KR20120020483A - Device for measuring nozzle handling position and method therefor - Google Patents

Abstract

PURPOSE: A device and a method for measuring the handling position of a nozzle are provided to calculate a difference between the current position and a target point of a shroud nozzle when the shroud nozzle is coupled to the bottom end of a ladle. CONSTITUTION: A device for measuring the handling position of a nozzle comprises a nozzle manipulator(110), rotation angle sensors(130), and a controller(150). The nozzle manipulator horizontally and vertically moves a shroud nozzle(15) through one or more rotary shafts and fixes the shroud nozzle to the bottom end of a ladle(10). The rotation angle sensors are installed in the rotary shafts of the nozzle manipulator and detect the rotation angle of each rotary shaft. The controller calculates the current position coordinate of the shroud nozzle installed in one side of a support frame(111) depending on the detected rotation angle signals and calculates a difference between the current position coordinate and a pre-set target point.

Description

Nozzle operation position measuring device and its method {DEVICE FOR MEASURING NOZZLE HANDLING POSITION AND METHOD THEREFOR}

The present invention relates to the measurement of the position of the nozzle during the nozzle operation, and more particularly to a nozzle operation position measuring apparatus and method for mounting the shroud nozzle to the lower end of the ladle in a continuous casting process.

In general, a continuous casting machine is a facility for producing slabs of a constant size by receiving a molten steel produced in a steelmaking furnace and transferred to a ladle in a tundish and then supplying it to a mold for continuous casting.

The continuous casting machine includes a ladle for storing molten steel, a continuous casting machine mold for cooling the tundish and the molten steel discharged from the tundish to form a cast steel having a predetermined shape, and a cast steel connected to the mold. It includes a plurality of pinch rolls to move.

The molten steel tapping out of the ladle and tundish is formed of slabs (Slab) or blooms (Bloom), billets (Billet), etc. having a predetermined width and thickness in the mold and is transferred through the pinch roll.

In such continuous casting process, molten steel is transferred to the tundish through the ladle, and the shroud nozzle is fastened to the collect nozzle at the bottom of the ladle, and casting is performed by opening the inlet of the nozzle.

It is an object of the present invention to provide an apparatus and method for measuring a nozzle operation position which can be fastened more accurately when fastening a shroud nozzle to the bottom of a ladle.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the particular embodiments that are described. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the invention, There will be.

The nozzle operation position measuring apparatus of the present invention for realizing the above object, the nozzle operator for fixedly mounted to the bottom of the ladle by moving the shroud nozzle fixedly mounted on one side horizontally and vertically through at least one rotation axis; A rotation angle sensor fixedly installed at each rotation shaft of the nozzle operator to detect a rotation angle according to the rotation of the rotation shaft; And a controller configured to calculate a current position coordinate of the shroud nozzle mounted on one side of the support according to the rotation angle signal input from the rotation angle sensor, and calculate an error between the calculated current position coordinate and a preset target point.

In detail, the display apparatus may further include a display unit installed at the nozzle operator to display a current position coordinate of the shroud nozzle or an error coordinate with a target position by the controller.

In addition, the nozzle manipulator, a support for moving the shroud nozzle in the vertical direction is fixed to one side is mounted fixed to the shroud nozzle and the other side is rotatable vertically through the rotating shaft; A first rotating member fixedly coupled to the support so as to rotate the support in a first horizontal direction through a rotation shaft; And a second rotating member fixedly coupled to the first rotating member so as to rotate the first rotating member in a second horizontal direction through the rotating shaft.

The rotation angle sensor, the rotation disk is fixed to each rotation axis is rotated with the rotation axis and a plurality of slots are formed along the same radius with respect to the rotation axis; And an optical sensor installed at one side and the other side with respect to the slot of the rotating disk to detect a rotation state of the rotating disk.

The nozzle operation position measuring method of this invention for realizing the said subject is a 1st step of detecting the rotation angle of each rotating shaft of a nozzle operator; A second step of calculating a current position coordinate of the shroud nozzle mounted at one end of the nozzle operator based on the detected rotation angle; A third step of calculating an error with respect to the target position coordinate by subtracting the calculated current position coordinate of the shroud nozzle from the preset target position coordinate; And a fourth step of displaying the coordinate error or the current position coordinate calculated above.

As described above, according to the present invention, when the shroud nozzle is fastened to the bottom of the ladle by calculating and displaying a difference between the current position or the target point of the shroud nozzle, there is an advantage that the shroud nozzle can be more easily and easily mounted.

1 is a side view showing a continuous casting machine related to an embodiment of the present invention.
FIG. 2 is a conceptual view illustrating the continuous casting machine of FIG. 1 based on the flow of molten steel M. Referring to FIG.
3 is a view showing a nozzle operation position measuring apparatus according to an embodiment of the present invention.
4 is a view showing a rotation angle sensor according to an embodiment of the present invention.
5 is a view illustrating an operating state by each rotation shaft during the operation of FIG. 3.
Figure 6 is a flow chart showing the operation of the nozzle operation position measuring apparatus according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention. Like elements in the figures are denoted by the same reference numerals wherever possible. In addition, detailed descriptions of well-known functions and configurations that may unnecessarily obscure the subject matter of the present invention will be omitted.

1 is a side view showing a continuous casting machine according to an embodiment of the present invention.

Referring to this drawing, the continuous casting machine may include a tundish 20, a mold 30, secondary cooling tables 60 and 65, a pinch roll 70, and a cutter 90.

A tundish 20 is a container for receiving molten metal from a ladle 10 and supplying molten metal to a mold 30. Ladle 10 is provided in a pair, alternately receives molten steel to supply to the tundish 20. In the tundish 20, the supply rate of the molten metal flowing into the mold 30 is controlled, the molten metal is distributed to each mold 30, the molten metal is stored, and the slag and the nonmetallic inclusions are separated.

The mold 30 is typically made of water-cooled copper and allows the molten steel to be primary cooled. The mold 30 has a pair of structurally opposed faces open to form a hollow portion for receiving molten steel. In the case of manufacturing a slab, the mold 30 includes a pair of barriers and a pair of end walls connecting the barriers. Here, the short wall has a smaller area than the barrier. The walls of the mold 30, mainly short walls, may be rotated away from or close to each other to have a certain level of taper. This taper is set to compensate for shrinkage caused by solidification of the molten steel M in the mold 30. The degree of solidification of the molten steel (M) will vary depending on the carbon content, the type of powder (steel cold Vs slow cooling), casting speed and the like depending on the steel type.

The mold 30 has a strong solidification angle or solidifying shell 81, FIG. 2, so that the cast steel drawn from the mold 30 maintains its shape and does not leak molten metal which is still less solidified. ) Is formed. The water-cooled structure includes a method of using a copper pipe, a method of drilling a water cooling groove in the copper block, and a method of assembling a copper pipe having a water cooling groove.

The mold 30 is oscillated by the oscillator 40 to prevent the molten steel from sticking to the wall of the mold. Lubricant is used to reduce the friction between the mold 30 and the cast during oscillation and to prevent burning. Lubricants include splattered flat oil and powder added to the molten metal surface in the mold 30. The powder is added to the molten metal in the mold 30 to become slag, as well as the lubrication of the mold 30 and the slabs, as well as the oxidation and nitriding prevention and thermal insulation of the molten metal in the mold 30, and the non-metal inclusions floating on the surface of the molten metal. It also performs the function of absorption. In order to inject the powder into the mold 30, a powder feeder 50 is installed. The part for discharging the powder of the powder feeder 50 faces the inlet of the mold 30.

The secondary cooling zones 60 and 65 further cool the molten steel primarily cooled in the mold 30. The primary cooled molten steel is directly cooled by the spray means 65 for spraying water while maintaining the solidification angle by the support roll 60 not to be deformed. Cast solidification is mostly achieved by the secondary cooling.

The drawing device adopts a multidrive method using a plurality of sets of pinch rolls 70 and the like so that the cast piece is not slipped. The pinch roll 70 pulls the solidified tip of the molten steel in the casting direction, thereby allowing the molten steel passing through the mold 30 to continuously move in the casting direction.

The cutter 90 is formed to cut continuously produced cast pieces to a constant size. As the cutter 90, a gas torch, a hydraulic shear, or the like can be employed.

FIG. 2 is a conceptual view illustrating the continuous casting machine of FIG. 1 based on the flow of molten steel M. Referring to FIG.

Referring to this figure, the molten steel (M) is to flow to the tundish 20 in the state accommodated in the ladle (10). For this flow, the ladle 10 is provided with a shroud nozzle 15 extending toward the tundish 20. The shroud nozzle 15 extends to be immersed in the molten steel in the tundish 20 so that the molten steel M is not exposed to air and oxidized and nitrified. The case where molten steel M is exposed to air due to breakage of shroud nozzle 15 is referred to as open casting.

The molten steel M in the tundish 20 flows into the mold 30 by a submerged entry nozzle 25 extending into the mold 30. The immersion nozzle 25 is disposed in the center of the mold 30 so that the flow of molten steel M discharged from both discharge ports of the immersion nozzle 25 can be symmetrical. The start, discharge speed, and stop of the discharge of the molten steel M through the immersion nozzle 25 are determined by a stopper 21 installed in the tundish 20 corresponding to the immersion nozzle 25. Specifically, the stopper 21 may be vertically moved along the same line as the immersion nozzle 25 to open and close the inlet of the immersion nozzle 25. Control of the flow of the molten steel M through the immersion nozzle 25 may use a slide gate method, which is different from the stopper method. The slide gate controls the discharge flow rate of the molten steel M through the immersion nozzle 25 while the sheet material slides in the horizontal direction in the tundish 20.

The molten steel M in the mold 30 starts to solidify from the part in contact with the wall surface forming the mold 30. This is because heat is more likely to be lost by the mold 30 in which the periphery is cooled rather than the center of the molten steel M. By the way that the periphery is first solidified, the back portion along the casting direction of the cast steel 80 forms a shape in which the unsolidified molten steel 82 is wrapped in the solidified shell 81 on which the molten steel M is solidified.

As the pinch roll 70 (FIG. 1) pulls the tip portion 83 of the completely solidified cast piece 80, the unsolidified molten steel 82 moves together with the solidified shell 81 in the casting direction. The uncondensed molten steel 82 is cooled by the spray means 65 for spraying the cooling water in the above movement process. This causes the thickness of the non-solidified molten steel 82 in the slab 80 to gradually decrease. When the cast piece 80 reaches a point 85, the cast piece 80 is filled with the solidification shell 81 of the entire thickness. The solidified cast piece 80 is cut to a certain size at the cutting point 91 is divided into a product (P) such as slabs.

3 is a view showing a nozzle operation position measuring apparatus according to an embodiment of the present invention, the nozzle operation position measuring apparatus 100 is a nozzle operation unit 110, the rotation angle sensor 130, the control unit 150 and the display unit 170 It consists of).

The nozzle operator 110 has a shroud nozzle 15 mounted and fixed to one side to move the shroud nozzle 15 horizontally and vertically so that the nozzle operator 110 is inserted into and fixed to the collect nozzle 11 formed at the lower end of the ladle 10.

The nozzle operator 110 includes a support 111, a first rotating member 113, and a second rotating member 115.

The support 111 is fixed to the shroud nozzle 15 is mounted on one side and the other side is fixed to be rotated vertically through the rotation axis to move the shroud nozzle 15 in the vertical direction (θ1) according to a predetermined operation command do. Although not shown in detail, the support 111 is configured to rotate by the hydraulic cylinder or the air cylinder in accordance with the command input through the input means installed in the nozzle operator 110 to move the shroud nozzle 15 vertically. It is.

The first rotating member 113 is fixed to the support 111 is rotatably configured to rotate the support 111 in the first horizontal direction (θ2) through the rotation axis. That is, when the first rotating member 113 is axially rotated, the support 111 coupled to the first rotating member 113 is also rotated in the first horizontal direction.

The second rotating member 115 is configured to be fixedly coupled to the first rotating member 113 so as to rotate the first rotating member 113 in the second horizontal direction θ3 through the rotating shaft. That is, when the second rotating member 115 is axially rotated, the first rotating member 113 coupled to the second rotating member 115 also rotates in the second horizontal direction.

The rotation angle sensor 130 is fixed to each rotation shaft of the nozzle operator 110 and is configured to detect the rotation angle according to the rotation of the rotation shaft and output a pulse corresponding to the detected rotation angle. The rotation angle sensor 130 may include a first sensor 131 installed on a rotation shaft of the support 111, a second sensor 133 installed on a rotation shaft of the first rotation member 113, and a second rotation member 115. It consists of a third sensor 135 installed on the rotating shaft of, each sensor (131 ~ 135) may be composed of an encoder.

As shown in FIG. 4, the encoder is fixed to each rotating shaft to be rotated together with the rotating shaft, and a rotating disk 131-1 having a plurality of slots 131-2 and 132-3 formed along the same radius with respect to the rotating shaft. ) And optical sensors 131-5 and 131-6 installed at one side and the other side with respect to the slots of the rotating disk 131-1, respectively, to detect a rotation state of the rotating disk. Here, the optical sensor may be formed of a light emitting element 131-5 and a light receiving element 131-6, and the light receiving element 131-6 is an optical signal transmitted through the slots 131-2 and 131-3. It is configured to detect and generate a corresponding pulse.

In addition, the slot may be formed in at least two rows along the same radius with respect to the rotation axis, wherein the outermost slot (131-2) based on the rotation axis for detecting the rotation angle, the inner slot ( 131-3) is for detecting the rotation direction. The configuration and operation of such an encoder are well known and detailed description thereof will be omitted.

The controller 150 calculates the horizontal and vertical movement coordinates of the shroud nozzle 15 mounted on one side of the support 111 according to the rotation angle signal input from the rotation angle sensor 130, and calculates the calculated current position coordinates. And the target coordinates preset in the memory 160 are compared with each other to calculate a coordinate error. That is, the controller 150 measures the rotation angle from the origin of the shroud nozzle 15 through the first sensor 131, the second sensor 133, and the third sensor 135, and through this, the shroud nozzle 15. Calculate the three-dimensional coordinates of. Since the length of the support 111 in the nozzle operator 110 is constant, the current position coordinates of the shroud nozzle 15 can be calculated by measuring the rotation angle of each rotation shaft.

Since the target position to which the shroud nozzle 15 is to be mounted is a constant position, the controller 150 calculates an error between the target coordinate and the current position coordinate of the shroud nozzle 15, and displays the calculated coordinate error or the current position coordinate. And display through 170.

The display unit 170 is installed in the nozzle operator 110 to be configured by the control unit 150, LCD or 7-segment (FND) to display the coordinate error of the current position coordinates or the target position of the shroud nozzle 15, etc. Can be.

In addition, reference numeral 119 denotes a handle for the operator to manually operate the first rotating member 113 and the second rotating member 115 of the nozzle operator 110. Of course, the first rotating member 113 and the second rotating member 115 may be configured to be automatically operated by a motor.

Accordingly, the operator visually checks the current position coordinates and the coordinate error of the target point of the shroud nozzle 15 displayed through the display unit 170 while operating the nozzle operator 110 horizontally and vertically. 15) can be accurately inserted and mounted to the collector nozzle (11) of the ladle (10).

5 is a view illustrating an operating state by each rotation shaft during the operation of FIG. 3.

First, as shown in FIG. 3, the support 111 may be moved up to about 90 ° in the vertical direction θ1 based on the rotation axis. Such a support 111 may be vertically operated by a hydraulic cylinder or an air cylinder.

And, as shown in Figure 5, in the case of the first rotating member 113, it is possible to rotate the support 111 111 in the horizontal direction by about 360 degrees, and the second rotating member 115 In this case, it is possible to rotate the first rotating member 113 in the horizontal direction 360 ° relative to the rotation axis. Here, the rotation of the first rotating member 113 and the second rotating member 115 is made by the operator by holding the handle 119 installed on the nozzle operator 110 to adjust.

Of course, the first rotating member 113 and the second rotating member 115 may not be manually operated by the handle 119 but may be configured to be automatically operated by a motor as necessary.

6 is a flowchart illustrating an operation process of the apparatus for measuring a nozzle operation position according to an exemplary embodiment of the present invention, which will be described with reference to the accompanying drawings.

First, the rotation angle sensor 130 installed on each rotary shaft according to the operation of the rotary shaft of the support 111, the rotary shaft of the first rotary member 113 and the rotary shaft of the second rotary member 115 in the nozzle operator 110 is the rotary shaft The rotation angle is detected and output to the control unit 150 (S1).

The controller 150 calculates the current position coordinates of the shroud nozzle 15 through the rotation angle detected by the rotation angle sensor 130 (S2). When the control unit 150 counts pulses input through the rotation angle sensor 130, the controller 150 may determine the rotation angle and the direction of the rotation shaft, and the shroud nozzle 15 mounted on the support 111 through the rotation angle of the rotation shaft. You can also calculate the current position of.

Subsequently, the controller 150 calculates a coordinate error with respect to the target position by subtracting the calculated current position coordinates of the shroud nozzle 15 from the preset target position coordinates (S3). For example, if the target coordinate for the target point is (X, Y, Z) and the current position coordinate is (x, y, z), the coordinate error is (Xx, Yy, Zz) obtained by subtracting the current position coordinate from the target coordinate. . That is, the coordinate error is a value that the shroud nozzle 15 needs to move from the current position to the target point through each axis of rotation of the nozzle operator 110.

The controller 150 displays the coordinate error or the current position coordinates calculated above through the display unit 170 (S4), while the operator confirms the coordinate error with respect to the displayed current position and the target point. By adjusting the first rotating member 113 and the second rotating member 115, the shroud nozzle 15 fixedly mounted at one end of the support 111 can be accurately inserted into the collector nozzle 11 of the ladle 10. .

If, when the fastening state of the collect nozzle 11 and the shroud nozzle 15 installed in the lower portion of the ladle 10 is poor, the outside air flows in and deteriorates the internal quality of the cast steel or the operation may be stopped due to clogging of the nozzle. have. Therefore, it is necessary to develop and utilize a device for precise fastening of the shroud nozzle as in the present invention.

The present invention has been described with reference to the preferred embodiments, and those skilled in the art to which the present invention pertains to the detailed description of the present invention and other forms of embodiments within the essential technical scope of the present invention. Could be. Here, the essential technical scope of the present invention is shown in the claims, and all differences within the equivalent range will be construed as being included in the present invention.

10: ladle 15: shroud nozzle
20: Tundish 25: Immersion Nozzle
30: mold 40: mold oscillator
50: powder feeder 51: powder layer
52: liquid fluidized bed 53: lubricating layer
60: support roll 65: spray
70: pinch roll 80: cast steel
90: cutter 100: nozzle operation position measuring device
110: nozzle operation 111: support
113: first rotating member 115: second rotating member
119: handle 130 (131 ~ 135): rotation angle sensor
150: control unit 170: display unit

Claims (6)

A nozzle operator fixedly mounted to the bottom of the ladle by moving the shroud nozzle fixedly mounted on one side horizontally and vertically through at least one rotating shaft;
A rotation angle sensor fixedly installed at each rotation shaft of the nozzle operator to detect a rotation angle according to the rotation of the rotation shaft; And
A controller for calculating a current position coordinate of the shroud nozzle mounted on one side of the support according to the rotation angle signal inputted from the rotation angle sensor, and calculating an error between the calculated current position coordinate and a preset target point. Position measuring device.
The method according to claim 1,
And a display unit installed in the nozzle operator to display a current position coordinate of the shroud nozzle or an error coordinate with a target position by the controller.
The method according to claim 1,
The nozzle operator,
A support for moving the shroud nozzle in a vertical direction by fixing the shroud nozzle to one side and being fixed to the other side to be rotatable vertically through a rotating shaft;
A first rotating member fixedly coupled to the support so as to rotate the support in a first horizontal direction through a rotation shaft; And
And a second rotating member fixed to the first rotating member to be rotatable to rotate the first rotating member in a second horizontal direction through the rotating shaft.
The method according to claim 1,
The rotation angle sensor, the rotation disk is fixed to each rotation axis is rotated with the rotation axis and a plurality of slots are formed along the same radius with respect to the rotation axis; And an optical sensor installed at one side and the other side with respect to the slot of the rotating disk to detect a rotation state of the rotating disk.
Detecting a rotation angle of each rotation shaft of the nozzle operator;
A second step of calculating a current position coordinate of the shroud nozzle mounted at one end of the nozzle operator based on the detected rotation angle;
A third step of calculating an error with respect to the target position coordinate by subtracting the calculated current position coordinate of the shroud nozzle from the preset target position coordinate; And
And a fourth step of displaying the calculated coordinate error or the current position coordinates.
The method according to claim 5,
And the rotation angle is detected by the encoder in the first step.

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