpipes are arranged in a preferably horizontally aligned row laterally on a container of the converter, wherein a gas, in particular oxygen, can be blown into the melt through the blowpipes below a level of a melt that can be received in the container, wherein the cleaning machine is designed to be movable on a path (15), preferably in the form of a rail guide, running along the row of blowpipes, wherein the cleaning machine comprises a punching system, wherein the punching system comprises a punching device with at least one puncher (19) and a drive device with at least one linear actuator, wherein the puncher and the blowpipe can be brought into alignment with one another, wherein, when the puncher is aligned with the blowpipe, using the drive device, the punching device can be driven to carry out a forward movement of the punching device, in which the puncher can be transferred from a retracted position of the puncher into a forward position of the puncher, and a backward movement of the punching device, in which the puncher can be transferred from the forward position into the retracted position, wherein the puncher can be inserted into the blowpipe through an opening of the blowpipe during the transfer from the retracted position to the forward position in order to clean the blowpipe and can subsequently be guided out of the blowpipe during the transfer from the forward position into the retracted position, wherein the cleaning machine comprises a measuring system (22) for detecting a position of the blowpipe, wherein the puncher and the blowpipe can be brought into alignment with one another based on the detected position of the blowpipe.

Description

[0001] Cleaning machine and process

[0002] The invention relates to a cleaning machine and a method for cleaning at least one blowpipe of a plurality of blowpipes of a converter, for example a Peirce-Smith converter, by means of a cleaning machine, wherein the blowpipes are arranged in a preferably horizontally aligned row laterally on a container of the converter, wherein a gas, in particular oxygen, can be blown into the melt through the blowpipes below a level of a melt that can be accommodated in the container, wherein the cleaning machine is designed to be movable on a track, preferably designed as a rail guide, running along the row of blowpipes, wherein the cleaning machine comprises an impact system, wherein the impact system comprises an impact device with at least one ram and a drive device with at least one linear actuator, wherein the ram and the blowpipe can be brought into alignment with one another, wherein,When the ram is aligned with the blowpipe, the drive device can be used to drive the ram to perform a forward movement of the ram, in which the ram can be transferred from a retracted position of the ram to an advanced position of the ram, and a backward movement of the ram, in which the ram can be transferred from the advanced position to the retracted position, wherein the ram can be inserted into the blowpipe through an opening in the blowpipe during the transfer from the retracted position to the advanced position for piercing the blowpipe to clean the blowpipe, and can subsequently be removed from the blowpipe during the transfer from the advanced position to the retracted position.

[0003] In the extraction of metal, in particular copper, a converter, for example a Peirce-Smith converter, is used for the smelting metallurgical refining of a metal-containing intermediate product, in particular copper matte. In the converter, the metal-containing intermediate product is blown into another metal-containing intermediate product, in particular raw copper, in order to remove impurities. In this process, a gas, in particular oxygen, is blown from the metal-containing intermediate product into the melt below a level of a melt held in the container through blowpipes of the converter, which are typically arranged in a horizontally aligned row on the side of a container of the converter and are also referred to as "tuyeres". The container is usually designed as a cylindrical drum and can be rotated about a horizontally aligned longitudinal axis of the container.Because the blowpipes are located below the water level, deposits or crusts regularly form in them. These deposits or crusts must be cleaned from time to time to prevent or eliminate blockages. The blowpipes are cleaned using a cleaning machine of the type described above.In this case, at least one plunger of a pushing device of a pushing system of the cleaning machine and a blowpipe to be cleaned are brought into alignment with one another, in particular by moving the cleaning machine on a track usually designed as a rail guide and running along the row of blowpipes, and optionally by rotating the container. When the plunger is aligned with the blowpipe, the pushing device is driven by a drive device of the pushing system comprising at least one linear actuator, such that the blowpipe is pierced by means of the plunger to clean the blowpipe. This piercing is also referred to as "punching". After cleaning the blowpipe, the cleaning machine can, if necessary, be moved to another blowpipe to be cleaned, so that the additional blowpipe can be cleaned.In this way, all blowpipes of the plurality of blowpipes that need to be cleaned can be cleaned one after the other. Such a converter and such a cleaning machine are known, for example, from DE 1 483 157 A.

[0004] In a cleaning machine known from the prior art, the horizontal positions of the blowpipes, which are known due to the design or measured by means of a measuring device designed separately from the cleaning machine and by means of which the ram can be brought horizontally into alignment with the blowpipe by moving the cleaning machine along the track, are regularly stored once in a memory device in the cleaning machine before the cleaning machine is put into operation and used for a subsequent cleaning operation of the cleaning machine in which the blowpipe is cleaned. However, since the converter is exposed to high mechanical and thermal loads, the horizontal positions of the blowpipes vary over time and are therefore usually not identical to the horizontal positions of the blowpipes stored in the memory device. For the same reason, the vertical positions of the blowpipes also vary over time.In addition, the vertical positions of the blowpipes also change regularly over time as a result of rotation of the container, with the change in the vertical positions leading to a vertical offset(s) of the blowpipes relative to the ram. By rotating the container, the blowpipe can be brought into vertical alignment with the ram, which in practice is done by a converter operator by eye. Due to the above circumstances, the ram and the blowpipe are often not exactly horizontally or vertically aligned after the ram and the blowpipe have been aligned relative to one another by moving the cleaning machine on the track based on the stored horizontal position of the blowpipe or by rotating the container by the operator by eye when the blowpipe is pierced. This results in increased wear on the blowpipes.

[0005] The present invention is therefore based on the object of proposing a cleaning machine and a method for cleaning at least one blowpipe of a converter, which enables a less wear-induced cleaning of the blowpipe.

[0006] This object is achieved by a cleaning machine having the features of claim 1 and a method having the features of claim 10.

[0007] The cleaning machine according to the invention for cleaning at least one blowpipe of a plurality of blowpipes of a converter, for example a Peirce-Smith converter, wherein the blowpipes are arranged in a preferably horizontally aligned row laterally on a container of the converter, wherein a gas, preferably oxygen, can be blown into the melt through the blowpipes below a level of a melt that can be accommodated in the container, is designed to be movable on a track, preferably designed as a rail guide, running along the row of blowpipes, wherein the cleaning machine comprises an impact system, wherein the impact system comprises an impact device with at least one ram and a drive device with at least one linear actuator, wherein the ram and the blowpipe can be brought into alignment with one another, wherein, when the ram is aligned with the blowpipe,by means of the drive device, the pushing device can be driven to carry out a forward movement of the pushing device, in which the ram can be transferred from a retracted position of the ram into an advancing position of the ram, and a backward movement of the pushing device, in which the ram can be transferred from the advancing position to the retracted position, wherein the ram can be inserted into the blowpipe through an opening of the blowpipe during the transfer from the retracted position to the advancing position for piercing the blowpipe to clean the blowpipe and can subsequently be removed from the blowpipe during the transfer from the advancing position to the retracted position, wherein the cleaning machine comprises a measuring system for detecting a position of the blowpipe, wherein the ram and the blowpipe can be brought into alignment with one another based on the detected position of the blowpipe.

[0008] Accordingly, the cleaning machine comprises a measuring system for detecting the position or orientation of the blowpipe, in particular the opening, or positions or orientations of the blowpipes, in particular the openings, by means of which the plunger and the blowpipe can be aligned with each other. This allows the piercing to always occur with the plunger precisely aligned with the blowpipe based on the detected position of the blowpipe. Therefore, the cleaning machine enables cleaning of the blowpipe with less wear.

[0009] The measuring system can detect the position of the blowpipe or the positions of the blowpipes based on a structure, in particular a hole pattern, formed on the converter, in particular the blowpipes. In particular, the measuring system can detect the position of the blowpipe or the positions of the blowpipes based on the preferably circular opening(s) of the blowpipe or openings of the blowpipes provided for inserting the plunger. The blowpipes can each have a through-hole leading into the container, wherein the through-hole can contain the respective opening. The through-holes can form a hole pattern. The position can be a horizontal position of the blowpipe and / or a vertical position of the blowpipe. A “horizontal position of the blowpipe” is to be understood as a position or orientation of the blowpipe viewed along a horizontal line, in particular viewed along the path.The measuring system can detect or determine the horizontal position of the blowpipe as a position of the cleaning machine on the track at which the ram and the blowpipe are horizontally aligned. A “vertical position of the blowpipe” is understood to mean a position or orientation of the blowpipe viewed along a vertical. The measuring system can detect a vertical offset of the blowpipe relative to the ram. The measuring system can detect or determine the vertical position of the blowpipe as the vertical offset of the blowpipe relative to the ram. If the row of blowpipes is aligned horizontally, all of the blowpipes can have substantially the same vertical position or offset. When bringing the ram and the blowpipe into alignment with one another, the ram and the blowpipe can be positioned relative to one another so that the ram is positioned centrally to or in front of the opening.The plunger and the blowpipe can be positioned horizontally relative to one another based on the detected horizontal position of the blowpipe. The cleaning machine can be moved on the track to a position of the cleaning machine that corresponds to the detected horizontal position of the blowpipe, so that the plunger is positioned horizontally centrally to or in front of the opening. The plunger and the blowpipe can be positioned vertically relative to one another based on the detected vertical position or the detected vertical offset of the blowpipe to the plunger. The container can be rotated about a horizontally aligned longitudinal axis of the container while changing the vertical position of the blowpipe or compensating for the vertical offset of the blowpipe to the plunger, such that the vertical position of the blowpipe or blowpipes corresponds to a vertical position of the plunger, so that the plunger is positioned vertically centrally to or in front of the opening.positioned in front of the opening. Alternatively or additionally, the vertical offset of the blowpipe relative to the plunger can also be compensated by adjusting the vertical position of the plunger. The ram system can comprise an adjustment device by means of which the ram or plunger can be vertically adjustable or height-adjustable.

[0010] The converter can be a Peirce-Smith converter, a Noranda converter or another converter.

[0011] In a preferred embodiment of the cleaning machine, the cleaning machine can comprise a drive motor, preferably an electric one, for moving the cleaning machine along the track. The drive motor can also be a pneumatic motor or a hydraulic motor. Furthermore, the cleaning machine can comprise wheels for moving the cleaning machine along the track.

[0012] In a preferred embodiment of the cleaning machine, the measuring system can comprise a first measuring device for determining a distance of the cleaning machine or the first measuring device from the converter or the blowpipe(s). The measuring device can comprise at least one distance sensor. As the cleaning machine moves along the track, the distance can be determined as a function of a position of the cleaning machine on the track. As the cleaning machine moves along the track, the first measuring device can scan the converter at a height of the row of blowpipes. Since the distance increases when the openings or through-holes are scanned, the positions, in particular horizontal positions, of the blowpipes or openings can be detected based on the distance. The positions of the blowpipes can therefore be detected based on peaks in a curve of the function.The first measuring device can be designed as a laser measuring device. At least one laser beam emitted by the laser measuring device can then scan the converter at a height of the row of blowpipes. The measuring system can also be designed as an optical measuring system. The optical measuring system can then be designed as a camera device. The measuring system can also include a camera device, for example, to detect a reflected laser beam.

[0013] In a preferred embodiment of the cleaning machine, the first measuring device can comprise at least one, preferably two, laser sensors. The laser sensor can be a lidar sensor, ToF sensor, or a laser scanner. If the first measuring device comprises two laser sensors, the position of the blowpipe can be detected independently of one another using the two laser sensors. The two detected positions can be compared with one another. This comparison enables self-diagnosis of the measuring system or the first measuring device. In particular, it can be determined whether one of the laser sensors has moved due to force impulses acting on the cleaning machine when the blowpipes are pierced, which can lead to misalignment of the respective laser sensor, which in turn can result in misalignment of the cleaning machine or the ram during the pierce.

[0014] In a preferred embodiment of the cleaning machine, the laser sensor can operate according to a time-of-flight principle or a triangulation principle.

[0015] In a preferred embodiment of the cleaning machine, the laser sensor can be designed as a point sensor or as a line sensor. Using the point sensor, the distance for a point can be determined for a given position of the cleaning machine on the track. When the cleaning machine is moving, the point sensor or a point beam of the point sensor can scan a horizontally running chord of a circle described by the opening. The point sensor can be arranged on the cleaning machine in such a way that the point sensor or point beam can scan a reference chord of the circle running horizontally above or below a center point of the circle, without a vertical offset of the blower tube from the ram. Due to a vertical offset of the blower tube from the ram, the point sensor or point beam can scan the chord instead of the reference chord. A length of the chord can be determined.The length of the chord can be determined based on the width of a peak describing the blower tube in the course of the distance function as a function of the position of the cleaning machine on the track. From the determined length of the chord, a reference length of the reference chord and a diameter of the circle or the opening, a vertical offset of the blower tube to the ram can be determined as a distance of the chord from the reference chord. The reference length and the diameter can be known. Furthermore, depending on whether the length is greater or smaller than the reference length, it can be determined whether the blower tube is offset up or down, or up or down, relative to the ram. Accordingly, a direction of the vertical offset of the blower tube to the ram can be determined. If the point sensor is arranged on the cleaning machine in such a way that the point sensor orIf a spot beam, viewed without any vertical offset of the blowpipe relative to the plunger, scans a reference chord running horizontally through the center of the circle, the magnitude of the vertical offset can be determined, but not the direction of the vertical offset. In this case, the length of the reference chord is equal to the diameter of the circle. The magnitude of the vertical offset can be determined as the distance of the chord from the reference chord using a relation -^ / diameter. 2 — Length 2be determined. Using the line sensor, the distance across a preferably vertical line can be determined for a given position of the cleaning machine on the track. When the cleaning machine is moving, the line sensor or a line beam of the point sensor can scan a section of the circle delimited by two chords of the circle. If a length of the line beam is at least as large as a diameter of the circle, the circle or a geometry of the opening can be completely scanned by the line sensor or line beam. By determining a center point of the circle, the position of the blowpipe can be detected. In particular, by determining the center point and a determination of a vertical distance of the center point from a horizontally running reference line, a vertical offset of the blowpipe relative to the ram can be determined.In addition, depending on whether the center point lies above or below the reference line, it can be determined whether the blowpipe is offset upwards or downwards relative to the ram. This allows the direction of the vertical offset of the blowpipe relative to the ram to be determined. Compared to the point sensor, the line sensor enables optimized detection of the position of the blowpipe, particularly the vertical offset of the blowpipe relative to the ram.

[0016] In a preferred embodiment of the cleaning machine, the laser sensor can be arranged laterally offset to the ram on the cleaning machine. If the first laser device comprises two laser sensors, a first laser sensor can be arranged laterally offset to the ram with respect to a first side of the ram, and a second laser sensor can be arranged laterally offset to the ram with respect to a second side of the ram. If the ram device comprises a plurality of rams arranged in a row, the first laser sensor can be arranged laterally offset outwards to a first outer ram in the row of rams, and the second laser sensor can be arranged laterally offset outwards to a second outer ram in the row of rams. An optical axis of the laser sensor and a longitudinal axis of the ram preferably lie in a common horizontal plane. A horizontal distance between the ram and the laser sensor orThe distance between the respective laser sensor or between the first outer ram or second outer ram and the respective laser sensor can be as large, preferably twice as large, as a horizontal distance between two adjacent blowpipes in the row of blowpipes. The laser sensor can be arranged at the rear of the cleaning machine, i.e., at a part of the cleaning machine facing away from the converter when the cleaning machine is in use, in particular offset to the rear of the impact device, in order to protect the laser sensor from the effects of heat and dust.

[0017] In a preferred embodiment of the cleaning machine, the measuring system can comprise a second measuring device for determining a position of the cleaning machine on the track. Each position or position value determined by the second measuring device can then be assigned a distance or distance value determined by the first measuring device.

[0018] In a preferred embodiment of the cleaning machine, the second measuring device can comprise at least one position sensor, preferably a rotary encoder. The rotary encoder can determine a rotation angle of a shaft of the drive motor or of a shaft of the cleaning machine that can be driven by the drive motor and, based on the determined rotation angle, determine a distance covered by the cleaning machine on the track, which in turn can be used to determine the position of the cleaning machine on the track. The distance can be measured starting from a parking position of the cleaning machine on the track, in which the cleaning machine can be parked when not in use. In a preferred embodiment of the cleaning machine, the cleaning machine can comprise a camera device. A cleaning process can be recorded using the camera device.Video recordings and / or images can be taken of the cleaning of each individual blowpipe. The video recordings and / or images of the cleaning of those blowpipes that were inadequately cleaned can be stored using a storage device on the cleaning machine.

[0019] In a preferred embodiment of the cleaning machine, the linear actuator can be designed as a preferably rodless, preferably pneumatic, double-acting cylinder. The impact system can comprise at least one compressed air generator, preferably a compressor, and at least one, preferably two, compressed air tanks for storing compressed air. The compressed air tank can be a component of the compressed air generator. Furthermore, the impact system can comprise at least one pressure sensor and / or at least one flow sensor. Furthermore, the impact system can comprise a valve device fluidically connected to the cylinder for controlling the cylinder. The valve device can comprise four 2 / 2-way valves. The cylinder can also be a hydraulic cylinder.

[0020] In a preferred embodiment of the cleaning machine, the impact device can comprise a plurality of, preferably three, plungers and / or the drive device can comprise a plurality of, preferably two, linear actuators. By means of the plurality of plungers, several blowpipes can be cleaned simultaneously. The plungers can preferably be arranged in a, preferably horizontally aligned, row. The plungers can then run in a, preferably horizontally aligned, common plane. Furthermore, the plungers in the row can be arranged at equal distances from one another. A horizontal distance between two adjacent plungers in the row of plungers can correspond to a horizontal distance between two adjacent blowpipes in the row of blowpipes. Furthermore, the impact device can comprise a support on which the plungers can be arranged.The positioning of the impact device with the plurality of plungers and the plurality of blow tubes relative to one another can be such that a majority of the plungers, preferably all of the plungers, are positioned substantially centrally to or in front of an opening of the respective blow tube. The impact force can be increased by means of a plurality of linear actuators. The linear actuators can jointly drive the carrier with the plungers arranged on the carrier.

[0021] In a preferred embodiment of the cleaning machine, the cleaning machine can comprise a frame on which all components of the cleaning machine can be arranged.

[0022] In a preferred embodiment of the cleaning machine, the cleaning machine may comprise a detection device for detecting a number of plungers arranged on the pushing device.

[0023] In a preferred embodiment of the cleaning machine, the detection device may comprise at least one inductive sensor.

[0024] In a preferred embodiment of the cleaning machine, the cleaning machine can comprise a guide device, wherein the guide device can comprise at least one guide device for guiding the plunger, wherein the guide device can comprise a first guide part having a guide bushing guiding the plunger and a second guide part at least partially, preferably completely, surrounding the first guide part, wherein the first guide part can be movable along a first axis relative to the second guide part, wherein the guide device can comprise first spring elements, wherein the first guide part can be centered relative to the second guide part along the first axis by means of the first spring elements. When the first guide part is centered relative to the second guide part, the second guide part can at least partially, preferably completely, coaxially surround the first guide part.The guide device can comprise first guide elements connecting the first guide part to the second guide part, on each of which a first spring element can be guided. The first axis can be aligned horizontally or vertically. If, despite the alignment of the plunger and the blowpipe relative to one another based on the detected position of the blowpipe, the plunger and the blowpipe are not precisely aligned along the first axis, the plunger can perform a compensating movement along the first axis upon insertion through the opening due to the flexibility of the first spring elements and can thus be aligned centrally to the opening along the first axis.

[0025] In a preferred embodiment of the cleaning machine, the guide device can comprise at least one, preferably two third guide parts at least partially surrounding the second guide part, wherein the second guide part can be moved relative to the third guide part along a second axis, preferably running transversely to the first axis, wherein the guide device can comprise second spring elements, wherein the second guide part can be centered relative to the third guide part along the second axis by means of the second spring elements. When the second guide part is centered relative to the third guide part, the third guide part can at least partially coaxially surround the second guide part. The guide device can comprise second guide elements connecting the second guide part to the third guide part, on each of which second guide elements a second spring element can be guided.The second axis can be aligned horizontally or vertically. If, despite the relative alignment of the plunger and the blowpipe based on the detected position of the blowpipe, the plunger and the blowpipe are not precisely aligned along the second axis, the plunger can perform a compensating movement along the second axis upon insertion into the opening due to the flexibility of the second spring elements, and can thus be aligned centrally with the opening along the second axis. The third guide part can be fixedly mounted on the cleaning machine.

[0026] In a preferred embodiment of the cleaning machine, a drilling device for cleaning the blowpipe by drilling through the blowpipe can be arranged on the cleaning machine, wherein the drilling device can comprise at least one drilling rod and a boring mechanism for driving the drilling rod. The ramming device can be removable from the cleaning machine, so that the drilling device can be arranged on the cleaning machine instead of the ramming device. A longitudinal axis of the drilling rod, when the drilling device is arranged on the cleaning machine, can be aligned with a longitudinal axis of a central ram when an odd number of rams, preferably three, is provided, when the ramming device is arranged on the cleaning machine.

[0027] In a preferred embodiment of the cleaning machine, the cleaning machine can comprise a control device for controlling the cleaning machine. The control device can control the cleaning machine depending on the position of the blowpipe detected by the measuring system. The control device can control the cleaning machine in such a way that the cleaning machine is moved to a position of the cleaning machine on the track corresponding to the detected horizontal position of the blowpipe, subsequently control the impact system in such a way that the blowpipe is pierced, and subsequently, if necessary, control the cleaning machine in such a way that the cleaning machine is moved to a position of the cleaning machine on the track corresponding to a detected horizontal position of another blowpipe, in order to subsequently pierce this. The blowpipes to be cleaned can be cleaned one after the other in this way.The control device can adapt a cleaning sequence of the blowpipes depending on the number of plungers detected by the detection device. Furthermore, the cleaning machine can comprise an operating device for operating the cleaning machine by an operator. The blowpipes to be cleaned can be selectable by the operator using the operating device. The control device can actuate the cleaning machine depending on the selected blowpipes. Furthermore, the control device can calculate an optimal cleaning sequence depending on the number of plungers detected by the detection device and the selected blowpipes. Furthermore, the cleaning machine can comprise a display device. The display device can indicate the status of the blowpipes.In particular, the display device can be used to indicate whether the cleaning of a blowpipe was successful or unsuccessful and / or which blowpipe cannot be cleaned in a cleaning process due to the number of plungers.

[0028] Further advantageous embodiments of the cleaning machine emerge from the feature descriptions of the subclaims referring back to method claim 10.

[0029] The arrangement according to the invention comprises a converter, for example a Peirce-Smith converter, with a plurality of blowpipes, wherein the blowpipes are arranged in a preferably horizontally aligned row laterally on a container of the converter, wherein a gas, preferably oxygen, can be blown into the melt through the blowpipes below a level of a melt that can be received in the container, wherein the arrangement comprises a cleaning machine according to the invention. The arrangement can comprise a track on which the cleaning machine can be moved. The converter can comprise at least two blowpipes. The container can be designed as a cylindrical drum. Furthermore, the container can be rotatable about a preferably horizontally aligned longitudinal axis of the container.

[0030] In the method according to the invention for cleaning at least one blowpipe of a plurality of blowpipes of a converter, for example a Peirce-Smith converter, by means of a cleaning machine, wherein the blowpipes are arranged in a preferably horizontally aligned row laterally on a container of the converter, wherein a gas, preferably oxygen, can be blown into the melt through the blowpipes below a level of a melt that can be received in the container, the cleaning machine is moved on a track, preferably designed as a rail guide, running along the row of blowpipes, wherein the cleaning machine comprises an impact system, wherein the impact system comprises an impact device with at least one ram and a drive device with at least one linear actuator, wherein the ram and the blowpipe are aligned with each other, wherein, when the ram is aligned with the blowpipe,by means of the drive device, the pushing device is driven to carry out a forward movement of the pushing device, in which the ram is transferred from a retracted position of the ram to an advancing position of the ram, and a backward movement of the pushing device, in which the ram is transferred from the advancing position to the retracted position, wherein the ram is inserted into the blowpipe through an opening of the blowpipe during the transfer from the retracted position to the advancing position for piercing the blowpipe to clean the blowpipe and is subsequently guided out of the blowpipe during the transfer from the advancing position to the retracted position, wherein a position of the blowpipe is detected by means of a measuring system of the cleaning machine, wherein the ram and the blowpipe are aligned with each other based on the detected position of the blowpipe.

[0031] For the advantageous effects of the method according to the invention, reference is made to the description of the advantages of the cleaning machine according to the invention.

[0032] Blowpipes that need to be cleaned can be cleaned one after the other.

[0033] The detected position of the blowpipe can be stored in a storage device of the cleaning machine. The detected position of the blowpipe can be compared with a position of the blowpipe already stored in the storage device, which may have resulted from a previous detection of the position of the blowpipe. In the event of a discrepancy between the position of the blowpipe already stored in the storage device and the detected position of the blowpipe, the position of the blowpipe already stored in the storage device can be overwritten by the detected position of the blowpipe. The position of the blowpipe already stored in the storage device can also remain in the storage device, in particular for monitoring wear of the blowpipe.In this case, it can be provided that the position already stored in the storage device is no longer used to align the plunger and the blowpipe with each other for the purpose of cleaning the blowpipe.

[0034] In a preferred embodiment of the method, the position of the blowpipe can be detected based on the opening by means of the measuring system. The position of the blowpipe can be a horizontal position of the blowpipe and / or a vertical position of the blowpipe. Based on the detected horizontal position of the blowpipe, the plunger and the blowpipe can be aligned horizontally with one another by moving the cleaning machine along the track, and / or based on the detected vertical position of the blowpipe, the plunger and the blowpipe can be aligned vertically with one another by rotating the container about a preferably horizontally oriented longitudinal axis of the container.

[0035] In a preferred embodiment of the method, the measuring system can be used to determine a distance between the cleaning machine and the converter or blowpipe(s) as a function of the cleaning machine's position on the web. This can be done using the first measuring device and the second measuring device.

[0036] In a preferred embodiment of the method, the position of the blowpipe(s) can be detected by means of the measuring system based on a peak(s) in a curve of the function. This can be done using the point sensor. Based on an abscissa value(s) of a center(s) of the peak(s) describing the blowpipe(s), the horizontal position of the blowpipe(s) or the horizontal positions of the blowpipes or a position(s) of the cleaning machine on the track corresponding to the horizontal position of the blowpipe(s) can be determined. Based on a width of the peak(s), a vertical offset(s) between the ram and the blowpipe(s) can be determined.

[0037] In a preferred embodiment of the method, a vertical offset of the blowpipe relative to the plunger can be determined by means of the measuring system by determining a distance of a horizontally extending chord of a circle described by the opening from a horizontally extending reference chord of the circle or by determining a distance of a center point of the circle from a horizontally extending reference line. This can be done using the point sensor or the line sensor.

[0038] In a preferred embodiment of the method, the position of the blowpipe can be detected in a combination operation of the cleaning machine, in which both the position of the blowpipe can be detected and the blowpipe can be cleaned, or in a detection operation of the cleaning machine in which only the position of the blowpipe can be detected. Preferably, the positions of all blowpipes are detected in the detection operation. The cleaning machine can be moved over the entire length of the track. The detected positions can be stored in the memory device. The detection operation can be used to calibrate the cleaning machine. Following the detection operation, the blowpipe can be cleaned in a cleaning operation. Furthermore, following the detection operation, the blowpipe can also be cleaned in the combination operation.In detection mode, the cleaning machine can be moved comparatively slower and more evenly than in combination mode in order to increase the efficiency and precision of the detection of the position of the blowpipe(s).

[0039] Further advantageous embodiments of the method emerge from the descriptions of the features of the subclaims referring back to device claim 1.

[0040] Preferred embodiments of the invention are explained in more detail below with reference to the accompanying drawings. They show:

[0041] Fig. 1 is a side view of a cleaning machine;

[0042] Fig. 2 is a plan view of the cleaning machine;

[0043] Fig. 3 is a perspective side view of the cleaning machine;

[0044] Fig. 4 is a side view of the cleaning machine with rams of a ramming device of a ramming system of the cleaning machine inserted into ram pipes of a row of ram pipes;

[0045] Fig. 5 is a plan view of the cleaning machine with the plungers inserted into the blow pipes;

[0046] Fig. 6 is a front view of the cleaning machine with the plungers inserted into the blow pipes;

[0047] Fig. 7 is a partial front view of the row of blowpipes;

[0048] Fig. 8 is a diagrammatic representation of curves of functions of a distance of the cleaning machine from a part of the blowpipes shown in Fig. 7, determined using two laser sensors of a first measuring device of a measuring system of the cleaning machine, as a function of a position of the cleaning machine on a path running along the row of blowpipes;

[0049] Fig. 9 is a partial front view of a row of blowpipes; Fig. 10 is a diagrammatic representation of a curve of a function of a distance of the cleaning machine from the blowpipes shown in Fig. 9, determined by means of a laser sensor of a first measuring device of a measuring system of a cleaning machine, as a function of a position of the cleaning machine on a path running along the row of blowpipes;

[0050] Fig. 11 is a diagrammatic representation of a portion of a circle described by an opening of the first of the blowpipes shown in Fig. 9 and a chord of the circle scanned by the laser sensor;

[0051] Fig. 12 is a diagrammatic representation of a curve of a function of a vertical offset of the blowpipe relative to a ram of an impact device of an impact system of the cleaning machine as a function of a length of a chord of the circle scanned by the laser sensor;

[0052] Fig. 13 is a perspective view of a guide device of a guide apparatus.

[0053] For the sake of simplicity, objects of the same construction or function are sometimes designated by the same reference symbol.

[0054] 1 to 6 shows a cleaning machine 10 for cleaning blowpipes 11 of a converter (not shown in detail here), wherein the blowpipes 11 are arranged in a horizontally aligned row. The blowpipes 11 are usually arranged on the side of a container of the converter. The blowpipes 11 can be embedded in a fireproof lining of a wall of the container. Each blowpipe 11 has a through-hole (not shown here). Each blowpipe 11 or through-hole has an opening 12 and a further opening 13. Furthermore, each blowpipe 11 has a closure element (not shown here), in particular a ball valve or flap valve, which closes the respective opening 12. Furthermore, each blowpipe 11 has a yet further opening 14 which opens into the respective through-hole.Viewed from the blowpipes 11 arranged on the container, the openings 12 and the further openings 14 are located outside the container, and the further openings 13 are located inside the container. A gas, in particular oxygen, can be blown into the melt through the further openings 14 below a level of a melt that can be accommodated in the container. The closure elements prevent the gas from escaping via the openings 12. Since the blowpipes 11 are located below the level, deposits or crusts regularly form in the blowpipes 11, i.e., particularly in the through holes, but also in an area around the further openings 13 within the container. Therefore, the blowpipes 11 must be cleaned of these deposits or crusts from time to time in order to prevent or eliminate blockages in the blowpipes 11. This is done by means of the cleaning machine 10.

[0055] The cleaning machine 10 is designed to be movable on a track 15 designed as a rail guide and running along the row of blowpipes 11, wherein the cleaning machine 10 comprises a pushing system 16, wherein the pushing system 16 comprises a pushing device 17 with three rod-like tappets 19 arranged on a support 18 of the pushing device 17 and a drive device 20 with two linear actuators 21, which are designed as rodless, pneumatic, double-acting cylinders, wherein the tappets 19 and three of the blowpipes 11 can be brought into alignment with one another, wherein, when the tappets 19 are aligned with the three respective blowpipes 11, the driving device 20 causes the pushing device 17 to execute a forward movement of the pushing device 17, in which the tappets 19 from a retracted position of the tappets 19 into a feed position of the rams 19, and a backward movement of the pushing device 17,in which the plungers 19 can be transferred from the advance position to the retracted position, wherein the plungers 19 can be inserted into the three respective blowpipes 11 through the three respective openings 12 during the transfer from the retracted position to the advance position in order to clean the three blowpipes 11, while opening or lifting the three respective closure elements, and subsequently can be removed from the three respective blowpipes 11 through the three respective openings 12 during the transfer from the advance position to the retracted position.

[0056] The cleaning machine 10 comprises a measuring system 22 for detecting positions of the blowpipes 11, wherein the plungers 19 and the three respective blowpipes 11 can be brought into alignment with one another based on the detected positions of the blowpipes 11. The measuring system 22 comprises a first measuring device 23 for determining a distance of the cleaning machine 10 or the first measuring device 23 from the converter or the blow pipes 11, wherein the first measuring device 23 comprises two laser sensors 24 arranged laterally offset outwards from the pushing device 17 or the tappets 19 and offset rearwards from the pushing device 17 or the tappets 19 on the cleaning machine 10, wherein the measuring system 22 comprises a second measuring device 25 for determining a position of the cleaning machine 10 on the track 15, wherein the second measuring device 25 comprises a rotary encoder 26.By means of the rotary encoder 26, a rotation angle of a shaft (not shown here) of an electric drive motor (not shown here) of the cleaning machine 10, which serves to move the cleaning machine 10 on the track 15, is determined, wherein on the basis of the determined rotation angle a distance covered by the cleaning machine 10 on the track 15 is determined, on the basis of which in turn the position of the cleaning machine 10 on the track 15 is determined. By means of the measuring system 22, the positions of the blow pipes 1 1 are detected on the basis of the openings 12, wherein when the cleaning machine 10 moves on the track 15, the laser sensors 24 or laser beams (not shown here) emitted by the laser sensors 24 scan the converter at a height of the blow pipes 1 1 or openings 12, wherein by means of the measuring system 22 a distance of the cleaning machine 10 or the laser sensors 24 from the converter orthe blowpipes 11 as a function of the position of the cleaning machine 10 on the track 15.

[0057] The cleaning machine 10 further comprises a stop device 27, wherein the stop device 27 comprises two first stop elements 28 for limiting the forward movement of the pushing device 17 and the pushing device 17 comprises two first counter-stop elements 29 for stopping against the first stop elements 28 and the stop device 27 comprises two second stop elements 30 for limiting the backward movement of the pushing device 17 and the pushing device 17 comprises two second counter-stop elements 31 for stopping against the second stop elements 30, wherein the cleaning machine 10 comprises a hydraulic adjustment device 33 comprising a hydraulic cylinder 32 for adjusting a position of the first stop elements 28. The first counter-stop elements 29 and the second counter-stop elements 31 are arranged on the carrier 18.The first stop elements 28 are arranged on a support 66 of the stop device 27, which is guided in a guide means of the stop device 27, not shown here, designed as a guide rail.

[0058] Fig. 7 shows a partial view of the row of blowpipes 1 1 from the front. Fig. 8 shows a diagrammatic representation of curves 34, 35, determined using laser sensors 24 designed as point sensors, of functions of the distance of the cleaning machine 10 or the laser sensors 24 from three of the blowpipes 11 shown in Fig. 7, plotted in mm on an ordinate 36, as a function of the position of the cleaning machine 10 on the path 15 running along the row of blowpipes 11, plotted in mm on an abscissa 37. Since the distance increases when scanning the blowpipes 11 or openings 12 or through holes, the blowpipes 11 or openings 12 or through holes are visible in the curves 34, 35 as peaks 38, 39, 40, 41. Horizontal positions of the blowpipes 11 are detected as positions of the cleaning machine 10 on the track 15 corresponding to the horizontal positions.The horizontal positions can be determined using the centers of peaks 38, 39, 40, 41 (not shown here) or the abscissa values ​​of the centers. As the cleaning machine 10 moves along the track 15, the position of each blowpipe 11 can be detected one after the other using the two laser sensors 24. In the present case, only the middle of the three blowpipes 11 has already been scanned by the two laser sensors 24, so that the peaks 39, 40 overlap. By comparing the curves 34, 35, any misalignment of the laser sensors 24 can be detected. In the present case, the curves 34, 35 essentially match in an area of ​​the middle peaks 39, 40, so that there is no misalignment of the laser sensors 24.

[0059] Fig. 9 shows a partial view of a row of blowpipes 42 from the front.

[0060] Fig. 10 shows a diagrammatic representation of a curve 43, determined using a laser sensor designed as a point sensor of a first measuring device of a measuring system of a cleaning machine (not shown here), of a function of a distance of the cleaning machine from the converter or the blowpipes 42, plotted in mm on an ordinate 44, as a function of a position of the cleaning machine on a path (not shown here), plotted in mm on an abscissa 45, running along the row of blowpipes 42. Since the distance increases when openings 46 or through holes of the blowpipes 42 are scanned by the laser sensor, the blowpipes 42 or openings 46 or through holes are visible in the curve 43 as peaks 47, 48, 49. Horizontal positions of the blowpipes 42 are detected as positions of the cleaning machine on the path corresponding to the horizontal positions.The horizontal positions of the blowpipes 42 can be determined using the centers of the peaks 47, 48, 49 (not shown here) or the abscissa values ​​of the centers. Vertical lines 50 running through the peaks 47, 48, 49 and the openings 46 illustrate the horizontal positions of the blowpipes 42 stored in a memory device of the cleaning machine and resulting from a previous detection of the positions of the blowpipes 42. For the middle blowpipe 42, there is a deviation between the detected horizontal position and the stored horizontal position. The cleaning machine can be the cleaning machine 10.

[0061] Fig. 11 shows a diagrammatic representation of a part of a circle 51 described by the opening 46 of the first blower tube 42 shown in Fig. 9 and a horizontally running chord 52 of the circle 51 scanned by a spot beam of the laser sensor as the cleaning machine moves along the track. A vertical height in mm is plotted against a horizontal width in mm. The point sensor is arranged on the cleaning machine in such a way that, without the presence of a vertical offset of the blower tube 42 relative to a ram of an impact device of a striking system of the cleaning machine, the point sensor or spot beam would scan a reference chord 54 running horizontally through a center point 53 of the circle 51, wherein a length of the reference chord 54 is equal to a diameter of the circle 51. As a result of the vertical offset of the blower tube 42 relative to the ram, the point sensor orSpot beam does not cover the reference chord 53, but the chord 52. A size of a vertical offset of the blowpipe 42 is determined as a distance of the chord 52 from the reference chord 53 by means of a relation -^ / diameter. 2 — Length 2 determined from the diameter of the circle 51 or the opening 46 and the length of the chord 52. The length of the chord 52 results from a width 67 of the peak 47.

[0062] Fig. 12 shows a diagrammatic representation of a curve 55 of a function of a vertical offset, plotted in mm, of the blowpipe 42 relative to the plunger as a function of a length, plotted in mm, of a chord of the circle 51 scanned by the laser sensor. A point 56 marks the size of the vertical offset of the blowpipe 42 determined based on the length of the chord 52.

[0063] Fig. 13 shows a guide device 57 of a guide apparatus (not shown in detail here) for guiding a plunger (not shown here) of an impact device of an impact system of a cleaning machine, wherein the guide device 57 comprises a first guide part 59 having a guide bushing 58 guiding the plunger and a second guide part 60 completely surrounding the first guide part 59, wherein the first guide part 59 is horizontally movable relative to the second guide part 60, wherein the guide device 57 comprises first spring elements 61, wherein the first guide part 59 can be horizontally centered relative to the second guide part 60 by means of the first spring elements 61. Furthermore, the guide device 57 comprises first guide elements 62 connecting the first guide part 59 to the second guide part 60, on each of which a first spring element 61 is guided.The guide device 57 further comprises two third guide parts 63 which partially surround the second guide part, namely at the top and bottom, the second guide part 60 being vertically movable relative to the third guide parts 63, the guide device 57 comprising second spring elements 64, the second guide part 60 being vertically centered relative to the third guide parts 63 by means of the second spring elements 64. The guide device 57 further comprises second guide elements 65 which connect the second guide part 60 to the third guide parts 63 and on each of which a second spring element 64 is guided. The first guide part 59 is block-shaped, the second guide part 60 is rectangular in shape, and the third guide parts 63 are angular in shape. The first guide elements 61 and the second guide elements 65 are designed as guide rods.The cleaning machine 10 may have the guide device, which may comprise three guide devices 57.

Claims

Patent claims 1. Cleaning machine (10) for cleaning at least one blowpipe (11, 42) of a plurality of blowpipes of a converter, for example a Peirce-Smith converter, wherein the blowpipes are arranged in a preferably horizontally aligned row laterally on a container of the converter, wherein a gas, in particular oxygen, can be blown into the melt through the blowpipes below a level of a melt that can be received in the container, wherein the cleaning machine is designed to be movable on a track (15), preferably designed as a rail guide, running along the row of blowpipes, wherein the cleaning machine comprises an impact system (16), wherein the impact system comprises an impact device (17) with at least one plunger (19) and a drive device (20) with at least one linear actuator (21), wherein the plunger and the blowpipe can be brought into alignment with one another, wherein when the plunger is in contact with the Blowpipe aligned,by means of the drive device, the pushing device for executing a forward movement of the pushing device, in which the ram can be moved from a retracted position of the ram into an advancing position of the ram, and a backward movement of the pushing device, in which the plunger can be transferred from the advance position into the retracted position, is drivable, wherein the plunger can be inserted into the blowpipe through an opening (12, 46) of the blowpipe during the transfer from the retracted position to the advance position in order to pierce the blowpipe in order to clean the blowpipe and can subsequently be guided out of the blowpipe during the transfer from the advance position to the retracted position, characterized in that the cleaning machine comprises a measuring system (22) for detecting a position of the blowpipe, wherein the plunger and the blowpipe can be brought into alignment with one another on the basis of the detected position of the blowpipe.

2. Cleaning machine according to claim 1, characterized in that the measuring system (22) comprises a first measuring device (23) for determining a distance of the cleaning machine (10) from the blowpipe (11, 42).

3. Cleaning machine according to claim 2, characterized in that the first measuring device (23) comprises at least one, preferably two, laser sensors (24).

4. Cleaning machine according to claim 3, characterized in that the laser sensor (24) operates according to a time-of-flight principle or a triangulation principle.

5. Cleaning machine according to claim 3 or 4, characterized in that that the laser sensor (24) is designed as a point sensor or as a line sensor.

6. Cleaning machine according to one of claims 3 to 5, characterized in that the laser sensor (24) is arranged laterally offset from the plunger (19) on the cleaning machine (10).

7. Cleaning machine according to one of the preceding claims, characterized in that the measuring system (22) comprises a second measuring device (23) for determining a position of the cleaning machine (10) on the track (15).

8. Cleaning machine according to claim 7, characterized in that the second measuring device (23) comprises at least one position sensor, preferably a rotary encoder (26).

9. An arrangement comprising a converter, for example a Peirce-Smith converter, with a plurality of blowpipes (11, 42), the blowpipes being arranged in a preferably horizontally aligned row laterally on a container of the converter, a gas, preferably oxygen, being able to be blown into the melt through the blowpipes below a level of a melt that can be received in the container, the arrangement comprising a cleaning machine (10) according to one of the preceding claims.

10. Method for cleaning at least one blowpipe (11, 42) of a plurality of blowpipes of a converter, for example a Peirce-Smith converter, by means of a cleaning machine (10), wherein the Blowpipes are arranged in a preferably horizontally aligned row laterally on a container of the converter, wherein a gas, in particular oxygen, can be blown into the melt through the blowpipes below a level of a melt that can be accommodated in the container, wherein the cleaning machine is moved on a track (15), preferably designed as a rail guide, running along the row of blowpipes, wherein the cleaning machine comprises an impact system (16), wherein the impact system comprises an impact device (17) with at least one ram (19) and a drive device (20) with at least one linear actuator (21), wherein the ram and the blowpipe are brought into alignment with one another, wherein, when the ram is aligned with the blowpipe, the drive device causes the impact device to carry out a forward movement of the impact device,in which the plunger is moved from a retracted position of the plunger into a forward position of the plunger, and a backward movement of the pushing device, in which the plunger is moved from the forward position to the retracted position, is driven, wherein the plunger, during the transfer from the retracted position to the forward position, is introduced into the blowpipe through an opening (12, 46) of the blowpipe for piercing the blowpipe in order to clean the blowpipe and is subsequently led out of the blowpipe during the transfer from the forward position to the retracted position, characterized in that a position of the blowpipe is detected by means of a measuring system (22) of the cleaning machine, wherein the plunger and the blowpipe are aligned with each other based on the detected position of the blowpipe.

1. Method according to claim 10, characterized in that that the position of the blowpipe (11, 42) is detected by means of the measuring system (22) based on the opening (12, 46).

12. Method according to claim 10 or 11, characterized in that by means of the measuring system (22) a distance of the cleaning machine (10) from the blow pipe (11, 42) is determined as a function of a position of the cleaning machine on the track (15).

13. Method according to one of claims 10 to 12, characterized in that the position of the blowpipe (11, 42) is detected by means of the measuring system (22) on the basis of a peak (38, 39, 40, 41, 47, 48, 49) in a course (34, 35, 43) of the function.

14. Method according to one of claims 10 to 13, characterized in that by means of the measuring system (22) a vertical offset of the blow pipe (11, 42) to the plunger (19) is determined by determining a distance of a horizontally running chord (52) of a circle (51) described by the opening (12, 46) from a horizontally running reference chord (54) of the circle or by determining a distance of a center point (53) of the circle from a horizontally running reference line.

15. Method according to one of claims 10 to 14, characterized in that the detection of the position of the blowpipe (11, 42) in a combination operation of the cleaning machine (10), in which both the detection of the position of the blowpipe and the cleaning of the blowpipe, or in a detection mode of the cleaning machine in which only the position of the blowpipe is detected.

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