Horizontal Intelligent Deviation Correction Method and System for the Installation and Progression of Large Converter

Abstract

The present invention discloses a method and system for intelligent lateral deviation correction during the installation and movement of a large-scale converter, which belongs to the technical field of deviation correction mechanisms. The intelligent lateral deviation correction system for the installation and movement of a large-scale converter of the present invention comprises a lateral intelligent deviation correction device installed on a rail vehicle, a speed detection module, a distance detection module and a control unit, wherein 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 feed back to the control unit, and the control unit is used to control the start and stop of the lateral intelligent deviation correction device, thereby performing lateral installation deviation correction of the converter. The technical solution of the present invention can effectively improve the efficiency of lateral deviation correction during the installation, positioning and movement of the converter, which is conducive to ensuring the installation and positioning accuracy of the converter and improving the safety during the deviation correction process.

Description

Technical Field

[0001] The present invention belongs to the technical field of correction mechanisms, and in particular relates to a method and system for intelligent lateral correction during the installation and movement of a large converter. Background Art

[0002] When faced with the transportation and installation of converters weighing 400 to 500 tons, a generally feasible solution is to use rail vehicles for equipment handling. Using rail vehicles for equipment handling offers the following advantages: First, because rail vehicles are an integral part of the converter's operation, additional design steps can be avoided, making it more economical to utilize existing equipment. Second, rail vehicles can travel along the track, preventing significant deviations. Third, the high load-bearing capacity of the track allows for stable transportation of heavy equipment.

[0003] While rail vehicles can meet the longitudinal accuracy requirements during installation and transportation, and maintain a certain degree of stability, their wheel width is greater than the track width, resulting in some vertical displacement during travel. The handling and installation of some specialized heavy equipment also requires meeting lateral accuracy requirements. For converters, which weigh over 100 tons and have a diameter exceeding 7 meters, positioning the mounting holes requires an accuracy of less than 1mm. Manual correction is inefficient, and the converter's large size makes manual correction difficult.

[0004] Traditional lateral deviation correction methods rely on manual intervention, such as manually manipulating a hydraulic cylinder to perform a push correction. While manual correction can meet precision requirements, it has the following drawbacks: 1) It is expensive; 2) It requires repeated manipulation to achieve the required precision, which is time-consuming, labor-intensive, and inefficient, impacting project progress; 3) Correction during the handling and installation of large, heavy equipment can cause the equipment to tilt, posing a significant safety hazard; and 4) Manual correction requires experienced personnel to perform the correction.

[0005] After searching, it is found that there are currently no reports on methods and devices for intelligent lateral deviation correction during the installation and positioning of large converters. Therefore, it is of great significance to develop a device that can synchronously perform lateral deviation correction during the installation and positioning of converters. Summary of the Invention

[0006] This invention aims to provide a method and system for intelligently correcting the lateral deviation of a large converter during installation and positioning. This method implements intelligent lateral deviation correction (perpendicular to the track direction) during the installation, positioning, and movement of a large converter. This technical solution effectively improves the efficiency of lateral deviation correction during converter installation and positioning, helps ensure converter installation and positioning accuracy, and enhances safety during the correction process.

[0007] In order to achieve the above object, the technical solution provided by the present invention is:

[0008] A first aspect of the present invention provides a transverse intelligent deviation correction system for the installation and movement of a large converter, comprising a transverse intelligent deviation correction device installed on a rail vehicle, a speed detection module, a distance detection module, and a control unit. The speed detection module and the distance detection module are respectively used to detect the operating speed of the rail vehicle and the transverse installation deviation distance of the converter on the rail vehicle, and feed back the detected information to the control unit. The control unit is used to control the start and stop of the transverse intelligent deviation correction device, thereby correcting the transverse installation of the converter.

[0009] The lateral intelligent deviation correction device includes a plurality of lateral intelligent deviation correction units corresponding to a plurality of wheels of the rail vehicle, and each deviation correction unit includes:

[0010] The linear module is fixedly installed on the rail vehicle in the direction parallel to the rails, and is used to install the entire correction unit on the inside or outside of the wheel;

[0011] The connecting arm has a top end that can be slidably mounted on the linear module, and a bottom end that is connected to the tool changing module and the propulsion module;

[0012] a tool changing module, on which a plurality of correcting wedge blocks of different thicknesses are mounted. Under the control of the control unit, the tool changing module transfers the correcting wedge blocks of corresponding thicknesses to the top of the propulsion module; and

[0013] The propulsion module is used to push the corresponding correcting wedge block forward until it is in contact with the side of the rail to achieve lateral correction, and to reset the correcting wedge block after the correction is completed.

[0014] According to any of the technical solutions described in the first aspect of the present invention, the side of the correcting wedge away from the rail, i.e., the contour of the correcting side, is designed to be a smooth continuous curve. The length direction of the correcting wedge is the x direction, and the direction of increasing thickness is the positive y direction. The contour curve equation of the correcting side is:

[0015]

[0016] in, w is the length of the correcting wedge, v1 is the forward speed of the rail vehicle, and a' is the maximum acceleration of the correcting wedge along the correcting direction during the correction process, which is not greater than the maximum allowable acceleration of the correcting wedge along the correcting direction. a max By designing the contour of the correcting side of the correcting wedge block as a smooth continuous curve and optimizing the curve equation, it is possible to effectively prevent the converter from experiencing rigid impact, sliding or overturning during the correction process.

[0017] According to any technical solution described in the first aspect of the present invention, the length of the correcting wedge block is w The maximum allowable acceleration of the correcting wedge along the correcting direction is 5~10cm; a max for:

[0018]

[0019] in, a’ max The maximum acceleration of the correcting wedge to prevent the converter from turning over is: a f max The maximum acceleration required to prevent the converter from sliding relative to the support column contact surface; S is the safety factor, which ranges from 1.5 to 3.

[0020] Furthermore, the correction distance of the correction wedge block (8) is designed as follows:

[0021] According to the contour curve equation of the correction side, the maximum correction distance of a single correction wedge is calculated y max for:

[0022] ;

[0023] The calculated maximum allowable acceleration of the correcting wedge (8) along the correcting direction a max Substitution y max The calculation formula is calculated to obtain y’ max ;

[0024] When the maximum allowable error value of the converter installation hole positioning accuracy Δ is greater than y' max When the correction distance of the correction wedge block, that is, the maximum thickness y0 of the correction side is y' max Conduct design;

[0025] When the maximum allowable error value of the converter installation hole positioning accuracy Δ is less than y' max When , the correction distance y0 of the correction wedge block is designed according to Δ.

[0026] Furthermore, when the maximum allowable error value Δ of the converter mounting hole positioning accuracy is less than y' max The maximum acceleration of the correcting wedge is a’ Design according to the following formula:

[0027] .

[0028] According to any of the technical solutions described in the first aspect of the present invention, the correcting distances of all correcting wedges on the tool change module are the same. Starting with the first correcting wedge, subsequent correcting wedges are sequentially incremented by a compensation thickness, with the values of the compensation thicknesses being y0, 2·y0, 3·y0, and so on. Where y0 is the correcting distance of a single correcting wedge, i.e., the maximum thickness of its correcting side. In other words, the correcting operation is performed in sections based on the lateral installation deviation of the converter, thereby further ensuring the safety and accuracy of the correction process.

[0029] 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 can be slidably mounted on the linear slide rail through a sliding platform, and the sliding platform is driven to slide by a drive motor, and the drive motor is connected to the control unit.

[0030] 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 drive motor, the tool changing mechanism is provided with a plurality of pneumatic chucks distributed along a ring interval, and the correction wedge blocks of different thicknesses are respectively installed on different pneumatic chucks through connecting rods, and the tool changing mechanism is driven to rotate by the tool changing drive motor, thereby transmitting different correction wedge blocks to the top of the propulsion module; the tool changing drive motor and the pneumatic chuck are both connected to the control unit for control.

[0031] According to any of the technical solutions described in the first aspect of the present invention, the propulsion module adopts a pneumatic slide mechanism, which includes a propulsion cylinder, the piston rod of the propulsion cylinder is fixedly connected to the propulsion slider, and the propulsion slider is fixedly connected to a fixing mechanism, and a positioning block is correspondingly provided on the connecting rod to cooperate with the fixing mechanism. The clamping and fixation of the correction wedge block is achieved through the cooperation between the fixing mechanism and the positioning block.

[0032] According to any technical solution described in the first aspect of the present invention, the fixing mechanism adopts a pneumatic clamping device, and the pneumatic clamping device is controllably connected to the control unit.

[0033] The second aspect of the present invention further provides a method for intelligent lateral deviation correction during the installation and movement of a large converter, using any intelligent deviation correction system described in the first aspect of the present invention, wherein the deviation correction process includes:

[0034] Step 1: Detecting the lateral installation deviation data between the current position and the target position of the converter by using a distance detection module, and transmitting the detected lateral installation deviation data to a control unit;

[0035] Step 2: The control unit activates the lateral intelligent correction unit on the corresponding side based on the detected converter lateral installation deviation data, determines the number of corrections required n based on the size of the converter lateral installation deviation, and sequentially transfers n correction wedges of different thicknesses to the top of the propulsion module;

[0036] Step 3: The propulsion module drives the correcting wedge block forward until it is in contact with the side of the rail;

[0037] Step 4: The speed detection module detects the speed of the rail vehicle and feeds it back to the control unit. After the deviation-correcting wedge moves forward until it is in contact with 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. The moving direction is opposite to the direction of travel of the rail vehicle, and the moving speed is the same as the speed of the rail vehicle.

[0038] Step 5: The rail vehicle continues to move forward. When the wheels move to the correcting wedge block, the correcting wedge block guides the rail vehicle and the converter to perform a lateral correction.

[0039] Step 6: After the rail vehicle has completely passed the above-mentioned correcting wedge block, the control unit controls the propulsion module to drive the correcting wedge block to reset; then controls the connecting arm to drive the tool changing module and the propulsion module to move quickly along the linear module to the front of the wheel to prepare for the next correction.

[0040] Compared with the prior art, the technical solution provided by the present invention can achieve the following beneficial effects:

[0041] (1) In the process of installing and transporting the converter by rail vehicles, the present invention installs a lateral intelligent correction device on the rail vehicles. When the distance detection module detects that there is a lateral installation deviation of the converter, the control unit controls the correction device to start, so that the lateral deviation of the rail vehicle and the converter can be effectively adjusted by utilizing the guiding effect of the correction wedge block, thereby basically realizing intelligent correction, eliminating the need for human participation, avoiding accidents, and improving the correction efficiency.

[0042] (2) The present invention further designs the cross-sectional profile of the correcting wedge block as a smooth continuous curve and optimizes the curve equation, thereby effectively avoiding rigid impact on the converter during the correction process, preventing the converter from sliding between the column support point or separating from the supporting column, thereby ensuring the safety and accuracy of the correction process.

[0043] (3) The present invention performs segmented deviation correction on the converter according to the existing lateral installation deviation, which is conducive to further ensuring the accuracy of deviation correction and safety during deviation correction. After each deviation correction is completed, the lateral installation deviation of the converter is re-tested to ensure that the converter after the final deviation correction meets the lateral installation accuracy requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1This is an overall flow chart of the intelligent transverse deviation correction method for the installation, positioning and movement process of a large converter according to an embodiment of the present invention.

[0045] Figure 2 This is a schematic diagram of the installation structure of the intelligent lateral deviation correction device for rail vehicles during travel according to an embodiment of the present invention.

[0046] Figure 3 This is a schematic diagram of the overall structure of a lateral intelligent deviation correction unit for a rail vehicle during travel according to an embodiment of the present invention.

[0047] Figure 4 This is an enlarged structural diagram of the tool changing module and the propulsion module of the correction unit according to an embodiment of the present invention.

[0048] Figure 5 This is a schematic diagram of the installation structure of the converter on a rail vehicle.

[0049] Figure 6 This is a diagram showing the principle of correction of a lateral intelligent deviation-correcting device for a rail vehicle during its travel according to an embodiment of the present invention (taking left deviation correction as an example).

[0050] Figure 7 Schematic diagram of design parameters of the correcting wedge block according to an embodiment of the present invention.

[0051] Figure 8 Schematic diagram of the horizontal offset design of the correcting wedge block according to an embodiment of the present invention.

[0052] Figure 9 This is a schematic diagram of the forces acting on the correcting wedge block designed for loading into a furnace according to an embodiment of the present invention.

[0053] Figure 10 This is a profile curve diagram of the correcting wedge block according to an embodiment of the present invention.

[0054] Figure 11 Schematic diagram of the change of correction speed during the correction process.

[0055] Figure 12 This is a cross-sectional view of the correcting wedge block according to an embodiment of the present invention.

[0056] Figure 13 Shown is a flow chart of performing a deviation correction in an embodiment of the present invention.

[0057] Description of labels:

[0058] 1. Rail vehicle; 2. Rail; 3. Wheel; 4. Linear module; 5. Connecting arm; 6. Tool change drive motor; 7. Tool change mechanism; 701. Chain tool feed disc; 702. Pneumatic chuck; 703. Connecting rod; 704. Positioning block; 8. Correction wedge block; 9. Propulsion module; 901. Piston rod; 902. Propulsion cylinder; 903. Propulsion slide; 904. Guide rod; 905. Fixing mechanism; 10. Support column. DETAILED DESCRIPTION

[0059] To further understand the content of the present invention, the present invention is now described in detail in conjunction with the accompanying drawings and examples. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is obvious that one or more embodiments can also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0060] The structures, proportions, sizes, etc. depicted in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not intended to limit the conditions under which the present invention can be implemented and therefore have no substantive technical significance. Any structural modifications, changes in proportional relationships, or adjustments in size should still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and objectives that can be achieved by the present invention.

[0061] At the same time, in the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "middle", "vertical", "horizontal", "transverse", "longitudinal" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are mainly intended to better describe the present application and its embodiments, and are not intended to limit the indicated devices, elements or components to having a specific orientation, or to be constructed and operated in a specific orientation. Moreover, in addition to being used to indicate orientations or positional relationships, some of the above terms may also be used to indicate other meanings. For example, the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present application can be understood according to the specific circumstances.

[0062] In addition, the terms “include”, “comprising” and the like used herein indicate the existence of the stated features, steps, operations and / or components, but do not preclude the existence or addition of one or more other features, steps, operations or components.

[0063] The embodiment of the present invention provides a lateral intelligent deviation correction system for the installation, positioning and travel process of a large converter, such as Figure 2 As shown, the lateral intelligent deviation correction system includes a lateral intelligent deviation correction device installed on the rail vehicle 1, a speed detection module, a distance detection module and a control unit, wherein the speed detection module and the distance detection module are used to respectively detect the running speed of the rail vehicle 1 and the lateral installation deviation distance of the converter, and feed back the information to the control unit. Based on the feedback from the speed detection module and the distance detection module, the control unit controls the start-up of the lateral intelligent deviation correction device to perform lateral deviation correction.

[0064] Specifically, in the embodiment of the present invention, the lateral intelligent correction device includes multiple groups of lateral intelligent correction units corresponding to multiple rail vehicle wheels 3 (the number of wheels on different rail vehicles is different, specifically corresponding to the number of wheels on the rail vehicle, for example, there are four wheels on the rail vehicle, including front wheels and rear wheels, then there are correspondingly 4 groups of lateral intelligent correction units), each group of lateral intelligent correction units includes two correction units, and the two correction units are respectively located on the inner and outer sides of the same wheel 3. Figure 3 As shown, each correction unit includes a linear module 4, a connecting arm 5, a tool changing module and a propulsion module 9, wherein:

[0065] The linear module 4 is fixedly mounted on the rail vehicle 1 in a direction parallel to the rail 2, and is used to mount the entire deviation correction unit on the inner side or outer side of the wheel 3;

[0066] The connecting arm 5 is distributed in the vertical direction, and its top end can be slidably mounted on the linear module 4 in a direction parallel to the rail 2, and its bottom end is connected to the tool changing module and the propulsion module 9;

[0067] The tool changing module is equipped with several correcting wedge blocks 8 of different thicknesses. Under the control of the control unit, the tool changing module selects the corresponding correcting wedge block 8 and transfers it to the top of the propulsion module 9;

[0068] The propulsion module 9 is used to push the corresponding correcting wedge block 8 forward to fit with the side of the rail 2 for correction when correction is required, and to reset the correcting wedge block 8 after the correction of the corresponding correcting wedge block 8 is completed, that is, the correcting wedge block 8 can be driven by the propulsion module 9 to reciprocate in a direction perpendicular to the rail 2.

[0069] When using the correction system of this embodiment, the speed detection module detects the running speed of the rail vehicle 1 in real time during the installation and transportation of the converter by the rail vehicle 1. The distance detection module detects whether the converter and the rail vehicle have experienced lateral deviation in real time. If lateral deviation exists, the control unit determines the correcting wedge 8 to be used based on the size of the deviation distance and the running speed of the rail vehicle 1, and then controls the tool changing module to transfer the corresponding correcting wedge 8 to the top of the propulsion module 9. The propulsion module 9 pushes the corresponding correcting wedge 8 until it is firmly attached to the side of the rail 2. Under the guidance of the correcting wedge 8, the lateral deviation of the rail vehicle and the converter is corrected.

[0070] As a preferred embodiment, the top of the correcting wedge 8 and the side that contacts the rail 2 are designed as flat structures to ensure smooth contact with the rail. The thickness of the side of the correcting wedge 8 away from the rail 2 (the correcting side) gradually increases, that is, along the direction of rail vehicle operation during correction, the distance between the correcting side and the contact surface with the rail 2 gradually increases, and its cross-sectional profile is designed as a smooth continuous curve. Figure 5 、 Figure 7 The diagram shows a standard installation structure for a converter on a rail vehicle 1. The converter is supported by a bracket comprising four support columns 10 arranged symmetrically along a rectangular shape. The height h between the converter's center of gravity and the support points (the points of contact between the converter and the four support columns) is measured, and the horizontal distance l between the converter's center of gravity and the support points is measured (this distance is measured in the direction of correction, parallel to the direction of correction acceleration). The contour curve design on the correction side effectively ensures a continuous acceleration transition between the converter and the vehicle during the correction process, without rigid impact or sudden acceleration changes. Furthermore, the converter will not slip against the support points or detach from the support columns 10 due to acceleration.

[0071] Specifically, the process of designing the correcting side profile curve of the correcting wedge block 8 in the embodiment of the present invention is as follows:

[0072] (1) Determine the maximum allowable acceleration in the horizontal direction

[0073] The weight of the converter is m, the static friction coefficient of the support contact surface is f, and the acceleration of gravity is g. Taking the horizontal left deviation correction as an example, combined with Figure 8 、 Figure 9As shown, under the guidance of the correcting wedge 8, the converter shifts to the left and generates an accelerated motion to the left. Simultaneously, the inertial force generated acts in the opposite direction, causing the converter to experience an inertial acceleration to the right. If the converter experiences excessive inertial acceleration during the correction process, this will cause the converter support ring to experience excessive inertial force to the right. When this inertial force is greater than the friction force, the converter will experience a certain relative displacement relative to the contact surface of the support column. This results in the rail vehicle and support column being accurately corrected during the correction process, while the converter experiences a horizontal position deviation. This displacement cannot be accurately predicted, making it impossible to achieve precise position adjustment of the converter, ultimately leading to converter installation failure. Therefore, it is crucial to prevent the converter from horizontally offsetting relative to the support column 10 and rail vehicle 1 during the correction process.

[0074] The maximum static friction force F that does not cause sliding behavior on the contact surface between the converter and the support column is obtained through analysis. fmax for:

[0075]

[0076] Maximum acceleration without sliding behavior a f max for:

[0077]

[0078] If the acceleration of the converter is too large during the correction process, the converter may separate from the supporting parts of the support columns.

[0079] 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 over and over 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 no relative sliding occurs, after the deviation correction is completed, when the converter and the column contact surface re-contact, 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, separation needs to be avoided as much as possible.

[0080] 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 made to rotate toward the inside of the columns on both sides relative to the cooperative torque of the supporting part on the other side (i.e., 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:

[0081]

[0082] The maximum acceleration without flipping is a’ max .

[0083] 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:

[0084] .

[0085] (2) Determine the optimal contour curve of the correction wedge

[0086] During the entire 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 during the correction process should start from 0 and end at 0. The acceleration change during 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 from 0 (such as Figure 11 shown).

[0087] Assume that the vehicle's forward speed is a constant 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 a max ). The total time T for a single correction process is:

[0088]

[0089] Assuming that the forward direction of the correcting wedge profile (the length of the correcting wedge, that is, parallel to the rail) is the x direction, the thickness direction (perpendicular to the rail) is the y direction, the correcting direction velocity is v, and the correcting direction acceleration is a, the following relationship holds:

[0090]

[0091] The boundary conditions are

[0092]

[0093] The above relationship and boundary conditions have infinite solutions, all of which meet the conditions. In consideration of the difficulty of solving the problem, the embodiment of the present invention adopts trigonometric functions to solve the problem. A half-period sine function is selected as the acceleration function (the waveform range is 0 to π, and the acceleration is maximum in the middle). The acceleration function is:

[0094]

[0095] By solving the differential equation, we can get the correction speed equation and correction distance equation:

[0096]

[0097] According to the above formula, the contour curve of the correcting side of the correcting wedge can be obtained (such as Figure 10 The equation is:

[0098]

[0099]

[0100] Therefore, the maximum correction distance of a single correction wedge is:

[0101]

[0102] Among them, the length of the correcting wedge w It can be designed according to the situation, and the optimal value is 5~10cm. a max Substitute into the above formula to calculate and get y' max , when the maximum allowable error value of the converter installation hole positioning accuracy Δ is greater than y' max When the correction distance of the correction wedge (maximum thickness of the correction side) y0 is y' max Make a design.

[0103] But if Δ is less than y' max , then the correction distance (maximum thickness of the correction side) y0 of the correction wedge is designed according to Δ. Theoretically, as long as the maximum acceleration a’ Less than a max Both are possible, but considering the standardization of the structure and the difficulty in adjusting the original motion state of the equipment, in this case it is more preferred to set the maximum acceleration of the correcting wedge block. a’ To make a reduction adjustment:

[0104] .

[0105] The contour of the correcting wedge is the function y(x), and the maximum correcting distance of a single correcting wedge is determined by the acceleration, the length of the correcting wedge, and the positioning accuracy. To facilitate the processing of the correcting wedge and achieve standardized dimensions, it is further preferred to round the correcting distance (maximum thickness of the correcting side) y0 of the correcting wedge to the maximum integer not greater than the calculated value. Figure 10 The correcting wedge shown is 10cm long and has a maximum correcting acceleration of 0.2m / s. 2 , the contour curve of the correcting wedge block when the rail vehicle feed speed is 0.5m / s.

[0106] According to the track operation characteristics, assuming that the cumulative maximum deviation correction distance is W, 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 converter can be prevented from being separated from the supporting column during the deviation correction process, or the rigid impact and flexible impact caused by the sudden change in acceleration can be avoided to cause serious damage to the overall structure. Based on the above situation, in the embodiment of the present invention, the contour curves of the deviation correction sides of the several deviation correction wedge blocks 8 on the tool changing mechanism are the same, but the subsequent deviation correction wedge blocks sequentially increase a compensation thickness (such as Figure 12 ), that is, the compensation thicknesses of all the correcting wedges are 0, y0, 2·y0, …, (n-1)·y0, respectively. In other words, the control unit determines the number of required lateral corrections, n, based on the lateral installation deviation of the converter. It then controls the tool changing module to sequentially rotate n correcting wedges 8 of varying thicknesses to the correction station (above the push module). The push module then cooperates with the push module 9 to push the corresponding correcting wedge 8 until it aligns with the side of the rail for correction.

[0107] As one of the implementation methods, the linear module 4 includes a linear slide rail, on which a sliding platform is slidably provided. The sliding platform is driven by a drive motor to slide along the slide rail, thereby driving the connecting arm 5, the tool changing module and the propulsion module 9 to move back and forth in a direction parallel to the rail. In order to effectively ensure the smoothness of the correction process, when the correction wedge block 8 moves forward under the action of the propulsion module 9 until it contacts the rail 2, the control unit controls the drive motor of the linear module 4 to start, thereby driving the sliding platform to drive the connecting arm 5, the tool changing module and the propulsion module 9 to slide in the opposite 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 block and the rail remain in a relatively static state; when the vehicle passes the correction wedge block 8, the control unit controls the propulsion module 9 to drive the corresponding correction wedge block 8 to reset, and then controls the drive motor to drive the sliding platform to quickly reset in the direction of vehicle travel again, in preparation for the next correction.

[0108] In some embodiments, the tool changing module includes a tool changing mechanism 7 and a tool changing drive motor 6. The correcting wedge block is installed on the tool changing mechanism 7. The tool changing mechanism 7 is driven by the tool changing drive motor 6 to operate, thereby transferring different correcting wedge blocks 8 to the top of the propulsion module 9 in sequence.

[0109] It should be noted that the present invention does not limit the specific structure of the tool changing mechanism 7, and the existing tool changing mechanism can be directly adopted as long as it can realize the tool changing operation of different wedge blocks. Figure 4 As shown, in this embodiment of the present invention, the tool-changing mechanism 7 directly utilizes an existing chain-type tool-changing mechanism (as this is prior art, its structure will not be further described here). A plurality of pneumatic chucks 702 are mounted on a chain-type tool-feeding disc 701, spaced along a circular pattern. A set of correcting wedges 8 of varying thicknesses are attached to different pneumatic chucks 702 via connecting rods 703. Both the tool-changing drive motor 6 and the pneumatic chucks 702 are controlled and connected to a control unit. The tool-changing drive motor 6 drives the conveyor chain, thereby rotating the chain-type tool-feeding disc 701, which in turn sequentially rotates the correcting wedges 8 of varying thicknesses above the propulsion module.

[0110] In some embodiments, the propulsion module 9 utilizes a pneumatic slide mechanism, wherein the propulsion cylinder 902 drives the propulsion slider 903 to reciprocate in a direction perpendicular to the rail 2 via the piston rod 901, thereby pushing the correcting wedge 8 to align with the side of the rail for correction or resetting the correcting wedge 8 after correction is completed. Specifically, the propulsion module 9 is provided with a fixing mechanism 905, and the connecting rod 703 is correspondingly provided with a positioning block 704. The bottom of the positioning block 704 is provided with a clamping portion that matches the fixing mechanism 905. The fixing mechanism 905 cooperates with the positioning block 704 to achieve a fixed connection between the correcting wedge 8 and the propulsion module 9.

[0111] More preferably, the fixing mechanism 905 uses a pneumatic clamping device (pneumatic chuck) to facilitate the clamping, fixing and loosening of the correcting wedge block 8. Since the pneumatic clamping device is a mature technology, the specific structure of the pneumatic clamping device and the positioning block 704 is not limited or described in detail here.

[0112] In order to facilitate the guidance of 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 can be slidably mounted on the guide rod 904.

[0113] Combine Figure 1 As shown, in some embodiments, the lateral intelligent correction system is applied, and the specific correction process includes the following steps:

[0114] Step 1: Use the distance detection module to detect the lateral distance between the current position and the target position of the converter (taking a rail-type 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 installed in conjunction with the bolt holes of the converter bracket fixed on the ground or the support platform. Here, the center of the converter bolt hole is the current position, and the center of the bolt or bolt hole of the converter bracket is the target position), and transmit the measured lateral distance data (lateral installation deviation) to the control unit for processing.

[0115] It should be noted that there is no restriction on the choice of distance detection module here, as long as the lateral installation distance deviation detection of the converter can be realized. For example, a laser ranging sensor can be used to detect the distance between the bolt holes on the converter and the converter support. Alternatively, a three-dimensional laser scanner can be used to scan the on-site converter and the environmental structure in real time, and the lateral deviation between the bolt holes on the converter and the bolt holes on the converter support can be analyzed by comparing with the theoretical model.

[0116] 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 required n (n≥1) according to the size of the lateral installation deviation of the converter, and sends n correction wedge blocks 8 with different thicknesses (compensation thicknesses are 0, y0, 2·y0,…, (n-1)·y0) to the correction station in turn, even if the corresponding correction wedge block 8 is located directly above the propulsion module 9.

[0117] 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 at this time, and it is necessary to use the guiding effect of the left-side correcting wedge block to correct it to the left), 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 the top of the propulsion module 9.

[0118] Step 3: Start the fixing mechanism 905 to 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 into the side of the rail 2.

[0119] Before the fixing mechanism 905 is activated, all the correcting wedges 8 are locked and fixed to the tool changing mechanism 7 by the pneumatic chuck 702. When the corresponding correcting wedge 8 moves to the position directly above the propulsion module 9, the tool changing mechanism 7 stops rotating. At this time, the correcting wedge 8 is clamped and fixed to the propulsion module 9 by the fixing mechanism 905, and the corresponding pneumatic chuck 702 is controlled to loosen, so that the correcting wedge 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 8 and the rail 2 is detected in real time by a laser distance sensor and fed back to the control unit.

[0120] 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 until it is in contact with 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 relatively stationary.

[0121] Step 5: The rail vehicle 1 continues to move forward. When the wheels move to the correcting wedge block, the correcting wedge block guides the rail vehicle and the converter to perform a lateral correction.

[0122] 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 operation. Figure 6 The following is a schematic diagram of a correction process: Figure 13 The figure shows a flow chart of a correction process.

[0123] After the control unit controls the propulsion module 9 to drive the correcting wedge block 8 to reset, the correcting wedge block 8 is clamped and fixed on the tool changing mechanism 7 again, and the connection between the fixing mechanism 905 and the correcting wedge block 8 is also loosened.

[0124] The above is a schematic description of the present invention and its embodiments, which is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by this and, without departing from the purpose of the present invention, designs a structure and embodiment similar to this technical solution without inventiveness, they shall fall within the scope of protection of the present invention.

Claims

1. The intelligent lateral deviation correction system for the large converter installation process is characterized by: The invention comprises a transverse intelligent deviation-correcting device installed on a rail vehicle (1), a speed detection module, a distance detection module and a control unit, wherein the speed detection module and the distance detection module are respectively used to detect the running speed of the rail vehicle (1) and the transverse installation deviation distance of the converter on the rail vehicle (1), and feed back the information to the control unit, and the control unit is used to control the start and stop of the transverse intelligent deviation-correcting device, thereby performing transverse installation deviation correction of the converter; The lateral intelligent deviation correction device comprises a plurality of lateral intelligent deviation correction units corresponding to a plurality of wheels (3) of the rail vehicle, and each deviation correction unit comprises: The linear module (4) is fixedly mounted on the rail vehicle (1) in a direction parallel to the rail (2) and is used to mount the entire deviation correction unit on the inner side or outer side of the wheel (3); A connecting arm (5), the top end of which is slidably mounted on the linear module (4), and the bottom end of which is connected to the tool changing module and the propulsion module (9); a tool changing module, on which a plurality of correcting wedge blocks (8) of different thicknesses are mounted, and under the control of a control unit, the tool changing module transfers the correcting wedge blocks (8) of corresponding thicknesses to the top of the propulsion module (9); and The propulsion module (9) is used to push the corresponding correcting wedge block (8) forward until it is in contact with the side of the rail (2) to achieve lateral correction, and to reset the correcting wedge block (8) after the correction of the corresponding correcting wedge block (8) is completed.

2. The large converter installation and travel process lateral intelligent deviation correction system according to claim 1 is characterized in that: The side of the correcting wedge block (8) away from the rail (2), i.e., the contour of the correcting side, is designed to be a smooth continuous curve. The length direction of the correcting wedge block (8) is the x direction, and the direction in which the thickness increases is the y positive direction. The contour curve equation of the correcting side is: ； in, w is the length of the correcting wedge, v1 is the forward speed of the rail vehicle, and a' is the maximum acceleration of the correcting wedge (8) along the correcting direction during the correcting process, which is not greater than the maximum allowable acceleration of the correcting wedge (8) along the correcting direction. a max .

3. The intelligent lateral deviation correction system for the installation and movement of a large converter according to claim 2 is characterized in that: The length of the correcting wedge w 5~10cm; the maximum allowable acceleration of the correction wedge (8) along the correction direction a max for: ； in, a’ max The maximum acceleration of the correcting wedge (8) to prevent the converter from turning over is: a f max The maximum acceleration required to prevent the converter from sliding relative to the support column contact surface; S is the safety factor, which ranges from 1.5 to 3.

4. The intelligent lateral deviation correction system for the installation and movement of a large converter according to claim 3 is characterized in that: The correction distance of the correction wedge block (8) is designed as follows: According to the contour curve equation of the correction side, the maximum correction distance of a single correction wedge is calculated y max for: ； In the above formula, T is the total time of a single correction process, ; The calculated maximum permissible acceleration of the correcting wedge (8) along the correcting direction a max Substitution y max The calculation formula is calculated to obtain y’ max ; When the maximum allowable error value of the converter installation hole positioning accuracy is greater than y’ max When the correction distance of the correction wedge block, that is, the maximum thickness y0 of the correction side, is calculated according to y’ max Conduct design; When the maximum allowable error value of the converter installation hole positioning accuracy is less than y’ max When , the correction distance y0 of the correction wedge block is designed according to Δ.

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

7. The intelligent lateral deviation correction system for the installation and movement of a large converter according to any one of claims 2 to 6, characterized in that: The linear module (4) includes a linear slide rail, and the top end of the connecting arm (5) can be slidably mounted on the linear slide rail via a sliding platform, and the sliding platform is driven to slide by a driving motor, and the driving motor is connected to a control unit.

8. The intelligent lateral deviation correction system for the installation and movement of a large converter according to any one of claims 2 to 6, characterized in that: The tool changing module comprises a tool changing mechanism (7) and a tool changing drive motor (6); the tool changing mechanism (7) is provided with a plurality of pneumatic chucks (702) distributed along an annular interval; the deviation-correcting wedge blocks (8) of different thicknesses are respectively mounted on different pneumatic chucks (702) via connecting rods (703); the tool changing drive motor (6) drives the tool changing mechanism (7) to rotate, thereby transmitting the different deviation-correcting wedge blocks (8) to the top of the propulsion module (9); the tool changing drive motor (6) and the pneumatic chuck (702) are both connected to the control unit for control.

9. The intelligent lateral deviation correction system for the installation and movement of a large converter according to claim 8 is characterized in that: The propulsion module (9) adopts a pneumatic slide mechanism, which includes a propulsion cylinder (902), a piston rod (901) of the propulsion cylinder (902) and a propulsion slider (903), and a fixing mechanism (905) is fixedly connected to the propulsion slider (903), and a positioning block (704) that cooperates with the fixing mechanism (905) is correspondingly provided on the connecting rod (703), and the fixing mechanism (905) and the positioning block (704) are used to achieve the clamping and fixing of the correction wedge block (8); The fixing mechanism (905) adopts a pneumatic clamping device, and the pneumatic clamping device is connected to the control unit for control.

10. A method for intelligent lateral deviation correction during the installation of a large converter, characterized in that: The intelligent deviation correction system according to any one of claims 1 to 9 is used, wherein the deviation correction process includes: Step 1: Detecting the lateral installation deviation data between the current position and the target position of the converter by using a distance detection module, and transmitting the detected lateral installation deviation data to a control unit; Step 2: The control unit controls the activation of the lateral intelligent correction unit on the corresponding side according to the detected lateral installation deviation data of the converter, and determines the number of corrections required n according to the size of the lateral installation deviation of the converter, and sequentially transmits n correction wedge blocks (8) of different thicknesses to the top of the propulsion module (9); Step 3, driving the corresponding deviation-correcting wedge block (8) forward through the propulsion module (9) until it is in contact with the side of the rail (2); 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). Step 5, the rail vehicle (1) continues to move forward, and when the wheel (3) moves to the correcting wedge block (8), the correcting wedge block (8) guides the rail vehicle and the converter, thereby performing a lateral 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 to prepare for the next correcting operation.

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