Transverse intelligent deviation rectifying method and system in installation and advancing process of large converter

Abstract

The invention discloses a transverse intelligent deviation rectifying method and system in the mounting and advancing process of a large converter, and belongs to the technical field of deviation rectifying mechanisms. The transverse intelligent deviation rectifying system for the installation and advancing process of the large converter comprises a transverse intelligent deviation rectifying device, a speed detection module, a distance detection module and a control unit which are installed on a rail vehicle, the speed detection module and the distance detection module are respectively used for detecting the running speed of the rail vehicle and the transverse installation deviation distance of the converter on the rail vehicle and feeding back to the control unit, and the control unit is used for controlling the starting and stopping of the transverse intelligent deviation correction device, so that the transverse installation deviation correction of the converter is carried out. By the adoption of the technical scheme, the transverse deviation rectifying efficiency in the converter mounting and positioning advancing process can be effectively improved, the converter mounting and positioning precision can be guaranteed, and the safety in the deviation rectifying process is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of rectification mechanisms. Specifically, it relates to a horizontal intelligent rectification method and system for the installation and movement process of a large converter. Background Technique

[0002] In enterprises, when dealing with the handling and installation of converters weighing four or five hundred tons, a generally feasible solution is to use rail vehicles for equipment handling. Using rail vehicles for equipment handling has the following advantages: First, since rail vehicles are original equipment in the converter working process, additional design can be avoided, and it is more economical to utilize the original equipment; second, rail vehicles can travel along the track direction, avoiding large deviations; third, the high load-bearing capacity of the track can be used to achieve stable transportation of heavy equipment.

[0003] Although rail vehicles can meet the longitudinal accuracy requirements during the installation and transportation process and will not deviate from the travel route to a certain extent, due to the wheel width of the rail vehicle being greater than the track width, there may be a certain displacement in the direction perpendicular to the travel direction during the vehicle's travel. For the handling and installation of some special heavy equipment, the horizontal accuracy requirements also need to be met. For a converter, the weight of the converter is over 100 tons and the diameter exceeds 7 meters. When positioning the installation holes of the converter, the positioning accuracy of the installation holes needs to be less than 1 mm. Manual rectification is too slow, and the converter is too large, making manual rectification difficult.

[0004] Traditional horizontal rectification methods are to rectify through human intervention. For example, manually controlling hydraulic cylinders for pushing rectification, etc. Although manual rectification can meet the accuracy requirements, there are the following disadvantages in manual horizontal rectification: 1) High cost of manual rectification; 2) Manual rectification requires repeated operations to meet the accuracy requirements, which is time-consuming and laborious, with low efficiency and affecting the project progress; 3) For the rectification during the handling and installation of large and heavy equipment, the equipment will tilt, posing a high safety hazard; 4) Manual rectification has certain requirements for rectification operators and requires personnel with rectification experience to complete.

[0005] After retrieval, there is no report on the horizontal intelligent rectification method and device for the installation and movement process of a large converter. Therefore, it is of great significance to develop and research a device for synchronously performing horizontal rectification during the installation and movement process of a converter. Summary of the Invention

[0006] The invention aims to provide a horizontal intelligent rectification method and system for the installation and movement process of a large converter, so as to achieve horizontal (perpendicular to the track direction) intelligent rectification during the installation and positioning movement process of a large converter. Adopting the technical solution of the invention can effectively improve the horizontal rectification efficiency during the installation and movement process of the converter, is beneficial to ensuring the installation and positioning accuracy of the converter, and improves the safety during the rectification process.

[0007] To achieve the above object, the technical solution provided by the present invention is as follows: In the first aspect of the present invention, a lateral intelligent deviation correction system for the installation and movement of a large converter is provided, including a lateral intelligent deviation correction device, a speed detection module, a distance detection module and a control unit installed on a rail vehicle. Among them, the speed detection module and the distance detection module are respectively used to detect the running speed of the rail vehicle and the lateral installation deviation distance of the converter on the rail vehicle, and feedback to the control unit, and the control unit is used to control the start and stop of the lateral intelligent deviation correction device, so as to perform lateral installation deviation correction of the converter; Among them, the lateral intelligent deviation correction device includes multiple groups of lateral intelligent deviation correction units corresponding to multiple wheels of the rail vehicle, and each deviation correction unit includes: A linear module module, which is fixedly installed on the rail vehicle along the direction parallel to the rail, and is used to install the entire deviation correction unit on the inner or outer side of the wheel; A connecting arm, the top of which is slidably installed on the linear module module, and the bottom of which is connected with a tool changing module and a propulsion module; A tool changing module, on which several deviation correction wedge blocks with different thicknesses are installed. Under the control of the control unit, the tool changing module conveys the deviation correction wedge block with the corresponding thickness above the propulsion module; and A propulsion module, which is used to push the corresponding deviation correction wedge block forward to fit with the side of the rail to achieve lateral deviation correction, and reset the deviation correction wedge block after the corresponding deviation correction wedge block completes the deviation correction.

[0008] According to any of the technical solutions described in the first aspect of the present invention, on the side of the deviation correction wedge block far from the rail, that is, the profile of the deviation correction side is designed as a smooth continuous curve. Taking the length direction of the deviation correction wedge block as the x direction and the direction of increasing its thickness as the positive y direction, the profile curve equation of the deviation correction side is:

[0009] Among them, w is the length of the deviation correction wedge block, v1 is the forward speed of the rail vehicle, and a' is the maximum acceleration of the deviation correction wedge block along the deviation correction direction during the deviation correction process, and this acceleration is not greater than the maximum allowable acceleration of the deviation correction wedge block along the deviation correction direction a max . By designing the profile of the deviation correction side of the deviation correction wedge block as a smooth continuous curve and optimizing the design of its curve equation, it is possible to effectively prevent the converter from experiencing rigid impact, sliding or rollover during the deviation correction process.

[0010] According to any of the technical solutions described in the first aspect of the present invention, the length of the deviation correction wedge block w is 5 - 10 cm; the maximum allowable acceleration of the deviation correction wedge block along the deviation correction directiona max is:

[0011] wherein, a’ max is the maximum acceleration of the deviation-correcting wedge block to prevent the converter from tipping over, a f max is the maximum acceleration to prevent the converter from sliding relative to the contact surface of the support column; S is the safety factor, and its value ranges from 1.5 to 3.

[0012] Furthermore, the deviation-correcting distance of the deviation-correcting wedge block (8) is designed as follows: According to the contour curve equation of the deviation-correcting side, the maximum deviation-correcting distance of a single deviation-correcting wedge block is calculated y max is: ; The maximum allowable acceleration a max of the deviation-correcting wedge block (8) along the deviation-correcting direction obtained by calculation is substituted into y max for calculation, and y’ max is obtained; When the maximum allowable error value Δ of the positioning accuracy of the converter installation hole is greater than y’ max , the deviation-correcting distance of the deviation-correcting wedge block, that is, the maximum thickness y0 of the deviation-correcting side, is designed according to y’ max ; When the maximum allowable error value Δ of the positioning accuracy of the converter installation hole is less than y’ max , the deviation-correcting distance y0 of the deviation-correcting wedge block is designed according to Δ.

[0013] Furthermore, when the maximum allowable error value Δ of the positioning accuracy of the converter installation hole is less than y’ max , the maximum acceleration a’ of the deviation-correcting wedge block is designed according to the following formula: .

[0014] According to any one of the technical solutions described in the first aspect of the present invention, the deviation-correcting distances of all the deviation-correcting wedge blocks on the tool-changing module are the same, and based on the first deviation-correcting wedge block, the subsequent deviation-correcting wedge blocks are successively increased by a compensation thickness, and the values of the compensation thickness are y0, 2·y0, 3·y0,...; where y0 is the deviation-correcting distance of a single deviation-correcting wedge block, that is, the maximum thickness of its deviation-correcting side. That is, according to the lateral installation deviation existing in the converter, segmented deviation-correcting operations are performed, which is beneficial to further ensuring the safety and deviation-correcting accuracy during the deviation-correcting process.

[0015] According to any of the technical solutions described in the first aspect of the present invention, the linear module includes a linear slide rail. The top end of the connecting arm is slidably mounted on the linear slide rail through a sliding platform, and the sliding platform is driven to slide by a driving motor, which is connected to the control unit.

[0016] According to any of the technical solutions described in the first aspect of the present invention, the tool changing module includes a tool changing mechanism and a tool changing driving motor. A plurality of pneumatic chucks are arranged on the tool changing mechanism at annular intervals. Deviation correction wedge blocks with different thicknesses are respectively installed on different pneumatic chucks through connecting rods. The tool changing mechanism is driven to rotate by the tool changing driving motor, so as to transfer different deviation correction wedge blocks above the propulsion module; both the tool changing driving motor and the pneumatic chucks are connected to the control unit for control.

[0017] According to any of the technical solutions described in the first aspect of the present invention, the propulsion module adopts a pneumatic slide table mechanism, which includes a propulsion cylinder. The piston rod of the propulsion cylinder is fixedly connected to a propulsion slider, and a fixing mechanism is fixedly connected to the propulsion slider. A positioning block matching the fixing mechanism is correspondingly arranged on the connecting rod, and the deviation correction wedge block is clamped and fixed through the cooperation of the fixing mechanism and the positioning block.

[0018] According to any of the technical solutions described in the first aspect of the present invention, the fixing mechanism adopts a pneumatic clamping device, which is connected to the control unit for control.

[0019] The second aspect of the present invention also provides a method for horizontal intelligent deviation correction during the installation and movement of a large converter. Using any of the intelligent deviation correction systems described in the first aspect of the present invention, the deviation correction process includes: Step 1: Use the distance detection module to detect the horizontal installation deviation data between the current position and the target position of the converter, and transmit the detected horizontal installation deviation data to the control unit; Step 2: The control unit controls the start of the horizontal intelligent deviation correction unit on the corresponding side according to the detected horizontal installation deviation data of the converter, and judges the number of times n of deviation correction required according to the magnitude of the horizontal installation deviation of the converter, and sequentially transfers n deviation correction wedge blocks with different thicknesses above the propulsion module; Step 3: Drive the deviation correction wedge block forward by the propulsion module until it fits against the side of the rail; Step 4: Use the speed detection module to detect the driving speed of the rail vehicle and feedback it to the control unit. After the deviation correction wedge block moves forward until it fits against the side of the rail, the control unit controls the connecting arm to drive the tool changing module and the propulsion module to move along the linear module together, and the moving direction is opposite to the driving direction of the rail vehicle, and the magnitude of the moving speed is the same as the magnitude of the driving speed of the rail vehicle; Step 5: The rail vehicle continues to move forward. When the wheel moves to the deviation correction wedge block, under the guiding action of the deviation correction wedge block, a lateral deviation correction is performed on the rail vehicle and the converter once. Step 6: After the rail vehicle completely passes the above-mentioned deviation correction wedge block, the control unit controls the propulsion module to drive the deviation correction wedge block to reset; then controls the connecting arm to drive the tool changing module and the propulsion module to quickly move forward along the linear module to prepare for the next deviation correction.

[0020] Adopting the technical solution provided by the present invention, compared with the prior art, the following beneficial effects can be obtained: (1) During the installation and transportation of the converter by the rail vehicle in the present invention, by installing a lateral intelligent deviation correction device on the rail vehicle, when the distance detection module detects a lateral installation deviation of the converter, the control unit controls the deviation correction device to start, so that the lateral deviation of the rail vehicle and the converter can be effectively adjusted by the guiding action of the deviation correction wedge block, basically realizing intelligent deviation correction, without the need for personnel to participate, which can avoid accidents to personnel and improve the deviation correction efficiency.

[0021] (2) The present invention further designs the deviation correction side cross-sectional contour of the deviation correction wedge block as a smooth continuous curve and optimizes the curve equation, so that the rigid impact of the converter during the deviation correction process can be effectively avoided, preventing the converter from sliding at the support point of the column or detaching from the support column, thus being beneficial to ensuring the safety and deviation correction accuracy during the deviation correction process.

[0022] (3) The present invention performs segmented deviation correction operations on the lateral installation deviation of the converter, which is beneficial to further ensuring the deviation correction accuracy and safety during deviation correction. Moreover, after each deviation correction is completed, the lateral installation deviation of the converter is detected again to ensure that the converter after the final deviation correction meets the requirements of lateral installation accuracy. Description of the Drawings

[0023] Figure 1 It is the overall flowchart of the lateral intelligent deviation correction method for the installation and positioning process of the large converter in the embodiment of the present invention.

[0024] Figure 2 It is the installation structure schematic diagram of the lateral intelligent deviation correction device during the traveling process of the rail vehicle in the embodiment of the present invention.

[0025] Figure 3 It is the overall structure schematic diagram of the lateral intelligent deviation correction unit during the traveling process of the rail vehicle in the embodiment of the present invention.

[0026] Figure 4 It is the enlarged structure schematic diagram of the tool changing module and the propulsion module of the deviation correction unit in the embodiment of the present invention.

[0027] Figure 5 Schematic diagram of the installation structure of the converter on the rail vehicle.

[0028] Figure 6 Schematic diagram of the deviation correction principle of the lateral intelligent deviation correction device during the traveling process of the rail vehicle according to the embodiment of the present invention (taking the left deviation correction as an example).

[0029] Figure 7 Schematic diagram of the design parameters of the deviation correction wedge block according to the embodiment of the present invention.

[0030] Figure 8 Schematic diagram of the horizontal offset design of the deviation correction wedge block according to the embodiment of the present invention.

[0031] Figure 9 Schematic diagram of the force received during the furnace loading of the deviation correction wedge block design according to the embodiment of the present invention.

[0032] Figure 10 Profile curve diagram of the deviation correction wedge block according to the embodiment of the present invention.

[0033] Figure 11 Schematic diagram of the change in the deviation correction speed during the deviation correction process.

[0034] Figure 12 Cross-sectional shape diagram of the deviation correction wedge block according to the embodiment of the present invention.

[0035] Figure 13 The flowchart of performing a single deviation correction in the embodiment of the present invention is shown.

[0036] Label description: 1. Rail vehicle; 2. Rail; 3. Wheel; 4. Linear module module; 5. Connecting arm; 6. Tool change drive motor; 7. Tool change mechanism; 701. Chain type tool feeding disc; 702. Pneumatic chuck; 703. Connecting rod; 704. Positioning block; 8. Deviation correction wedge block; 9. Propulsion module; 901. Piston rod; 902. Propulsion cylinder; 903. Propulsion slider; 904. Guide rod; 905. Fixing mechanism; 10. Support column. Detailed implementation manners

[0037] To further understand the content of the present invention, the present invention will be described in detail below in conjunction with the drawings and embodiments. However, it should be understood that these descriptions are only exemplary and do not intend to limit the scope of the present disclosure. In the following detailed description, for the purpose of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, obviously, one or more embodiments can also be implemented without these specific details. In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present disclosure.

[0038] The structures, proportions, sizes, etc. shown in the accompanying drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the conditions for the implementation of the present invention. Therefore, they do not have substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope that can be covered by the technical content disclosed in the present invention.

[0039] Meanwhile, in this application, the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", etc. is based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe this application and its embodiments, and are not used to limit that the indicated devices, elements, or components must have a specific orientation or be constructed and operated in a specific orientation. Moreover, in addition to being used to represent the orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0040] In addition, the terms "including", "comprising", etc. used herein indicate the presence of the described features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0041] An embodiment of the present invention provides a horizontal intelligent deviation correction system for the installation, positioning, and traveling process of a large converter, as Figure 2 shown. The horizontal intelligent deviation correction system includes a horizontal intelligent deviation correction device, a speed detection module, a distance detection module, and a control unit installed on a rail vehicle 1. Among them, the speed detection module and the distance detection module are used to detect the running speed of the rail vehicle 1 and the horizontal installation deviation distance of the converter respectively, and feedback to the control unit. The control unit controls the start of the horizontal intelligent deviation correction device based on the feedback of the speed detection module and the distance detection module to perform horizontal deviation correction.

[0042] Specifically, in the embodiment of the present invention, the horizontal intelligent deviation correction device includes multiple groups of (the number of wheels on different rail vehicles is different, specifically corresponding to the number of wheels on the rail vehicle. For example, if there are four wheels on the rail vehicle, including front wheels and rear wheels, then 4 groups of horizontal intelligent deviation correction units are correspondingly provided) horizontal intelligent deviation correction units corresponding to multiple rail vehicle wheels 3. Each group of horizontal intelligent deviation correction units includes two deviation correction units, and the two deviation correction units are respectively located on the inner and outer sides of the same wheel 3. As Figure 3As shown in the figure, each rectification unit includes a linear module module 4, a connecting arm 5, a tool changing module, and a propulsion module 9, where: The linear module module 4 is fixedly installed on the rail vehicle 1 along the direction parallel to the rail 2, and is used to install the entire rectification unit on the inner or outer side of the wheel 3; The connecting arm 5 is distributed in the vertical direction. Its top end is slidably installed on the linear module module 4 along the direction parallel to the rail 2, and its bottom end is connected with a tool changing module and a propulsion module 9; A number of rectification wedge blocks 8 with different thicknesses are installed on the tool changing module. Under the control of the control unit, the tool changing module selects the corresponding rectification wedge block 8 and conveys it above the propulsion module 9; The propulsion module 9 is used to push the corresponding rectification wedge block 8 forward to fit against the side of the rail 2 for rectification when rectification is required, and reset the rectification wedge block 8 after the corresponding rectification wedge block 8 has completed rectification, that is, the propulsion module 9 can drive the rectification wedge block 8 to perform reciprocating motion in the direction perpendicular to the rail 2.

[0043] When using the rectification system of this embodiment, during the installation and positioning transportation of the converter by the rail vehicle 1, the speed detection module is used to detect the running speed of the rail vehicle 1 in real time, and the distance detection module is used to detect whether the converter and the rail vehicle have a lateral offset in real time. If there is a lateral offset, the control unit judges the rectification wedge block 8 to be used according to the size of the offset distance and the running speed of the rail vehicle 1, and then controls the tool changing module to convey the corresponding rectification wedge block 8 above the propulsion module 9. The corresponding rectification wedge block 8 is pushed by the propulsion module 9 to firmly fit against the side of the rail 2, and under the guiding action of the rectification wedge block 8, the lateral rectification of the rail vehicle and the converter is realized.

[0044] As a preferred embodiment, the top of the rectification wedge block 8 and the side that fits against the rail 2 are both designed as flat structures to ensure the smoothness of its fit with the rail; the thickness of the side of the rectification wedge block 8 away from the rail 2 (the rectification side) gradually increases, that is, along the running direction of the rail vehicle during rectification, the distance between the rectification side and the fit surface with the rail 2 gradually increases, and its cross-sectional profile is designed as a smooth continuous curve. As Figure 5 、 Figure 7The figure shows a schematic diagram of the standard installation structure of a converter on a rail vehicle 1. It is supported and installed on the rail vehicle through a bracket. The bracket includes four support columns 10 symmetrically distributed along a rectangle. The height from the center of gravity of the converter to the support point (the contact point between the converter and the four support columns) is h, and the horizontal distance from the center of gravity of the converter to the support point is l (this distance is the horizontal distance in the deviation correction direction and is parallel to the direction of the deviation correction acceleration). Through the design of the profile curve on the deviation correction side, it can effectively ensure the continuous transition of the accelerations of the converter and the vehicle during the deviation correction process, without rigid impact and sudden acceleration change. Moreover, the converter will not slide with the support point and will not separate from the support column 10 under the influence of acceleration.

[0045] Specifically, the process of designing the profile curve on the deviation correction side of the deviation correction wedge block 8 in the embodiment of the present invention is as follows: (1)Determine the maximum allowable acceleration in the horizontal direction The weight of the converter is m, the static friction coefficient of the support contact surface is f, and the gravitational acceleration is g. Taking the deviation correction to the left horizontally as an example, as shown in Figure 8 、 Figure 9 , under the guiding action of the deviation correction wedge block 8, the converter moves to the left and generates an accelerating motion to the left. At the same time, the inertial force generated acts in the opposite direction, and the converter obtains an inertial acceleration to the right. If the converter obtains too large an inertial acceleration during the deviation correction process, it will cause too large an inertial force on the right side of the converter's girth gear. When this inertial force is greater than the frictional force, the converter will have a certain relative displacement relative to the contact surface of the support column. This leads to that during the deviation correction process, the rail vehicle and the support column are accurately corrected, while the converter shows a horizontal position deviation, and this displacement cannot be accurately predicted. Therefore, it is impossible to achieve precise position adjustment of the converter, and ultimately the installation of the converter will fail. Therefore, how to prevent the horizontal offset of the converter relative to the support column 10 and the rail vehicle 1 during the deviation correction process is crucial.

[0046] Through analysis, the maximum static friction force F fmax for the converter not to have a sliding behavior relative to the contact surface of the support column is:

[0047] The maximum acceleration for not having a sliding behavior a f max is:

[0048] If the acceleration obtained by the converter is too large during the deviation correction process, it is also possible to cause the separation of the converter from the support part of the support column.

[0049] Taking the left deviation correction as an example, if the acceleration is too large, the converter and the support ring will have a tendency to flip and overturn with the contact point between the right support column and the converter support ring as the rotation point. When the acceleration is large enough, the left side of the converter and the support part of the support column will separate. This phenomenon will cause excessive force on the support part of the column on the other side, and there is a risk of the converter overturning, which poses a huge safety hazard. In addition, after the contact surface is separated, even if there is no relative sliding, after the deviation correction is completed, when the contact surface between the converter and the column re-contacts, the column itself will be deformed due to the change in force during the process from load-bearing to unloading and then to contact. The position after re-contact may change from the original converter contact position, thereby affecting the relative position of the converter, the support column and the rail vehicle, and then bringing uncertainty to the installation and positioning of the converter. Therefore, the separation phenomenon needs to be avoided as much as possible.

[0050] In order to prevent the converter from separating from the supporting part of the column, the effect of the inertial force generated by the converter's own gravity and acceleration must be rotated toward the inside of the columns on both sides relative to the cooperative torque of the supporting part on the other side (that is, if the acceleration is to the left, the resultant torque is counterclockwise; if the acceleration is to the right, the resultant torque is clockwise). When the contact part with a tendency to separate is in a critical state, the force on the contact part is 0. Figure 9 This is the force analysis diagram of the converter during correction. According to the above conditions:

[0051] The maximum acceleration without flipping is a’ max .

[0052] Taking into account the safety factor S (which can be selected in the range of 1.5 to 3 according to actual conditions), the maximum allowable horizontal acceleration (along the correction direction) is: a max for: .

[0053] (2) Determine the optimal contour curve of the correcting wedge During the whole correction process, considering the huge weight of the converter, the rigid impact and flexible impact caused by the acceleration change will cause great damage to the overall structure. Therefore, sudden changes in acceleration are not allowed during the correction process. The acceleration of the correction process should start from 0 and end at 0. The acceleration change in the process should be smooth and continuous, and the maximum acceleration in the middle is less than or equal to a. max In addition, the correction speed also starts from 0 and ends at 0 (such as Figure 11 as shown).

[0054] Assume that the vehicle's forward speed is a uniform speed v1, the time is t, and the length of the correcting wedge is w , set the maximum acceleration during the correction process to a' (no more than amax ). The total time T for a single rectification process is as follows:

[0055] Assume that the advancing direction of the rectification wedge profile (the length direction of the rectification wedge, i.e., parallel to the railway track) is the x-direction, the thickness direction (perpendicular to the railway track) is the y-direction, the rectification direction speed is v, and the rectification direction acceleration is a. Then, the following relationships hold:

[0056] The boundary conditions are

[0057] The above relationships and boundary conditions have infinite solutions that all satisfy the conditions. Considering the difficulty of solving, the embodiments of the present invention use trigonometric functions for solving and select a half-cycle sine function as the acceleration function (the waveform range is 0 to π, and the acceleration is the largest in the middle). This acceleration function is:

[0058] By solving the differential equation, the rectification speed equation and the rectification distance equation can be obtained:

[0059] According to the above formula, the contour curve equation of the rectification side of the rectification wedge can be obtained (as shown in Figure 10 ) as:

[0060]

[0061] Therefore, the maximum rectification distance of a single rectification wedge is:

[0062] Among them, the length of the rectification wedge w can be designed according to the situation, and more preferably, it is 5 to 10 cm; substituting the a max calculated above into the above formula for calculation, y’ max is obtained. When the maximum allowable error value Δ of the positioning accuracy of the converter installation hole is greater than y’ max , the rectification distance (the maximum thickness of the rectification side) y0 of the rectification wedge is designed according to y’ max .

[0063] However, if Δ is less than y’ max , then the rectification distance (the maximum thickness of the rectification side) y0 of the rectification wedge is designed according to Δ. Theoretically, as long as the maximum acceleration a’ is less than amax Both are acceptable. Considering the standardization of the structure and the difficulty in adjusting the original motion state of the equipment, in this case, it is further preferred to adjust the maximum acceleration of the deviation correction wedge block a’ for reduction: .

[0064] Then the profile of the deviation correction wedge block is the function y(x). The maximum deviation correction distance of a single deviation correction wedge block is determined by the acceleration, the length of the deviation correction wedge block, and the positioning accuracy. For the convenience of machining the deviation correction wedge block and realizing standardized dimensions, it is further preferred to round the deviation correction distance (the maximum thickness on the deviation correction side) y0 of the deviation correction wedge block (take the largest integer not greater than the calculated value). As Figure 10 shown, it is the profile curve diagram of the deviation correction wedge block when the length of the deviation correction wedge block is 10 cm, the maximum deviation correction acceleration is 0.2 m / s 2 , and the feeding speed of the rail vehicle is 0.5 m / s.

[0065] According to the track operation characteristics, assuming the cumulative maximum deviation correction distance is W, then W is divided into n segments, where the deviation correction distance of each segment is y0, and it is necessary to ensure that n·y0≥W. That is, by performing multiple segmented deviation correction operations, the deviation correction accuracy can be effectively guaranteed, and the separation between the converter and the support column during the deviation correction process can be prevented, or the rigid impact and flexible impact caused by sudden changes in acceleration can be avoided, which have a greater impact on the overall structure. Based on the above situation, in the embodiment of the present invention, the profile curves of the deviation correction sides of several deviation correction wedge blocks 8 on the tool changing mechanism are the same, but for the subsequent deviation correction wedge blocks, on the basis of the first deviation correction wedge block, a compensation thickness is sequentially added (as Figure 12 shown), that is, the compensation thicknesses of all deviation correction wedge blocks are 0, y0, 2·y0,..., (n - 1)·y0. That is, the control unit determines the number of times n of lateral deviation correction according to the lateral installation deviation of the converter, and controls the operation of the tool changing module to sequentially rotate n deviation correction wedge blocks 8 with different thicknesses to the deviation correction position (above the propulsion module), and then cooperate with the propulsion module 9 to push the corresponding deviation correction wedge block 8 to fit with the side of the rail for deviation correction.

[0066] As one of the implementation manners, the linear module 4 includes a linear slide rail, on which a sliding platform is slidably arranged. The sliding platform is driven by a driving motor to slide along the slide rail, so as to drive the connecting arm 5, the tool changing module and the propulsion module 9 to move reciprocally along the direction parallel to the railway. To effectively ensure the smoothness of the rectification process, when the rectification wedge 8 moves forward under the action of the propulsion module 9 and contacts the railway 2, the control unit controls the driving motor of the linear module 4 to start, so as to drive the sliding platform to drive the connecting arm 5, the tool changing module and the propulsion module 9 to slide in the direction opposite to the running direction of the rail vehicle, and the sliding speed of the sliding platform is the same as the running speed of the rail vehicle, so that the wedge remains relatively stationary with respect to the railway; when the vehicle passes by the rectification wedge 8, the control unit controls the propulsion module 9 to drive the corresponding rectification wedge 8 to reset, and then controls the driving motor to drive the sliding platform to quickly reset in the vehicle traveling direction, so as to prepare for the next rectification.

[0067] In some embodiments, the tool changing module includes a tool changing mechanism 7 and a tool changing driving motor 6. The rectification wedge is installed on the tool changing mechanism 7, and the tool changing mechanism 7 is driven by the tool changing driving motor 6 to operate, so as to sequentially convey different rectification wedges 8 above the propulsion module 9.

[0068] It should be noted that the specific structure of the tool changing mechanism 7 in the present invention is not limited, and an existing tool changing mechanism can be directly adopted as long as the tool changing operation of different wedges can be realized. Specifically, as shown in Figure 4 In the embodiment of the present invention, the tool changing mechanism 7 directly adopts an existing chain type tool changing mechanism (since it is an existing technology, its structure will not be described in detail here). A plurality of pneumatic chucks 702 are installed on the chain type tool feeding disk 701 at annular intervals. A group of rectification wedges 8 with different thicknesses are respectively installed on different pneumatic chucks 702 through connecting rods 703, and both the tool changing driving motor 6 and the pneumatic chucks 702 are connected to the control unit for control. The tool changing driving motor 6 drives the transmission chain to rotate, so as to drive the chain type tool feeding disk 701 to rotate, and then sequentially rotate different rectification wedges 8 with different thicknesses above the propulsion module.

[0069] In some embodiments, the propulsion module 9 adopts a pneumatic slide mechanism. Its propulsion cylinder 902 drives a propulsion slider 903 to reciprocate in a direction perpendicular to the railway track 2 through a piston rod 901, thereby pushing the deviation-correcting wedge block 8 to fit against the side of the railway track for deviation correction or driving the deviation-correcting wedge block 8 to reset after the deviation correction is completed. Among them, a fixing mechanism 905 is provided on the propulsion module 9, a positioning block 704 is correspondingly provided on the connecting rod 703, and a clamping portion matching the fixing mechanism 905 is provided at the bottom of the positioning block 704. The fixing connection between the deviation-correcting wedge block 8 and the propulsion module 9 is realized through the cooperation of the fixing mechanism 905 and the positioning block 704.

[0070] More preferably, the fixing mechanism 905 adopts a pneumatic clamping device (pneumatic chuck), so as to facilitate the clamping and fixing and loosening of the deviation-correcting wedge block 8. Since the pneumatic clamping device is a mature existing technology, the specific structure thereof with the positioning block 704 is not restricted and described in detail herein.

[0071] In order to facilitate guiding the running direction of the propulsion slider 903 and improve the stability of its movement, a guide rod mounting seat is further provided on the other side of the propulsion slider 903 (the side opposite to the propulsion cylinder 902). A guide rod 904 is connected between the side where the propulsion cylinder 902 is located and the guide rod mounting seat, and the propulsion slider 903 is slidably mounted on the guide rod 904.

[0072] Combined Figure 1 As shown, in some embodiments, when applying the horizontal intelligent deviation correction system, the specific deviation correction process includes the following steps: Step 1, use the distance detection module to detect the horizontal distance between the current position of the converter and the target position (taking a rail vehicle carrying a 300T converter as an example, the rail vehicle carries a 300T converter so that the bolt holes on the converter can be fitted and installed with the bolt holes of the converter support fixed on the ground or the support platform. Here, the center of the bolt hole of the converter is the current position, and the center of the bolt or bolt hole of the converter support is the target position), and transmit the measured horizontal distance data (horizontal installation deviation) to the control unit for processing.

[0073] It should be noted that the selection of the distance detection module is not restricted here, as long as it can realize the detection of the horizontal installation distance deviation of the converter. For example, a laser distance sensor can be used to detect the distance between the bolt holes on the converter and the converter support, or a three-dimensional laser scanner can be used to scan the converter and the environmental structure on site in real time, compare with the theoretical model, and analyze the horizontal deviation between the bolt holes on the converter and the bolt holes on the converter support.

[0074] Step 2: The control unit controls the start-up of the lateral intelligent correction unit on the corresponding side according to the detected lateral installation deviation of the converter, and determines the number of corrections n (n≥1) required according to the size of the lateral installation deviation of the converter, and sends n correction wedge blocks 8 with different thicknesses (the compensation thicknesses are 0, y0, 2·y0,…, (n-1)·y0, respectively) to the correction station in turn, even if the corresponding correction wedge block 8 is located directly above the propulsion module 9.

[0075] For example, if there is a right lateral distance deviation between the current position of the converter and the target position (that is, the vehicle position is too far to the right and needs to be corrected to the left by utilizing the guiding effect of the left-side correcting wedge block), the control unit controls the left-side correcting unit to start, and drives the tool changing mechanism 7 to rotate through the tool changing drive motor 6, thereby driving the corresponding correcting wedge block to rotate to directly above the propulsion module 9.

[0076] Step 3, start the fixing mechanism 905, clamp and fix the corresponding correcting wedge block 8 on the propulsion module 9, and drive the correcting wedge block 8 forward through the propulsion module 9 until it fits with the side of the rail 2.

[0077] Before starting the fixing mechanism 905, all the correcting wedge blocks 8 are locked and fixed on the tool changing mechanism 7 by the pneumatic chuck 702, and when the corresponding correcting wedge block 8 moves to the top of the propulsion module 9, the tool changing mechanism 7 stops rotating, and the correcting wedge block 8 is clamped and fixed on the propulsion module 9 by the fixing mechanism 905, and the corresponding pneumatic chuck 702 is controlled to loosen, so that the correcting wedge block 8 is separated from the tool changing mechanism 7 and can move forward under the action of the propulsion module 9. It is further preferred that the distance between the correcting wedge block 8 and the rail 2 is detected in real time by a laser distance sensor and fed back to the control unit.

[0078] Step 4, the speed detection module detects the travel speed of the rail vehicle 1 and feeds it back to the control unit. After the deviation-correcting wedge block 8 moves forward to fit the side of the rail 2, the control unit controls the connecting arm 5 to drive the tool changing module and the propulsion module 9 to move along the linear module 4. The moving direction is opposite to the travel direction of the rail vehicle 1, and the moving speed is the same as the travel speed of the rail vehicle 1, so that the wedge block and the guide rail remain in a relatively static state. Step 5, the rail vehicle 1 continues to move forward, and when the wheels move to the deviation-correcting wedge block, the deviation-correcting wedge block guides the rail vehicle and the converter to perform a lateral deviation correction; Step 6: After the rail vehicle 1 has completely passed the above-mentioned correcting wedge block 8, the control unit controls the propulsion module 9 to drive the correcting wedge block 8 to reset; then controls the connecting arm 5 to drive the tool changing module and the propulsion module 9 to move quickly along the linear module 4 to the front of the wheel (initial position) to prepare for the next correcting. Figure 6The figure shows a schematic diagram of a rectification process, such as Figure 13 The figure shows a flow chart of a rectification.

[0079] After the control unit controls the propulsion module 9 to drive the rectification wedge block 8 to reset, the rectification wedge block 8 is re-clamped and fixed on the tool changing mechanism 7, and the connection between the fixing mechanism 905 and the rectification wedge block 8 is also loosened.

[0080] The present invention and its embodiments are schematically described above. The description is not restrictive. What is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if those of ordinary skill in the art are inspired by it and, without departing from the purpose of the present invention, design similar structural modes and embodiments to this technical solution without creative efforts, they shall fall within the protection scope of the present invention.

Claims

1. The horizontal intelligent deviation correction system for the installation and movement process of large converters, characterized in that, It includes a lateral intelligent deviation correction device, a speed detection module, a distance detection module and a control unit installed on a rail vehicle (1). Among them, the speed detection module and the distance detection module are respectively used to detect the running speed of the rail vehicle (1) and the lateral installation deviation distance of the converter on the rail vehicle (1), and feed them back to the control unit. The control unit is used to control the start and stop of the lateral intelligent deviation correction device, so as to carry out the lateral installation deviation correction of the converter; Among them, the lateral intelligent deviation correction device includes multiple groups of lateral intelligent deviation correction units corresponding to multiple wheels (3) of the rail vehicle. Each deviation correction unit includes: A linear module module (4), which is fixedly installed on the rail vehicle (1) along the direction parallel to the railway track (2), and is used to install the whole deviation correction unit inside or outside the wheel (3); A connecting arm (5), the top of which is slidably installed on the linear module module (4), and the bottom of which is connected with a tool changing module and a propulsion module (9); A tool changing module, on which several deviation correction wedge blocks (8) with different thicknesses are installed. Under the control of the control unit, the tool changing module conveys the deviation correction wedge block (8) with the corresponding thickness above the propulsion module (9); and A propulsion module (9), which is used to push the corresponding deviation correction wedge block (8) forward to fit against the side of the railway track (2) to achieve lateral deviation correction, and reset the deviation correction wedge block (8) after the deviation correction of the corresponding deviation correction wedge block (8) is completed.

2. The large converter installation and traveling process horizontal intelligent deviation correction system according to claim 1, characterized in that, On the side of the deviation correction wedge block (8) far from the railway track (2), that is, the profile of the deviation correction side is designed as a smooth continuous curve. Taking the length direction of the deviation correction wedge block (8) as the x direction and the increasing direction of its thickness as the positive y direction, the profile curve equation of the deviation correction side is: ； Wherein, w is the length of the deviation correction wedge block, v1 is the forward speed of the rail vehicle, a' is the maximum acceleration of the deviation correction wedge block (8) along the deviation correction direction during the deviation correction process, and this acceleration is not greater than the maximum allowable acceleration of the deviation correction wedge block (8) along the deviation correction direction a max .

3. The large converter installation and travel process horizontal intelligent deviation correction system according to claim 2, wherein The length of the deviation-correcting wedge block w is 5 - 10 cm; the maximum allowable acceleration of the deviation-correcting wedge block (8) along the deviation-correcting direction a max is as follows: ； Among them, a’ max is the maximum acceleration of the correction wedge block (8) to prevent the converter from tipping over, a f max is the maximum acceleration to prevent the converter from sliding relative to the contact surface of the support column; S is the safety factor, and its value ranges from 1.5 to 3.

4. The large converter installation and travel process horizontal intelligent deviation correction system according to claim 3, characterized in that, The deviation correction distance of the deviation correction wedge block (8) is designed as follows: According to the profile curve equation of the rectification side, the maximum rectification distance of a single rectification wedge block is calculated y max It is as follows: ； The maximum allowable acceleration of the calculated deviation-correcting wedge block (8) in the deviation-correcting direction a max Substitute into y max the calculation formula of to obtain y’ max ; When the maximum allowable error Δ of the positioning accuracy of the converter installation hole is greater than y’ max , the rectification distance of the rectification wedge block, that is, the maximum thickness y0 of the rectification side, is designed according to y’ max ; When the maximum allowable error value Δ of the positioning accuracy of the converter installation hole is less than y’ max , the deviation correction distance y0 of the deviation correction wedge block is designed according to Δ.

5. The large converter installation horizontal intelligent deviation correction system according to claim 4, characterized in that, When the maximum allowable error Δ of the positioning accuracy of the converter installation hole is less than y’ max , the maximum acceleration of the rectifying wedge block a’ is designed according to the following formula: 。 6. The large converter installation and travel process horizontal intelligent deviation correction system according to claim 4, characterized in that, The deviation correction distances y0 of all the deviation correction wedge blocks (8) on the tool changing module are the same, and based on the first deviation correction wedge block (8), the subsequent deviation correction wedge blocks (8) are successively increased by a compensation thickness, and the values of the compensation thickness are y0, 2·y0, 3·y0,...; where y0 is the deviation correction distance of a single deviation correction wedge block (8).

7. The large converter installation and traveling process horizontal intelligent deviation correction system according to any one of claims 2-6, characterized in that, The linear module module (4) includes a linear slide rail. The top of the connecting arm (5) is slidably installed on the linear slide rail through a sliding platform, and the sliding platform is driven to slide by a driving motor, and the driving motor is connected with the control unit.

8. The large converter installation and traveling process horizontal intelligent deviation correction system according to any one of claims 2-6, characterized in that, The tool changing module includes a tool changing mechanism (7) and a tool changing driving motor (6). The tool changing mechanism (7) is provided with several pneumatic chucks (702) distributed at intervals along a ring. Deviation correction wedge blocks (8) with different thicknesses are respectively installed on different pneumatic chucks (702) through connecting rods (703). The tool changing mechanism (7) is driven to rotate by the tool changing driving motor (6), so as to convey different deviation correction wedge blocks (8) above the propulsion module (9); the tool changing driving motor (6) and the pneumatic chucks (702) are both controlled by the control unit.

9. The large converter installation transverse intelligent deviation correction system according to claim 8, characterized in that The propulsion module (9) adopts a pneumatic slide mechanism, which includes a propulsion cylinder (902). The piston rod (901) of the propulsion cylinder (902) is fixedly connected to a propulsion slider (903), and a fixing mechanism (905) is fixedly connected to the propulsion slider (903). A positioning block (704) matching the fixing mechanism (905) is correspondingly arranged on the connecting rod (703). The clamping and fixing of the deviation-correcting wedge block (8) are realized through the cooperation of the fixing mechanism (905) and the positioning block (704). The fixing mechanism (905) adopts a pneumatic clamping device, and the pneumatic clamping device is connected to the control unit in a controlled manner.

10. A lateral intelligent deviation correction method for the installation and movement process of a large converter, characterized in that, The intelligent deviation-correcting system described in any one of claims 1-9 is adopted, and its deviation-correcting process includes: Step 1: Use the distance detection module to detect the lateral installation deviation data between the current position and the target position of the converter, and transmit the detected lateral installation deviation data to the control unit; Step 2: The control unit controls the start of the lateral intelligent deviation-correcting unit on the corresponding side according to the detected lateral installation deviation data of the converter, and judges the number of times n of deviation correction required according to the magnitude of the lateral installation deviation of the converter, and sequentially conveys n deviation-correcting wedge blocks (8) with different thicknesses to directly above the propulsion module (9); Step 3: Drive the corresponding deviation-correcting wedge block (8) forward through the propulsion module (9) until it fits against the side of the rail (2); Step 4: Use the speed detection module to detect the traveling speed of the rail vehicle (1) and feedback it to the control unit. After the deviation-correcting wedge block (8) moves forward until it fits against the side of the rail (2), the control unit controls the connecting arm (5) to drive the tool-changing module and the propulsion module (9) to move along the linear module (4) together. The moving direction is opposite to the traveling direction of the rail vehicle (1), and the magnitude of the moving speed is the same as the magnitude of the traveling speed of the rail vehicle (1); Step 5: The rail vehicle (1) continues to move forward. When the wheel (3) moves to the deviation-correcting wedge block (8), under the guiding action of the deviation-correcting wedge block (8), a lateral deviation correction of the rail vehicle and the converter is performed once; Step 6: After the rail vehicle (1) completely passes the above-mentioned deviation-correcting wedge block (8), control the propulsion module (9) to drive the deviation-correcting wedge block (8) to reset through the control unit; then control the connecting arm (5) to drive the tool-changing module and the propulsion module (9) to quickly move to the front of the wheel along the linear module (4) to prepare for the next deviation correction.

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