Automatic grabbing device of super large special-shaped billet continuous casting machine

Abstract

The application discloses an automatic grabbing device of an ultra-large special-shaped blank continuous casting machine, belongs to the technical field of special-shaped blank continuous casting machines, and aims at solving the low efficiency of hoisting special-shaped blank sector segments and a tension leveler in the prior art.The automatic grabbing device of the ultra-large special-shaped blank continuous casting machine comprises a trolley assembly (70), a cart assembly (60), a rotary guide arm assembly (30), a rotary guide arm driving assembly (50), an automatic grabbing manipulator assembly (20) and a steel wire rope winding system (80). The automatic grabbing manipulator assembly of the automatic grabbing device of the ultra-large special-shaped blank continuous casting machine can grab and release sector segment units or the tension leveler, so that the special-shaped blank sector segments and the tension leveler can be efficiently loaded or hoisted out.

Description

Technical Field

[0001] This invention relates to the field of continuous casting machine technology for irregularly shaped billets, specifically an automatic gripping device for a continuous casting machine for ultra-large irregularly shaped billets. Background Technology

[0002] Currently, the replacement of sector sections in shaped billet continuous casting machines mostly employs a chain-link flexible lifting device. The device inserts into the sector section replacement guide rail for maintenance, replacement, and lifting. A portal frame is installed at the bottom of the chain link, with C-shaped guide grooves on both sides. Four lifting pins are installed on each side of the inner and outer arc frames of the sector section. Locking pins are installed on the bottom plate of the C-shaped grooves in the portal frame. The sector section can be moved using the lifting device after the locking pins are manually inserted and locked to the portal frame. Once the sector section is lifted to the designated position, the locking pins must be manually removed to separate the lifting device from the sector section. Each time a sector section is lifted, the locking pins must be inserted and removed, which is labor-intensive and time-consuming. Furthermore, replacing sector sections occupies the time of the large-tonnage overhead crane in the casting span, preventing simultaneous maintenance and replacement of other equipment in the casting span (such as the crystallizer, vibration, and bending sections).

[0003] In addition, the replacement of the existing straightening machine for the special-shaped billet continuous casting machine is carried out by setting up a special single-beam suspension crane above the straightening machine and using wire rope lifting tools for hoisting and replacement. The process is cumbersome and lacks integration. Manual hanging and unhooking of ropes is also required.

[0004] Definitions:

[0005] Extra-large irregular blanks: irregular blanks with a width greater than 1.3m and a height greater than 0.5m. Summary of the Invention

[0006] To address the low efficiency issues associated with hoisting irregularly shaped billet sector segments and straightening machines, this invention provides an automatic gripping device for ultra-large irregularly shaped billet continuous casting machines. This device features an automatic gripping robot arm capable of gripping and placing irregularly shaped billet sector segment units and straightening machines, allowing for the loading and unloading of these components. Furthermore, this automatic gripping device operates below the casting platform. Changing the robot arm loads or unloads the irregularly shaped billet sector segments and straightening machines from the continuous casting machine and places them on an off-line transfer platform. From there, a crane transports them off-line for maintenance, effectively reducing the height of the casting crane's workshop and lowering factory construction costs.

[0007] The technical solution adopted by this invention to solve its technical problem is:

[0008] An automatic gripping device for an ultra-large irregular billet continuous casting machine includes:

[0009] The small vehicle assembly is capable of moving in the left and right directions;

[0010] The large cart assembly enables the small cart assembly to move in the front-to-back direction;

[0011] The rotary guide arm assembly includes two rotary guide arms spaced apart on the left and right. Both rotary guide arms are connected to the trolley assembly via a horizontal rotating shaft that extends in the left and right direction. Each rotary guide arm includes a guide rail that extends along the diameter of the horizontal rotating shaft with the working surface of the guide rail facing forward.

[0012] The rotary guide arm drive assembly can drive the rotary guide arm to rotate around a horizontal axis;

[0013] The automatic gripping robot assembly has a portal frame structure. It includes a lifting beam and hook plates. The lifting beam extends in the left and right direction. Two upright hook plates are located at the left and right ends of the lifting beam, respectively. The lower end of the hook plates has a hook-shaped structure. The automatic gripping robot assembly can grip and release sector segment units or tension levelers. The automatic gripping robot assembly is in contact with the guide rail.

[0014] The wire rope winch system enables the automated gripper assembly to move back and forth along the guide rail.

[0015] The beneficial effects of this invention are:

[0016] 1. The automatic gripping device of the ultra-large irregular billet continuous casting machine is suitable for multi-strand irregular billet continuous casting machines, especially for ultra-large irregular billet continuous casting machines. It can automatically grip the fan-shaped section of ultra-large irregular billet and the straightening machine, and lock the pin of the fan-shaped section and the straightening machine through the locking head to prevent it from disengaging during operation, and the operation is reliable and stable.

[0017] 2. The automatic gripping device of the ultra-large irregular billet continuous casting machine adopts a sector-shaped segment trunnion locking device to drive a hydraulic cylinder linkage mechanism to grip up and down. The locking head adopts a hydraulic cylinder to drive a linkage mechanism to lock and unlock the gripping hook and the sector-shaped segment trunnion.

[0018] 3. The hydraulic cylinder of the automatic gripping device of the ultra-large irregular billet continuous casting machine adopts a built-in signal switch, which reduces the volume space, makes each step of operation visible, and can reduce misoperation through electrical control interlocking conditions. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0020] Figure 1 This is a front view schematic diagram of the continuous casting machine described in this invention.

[0021] Figure 2 This is a schematic diagram of the front view of the sector segment.

[0022] Figure 3 This is a front view diagram of the large vehicle assembly.

[0023] Figure 4 This is a top-view diagram of the assembly of the large vehicle and the small vehicle.

[0024] Figure 5 This is a front view schematic diagram of the trolley assembly and the rotary guide arm assembly.

[0025] Figure 6 This is a top view of the trolley assembly and the rotary guide arm assembly.

[0026] Figure 7 This is a simplified schematic diagram of the trolley assembly and the rotary guide arm assembly.

[0027] Figure 8 This is a simplified schematic diagram of a wire rope hoisting system.

[0028] Figure 9 This is a front view schematic diagram of the rotary guide arm assembly.

[0029] Figure 10 This is a top view of the rotary guide arm assembly.

[0030] Figure 11 It is along Figure 9 Cross-sectional view along the AA direction.

[0031] Figure 12 This is a top view of the connector.

[0032] Figure 13 This is a front view schematic diagram of an automated gripping robot arm assembled in a gripping state.

[0033] Figure 14 This is a front view schematic diagram of an automated gripping robot arm assembled in a gripping state.

[0034] Figure 15 This is a 3D schematic diagram of the automated gripper assembly.

[0035] Figure 16 This is a left-side view of an automatic gripping robot arm assembled on a rotary guide arm assembly to lift a sector segment unit.

[0036] Figure 17 This is a left-side view of the automatic gripping robot assembling and hoisting sector segment unit.

[0037] Figure 18 This is a front view schematic diagram of an automatic gripping robot arm assembling, hoisting, and straightening machine.

[0038] Figure 19 This is a left-side view of an automated gripping robot assembling a hoisting and straightening machine.

[0039] The annotations in the attached figures are explained as follows:

[0040] 10. Irregularly shaped billet sector segment; 20. Automatic gripping robot assembly; 30. Rotary guide arm assembly; 40. Transfer platform; 50. Rotary guide arm drive assembly; 60. Trolley assembly; 70. Cart assembly; 80. Wire rope hoisting system; 90. Casting platform;

[0041] 11. Sector segment unit; 12. Suspension line; 13. Trunnion; 14. Guide wheel; 15. Guide rail; 16. Baffle strip; 17. Connecting seat; 18. Straightening machine; 19. Extra-large irregular billet;

[0042] 21. Lifting beam; 22. First guide wheel; 23. Hook plate; 24. Signal switch; 25. Connecting rod; 26. Second guide wheel; 27. First locking hydraulic cylinder; 28. Locking block; 29. ​​First rotating shaft; 210. Second rotating shaft; 211. Hook groove; 212. Hook tip; 213. Inlet; 214. Third rotating shaft; 215. Fourth rotating shaft; 216. Fifth rotating shaft; 217. Sixth rotating shaft; 218. Arc surface; 219. Guide plane; 220. Gripping hydraulic cylinder;

[0043] 31. Rotary guide arm; 32. Locking pin; 33. Horizontal pivot; 34. Guide rail; 35. Working surface of guide rail; 36. Horizontal connecting beam; 37. Second locking hydraulic cylinder; 38. Slide plate; 39. Connecting component;

[0044] 51. Rotary hydraulic cylinder; 52. Displacement sensor;

[0045] 61. Trolley frame; 62. Trolley crossbeam; 63. Trolley drive; 64. Trolley wheel set; 65. Trolley travel rail; 66. Trolley main travel rail; 67. Main anti-tipping rail; 68. Secondary anti-tipping rail; 69. Trolley auxiliary travel rail;

[0046] 71. Main travel wheel assembly of the trolley; 72. Trolley drive; 73. Main anti-tipping wheel; 74. Secondary anti-tipping wheel; 75. Auxiliary travel wheel of the trolley; 76. Lateral travel trolley frame;

[0047] 81. Motor; 82. External brake; 83. Reducer; 84. Drum; 85. Fixed pulley block; 86. Moving pulley block; 87. Wire rope;

[0048] 311. Front panel; 312. Left side panel; 313. Right side panel; 314. Rear panel; 315. Cavity. Detailed Implementation

[0049] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0050] An automatic gripping device for an ultra-large irregular billet continuous casting machine includes:

[0051] The car is equipped with 70;

[0052] The large cart assembly 60 enables the small cart assembly 70 to move in the front-to-back direction;

[0053] The rotary guide arm assembly 30 has a portal structure and includes two rotary guide arms 31 spaced apart on the left and right. Both rotary guide arms 31 are connected to the trolley assembly 70 via a horizontal rotating shaft 33. The horizontal rotating shaft 33 extends in the left and right direction. The rotary guide arm 31 includes a guide rail 34. Both the rotary guide arm 31 and the guide rail 34 extend in the diameter direction of the horizontal rotating shaft 33. The working surface 35 of the guide rail faces forward.

[0054] The rotary guide arm drive assembly 50 is capable of driving the rotary guide arm 31 to rotate around the horizontal axis 33.

[0055] The automatic gripping robot assembly 20 is capable of gripping and placing the sector segment unit 11 or the tension straightener 18, and the automatic gripping robot assembly 20 is in contact with the guide rail 34.

[0056] The wire rope winch system 80 enables the automatic gripping robot assembly 20 to reciprocate along the guide rail 34, such as... Figures 1 to 16 As shown.

[0057] In this embodiment, the trolley assembly 60 is responsible for moving in the front-to-back direction. The trolley assembly 60 includes a trolley frame 61, a trolley crossbeam 62, a trolley drive 63, a trolley wheel set 64, and trolley travel rails 65. Two trolley travel rails 65 extend in the front-to-back direction, and the two trolley frames 61 correspond one-to-one with the two trolley travel rails 65, as shown below. Figures 1 to 4 As shown.

[0058] In this embodiment, the trolley crossbeam 62 is connected between two trolley frames 61, and is supported by the two trolley frames 61. The trolley crossbeam 62 extends in the left-right direction. The trolley wheel assembly 64 is located below the trolley frame 61 and is situated on the trolley travel track 65. The trolley drive 63 can drive the trolley wheel assembly 64 to rotate. Two wheels of the trolley wheel assembly 64 are driven by a drive mechanism, typically consisting of a variable frequency drive motor reducer.

[0059] In this embodiment, the crossbeam 62 of the main trolley has a rectangular cross section and includes a front side, an upper side, a rear side, and a lower side arranged sequentially. The main trolley crossbeam 62 is equipped with a main trolley travel track 66, a main anti-tipping track 67, a secondary anti-tipping track 68, and an auxiliary trolley travel track 69. The main trolley crossbeam 62 provides a track for the movement of the trolley assembly 70, which can move in the left-right direction on the main trolley crossbeam 62.

[0060] In this embodiment, the trolley main travel track 66 is located at the front of the upper side of the trolley crossbeam 62, the trolley auxiliary travel track 69 is located at the rear of the upper side of the trolley crossbeam 62, the main anti-rollover track 67 is located at the lower part of the front side of the trolley crossbeam 62, and the secondary anti-rollover track 68 is located at the upper part of the rear side of the trolley crossbeam 62. The working surfaces of the trolley main travel track 66 and the trolley auxiliary travel track 69 both face upwards, the working surface of the main anti-rollover track 67 faces forward, and the working surface of the secondary anti-rollover track 68 faces backwards.

[0061] In this embodiment, the trolley assembly 70 is capable of moving in the left and right directions. The trolley assembly 70 includes a lateral trolley frame 76, a trolley main travel wheel set 71, a trolley drive 72, a main anti-tipping wheel 73, a secondary anti-tipping wheel 74, and a trolley auxiliary travel wheel 75. The trolley drive 72 is connected to the trolley main travel wheel set 71, the trolley main travel wheel set 71 is correspondingly connected to the trolley main travel track 66, the main anti-tipping wheel 73 is correspondingly connected to the main anti-tipping track 67, the secondary anti-tipping wheel 74 is correspondingly connected to the secondary anti-tipping track 68, and the trolley auxiliary travel wheel 75 is correspondingly connected to the trolley auxiliary travel track 69.

[0062] The main traveling wheel assembly 71, main anti-tipping wheel 73, secondary anti-tipping wheel 74, and auxiliary traveling wheel 75 of the trolley are all located at the lower part of the transverse trolley frame 76. The main anti-tipping wheel 73, secondary anti-tipping wheel 74, and the main traveling wheel assembly 71 form a three-sided constraint to balance the overturning moment when the rotating guide arm 31 rotates with the irregularly shaped fan-shaped section 10. The auxiliary traveling wheel 75 is used for smooth operation and forms effective support on the horizontal plane when the wire rope hoisting system 80 lifts the trolley. Figures 1 to 5 As shown.

[0063] In this embodiment, both the wire rope hoisting system 80 and the rotary guide arm drive assembly 50 are located on the transverse trolley frame 76. The wire rope hoisting system 80 includes a drum 84, a fixed pulley assembly 85, a movable pulley assembly 86, and a wire rope 87. The fixed pulley assembly 85 is sleeved outside the horizontal rotating shaft 33, and both ends of the horizontal rotating shaft 33 are connected to the transverse trolley frame 76. The movable pulley assembly 86 is fixed to the automatic gripping manipulator assembly 20. The wire rope 87 passes sequentially around the drum 84, the fixed pulley assembly 85, and the movable pulley assembly 86. The fixed pulley assembly 85 is located between the drum 84 and the movable pulley assembly 86. Figures 6 to 8 As shown.

[0064] In this embodiment, the wire rope hoisting system 80 also includes a motor 81 and a reducer 83 connected in sequence. The motor 81 and the reducer 83 are equipped with an external brake 82. The reducer 83 has two output shafts. Two drums 84 are arranged at intervals on the left and right. The two drums 84 are located at the rear of the transverse trolley frame 76. The two drums 84 are connected one-to-one with the two output shafts of the reducer 83. Two fixed pulley groups 85 and two movable pulley groups 86 are arranged at intervals on the left and right. The two fixed pulley groups 85 are located at the front of the transverse trolley frame 76.

[0065] One end of the wire rope 87 is fixed to the end of the drum 84 by a pressure plate. The right drum of the two drums 84 is a left-handed drum, and the left drum of the two drums 84 is a right-handed drum. The two wire ropes 87 are wound through a fixed pulley group 85 and a movable pulley group 86, respectively. The other end of the wire rope 87 is fixed to an adjusting rod, which is fixed to the transverse trolley frame 76. The adjusting rod can be used to level the end of the movable pulley group 86. The movable pulley group 86 is connected to the automatic gripping robot assembly 20. Each drum 84 corresponds to a fixed pulley group 85, and each fixed pulley group 85 corresponds to a movable pulley group 86.

[0066] 5. The lifting and lowering of the automatic gripping robot assembly 20 and the sector segment unit 11 can be achieved through the drum 84. The fixed pulley group 85 is fixed on the transverse trolley frame 76 and is equipped with an axial sensor to provide overload protection for the winch lifting mechanism. The rotary guide arm drive assembly 50 contains a rotary hydraulic cylinder 51, the two ends of which are hinged to the upper end of the rotary guide arm 31 and the upper part of the transverse trolley frame 76 of the trolley assembly 70, respectively.

[0067] The rotation angle range of the rotary guide arm 31 is from 0° to 90°. To ensure that the rotary guide arm 31 rotates precisely from 0° to the required angle, a displacement sensor 52 is installed on the rotary hydraulic cylinder 51. Different displacement sensor values ​​are programmable and stored for different lifting angles of the sector segment. When a sector segment unit is selected by the electronic control operation button, the piston rod of the rotary hydraulic cylinder 51 automatically moves to the preset position of the displacement sensor 52 and stops through valve control.

[0068] In this embodiment, the rotary guide arm assembly 30 has a portal structure. The rotary guide arm assembly 30 not only includes two rotary guide arms 31 spaced apart on the left and right, but also includes a horizontal connecting beam 36. The horizontal connecting beam 36 extends in the left and right direction. The upper parts of the two rotary guide arms 31 are connected by the horizontal connecting beam 36, and the horizontal rotating shaft 33 passes through the upper parts of the two rotary guide arms 31.

[0069] In this embodiment, the rotary guide arm 31 has a box-shaped structure (also known as a cylindrical structure). The rotary guide arm 31 includes a front side plate 311, a left side plate 312, a right side plate 313, and a rear side plate 314. A cavity 315 is provided inside the rotary guide arm 31. The front side plate 311 is located at the front of the guide rail 34. A locking pin 32 and a second locking hydraulic cylinder 37 are provided at the lower end of the rotary guide arm 31. The second locking hydraulic cylinder 37 can cause the locking pin 32 to extend outside the lower end of the rotary guide arm 31 or retract inside the lower end of the rotary guide arm 31. Figure 9 and Figure 10 As shown.

[0070] In this embodiment, the second locking hydraulic cylinder 37 can move the locking pin 32 along its extension direction, which is the same as the extension direction of the rotary guide arm 31. The locking pin 32 is located within the cavity 315, and the second locking hydraulic cylinder 37 is located outside the rotary guide arm 31. One end of the second locking hydraulic cylinder 37 is hinged to the rotary guide arm 31, and the other end is hinged to the locking pin 32 via a connector 39. A sliding plate 38 is externally connected to the connector 39. The sliding plate 38 is located within the rotary guide arm 31 and is made of a self-lubricating material. The connector 39 can slide relative to the sliding plate 38. The sliding plate 38 is fixedly connected to the rotary guide arm 31, providing effective support for the locking pin 32. Figure 11 As shown.

[0071] In this embodiment, the automatic gripping robot assembly 20 also has a portal frame structure. The automatic gripping robot assembly 20 includes a lifting beam 21 and a hook plate 23. The lifting beam 21 extends in the left-right direction, and two movable pulley sets 86 are fixed to the lifting beam 21. The hook plate 23 is located at both ends of the lifting beam 21, and the lower end of the hook plate 23 has a hook-shaped structure. The automatic gripping robot assembly 20 can grip and release the fan-shaped segment unit 11. The automatic gripping robot assembly 20 contacts the guide rail 34, such as... Figures 13 to 16 As shown.

[0072] In this embodiment, the hook-shaped structure includes a hook groove 211 and a hook tip 212 arranged at the front and back. An inlet 213 is provided above the hook tip 212. The inlet 213 is connected to the hook groove 211 and faces backward. Both hook plates 23 are connected to a driving mechanism. The driving mechanism can make the lower end of the hook plate 23 swing back and forth.

[0073] In this embodiment, both ends of the lifting beam 21 are provided with first guide wheels 22. The axis of the first guide wheel 22 extends in the left-right direction. The first guide wheel 22 is arranged in front of and behind the guide rail 34. The axis of the first guide wheel 22 extends in the left-right direction. The side circumferential surface of the first guide wheel 22 is always in contact with the working surface 35 of the guide rail. During the process of the wire rope hoisting system 80 driving the automatic gripping robot assembly 20 and the fan-shaped segment unit 11 to move back and forth along the rotating guide arm 31, the first guide wheel 22 always rolls on the working surface 35 of the guide rail. Figures 13 to 15 As shown.

[0074] In this embodiment, the lifting beam 21 extends in the left-right direction, and the wire rope hoisting system 80 includes movable pulley sets 86, with two movable pulley sets 86 spaced apart on the left and right sides and fixed to the lifting beam 21. The drive mechanism includes a gripping hydraulic cylinder 220 and a connecting rod 25 connected in sequence. As the hydraulic rod of the gripping hydraulic cylinder 220 gradually extends, the hook plate 23 swings forward about the contact line between the first guide wheel 22 and the working surface 35 of the guide rail; as the hydraulic rod of the gripping hydraulic cylinder 220 gradually retracts, the hook plate 23 swings backward about the contact line between the first guide wheel 22 and the working surface 35 of the guide rail. Figures 13 to 15 As shown.

[0075] In this embodiment, the driving mechanism is located on the outside of the hook plate 23. The driving mechanism and the guide rail 34 are arranged in front of and behind each other. One end of the gripping hydraulic cylinder 220 is hinged to the hook plate 23 through the first rotating shaft 29. The other end of the gripping hydraulic cylinder 220 is hinged to one end of the connecting rod 25 through the second rotating shaft 210. The connecting rod 25 is hinged to the hook plate 23 through the third rotating shaft 214. The other end of the connecting rod 25 is provided with a second guide wheel 26. The side circumferential surface of the second guide wheel 26 is always in contact with the working surface 35 of the guide rail.

[0076] In this embodiment, in the vertical direction, the drive mechanism is located between the first guide wheel 22 and the inlet 213, the first rotating shaft 29 is located above the second rotating shaft 210, and the connecting rod 25 has an L-shaped structure. In the front-back direction, the third rotating shaft 214 is located between the second rotating shaft 210 and the second guide wheel 26, and the gripping hydraulic cylinder 220 is connected to a signal switch 24.

[0077] In this embodiment, the hook plate 23 is also connected to a locking mechanism. The locking mechanism is arranged in front of and behind the guide rail 34. The locking mechanism includes a first locking hydraulic cylinder 27 and a locking block 28 connected in sequence. When the hydraulic rod of the first locking hydraulic cylinder 27 is in the extended state, the locking block 28 can close the inlet 213. When the hydraulic rod of the first locking hydraulic cylinder 27 is in the retracted state, the locking block 28 can open the inlet 213.

[0078] In this embodiment, the locking mechanism is located above the inlet 213. The first locking hydraulic cylinder 27 and the locking block 28 are arranged vertically. One end of the first locking hydraulic cylinder 27 is hinged to the hook plate 23 through the fourth rotating shaft 215. The other end of the first locking hydraulic cylinder 27 is hinged to one end of the locking block 28 through the fifth rotating shaft 216. The other end of the locking block 28 is hinged to the hook plate 23 through the sixth rotating shaft 217.

[0079] In this embodiment, one end of the locking block 28 is provided with an arc surface 218, and a guide plane 219 is provided outside the locking block 28. When the hydraulic rod of the first locking hydraulic cylinder 27 is in the extended state, the arc surface 218 can abut against the trunnion 13 of the sector segment unit 11 in the hook groove 211; when the hydraulic rod of the first locking hydraulic cylinder 27 is in the retracted state, the guide plane 219 can guide the trunnion 13 of the sector segment unit 11 to enter the hook groove 211 through the inlet 213.

[0080] During the reciprocating movement of the automatic gripping robot assembly 20 and the sector segment unit 11 along the rotating guide arm 31, especially when the angle along the lifting line 12 of the sector segment unit 11 is small (i.e., the angle between the rotating guide arm 31 and the horizontal plane is small), the vertical component force received by the automatic gripping robot assembly 20 and the sector segment unit 11 is small. To solve the problem of the wire rope 87 slack during the descent, a drive needs to be added to the first guide wheel 22, that is, a follower hydraulic motor is installed on the first guide wheel 22. The rotation of the hydraulic motor drives the first guide wheel 22 to rotate, thereby driving the sector segment unit 11 and preventing the rope from slack during the descent. More preferably, the follower hydraulic motor is controlled by a proportional valve, and a speed feedback device is installed on the drive first guide wheel 22 to synchronize the hoist's rising or falling speed with the speed of the hydraulic motor.

[0081] The working process of the automatic gripping robot assembly 20 is described below.

[0082] To grasp the trunnion 13 on the sector segment unit 11, the hydraulic rod of the grasping hydraulic cylinder 220 gradually extends, and the lower end of the hook plate 23 swings forward, aligning the inlet 213 of the hook plate 23 with the trunnion 13 in the vertical direction. The hydraulic rod of the first locking hydraulic cylinder 27 is in a retracted state. Then, the hydraulic rod of the grasping hydraulic cylinder 220 gradually retracts, and the lower end of the hook plate 23 swings backward. The guide plane 219 guides the trunnion 13, which enters the hook groove 211 through the inlet 213. The sector segment replacement manipulator grasping device is then lifted, and the hook plate 23 of the sector segment replacement manipulator grasping device hooks the trunnion 13 of the sector segment unit 11. The hydraulic rod of the first locking hydraulic cylinder 27 gradually extends until the locking mechanism is locked. The sector segment replacement manipulator grasping device moves upward, causing the sector segment unit 11 to move upward. Reversing the above steps releases the sector segment unit 11.

[0083] In the automatic gripping device of the ultra-large irregular billet continuous casting machine, the automatic gripping robot assembly 20 can not only lift the sector segment unit 11, but also the straightening machine 18. The sector segment unit 11 has two trunnions 13 at both its upper and lower parts, and guide wheels 14 are installed outside the trunnions 13. The straightening machine 18 also has two trunnions 13 at its upper part, and guide wheels 14 are also installed outside the two trunnions 13. The automatic gripping robot assembly 20 lifts the sector segment unit 11 and the straightening machine 18 in the same way; that is, the automatic gripping robot assembly 20 grips and releases the sector segment unit 11 and the straightening machine 18 in the same way. Figures 16 to 19 As shown.

[0084] The following describes a super-large irregular billet continuous casting machine. The super-large irregular billet continuous casting machine includes a casting platform 90, an automatic gripping device for the super-large irregular billet continuous casting machine, and an irregular billet sector 10 arranged sequentially from top to bottom. The automatic gripping device for the super-large irregular billet continuous casting machine is the aforementioned automatic gripping device for super-large irregular billet continuous casting machine (also referred to as the super-large irregular billet continuous casting machine automatic gripping device). A straightening machine 18 and a transfer table 40 are arranged behind the irregular billet sector 10. The straightening machine 18 is located between the irregular billet sector 10 and the transfer table 40. The straightening machine 18 is located at the exit end of the irregular billet sector 10. The function of the straightening machine 18 is to pull the super-large irregular billet 19.

[0085] The irregular billet sector segment 10 contains multiple sector segment units 11 arranged along the billet discharge direction. Each sector segment unit 11 has guide rails 15 on both its left and right sides. The lifting line 12 of each sector segment unit 11 is parallel to the guide rail 15. The lifting lines 12 of each sector segment unit 11 intersect at a focal point O. When the drive rotating guide arm 31 rotates to correspond with the guide rail 15, the sector segment unit 11 on the guide rail 15 can move along the lifting line 12 to the guide rail 34, or the sector segment unit 11 on the guide rail 34 can move along the lifting line 12 to the guide rail 15.

[0086] Each sector segment unit 11 has two trunnions 13 at its upper and lower parts, and guide wheels 14 are provided outside the trunnions 13. When a sector segment unit 11 is located on the drive rotating guide arm 31, the guide wheel 14 of the sector segment unit 11 is always in contact with the working surface 35 of the guide rail, and the guide wheel 14 rolls on the working surface 35 of the guide rail. When a sector segment unit 11 is located on a guide rail 15, the guide wheel 14 of the sector segment unit 11 is always in contact with the working surface of the guide rail 15, and the guide wheel 14 rolls on the working surface of the guide rail 15.

[0087] During the process of the large trolley assembly 60 moving the small trolley assembly 70 in the front-back direction, the focal point O can be located on the horizontal rotating shaft 33. At this time, the rotating guide arm drive assembly 50 can drive the rotating guide arm 31 to rotate around the horizontal rotating shaft 33. The lower ends of the guide rails 34 on the two rotating guide arms 31 can correspond one-to-one with the upper ends of the guide rails 15 on both sides of a certain sector segment unit 11.

[0088] When the lower ends of the two guide rails 34 correspond one-to-one with the upper ends of the guide rails 15 on both sides of a certain sector segment unit 11, the working surface 35 of the guide rails and the front side surfaces of the guide rails 15 on both sides of the sector segment unit 11 are located in the same plane. This sector segment unit 11 can be grasped by the automatic gripping robot assembly 20 and moved towards the focus O, thereby achieving extraction. Alternatively, the automatic gripping robot assembly 20 can place the sector segment unit 11 between the two guide rails 15, thereby achieving insertion.

[0089] The irregularly shaped fan-shaped segment 10 contains multiple upright guide rails 15 and multiple inclined guide rails 15. Each upright guide rail 15 has an upright baffle strip 16 in front of it. The upper and lower ends of the baffle strip 16 are bent forward. The pair of baffle strips 16 and guide rails 15 positioned in front and behind can clamp the guide wheel 14 of a fan-shaped segment unit 11. The forward bending of the upper and lower ends of the baffle strip 16 can guide the fan-shaped segment unit 11 into the space between the pair of baffle strips 16 and guide rails 15 when it is placed in. The baffle strips 16 and guide rails 15 clamp the guide wheel 14 of a fan-shaped segment unit 11, which can prevent the guided fan-shaped segment unit 11 at the upright guide rails 15 from moving back and forth.

[0090] The closer the sector segment unit 11 is to the front, the larger the angle between the lifting line 12 and the vertical line, and the farther the cantilever of the rotary guide arm 31 is. To solve the deformation of the cantilever of the rotary guide arm 31 and the safety of the sector segment, a locking pin 32 is provided at the lower end of the rotary guide arm 31. The second locking hydraulic cylinder 37 has a built-in signal switch for monitoring the locking status. When the lower ends of the two guide rails 34 correspond one-to-one with the upper ends of the guide rails 15 on both sides of a certain sector segment unit 11, the locking pin 32 extends and inserts into the upper end of the guide rail 15, so that the guide rail 34 and the guide rail 15 form a whole.

[0091] The upper end of the inclined guide rail 15 is connected to the lower end of the guide rail 34 by a locking pin 32. The upper end of the upright guide rail 15 is not connected to the lower end of the guide rail 34 by a locking pin 32. A connecting seat 17 is provided at the upper end of the inclined guide rail 15. The connecting seat 17 is connected to the guide rail 15 by bolts through a connecting seat adjusting pad. The connecting seat 17 is provided with a insertion hole for the locking pin 32. To facilitate the insertion of the locking pin 32, the insertion hole in the connecting seat 17 is an elongated hole, such as... Figure 12As shown.

[0092] The following describes the working process of the automatic gripping device and the hoisting fan-shaped segment unit 11 of the ultra-large irregular billet continuous casting machine:

[0093] Loading process:

[0094] Step 1: The large trolley assembly 60 moves backward to directly above the transfer platform 40, and the small trolley assembly 70 moves laterally to directly above the transfer platform 40.

[0095] Step 2: Drive the rotating guide arm 31 to a vertical position. The wire rope hoisting system 80 drives the automatic gripping robot assembly 20 to descend to above the trunnion 13 of the sector segment unit 11. The hook-shaped structure at the lower end of the hook plate 23 of the automatic gripping robot assembly 20 grips and locks the sector segment trunnion 13.

[0096] Step 3: The wire rope hoisting system 80 lifts the automatic gripping robot assembly 20 and the sector segment unit 11 to the high position;

[0097] Step 4: The large trolley assembly 60 advances to the fan-shaped section hoisting position. At this time, the aforementioned focal point O can be located on the horizontal rotating shaft 33. The small trolley assembly 70 moves laterally to the flow center line position.

[0098] Step 5: The rotary guide arm drive assembly 50 drives the rotary guide arm 31 to rotate to the lifting line 12 angle of the sector segment unit 11 to be installed. The lower end of the guide rail 34 on the rotary guide arm 31 corresponds to the upper end of the guide rail 15 on both sides of the sector segment unit 11. The locking pin 32 is inserted into the connecting seat 17 on the guide rail 15, and the working surface 35 of the guide rail is in contact with the working surface of the guide rail 15.

[0099] Step 6: The wire rope winch system 80 drives the automatic gripping robot assembly 20 and the sector segment unit 11 to descend. The follow-up motor always rotates synchronously with the winch until the sector segment unit 11 descends to the online position.

[0100] Step 7: The automatic gripping robot assembly 20 unlocks and releases the sector segment unit 11, and the wire rope hoisting system 80 drives the automatic gripping robot assembly 20 back to the high position.

[0101] Step 8: Unlock the locking pin 32, and drive the rotating guide arm 31 to lower to the vertical position.

[0102] Step 9: The large trolley assembly 60 and the small trolley assembly 70 return to the standby position;

[0103] The lifting process is the reverse of this process.

[0104] When the lifting line 12 of the sector segment unit 11 is vertical, steps 5 and 8 are omitted in the lifting process of the sector segment unit 11. The working process of the automatic gripping device lifting and straightening machine 18 of the ultra-large irregular billet continuous casting machine is basically the same as the working process of lifting the sector segment unit 11 when the lifting line 12 is vertical.

[0105] For ease of understanding and description, this invention uses absolute positional relationships for description. Unless otherwise specified, the directional term "above" indicates... Figure 1 The direction above, the directional word "down" indicates Figure 1 The lower side of the middle, the directional word "left" indicates perpendicular to. Figure 1 The right side of the paper points outwards from the paper; the directional word "right" indicates perpendicular to the direction of the paper. Figure 1 The direction of the paper and pointing inwards; the directional word "front" indicates... Figure 1 The left-hand direction in the text, the directional word "back" indicates Figure 1 The direction is to the right. This invention is described from the perspective of the reader or user, but the above directional terms should not be understood or interpreted as limiting the scope of protection of this invention.

[0106] The above description is merely a specific embodiment of the present invention and should not be construed as limiting the scope of the invention. Therefore, any substitution of equivalent components or equivalent changes and modifications made within the scope of protection of this patent should still fall within the scope of this patent. Furthermore, the technical features, technical solutions, and embodiments of the present invention can be freely combined and used together.

Claims

1. An automatic gripping device for a continuous casting machine for ultra-large irregularly shaped billets, characterized in that, The automatic gripping device of the ultra-large irregular billet continuous casting machine includes: The trolley assembly (70) is capable of moving in the left and right directions; the trolley assembly (70) includes a transverse trolley frame (76); The large vehicle assembly (60) enables the small vehicle assembly (70) to move in the front-to-back direction; The rotary guide arm assembly (30) includes two rotary guide arms (31) spaced apart on the left and right. Both rotary guide arms (31) are connected to the trolley assembly (70) via a horizontal rotating shaft (33). The horizontal rotating shaft (33) extends in the left and right direction. The rotary guide arm (31) includes a guide rail (34). The guide rail (34) extends along the diameter of the horizontal rotating shaft (33). The working surface (35) of the guide rail faces forward. The rotary guide arm drive assembly (50) is capable of driving the rotary guide arm (31) to rotate around the horizontal axis (33); the rotary guide arm drive assembly (50) contains a rotary hydraulic cylinder (51), the two ends of which are respectively hinged to the upper end of the rotary guide arm (31) and the upper part of the transverse trolley frame (76) of the trolley assembly (70). The automatic gripping robot assembly (20) has a portal structure. The automatic gripping robot assembly (20) includes a lifting beam (21) and hook plates (23). The lifting beam (21) extends in the left and right direction. Two upright hook plates (23) are located at the left and right ends of the lifting beam (21) respectively. The lower end of the hook plate (23) has a hook-shaped structure. The automatic gripping robot assembly (20) can grip and release the fan-shaped segment unit (11) or the straightening machine (18). The automatic gripping robot assembly (20) is in contact with the guide rail (34). The wire rope winch system (80) enables the automatic gripping robot assembly (20) to move back and forth along the guide rail (34).

2. The automatic gripping device for the ultra-large irregular billet continuous casting machine according to claim 1, characterized in that, The hook-shaped structure includes a hook groove (211) and a hook tip (212) arranged at the front and back. An inlet (213) is provided above the hook tip (212). The inlet (213) is connected to the hook groove (211) and faces backward. Both hook plates (23) are connected to a driving mechanism. The driving mechanism can make the lower end of the hook plate (23) swing back and forth.

3. The automatic gripping device for the ultra-large irregular billet continuous casting machine according to claim 2, characterized in that, Both ends of the lifting beam (21) are provided with first guide wheels (22). The axis of the first guide wheel (22) extends in the left and right direction. The first guide wheel (22) and the guide rail (34) are arranged in front and behind each other. The side circumferential surface of the first guide wheel (22) is in contact with the working surface (35) of the guide rail.

4. The automatic gripping device for the ultra-large irregular billet continuous casting machine according to claim 1, characterized in that, The lifting beam (21) extends in the left and right direction, and the wire rope hoisting system (80) contains a movable pulley assembly (86). Two movable pulley assemblies (86) are fixed on the lifting beam (21) at intervals on the left and right.

5. The automatic gripping device for a continuous casting machine for ultra-large irregular billets according to claim 2, characterized in that, The drive mechanism includes a gripping hydraulic cylinder (220) and a connecting rod (25) connected in sequence. As the hydraulic rod of the gripping hydraulic cylinder (220) gradually extends, the hook plate (23) swings forward with the contact line between the first guide wheel (22) and the working surface (35) of the guide rail as the swing axis. As the hydraulic rod of the gripping hydraulic cylinder (220) gradually retracts, the hook plate (23) swings backward with the contact line between the first guide wheel (22) and the working surface (35) of the guide rail as the swing axis.

6. The automatic gripping device for a continuous casting machine for ultra-large irregular billets according to claim 5, characterized in that, The drive mechanism is located on the outside of the hook plate (23). The drive mechanism and the guide rail (34) are arranged in front and behind each other. One end of the gripping hydraulic cylinder (220) is hinged to the hook plate (23) through the first rotating shaft (29). The other end of the gripping hydraulic cylinder (220) is hinged to one end of the connecting rod (25) through the second rotating shaft (210). The connecting rod (25) is hinged to the hook plate (23) through the third rotating shaft (214). The other end of the connecting rod (25) is provided with a second guide wheel (26). The side circumferential surface of the second guide wheel (26) is in contact with the working surface (35) of the guide rail.

7. The automatic gripping device for a continuous casting machine for ultra-large irregular billets according to claim 6, characterized in that, In the vertical direction, the drive mechanism is located between the first guide wheel (22) and the inlet (213), the first rotating shaft (29) is located above the second rotating shaft (210), the connecting rod (25) has an L-shaped structure, in the front-rear direction, the third rotating shaft (214) is located between the second rotating shaft (210) and the second guide wheel (26), and the gripping hydraulic cylinder (220) is connected to a signal switch (24).

8. The automatic gripping device for the ultra-large irregular billet continuous casting machine according to claim 1, characterized in that, The hook plate (23) is also connected to a locking mechanism, which is arranged in front of and behind the guide rail (34). The locking mechanism includes a first locking hydraulic cylinder (27) and a locking block (28) connected in sequence. When the hydraulic rod of the first locking hydraulic cylinder (27) is in the extended state, the locking block (28) can make the inlet (213) closed. When the hydraulic rod of the first locking hydraulic cylinder (27) is in the retracted state, the locking block (28) can make the inlet (213) open.

9. The automatic gripping device for a continuous casting machine for ultra-large irregular billets according to claim 8, characterized in that, The locking mechanism is located above the entrance (213). The first locking hydraulic cylinder (27) and the locking block (28) are arranged vertically. One end of the first locking hydraulic cylinder (27) is hinged to the hook plate (23) through the fourth pivot (215). The other end of the first locking hydraulic cylinder (27) is hinged to one end of the locking block (28) through the fifth pivot (216). The other end of the locking block (28) is hinged to the hook plate (23) through the sixth pivot (217).

10. The automatic gripping device for a continuous casting machine for ultra-large irregular billets according to claim 9, characterized in that, One end of the locking block (28) is provided with an arc surface (218), and a guide plane (219) is provided outside the locking block (28). When the hydraulic rod of the first locking hydraulic cylinder (27) is in the extended state, the arc surface (218) can abut against the trunnion (13) of the sector segment unit (11) in the hook groove (211). When the hydraulic rod of the first locking hydraulic cylinder (27) is in the retracted state, the guide plane (219) can guide the trunnion (13) of the sector segment unit (11) to enter the hook groove (211) through the inlet (213).

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