Method, system, and device for controlling automatic slag feeding of continuous-casting crystallizer

Abstract

A system and a device for controlling automatic slag feeding of a continuous-casting crystallizer are provided. Based on a slag feeding robot with six motion shafts, and an automatic slag feeding control system and device are formed by using the slag feeding robot as the core, cooperating with a quantified slag feeding device having stability and adaptability, combing air-pressure detection, temperature detection, slag-thickness detection, and material bin detection, and other means, and also using safety protection measures for area protection, so as to improve the stability and uniformity of a slag feeding process. In a method of performing automatic slag feeding by using the system, closed-loop control is applied in combination with existing information of a casting machine and detection information of the slag feeding robot, so that parameters and running states are corrected and adjusted in real time.

1 . A method for controlling automatic addition of a mould powder to a continuous-casting mould through a powder adding robot with six motion axes, the method comprising:
 obtaining temperature and thickness information of a layer of the mould powder and continuous-casting production information, wherein the temperature and thickness information of the layer reflects the uniformity of the mould powder;   detecting the uniformity of the layer to control the powder adding robot to increase an amount of the mould powder added to an area where the mould powder is thin, and decrease the amount of the mould powder added to an area where the mould powder is thick; and   adjusting in real-time, by the powder adding robot, an operating state, a generation parameter or a generation pace based on the continuous-casting production information, so as to control adjustment of parameters and powder adding action of the powder adding robot.   
     
     
         2 . The method according to  claim 1 , further comprising:
 determining whether air pressure in the continuous-casting mould reaches a preset value, wherein the continuous-casting mould can't operate normally unless the air pressure reaches the preset value,   sending an alarm signal, by the continuous-casting mould, that the automatic addition of the mould powder can't be performed in a case that the air pressure in the continuous-casting mould does not reach the preset value; or   opening a pneumatic electromagnetic valve to ventilate a powder adding tube so that a negative pressure space is formed between the electromagnetic valve and a servo motor, in a case that the air pressure in the continuous-casting mould reaches the preset value;   starting the servo motor, to drive a screw mechanism to transfer the mould powder from a powder bin to the negative pressure space; and   slowing and adding uniformly, by a vortex-type device at the front end of a powder adding gun, the mould powder which has entered the powder adding tube due to the negative pressure and is conveyed to the powder adding gun.   
     
     
         3 . The method according to  claim 1 , further comprising:
 storing, in a database, the temperature and thickness information of the layer and the continuous-casting production information and displaying in a form of table the temperature and thickness information of the layer and the continuous-casting production information.   
     
     
         4 . A system for controlling automatic addition of a mould powder to a continuous-casting mould through a powder adding robot with six motion axes, the system comprising:
 an obtaining unit configured to obtain temperature and thickness information of a layer of the mould powder and continuous-casting production information, wherein the temperature and thickness information of the layer reflects the uniformity of the mould powder;   a detection unit configured to detect the uniformity of the layer, to control the powder adding robot to increase an amount of the mould powder added to an area where the mould powder is thin, and decrease the amount of the mould powder added to an area where the mould powder is thick; and   an adjustment unit configured to adjust in real-time, by the powder adding robot, an operating state, a generation parameter or a generation pace based on the continuous-casting production information, so as to control adjustment of parameters and powder adding action of the powder adding robot.   
     
     
         5 . The system according to  claim 4 , further comprising:
 a determining unit configured to determine whether air pressure in the continuous-casting mould reaches a preset value, wherein the continuous-casting mould can't operate normally unless the air pressure reaches the preset value;   an alarm unit configured to, by the continuous-casting mould, send an alarm signal that the automatic addition of the mould powder can't be performed in a case that the air pressure in the continuous-casting mould does not reach the preset value; the   a ventilation unit configured to open a pneumatic electromagnetic valve to ventilate a powder adding tube so that a negative pressure space is formed between the electromagnetic valve and a servo motor, in a case that the air pressure in the continuous-casting mould reaches the preset value;   a transferring unit configured to start the servo motor, to drive a screw mechanism to transfer the mould powder from a powder bin to the negative pressure space;   a powder adding unit configured to slow and add uniformly, by a vortex-type device at the front end of a powder adding gun, the mould powder which has entered the powder adding tube due to the negative pressure and is conveyed to the powder adding gun.   
     
     
         6 . The system according to  claim 4 , further comprising:
 a storage and display unit configured to store, in a database, the temperature and thickness information of the layer and the continuous-casting production information and display in a form of table the temperature and thickness information of the layer and the continuous-casting production information.   
     
     
         7 . An apparatus for controlling automatic addition of a mould powder to a continuous-casting mould through a powder adding robot with six motion axes, the apparatus comprising:
 a microcontroller configured to perform overall control on the continuous-casting mould;   a thickness detecting unit, connected to the microcontroller and configured to detect a thickness of the mould powder in the continuous-casting mould;   a stability detecting unit, connected to the microcontroller and configured to detect a temperature of the mould powder in the continuous-casting mould;   an industrial robot unit, connected to the microcontroller and configured to perform adaptive adjustment and control of the addition of the mould powder to the continuous-casting mould;   an air-pressure detecting unit, connected to the microcontroller and configured to detect air pressure in the continuous-casting mould;   an area protection detecting unit, connected to the microcontroller and configured to perform area protection detection on the continuous-casting mould;   a powder bin detecting unit, connected to the microcontroller and configured to perform detection on the powder bin of the continuous-casting mould; and   a pneumatic powder adding unit configured to perform pneumatic powder adding to the continuous-casting mould.   
     
     
         8 . The device according to  claim 7 , wherein the industrial robot unit is provided with a powder adding gun device for slowing and adding uniformly the mould powder. 
     
     
         9 . The device according to  claim 7 , further comprising:
 a touch-screen unit for data input and display, connected to the microcontroller ; and   a failure alarm device, connected to the microcontroller and configured to perform failure alarm in a case that the industrial robot unit breaks down.