JPH0252986A - Slug removing device for arc furnace and control thereof - Google Patents

Abstract

PURPOSE:To improve the work of removing slug and the like by a method wherein a carriage is arranged on a rail so as to be free of running, a base board is loaded freely revolvably on the carriage, an arm is attached extendably to the base board, a scraping rod supporting frame is attached freely movably up and down to said arm and respective mechanisms are controlled. CONSTITUTION:A base board 17 is provided on a carriage 2, riding on rails 3 laid on a floor surface 1 through running wheels 10 and constituted so as to be free of running by a running mechanism, through a traversing mechanism 4. An operating chamber 7 is loaded on the base board 17 and a control panel 70 is annexed to control a slug removing device 100. An upper stage arm 5 is provided on the base board 17 through an extending mechanism, a lower stage arm 18 is provided on said upper stage arm 5 through another extending mechanism and a scraping rod supporting frame 6 is provided on the lower stage arm 18 through a derricking mechanism 19 rotatable about the rotating center of a shaft 20. Working tools 8 for effecting removal of slug, rabbling and other annexed works are attached replaceably to the scraping rod supporting frame 6.

Description

[Detailed Description of the Invention] "Field of Industrial Application" This invention is for removing slag floating on the surface of molten metal, stirring the molten metal, or performing other incidental work during steel refining in an arc furnace. The present invention relates to a slag removal device and a control method for the sludge removal device.

[Prior Art] Slag removal, stirring, and other incidental work in an arc furnace is hard work under flaming heat and involves danger. Machines have been developed to perform these operations, and such sludge removal equipment has been developed. Conventionally, for example, there is one disclosed in Japanese Patent Publication No. 8713/1983. As shown in Figure 21, this
After setting the front slide block 94 to be positioned directly above the hot metal opening 91, slag removal is performed by advancing and retracting the advance/retreat beam 95 and adjusting the elevation angle of the scraping rod 96. The direction is set by the front slide block 94. The turning is performed using the block 94 as the center of rotation, and the forward and backward beam 95 serves to maintain the position directly below the slag discharge point at the hot metal mouth 91.

[Problems to be Solved by the Invention] In the conventional slag removal device described above, as is clear from FIG.
Since the structure is such that the slag removing device cannot be used when there is not enough free space above the hot metal opening 91, there is a problem.

In addition, the front slide block 94, which is the center of rotation of the scraping rod 96, is positioned directly above the hot metal opening 91.
It requires considerable skill and time because it relies on the visual operation of the worker, and when the front slide block 94 is in a position shifted from directly above the hot metal opening 91, the tobeed car 90
There was a problem in that the slag 93 deep inside the left and right sides could not be sufficiently scraped out.

The present inventor has conducted extensive research to solve the above problems, and has invented a sludge removal device for an arc furnace, as well as a control method for the sludge removal device for an arc furnace. That is, the present invention provides a slag removal device for removing slag floating on the surface of molten metal, stirring the molten metal, or performing other incidental operations during steel refining in an arc furnace, and a method for controlling the slag removal device. It provides:

[Means for Solving the Problems] Claim 1 of the present invention provides a system in which a cart is movably disposed on a rail laid facing the working opening of the arc furnace body, and a base plate can be freely rotated on the cart. , an arm is attached to the base so as to be extendable and retractable, a scraper support frame is attached to the arm so as to be tiltable, a working tool is attached to the scraper support frame so as to be exchangeable, and the above-mentioned traveling, turning, telescopic and tilting operations are performed. This is a sludge removal device for an arc furnace that is equipped with a control device that controls each mechanism.

Here, the arm may be composed of an upper arm that is telescopically attached to the base and a lower arm that is telescopically attached to the upper arm, and the arm is configured to perform the work with the longitudinal direction of the working tool as the rotation axis. The tool can be rotatably attached to the scraper support frame. 2 Furthermore, an arm for feeding the pipe is attached to the base so that it can be raised and raised freely, and a pair of guide rollers are attached above and below the center of the arm. 7 The upper surface of the rear end of the arm It is also possible to further include a pipe feeding mechanism in which another guide roller is attached to the arm and a guide groove is formed on the upper surface of the front end of the arm.

According to a fifth aspect of the present invention, there is provided a method for controlling the sludge removal device for an arc furnace, comprising: determining a position of the work opening after tilting with respect to a stationary coordinate system by coordinate transformation from specifications of the arc furnace, a tilting mechanism, and a tilting angle; Determining the direction of the work tool on a horizontal plane with respect to the stationary coordinate system by coordinate transformation from the specifications of the sludge removing device and the current position of each of the traveling and rotating mechanisms, and determining a perpendicular line near the work opening after the tilting, An arc furnace that determines the target position of the work tool under a constraint condition that the work tool is positioned intersecting the perpendicular line, and determines the operation amount of each of the traveling and turning FRi by inverse coordinate transformation of the target position. This is a method of controlling a slag removal device.

Here, regarding the process of determining a perpendicular line near the work opening after tilting, first, obtain a vertical cross section of the work opening in the front and back direction after tilting, obtain a horizontal line that cuts the vertical cross section at a horizontal plane of a constant height, The intersection between the horizontal line and the inner and outer wall surfaces of the work opening can be internally or externally divided, and can be determined as a perpendicular line passing through the internal or external dividing point, and in this case, the certain height can be set as It can also be automatically input as the current height of the bottom of the tip.

Second, find the vertical cross-section of the working opening in the front-rear direction when the arc furnace is in a horizontal position, and find the point at which a point at a certain height on the line of intersection between the vertical cross-section and the inner wall surface of the working opening moves after the arc furnace is tilted. is determined by coordinate transformation, and the intersecting point between the chain point and the horizontal line passing through the chain point and the outer wall surface of the working opening after tilting can be internally or externally divided, and determined as a perpendicular line passing through the internal or external division point. At this time, the predetermined height can also be automatically input as the height of the lower tip of the working tool when the arc furnace is in a horizontal position.

Thirdly, it can be automatically determined as a perpendicular line passing through the current position of the lower tip of one working tool.

Fourth, find the position of the lower tip of the working tool when the arc furnace is in a horizontal position, find the point where the lower tip moves after tilting the arc furnace by coordinate transformation, and define it as a perpendicular line passing through the chain point. Can be done.

Claim 12 is a method for controlling the sludge removal device for an arc furnace, wherein the control method is performed after the inner surface of an inverted cone of the arc furnace is tilted with respect to the stationary coordinate system by coordinate transformation from the specifications of the arc furnace, the tilting mechanism, and the tilting angle. Find the position of the elliptical hot water surface contour that intersects with the static coordinate system from the hot metal surface height after tilting the arc furnace, and when the target position of the tip of the work tool with respect to the static coordinate system is within the ellipse. This is a control method for an arc furnace slag removal device that allows only movement of working tools.

After obtaining the surface layer elliptical hot water surface profile, add and subtract the offset to the major axis and minor axis of the ellipse to obtain an offset ellipse having the added and subtracted major axis and minor axis, and then It is also possible to allow movement of the power tool only when the target position with respect to the coordinate system is within the offset ellipse.

A fourteenth aspect of the invention provides a method for controlling the slag removal device for an arc furnace, wherein the operation steps are controlled for each operation pattern so that the power tool operates according to an operation pattern consisting of one or more operation steps. The pump is stored in advance in a storage device in the control device, and operation steps are sequentially recalled from the storage device according to one or more operation patterns instructed when operating the sludge removal device, and the traveling, turning, expansion and contraction, and the like are performed according to the operation steps. This is a control method for an arc furnace slag removal device that automatically operates each elevation mechanism. In this case, a display/instruction device that displays the operation pattern and also serves as an instruction device can be provided in the control device.

Here, an attribute indicating a stop instruction is given to one or more of the operation steps constituting the operation pattern, and when each of the mechanisms is automatically operated, if the operation step has an attribute indicating a stop instruction, the automatic operation is canceled. And each of the above 11!
Lateral manual operation is allowed, and when a correction instruction is received, the target position of the stopped operation step is corrected to the current position of the power tool, and the subsequent operation steps are restarted and each of the above steps is performed. The mechanism can also be activated automatically.

Furthermore, an attribute indicating a shift instruction is given to one or more of the operation step knobs constituting the operation pattern, and when the correction instruction is given, the target position of the aborted operation step is corrected to the current position of the power tool. At the same time, the target position of the operation step having the same shift 1 to instruction as the stopped operation step is also shifted by the same amount as the shift amount of the corrected operation step, and after that, the subsequent operation steps are resumed and each PM$ ll can also be activated automatically.

At this time, the control device is provided with an operation mode select switch, and when the operation mode select switch is in the automatic mode, the attributes indicating the cancel instruction and the attribute indicating the shift instruction are ignored and each operation step...l is performed. It is also possible to execute the control sequentially and perform the above control when the operation mode select switch is in the correction mode.

[Example] First, an example of the slag removal device for an arc furnace according to claim 1, 2.3 or 4 of the present invention will be described based on the drawings. FIGS. 1 and 2 are a side view and a plan view, respectively, of an arc furnace and a sludge removal device, and the arc furnace is a cross-sectional view.

In the figure, the sludge removing device lOO is constructed as follows.

Reference numeral 2 denotes a trolley constructed of running wheels 10 running on rails 3 laid on the floor 1 so as to be able to run freely using running fins (not shown).
This is provided. The driver's cab 7 is mounted on the base 17, an operation panel 70 is attached, and the sludge removing device 100 is lifted.

The base rock 17 is provided with an upper arm 5 via a telescoping mechanism (not shown), and the upper arm 5 is provided with another telescoping mechanism (not shown).
A lower arm 18 is provided via a lower arm 18 (not shown), and a scraper support frame 6 is attached to the lower arm 18 via an elevating mechanism 19 centered around a pivot 20. A working tool 8 for performing slag removal, stirring, and other incidental operations is replaceably attached to the scraper support frame 6. Among the above-mentioned mechanisms, each of the traveling, turning, and extending/contracting mechanisms is driven by a hydraulic servo motor, and the elevating mechanism is driven by a hydraulic servo cylinder. In addition, the position of each i-structure is detected by the output from a hydraulic servo motor or a resolver integrated with a hydraulic servo cylinder6.As shown in FIG. The arc rack 22 of radius r (R=2r in this example) on the lower surface of the arc furnace is engaged and tilted by an attached linear actuator (not shown) 8! It is structured as follows. Due to this tilting, the position and angle of the working opening 15 of the arc furnace 4, which moves on the fixed arc rack, changes.

FIG. 3 is a diagram showing an example of the hardware configuration for controlling the sludge removal device 100, including an instruction device 69, an operation mode select switch 71. Modification execution button 72, start! ] 73, joystick 74, resolver 68, etc. are input to main control processor 50, common memory board 51, servo control processor 52, A/D conversion board 53, storage device 5
5.63- I10 board 57, calculation board 54.62
, a touch panel controller 58, a D/A conversion board 59, a parallel board 60, etc., and then delivered to a display device 66, a servo motor 67, etc.

The present slag removal device 100 is configured as described above, and for example, when performing sludge removal work, one working tool 8 is inserted into the furnace through the inclined work opening 15 of the arc furnace 11, and the slagging mechanism 4, the direction of the working tool 8 is determined, and the lower end 9 of the working tool 8 is operated by the telescoping action by the telescoping mechanism and the elevating action by the elevating device l119, and the surface 14 of the molten metal 12 is
The slag 13 floating on the surface is scraped out of the furnace through the work opening 15. During stirring work, use the traveling mechanism and turning fl! The direction of the working tool 8 is determined by t14, and the lower tip 9 of the working tool 8 is thrust into the molten metal 12 by raising and lowering 19, and the lower tip 9 of the working tool 8 is operated by the telescoping mechanism to stir the molten metal 12.

Note that the pushing operation to break up the pile of material that has already started melting to make it easier to melt, and the dropping operation to drop the remaining melted material that has adhered to the furnace wall can also be carried out in the same way as the above-mentioned stirring operation. The work of breaking up the slag stuck to the work opening bank after tapping the hot water can also be done using the present slag removing device 100 by replacing the air hammer 23 with a working tool 8a for slag breaking work, which does not have an air hammer 23 attached to the tip, as shown in Fig. 4. It can be carried out.

Next, as shown in FIG. 5, the work tool 8 can be rotatably attached to the scraper support frame 6 via the rotation mechanism 24 with the longitudinal direction of the work tool 8 as the rotation axis. Then, it is possible to perform an additive charging operation in which an alloy is added to the molten metal. That is, as shown in FIG. 6, the working tool is replaced with a working tool 8b for charging the additive material, the additive material 25 is placed on the working tool 8b, and the arc furnace 11 is
The additive material 25 can be dropped into the molten metal 12 by rotating the working tool at a rotation speed of M% horizontally 24. Similarly, for furnace wall repair work, replace the work tool for repair work (not shown), place the repair material on it, carry the repair material to the damaged area on the inner wall of the arc furnace, and use the rotation mechanism 24 to move the work tool. Repair work can be carried out by rotating and dropping the repair material onto the damaged area and pressing it down with the above-mentioned work tool.7 Next, as shown in FIG. A pair of guide rollers 36 are installed above and below the center of the arm 35.
．． 36, another guide roller 37 is attached to the upper surface of the rear end of the arm 35, and a guide groove 38 is formed on the upper surface of the front end of the arm 35? 139 may be provided,
With this configuration, as shown in FIG. 7, the oxygen blowing pipe 34 is guided into the molten metal 12 through a pair of upper and lower guide rollers 36, 36, another guide roller 37, and a guide groove 38, and oxygen is introduced into the molten metal 12. Can perform blowing work.

As described above, according to this slag removal device, it is possible to efficiently perform the various operations required for steel refining using an arc furnace, which were conventionally done manually, and it can also be used even when there is not enough free space above the work opening. You can perform various tasks such as slag removal.

Furthermore, since the arm of this embodiment is composed of an upper arm and a lower arm, it can have a large stroke and can be stored in a compact manner.

Next, the control method according to claim 5 will be explained.
The work tool is restrained and controlled so that it intersects with a perpendicular line set near the work opening to avoid collision between the work tool and both sides of the work mouth. It has nothing to do with the organization. In other words, even if the work tool expands and contracts, the positional relationship between the work tool and the work opening does not change, and the collision between the tip of the work tool and the inner wall of the arc furnace is resolved by the control method of claim 12. In addition, since the amount of elevation during work performed by the sludge removing device is limited, there is no need to consider collisions between the work tool and the upper and lower surfaces of the work opening. That is, the present claim is not intended to avoid collisions between the working tool and the upper and lower surfaces of the working opening.

However, as a slag removing device, in addition to constraining and controlling the horizontal direction of the work tool, it is generally necessary to operate the telescoping mechanism and the elevating mechanism as described in the operation of the sludge removing device. , in the following example, running, turning,
A case will be explained in which all mechanisms of expansion/contraction and elevation are controlled. However, regarding expansion/contraction and elevation, it is directly related to this claim (
2) It is clear that this is not the case, and therefore, in the following description, if one or both of the telescoping and elevating mechanisms are not operated, this may be another embodiment of the present claim.

First, based on the explanatory perspective view of FIG. 8, the process of determining the position of the work opening after tilting with respect to the stationary coordinate system by coordinate transformation from the specifications of the arc furnace, the tilting mechanism, and the tilting angle will be explained. This process is generally performed as follows by simultaneous conversion.

First, a rectangular coordinate system GAI is determined. However, i = 0 is a stationary coordinate system whose origin is the top of the rail, the front of the arc furnace, and the center line of the rail gauge, i = 1 is a coordinate system fixed on the central axis of the fixed arc rack, and 12 is the arc furnace tilting. When the angle is zero degrees, the coordinate system fixed on the central axis of the arc furnace tilting rack,
i=3 is GA2 after the arc furnace has rolled, and i=4 is the coordinate system at the conversion target position.

Next, if the rotation angle of the i-th coordinate system (the counterclockwise direction is positive when viewed from the positive direction of the rotation axis) is 01, θ is the arc furnace rolling angle. Also, GA expressed in the (i-1) coordinate system
The position vector Pa of + (origin) is P al = (
an, bo, co) = (0, bn, co)P az=
(at,b+.(1)=(0,O,R+r)P
aq= (a2.bz, c2)= (o, bz, c2
) P ila: (ai, I)s, ct).

Next, the A matrix representing the relationship between the i-th coordinate system and the (i+1)-th coordinate system is A 1 = T trans (an, bn, co) A
2 = T ranS (at, b+, c+) A I
= T trans (a2.bz, c2) Rot. (Xt
, θ3) A 4 = T trans(at, bq, cq
), and the lower matrix representing the position and orientation of an arbitrary location GA4 on the arc furnace viewed from the stationary coordinate GAo is "A l A
2AqA4, the lower matrix can be found from the condition that the lower surface of the arc furnace and the fixed arc rack are engaged and R=2r. In this embodiment, the following equation is obtained. Therefore, if the arc furnace transfer angle 03 is given, the position of any location on the arc furnace (for example, the working opening 15) can be recognized in the reference coordinate system. That is, in this embodiment, the locations of the squares of the work opening (points P+, Pz, Pt, and P4 in FIG. 12) on the longitudinal cross-section passing through the center of the work opening 15 in the longitudinal direction are set and stored in advance in the control device. It can be used with multiple arc furnaces by specifying the target furnace.

Further, the arc furnace transfer angle θ3 is manually input from the manipulated variable or directly input from the arc furnace transfer angle detector.

Next, we will explain the process of determining the direction of the work tool on the horizontal plane with respect to the stationary coordinate system by coordinate transformation from the specifications of the sludge removing device and the current positions of the traveling and rotating mechanisms. This process involves managing the position and orientation of the lower tip 9, so as mentioned earlier, this process involves running, turning,
Depending on the current position of all the telescoping and elevating mechanisms, this is generally done as follows.

That is, as shown in the explanatory diagram of FIG. 9, the rectangular coordinate system GJ
, is determined. However, i=0 is the reference stationary coordinate system, i=
1 is a coordinate system defined on the rotation axis and the height of the elevation axis, i = 2
is a coordinate system defined at the height of the elevation axis and at the center of the working tool and a position perpendicular to it and intersecting the rotation axis, and i=3 is a coordinate system defined on the elevation axis.

i=4 is a coordinate system set on the work tool mounting surface, and i-5 is a coordinate system set on the lower end 9 of the work tool, which is the conversion target position.

Thereafter, the T matrix can be obtained in the same manner as described above, and in addition to the specifications of the sludge removal device, the joint variables xo (travel axis traveling amount), y2 (extension/contraction amount of the telescopic axis), and θ. (swivel axis rotation angle)
and θ. (rotation angle of the elevation axis), the position and orientation of the lower tip 9 of one working tool can be managed in the reference coordinate system, and the direction of the working tool 8 on the horizontal plane can also be recognized. That is, by performing coordinate transformation using the current values input from the resolver as joint variables in the order shown in FIG. 11, the current position is obtained as the starting point Ps.

Next, a perpendicular line 32 (FIG. 12) is established near the working opening after the arc furnace is tilted. Here, this perpendicular line means that the perpendicular line intersects with the work tool 8, that is, the perpendicular line crosses the work tool 8.
Since the direction of the working tool 8 is restricted so that it is included in the vertical plane of the longitudinal section of Preferably, it is slightly inside B or the outer wall surface 3 than the inner wall surface 30.
It is also possible to set C slightly outside of 1. In other words, in this specification, "defining a perpendicular line near the working opening" refers to the distance A between the inner wall surface 30 and the outer wall surface 31 of the working opening, or the distance C slightly inside mB from the inner wall surface 30, or slightly outside C from the outer wall surface 31. It means to set a perpendicular line to .

Furthermore, in this embodiment, the perpendicular line 32 is determined not by determining the x, y coordinates in the stationary coordinate system (but by determining the x, y, z coordinates, and by determining the target position of the work tool in the next step) In the process, two coordinates are ignored.The point defined by the x, y, and z coordinates is called a constraint point Pc.

Next, the process of determining the target position of the working tool 8 under the constraint that the working tool 8 is positioned intersecting the perpendicular line 32 will be explained based on FIG. 11.

In the case of manual operation, the position increment amount δX, δ of the lower part 9 of the tip of the power tool corresponds to the speed in the x, y, and z directions instructed by the operator using the tilt angle of the joystick 74 attached to the operator's cab operation variable.
y, δZ, and in my case, calculate the position increment of the lower part 9 of the tip of the working tool from the position of the teaching data stored in the main controller and the command speed, and calculate the current position of the lower part 9 of the tip of the working tool that has already been found. The target position data of the lower part 9 of the tip of the power tool is obtained by adding the position increment amount to Ps. Next, a target turning angle of the power tool 8 is determined from the target position data and the position of the restraint point Pc, ignoring the two-seat drift, and target attitude data is created from this target turning angle. Target data P[ of the lower part 9 of the tip of the working tool is created from the obtained target position data.

If the work tool has not passed through the restraint point Pc before starting the restraint operation, the horizontal direction of the work tool is gradually changed and moved so that one work tool passes through the restraint point Pc, and the posture is controlled before performing the above process. I do.

Next, the target data Pf of the work tool is transformed into inverse coordinates, and the tool is driven.
The process of determining the amount of operation of each mechanism of rotation, extension and contraction, and elevation and elevation will be explained based on FIG. 11. The starting point Ps, which is the position and orientation of the lower tip 9 of the work tool, has already been determined by the leap variables Xr) (traveling axis travel distance), y2 (extension and contraction amount of the telescopic axis), θ1 (swivel axis rotation angle), and θ. (rotation angle of the elevation axis), the joint variable , y2.01 and θ3 can be determined. From this target value and the current value detected by the resolver, the operation amount to the servo amplifier is calculated and delivered to the servo amplifier to drive the servo motor or servo cylinder.

As described above, the turning angle is determined so that the work tool passes through the constraint point, and the target data is created from that turning angle, so the joint variables obtained by inverse coordinate transformation are always the turning angle that passes through the constraint point7. Even if the lower part 9 of the working tool tip is freely moved three-dimensionally, the working tool 8 moves across the perpendicular line 32 passing through the restraint point Pc, and removes slag without colliding with both sides of the arc furnace working opening 15. Several more specific methods will be described regarding the step of defining a perpendicular line 32 near the sixth working opening where stirring and other operations can be performed.

As a first method, first, as shown in FIG. 12, the vertical cross section of the working opening after tilting is determined in the front and back direction. As long as the arc furnace is symmetrical, it is naturally preferable to place this vertical section in the center of the work opening. . Although this constant height H is arbitrary, since the working opening is inclined, the ratio of the next internal division or external division will differ depending on the height H. Next, a point obtained by internally or externally dividing the intersection point PB between the horizontal line and the inner wall surface 30 of the work opening and the intersection point Pa with the outer wall surface 31 is set as a constraint point Pc, and the perpendicular line 32 to be found is defined as a perpendicular line passing through the constraint point Pc. stipulate. The internal division corresponds to A in FIG. 10, and the external division corresponds to B or C in the same figure.

Generally, it is preferable to cut at the horizontal line of the bank height, that is, the height of the inner wall of the work opening, and divide it into 1.1 parts. Joint variable X as current height. , y2, θ1 and θ
It is also possible to automatically input the starting point Ps obtained from the current value of No. 3, which is effective when the bank height changes for each melting batch.

The second method is to obtain the vertical cross section of the working opening in the front-rear direction when the arc furnace is in a horizontal position, and to combine the vertical cross section with the working opening inner wall surface 30'(' indicates a tilting mower; the same applies hereinafter).
The point pb at a constant height H' located on the line of intersection with the arc furnace is determined by coordinate transformation, and
Find the intersection point Pa between the horizontal line passing through b and the outer wall surface 31 of the work opening after tilting, divide the points pb and Pa internally or externally, and use the internal or external division point as the constraint point Pc to draw a perpendicular line. can be determined. According to such a method, the perpendicular line automatically moves according to changes in the arc furnace tilting angle. It can also be automatically input as the height of ゛, which is effective when it is difficult to see inside the work opening.

In other words, the method of setting in the horizontal position is effective when the natural flow of slag begins after tilting and the bank becomes invisible.

As a third method, a perpendicular line can be automatically determined by using the current position of the lower tip 9 of the power tool that has been visually positioned at the work opening as a constraint point Pc, without depending on the tilting angle data of the arc furnace. As method 4, find the position of the lower tip 9' of the working tool when the arc furnace is in a horizontal position, 2 find the point where the lower tip 9' moves after the arc furnace is tilted, and calculate the compensation. A perpendicular line can also be defined as the constraint point Pc. When using this method, the location of the perpendicular line can be visually confirmed.

Next, a method for obtaining the twelfth aspect will be explained. As shown in FIG. 13, the inner surface of the inverted truncated cone of the arc furnace is cut in a longitudinal section in the longitudinal direction passing through the center of the arc furnace, and the squares Q+, Q2. Q3. Q4 is selected as the key point of the shape inside the arc furnace, and the squares Q+ and Qz. (b, find the position of Qa with respect to the origin of the arc furnace, and from this position and the tilting angle θ1, use the coordinate transformation of the above formula 0 to find the positions of squares Q+, Q2.Qq, Qa after tilting with respect to the stationary coordinate system, Find the position of the inner surface of the inverted cone of the arc furnace after tilting.

Next, the straight line Q1 on the work opening side of the square after tilting. Intersection point Qa between Q2 and the hot water level height h after tilting, and m-side straight lines Qs, Q
Find the intersection Qb between a and the hot water level height h, and find the midpoint Qc between Qa and Qb. In this way, the hot water surface contour regarding the stationary coordinate system after tilting has its center at Qc and the length of its major axis is the line segment Qa.
It is determined as an ellipse whose length is equal to the length of Qb and whose minor axis is equal to the diameter of a circular cross section obtained by cutting an inverted conical truncated arc furnace along a plane perpendicular to the axis and passing through point Qc.

Thereafter, it is checked whether the target position of the tip of the work tool to be moved manually or automatically with respect to the stationary coordinate system is within the ellipse, and if it is within the ellipse, the work tool is allowed to move; When not in use, the movement of the working tool is prevented, and the collision between the leading end of the working tool and the inner wall of the arc furnace is thus avoided by the control method of the present invention.

Note that the squares Q+, Q2. (h,
After determining the elliptical hot water surface contour taking into account the accuracy of the position of Q4 and the overrun of movement of one working tool, add and subtract an offset to the major axis and minor axis of the ellipse, and calculate the added and subtracted major axis and minor axis. It is also possible to determine an offset ellipse having a radius and then allow movement of the power tool only when the target position of the power tool tip with respect to the stationary coordinate system lies within the offset ellipse.

Next, the control method according to claim 14 will be explained. FIG. 14 shows an example of the movement pattern of the tip of the work tool in the sludge removal work, and shows an example of the movement pattern of the tip of the work tool in the 151121+, tm stirring work. 102, an operation step 103 is defined. For example, the fifth pattern in the sludge removal work includes a first step in which the tip of the work tool is moved to point P51, a second step in which it is moved from point P5 to point pq2, and a third step in which it is moved from point P5□ to point P'ii. step, and a fourth step to move from point P%N to point P,4.
The operation pattern and the operation steps are stored in advance in the storage device in the control device in the format shown in FIG. 19. That is, for example, the MOVE of the third step of the fifth pattern moves approximately 1200 mm/s to point P'i'4.
It means a movement command to move at a speed of ec. It is desirable to prepare as many operation patterns as are necessary to cover the entire hot water surface during the slag removal work.

Next, when operating the sludge removing device, the system waits for one or more operation patterns to be instructed by the operator. For example, the operator can input a desired operation pattern using a numeric keypad provided in the control device while referring to a diagram illustrating all operation patterns, but in this embodiment, as shown in FIG. A display device 66 for displaying patterns is provided in the control device, and this display device 66 uses a touch panel that also serves as an instruction device 69 for receiving and receiving instructions from an operator. The figure shows a display example of operation patterns in the slag removal work, in which a hot water surface contour display 101 corresponding to the hot water surface contour and an operation pattern display 104 corresponding to each operation pattern 102 are displayed. Further, FIG. 17 shows an example of display during stirring work, in which reference numeral 105 indicates an electrode rod, and the operation pattern for stirring work is determined so as not to interfere with the electrode rod.

Next, the operation steps are sequentially recalled from the storage device according to one or more instructed operation patterns, and the data of the operation steps are transferred to the servo system to automatically operate the traveling, turning, extending/contracting, and elevating mechanisms. A flowchart of the above control method is shown in FIG.

In this way, according to this control method, the difficulty in manually operating the sludge removal device to perform sludge removal and stirring work is solved at once, and the sludge removal and stirring work can be performed extremely simply and accurately. can do. Furthermore, unnecessary operations or lack of work that can occur when operating a power tool according to a pre-fixed sequence or according to a pre-taught pattern, regardless of the presence or absence of slug, etc., are avoided, and unnecessary operations are avoided. The user can operate the desired location as many times as necessary, thus completing the desired task in the most efficient manner.

Next, in the above control method, an attribute indicating a stop instruction is given to one or more of each operation step constituting the operation pattern. In this embodiment, as shown in FIG. 19, commands indicating movement instructions are stored in the format MOVE.
For the second step of the fifth pattern, an attribute S indicating a cancellation instruction is added, and the format is MOVE-S.

After that, when each of the mechanisms is automatically operated according to the fifth pattern, the automatic operation is canceled when the second step having the attribute S indicating a cancellation instruction is reached, and therefore the tip of the power tool is placed at the point P%2. Then, manual operation of each mechanism is allowed, and the operator can visually move the tip of the working tool to a point P%2A closer to the furnace inner wall 16, as shown in FIG. 18, for example. can.

Next, when the correction execution button 72 indicating a correction instruction is pressed, the current position P, 2A of the power tool is reverse coordinate transformed, the target position of the second step is corrected to that position, and the start button 73 is pressed.
When pressed, the third and subsequent steps are restarted and each of the above! Automatically activate P1 structure.

When the fifth pattern is then executed again, execution of the second step moves the power tool to the corrected point P52A and stops to allow another correction.

Therefore, as shown in FIG.
f = A mode select switch 71 is provided to enable such correction when the operation mode select switch 71 is in the correction mode, and to ignore the attribute S indicating a cancellation instruction when the operation mode select switch 71 is in the automatic mode. Then, when the fifth pattern is re-executed, the working tool moves to the corrected point P42A in the second step, but does not stop, which is preferable because the slag removal or stirring work can be performed continuously. A flowchart of the above control method is shown in FIG.

As described above, fine adjustment of the sludge removal/agitation position can be easily and quickly achieved by the present control method.

In other words, in the control method of claim 14, it is possible to obtain only an operation pattern that always takes into account safety by taking into account the accuracy of the position of the furnace wall, the overrun of work tools, etc. Although there is still a possibility that the work will not be possible, this control method will allow the trajectory to be easily corrected to the position where the work is required. Furthermore, if the slag cannot be removed in one slag removal or if you plan to perform multiple stirrings, you can omit the subsequent trajectory correction work by simply making the necessary corrections in the first operation. , rapid sludge removal and stirring work can be achieved.

Next, the second step is given an attribute S indicating a cancellation instruction.
As shown in FIG. 19, an attribute 84 indicating a shift instruction is given, and the same attribute 85 as the attribute 84 is given to the first step. When each of the mechanisms is automatically operated according to the fifth pattern, when the second step having the attribute S indicating a cancellation instruction is reached, the automatic operation is canceled in the same manner as above, and therefore the tip of the power tool is set at the point P. , 2, manual operation of each mechanism is allowed, and the operator visually moves the tip of the tool to a point P, 2A closer to the furnace inner wall 16, as shown in FIG. It can be moved.

Next, when the correction execution button 72 indicating a correction instruction is pressed, the target position of the second step is corrected from P5□ to the current position of the power tool P%2A, and an operation having the same shift instruction as the second step is performed. The step is searched and the target position of the first step having the shift instruction is also shifted by the same amount vectorwise as the shift from P,2 to P=,□, that is, in the same direction and by the same amount. When the start button 73 is pressed after correcting pq+A, the third and subsequent steps are restarted to automatically operate each W% side. However, in this embodiment, as shown in FIG. 19, in addition to the attribute 85 indicating a shift instruction, the first step to be modified in conjunction with each other is given an attribute SA indicating that it is a linked step. , which makes it convenient for searching.

When the fifth pattern is then executed again, the execution of the first step moves the work tool to the corrected point pq+A, and the execution of the second step moves the work tool to the corrected point P%2A and stops. This allows you to make corrections again. Therefore, an operation mode select switch 71 is provided in the control device, and when the operation mode select switch 71 is in the correction mode, such correction is possible, and when the operation mode select switch 71 is in the automatic mode, an attribute S indicating a cancellation instruction is provided. If attributes 84 and 85 indicating shift instructions are ignored, when the fifth pattern is re-executed, the work tool will not stop due to the execution of the second step, and the sludge removal or stirring work will continue. FIG. 20 shows a flowchart of six or more preferred control methods.

As described above, according to the present control method, when the same vectorial correction is to be made, it is not necessary to make the correction for each operation step, and a rapid trajectory correction can be achieved.

[Effects of the Invention] With the sludge removal apparatus according to claims 1 to 4, various operations such as slag removal work required for steel refining using an arc furnace can be performed efficiently.

By the control method of claims 5 to 11, the problem of collision between the working tool inserted into the arc furnace and the arc furnace working opening can be easily and reliably avoided, and therefore the slag floating on the surface of the molten metal in the arc furnace can be removed and the molten metal can be removed. Stirring or other incidental work can be performed easily and in a short time.

By the control method according to claim 12 or 13, the collision between the tip of the working tool and the inner wall of the arc furnace is avoided.6 By the control method according to claim 14, the sludge removing device is manually operated to remove the sludge.
The difficulty of maneuvering when performing stirring work has been solved all at once.
It is possible to carry out the sludge removal and agitation work extremely easily and accurately, and also to operate the necessary parts as many times as necessary, so that the desired work can be completed in the most efficient manner.

By the control method of claim 16, the fine adjustment of the 2. sludge removal/stirring position can be easily and quickly achieved, and it can also be used when slag cannot be removed by one slag removal or when stirring is performed multiple times. When doing so, you can omit subsequent trajectory correction work by simply making the necessary corrections during the first operation.
Rapid sludge removal and stirring work can be achieved.

According to the control method of claim 17, when the same vectorial correction is to be made, it is not necessary to make the correction for each operation step, and rapid trajectory correction can be achieved.

[Brief explanation of the drawing]

Figures 1 and 2 are a side view and a plan view, respectively, of an example of an arc furnace and a slag removal device, with the arc furnace showing a cross section, and Figure 3 is a hardware configuration for controlling the sludge removal device. A block diagram showing an example, FIG. 5 is a vertical cross-sectional view showing another embodiment of the present slag removing device, and FIGS. 4.6 and 7 show slag breaking work and additive material charging work, respectively, by this slag removing device. FIG. 8, an explanatory diagram when performing oxygen blowing work, is a process of determining the position and orientation of any location of the arc furnace between the stationary coordinate system by coordinate transformation from the specifications of the arc furnace, the tilting mechanism, and the tilting angle. 9 is an explanatory diagram of the process of determining the position and orientation of the lower part of the tip of the working tool with respect to the stationary coordinate system by coordinate transformation from the specifications of the sludge removing device and the current position of each mechanism, and FIG. FIG. 11 is an explanatory diagram showing the operation of the power tool controlled by the control method of claim 5.
FIG. 12 is an explanatory diagram showing one method of determining a constraint point; FIG. 13 is an explanatory diagram of the control method according to claim 12; FIGS. 14 and 15 are respectively FIG. 16 is a diagram showing an example of the movement pattern of the tip of a working tool in sludge removal work and stirring work, FIG. FIG. 18 is an explanatory diagram of the control method according to claims 16 and 17, FIG. 19 is a diagram showing a storage format of operation patterns and operation steps, and FIG. 20 is a diagram showing a display example. 21 is a side view showing a conventional example.

Claims (1)

[Claims] (1) A trolley is movably arranged on a rail laid facing the working opening of the arc furnace body, a base is rotatably mounted on the trolley, and an arm is mounted on the base. A scraper support frame is attached to the arm so as to be extendable and retractable, a scraper support frame is attached to the scraper support frame so as to be replaceable, and a control device is provided for controlling each of the traveling, turning, telescoping, and tilting mechanisms. Slag removal equipment for arc furnaces. (2) The slag removal device for an arc furnace according to claim 1, wherein the arm comprises an upper arm telescopically attached to the base and a lower arm telescopically attached to the upper arm. (3) The slag removal device for an arc furnace according to claim 1 or 2, wherein the working tool is rotatably attached to the scraper support frame with the longitudinal direction of the working tool being a rotation axis. (4) Attach an arm for feeding the pipe to the base so that it can be raised and raised freely, and attach a pair of guide rollers above and below the center of the arm,
4. The slag removal device for an arc furnace according to claim 1, further comprising a pipe feeding mechanism in which another guide roller is attached to the upper surface of the rear end of the arm, and a guide groove is formed in the upper surface of the front end of the arm. (5) A method for controlling an arc furnace slag removal device according to claim 1, 2, 3, or 4, wherein the work opening is related to a stationary coordinate system by coordinate transformation from the specifications of the arc furnace, the tilting mechanism, and the tilting angle. The position after the tilting is determined, and the direction of the work tool on the horizontal plane with respect to the stationary coordinate system is determined by coordinate transformation from the specifications of the sludge removal device and the current positions of the traveling and rotating mechanisms, A perpendicular line is defined near the work opening, a target position of the work tool is determined under the constraint condition that the work tool is positioned intersecting the perpendicular line, and the target position is inverse coordinate transformed to determine each of the traveling and turning operations. A control method for an arc furnace slag removal device that determines the operating amount of the mechanism. (6) The step of determining the perpendicular line in the vicinity of the work opening after tilting involves determining a vertical cross section of the work opening after tilting, determining a horizontal line by cutting the vertical cross section at a horizontal plane of a constant height, and determining the horizontal line. The control of the sludge removal device for an arc furnace according to claim 5, wherein the intersection point between the inner wall surface and the outer wall surface of the working opening is divided internally or externally, and the point is defined as a perpendicular line passing through the internal dividing point or the external dividing point. Method. (7) The method for controlling an arc furnace slag removal device according to claim 6, wherein the constant height is automatically input as the current height of the lower tip of the working tool. (8) The step of determining the perpendicular line near the working opening after tilting involves determining the vertical cross-section of the working opening in the front-rear direction when the arc furnace is in a horizontal position, and drawing the perpendicular line on the line of intersection between the vertical cross-section and the inner wall surface of the working opening. Find the point at which a point at a certain height moves after tilting the arc furnace by coordinate transformation, and internally or externally divide this point and the intersection of the horizontal line passing through this point and the outer wall surface of the working opening after tilting, Claim 5 is defined as a perpendicular line passing through the internal dividing point or external dividing point.
A method of controlling the slag removal device for an arc furnace described above. (9) The method for controlling an arc furnace slag removal device according to claim 8, wherein the fixed height is automatically input as the height of the lower tip of the working tool when the arc furnace is in a horizontal position. (10) The control of the sludge removal device for an arc furnace according to claim 5, wherein the step of determining the perpendicular line near the work opening after the tilting is automatically determined as a perpendicular line passing through the current position of the lower tip of the working tool. Method. (11) The step of determining the perpendicular line near the work opening after tilting involves determining the position of the lower tip of the working tool when the arc furnace is in a horizontal position, and determining the point at which the lower tip of the tool changes after tilting the arc furnace. 6. The method of controlling an arc furnace sludge removal device according to claim 5, wherein is determined by coordinate transformation and is determined as a perpendicular line passing through the point. (12) A method for controlling an arc furnace slag removal device according to claim 1, 2, 3, or 4, wherein the arc furnace is controlled with respect to a stationary coordinate system by coordinate transformation from the specifications of the arc furnace, the tilting mechanism, and the tilting angle. The position of the inner surface of the inverted truncated cone after tilting is determined, and the position of the elliptical hot water surface contour with respect to the static coordinate system is determined from the height of the hot water level after tilting of the arc furnace, and the target position of the tip of the work tool with respect to the static coordinate system is A control method for an arc furnace slag removal device that allows movement of a working tool only when it is within an ellipse. (13) After determining the elliptical hot water surface contour, add or subtract an offset to the major axis and minor axis of the ellipse, determine an offset ellipse having the added and subtracted major axis and minor axis, and calculate the stationary coordinate system of the tip of the power tool. 13. The method of controlling an arc furnace slag removal device according to claim 12, wherein movement of the working tool is permitted only when a target position for the offset ellipse is within the offset ellipse. (14) A method for controlling an arc furnace slag removal device according to claim 1, 2, 3, or 4, wherein each operation pattern is controlled so that a power tool operates according to an operation pattern consisting of one or more operation steps. The operation steps are stored in advance in a storage device within the control device, and the corresponding operation steps are sequentially recalled from the storage device according to one or more operation patterns instructed when operating the sludge removal device, and the operation steps are performed according to the operation steps. A method for controlling an arc furnace sludge removal device that automatically operates rotation, expansion/contraction, and elevation mechanisms. (15) A display that displays a predetermined movement pattern according to which the work tool moves and also serves as an instruction device.
5. The slag removal device for an arc furnace according to claim 1, wherein an indicating device is provided within the control device. (16) An attribute indicating a stop instruction is assigned to one or more of the operation steps constituting the operation pattern, and when the operation step has an attribute indicating a stop instruction when each mechanism is automatically operated, the automatic operation is not performed. The operation step is stopped to allow manual operation of each of the mechanisms, and when a correction instruction is given, the target position of the canceled operation step is corrected to the current position of the power tool, and after that, the subsequent operation steps are restarted. 15. The method for controlling an arc furnace slag removal device according to claim 14, wherein each mechanism is automatically operated. (17) Adding an attribute indicating a shift instruction to one or more of each operation step constituting the operation pattern, and when the correction instruction is given, correcting the target position of the canceled operation step to the current position of the power tool. At the same time, the target position of the movement step having the same shift instruction as the stopped movement step is also shifted by the same amount as the shift amount of the stopped movement step, and then the subsequent movement steps are resumed to automatically operate each of the mechanisms. 17. The method of controlling an arc furnace slag removal device according to claim 16. (18) The control device is provided with an operation mode select switch, and when the operation mode select switch is in automatic mode, the operation steps are executed sequentially, ignoring the attribute indicating the stop instruction and the attribute indicating the shift instruction. 18. The method of controlling an arc furnace sludge remover according to claim 16 or 17, wherein the control is performed when the operation mode select switch is in the correction mode.