Converter body mounting and positioning system and method based on buggy ladle

Abstract

The invention discloses a converter body mounting and positioning system and method based on a buggy ladle, and belongs to the technical field of converter mounting and positioning. According to the converter body mounting and positioning system, the position detection device is used for detecting whether position deviation exists on the two sides of the converter body or not in the in-place conveying process and detecting the alignment condition of the converter body and bolt mounting holes in a converter support; when the converter body has installation position deviation, the steel rail on the corresponding side is clamped through the speed reduction clamping device; when the converter body reaches the braking distance, the steel rails on the two sides are clamped at the same time, and simultaneous speed reduction of the single side or the two sides of the buggy ladle is achieved; and after the converter body is in place, the steel rail is clamped and locked through the brake locking device, so that parking brake of the buggy ladle is realized. In the conveying process of the converter, through accurate control and auxiliary braking of the buggy ladle, high-precision automatic in-position of the converter body can be achieved, and the installation efficiency and the installation precision are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of converter installation and positioning, and more specifically, relates to a converter body installation and positioning system and method based on a ladle car. Background Art

[0002] The ladle car is the main transportation tool for large industrial equipment such as steel converters and ladles. In the metallurgical industry, it is commonly used for the assembly and pushing of converters to achieve the in-place installation of the converter body. At present, when using a ladle car to transport the converter body, it is usually necessary to manually measure in real time whether the traveling direction of the ladle car is deflected and the position deviation of the converter installation hole. If there is a deviation, it is necessary to manually use a chain block for fine adjustment.

[0003] Although the use of a ladle car combined with manual measurement can achieve the precise in-place of the converter body, during the entire furnace-pushing process, multiple manual measurements are required to ensure the in-place accuracy; to ensure personnel safety, the equipment needs to stop running during the measurement. Therefore, the method of completing the precise in-place of the converter through manual intervention has the following disadvantages: 1) The cost required for the manual-assisted in-place process is relatively high; 2) In the final parking stage, the equipment load is huge, and it is difficult to stop precisely and stably in one go under the influence of inertia, and multiple repeated operations are required to meet the accuracy requirements, which is time-consuming and laborious, with low efficiency and will affect the project progress; 3) Manual intervention is very dangerous during the handling and installation of large and heavy equipment, and there may be an overturning phenomenon of the converter when parking, posing a relatively high safety hazard; 4) Manual-assisted installation has certain requirements for operators and requires personnel with rich furnace-pushing experience to complete.

[0004] After retrieval, there is no relevant report on the intelligent auxiliary positioning device during the in-place process of the large converter body. Therefore, it is of great significance to develop an intelligent auxiliary positioning device for the in-place process of the converter body to replace the existing manual positioning method and ensure the positioning accuracy of the converter. Summary of the Invention

[0005] The present invention aims to provide a converter body installation and positioning system and method based on a ladle car. During the process of installing and transporting the converter using a ladle car, through the precise control and auxiliary braking of the ladle car, high-precision automatic in-place of the converter body can be achieved, solving the technical problems in the prior art that the installation and in-place of the converter rely on manual labor, with low efficiency and safety hazards.

[0006] To achieve the above object, the technical solution provided by the present invention is as follows: The first aspect of the present invention provides a converter body installation and positioning system based on a ladle car, including: A ladle car for transporting the converter body to the converter support for installation; A position detection device, comprising a converter position deviation detection unit and a mounting hole alignment detection unit. Among them, the converter position deviation detection unit is used to detect whether there is a position deviation on both sides of the converter body during the in-position conveying process; the mounting hole alignment detection unit is used to detect the distance and alignment of the bolt mounting holes on the converter body and the converter support; A deceleration clamping device is installed on the ladle car and is located between the front wheels and the middle wheels on both sides of the ladle car. It is used to clamp the corresponding side of the rail when there is an installation position deviation of the converter body, and when the converter body reaches the braking distance, it clamps the rails on both sides simultaneously to achieve unilateral or bilateral deceleration of the ladle car; and A braking lock-up device is installed on the ladle car and is located between the middle wheels and the rear wheels on both sides of the ladle car. It is used to simultaneously clamp and lock up the rails when the converter body is in place to achieve the parking brake of the ladle car; The position detection device, the deceleration clamping device, and the braking lock-up device are all connected to the control unit for control.

[0007] According to any one of the technical solutions described in the first aspect of the present invention, the converter position deviation detection unit includes a first laser distance sensor and a second laser distance sensor. The two laser distance sensors are symmetrically installed on both sides above the converter support through a fixed bracket, and are respectively used to detect the distances from the two bolt mounting holes on the front side of the converter body to the corresponding side laser distance sensors. Laser reflection plates are respectively provided in the two bolt mounting holes on the front side of the converter body.

[0008] According to any one of the technical solutions described in the first aspect of the present invention, the first laser distance sensor and the second laser distance sensor can be installed on the fixed bracket so as to be telescopable back and forth. And in the bolt mounting holes on the converter support close to the two laser distance sensors, liftable baffles for calibrating the initial positions of the sensors are respectively provided. The liftable baffles and the laser reflection plates are both supported and installed above the corresponding bolt mounting holes through taper pins. The taper pins are coaxially fitted with the bolt mounting holes, and the upper diameter thereof is larger than the inner diameter of the bolt mounting holes.

[0009] According to any one of the technical solutions described in the first aspect of the present invention, the mounting hole alignment detection unit includes a flexible distance sensor and a spring rotating shaft. Among them, the spring rotating shaft is horizontally distributed perpendicular to the rail direction. One end of it is rotatably installed on the fixed bracket, and the other end extends above the converter support and is fixedly connected to the flexible distance sensor. The flexible distance sensor is used to detect the alignment of the bolt mounting holes on the converter support and the converter body. The spring rotating shaft can drive the flexible distance sensor to perform flipping motion and reset. And in the initial state, the flexible distance sensor is vertically distributed and is located directly above the front-side bolt mounting hole of the converter support.

[0010] According to any one of the technical solutions described in the first aspect of the present invention, a connecting plate perpendicular to the rail and extending in the horizontal direction is connected to the fixed bracket. The flexible distance measuring sensor is rotationally installed at one end of the connecting plate through a spring rotating shaft, and a conical pin that can be coaxially matched with the bolt mounting hole on the converter bracket is fixedly connected to the bottom of the connecting plate. The flexible distance measuring sensor is coaxially arranged above the conical pin.

[0011] According to any one of the technical solutions described in the first aspect of the present invention, the flexible distance measuring sensor includes a liftable baffle and a laser distance measuring sensor probe. The liftable baffle is a telescopic box structure, and the laser distance measuring sensor probe is correspondingly installed inside the stretched box body, and an opening for the laser to pass through is provided on the box body.

[0012] According to any one of the technical solutions described in the first aspect of the present invention, both the decelerating clamping device and the braking and locking device adopt hydraulic clamps.

[0013] According to any one of the technical solutions described in the first aspect of the present invention, the converter body is supported and installed on the ladle car through a liftable support device, and the liftable support device includes four liftable support columns symmetrically distributed along a rectangle.

[0014] The second aspect of the present invention also provides a method for installing and positioning a converter body based on a ladle car. Using any one of the converter body installation and positioning systems described in the first aspect of the present invention, the installation and positioning method includes the following steps: During the process of installing and transporting the converter body by the ladle car, use the converter position deviation detection unit to detect whether the two sides of the converter body are skewed, and feedback to the control unit; If there is an installation deviation on both sides of the converter body, the control unit controls the corresponding side of the decelerating clamping device to start, and unilaterally decelerates the converter body and the ladle car on the front side to correct the deviation of the converter body; After the deviation correction is completed, that is, when the two sides of the converter body are flush, the decelerating clamping device stops working, and the installation hole alignment detection unit is used to detect the distance between the converter body and the bolt installation hole on the converter bracket in real time; when the above distance reaches the set braking distance requirement, the control unit controls the decelerating clamping devices on both sides to start simultaneously, and decelerates both sides of the ladle car synchronously; When the distance between the converter body and the bolt installation hole on the converter bracket reaches the set alignment distance requirement, the control unit controls the braking and locking devices on both sides to start simultaneously, and performs a locking operation on the ladle car, so as to achieve the precise positioning of the converter body.

[0015] According to any of the technical solutions described in the second aspect of the present invention, before installing and positioning the converter body by using a ladle car, first install the converter position deviation detection unit above the converter support and perform calibration operations on it: control the two liftable baffles in the bolt mounting holes at the same horizontal position on the converter supports on both sides to rise until they are flush with the first laser distance sensor and the second laser distance sensor respectively, detect the distances between the two laser distance sensors and the corresponding liftable baffles, and if there is a deviation in the distances on both sides, adjust the installation positions of the two laser distance sensors to expand and contract forward and backward.

[0016] Furthermore, in order to effectively prevent the ladle car from tipping over under the influence of the converter's inertial force during the braking deceleration process, the horizontal distance between the deceleration clamping device and the front wheel support point of the ladle car L 3 satisfies the following formula: ; wherein, m 1 is the total mass of the converter body, m 2 is the overall mass of the ladle car system carrying the converter, L 2 is the vertical height between the center of mass of the converter and the contact point of the upper support structure on the ladle car, L 4 is the horizontal distance between the center of mass of the converter and the front wheel support point of the ladle car, μ 2 is the sliding friction coefficient between the converter and the surface of the support column.

[0017] Furthermore, when the distance L1 between the converter body and the corresponding bolt mounting hole on the front side of the converter support reaches the set braking distance requirement, the control unit controls the deceleration clamping devices on both sides to start simultaneously to synchronously decelerate both sides of the ladle car, where the minimum braking distance S min = v1 2 / 2a max , thereby being used to limit the maximum acceleration during the deceleration process to ensure that the converter does not slip relative to the contact surface of the support column under the action of the inertial force. Wherein, v1 is the moving speed of the ladle car, which is detected by a speedometer, and a max is the maximum acceleration allowed for the converter along the deviation correction direction.

[0018] Adopting the technical solution provided by the present invention, compared with the prior art, the following beneficial effects can be achieved: (1) During the process of installing and positioning the converter using a ladle car, the present invention uses a position detection device to continuously detect the alignment of both sides of the converter body and the distance between the corresponding bolt mounting holes on the converter and the converter support. When there is an installation deviation on both sides of the converter body, the unilateral deceleration clamping device is controlled to operate, thereby performing unilateral deceleration and deviation correction operations. When the distance between the corresponding bolt mounting holes on the converter and the converter support reaches the preset braking distance requirement, the deceleration clamping devices on both sides are controlled to operate simultaneously, causing the two sides of the ladle car to decelerate synchronously. When the distance between the corresponding bolt mounting holes on the converter and the converter support reaches the alignment requirement, the braking and locking device is activated to clamp and lock the rail, thereby achieving precise parking braking of the ladle car. The technical solution of the present invention can directly perform intelligent and automatic adjustment on the installation position deviation existing during the converter transportation process, that is, synchronous deviation correction is achieved during the positioning and transportation of the converter, thereby greatly improving the deviation correction efficiency and effectively ensuring the installation accuracy requirements of the converter.

[0019] (2) By optimizing the design of the structure of the alignment detection unit for the mounting holes, the present invention can not only continuously detect the distance between the bolt mounting holes on the converter and the converter support to facilitate controlling the position of parking deceleration, but also avoid damage to the sensor during the forward movement of the converter through the rotational installation of the flexible distance measuring sensor. When the bolt mounting holes on the converter and the converter support reach the alignment requirement, the flexible distance measuring sensor can be reset and pop out into the bolt mounting holes on the converter, thereby continuing to detect whether the braking and locking condition is reached, which is beneficial to further ensuring the precise positioning of the converter.

[0020] (3) The present invention realizes intelligent operation during the entire positioning process of the converter without the need for personnel to participate, thereby effectively avoiding accidents involving personnel. At the same time, the present invention further optimizes the installation position and braking distance of the deceleration clamping device, thereby effectively avoiding rigid impacts on the converter during the deviation correction process, relative sliding with respect to the column support point or detachment from the support column, which is beneficial to further ensuring the safety and deviation correction accuracy during the deviation correction process. Brief Description of the Drawings

[0021] Figure 1 is the overall structural schematic diagram of the converter body installation and positioning system according to the embodiment of the present invention; Figure 2 is the state schematic diagram when the converter is about to be installed and positioned according to the embodiment of the present invention; Figure 3 is the installation structural schematic diagram of the position detection device according to the embodiment of the present invention; Figure 4 is the installation structural schematic diagram of the retractable flexible distance measuring sensor according to the embodiment of the present invention; Figure 5Schematic diagram of the telescopic structure of the retractable flexible ranging sensor in the embodiment of the present invention; Figure 6 Schematic diagram of the structure of the deceleration clamping device in the embodiment of the present invention; Figure 7 Left view (I) of the installation of the converter on the ladle car in the embodiment of the present invention; Figure 8 Left view (II) of the installation of the converter on the ladle car in the embodiment of the present invention; Figure 9 Front view of the installation of the converter on the ladle car in the embodiment of the present invention; Figure 10 Schematic diagram of the distance detection for the installation of the converter in the embodiment of the present invention; Figure 11 Schematic diagram of the precise positioning process of the converter in the embodiment of the present invention.

[0022] Label description: 1. Platform; 2. Front wheel; 3. Deceleration clamping device; 31. Rail jaw; 32. Friction plate; 33. Clamping arm; 34. Connecting rod; 35. Fixed bracket; 36. Hydraulic cylinder; 37. Piston rod; 4. Middle wheel; 5. Brake locking device; 6. Rear wheel; 7. Rail; 8. Speedometer; 9. Ladle car; 10. Converter body; 11. Position detection device; 111. First laser ranging sensor; 112. Second laser ranging sensor; 113. Taper pin; 114. Laser reflector; 115. Installation hole alignment detection unit; 115-1. Flexible ranging sensor; 115-11. Driving electric cylinder; 115-12. Multi-section telescopic electric push rod; 115-13. Liftable baffle; 115-2. Spring rotating shaft; 115-3. Torsion spring; 116. Fixed support; 117. Connecting plate; 12. Converter support; 13. Liftable support device. Detailed implementation manners

[0023] To further understand the content of the present invention, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0024] It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so as to describe the embodiments of this application here.

[0025] In this application, terms such as "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe this application and its embodiments, and are not used to limit that the indicated device, element or component must have a specific orientation, or be constructed and operated in a specific orientation. Moreover, in addition to being able to represent the orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0026] In addition, terms such as "installed", "set up", "provided with", "connected" mentioned in this application should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or there is an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0027] An embodiment of the present invention provides a converter body installation and positioning system based on a ladle car, in combination with Figure 1 , Figure 2 As shown, the system includes a ladle car 9, a position detection device 11, a deceleration clamping device 3, and a braking and locking device 5, where: The ladle car 9 is used to transport the converter body 10 to the converter support 12 for installation, and the converter body 10 can be installed on the ladle car 9 in a liftable manner, so that after the converter body 10 is in place, it can be lowered and supported on the converter support 12; The position detection device 11 includes a converter position deviation detection unit and an installation hole alignment detection unit 115. Among them, the converter position deviation detection unit is used to detect whether there is a position deviation on both sides of the converter body 10 during the in-place transportation process; the installation hole alignment detection unit 115 is used to detect the distance between the corresponding bolt installation holes on the converter body 10 and the converter support 12 and the alignment situation; The deceleration clamping device 3 is installed on the ladle car 9 and is located between the front wheels 2 and the middle wheels 4 on both sides of the ladle car 9 (that is, a deceleration clamping device 3 is provided between the front wheels 2 and the middle wheels 4 on both sides of the ladle car 9 respectively), and is used to clamp the corresponding side of the rail 7 when there is an installation position deviation on both sides of the converter body 10, and when the converter body 10 reaches the braking distance, clamp the rails 7 on both sides at the same time to achieve unilateral or bilateral deceleration of the ladle car 9; The anti-lock braking device 5 is installed on the ladle car 9 and is located between the middle wheels 4 and the rear wheels 6 on both sides of the ladle car 9 respectively, and is used to simultaneously clamp and lock the rail 7 after the converter body 10 is in place, so as to realize the parking braking of the ladle car 9.

[0028] When installing the converter, usually two converter supports 12 are fixedly supported on the platform 1, and four bolt mounting holes that cooperate with each other are correspondingly provided on the converter support 12 and the converter body 10, and then the converter body 10 is transported and supported and installed above the two converter supports 12 and bolt-fixed. In the prior art, during the process of installing, transporting and positioning the converter body 10 by using the ladle car 9, due to the influence of the track and the environment, etc., the positions of both sides of the converter body 10 may deflect, resulting in the four bolt mounting holes not being accurately aligned. In the prior art, it is usually necessary to manually measure the position deviation of the converter body 10 during the positioning process for many times, and the detection efficiency is relatively low, and it will affect the positioning accuracy of the converter body 10.

[0029] Based on the above situation, the embodiment of the present invention provides a converter body installation and positioning system that can perform automatic detection and intelligent adjustment, so that timely and automatic deviation correction can be carried out during the process of the converter moving forward. Specifically, the position detection device 11, the deceleration clamping device 3 and the anti-lock braking device 5 are all connected to the control unit for control. The converter position deviation detection unit is used to detect the position deviation of both sides of the converter body 10 in real time during the installation and transportation process. If there is a position deviation, it is fed back to the control unit, and the deceleration clamping device 3 on the corresponding side is controlled by the control unit to perform unilateral deceleration on the ladle car, so as to correct the installation position of the converter body 10. For example, if it is detected that the left side of the converter body 10 is offset forward (the side close to the converter support 12) relative to its right side, the deceleration clamping device 3 on the left side is controlled to start, while the deceleration clamping device 3 on the right side does not work.

[0030] If it is detected that there is no position deviation on both sides of the converter body 10, or after the position of the converter body 10 is corrected, the mounting hole alignment detection unit 115 is used to detect the distance between the corresponding bolt mounting holes on the converter body 10 and the converter support 12 in real time. When the distance between the bolt mounting holes reaches the braking distance, the deceleration clamping devices 3 on both sides are controlled by the control unit to work simultaneously, so as to perform synchronous deceleration on the ladle car; when the mounting hole alignment detection unit 115 detects that the corresponding bolt mounting holes on the converter body 10 and the converter support 12 are aligned (or the distance between the mounting holes meets the positioning requirements), the anti-lock braking devices 5 on both sides are controlled by the control unit to work simultaneously, so as to realize the parking and locking of the ladle car.

[0031] As one implementation, such as Figure 3As shown, the converter position deviation detection unit includes a first laser distance sensor 111 and a second laser distance sensor 112. The two laser distance sensors are symmetrically installed above the two converter brackets 12 through a fixed bracket 116 and are arranged flush with each other in the horizontal direction. They are respectively used to detect the distances from two bolt mounting holes on the front side of the converter body 10 (except as otherwise specified, in this article, the side close to the converter bracket 12 is the front side, and the side close to the converter body 10 is the rear side) to the corresponding side sensors. Laser reflectors 114 are respectively arranged in the two bolt mounting holes on the front side of the converter body 10. If the distances detected by the two laser distance sensors are inconsistent, it means that the two sides of the converter body are not flush and there is an installation deviation. Figure 1 Among them, the side close to the converter bracket 12 is the front side, and the side close to the converter body 10 is the rear side. The distances from the two bolt mounting holes on the front side of the converter body 10 to the corresponding side sensors are detected, and laser reflectors 114 are respectively arranged in the two bolt mounting holes on the front side of the converter body 10. If the distances detected by the two laser distance sensors are inconsistent, it means that the two sides of the converter body are not flush and there is an installation deviation.

[0032] Preferably, both the first laser distance sensor 111 and the second laser distance sensor 112 are located in front of the two bolt mounting holes on the front side of the converter bracket 12 (away from the ladle car), and can be installed on the fixed bracket 116 so as to be telescopable back and forth. Liftable baffles 115-13 for calibrating the initial positions of the two laser distance sensors are respectively arranged in the two bolt mounting holes on the front side of the converter bracket 12. After installing the position detection device 11 on the converter bracket 12 and before installing and transporting the converter body, first calibrate the initial installation positions of the two laser distance sensors. Specifically, control the two liftable baffles 115-13 to rise to be flush with the two laser distance sensors respectively, and detect the corresponding distances between the two laser distance sensors and the two liftable baffles 115-13 x 1 ’ and x 2 ’ , if x 1 ’ and x 2 ’ the difference does not meet the accuracy requirements, then control the first laser distance sensor 111 and the second laser distance sensor 112 to perform telescopic adjustment back and forth, so that their position calibration can be achieved. After calibration, the liftable baffles 115-13 are lowered to reset. It should be noted that in this application, the telescopic adjustment structure and adjustment method of the first laser distance sensor 111 and the second laser distance sensor 112 are not limited. For example, an electric cylinder or a pneumatic cylinder can be directly used for telescopic adjustment.

[0033] As one implementation method, both the liftable baffle 115-13 and the laser reflector 114 are supported and installed above the corresponding bolt mounting holes through taper pins 113. The taper pins 113 are coaxially matched with the bolt mounting holes, and the upper diameter thereof is larger than the inner diameter of the bolt mounting holes, so that the concentric positioning of the liftable baffle 115-13 and the laser reflector 114 relative to the bolt mounting holes can be effectively ensured.

[0034] In some embodiments, the mounting hole alignment detection unit 115 includes a flexible distance measuring sensor 115-1 and a spring rotating shaft 115-2. The spring rotating shaft 115-2 is horizontally distributed perpendicular to the rail 7. One end of it is rotatably mounted on the fixed bracket 116, and the other end extends above the converter bracket 12 and is fixedly connected to the flexible distance measuring sensor 115-1. The flexible distance measuring sensor 115-1 is used to detect the distance and alignment between the converter bracket 12 and the corresponding bolt mounting holes on the converter body. The spring rotating shaft 115-2 can drive the flexible distance measuring sensor 115-1 to perform flipping motion and reset. In the initial state, the flexible distance measuring sensor 115-1 is vertically distributed and is directly above the front bolt mounting hole on the converter bracket 12.

[0035] During the process of the steel ladle car moving forward, the flexible distance measuring sensor 115-1 real-time detects the distance between the laser reflection plate 114 on the converter body and the flexible distance measuring sensor 115-1, that is, the distance between the converter body and the corresponding bolt mounting holes on the converter bracket. Combining with the forward speed of the steel ladle car detected by the speedometer 8, when the above distance meets the braking distance requirement, the control unit outputs a deceleration signal to control the two deceleration clamping devices 3 on both sides to work simultaneously, and the steel ladle car starts to decelerate.

[0036] Combined with Figure 11 As shown, when the front end of the converter body touches the flexible distance measuring sensor 115-1, the flexible distance measuring sensor 115-1 is blocked by the front end of the converter, compressing the spring rotating shaft 115-2 and deflecting. At this time, the flexible distance measuring sensor 115-1 presents a flat state, so as to ensure that it can pass smoothly between the converter bracket and the converter body. The converter body continues to decelerate and move forward. When the corresponding bolt mounting holes on the converter body and the converter bracket are close, the spring rotating shaft 115-2 is not compressed, and under the action of the torsion spring 115-3, the flexible distance measuring sensor 115-1 bounces back to its original position. At this time, the flexible laser sensor 115-1 starts to work and measures the distance from the inner wall of the bolt mounting hole on the converter body to the flexible distance measuring sensor 115-1. When the preset distance is reached, the control unit immediately outputs a locking working instruction to the two braking locking devices 5, so as to realize the precise positioning of the converter body.

[0037] Specifically, in the embodiment of the present invention, the fixed bracket 116 includes two fixing rods (or fixing plates) respectively and correspondingly installed in parallel on the outer sides of the two converter brackets 12. The front ends of the two fixing rods (or fixing plates) are symmetrically connected to form a mounting rod (or mounting plate) for installing the first laser distance measuring sensor 111 and the second laser distance measuring sensor 112.

[0038] Combined with Figure 3 , Figure 4As shown, as a further preferred embodiment, connecting plates 117 perpendicular to the rail 7 and extending in the horizontal direction are provided on both fixing rods (or fixing plates) of the fixing bracket 116. The flexible distance measuring sensor 115-1 is rotatably mounted at one end of the connecting plate 117 through a spring rotating shaft 115-2. A conical pin 113 that can be coaxially fitted with the bolt mounting hole on the front side of the converter bracket 12 is fixedly connected to the bottom of the connecting plate 117. The flexible distance measuring sensor 115-1 is coaxially arranged above the conical pin 113. When installing the position detecting device 11, first, the position detecting device 11 is pre-positioned by the concentric positioning effect between the two conical pins 113 and the bolt mounting holes on the front side of the converter bracket 12, and then fastened with bolts.

[0039] As Figure 5 As shown, more preferably, the flexible distance measuring sensor 115-1 includes a liftable baffle 115-13 and a laser distance measuring sensor probe located inside the liftable baffle 115-13. The liftable baffle 115-13 is a telescopic box structure (or a telescopic tube structure). The laser distance measuring sensor probe is correspondingly installed at the top inside the stretched box body. An opening for the laser to pass through is provided on the liftable baffle 115-13 to facilitate detecting the distance between the bolt mounting hole on the converter body and the laser distance measuring sensor probe. By setting the liftable baffle 115-13 and the laser distance measuring sensor probe as a whole, it is not only convenient to calibrate the initial positions of the first laser distance measuring sensor 111 and the second laser distance measuring sensor 112, but also the laser distance measuring sensor probe of the flexible distance measuring sensor 115-1 can be protected by the liftable baffle 115-13. The precise positioning of the installation position of the entire position detecting device 11 on the converter bracket can be achieved through the setting of the conical pin 113 at the bottom of the connecting plate 117, preventing installation position deviations between the first laser distance measuring sensor 111 and the second laser distance measuring sensor 112, and between the two flexible distance measuring sensors 115-1.

[0040] In some embodiments, the liftable baffle 115-13 adopts a multi-stage telescopic tube structure, and a multi-stage telescopic electric push rod is provided inside it. That is, the telescopic movement of the multi-stage telescopic tube structure is driven by the driving electric cylinder 115-11 and the multi-stage telescopic electric push rod 115-12, so as to realize the lifting operation of the liftable baffle 115-13. It should be noted that the telescopic driving structure of the liftable baffle 115-13 in the present invention is not limited to the specific structure here, and other telescopic driving structures can also be used as long as the lifting drive of the liftable baffle 115-13 can be realized.

[0041] According to the technical solution described in any embodiment of the present invention, both the deceleration clamping device 3 and the braking and locking device 5 adopt hydraulic clamps, and the steel ladle car is decelerated and its direction is slightly adjusted by the friction between the hydraulic clamps and the rail; the hydraulic system of the clamp is outside the wheels of the steel ladle car, and the hydraulic cylinder controlling the hydraulic clamp pushes the piston rod to control the magnitude of the clamping force. It should be noted that the specific structure of the hydraulic clamp is not limited here, as long as it can realize the clamping and loosening of the rail.

[0042] Specifically, as Figure 6 shown, as one implementation manner, the hydraulic clamp of this embodiment includes two fixing brackets 35 arranged at intervals along the length direction of the rail. The tops of the two fixing brackets 35 are fixedly installed on the frame of the steel ladle car, and their bottoms are respectively rotatably installed with two clamping arms 33 through mandrels. The two clamping arms 33 are symmetrically located on the inner and outer sides of the rail respectively, and a rail gripper 31 is correspondingly connected to the bottom end of each of them. A friction plate 32 is correspondingly arranged on the contact surface between the rail gripper 31 and the rail to increase the friction force with the rail. A hydraulic cylinder 36 is arranged between the two fixing brackets 35 on the frame of the steel ladle car. The bottom end of the piston rod 37 of the hydraulic cylinder 36 is respectively rotatably connected to the upper ends of the two clamping arms 33 through two symmetrically arranged connecting rods 34. Thus, the two clamping arms 33 can be driven by the hydraulic cylinder 36 to drive the rail gripper 31 to open or close, realizing the clamping and loosening operations on the rail. To ensure that the hydraulic clamp fits the rail better when decelerating the steel ladle car, an opening and closing rotating shaft is used to connect the clamping arm 33 and the rail gripper 31, so as to achieve the effect that the rail gripper 31 accurately grabs the rail.

[0043] The embodiment of the present invention also provides a method for installing and positioning the converter body based on a steel ladle car. Using the converter body installation and positioning system of the embodiment of the present invention, the method for installing and positioning the converter body includes the following steps: Step 1: Installation and calibration of the converter body installation and positioning system Install the position detection device 11 on the converter support 12, and correspondingly install the deceleration clamping device 3 and the braking and locking device 5 on the steel ladle car. The deceleration clamping device 3 is installed between the front wheels and the middle wheels of the steel ladle car, and the braking and locking device 5 is installed between the middle wheels and the rear wheels of the steel ladle car. To further enhance the braking and locking effect of the braking and locking device 5 to ensure the precise positioning of the converter, multiple braking and locking devices 5 are provided between the middle wheels and the rear wheels on both sides of the steel ladle car, for example, two are provided on each side.

[0044] Specifically, in the embodiment of the present invention, the two fixing rods of the fixed bracket 116 are installed on the side of the converter support and fixed on the converter support with a slot structure. Combining the functions of the two taper pins 113 and the bolt holes on the two converter supports for concentric positioning, and then tightening the bolts, thereby fixing the position detection device 11 on the converter support.

[0045] Among them, after the position detection device 11 is installed, the two laser ranging sensors of the converter position deviation detection unit are subjected to an initial position calibration operation: the two liftable baffles 115-13 in the bolt mounting holes on the front sides of the two converter brackets 12 are controlled to rise to be flush with the first laser ranging sensor 111 and the second laser ranging sensor 112 respectively, and the distance between the two laser ranging sensors and the corresponding liftable baffles 115-13 is detected. If there is a deviation in the distance on both sides, the installation position of the two laser ranging sensors is adjusted forward and backward.

[0046] As a preferred embodiment, when the deceleration clamping device 3 is installed, the installation position of the deceleration clamping device 3 is further optimized, so as to effectively ensure the stability of the overall system of the ladle car carrying the converter, so that the ladle car will not overturn under the influence of the inertia force of the converter during the braking and deceleration process, and the rear wheels of the ladle car will not deviate from the track under the influence of the inertia moment of the converter. Specifically, the design process of the installation position of the deceleration clamping device 3 is as follows: In the embodiment of the present invention, the converter body 10 is supported and installed on the ladle car 9 by a liftable support device 13, and the liftable support device 13 includes four liftable support columns (or hydraulic jacks) symmetrically distributed along a rectangle. Figures 7 - 9 As shown, the total mass of the converter body is m 1 (according to the converter model that the ladle car is suitable for, take the maximum value), the overall mass of the ladle car system carrying the converter is m 2. Distance between the bolt mounting holes on the converter support and the front side of the converter body L 1. The vertical height of the contact point between the converter center of mass and the supporting structure on the ladle car L 2. Horizontal distance between the deceleration clamping device 3 and the front wheel support point of the ladle car L 3. The sliding friction coefficient between the deceleration clamping device 3 and the rail 7 is μ 1. The horizontal distance between the center of mass of the converter and the front wheel support point of the ladle car L 4. Uniform motion speed of converter (ladle car) V 1. The sliding friction coefficient between the converter and the support column surface is μ 2.

[0047] 1. First calculate the resistance required for the equipment to decelerate Inertial force in the horizontal direction caused by acceleration ; The maximum friction force that the supporting column can provide ; To ensure that there is no relative sliding between the converter and the support (support column) during deceleration, it is necessary to: ,Right now ;Right now ; Therefore, the following calculations can be directly substituted with the magnitude of the inertial force generated by the acceleration a 1.

[0048] 2. To prevent tremors and tilts during deceleration, the pusher mechanism (ladle car) and the converter body should maintain the same acceleration.

[0049] Then the maximum acceleration magnitude of the ladle car ; It is obtained that the maximum braking force of the ladle car (along the horizontal direction parallel to the rail) ; Therefore, the clamping force that the deceleration clamping device 3 should provide in the horizontal direction during deceleration (along the horizontal direction perpendicular to the rail) .

[0050] 3. The moment balance problem caused by the inertia of the decelerating converter needs to be considered, that is, the moment generated by the converter due to inertia M 1. The moment generated by the self-weight of the converter M 2. The moment generated by the deceleration clamping device 3 M 3. When the moment generated by the inertial force is less than the resultant moment of the moment generated by the deceleration clamping device and the moment generated by the self-weight of the converter, the pusher mechanism (ladle car) can move stably, then: ; where the magnitudes of each moment are as follows: ; ; ; F 5 is the frictional force provided by the deceleration clamping device in the vertical direction. Since F 5 is limited by the maximum braking force of the ladle car, therefore, ; Substitute , and it is obtained that: ; Calculations can obtain: ; That is, it is obtained that the horizontal distance between the installation position of the deceleration clamping device 3 on the ladle car and the front wheel 2 support point of the ladle car should be greater than the above value (the specific installation position also needs to be comprehensively considered according to the structural layout of the equipment. When L 4 is large enough, the influence of L 3 can be ignored).

[0051] Step 2: During the installation and transportation process of the converter body 10 by the ladle car 9, a converter position deviation detection unit is used to detect whether the two sides of the converter body 10 are deflected, and the detection unit feeds back to the control unit.

[0052] Step three: if there is installation deviation on both sides of the converter body 10 , the control unit controls the deceleration clamping device 3 on the corresponding side to start, and performs unilateral deceleration on the converter body 10 and the ladle car 9 on the front side to realize deviation correction of the converter body 10 .

[0053] Specific, combined Figure 10 As shown, the distances x1 and x2 from the two bolt mounting holes on the front side of the converter to the corresponding laser ranging sensors are detected in real time by the first laser ranging sensor 111 and the second laser ranging sensor 112. If the distances are equal, it means that there is no lateral position deviation of the bolt holes on both sides of the converter; if the distances are not equal, it means that the ladle car has deflected during the movement. At this time, the control unit releases a deceleration signal to the side that deflects forward (the side closer to the corresponding laser ranging sensor, that is, the side with a smaller detection distance), controls the deceleration clamping device 3 on this side to act once, and corrects the direction; then re-detects and compares the size of x1 and x2 and repeats the above actions until the distance difference is less than the specified deviation (such as 0.5mm). When correcting the deceleration, the hydraulic cylinder of the deceleration clamping device 3 on the corresponding side is inching controlled to drive the two clamping arms 33 to start clamping the rails, realize unilateral deceleration, and perform micro-correction.

[0054] It should also be noted that during the correction process, the maximum correction acceleration must take into account the stability of the ladle car system carrying the converter; the maximum acceleration needs to ensure that it can smoothly transition during the correction process, the converter will not slide against the support point due to the acceleration, and the converter will not separate from or overturn from the support device 13 due to the acceleration. Based on the above conditions, the design process of the maximum acceleration is as follows: Combination Figure 7As shown in the figure, the weight of the converter body is m1, the static friction coefficient of the support contact surface is f, the height of the center of gravity of the converter from the support surface is h, the minimum distance from the center of gravity of the converter to the support part is l (the distance between the center of gravity along the traveling direction of the ladle car and the nearest support point), and the gravitational acceleration is g. Under the action of the decelerating clamping force, the converter deflects towards the decelerating side and generates a backward acceleration, and at the same time, the generated inertial force acts in the opposite direction, that is, the forward inertial acceleration. If the clamping force is too large, it may cause the converter to obtain too large an inertial acceleration, and the too large inertial acceleration will cause the trunnion ring of the converter to have too large an inertial force. When the inertial force is greater than the frictional force, the converter will slip relative to the contact surface of the support column. This will result in a horizontal position deviation in the positioning of the converter, bringing difficulties to rectification and final accurate positioning, and ultimately leading to the failure of the converter installation. Therefore, it is necessary to reasonably control the magnitude of the clamping force and the deceleration distance to reduce the impact caused by the acceleration during the whole process.

[0055] After analysis, the maximum static friction force F at which the converter does not slide horizontally relative to the contact surface of the support column fmax is: ; Then the maximum acceleration at which the converter does not slide horizontally relative to the support (contact surface of the support column) is: ; In addition, after unilateral deceleration, the converter will generate an angular acceleration α. At this time, due to the existence of the angular acceleration, an inertial couple moment will be generated in the circumferential direction of the converter, and its magnitude is the product of the moment of inertia of the converter ( ) and the angular acceleration (α) ; At this time, if the angular acceleration is too large and exceeds the frictional moment provided by the frictional force at the support point of the converter, the converter will slide relatively in the circumferential direction, affecting the installation accuracy; Let the acceleration during unilateral deceleration be , and the distance from it to the center of gravity of the converter is b (as shown in Figure 9 ), then ; From this, it can be obtained that its inertial couple moment ; To ensure that the converter does not slide relatively in the circumferential direction relative to the support (contact surface of the support column) under the action of the inertial couple moment, it is necessary to ensure that the frictional moment of the support point relative to the center of the converter M f is not greater than the inertial couple moment M I . If the radius between the support point and the center of the converter is R (the middle diameter of the trunnion ring), then: ; The maximum acceleration at which the converter does not slide relatively in the circumferential direction relative to the support can be obtained as: ; Therefore, the maximum acceleration at which the converter does not slide relative to the support is the minimum value of the above two, that is: .

[0056] Furthermore, if the acceleration is too large during the deceleration process, it is also possible to cause the separation between the converter and the column support part or a more serious overturning problem. If the acceleration is too large, the converter and the trunnion ring will have a tendency to overturn and rotate around the contact point between the front support column and the converter support ring. When the acceleration is large enough, the rear side of the converter will separate from the column support part. This phenomenon will cause excessive force on the support part of the other column and there is a risk of converter overturning, which has a huge potential safety hazard. Therefore, the separation phenomenon must be avoided.

[0057] In order to prevent the separation between the converter and the column support part, it is necessary to make the resultant moment of the action effects of the self - gravity of the converter and the inertial force generated by the acceleration rotate inward to the two columns relative to the resultant force of the other support part (that is, when the acceleration is to the left, the resultant moment is counter - clockwise; when the acceleration is to the right, the resultant moment is clockwise). At the critical state of the contact part with the separation tendency, the force on the contact part is 0. According to the above conditions, we have: ; Then the maximum acceleration without overturning is a' max .

[0058] Considering the safety factor S (which can be selected in the range of 1.5 - 3 according to the actual situation), the allowable maximum acceleration along the deviation correction direction is a max which is: .

[0059] Step 4: After the deviation correction is completed, that is, when the two sides of the converter body 10 are flush, the deceleration clamping device 3 stops working, and the distance L1 between the bolt mounting holes on the converter body 10 and the converter support 12 is detected in real time through the mounting hole alignment detection unit 115; combined with the signal of the speedometer, when the above - mentioned distance L1 reaches the set braking distance or the requirement of the starting position of braking deceleration, the control unit controls the deceleration clamping devices 3 on both sides to start simultaneously to synchronously decelerate both sides of the ladle car 9.

[0060] The braking distance or the starting position of braking deceleration shall ensure that during the entire deceleration process when the converter is about to be in place (i.e., after the distance between the converter and the corresponding bolt mounting holes on the converter support reaches the braking distance), the acceleration does not exceed the maximum value that affects the stability of the converter; considering the dynamic process of the ladle car system carrying the converter, it is necessary to ensure that during the deceleration process, the converter will not slide with the support point under the influence of acceleration, and the converter will not break away from the support column under the influence of acceleration. Based on the above conditions, the minimum value S of the braking distance (the distance between the converter and the corresponding bolt mounting holes on the converter support when starting to stop and decelerate finally) min The determination process is as follows: Considering that during the deceleration process of the converter, if the acceleration is too large, phenomena such as sliding and overturning of the converter will occur, affecting the positioning accuracy and construction safety. Therefore, it is necessary to limit the maximum acceleration, and this maximum acceleration shall comply with the requirements of the acceleration described above, that is, it does not exceed the maximum allowable acceleration a along the deviation correction direction max ; According to the moving speed (v1) of the ladle car feedback by the speed measurement sensor (speedometer), the minimum distance required to start stopping and decelerating can be calculated as: S min = v1t - (1 / 2)a max t 2 ; where v1 = a max t, and it can be obtained that: S min = v1 2 / 2a max ; That is, the distance from the deceleration starting point to the end point should be greater than S min , and its acceleration can be adjusted in real time according to the speed feedback of the speedometer.

[0061] Step Five: When the distance between the bolt mounting holes on the converter body 10 and the converter support 12 reaches the set alignment distance requirement, the control unit controls the two braking locking devices 5 to start simultaneously, and performs a locking operation on the ladle car 9, so as to realize the precise positioning of the converter body.

[0062] After the converter body is precisely positioned, control the lifting support column on the ladle car to descend, so as to support the converter body 10 on the converter support, and realize the installation of the converter body.

[0063] The above has schematically described the present invention and its implementation manners. This description is not restrictive, and what is shown in the drawings is only one of the implementation manners of the present invention. The actual structure is not limited thereto. Therefore, if those of ordinary skill in the art are inspired by it and design similar structural modes and embodiments without creative efforts without departing from the purpose of the present invention creation, they shall fall within the protection scope of the present invention.

Claims

1. A converter body installation and positioning system based on a ladle car, characterized in that, Including: A ladle car (9) for transporting the converter body (10) to the converter support (12) for installation; A position detection device (11), including a converter position deviation detection unit and a mounting hole alignment detection unit (115). Among them, the converter position deviation detection unit is used to detect whether there is a position deviation on both sides of the converter body (10) during the in-place transportation process; the mounting hole alignment detection unit (115) is used to detect the distance between the bolt mounting holes on the converter body (10) and the converter support (12) and their alignment conditions; A deceleration clamping device (3), installed on the ladle car (9) and located between the front wheels (2) and the middle wheels (4) on both sides of the ladle car (9) respectively, for clamping the corresponding side of the rail (7) when there is an installation position deviation on both sides of the converter body (10), and for clamping the rails (7) on both sides simultaneously when the converter body (10) reaches the braking distance, so as to achieve unilateral or bilateral simultaneous deceleration of the ladle car (9); and A braking locking device (5), installed on the ladle car (9) and located between the middle wheels (4) and the rear wheels (6) on both sides of the ladle car (9) respectively, for clamping and locking the rails (7) simultaneously when the converter body (10) is in place, so as to achieve the parking brake of the ladle car (9); The position detection device (11), the deceleration clamping device (3) and the braking locking device (5) are all connected to the control unit for control.

2. The converter body installation and positioning system based on the ladle car according to claim 1, wherein The converter position deviation detection unit includes a first laser distance sensor (111) and a second laser distance sensor (112). The two laser distance sensors are symmetrically installed above the two converter supports (12) through a fixed bracket (116), and are respectively used to detect the distances from the two bolt mounting holes on the front side of the converter body (10) to the corresponding side laser distance sensors. Laser reflection plates (114) are respectively arranged in the two bolt mounting holes on the front side of the converter body (10).

3. The converter body installation and positioning system based on the ladle car according to claim 2, wherein, The first laser distance sensor (111) and the second laser distance sensor (112) can be installed on the fixed bracket (116) in a retractable manner. And liftable baffles (115-13) for calibrating the initial positions of the sensors are respectively arranged in the bolt mounting holes on the converter support (12) close to the two laser distance sensors. The liftable baffles (115-13) and the laser reflection plates (114) are both supported and installed above the corresponding bolt mounting holes through taper pins (113). The taper pins (113) are coaxially fitted with the bolt mounting holes, and the upper diameter thereof is larger than the inner diameter of the bolt mounting holes.

4. The converter body installation and positioning system based on the ladle car according to claim 3, wherein, The installation hole alignment detection unit (115) includes a flexible distance measuring sensor (115-1) and a spring rotating shaft (115-2). The spring rotating shaft (115-2) is horizontally distributed along a direction perpendicular to the rail (7). One end of the spring rotating shaft is rotatably installed on a fixed bracket (116), and the other end extends above the converter bracket (12) and is fixedly connected to the flexible distance measuring sensor (115-1). The flexible distance measuring sensor (115-1) is used to detect the alignment of the bolt installation holes on the converter bracket (12) and the converter body (10). The spring rotating shaft (115-2) can drive the flexible distance measuring sensor (115-1) to perform flipping motion and reset. In the initial state, the flexible distance measuring sensor (115-1) is vertically distributed and is directly above the front side bolt installation hole of the converter bracket (12).

5. The converter body installation and positioning system based on the ladle car according to claim 4, characterized in that, A connecting plate (117) perpendicular to the rail (7) and extending horizontally is connected to the fixed bracket (116). The flexible distance measuring sensor (115-1) is rotatably installed at one end of the connecting plate (117) through the spring rotating shaft (115-2). A taper pin (113) coaxially matched with the bolt installation hole on the converter bracket (12) is fixedly connected to the bottom of the connecting plate (117). The flexible distance measuring sensor (115-1) is coaxially arranged above the taper pin (113).

6. The converter body installation and positioning system based on the ladle car according to claim 5, characterized in that, The flexible distance measuring sensor (115-1) includes a liftable baffle (115-13) and a laser distance measuring sensor probe. The liftable baffle (115-13) is a telescopic box structure. The laser distance measuring sensor probe is correspondingly installed inside the stretched box body, and an opening for the laser to pass through is provided on the box body.

7. The converter body installation and positioning system based on the ladle car according to any one of claims 1-6, characterized in that, Both the decelerating clamping device (3) and the braking and locking device (5) adopt hydraulic clamps.

8. The converter body installation and positioning system based on a ladle car according to any one of claims 1-6, characterized in that, The converter body (10) is supported and installed on the ladle car (9) through a liftable support device (13). The liftable support device (13) includes four liftable support columns symmetrically distributed along a rectangle.

9. A method for installing and positioning the converter body based on a ladle car, characterized in that, Using the converter body installation and positioning system described in claim 6, the following steps are included: During the process of installing and positioning the converter body (10) by the ladle car (9), the converter position deviation detection unit is used to detect whether the two sides of the converter body (10) are skewed, and the detection result is fed back to the control unit; If there are installation deviations on both sides of the converter body (10), the control unit controls the corresponding side decelerating clamping device (3) to start, and unilaterally decelerates the converter body (10) and the ladle car (9) on the front side to correct the deviation of the converter body (10); After the deviation correction is completed, that is, when the two sides of the converter body (10) are flush, the decelerating clamping device (3) stops working, and the installation hole alignment detection unit (115) is used to detect the distance between the bolt installation holes on the converter body (10) and the converter bracket (12) in real time. When the above distance reaches the set braking distance requirement, the control unit controls the decelerating clamping devices (3) on both sides to start simultaneously, and synchronously decelerates both sides of the ladle car (9); When the distance between the bolt mounting holes on the converter body (10) and the converter support (12) reaches the set alignment distance requirement, the control unit controls the braking and locking devices (5) on both sides to start simultaneously, and performs a locking operation on the ladle car (9), thereby achieving the precise positioning of the converter body.

10. The method for installing and positioning the converter body based on the ladle car according to claim 9, wherein, Before using the ladle car (9) to install and position the converter body (10), first install the converter position deviation detection unit above the converter support and calibrate it: control the two liftable baffles (115-13) in the bolt mounting holes at the same horizontal position on the converter supports on both sides to rise to be flush with the first laser distance sensor (111) and the second laser distance sensor (112) respectively, detect the distances between the two laser distance sensors and the corresponding liftable baffles (115-13), and if there is a deviation in the distances on both sides, adjust the installation positions of the two laser distance sensors to be retracted and extended forwards and backwards; The horizontal distance between the decelerating clamping device (3) and the support point of the front wheel (2) of the steel ladle car L 3 satisfies: ； Among them, m 1 is the total mass of the converter body, m 2 is the overall mass of the ladle car system carrying the converter, L 2 is the vertical height between the centroid of the converter and the contact point of the support structure on the ladle car, L 4 is the horizontal distance between the centroid of the converter and the front wheel support point of the ladle car, μ 2 is the sliding friction coefficient between the converter and the surface of the support column.

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