板坯结晶器自动加渣机的研究
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摘要
结晶器保护渣是保障连铸机生产顺利进行和保证连铸坯质量的重要冶金材料。在实际生产中，保护渣的理化性能能否有效发挥与加渣操作用有着密切的关系。结晶器保护渣自动加渣技术的发展可以得到准确的渣层厚度和实现均匀加渣，这是手工加渣难以实现的。因此自动加渣技术可以有效的减少铸坯表面缺陷，提高铸坯合格率。基于此目的开发了板坯结晶器空间双导杆并联机构自动加渣机，实现了保护渣的自动化、可控化、精确化。
在保护渣的润滑机理方面，进行了深入的分析。总结了板坯结晶器保护渣的普遍加渣规范，为开发板坯结晶器保护渣自动加渣机提供了依据。根据保护渣加渣工艺的要求设计开发了一种结晶器自动加渣机，并且建立了相应的加渣轨迹数学模型。该自动加渣机采用空间双导杆并联机构，水平导杆机构实现螺旋输料管在结晶器上方定点摆动，垂直导杆机构实现加渣机在结晶器宽侧面法线方向的前后移动，起到补偿水平导杆机构法线方向的位移差，通过两机构的并联运动实现了螺旋输料管在结晶器上方的近似直线加渣轨迹。
应用遗传优化算法，结合MATLAB遗传算法工具箱，对所建立的轨迹模型进行优化，得到加渣轨迹与结晶器宽面位移误差最小的优化结果。为了实现保护渣在加渣轨迹上的均匀落料，由自动加渣机的控制原理出发，分别从解析法与图解法两个方面建立了输料管末端摆动速度控制的数学模型。利用Pro/E创建了自动加渣机的三维实体模型，并建立了其虚拟装配，装配模型的连接检测证实加渣机的结构设计正确，并通过Pro/E的运动学分析模块对加渣机的加渣轨迹与速度进行动态分析，结果显示所开发的自动加渣机可以实现预期的直线轨迹均匀加渣。
Mold powder is the key material of metallurgy to ensure producing qualifiedcontinuous casting slab. In actual production, whether the physical and chemicalproperties of slag can effectively bring into play is bounded up with the powder.addingoperation. Automatic feeders technology can accurately achieve slag layer thickness anduniformity velocity of powder adding, which is difficult to achieve by manually addition.Therefore, automatic feeders can effectively reduce slab surface defects and improve thepassing rate of the slab. In term of this purpose, I developed a slab mold guide spacetwo-body Automatic feeders to achieve process of powder adding automation, controlled,and precision.
The mechanism of mold powder lubrication has been analyzed deeply. It hasprovided proof to design and exploit slab mold automatic feeders by summing up slabmold powder adding standard. According the powder adding request, I design a type ofautomatic feeders, in the same way I built the mathematical model of powder addingtrajectory. The automatic feeders make up with space dual guide rod parallel mechanism.The purpose of horizontal guide mechanism is to make spiral conveying pipe swing on themold. The function of vertical guide mechanism is to achieve displacement compensation.Through combine the two mechanism, lead the locus of spiral conveying pipe toapproximate straight line.
The model of trajectory has been optimized by application of genetic optimizationalgorithm and MATLAB genetic algorithm toolbox. The optimization results has showedthat powder has been added track width of the mold surface with the smallestdisplacement error. In order to achieve uniform velocity on the trajectory of powderadding, the mathematics control theory has been established through the analytical method,and graphical method. The key transmission parts of automatic feeders are establishedthrough using of Pro/E and virtual assembly model of automatic feeders is built,connection detection of the assembly model certificated that the structural design ofautomatic is right. The locus and velocity of powder adding has been analyzed dynamically by using simulation module of Pro/E. The results demonstrated that thedesigned automatic feeders can realize approximate straight line locus and uniform addingvelocity.
在保护渣的润滑机理方面，进行了深入的分析。总结了板坯结晶器保护渣的普遍加渣规范，为开发板坯结晶器保护渣自动加渣机提供了依据。根据保护渣加渣工艺的要求设计开发了一种结晶器自动加渣机，并且建立了相应的加渣轨迹数学模型。该自动加渣机采用空间双导杆并联机构，水平导杆机构实现螺旋输料管在结晶器上方定点摆动，垂直导杆机构实现加渣机在结晶器宽侧面法线方向的前后移动，起到补偿水平导杆机构法线方向的位移差，通过两机构的并联运动实现了螺旋输料管在结晶器上方的近似直线加渣轨迹。
应用遗传优化算法，结合MATLAB遗传算法工具箱，对所建立的轨迹模型进行优化，得到加渣轨迹与结晶器宽面位移误差最小的优化结果。为了实现保护渣在加渣轨迹上的均匀落料，由自动加渣机的控制原理出发，分别从解析法与图解法两个方面建立了输料管末端摆动速度控制的数学模型。利用Pro/E创建了自动加渣机的三维实体模型，并建立了其虚拟装配，装配模型的连接检测证实加渣机的结构设计正确，并通过Pro/E的运动学分析模块对加渣机的加渣轨迹与速度进行动态分析，结果显示所开发的自动加渣机可以实现预期的直线轨迹均匀加渣。
Mold powder is the key material of metallurgy to ensure producing qualifiedcontinuous casting slab. In actual production, whether the physical and chemicalproperties of slag can effectively bring into play is bounded up with the powder.addingoperation. Automatic feeders technology can accurately achieve slag layer thickness anduniformity velocity of powder adding, which is difficult to achieve by manually addition.Therefore, automatic feeders can effectively reduce slab surface defects and improve thepassing rate of the slab. In term of this purpose, I developed a slab mold guide spacetwo-body Automatic feeders to achieve process of powder adding automation, controlled,and precision.
The mechanism of mold powder lubrication has been analyzed deeply. It hasprovided proof to design and exploit slab mold automatic feeders by summing up slabmold powder adding standard. According the powder adding request, I design a type ofautomatic feeders, in the same way I built the mathematical model of powder addingtrajectory. The automatic feeders make up with space dual guide rod parallel mechanism.The purpose of horizontal guide mechanism is to make spiral conveying pipe swing on themold. The function of vertical guide mechanism is to achieve displacement compensation.Through combine the two mechanism, lead the locus of spiral conveying pipe toapproximate straight line.
The model of trajectory has been optimized by application of genetic optimizationalgorithm and MATLAB genetic algorithm toolbox. The optimization results has showedthat powder has been added track width of the mold surface with the smallestdisplacement error. In order to achieve uniform velocity on the trajectory of powderadding, the mathematics control theory has been established through the analytical method,and graphical method. The key transmission parts of automatic feeders are establishedthrough using of Pro/E and virtual assembly model of automatic feeders is built,connection detection of the assembly model certificated that the structural design ofautomatic is right. The locus and velocity of powder adding has been analyzed dynamically by using simulation module of Pro/E. The results demonstrated that thedesigned automatic feeders can realize approximate straight line locus and uniform addingvelocity.
引文
[1]李殿明,邵明天等.连铸结晶器保护渣应用技术[M].北京:冶金工业出版社,2008:45-47.
[2]《连铸结晶器保护渣给料机》[J].涟钢科技管理,2009.08.
[3]卢盛意.结晶器保护渣的润滑作用和水平传热[J].连铸,2007.2.
[4]屠宝洪编译.连续铸钢用保护渣[M].北京:北京科技大学,1997：113-114.
[5]谢兵.连铸结晶器保护渣相关基础理论的研究及其应用实践[D].重庆:重庆大学,2004:32-35.
[6]杨柏杰.连铸保护渣吸附夹杂能力的研究[D].鞍山:辽宁科技大学.2006:32-35.
[7] Masahito HANAO and Masayuki KAWAMOTO. flux Film in the mold of High speedContinuous casting.ISIJ international, vol48(2008) NO.2.pp,180-185.
[8] K.Watanable Development of Mold powder for High speed casting of Middle carbonsteel[A].Steelmaking conference proceedings [C]1996.265.
[9]董方,王艺慈. CSP结晶器保护渣固态渣膜结构和矿相的分析[J].特殊钢,2006,1.
[10] P.O.Hooli Mould Flux Film Between Mould and steel shell [J].Ironmaking and steelmaking2002.292(4):293.
[11]李婷.薄板坯连铸保护渣消耗量与组成性能的关系[J].鞍山:辽宁科技大学.2007.03.
[12]田华彦等.连铸过程中振痕缺陷的研究与对策[J].铸造技术,2008:678-680.
[13]王三忠,王新志等.宽板坯表面纵裂纹的探索分析[J].钢铁,2010（5）:44-48
[14]牛山廷,张兴中,干勇.连铸板坯表面横裂纹的形成机理和防止措施[J].特殊钢,2011.
[15]陆巧彤,杨荣光,王新华.板坯连铸结晶器保护渣卷渣及其影响因素的研究[J].钢铁,2006,7.
[16]吴杰,刘振清.连铸结晶器保护渣渣圈的研究[J].包钢钢铁学院学报，2001,09.
[17]王莹叶,李保才,王伟.板坯连铸结晶器保护渣自动加渣技术的探讨[J].山东冶金,2007,12.
[18]连铸结晶器保护渣自动给料机[J].世界金属导报,2009,03.
[19]朱萃汉.摆动式给料装置[ZL]200420019322.2.
[20]梅金波,叶俊辉,朱萃汉.连铸结晶器保护渣自动给料机的开发与应用[J].钢铁,2004,9.
[21]路同浚,杨冬松,孟宪超.连铸加渣机机人主体设计[J].黑龙江自动化技术与应用,1996,4.
[22]申俊峰,庞龙水.结晶器保护渣的熔融-凝固机理[J].炼钢,2000,8.
[23]申俊峰,庞志杰.结晶器保护渣渣膜的研究[J].炼钢,1998(4).
[24]卢盛意.连铸坯质量[M].北京:冶金工业出版社,2004:78-79.
[25] Riboud.Steel desulfurization in sencondary Refining:Conclusion from theoretical and industrialresult.Cahiers d`Information Techniques–Revue de metallurgie nov.1985.
[26] Akria Yamauchi,Toshihiko Emi,Seshadri Seetharaman.A Mothematical Model for prediction ofThickness of Mould Flux Film in Continuous Casting Mould[J].ISIJInternational,2002,42(10)1084-1093.
[27]杨晓江.薄板坯连铸结晶器保护渣技术[J].炼钢,2002:47.
[28]朱立光,王硕明,金山同.连铸结晶器内保护渣渣膜状态的数学模拟[J].北京:北京科技大学学报,1999:13-16.
[29]中森辛雄はか.连续铸造の铸型と铸片间摩擦力测定と解析结果[J].铁と钢,1984:（9），1262-1267.
[30] Takeuchi E,Brimacamble JK.The Formation of Oscilation Marks in the Continuous Casting ofSteel slabs[J]Metallurgical transactions B,1984.15B(9):493-509.
[31]王新月,席常锁,卢军辉.影响板坯连铸产生渣圈的因素[J].炼钢，2010:53.
[32]米源.结晶器保护渣的性能与使用工艺[J].保护渣,2007.
[33]赵匀.机构数值分析与综合[M].北京:机械工业出版社,2005.6:61-66.
[34]张志刚. MATLAB与数学实验[M].北京:铁道工业出版社,2004:78-81.
[35]张启先.空间机构的分析与综合[M].北京:机械工业出版社,1984.3:44-46.
[36]吕庸厚,沈爱红.组合机构设计与应用创新[M].北京:机械工业出版社,2008:112-114.
[37]李敏强.遗传算法的基本理论与应用[M].北京:科学出版社,2002:18-19.
[38]骆华峰,万家瑰,栾庆德.基于遗传算法的常规四杆机构优化设计[J].科学技术与工程,2008.
[39]黄贤振.随机参数平面机构运动设计中若干关键问题研究[D].沈阳:东北大学,2008.01:35-36.
[40]雷英杰. MATLAB遗传算法工具箱及其应用[M].西安:西安电子科技大学出版社,2005:72-75.
[41]康文龙,蒲志新.基于PRO_E的机械零件虚拟装配方法研究[J].煤矿机械,2006,07.
[42]骊山文化.中文版Pro/ENGINEER Wildfire4.0从入门到精通.[M].北京:机械工业出版社,2009:2-7.
[43]詹友钢. Pro/ENGINEER野火版4.0[M].北京:机械工业出版社,2009:11-15.
[44]机械设计手册第二卷[M].北京:机械工业出版社,2004.
[45]机械设计手册第三卷[M].北京:机械工业出版社,2004.
[2]《连铸结晶器保护渣给料机》[J].涟钢科技管理,2009.08.
[3]卢盛意.结晶器保护渣的润滑作用和水平传热[J].连铸,2007.2.
[4]屠宝洪编译.连续铸钢用保护渣[M].北京:北京科技大学,1997：113-114.
[5]谢兵.连铸结晶器保护渣相关基础理论的研究及其应用实践[D].重庆:重庆大学,2004:32-35.
[6]杨柏杰.连铸保护渣吸附夹杂能力的研究[D].鞍山:辽宁科技大学.2006:32-35.
[7] Masahito HANAO and Masayuki KAWAMOTO. flux Film in the mold of High speedContinuous casting.ISIJ international, vol48(2008) NO.2.pp,180-185.
[8] K.Watanable Development of Mold powder for High speed casting of Middle carbonsteel[A].Steelmaking conference proceedings [C]1996.265.
[9]董方,王艺慈. CSP结晶器保护渣固态渣膜结构和矿相的分析[J].特殊钢,2006,1.
[10] P.O.Hooli Mould Flux Film Between Mould and steel shell [J].Ironmaking and steelmaking2002.292(4):293.
[11]李婷.薄板坯连铸保护渣消耗量与组成性能的关系[J].鞍山:辽宁科技大学.2007.03.
[12]田华彦等.连铸过程中振痕缺陷的研究与对策[J].铸造技术,2008:678-680.
[13]王三忠,王新志等.宽板坯表面纵裂纹的探索分析[J].钢铁,2010（5）:44-48
[14]牛山廷,张兴中,干勇.连铸板坯表面横裂纹的形成机理和防止措施[J].特殊钢,2011.
[15]陆巧彤,杨荣光,王新华.板坯连铸结晶器保护渣卷渣及其影响因素的研究[J].钢铁,2006,7.
[16]吴杰,刘振清.连铸结晶器保护渣渣圈的研究[J].包钢钢铁学院学报，2001,09.
[17]王莹叶,李保才,王伟.板坯连铸结晶器保护渣自动加渣技术的探讨[J].山东冶金,2007,12.
[18]连铸结晶器保护渣自动给料机[J].世界金属导报,2009,03.
[19]朱萃汉.摆动式给料装置[ZL]200420019322.2.
[20]梅金波,叶俊辉,朱萃汉.连铸结晶器保护渣自动给料机的开发与应用[J].钢铁,2004,9.
[21]路同浚,杨冬松,孟宪超.连铸加渣机机人主体设计[J].黑龙江自动化技术与应用,1996,4.
[22]申俊峰,庞龙水.结晶器保护渣的熔融-凝固机理[J].炼钢,2000,8.
[23]申俊峰,庞志杰.结晶器保护渣渣膜的研究[J].炼钢,1998(4).
[24]卢盛意.连铸坯质量[M].北京:冶金工业出版社,2004:78-79.
[25] Riboud.Steel desulfurization in sencondary Refining:Conclusion from theoretical and industrialresult.Cahiers d`Information Techniques–Revue de metallurgie nov.1985.
[26] Akria Yamauchi,Toshihiko Emi,Seshadri Seetharaman.A Mothematical Model for prediction ofThickness of Mould Flux Film in Continuous Casting Mould[J].ISIJInternational,2002,42(10)1084-1093.
[27]杨晓江.薄板坯连铸结晶器保护渣技术[J].炼钢,2002:47.
[28]朱立光,王硕明,金山同.连铸结晶器内保护渣渣膜状态的数学模拟[J].北京:北京科技大学学报,1999:13-16.
[29]中森辛雄はか.连续铸造の铸型と铸片间摩擦力测定と解析结果[J].铁と钢,1984:（9），1262-1267.
[30] Takeuchi E,Brimacamble JK.The Formation of Oscilation Marks in the Continuous Casting ofSteel slabs[J]Metallurgical transactions B,1984.15B(9):493-509.
[31]王新月,席常锁,卢军辉.影响板坯连铸产生渣圈的因素[J].炼钢，2010:53.
[32]米源.结晶器保护渣的性能与使用工艺[J].保护渣,2007.
[33]赵匀.机构数值分析与综合[M].北京:机械工业出版社,2005.6:61-66.
[34]张志刚. MATLAB与数学实验[M].北京:铁道工业出版社,2004:78-81.
[35]张启先.空间机构的分析与综合[M].北京:机械工业出版社,1984.3:44-46.
[36]吕庸厚,沈爱红.组合机构设计与应用创新[M].北京:机械工业出版社,2008:112-114.
[37]李敏强.遗传算法的基本理论与应用[M].北京:科学出版社,2002:18-19.
[38]骆华峰,万家瑰,栾庆德.基于遗传算法的常规四杆机构优化设计[J].科学技术与工程,2008.
[39]黄贤振.随机参数平面机构运动设计中若干关键问题研究[D].沈阳:东北大学,2008.01:35-36.
[40]雷英杰. MATLAB遗传算法工具箱及其应用[M].西安:西安电子科技大学出版社,2005:72-75.
[41]康文龙,蒲志新.基于PRO_E的机械零件虚拟装配方法研究[J].煤矿机械,2006,07.
[42]骊山文化.中文版Pro/ENGINEER Wildfire4.0从入门到精通.[M].北京:机械工业出版社,2009:2-7.
[43]詹友钢. Pro/ENGINEER野火版4.0[M].北京:机械工业出版社,2009:11-15.
[44]机械设计手册第二卷[M].北京:机械工业出版社,2004.
[45]机械设计手册第三卷[M].北京:机械工业出版社,2004.