Traction mechanism and method for SCR continuous casting of copper billets

Abstract

This invention relates to the technical field of continuously cast copper billets, and particularly to a traction mechanism for SCR continuously cast copper billets, comprising a traction assembly and a lifting assembly mounted on the casting line. The traction assembly includes a clamping group for holding the copper billet and a three-dimensional slide table for driving the clamping group to move in three dimensions relative to the casting line. The three-dimensional slide table is mounted above the casting line and arranged on the casting line along the traction direction. The lifting assembly includes a lifting group for lifting the copper billet, a mounting platform for fixing the lifting group, and a position sensor mounted on the mounting platform. The mounting platform is mounted below the casting line. This invention provides a traction mechanism and method for SCR continuously cast copper billets with a simple structural design, convenient adjustment, high clamping accuracy, and strong traction stability.

Description

Technical Field

[0001] This invention relates to the technical field of continuous casting copper billets, and particularly to a traction mechanism and method for SCR continuous casting copper billets. Background Technology

[0002] The SCR process is a high-efficiency continuous casting and rolling copper rod production line consisting of a vertical furnace, upper runner, holding furnace, lower runner, ladle, five-wheel continuous casting machine, continuous rolling mill, cleaning and waxing processes. The working process is as follows: after the copper plate is melted into copper liquid, it is formed into a trapezoidal cross-section billet on the five-wheel continuous casting machine. Then, the continuously cast copper billet is carried to the predetermined position on the line by traction. After passing through the edge removal device, it enters the continuous rolling mill to roll the trapezoidal billet into a circular cross-section copper rod in multiple passes.

[0003] In the process of guiding continuously cast copper billets to the predetermined position on the production line, the traditional method is manual traction, which is labor-intensive, inefficient, and poses certain safety hazards. Currently, traction devices are also used to guide the copper billets. However, because the copper billets have a certain speed after exiting the five-wheel continuous casting machine, existing traction devices cannot accurately clamp them, resulting in a certain error rate. Moreover, during the traction process, the traction speed and the speed of the copper billets cannot be well matched, leading to poor traction stability. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a traction mechanism and method for SCR continuous casting copper billets that has a simple structural design, is easy to adjust, has high clamping accuracy and strong traction stability.

[0005] The technical solution adopted by the present invention to solve its technical problem is: a traction mechanism for SCR continuous casting of copper billets, including a traction assembly and a lifting assembly installed on the casting line. The traction assembly includes a clamping group for clamping the copper billet and a three-dimensional slide table for driving the clamping group to move in three dimensions relative to the casting line. The three-dimensional slide table is installed above the casting line and arranged on the casting line along the traction direction. The lifting assembly includes a lifting group for lifting the copper billet, a mounting platform for fixing the lifting group, and a position sensor installed on the mounting platform. The mounting platform is installed below the casting line.

[0006] Furthermore, the clamping assembly includes a clamping cylinder slidably mounted on a three-dimensional slide table and a clamping member mounted on the output end of the clamping cylinder, wherein the output end of the clamping cylinder is perpendicularly oriented towards the line body.

[0007] Furthermore, the clamping component includes a connecting plate mounted on the cylinder body of the clamping cylinder, a fixing plate mounted on the piston rod of the clamping cylinder, grippers symmetrically mounted at both ends of the connecting plate, and a connecting rod connecting the fixing plate and the grippers. The grippers are hinged to the connecting plate, one end of the connecting rod is hinged to the middle of the gripper, and the other end is hinged to the end of the fixing plate.

[0008] Furthermore, the three-dimensional slide table includes two parallel Y-axis beams, an X-axis beam slidably mounted on the two Y-axis beams, and a Z-axis beam slidably mounted on the X-axis beam. The Y-axis beams are respectively located above the two sides of the line body, and the clamping cylinder is slidably mounted on the Z-axis beam.

[0009] Furthermore, both ends of the X-axis beam are slidably connected to the Y-axis beam via Y-axis sliders, and the bottom end of one of the Y-axis sliders is threadedly connected to the Y-axis lead screw inside the Y-axis beam. A Y-axis motor connected to the Y-axis lead screw is installed at one end of the Y-axis beam. The Z-axis beam is slidably connected to the X-axis beam via an X-axis slider, and the end of the X-axis slider away from the Z-axis beam is threadedly connected to the X-axis lead screw inside the X-axis beam. An X-axis motor connected to the X-axis lead screw is installed at one end of the X-axis beam. The clamping cylinder is slidably connected to the Z-axis beam via a Z-axis slider, and the end of the Z-axis slider away from the clamping cylinder is threadedly connected to the Z-axis lead screw inside the Z-axis beam. A Z-axis motor connected to the Z-axis lead screw is installed at the top of the Z-axis beam.

[0010] Furthermore, the output end of the Y-axis motor is connected to the Y-axis lead screw via an electronic clutch, and the Z-axis beam is connected to the X-axis slider via a force sensor.

[0011] Furthermore, the lifting assembly includes a lifting cylinder mounted on the mounting platform, a lifting plate mounted on the output end of the lifting cylinder, and a lifting roller rotatably mounted on the lifting plate, with the position sensor located next to the lifting cylinder.

[0012] A traction method using a traction mechanism for SCR continuous casting of copper billets comprises the following steps:

[0013] S1. Automatic detection of copper billet position: The position sensor detects whether there is a copper billet on the line and sends the detection signal to the control system. After receiving the detection signal, the control system sends the control command to the traction component and the lifting component.

[0014] S2. Automatic lifting, clamping and traction of copper billet: After receiving control commands, the lifting component lifts the copper billet, while the traction component clamps and tractions the copper billet. The clamping group clamps the copper billet, and the three-dimensional slide table tractions the copper billet.

[0015] S3. Completion of copper billet traction: After the three-dimensional slide table tractions the copper billet to the designated position, the clamping group releases the copper billet.

[0016] Furthermore, the traction in step S2 includes follow-up control and automatic adjustment control, both of which are implemented by an electronic clutch.

[0017] Furthermore, the automatic control employs a PID control algorithm, the specific steps of which are as follows:

[0018] S21. Deviation signal Acquisition: Preset Y-axis force setting value The force sensor acquires the actual value of the Y-axis force in real time. Calculate the deviation signal ;

[0019] S22. Adjust the signal output : Obtain the adjustment signal based on the PID formula ,in,

[0020] In the formula, This is the proportionality coefficient. The integral coefficient is... These are the differential coefficients;

[0021] S23. Adjust the Y-axis running speed of the three-dimensional slide by adjusting the signal.

[0022] The beneficial effects of this invention are:

[0023] (1) By setting up a traction component and a lifting component, the lifting component accurately senses the position of the copper billet and lifts it, and then the traction component clamps and pulls the lifted copper billet. The traction component can adapt to the speed of the copper billet, thereby ensuring the accuracy of the copper billet clamping and improving the stability of the traction.

[0024] (2) The automatic control in this invention adopts the PID control algorithm, which improves the dynamic response performance of the traction component and ensures that the force measured by the force sensor of the three-dimensional slide is always kept within the preset range, further guaranteeing the stability of traction. Attached Figure Description

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] Figure 1 This is a schematic diagram of the traction mechanism in this invention;

[0027] Figure 2 This is a schematic diagram of the three-dimensional sliding table in this invention;

[0028] Figure 3 yes Figure 2 Enlarged view of section A;

[0029] Figure 4 This is a schematic diagram of the clamping component in this invention;

[0030] Figure 5This is a schematic diagram of the lifting assembly in this invention;

[0031] Figure 6 This is a flowchart of the traction method in this invention.

[0032] In the diagram: 1. Production line; 1a. Side plate; 1b. Idler roller; 2. Traction assembly; 2a. Clamping assembly; 2a1. Clamping cylinder; 2a2. Clamping component; 2a21. Connecting plate; 2a22. Fixing plate; 2a23. Gripper; 2a24. Connecting rod; 2b. Three-dimensional slide table; 2b1. Y-axis beam; 2b2. X-axis beam; 2b3. Z-axis beam; 3. Lifting assembly; 3a. Lifting assembly; 3a1. Lifting cylinder; 3a2. Lifting plate; 3a3. Lifting roller; 3b. Mounting platform; 3c. Position sensor; 4. Y-axis slider; 5. Y-axis motor; 6. X-axis slider; 7. X-axis motor; 8. Z-axis slider; 9. Z-axis motor; 10. Electronic clutch; 11. Force sensor; 12. Support rod. Detailed Implementation

[0033] The present invention will now be further described in conjunction with the accompanying drawings and preferred embodiments. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention in a schematic manner, and therefore only show the components relevant to the invention.

[0034] Example 1.

[0035] like Figure 1 and Figure 4 As shown, a traction mechanism for SCR continuous casting of copper billets includes a traction assembly 2 and a lifting assembly 3 mounted on a casting line 1. The traction assembly 2 includes a clamping group 2a for holding the copper billet and a three-dimensional slide 2b for driving the clamping group 2a to move in three dimensions relative to the casting line 1. The three-dimensional slide 2b is mounted above the casting line 1 and arranged on the casting line 1 along the traction direction. The lifting assembly 3 includes a lifting group 3a for lifting the copper billet, a mounting platform 3b for fixing the lifting group 3a, and a position sensor 3c mounted on the mounting platform 3b. The mounting platform 3b is mounted below the casting line 1. Through the arrangement of the traction assembly 2 and the lifting assembly 3, the lifting assembly 3 accurately senses the position of the copper billet and lifts it. Then, the traction assembly 2 clamps and pulls the lifted copper billet. The traction assembly 2 can adapt to the speed of the copper billet, thereby ensuring the accuracy of the copper billet clamping and improving the stability of the traction.

[0036] like Figure 2 and Figure 4 As shown, the clamping assembly 2a includes a clamping cylinder 2a1 slidably mounted on a three-dimensional slide table 2b and a clamping member 2a2 mounted on the output end of the clamping cylinder 2a1. The output end of the clamping cylinder 2a1 is vertically oriented towards the line body 1. In use, the output end of the clamping cylinder 2a1 moves up and down, thereby achieving the clamping and releasing of the clamping member 2a2.

[0037] like Figure 4 As shown, the clamping component 2a2 includes a connecting plate 2a21 mounted on the cylinder body of the clamping cylinder 2a1, a fixed plate 2a22 mounted on the piston rod of the clamping cylinder 2a1, grippers 2a23 symmetrically mounted at both ends of the connecting plate 2a21, and a connecting rod 2a24 connecting the fixed plate 2a22 and the grippers 2a23. The grippers 2a23 are hinged to the connecting plate 2a21, one end of the connecting rod 2a24 is hinged to the middle of the grippers 2a23, and the other end is hinged to the end of the fixed plate 2a22. In use, the piston rod of the clamping cylinder 2a1 moves up and down, thereby synchronously driving the fixed plate 2a22 to move up and down. The up and down movement of the fixed plate 2a22, through the connecting rod 2a24 at both ends, enables the synchronous tightening or expansion of the two grippers 2a23, thereby achieving the clamping and releasing of the copper billet. The synchronous tightening or expansion of the two grippers 2a23 via the clamping cylinder 2a1 effectively increases the clamping effect. Specifically, the gripper 2a23 is arc-shaped and is fitted with a heat insulation sleeve. This avoids the impact of the high temperature of the copper billet on the gripper 2a23 and also prevents rigid contact between the gripper 2a23 and the copper billet.

[0038] like Figure 2 As shown, the three-dimensional slide table 2b includes two parallel Y-axis beams 2b1, an X-axis beam 2b2 slidably mounted across the two Y-axis beams 2b1, and a Z-axis beam 2b3 slidably mounted on the X-axis beam 2b2. The Y-axis beams 2b1 are respectively positioned above both sides of the line body 1, and the clamping cylinder 2a1 is slidably mounted on the Z-axis beam 2b3. In use, the X-axis beam 2b2 slides along the two Y-axis beams 2b1 to achieve the Y-axis movement of the clamping assembly 2a, the Z-axis beam 2b3 slides along the X-axis beam 2b2 to achieve the X-axis movement of the clamping assembly 2a, and the clamping assembly 2a slides along the Z-axis beam 2b3 to achieve its Z-axis movement. Specifically, the Y-axis beam 2b1 is connected to the line body 1 via a support rod 12.

[0039] like Figure 2 and Figure 3As shown, the two ends of the X-axis beam 2b2 are slidably connected to the Y-axis beam 2b1 via Y-axis sliders 4, and the bottom end of one of the Y-axis sliders 4 is threadedly connected to the Y-axis lead screw inside the Y-axis beam 2b1. A Y-axis motor 5, which is driven by the Y-axis lead screw, is installed at one end of the Y-axis beam 2b1. The Z-axis beam 2b3 is slidably connected to the X-axis beam 2b2 via an X-axis slider 6. The end of the X-axis slider 6 away from the Z-axis beam 2b3 is threadedly connected to the X-axis lead screw inside the X-axis beam 2b2. An X-axis motor 7, which is driven by the X-axis lead screw, is installed at one end of the X-axis beam 2b2. The clamping cylinder 2a1 is slidably connected to the Z-axis beam 2b3 via a Z-axis slider 8. The end of the Z-axis slider 8 away from the clamping cylinder 2a1 is threadedly connected to the Z-axis lead screw inside the Z-axis beam 2b3. A Z-axis motor 9, which is driven by the Z-axis lead screw, is installed at the top of the Z-axis beam 2b3. Specifically, the output end of the Y-axis motor 5 is connected to the Y-axis lead screw via an electronic clutch 10, and the Z-axis beam 2b3 is connected to the X-axis slider 6 via a force sensor 11. The on / off state of the electronic clutch 10 enables traction follow-up control and automatic adjustment; the force sensor 11 detects the Y-axis force of the three-dimensional slide table 2b in real time. In use, the Y-axis motor 5 drives the Y-axis lead screw to rotate, and the rotation of the Y-axis lead screw is converted into the Y-axis movement of the Y-axis slider 4, which in turn synchronously drives the X-axis beam 2b2 to move along the Y-axis beam 2b1. It should be noted that the Y-axis movement of the X-axis beam 2b2 along the Y-axis beam 2b1 in this application can also be achieved through a gear and rack structure or a wheel mechanism.

[0040] like Figure 5 As shown, the lifting assembly 3a includes a lifting cylinder 3a1 mounted on the mounting platform 3b, a lifting plate 3a2 mounted on the output end of the lifting cylinder 3a1, and a lifting roller 3a3 rotatably mounted on the lifting plate 3a2. A position sensor 3c is located next to the lifting cylinder 3a1. When the position sensor 3c detects a copper billet, the lifting cylinder 3a1 drives the lifting plate 3a2 to rise. The lifting plate 3a2 passes through the line body 1 and lifts the copper billet for clamping by the clamping member 2a2. The lifting assembly 3a ensures that the clamping member 2a2 can accurately clamp the copper billet and prevents the copper billet from getting stuck in the gap of the roller 1b of the line body 1. Specifically, the lifting plate 3a2 is U-shaped, and both the lifting plate 3a2 and the lifting roller 3a3 are fitted with heat-insulating sleeves to prevent the high temperature of the copper billet from affecting its operation. The position sensor 3c can be a sensor or a visual recognition device.

[0041] like Figure 2 As shown, the production line 1 includes two parallel side plates 1a and rollers 1b evenly distributed between the two side plates 1a along the traction direction. The two ends of the rollers 1b are rotatably connected to the side plates 1a respectively. The rotatable connection between the rollers 1b and the side plates 1a causes the copper billet to roll and rub against the rollers 1b during the traction process, reducing friction, thereby reducing wear and energy consumption.

[0042] Example 2.

[0043] like Figure 6 As shown, this embodiment uses the traction method of the traction mechanism in Embodiment 1, and the steps are as follows:

[0044] S1. Automatic detection of copper billet position: Position sensor 3c detects whether there is a copper billet on line 1 and sends the detection signal to the control system (not shown in the figure). After receiving the detection signal, the control system sends the control command to the traction component 2 and the lifting component 3.

[0045] S2. Automatic lifting, clamping and traction of copper billet: After receiving control commands, the lifting component 3 lifts the copper billet, while the traction component 2 clamps and tractions the copper billet. The clamping group 2a clamps the copper billet, and the three-dimensional slide 2b tractions the copper billet.

[0046] S3. Completion of copper billet traction: After the three-dimensional slide table 2b tractions the copper billet to the designated position, the clamping group 2a releases the copper billet.

[0047] The traction in step S2 includes follow-up control and automatic adjustment control. Both control modes are implemented by the electronic clutch 13, which is easy to adjust. Specifically, under follow-up control, the electronic clutch 10 is disengaged; the automatic adjustment control uses a PID control algorithm, which improves the dynamic response performance of the traction component and further ensures the stability of traction.

[0048] The specific steps of the PID control algorithm are as follows:

[0049] S21. Deviation signal Acquisition: Preset Y-axis force setting value The force sensor (11) acquires the actual value of the Y-axis force in real time. Calculate the deviation signal ;

[0050] S22. Adjust the signal output : Obtain the adjustment signal based on the PID formula ,in,

[0051] In the formula, This is the proportionality coefficient. The integral coefficient is... These are the differential coefficients;

[0052] S23. Adjust the Y-axis running speed of the three-dimensional slide table 2b by adjusting the signal.

[0053] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A traction mechanism for SCR continuous casting of copper billets, characterized in that, The assembly includes a traction component (2) and a lifting component (3) mounted on the wire body (1). The traction component (2) includes a clamping assembly (2a) for clamping the copper billet and a three-dimensional slide (2b) for driving the clamping assembly (2a) to move in three dimensions relative to the wire body (1). The three-dimensional slide (2b) is mounted above the wire body (1) and arranged on the wire body (1) along the traction direction. The lifting component (3) includes a lifting assembly (3a) for lifting the copper billet, a mounting platform (3b) for fixing the lifting assembly (3a), and a position sensor (3c) mounted on the mounting platform (3b). The mounting platform (3b) is mounted below the wire body (1). The traction method of the traction mechanism includes the following steps: S1. Automatic detection of copper billet position: The position sensor (3c) detects whether there is a copper billet on the line (1) and sends the detection signal to the control system. After receiving the detection signal, the control system sends the control command to the traction component (2) and the lifting component (3). S2. Automatic lifting, clamping and traction of copper billet: After receiving control commands, the lifting component (3) lifts the copper billet, and the traction component (2) clamps and tractions the copper billet. The clamping group (2a) clamps the copper billet, and the three-dimensional slide (2b) tractions the copper billet. S3. Completion of copper billet traction: After the three-dimensional slide (2b) tractions the copper billet to the designated position, the clamping group (2a) releases the copper billet; The traction in step S2 includes follow-up control and automatic adjustment control, and the two control modes are realized by the electronic clutch (10); The automatic control employs a PID control algorithm, and the specific steps of the PID control algorithm are as follows: S21. Deviation signal Acquisition: Preset Y-axis force setting value The force sensor (11) acquires the actual value of the Y-axis force in real time. Calculate the deviation signal ; S22. Adjust the signal output : Obtain the adjustment signal based on the PID formula ,in, ； In the formula, This is the proportionality coefficient. The integral coefficient is... These are the differential coefficients; S23. Adjust the Y-axis running speed of the three-dimensional slide (2b) by adjusting the signal.

2. The traction mechanism for SCR continuous casting of copper billets according to claim 1, characterized in that, The clamping assembly (2a) includes a clamping cylinder (2a1) slidably mounted on a three-dimensional slide (2b) and a clamping member (2a2) mounted on the output end of the clamping cylinder (2a1), the output end of the clamping cylinder (2a1) being perpendicular to the line body (1).

3. The traction mechanism for SCR continuous casting of copper billets according to claim 2, characterized in that, The clamping component (2a2) includes a connecting plate (2a21) mounted on the cylinder body of the clamping cylinder (2a1), a fixing plate (2a22) mounted on the piston rod of the clamping cylinder (2a1), grippers (2a23) symmetrically mounted at both ends of the connecting plate (2a21), and a connecting rod (2a24) connecting the fixing plate (2a22) and the grippers (2a23). The grippers (2a23) are hinged to the connecting plate (2a21), one end of the connecting rod (2a24) is hinged to the middle of the grippers (2a23), and the other end is hinged to the end of the fixing plate (2a22).

4. The traction mechanism for SCR continuous casting of copper billets according to claim 2, characterized in that, The three-dimensional slide (2b) includes two parallel Y-axis beams (2b1), an X-axis beam (2b2) ​​slidably mounted on the two Y-axis beams (2b1), and a Z-axis beam (2b3) slidably mounted on the X-axis beam (2b2). The Y-axis beams (2b1) are respectively located above the two sides of the line body (1), and the clamping cylinder (2a1) is slidably mounted on the Z-axis beam (2b3).

5. The traction mechanism for SCR continuous casting of copper billets according to claim 4, characterized in that, The two ends of the X-axis beam (2b2) ​​are slidably connected to the Y-axis beam (2b1) via Y-axis sliders (4), and the bottom end of one of the Y-axis sliders (4) is threadedly connected to the Y-axis lead screw inside the Y-axis beam (2b1). A Y-axis motor (5) connected to the Y-axis lead screw is installed at one end of the Y-axis beam (2b1); the Z-axis beam (2b3) is slidably connected to the X-axis beam (2b2) ​​via an X-axis slider (6), and the end of the X-axis slider (6) away from the Z-axis beam (2b3) is connected to... The X-axis beam (2b2) ​​is threaded with an X-axis lead screw, and an X-axis motor (7) connected to the X-axis lead screw is installed at one end of the X-axis beam (2b2); the clamping cylinder (2a1) is slidably connected to the Z-axis beam (2b3) via a Z-axis slider (8), and the end of the Z-axis slider (8) away from the clamping cylinder (2a1) is threaded with the Z-axis lead screw in the Z-axis beam (2b3); a Z-axis motor (9) connected to the Z-axis lead screw is installed at the top of the Z-axis beam (2b3).

6. The traction mechanism for SCR continuous casting of copper billets according to claim 5, characterized in that, The output end of the Y-axis motor (5) is connected to the Y-axis lead screw through an electronic clutch (10), and the Z-axis beam (2b3) is connected to the X-axis slider (6) through a force sensor (11).

7. The traction mechanism for SCR continuous casting of copper billets according to claim 2, characterized in that, The lifting assembly (3a) includes a lifting cylinder (3a1) mounted on a mounting platform (3b), a lifting plate (3a2) mounted on the output end of the lifting cylinder (3a1), and a lifting roller (3a3) rotatably mounted on the lifting plate (3a2). The position sensor (3c) is located next to the lifting cylinder (3a1).

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