Automatic steel taking machine for heavy rail or special-shaped steel

Abstract

The present invention belongs to the field of metallurgical technology, and relates to an automatic steel-taking machine for heavy rails and special-shaped steel. The steel-taking machine of the present invention is composed of several groups of steel-taking trolleys and a transverse movement and lifting system. Each steel-taking trolley is driven to reciprocate on a slide rail by an independent variable frequency motor through a chain, and the transverse movement and lifting system adopts a mechanical hydraulic dual synchronous structure for overall lifting. The steel-taking trolley of the present invention adopts a tumbler gripping structure to achieve automatic and precise positioning of the steel-taking trolley and automatic steel separation, and can prevent the sliding of heavy rails and special-shaped steel. The automatic control system of the present invention realizes the synchronous alignment of several groups of steel-taking trolleys during the forward movement through the trajectory control of the motor encoder and the transverse position of the steel-taking trolley. The beneficial effect of the present invention is to realize the automatic separation and automatic steel taking of heavy rails and special-shaped steel, and avoid scratches and scrapes on heavy rails and special-shaped steel due to lateral displacement.

Description

Technical Field

[0001] The invention belongs to the technical field of metallurgy and relates to an automatic steel taking machine for heavy rails or special-shaped steel. Background Art

[0002] The steel-taking machine at the exit of the cooling bed for heavy rail and special-shaped steel production consists of a steel-taking trolley, a transverse lifting system and an auxiliary system. Its function is to automatically separate the heavy rail or special-shaped steel and transversely move it to the output roller of the cooling bed for straightening. Since the cross-section of heavy rail and special-shaped steel is an asymmetric structure, the cooling is uneven during the cooling process of the cooling bed, and the heavy rail and special-shaped steel are not straight after cooling. The position interval of adjacent heavy rails or special-shaped steel after cooling is usually greater than 80mm, but there are irregular intervals of 0mm in some parts. When the intervals between heavy rails and special-shaped steel are very small or even closely packed, the currently commonly used flat steel-taking machine cannot realize the steel separation operation of heavy rails. Manual intervention will also cause various defects such as scraping and scratching.

[0003] At present, the steel taking of flat-bed steel pickers is mainly carried out through laser positioning. When the straightness of heavy rails or special-shaped steels is relatively ideal, the steel can be taken smoothly. However, due to the uneven cooling of heavy rails and special-shaped steels on the cooling bed and the superimposed influence of the pre-bending trolley at the entrance of the cooling bed, the straightness of each heavy rail in the exit area is different, which makes it impossible to accurately position the laser device and thus the steel receiving position of the steel picker.

[0004] It is necessary to invent a steel taking machine to realize automatic separation and automatic steel taking of heavy rails or special-shaped steels. In addition, in order to ensure the relative stability of the position of the taken heavy rails or special-shaped steels and the steel taking trolley of the steel taking machine, the steel taking trolley should have the function of independently separating steel and preventing the heavy rails or special-shaped steels from sliding. Since the taken heavy rails or special-shaped steels have a certain degree of curvature, the steel taking trolley of the steel taking machine should have the function of automatically adjusting and automatically determining the support point position of the taken heavy rails or special-shaped steels. The steel taking trolley of the steel taking machine should be equipped with an anti-scratch device, and the anti-scratch device can be quickly replaced, which can effectively restrain the irregular changes of the heavy rails or special-shaped steels caused by residual stress during the full-length steel taking process, and will not cause scratch defects on the surface of the heavy rails or special-shaped steels. Summary of the invention

[0005] The present invention is designed to solve the problem that heavy rails or special-shaped steel cannot be automatically separated at the outlet of the production cooling bed and to realize automatic separation and automatic steel removal and transverse movement of heavy rails or special-shaped steel.

[0006] The technical solution of the present invention is as follows:

[0007] The automatic steel taking machine for heavy rail or special-shaped steel is composed of several groups of steel taking trolleys and transverse movement and lifting systems (for example, there are 33 groups of exit trolleys for a 100-meter heavy rail cooling bed). Each steel taking trolley can realize independent operation control, and the transverse movement and lifting structure can realize overall synchronous control.

[0008] The steel-taking trolley adopts a specific tumbler-type grab structure. The head position of the tumbler grab that contacts the steel section is a roller structure and can rotate freely along the middle axis. The steel-dragging surface on the right side of the tumbler grab is a flat structure, and the steel-supporting surface on the left side is an inclined structure. The concave space formed between the tumbler grab and the right side block of the trolley can accommodate the rail heads of all specifications of heavy rails and special-shaped steel sections.

[0009] A tumbler gripping structure is provided to realize automatic and precise positioning of the steel-taking trolley. The concave space between the gripping structure and the corresponding stopper can accommodate the rail heads of heavy rails and special-shaped steels of all specifications with a certain gap. The lifting and lowering of the tumbler device is detected by the proximity switch. When the steel-taking trolley is away from the roller table to take steel, the proximity switch completes the combination signal from normal power-on to short-term (0.15 seconds) power-off to power-on again, which is the signal for the current operation of the steel-taking trolley to stop, thereby ensuring that each steel-taking trolley can automatically stop when the tumbler structure passes through the rail head of heavy rails or special-shaped steels, realize automatic and independent steel separation, and prevent the sliding of heavy rails or special-shaped steels.

[0010] Each steel trolley is driven by an independent variable frequency motor with encoder and chain to reciprocate on the slide rail. The steel trolley uses four sets of rollers, which are pulled by chains to reciprocate on the moving track. The four sets of rollers on the steel trolley are restrained by "conduction and guide rails" to prevent flipping, separation, deviation, etc. during operation.

[0011] The lateral lifting system adopts a mechanical and hydraulic dual synchronous structure for overall lifting. The lifting device adopts a crank-connecting rod lifting mechanism and is hydraulically driven. The crank running track uses a circular side arc (symmetrical about the horizontal line passing through the center of the circle), the lifting height is 200mm, and the trolley's self-lateral movement is only 17mm, which minimizes the lateral position of the trolley during lifting and avoids the impact on the adjacent heavy rails.

[0012] The automatic control system of the present invention realizes synchronous alignment of several groups of steel-taking trolleys during their forward movement through the trajectory control of the motor encoder and the lateral position of the steel-taking trolley. The lifting and translation of the steel-taking trolley are both controlled by position-based speed control. During normal operation, the steel-taking trolley uses the motion trajectory of one of the steel-taking trolleys as the reference position. If a steel-taking trolley deviates from the reference position and enters the adjustment interval, the deviated steel-taking trolley will automatically adjust its speed to approach the reference position in operation, which is equivalent to double closed-loop PID adjustment based on position.

[0013] The beneficial effects of the present invention are: automatic separation and automatic steel taking of heavy rails and special-shaped steels are realized, and automatic operation is realized; scratch and scrape defects of heavy rails and special-shaped steels caused by lateral displacement are avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The overall diagram of the automatic steel taking machine for heavy rails and special-shaped steel of the present invention

[0015] Figure 2 A top view of the automatic steel taking machine for heavy rails and special-shaped steel of the present invention

[0016] Figure 3 This is a side view of the automatic steel taking machine for heavy rails and special-shaped steel of the present invention.

[0017] Figure 4 This is a front view of the automatic steel taking machine for heavy rails and special-shaped steel of the present invention

[0018] Figure 5 This is the parts diagram of the steel trolley and the tumbler card grabbing equipment of the present invention

[0019] Figure 6 The principle diagram of the automatic steel separation and steel taking of the steel taking trolley of the present invention

[0020] Part Number Description

[0021] 1 Tumbler Card Catch

[0022] 2 Take the steel trolley

[0023] 3. Frequency conversion motor

[0024] 4Transverse lifting system

[0025] 5 Lifting hydraulic cylinder

[0026] 6 Synchronous axes DETAILED DESCRIPTION

[0027] Example:

[0028] 1) The steel taking machine is in the initial position: the steel taking trolley 2 is in the horizontal initial position at the end of the roller table; the transverse lifting system 4 is in the low position, and the piston rod of the lifting hydraulic cylinder 5 is in a fully retracted state.

[0029] 2) The steel taking machine moves forward: the frequency conversion motor 3 starts to run forward, and drives the steel taking trolley 2 to move forward from the horizontal initial position through the chain mechanism, and moves synchronously at the same speed to enter the cooling bed range. When it reaches the middle position before the lower position of the heavy rail or special-shaped steel, the lifting hydraulic cylinder 5 is started, and the transverse lifting system 4 is lifted to the steel taking position. At this time, the uppermost supporting surface of the transverse lifting system 4 is 20mm lower than the surface of the fixed beam on the cooling bed, and the frequency conversion motor 3 continues to run forward, and the steel taking trolley 2 continues to move forward.

[0030] 3) The steel taking machine stops: the variable frequency motor 3 continues to run in the forward direction. When the steel taking trolley 2 passes the head of the heavy rail or the head of the special-shaped steel, the tumbler gripping structure 1 is pressed down and then floats up. The proximity switch under the "tumbler" completes the combination signal from normal power-on to short-term (0.15 seconds) power-off to power-on again. This combination signal is the signal that the steel taking trolley 2 and the variable frequency motor are currently stopped. All the steel taking trolleys 2 stop after receiving the stop signal (the tumbler swings and resets). At this time, all the variable frequency motors 3 stop, and the steel taking trolley 2 completes the steel connection. Since there are several groups of steel taking trolleys 2, the proximity switches may be damaged. In order not to affect production, the number of proximity switches in use can be selected. The damaged proximity switches can be temporarily disabled and replaced during maintenance.

[0031] 4) Separation of heavy rails: After the steel-taking trolley 2 completes the steel-taking action, the lifting hydraulic cylinder 5 is started, the transverse lifting system 4 is lifted 30mm to the middle position, the frequency conversion motor 3 is started in the reverse direction, and the steel-taking trolley 2 is synchronously (at the same speed) moved 150mm toward the output roller of the cooling bed (the moving distance can be adjusted according to the production situation) to separate the densely packed heavy rails, ensuring single steel taking without affecting the scratches and scratches of the second steel.

[0032] 5) The steel taking machine is lifted to a high position: the frequency conversion motor 3 is started in reverse. When all the steel taking trolleys 2 move 150 mm toward the output roller of the cooling bed, the lifting hydraulic cylinder 5 is started and the transverse lifting system 4 is lifted to a high position at the same time.

[0033] 6) Synchronous transport to the cooling bed output roller: When all the transverse lifting systems 4 reach the high position, according to the travel data of reaching the target position obtained by the horizontal travel encoder of each steel-taking trolley 2, a fast logical operation is performed to calculate the basic operating speed of each steel-taking trolley 2, and the frequency conversion motor 3 keeps rotating in the opposite direction, and moves synchronously (not necessarily at the same speed) to the target position on the cooling bed output roller. When reaching this position, the offset between the first steel-taking trolley 2 (the trolley closest to the straightening) and all other steel-taking trolleys 2 is quickly calculated. If the offset with all other steel-taking trolleys 2 is within the allowable range (settable), all steel-taking trolleys 2 continue to run synchronously (at the same speed) to the steel-dropping position of the cooling bed output roller; if the offset with other steel-taking trolleys 2 exceeds the allowable range, the steel-taking trolley 2 will suspend operation, alarm, and request the operator to manually handle it according to the on-site situation. The translation of the steel picking trolley 2 adopts position-based speed control. During normal operation, the steel picking trolley 2 uses the movement trajectory of one of the steel picking trolleys 2 as the reference position. If a steel picking trolley 2 deviates from the reference position and enters the adjustment range, the deviated steel picking trolley 2 will automatically adjust its speed to approach the reference position in operation (equivalent to double closed-loop PID adjustment based on position). During this operation adjustment process, due to mechanical stress constraints, if the frequency conversion current exceeds the maximum operating set value, in order to protect the equipment, the frequency converter output will maintain the current relative speed (or position) to ensure that all steel picking trolleys 2 are always on a horizontal and vertical straight line during the action process, and to achieve the purpose of protecting on-site equipment.

[0034] 7) Steel taking machine puts steel: After all steel taking trolleys 2 arrive at the steel dropping position, the lifting hydraulic cylinder 5 is started, and the transverse lifting system 4 descends at the same time, placing the heavy rail or special-shaped steel on the output roller of the cooling bed. After the steel placing action is completed, the steel taking trolley 2 continues to descend until the concave sides are lower than the roller surface to a safe distance, and the output roller of the cooling bed runs to transport the heavy rail to the straightening process. (At this time, the steel taking trolley 2 and the transverse lifting system 4 return to the initial position to wait for the next heavy rail to be picked up)

[0035] 8) Steel taking machine stops and overload protection: When the steel taking trolley 2 is transported along the predetermined track, if the heavy rail or special-shaped steel is deformed too much, the "straightening" stress exceeds the predetermined range, resulting in the heavy rail or special-shaped steel being unable to be placed on the cooling bed output roller, the torque and load-bearing capacity of the steel taking trolley 2 will be used to implement alarm and stop protection, and manual intervention will be performed.

Claims

1. An automatic steel taking machine for heavy rails or special-shaped steel, characterized by: The steel taking machine is composed of several groups of tumbler-grabbing steel taking trolleys, transverse lifting systems and auxiliary facilities. The steel taking trolley adopts a specific tumbler-grabbing structure. The head position of the tumbler-grabbing contacting heavy rail or special-shaped steel is a roller structure, which can rotate freely along the middle axis. The steel supporting surface on the right side of the tumbler-grabbing is a flat structure, and the steel supporting surface on the left side is an inclined structure. The concave space formed between the tumbler-grabbing and the right block of the steel taking trolley can accommodate the rail heads of heavy rails or special-shaped steels of all specifications. A proximity switch is arranged under the tumbler-grabbing of the steel taking trolley. During the steel taking process, the proximity switch completes the combination signal from normal power-on to short-term power-off to power-on again, and can stably and reliably transmit the signal to the control system. The power-on and power-off signals of the proximity switch are the start-stop signals of the steel taking trolley. The steel taking method is as follows: the steel taking trolley moves forward from the initial position to the cooling bed range and reaches the head of the heavy rail or special-shaped steel. When the steel trolley stops moving, it will be pressed down and then float up. At this time, the steel-taking trolley stops running. When all the steel-taking trolleys stop, the steel-taking trolley receiving action is completed, and then the transverse lifting system lifts the steel-taking trolley to the middle position, and all the steel-taking trolleys move synchronously toward the output roller of the cooling bed. When all the steel-taking trolleys move to the preset position, the separation of the heavy rails or special-shaped steel is completed, and then the transverse lifting system lifts the steel-taking trolley to the high position. When all the transverse lifting systems reach the high position, according to the stroke data of reaching the target position obtained by the horizontal stroke encoder of each steel-taking trolley, fast logical operation is performed to calculate the basic operating speed of each steel-taking trolley, and they move synchronously to the target position on the output roller of the cooling bed. When all the steel-taking trolleys arrive at the steel-dropping position range of the output roller of the cooling bed, the transverse lifting system descends to place the heavy rails or special-shaped steel on the output roller of the cooling bed, and the steel placing action is completed.

2. The automatic steel taking machine for heavy rails or special-shaped steel according to claim 1, characterized in that: The lifting and translation of the steel trolley are both controlled by position-based speed control. During normal operation, the movement trajectory of one of the steel trolleys is used as the reference position. If any steel trolley deviates from the reference position and enters the adjustment range, the deviated steel trolley will automatically adjust its speed to approach the reference position in operation, which is equivalent to dual closed-loop PID adjustment based on position.

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