Fully hydraulic positioning long shroud manipulator

Abstract

The present invention discloses a fully hydraulic positioning long water nozzle manipulator, which includes a base, a swivel seat, a telescopic rod, a telescopic rod sleeve, a rotation drive mechanism, a swivel drive mechanism and a pitch drive mechanism, wherein the swivel seat is rotatably connected to the base through the swivel drive mechanism, the telescopic rod sleeve is rotatably connected to the swivel seat through a horizontal rotating shaft, the pitch drive mechanism is installed between the telescopic rod sleeve and the swivel seat, the telescopic rod is coaxially sleeved in the telescopic rod sleeve and rotatably connected to the telescopic rod sleeve through a bearing, a water nozzle support is installed at the front end of the telescopic rod, and the rotation drive mechanism is installed between the telescopic rod sleeve and the telescopic rod. The present invention adopts a fully hydraulic manipulator, and the operator can stand at a place close to the ladle water nozzle and accurately control the manipulator through a hand control box, which not only reduces the labor intensity of the operator, but also improves the work efficiency. In addition, the manipulator also has the advantages of easy automation of the operation of the long water nozzle manipulator.

Description

Technical Field

[0001] The invention relates to a full hydraulic positioning shroud manipulator for a continuous casting machine, which can improve the automation degree of the shroud operation of a ladle and belongs to the technical field of metallurgical machinery. Background Art

[0002] The continuous casting non-oxidation casting technology includes the use of nitrogen blowing from the ladle to the tundish using a long nozzle and hydrogen blowing protection from the tundish to the crystallizer using an immersed nozzle. Non-oxidation casting technology is widely used in advanced steel enterprises at home and abroad, and is of great significance to improving the surface quality of the ingot and improving the internal quality of the ingot. The long nozzle is installed under the lower nozzle of the ladle sliding nozzle during the casting process. The molten steel is protected by hydrogen blowing, which can effectively prevent the secondary oxidation of the molten steel, reduce the deposition of oxides of easily oxidized elements in the steel on the inner wall of the nozzle, and extend the service life of the nozzle; the molten steel does not splash around during the process from the ladle to the tundish, and the production operation is safer. At the same time, the long nozzle can be used multiple times to reduce consumption. The ladle long nozzle manipulator is generally installed on the platform, and the long nozzle is installed under the lower nozzle of the ladle sliding nozzle. During the steel casting process, the long nozzle is kept between the lower nozzle and the tundish, and hydrogen is blown on the long nozzle to protect the molten steel.

[0003] The existing long nozzle manipulator is a multi-joint type, and its mechanical arm is divided into two sections: a large arm and a small arm. The large and small arms are connected by an elbow joint, and the large arm and the column are connected to form a shoulder joint. When working, the manipulator can be extended and retracted forward and backward and moved left and right through multi-joint movements. This type of manipulator has the following shortcomings:

[0004] 1. Multi-joint manipulators are bulky and can only be operated manually, which increases the labor intensity of workers and reduces work efficiency.

[0005] 2. Since the operator is far away from the ladle nozzle, it is inconvenient to visually locate the ladle, the positioning accuracy is low, and the positioning time is long, which further reduces the work efficiency.

[0006] 3. There are many manual operation links during positioning, and the robot needs to be able to extend and retract, swing left and right, and move up and down. This requires a high level of technical skills from the operator and is not conducive to automation. Summary of the invention

[0007] The purpose of the present invention is to provide a fully hydraulic positioning long shroud manipulator to address the drawbacks of the prior art, so as to reduce the difficulty of operating the manipulator, alleviate the labor intensity of workers, and improve work efficiency.

[0008] To achieve the above object, the present invention adopts the following technical solutions:

[0009] A fully hydraulic positioning long water nozzle manipulator comprises a base, a swivel seat, a telescopic rod, a telescopic rod sleeve, a rotation drive mechanism, a swivel drive mechanism and a pitch drive mechanism. The swivel seat is rotatably connected to the base via the swivel drive mechanism, the telescopic rod sleeve is rotatably connected to the swivel seat via a horizontal rotating shaft, the pitch drive mechanism is installed between the telescopic rod sleeve and the swivel seat, the telescopic rod is coaxially sleeved in the telescopic rod sleeve and rotatably connected to the telescopic rod sleeve via a bearing, a water nozzle support is installed at the front end of the telescopic rod, and the rotation drive mechanism is installed between the telescopic rod sleeve and the telescopic rod.

[0010] The above-mentioned fully hydraulic positioning long water nozzle manipulator, the telescopic rod includes a telescopic hydraulic cylinder, a fixed rod and a moving rod which are coaxial with each other, the fixed rod is coaxially sleeved in the telescopic rod sleeve and rotatably connected with the telescopic rod sleeve through a bearing, the rear end of the fixed rod is connected with the telescopic rod sleeve through a self-rotation drive mechanism, the telescopic hydraulic cylinder is inserted into the blind hole at the front end of the fixed rod, the piston rod of the telescopic hydraulic cylinder is fixedly connected to the bottom of the blind hole, the front end of the moving rod is installed with a water nozzle support, and the rear end is fixedly connected to the cylinder body of the telescopic hydraulic cylinder.

[0011] The above-mentioned fully hydraulic positioning long water nozzle manipulator, the self-rotation drive mechanism includes a self-rotation motor and a connecting plate, the self-rotation motor is installed on the telescopic rod sleeve through the connecting plate, and the output shaft of the self-rotation motor is connected to the rear end of the fixed rod through a coupling.

[0012] The above-mentioned fully hydraulic positioning long water outlet manipulator, the pitch drive mechanism includes a lifting hydraulic cylinder, an upper base of the lifting cylinder and a lower base of the lifting cylinder, the upper base of the lifting cylinder and the lower base of the lifting cylinder are respectively fixed on the telescopic rod sleeve and the swivel seat, and the two ends of the lifting hydraulic cylinder are respectively hinged to the upper base of the lifting cylinder and the lower base of the lifting cylinder.

[0013] The above-mentioned fully hydraulic positioning long water outlet manipulator, the rotary drive mechanism includes a rotary motor, a rotary shaft, a column cylinder, a pressure bearing, a rotary upper bearing, and a rotary lower bearing. The rotary shaft is vertically fixed on the base, and the column cylinder is mounted on the outside of the rotary shaft. The lower end of the column cylinder is rotatably connected to the base through the pressure bearing and is rotatably connected to the rotary shaft through the rotary lower bearing. The upper end of the column cylinder is rotatably connected to the rotary shaft through the rotary upper bearing and is fixedly connected to the rotary seat. The rotary motor is fixed on the rotary seat, and the output shaft of the rotary motor is coaxially connected to the rotary shaft.

[0014] The above-mentioned fully hydraulic positioning long shroud manipulator, the moving rod is formed by connecting the front section of the moving rod and the rear section of the moving rod.

[0015] In the above-mentioned fully hydraulic positioning long shroud manipulator, a protective cover is provided on the outside of the coupling between the self-rotating motor and the fixed rod, and the protective cover is fixed between the connecting plate and the telescopic rod sleeve.

[0016] The above-mentioned fully hydraulic positioning long shroud manipulator has a manual rotating handle installed on the protective cover.

[0017] The above-mentioned fully hydraulic positioning long water nozzle manipulator has a locking mechanism between the rotating shaft and the column.

[0018] The above-mentioned fully hydraulic positioning long shroud manipulator, the rear section of the moving rod and the front section of the moving rod are connected to the cylinder body of the telescopic hydraulic cylinder through a flange.

[0019] The present invention adopts a fully hydraulic manipulator, and the operator can stand close to the ladle nozzle and accurately control the manipulator through the hand control box, which not only reduces the labor intensity of the operator but also improves the work efficiency. In addition, the manipulator also has the advantages of easy automation of the long nozzle manipulator operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0021] Figure 1 This is a front view of the fully hydraulic positioning long shroud manipulator of the present invention;

[0022] Figure 2 It is a top view of the fully hydraulic positioning long shroud manipulator of the present invention;

[0023] Figure 3 yes Figure 2 AA view;

[0024] Figure 4 yes Figure 1 A partial enlarged view of .

[0025] The markings in the figure are as follows: 1. Manual rotating handle, 2. Protective cover, 3. Swivel seat, 4. Coupling, 5. Rotation bearing, 6. Fixed rod, 7. Swivel seat horizontal plate, 8. Telescopic rod sleeve, 9. Bushing, 10. Telescopic hydraulic cylinder, 11. Rear section of mobile rod, 12. Base cover, 13. Support base, 14. Lifting hydraulic cylinder, 15. Front section of mobile rod, 16. Water inlet support, 17. Support ring, 18. Rotation motor, 19. Connecting plate, 20. Base Seat, 21, left shaft, 22, right shaft, 23, upper base of lift cylinder, 24, lower base of lift cylinder, 25, rotary shaft, 26, upper rotary bearing, 27, lower rotary bearing, 28, cylinder, 29, ring, 30, pressure bearing, 31, piston rod, 32, cylinder body, 33, piston, 34, oil port of rod chamber, 35, oil port of rodless chamber, 36, bottom flange of hydraulic cylinder, 37, rear flange of moving rod, 38, rotary motor, 39, locking mechanism. DETAILED DESCRIPTION

[0026] The invention provides a full hydraulic positioning shroud manipulator to reduce the difficulty of manipulating the manipulator, alleviate the labor intensity of workers, and improve the work efficiency and the automation level of the shroud manipulator.

[0027] See also Figure 1 The present invention mainly includes a base 20, a swivel seat 3, a telescopic rod, a telescopic rod sleeve 8, a rotation drive mechanism, a swivel drive mechanism and a pitch drive mechanism, a rotation drive mechanism, a swivel drive mechanism, and a pitch drive mechanism.

[0028] The telescopic rod includes a telescopic hydraulic cylinder 10, a fixed rod 6 and a moving rod, wherein the moving rod includes a moving rod rear section 11 and a moving rod front section 15, and a water inlet support 16 and a support ring 17 are provided at the front end of the moving rod front section 15. The fixed rod 6 is installed in the telescopic rod sleeve 8, and the rear end of the fixed rod 6 is a stepped shaft, and the shaft end is connected to the self-rotating motor 18 through a coupling 4 (including a half coupling installed at the end of the fixed rod and a half coupling installed at the shaft end of the self-rotating motor 18). A self-rotating bearing 5 is installed on the shoulder, the middle part of the fixed rod 6 is a solid body, and the front part of the fixed rod 6 is a tube (that is, a blind hole is provided at the front end), and a telescopic hydraulic cylinder 10 is installed inside, and the end of the piston rod 31 of the telescopic hydraulic cylinder 10 is connected to the solid body in the middle part of the fixed rod 6 by threading, and the cylinder body 32 of the telescopic hydraulic cylinder 10 is installed in the tube of the fixed rod 6, and the tail of the cylinder body 32 is designed with a rodless cavity oil port 35 and a rod cavity oil port 34. The bottom flange 36 of the telescopic hydraulic cylinder is connected to the flange 37 of the rear section of the moving rod. When hydraulic oil is introduced into the telescopic hydraulic cylinder 10, its piston rod 31 is fixed and the cylinder body 32 extends or retracts, thereby realizing the extension and retreat of the rear section 11 of the moving rod, the front section 15 of the moving rod, the water inlet support 16, and the support ring 17.

[0029] The self-rotation drive mechanism consists of a self-rotation motor 18, a connecting plate 19, a protective cover 2, and a coupling 4. The self-rotation motor 18 is mounted on the connecting plate 19 and connected to the rear shaft end of the fixed rod 6 through the coupling 4. A self-rotation bearing 5 is installed between the shaft shoulder of the rear shaft end of the fixed rod 6 and the telescopic rod sleeve 8, and a shaft sleeve 9 is installed between the front of the fixed rod 6 and the telescopic rod sleeve 8. When the self-rotation motor 18 is fed with pressure oil, the self-rotation motor 18 drives the fixed rod 6, the telescopic hydraulic cylinder 10, the rear section 11 of the moving rod, the front section 15 of the moving rod, the water inlet support 16, and the support ring 17 to rotate together through the coupling 4. The protective cover 2 is covered on the outside of the coupling 4 and connected between the connecting plate 19 and the telescopic rod sleeve 8.

[0030] The rotary drive mechanism includes a rotary motor 38 and a support base 13, wherein the support base 13 includes a rotary shaft 25, a cylinder 28, a ring 29, a pressure bearing 30, a rotary upper bearing 26, a rotary lower bearing 27, and a base cover 12. The rotary motor 38 is mounted on the rotary seat horizontal plate 7 of the rotary seat 3, and the output shaft of the rotary motor 38 is connected to the shaft hole of the upper shaft end of the rotary shaft 25 through a flat key. The rotating shaft 25 is a stepped shaft, with two sets of rotating upper bearings 26 installed between the upper end and the column, a set of rotating lower bearings 27 installed between the lower end and the column, and a set of pressure bearings 30 installed between the lowermost column and the ring. The rotating shaft 25 and the base 20 are interference fit, so that the rotating shaft 25 is fixed. The rotating seat 3 is connected to the column 28 through the hexagon socket bolts of the rotating seat horizontal plate 7. When the rotary motor 38 is passed with pressurized oil, the rotary motor 38 drives the fixed rotating shaft 25 through the output shaft, so that the rotary motor 38 drives the column 28, the rotating seat 3, the telescopic rod sleeve 8 and the fixed rod 6 installed on the rotating seat 3, the telescopic hydraulic cylinder 10, the rear section 11 of the moving rod, the front section 15 of the moving rod, the water outlet support 16, and the support ring 17 to rotate together.

[0031] The pitch drive mechanism is composed of a lifting hydraulic cylinder 14, a lifting cylinder upper base 23, and a lifting cylinder lower base 24. The front ear of the lifting hydraulic cylinder 14 is connected to the lifting cylinder upper base 23 installed on the telescopic rod sleeve 8, and the rear ear of the lifting hydraulic cylinder 14 is connected to the lifting cylinder lower base 24 installed on the slewing seat 3. A horizontal rotating shaft (including a left shaft 21 and a right shaft 22) is installed on the telescopic rod sleeve 8. The telescopic rod sleeve 8 is connected to the slewing seat 3 through the horizontal rotating shaft. When the pressure oil is passed into the lifting hydraulic cylinder 14, the telescopic rod sleeve 8 rotates with the horizontal rotating shaft as the axis, driving the fixed rod 6, the rear section 11 of the moving rod, the front section 15 of the moving rod, the nozzle support 16, and the support ring 17 to rotate together, thereby realizing the lifting and lowering of the nozzle support 16 and the support ring 17.

[0032] The electrical system of the fully hydraulic positioning shroud manipulator controls the telescopic rod, rotation drive mechanism, slewing drive mechanism, and pitching drive mechanism by controlling the hydraulic system of the fully hydraulic positioning shroud manipulator. The operator can stand on the tundish platform and operate the shroud manipulator with a hand control box to hang the shroud on the ladle, with accurate and rapid positioning, while reducing the labor intensity of the operator.

[0033] The present invention adopts a hydraulic cylinder or a hydraulic motor to realize the spatial rapid positioning of the long nozzle, and is easy to realize the automation of the operation of the long nozzle manipulator.

Claims

1. A fully hydraulic positioning long shroud manipulator, characterized in that: The structure comprises a base (20), a swivel seat (3), a telescopic rod, a telescopic rod sleeve (8), a rotation drive mechanism, a swivel drive mechanism and a pitch drive mechanism, wherein the swivel seat (3) is rotatably connected to the base (20) via the swivel drive mechanism, the telescopic rod sleeve (8) is rotatably connected to the swivel seat (3) via a horizontal rotation axis, the pitch drive mechanism is installed between the telescopic rod sleeve (8) and the swivel seat (3), the telescopic rod is coaxially sleeved in the telescopic rod sleeve (8) and is rotatably connected to the telescopic rod sleeve (8) via a bearing, a nozzle support (16) is installed at the front end of the telescopic rod, and the rotation drive mechanism is installed between the telescopic rod sleeve (8) and the telescopic rod; The telescopic rod comprises a telescopic hydraulic cylinder (10), a fixed rod (6) and a movable rod which are coaxial with each other; the fixed rod (6) is coaxially sleeved in a telescopic rod sleeve (8) and is rotatably connected to the telescopic rod sleeve (8) via a bearing; the rear end of the fixed rod (6) is connected to the telescopic rod sleeve (8) via a self-rotating drive mechanism; the telescopic hydraulic cylinder (10) is inserted into a blind hole at the front end of the fixed rod (6); the piston rod (31) of the telescopic hydraulic cylinder (10) is fixedly connected to the bottom of the blind hole; the front end of the movable rod is provided with a nozzle support (16); and the rear end is fixedly connected to a cylinder body (32) of the telescopic hydraulic cylinder (10); The self-rotation drive mechanism comprises a self-rotation motor (18) and a connecting plate (19); the self-rotation motor (18) is mounted on the telescopic rod sleeve (8) via the connecting plate (19); and the output shaft of the self-rotation motor (18) is connected to the rear end of the fixed rod (6) via a coupling (4); The pitch drive mechanism comprises a lifting hydraulic cylinder (14), a lifting cylinder upper base (23) and a lifting cylinder lower base (24); the lifting cylinder upper base (23) and the lifting cylinder lower base (24) are respectively fixed to the telescopic rod sleeve (8) and the swivel seat (3); and the two ends of the lifting hydraulic cylinder (14) are respectively hinged to the lifting cylinder upper base (23) and the lifting cylinder lower base (24); The rotary drive mechanism comprises a rotary motor (38), a rotary shaft (25), a column (28), a pressure bearing (30), a rotary upper bearing (26), and a rotary lower bearing (27); the rotary shaft (25) is vertically fixed on the base (20); the column (28) is sleeved on the outside of the rotary shaft (25); the lower end of the column (28) is rotatably connected to the base (20) through the pressure bearing (30) and is rotatably connected to the rotary shaft (25) through the rotary lower bearing (27); the upper end of the column (28) is rotatably connected to the rotary shaft (25) through the rotary upper bearing (26) and is fixedly connected to the rotary seat (3); the rotary motor (38) is fixed on the rotary seat (3); and the output shaft of the rotary motor (38) is coaxially connected to the rotary shaft (25); The moving rod is formed by butting a moving rod front section (15) and a moving rod rear section (11).

2. A fully hydraulic positioning shroud manipulator according to claim 1, characterized in that: A protective cover (2) is provided outside the coupling (4) between the self-rotating motor (18) and the fixed rod (6), and the protective cover (2) is fixed between the connecting plate (19) and the telescopic rod sleeve (8).

3. A fully hydraulic positioning shroud manipulator according to claim 2, characterized in that: A manual rotating handle (1) is mounted on the protective cover (2).

4. A fully hydraulic positioning shroud manipulator according to claim 3, characterized in that: A locking mechanism (39) is provided between the rotary shaft (25) and the column cylinder (28).

5. A fully hydraulic positioning shroud manipulator according to claim 4, characterized in that: The rear section (11) of the moving rod is connected to the front section (15) of the moving rod and the cylinder body (32) of the telescopic hydraulic cylinder (10) via a flange.

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