CN114178494A - Centering precision supplementing method based on continuous casting crystallizer centering automatic detection device - Google Patents
Centering precision supplementing method based on continuous casting crystallizer centering automatic detection device Download PDFInfo
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- CN114178494A CN114178494A CN202010964143.XA CN202010964143A CN114178494A CN 114178494 A CN114178494 A CN 114178494A CN 202010964143 A CN202010964143 A CN 202010964143A CN 114178494 A CN114178494 A CN 114178494A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/04—Continuous casting of metals, i.e. casting in indefinite lengths into open-ended moulds
- B22D11/057—Manufacturing or calibrating the moulds
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/08—Accessories for starting the casting procedure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D2/00—Arrangement of indicating or measuring devices, e.g. for temperature or viscosity of the fused mass
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Abstract
The invention discloses a centering precision supplementing method based on a continuous casting crystallizer centering automatic detection device, which comprises the steps of flexible track positioning deflection compensation; the flexible track positioning deflection compensation comprises the steps of measuring an included angle alpha between an actual travelling line of the detection unit along the flexible track and a perpendicular bisector of the crystallizer by using an inclinometer; and respectively measuring the distance to the outer arc copper plate and the distance to the inner arc copper plate by using two laser range finders, and obtaining an outer arc copper plate side deviation correction result and an inner arc copper plate side deviation correction result through compensation calculation. The invention further analyzes the data and the data waveform collected by the automatic detection device in the centering of the continuous casting crystallizer, filters the fluctuation influencing the data, and carries out compensation calculation according to the waveform to obtain data closer to reality.
Description
Technical Field
The invention relates to the technical field of continuous casting automatic detection, in particular to a centering precision supplementing method based on a continuous casting crystallizer centering automatic detection device.
Background
With the continuous development of continuous casting technology, the continuous improvement of the product quality requirement of the steel market and the requirements of steel mills on improving efficiency and controlling cost, domestic and foreign related enterprises pay more and more attention to the radian of the slab caster. The traditional precision of the crystallizer and the support guide section of the casting machine is consistent with the precision requirement of other areas, the deviation is less than +/-0.5 mm, and some enterprises improve the precision to be less than +/-0.3 mm or even higher according to the quality control requirement. Meanwhile, the continuous casting technology represented by the austenitic steel union specially explores and improves the fixed structure of the supporting and guiding section of the casting machine and the arc alignment adjusting structure of the crystallizer, so that arc alignment deviation can be adjusted more quickly.
At present, several forms such as linear arc plates (different in shape and consistent in principle and used for detecting the arc connection between a foot roller and a support guide section of the crystallizer), integral long arc gauge plates (basically consistent in shape and represented by Nissian iron and used for detecting the arc connection between the foot roller, the support guide section and the arc section of the crystallizer) and a level meter type arc-alignment measuring tool (represented by an Austenite steel union and used for detecting the arc connection between the foot roller and the support guide section) are adopted at home and abroad. Besides, the multifunctional diagnostic apparatus is used as an auxiliary tool (Germany: VEGARD UK: SARCLAD, Korea: POWER, etc.) for the arc precision trend management of the casting machine, and has no reference value for measuring the arc precision between the crystallizer and the branch section (mainly, at the moment, the expansion spring plate of the multifunctional diagnostic apparatus is not expanded, the equipment is in an unstable state, and data are not detected generally).
Please refer to fig. 1, the automatic centering detection device for the continuous casting mold comprises a driving mechanism 1, the bottom of the driving mechanism 1 is connected with a guiding frame 3 and four supporting feet 4 with internal threads through a fixing plate 2, the four supporting feet 4 with internal threads are all provided with screw supporting feet 5, and the screw supporting feet 5 are all provided with adjusting bolts 6. Four buffer tensioning springs 7 are arranged between the fixed plate 2 and the driving mechanism 1, and a limit switch 8 is further arranged on the upper surface of the fixed plate 2. The bottom of the driving mechanism 1 is connected with a detection unit 10 through a detection unit upgrading steel wire rope 9, when the continuous casting crystallizer centering automatic detection device is in a non-working state, the detection unit upgrading steel wire rope 9 is tightened, the detection unit 10 is recovered in the guide frame 3, and the detection unit 10 is provided with an inclinometer 18 and two laser range finders which are symmetrically arranged. The bottom of the driving mechanism 1 is connected with a detection base 12 through two walking track steel wire ropes 11.
Referring to fig. 2, the detection unit 10 runs along the flexible track formed by two tight steel cables 11 of the running track through a stable running structure disposed inside the detection unit. The walking stabilizing structure comprises four pulleys 13 directly arranged on a bottom plate of the detection unit 10, a groove with the same diameter as the walking rail steel wire rope 11 is formed in each pulley 13, the tangent angle of the pulley and the walking rail steel wire rope 11 is controlled to be between-2 and +2, a roller bearing 14 is arranged at the end part of a spring plate 15, the spring plate 15 is fixed by a spring plate mounting bottom plate 16, an adjusting bolt 17 is arranged on the spring plate 15 close to the outer edge side of the detection unit 10, the roller bearing 14 is enabled to be pressed in the groove of the pulley 13 all the time by adjusting the adjusting bolt 17, and the walking rail steel wire rope 11 is prevented from being out of the groove or shaking caused by gaps when the detection unit 10 walks. All the settings on the detection unit 10 are symmetrically distributed along the two sides of the vertical line of the detection unit lifting steel wire rope 9, the inclinometer 18 and the signal acquisition unit 19 are installed on the vertical line, meanwhile, the installation bottom plate passing through the signal acquisition unit 19 is designed into a slot 20 and is fixed by a fixing bolt 21, so that the vertical and left and right gravity center positions of the whole detection unit 10 are finely adjusted, the stability of the vertical operation of the detection unit 10 is ensured, and the detection precision of centering detection is improved.
Referring to fig. 1 and 3, after four screw supporting feet 5 of the automatic detection device for centering of the continuous casting crystallizer are placed at a detection position I23 of an upper opening plane 22 of the crystallizer, the screw supporting feet 5 arranged in the internal thread supporting feet 4 are adjusted by adjusting bolts 6 to enable the fixed plate 2 and the driving mechanism 1 to be basically horizontal, then the guide frame 3 is abutted against an outer arc copper plate 24 or an inner arc copper plate 25 of the crystallizer, a connecting line formed by a walking track steel wire rope 11 and a detection unit upgrading steel wire rope 9 is basically vertical to the outer arc copper plate 24 or the inner arc copper plate 25, then the driving mechanism 1 is started, the walking track steel wire rope 11 is put down to the lower part of a target detection range length (namely supporting a guide roller 26), after a detection base 12 is unfolded, the walking track steel wire rope 11 is tightened until any limit switch 8 is triggered, at the moment, four buffer tensioning springs 7 tighten the walking track steel wire rope 11 to form a flexible track, the detection unit 10 runs to the detection position II 27 and the detection position III 28 along the flexible track to perform centering detection.
The automatic centering detection device for the continuous casting crystallizer adopting the flexible traveling track is limited by the characteristics of the automatic centering detection device and is influenced by external factors, micro-jitter can occur in the detection process, and the measurement precision is influenced to a certain extent. Therefore, a centering precision compensation algorithm based on the continuous casting crystallizer centering automatic detection device is particularly necessary.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a centering precision supplementing method based on an automatic detection device for centering a continuous casting crystallizer, which is used for further analyzing data and data waveforms collected by the automatic detection device for centering the continuous casting crystallizer, filtering fluctuation influencing the data, and performing compensation calculation according to the waveforms to obtain data closer to reality.
In order to achieve the purpose, the invention adopts the following technical scheme:
a centering precision supplementing method based on a continuous casting crystallizer centering automatic detection device comprises flexible track positioning deflection compensation;
the flexible track positioning deflection compensation comprises the steps of measuring an included angle alpha between an actual travelling line of the detection unit along the flexible track and a perpendicular bisector of the crystallizer by using an inclinometer;
and respectively measuring the distance to the outer arc copper plate and the distance to the inner arc copper plate by using two laser range finders, and obtaining an outer arc copper plate side deviation correction result and an inner arc copper plate side deviation correction result through compensation calculation.
Preferably, the compensation calculation further comprises:
when the included angle α is 0, the two laser distance meters respectively measure a distance D1 from the outer arc copper plate and a distance D2 from the inner arc copper plate, a central point of a connecting line between the two laser distance meters is overlapped with the perpendicular bisector of the crystallizer, a distance D from the outer arc copper plate to the inner arc copper plate is D1+ D2+ D0, and D0 is a distance of the connecting line between the two laser distance meters;
when the included angle α ≠ 0, the two laser range finders respectively measure the distance D1 'to the outer arc copper plate and the distance D2' to the inner arc copper plate, the distance D1 to the outer arc copper plate and the distance D2 to the inner arc copper plate are obtained by calculating a trigonometric function relationship, the distance between the center point of the connecting line between the two laser range finders and the perpendicular bisector of the crystallizer is calculated by calculating a trigonometric function relationship to obtain D01, namely, the detection value along the corrected perpendicular bisector of the crystallizer is divided into:
the correction result of the lateral deviation of the outer arc copper plate is as follows: d1+ D0/2+ D01;
the correction result of the inner arc copper plate side deviation is as follows: dn is D2+ D0/2+ D01.
Preferably, the method further comprises flexible track micro-jitter compensation, and based on the result of the flexible track positioning deflection compensation, the Dw and the Dn are further corrected.
Preferably, the flexible track micro jitter compensation further comprises:
and comparing the synchronous detection results of the two laser range finders with the detection value at the same time, and calculating the shaking deviation amount d02 to be (d2-d1)/2, wherein the detection result after the shaking deviation correction is as follows:
the correction result of the side shaking deviation of the outer arc copper plate is as follows: dw' ═ Dw + d 02;
the correction result of the inner arc copper plate side shaking deviation is as follows: dn' ═ Dn + d 02.
The centering precision supplementing method based on the automatic centering detection device of the continuous casting crystallizer provided by the invention can efficiently and accurately give the centering precision of the wide-surface copper plate, the foot roller and the supporting guide roller of the crystallizer, so as to guide the centering adjustment of the crystallizer and the quality analysis of various slab surface defects, the actual detection precision deviation is less than or equal to 0.1mm, and a reliable basis is provided for the control of the production quality of a casting machine and the improvement of the service life of crystallizer equipment.
Drawings
FIG. 1 is a schematic structural diagram of an automatic detection device for centering of a continuous casting crystallizer;
FIG. 2 is a schematic structural diagram of a detection unit in the automatic detection device for centering of the continuous casting mold;
FIG. 3 is a schematic diagram showing the relationship between the automatic detection device for continuous casting mold centering and the inner and outer arc copper plates of the mold;
FIG. 4 is a schematic diagram of the physical quantity identification of the flexible track positioning deflection compensation in the centering accuracy supplementing method of the present invention;
fig. 5 is a waveform diagram actually detected by the laser range finder.
Detailed Description
The technical scheme of the invention is further explained by combining the drawings and the embodiment.
The invention provides a centering precision supplementing method based on a continuous casting crystallizer centering automatic detection device, wherein the continuous casting crystallizer centering automatic detection device can be interfered by various factors in the detection process to cause measurement result deviation, and the main method is 1) micro deflection of a flexible track in the positioning process; 2) and micro-jitter of the flexible track in the running process.
Referring to fig. 1 to 3 and fig. 4, the flexible rail positioning deflection compensation of the automatic detection device for continuous casting mold centering is performed:
after the flexible track of the automatic detection device for centering the continuous casting crystallizer is positioned, an included angle alpha between an actual running line 100 of the detection unit 10 along the flexible track and a perpendicular bisector 200 of the crystallizer is measured by using an inclinometer 18, and the distance from the inclinometer 18 to each detection position (a detection position I23, a detection position II 27 and a detection position III 28) is a fixed value L.
When the included angle α is 0, two laser distance meters (the laser distance meter 29 corresponding to the outer arc copper plate 24 side and the laser distance meter 30 corresponding to the inner arc copper plate 25 side) respectively measure a distance D1 to the outer arc copper plate 24 and a distance D2 to the inner arc copper plate 25, a central point O of a connecting line between the two laser distance meters 29 and 30 is overlapped with the middle perpendicular line 200 of the mold, a distance D between the outer arc copper plate 24 and the inner arc copper plate 25 is D1+ D2+ D0, and D0 is a distance of the connecting line between the two laser distance meters 29 and 30.
When the included angle α is not equal to 0, the two laser distance meters 29 and 30 respectively measure a distance D1 'from the outer arc copper plate 24 and a distance D2' from the inner arc copper plate 25, the distance D1 from the outer arc copper plate 24 and the distance D2 from the inner arc copper plate 25 are respectively measured by the two actual laser distance meters 29 and 30 through trigonometric function relation calculation, the distance D01 is obtained through trigonometric function relation calculation between a central point O of a connecting line between the two laser distance meters 29 and 30 and the perpendicular bisector 200 of the crystallizer, then the detection compensation value of the laser distance meter 29 along the perpendicular bisector 200 is D1+ D0/2+ D01, and the detection compensation value of the laser distance meter 30 along the perpendicular bisector is D2+ D0/2+ D01;
namely, the detection values along the corrected middle perpendicular line of the mold are divided into:
the correction result of the lateral deviation of the outer-arc copper plate 24 is: d1+ D0/2+ D01;
the correction result of the lateral deviation of the inner-arc copper plate 25 is: dn is D2+ D0/2+ D01.
As the flexible track of the automatic detection device for centering the continuous casting crystallizer is of a flexible structure, a trace amount of shaking phenomenon is inevitably generated in the running detection process, as shown in an actual detection waveform diagram of fig. 5.
And on the basis of the flexible track positioning deflection compensation correction result, further correcting Dw and Dn through flexible track micro-jitter compensation.
When measuring the distance between fixed objects, if there is a shake of the detection unit 10 on the flexible track, when the detection unit 10 shakes to the outer arc copper plate 24 side, since the two laser range finders 29, 30 are synchronously detected, the detection value of the laser range finder 29 is decreased by d02 compared with the actual value, and at the same time, the detection value of the laser range finder 30 is inevitably increased by the same value d02 compared with the actual value; the same applies when the detecting unit 10 is shaken reversely to the inner-arc copper plate 25 side. Or the detection unit 10 adds the detection results of the two laser range finders 29 and 30 at the same time during the micro-shaking process. And judging the fluctuation condition of the high-frequency detection value and correcting and compensating a median value.
The flexible track micro jitter compensation further comprises:
the synchronous detection results of the two laser range finders 29 and 30 are compared with the detection value at the same time, and the sway deviation amount d02 is calculated to be (d2-d1)/2, and the detection result after the sway deviation correction is:
the correction result of the side shaking deviation of the outer arc copper plate 24 is as follows: dw' ═ Dw + d 02;
the correction result of the side shaking deviation of the inner arc copper plate 25 is as follows: dn' ═ Dn + d 02.
After the detection result of the automatic detection device for centering of the continuous casting crystallizer is filtered by micro-shaking data and is subjected to data compensation calculation, the detection result is compared and corrected with the central vertical line of the equipment, so that the arrangement pattern of the outer and inner arc copper plates 24 and 25, the foot rollers 31 and the inlet rollers (more than 2 pairs) of the support guide section 26 of the crystallizer at the corresponding detection position can be obtained, and is compared with the position coordinate of the theoretical equipment (except the crystallizer copper plate, the measured point data of the foot rollers and the inlet rollers of the support guide section take the minimum value), so that the deviation value (namely the centering deviation value) between each point and the theoretical coordinate is obtained, wherein the deviation value comprises the conicity value of the inner arc and the outer arc of the crystallizer (the verticality of the crystallizer), the opening degree of the foot rollers, the opening degree of the inlet rollers of the support guide section, the centering deviation value of the outer arc and the centering deviation value of the inner arc; after other position detection is carried out on the same crystallizer, the deflection angle of the installation of the crystallizer and the branch guide section can be obtained for equipment adjustment and quality analysis.
In summary, the centering accuracy supplementing method based on the continuous casting crystallizer centering automatic detection device provided by the invention is an effective way for improving the detection accuracy by matching with the detection method of the continuous casting crystallizer centering, and is characterized in that the data and the data waveform collected by the continuous casting crystallizer centering automatic detection device are further analyzed, the fluctuation influencing the data is filtered, and the compensation calculation is performed according to the waveform to obtain data closer to reality. The measuring accuracy of the prior continuous casting crystallizer centering automatic detection device is also improved. The arc alignment precision of the wide-surface foot roller and the supporting guide roller of the crystallizer is directly and efficiently given with high precision, so that the centering adjustment of the crystallizer is guided, and the production efficiency is improved.
Meanwhile, the method is an effective mode for improving the centering detection precision of the crystallizer of the continuous casting machine, and the detection data excludes the interference of human factors and detection tool factors and is closer to the actual condition of equipment. The method has great popularization and application values under the contradiction that the requirements on the quality of the continuous casting slab and the centering precision of the crystallizer are continuously improved and the centering tool is unreasonable at home and abroad at present, and has great reference significance on precision detection under the same working condition.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.
Claims (4)
1. A centering precision supplementing method based on a continuous casting crystallizer centering automatic detection device is characterized by comprising the following steps: flexible track positioning skew compensation is included;
the flexible track positioning deflection compensation comprises the steps of measuring an included angle alpha between an actual travelling line of the detection unit along the flexible track and a perpendicular bisector of the crystallizer by using an inclinometer;
and respectively measuring the distance to the outer arc copper plate and the distance to the inner arc copper plate by using two laser range finders, and obtaining an outer arc copper plate side deviation correction result and an inner arc copper plate side deviation correction result through compensation calculation.
2. The method for supplementing centering accuracy based on the automatic detection device for centering of the continuous casting mold according to claim 1, wherein the compensation calculation further comprises:
when the included angle α is 0, the two laser distance meters respectively measure a distance D1 from the outer arc copper plate and a distance D2 from the inner arc copper plate, a central point of a connecting line between the two laser distance meters is overlapped with the perpendicular bisector of the crystallizer, a distance D from the outer arc copper plate to the inner arc copper plate is D1+ D2+ D0, and D0 is a distance of the connecting line between the two laser distance meters;
when the included angle α ≠ 0, the two laser range finders respectively measure the distance D1 'to the outer arc copper plate and the distance D2' to the inner arc copper plate, the distance D1 to the outer arc copper plate and the distance D2 to the inner arc copper plate are obtained by calculating a trigonometric function relationship, the distance between the center point of the connecting line between the two laser range finders and the perpendicular bisector of the crystallizer is calculated by calculating a trigonometric function relationship to obtain D01, namely, the detection value along the corrected perpendicular bisector of the crystallizer is divided into:
the correction result of the lateral deviation of the outer arc copper plate is as follows: d1+ D0/2+ D01;
the correction result of the inner arc copper plate side deviation is as follows: dn is D2+ D0/2+ D01.
3. The centering accuracy supplementing method based on the automatic detection device for centering of the continuous casting crystallizer as claimed in claim 2, wherein: and further correcting Dw and Dn on the basis of the result of the flexible track positioning deflection compensation.
4. The centering accuracy supplementing method based on the automatic detection device for centering of the continuous casting mold according to claim 3, wherein the compensation of the slight jitter of the flexible track further comprises:
and comparing the synchronous detection results of the two laser range finders with the detection value at the same time, and calculating the shaking deviation amount d02 to be (d2-d1)/2, wherein the detection result after the shaking deviation correction is as follows:
the correction result of the side shaking deviation of the outer arc copper plate is as follows: dw' ═ Dw + d 02;
the correction result of the inner arc copper plate side shaking deviation is as follows: dn' ═ Dn + d 02.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115106496A (en) * | 2022-06-14 | 2022-09-27 | 中冶南方连铸技术工程有限责任公司 | Non-contact detection device and method for size of inner cavity of crystallizer and application |
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| CN107891131A (en) * | 2017-12-15 | 2018-04-10 | 安徽马钢工程技术集团有限公司 | A kind of round billet continuous casting machine crystallizer centralising device and its centering method |
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