A converter body installation and positioning system and method based on a ladle car

Abstract

The present invention discloses a converter body installation and positioning system and method based on a ladle car, belonging to the technical field of converter installation and positioning. The converter body installation and positioning system of the present invention has a position detection device for detecting whether there is a position deviation on both sides of the converter body during the in-position transportation process and the alignment of the bolt mounting holes on the converter body and the converter support; when there is an installation position deviation of the converter body, the steel rail on the corresponding side is clamped by a deceleration clamping device; when the converter body reaches the braking distance, the steel rails on both sides are clamped at the same time to achieve single-sided or double-sided deceleration of the ladle car; when the converter body is in place, the braking locking device is used to clamp the locking rail to achieve parking braking of the ladle car. During the converter transportation process, through precise control and auxiliary braking of the ladle car, the converter body can be automatically positioned with high precision, thereby improving installation efficiency and installation accuracy.

Description

Technical Field

[0001] The present invention belongs to the technical field of converter installation and positioning, and more particularly, relates to a converter body installation and positioning system and method based on a ladle car. Background Art

[0002] Ladle cars are the primary means of transporting large industrial equipment, such as steel converters and ladle ladles. In the metallurgical industry, they are often used to assemble and transport converters, ensuring their proper installation. Currently, transporting converters using ladle cars requires manual, real-time measurement of the car's travel direction and the positional deviation of the converter mounting holes. If any deviation is detected, fine-tuning is required using a hand chain hoist.

[0003] Although the use of a ladle car combined with manual measurement can achieve precise positioning of the converter body, multiple manual measurements are required during the entire furnace pushing process to ensure positioning accuracy; in order to ensure personnel safety, the equipment needs to be stopped during the measurement period. Therefore, the method of completing the precise positioning of the converter through manual intervention has the following disadvantages: 1) The cost of the manual assisted positioning process is relatively high; 2) In the final parking stage, the equipment is under a huge load, and under the influence of inertia, it is difficult to stop accurately and stably in one go. Multiple repeated operations are required to meet the accuracy requirements, which is time-consuming, labor-intensive, and inefficient, and will affect the progress of the project; 3) Manual intervention is dangerous during the transportation and installation of large and heavy equipment. The converter may overturn when parking, posing a high safety hazard; 4) Manual assisted installation has certain requirements for operators, and requires personnel with rich furnace pushing experience to complete.

[0004] After searching, no relevant reports have been found on intelligent auxiliary positioning devices for the placement of large converter bodies. Therefore, it is of great significance to develop an intelligent auxiliary positioning device for the placement of converter bodies to replace the existing manual positioning method and ensure the positioning accuracy of the converter. Summary of the Invention

[0005] The present invention aims to provide a converter body installation and positioning system and method based on a ladle car. During the process of installing and transporting the converter using the ladle car, high-precision automatic positioning of the converter body can be achieved through precise control and auxiliary braking of the ladle car, thereby solving the technical problems in the prior art that the installation and positioning of the converter needs to rely on manual labor, is inefficient, and has safety hazards.

[0006] In order to achieve the above object, the technical solution provided by the present invention is:

[0007] A first aspect of the present invention provides a converter body installation and positioning system based on a ladle car, comprising:

[0008] Ladle car, used to transport the converter body to the converter support for installation;

[0009] The position detection device includes a converter position deviation detection unit and a mounting hole alignment detection unit, wherein the converter position deviation detection unit is used to detect whether there is a position deviation between the two sides of the converter body during the in-position transportation process; the mounting hole alignment detection unit is used to detect the spacing and alignment of the bolt mounting holes on the converter body and the converter bracket;

[0010] A deceleration clamping device is installed on the ladle car and is located between the front wheel and the middle wheel on both sides of the ladle car. It is used to clamp the rail on the corresponding side when there is an installation position deviation of the converter body, and to clamp the rails on both sides simultaneously when the converter body reaches the braking distance, thereby achieving deceleration of one side or both sides of the ladle car; and

[0011] The braking device is installed on the ladle car and is located between the middle wheel and the rear wheel on both sides of the ladle car. It is used to clamp the rails when the converter body is in place to achieve parking brake of the ladle car.

[0012] The position detection device, the deceleration clamping device and the braking device are all connected to the control unit for control.

[0013] According to any technical solution described in the first aspect of the present invention, the converter position deviation detection unit includes a first laser ranging sensor and a second laser ranging sensor. The two laser ranging sensors are symmetrically installed on both sides above the converter bracket through a fixed bracket, and are respectively used to detect the distance from the two bolt mounting holes on the front side of the converter body to the corresponding side laser ranging sensors, and laser reflection plates are respectively provided in the two bolt mounting holes on the front side of the converter body.

[0014] According to any technical solution described in the first aspect of the present invention, the first laser ranging sensor and the second laser ranging sensor can be installed on a fixed bracket in a telescopic manner forward and backward, and corresponding liftable baffles for calibrating the initial positions of the sensors are respectively provided in the bolt mounting holes on the converter bracket close to the two laser ranging sensors. The liftable baffles and the laser reflector plate are both supported and installed above the corresponding bolt mounting holes by conical pins. The conical pins are coaxially matched with the bolt mounting holes, and the upper diameter of the conical pins is larger than the inner diameter of the bolt mounting holes.

[0015] According to any technical solution described in the first aspect of the present invention, the mounting hole alignment detection unit includes a flexible ranging sensor and a spring rotating shaft, wherein the spring rotating shaft is horizontally distributed in a direction perpendicular to the rail, one end of the spring rotating shaft is rotatably mounted on the fixed bracket, and the other end of the spring rotating shaft extends above the converter bracket and is fixedly connected to the flexible ranging sensor, the flexible ranging sensor is used to detect the alignment of the bolt mounting holes on the converter bracket and the converter body, the spring rotating shaft can drive the flexible ranging sensor to flip and reset, and in the initial state, the flexible ranging sensor is distributed in the vertical direction and is located directly above the bolt mounting hole on the front side of the converter bracket.

[0016] According to any technical solution described in the first aspect of the present invention, the fixed bracket is connected to a connecting plate that is perpendicular to the rail and extends in the horizontal direction. The flexible ranging sensor is rotatably mounted on one end of the connecting plate through a spring shaft, and the bottom of the connecting plate is fixedly connected to a conical pin that can coaxially cooperate with the bolt mounting hole on the converter bracket. The flexible ranging sensor is coaxially arranged above the conical pin.

[0017] According to any of the technical solutions described in the first aspect of the present invention, the flexible ranging sensor includes a liftable baffle and a laser ranging sensor probe, wherein the liftable baffle is a retractable box-type structure, the laser ranging sensor probe is correspondingly installed inside the stretched box, and the box is provided with an opening for the laser to pass through.

[0018] According to any technical solution described in the first aspect of the present invention, the deceleration clamping device and the braking device both use hydraulic clamps.

[0019] According to any technical solution described in the first aspect of the present invention, the converter body is supported and installed on the ladle car by a liftable support device, and the liftable support device includes four liftable support columns symmetrically distributed along a rectangle.

[0020] A second aspect of the present invention further provides a method for installing and positioning a converter body based on a ladle car, using any converter body installation and positioning system described in the first aspect of the present invention, the method comprising the following steps:

[0021] During the installation and transportation of the converter body by the ladle car, the converter position deviation detection unit is used to detect whether there is any deviation on both sides of the converter body and feed back to the control unit;

[0022] If there is installation deviation on both sides of the converter body, the control unit will control the deceleration clamping device on the corresponding side to start, and perform unilateral deceleration on the converter body and ladle car on the front side to achieve converter body deviation correction;

[0023] After the deviation correction is completed, that is, when both sides of the converter body are flush, the deceleration clamping device stops working, and the installation hole alignment detection unit performs real-time detection on the distance between the converter body and the bolt mounting holes on the converter bracket. When the above distance reaches the set braking distance requirement, the control unit controls the deceleration clamping devices on both sides to start simultaneously, synchronously decelerating both sides of the ladle car.

[0024] When the distance between the bolt mounting holes on the converter body and the converter bracket reaches the set alignment distance requirement, the control unit controls the braking devices on both sides to start simultaneously, performing the locking operation on the ladle car, thereby achieving the precise positioning of the converter body.

[0025] According to any of the technical solutions described in the second aspect of the present invention, before the ladle car is used to install and transport the converter body, the converter position deviation detection unit is first installed above the converter support and calibrated: the two liftable baffles in the bolt mounting holes at the same horizontal position on the converter supports on both sides are controlled to rise until they are flush with the first laser ranging sensor and the second laser ranging sensor, respectively, and the distance between the two laser ranging sensors and the corresponding liftable baffles is detected. If there is a deviation in the distance between the two sides, the installation positions of the two laser ranging sensors are adjusted forward and backward.

[0026] Furthermore, in order to effectively prevent the ladle car from overturning under the influence of the converter inertia force during braking and deceleration, the horizontal distance between the deceleration clamping device and the front wheel support point of the ladle car is L 3 satisfies the following formula:

[0027] ;

[0028] in, m 1 is the total mass of the converter body, m 2 is the overall mass of the ladle car system that carries the converter, L 2 is the vertical height of the contact point between the converter mass center and the supporting structure on the ladle car, L 4 is the horizontal distance between the center of mass of the converter and the support point of the front wheel of the ladle car, μ 2 is the sliding friction coefficient between the converter and the support column surface.

[0029] Furthermore, when the distance L1 between the converter body and the corresponding bolt mounting holes on the front side of the converter support reaches the set braking distance requirement, the control unit controls the deceleration clamping devices on both sides to start simultaneously to synchronously decelerate both sides of the ladle car, where the minimum braking distance S min = v1 2 / 2a max, which is used to limit the maximum acceleration of the deceleration process to ensure that the converter does not slip relative to the contact surface of the support column under the action of inertia force. Among them, v1 is the moving speed of the ladle car, which is detected by the speed meter, and a max The maximum acceleration allowed for the converter along the correction direction.

[0030] Compared with the prior art, the technical solution provided by the present invention can achieve the following beneficial effects:

[0031] (1) In the process of installing and transporting the converter by using a ladle car, the present invention uses a position detection device to detect the levelness of both sides of the converter body and the spacing between the corresponding bolt mounting holes on the converter and the converter bracket in real time. When there is an installation deviation on both sides of the converter body, the deceleration clamping device on one side is controlled to work, thereby performing a unilateral deceleration and correction operation; when the spacing between the corresponding bolt mounting holes on the converter and the converter bracket reaches the preset braking distance requirement, the deceleration clamping devices on both sides are controlled to work simultaneously, so that both sides of the ladle car are synchronously decelerated; and when the spacing between the corresponding bolt mounting holes on the converter and the converter bracket reaches the alignment requirement, the braking locking device is started to clamp the locking rails, thereby achieving precise parking braking of the ladle car; the technical solution of the present invention can directly and intelligently and automatically adjust the installation position deviation existing in the converter transportation process, that is, synchronous correction is achieved during the in-place transportation of the converter, thereby greatly improving the correction efficiency and effectively ensuring the installation accuracy requirements of the converter.

[0032] (2) The present invention optimizes the design of the structure of the mounting hole alignment detection unit, thereby not only being able to detect the distance between the converter and the bolt mounting holes on the converter support in real time so as to control the position of parking and deceleration, but also being able to avoid damage to the sensor during the forward movement of the converter by rotating the flexible distance measuring sensor. When the converter and the bolt mounting holes on the converter support meet the alignment requirements, the flexible distance measuring sensor can be reset and popped out into the bolt mounting holes on the converter, thereby continuing to detect whether the braking locking condition has been met, which is conducive to further ensuring the precise positioning of the converter.

[0033] (3) The present invention realizes intelligent operation during the entire process of positioning the converter, and does not require human participation, thereby effectively avoiding accidents. At the same time, the present invention further optimizes the installation position and braking distance of the deceleration clamping device, thereby effectively avoiding the converter from experiencing rigid impact during the correction process, sliding relative to the column support point, or separation from the supporting column, which is conducive to further ensuring the safety and accuracy of the correction process. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the overall structure of a converter body installation and positioning system according to an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of a state where a converter is about to be installed in place according to an embodiment of the present invention;

[0036] Figure 3 Schematic diagram of the installation structure of the position detection device in an embodiment of the present invention;

[0037] Figure 4 Schematic diagram of the installation structure of the retractable flexible ranging sensor in an embodiment of the present invention;

[0038] Figure 5 Schematic diagram of the telescopic structure of the telescopic flexible ranging sensor in an embodiment of the present invention;

[0039] Figure 6 This is a schematic structural diagram of a deceleration clamping device according to an embodiment of the present invention;

[0040] Figure 7 This is a left side view (1) of the installation of the converter on the ladle car in the embodiment of the present invention;

[0041] Figure 8 This is a left side view (2) of the installation of the converter on the ladle car in the embodiment of the present invention;

[0042] Figure 9 This is a front view of the installation of a converter on a ladle car in an embodiment of the present invention;

[0043] Figure 10 Schematic diagram of converter installation distance detection in an embodiment of the present invention;

[0044] Figure 11 Schematic diagram of the precise positioning process of the converter in an embodiment of the present invention.

[0045] Description of labels:

[0046] 1. Platform;

[0047] 2. Front wheel;

[0048] 3. Speed ​​reduction clamping device; 31. Rail clamping jaw; 32. Friction plate; 33. Clamping arm; 34. Connecting rod; 35. Fixing bracket; 36. Hydraulic cylinder; 37. Piston rod;

[0049] 4. Middle wheel; 5. Braking device; 6. Rear wheel; 7. Rail; 8. Speedometer; 9. Ladle car; 10. Converter body;

[0050] 11. Position detection device; 111. First laser ranging sensor; 112. Second laser ranging sensor; 113. Conical pin; 114. Laser reflector; 115. Mounting hole alignment detection unit; 115-1. Flexible ranging sensor; 115-11. Driving electric cylinder; 115-12. Multi-section telescopic electric push rod; 115-13. Liftable baffle; 115-2. Spring shaft; 115-3. Torsion spring; 116. Fixing bracket; 117. Connecting plate;

[0051] 12. Converter support;

[0052] 13. Liftable support device. DETAILED DESCRIPTION

[0053] In order to further understand the content of the present invention, the present invention is now described in detail with reference to the accompanying drawings and specific embodiments.

[0054] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, for the purposes of describing the embodiments of the present application herein.

[0055] 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 certain circumstances. 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.

[0056] Furthermore, the terms "installed," "disposed," "equipped with," and "connected" as used in this application should be interpreted broadly. For example, they may refer to fixed connections, removable connections, or integral structures; mechanical connections or electrical connections; direct connections, indirect connections through an intermediary, or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0057] The embodiment of the present invention provides a converter body installation and positioning system based on a ladle car, Figure 1 、 Figure 2 As shown, the system includes a ladle car 9, a position detection device 11, a deceleration clamping device 3 and a braking device 5, wherein:

[0058] The ladle car 9 is used to transport the converter body 10 to the converter support 12 for installation, and the converter body 10 can be lifted and installed on the ladle car 9 so that the converter body 10 can be lowered and supported on the converter support 12 after it is in place;

[0059] The position detection device 11 includes a converter position deviation detection unit and a mounting hole alignment detection unit 115, wherein the converter position deviation detection unit is used to detect whether there is a position deviation between the two sides of the converter body 10 during the in-position transportation process; the mounting hole alignment detection unit 115 is used to detect the spacing and alignment of the corresponding bolt mounting holes on the converter body 10 and the converter support 12;

[0060] The deceleration clamping device 3 is installed on the ladle car 9 and is located between the front wheel 2 and the middle wheel 4 on both sides of the ladle car 9 (i.e., a deceleration clamping device 3 is provided between the front wheel 2 and the middle wheel 4 on both sides of the ladle car 9). It is used to clamp the rail 7 on the corresponding side when there is an installation position deviation on both sides of the converter body 10, and to clamp the rails 7 on both sides simultaneously when the converter body 10 reaches the braking distance, so as to achieve deceleration on one side or both sides of the ladle car 9;

[0061] The braking device 5 is installed on the ladle car 9 and is located between the middle wheel 4 and the rear wheel 6 on both sides of the ladle car 9. It is used to clamp the locking rail 7 when the converter body 10 is in place to achieve parking braking of the ladle car 9.

[0062] When installing the converter, two converter supports 12 are usually fixedly supported on the platform 1, and four bolt mounting holes that match each other are provided on the converter supports 12 and the converter body 10. Then the converter body 10 is transported and supported and installed on top of the two converter supports 12 and fixed with bolts. In the prior art, during the process of installing and transporting the converter body 10 using a ladle car 9, due to the influence of the track and the environment, the two sides of the converter body 10 may deflect in position, resulting in the four bolt mounting holes being unable to be accurately aligned. In the prior art, the position deviation of the converter body 10 during its installation is usually measured manually multiple times, which has a relatively low detection efficiency and affects the positioning accuracy of the converter body 10.

[0063] Based on the above, an embodiment of the present invention provides a converter body installation and positioning system capable of automated detection and intelligent adjustment, enabling timely and automatic deviation correction during converter travel. Specifically, the position detection device 11, deceleration and clamping device 3, and braking device 5 are all connected to a control unit. A converter position deviation detection unit detects position deviations on both sides of the converter body 10 in real time during in-place transportation. If a position deviation exists, feedback is provided to the control unit, which then controls the deceleration and clamping device 3 on the corresponding side to decelerate the ladle car unilaterally, thereby correcting the installation position of the converter body 10. For example, if the left side of the converter body 10 is detected to be offset forward relative to its right side (toward the side near the converter support 12), the deceleration and clamping device 3 on the left side is activated, while the deceleration and clamping device 3 on the right side is deactivated.

[0064] If it is found that there is no position deviation on both sides of the converter body 10, or after the position of the converter body 10 is corrected, the mounting hole alignment detection unit 115 is used to perform real-time detection on the spacing between the corresponding bolt mounting holes on the converter body 10 and the converter support 12. When the spacing between the bolt mounting holes reaches the braking distance, the control unit controls the deceleration clamping devices 3 on both sides to work simultaneously, thereby synchronously decelerating the ladle car; when the mounting hole alignment detection unit 115 detects that the corresponding bolt mounting holes on the converter body 10 and the converter support 12 are aligned (or the spacing between the mounting holes meets the positioning requirements), the control unit controls the braking devices 5 on both sides to work simultaneously, thereby realizing the parking and locking of the ladle car.

[0065] As one of the implementation methods, Figure 3 As shown, the converter position deviation detection unit includes a first laser distance sensor 111 and a second laser distance sensor 112. The two laser distance sensors are symmetrically mounted above the two converter supports 12 through a fixing bracket 116 and are arranged flush in the horizontal direction. They are respectively used to detect the front side of the converter body 10 (unless otherwise specified, the reference numerals in this document are used as reference numerals in the table). Figure 1 The distances between the two bolt mounting holes (the side closest to the converter support 12 is the front side, and the side closest to the converter body 10 is the rear side) and the corresponding sensors are measured. Laser reflectors 114 are located in the two bolt mounting holes on the front side of the converter body 10. If the distances measured by the two laser ranging sensors are inconsistent, it indicates that the two sides of the converter body are not aligned, indicating installation deviation.

[0066] Preferably, the first laser distance sensor 111 and the second laser distance sensor 112 are both located in front of the two bolt mounting holes on the front side of the converter support 12 (away from the ladle car), and can be mounted on the fixed support 116 in a telescopic manner. The two bolt mounting holes on the front side of the converter support 12 are respectively provided with liftable baffles 115-13 for calibrating the initial positions of the two laser distance sensors. After the position detection device 11 is installed on the converter support 12, and before the converter body is installed and transported, the initial installation positions of the two laser distance sensors are first calibrated. Specifically, the two liftable baffles 115-13 are controlled to rise to be flush with the two laser distance sensors, respectively, and the corresponding distances between the two laser distance sensors and the two liftable baffles 115-13 are detected. x 1 ' and x 2 ’ ,like x 1 ' and x 2 ’ If the difference does not meet the accuracy requirements, the first laser ranging sensor 111 and the second laser ranging sensor 112 are controlled to perform telescopic adjustment to achieve their position calibration. After calibration, the lifting baffle 115-13 can be lowered and reset. It should be noted that the present application does not limit the structure and adjustment method of the telescopic adjustment of the first laser ranging sensor 111 and the second laser ranging sensor 112. For example, the telescopic adjustment can be directly driven by an electric cylinder or a pneumatic cylinder.

[0067] As one of the implementation methods, the liftable baffle 115-13 and the laser reflector 114 are both supported and installed above the corresponding bolt mounting holes by a conical pin 113. The conical pin 113 is coaxially matched with the bolt mounting hole, and its upper diameter is larger than the inner diameter of the bolt mounting hole, thereby effectively ensuring the concentric positioning of the liftable baffle 115-13 and the laser reflector 114 relative to the bolt mounting hole.

[0068] In some embodiments, the mounting hole alignment detection unit 115 includes a flexible ranging sensor 115-1 and a spring shaft 115-2, wherein the spring shaft 115-2 is horizontally distributed in a direction perpendicular to the rail 7, one end of which is rotatably mounted on the fixed bracket 116, and the other end of which extends to the top of the converter bracket 12 and is fixedly connected to the flexible ranging sensor 115-1. The flexible ranging sensor 115-1 is used to detect the spacing and alignment between the converter bracket 12 and the corresponding bolt mounting holes on the converter body. The spring shaft 115-2 can drive the flexible ranging sensor 115-1 to flip and reset, and in the initial state, the flexible ranging sensor 115-1 is distributed in the vertical direction and is located directly above the front bolt mounting hole on the converter bracket 12.

[0069] The flexible ranging sensor 115-1 is used to detect in real time the distance between the laser reflector 114 on the converter body and the flexible ranging sensor 115-1 during the movement of the ladle car, that is, the distance between the converter body and the corresponding bolt mounting holes on the converter bracket. The forward speed of the ladle car is detected in combination with the speed meter 8. When the above-mentioned distance meets the braking distance requirement, the control unit outputs a deceleration signal to control the deceleration clamping devices 3 on both sides to work simultaneously, and the ladle car starts to decelerate.

[0070] Combine Figure 11 As shown, when the front end of the converter body contacts the flexible ranging sensor 115-1, the flexible ranging sensor 115-1 is blocked by the front end of the converter, compressing the spring shaft 115-2 and deflecting. At this time, the flexible ranging sensor 115-1 is in a flat state, thereby ensuring that it can pass smoothly between the converter support and the converter body. The converter body continues to slow down and move forward. When the converter body and the corresponding bolt mounting holes on the converter support are close, the spring shaft 115-2 is not compressed. Under the action of the torsion spring 115-3, the flexible ranging sensor 115-1 bounces up and resets. At this time, the flexible laser sensor 115-1 starts working and measures the distance from the inner wall of the bolt mounting hole on the converter body to the flexible ranging sensor 115-1. When the preset distance is reached, the control unit immediately outputs a locking work instruction to the two braking devices 5, thereby achieving precise positioning of the converter body.

[0071] Specifically, in the embodiment of the present invention, the fixed bracket 116 includes two fixed rods (or fixed plates) respectively installed in parallel on the outside of the two converter brackets 12, and the front ends of the two fixed rods (or fixed plates) are symmetrically connected to form a mounting rod (or mounting plate) for mounting the first laser ranging sensor 111 and the second laser ranging sensor 112.

[0072] Combine Figure 3 , Figure 4 As shown, as a further preferred embodiment, both fixing rods (or fixing plates) of the fixing bracket 116 are equipped with a connecting plate 117 extending perpendicularly to the rail 7 and horizontally. A flexible distance sensor 115-1 is rotatably mounted to one end of the connecting plate 117 via a spring shaft 115-2. A conical pin 113, coaxially mating with the bolt mounting hole on the front side of the converter bracket 12, is fixedly connected to the bottom of the connecting plate 117. Flexible distance sensor 115-1 is coaxially positioned above conical pin 113. When installing the position detection device 11, the concentric positioning between the two conical pins 113 and the bolt mounting holes on the front side of the converter bracket 12 is first used to pre-position the position detection device 11, and then the device is secured with bolts.

[0073] like Figure 5As shown, it is further preferred that the flexible ranging sensor 115-1 includes a liftable baffle 115-13 and a laser ranging sensor probe located within the liftable baffle 115-13. The liftable baffle 115-13 is a retractable box-like structure (or a retractable tubular structure). The laser ranging sensor probe is mounted correspondingly to the top of the stretched box. The liftable baffle 115-13 has an opening for laser light to pass through, thereby facilitating detection of the distance between the bolt mounting hole on the converter body and the laser ranging sensor probe. By integrating the liftable baffle 115-13 and the laser ranging sensor probe as a whole, it is possible to facilitate calibration of the initial positions of the first laser ranging sensor 111 and the second laser ranging sensor 112. The liftable baffle 115-13 can also protect the laser ranging sensor probe of the flexible ranging sensor 115-1. The setting of the conical pin 113 at the bottom of the connecting plate 117 can accurately locate the installation position of the entire position detection device 11 on the converter bracket, preventing installation position deviation between the first laser ranging sensor 111 and the second laser ranging sensor 112, and between the two flexible ranging sensors 115-1.

[0074] In some embodiments, the liftable baffle 115-13 utilizes a multi-stage telescopic tubular structure, which includes a multi-section telescopic electric push cylinder. Specifically, the multi-stage telescopic tubular structure is driven to telescope by the action of the electric cylinder 115-11 and the multi-section telescopic electric push rod 115-12, thereby achieving the lifting and lowering operation of the liftable baffle 115-13. It should be noted that the telescopic drive structure of the liftable baffle 115-13 described in the present invention is not limited to the specific structure described herein, and other telescopic drive structures may also be used, as long as the liftable baffle 115-13 can be lifted and lowered.

[0075] According to the technical solution described in any embodiment of the present invention, both the deceleration and clamping device 3 and the braking device 5 utilize hydraulic clamps, which decelerate and fine-tune the ladle car's direction through friction between the hydraulic clamp and the rail. The clamp's hydraulic system, located outside the ladle car's wheels, controls the hydraulic clamp's hydraulic cylinder to push the piston rod to control the clamping force. It should be noted that the specific structure of the hydraulic clamp is not limited herein; it can be used as long as it can achieve both clamping and loosening of the rail.

[0076] Specifically, such as Figure 6As shown, as one implementation, the hydraulic clamp of this embodiment includes two fixed frames 35 spaced apart along the length of the rail. The top ends of the two fixed frames 35 are fixedly mounted on the ladle car frame, and two clamping arms 33 are rotatably mounted on their bottom ends via a core shaft. The two clamping arms 33 are symmetrically located on the inner and outer sides of the rail, and each is connected to a rail clamping claw 31 at its bottom end. The contact surface of the rail clamping claw 31 with the rail is provided with a friction plate 32 to increase friction between the rail and the rail. A hydraulic cylinder 36 is installed on the ladle car frame between the two fixed frames 35. The bottom end of the piston rod 37 of the hydraulic cylinder 36 is rotatably connected to the upper ends of the two clamping arms 33 via two symmetrically arranged connecting rods 34. Therefore, the hydraulic cylinder 36 can drive the two clamping arms 33 to open or close the rail clamping claw 31, thereby clamping and loosening the rail. In order to ensure that the hydraulic clamp fits the rail better when the ladle car is decelerated, the clamp arm 33 and the rail clamp 31 are connected by an opening and closing shaft to achieve the effect of the rail clamp 31 accurately grasping the rail.

[0077] The embodiment of the present invention further provides a method for installing and positioning a converter body based on a ladle car, using the converter body installation and positioning system of the embodiment of the present invention. The method for installing and positioning a converter body includes the following steps:

[0078] Step 1: Installation and calibration of the converter body mounting and positioning system

[0079] The position detection device 11 is mounted on the converter support 12, and the deceleration clamping device 3 and the braking device 5 are correspondingly mounted on the ladle car, with the deceleration clamping device 3 mounted between the front wheel and the middle wheel of the ladle car, and the braking device 5 mounted between the middle wheel and the rear wheel of the ladle car. To further enhance the braking effect of the braking device 5 and ensure accurate positioning of the converter, multiple braking devices 5 are installed between the middle wheel and the rear wheel of the ladle car on both sides, for example, two braking devices are installed on each side.

[0080] Specifically, the two fixing rods of the fixed bracket 116 in the embodiment of the present invention are installed on the side of the converter bracket and fixed to the converter bracket with a slot structure. The two conical pins 113 are combined to perform concentric positioning with the bolt holes on the two converter brackets, and then the bolts are tightened to fix the position detection device 11 on the converter bracket.

[0081] Among them, after the position detection device 11 is installed, the two laser ranging sensors of the converter position deviation detection unit are subjected to an initial position calibration operation: the two liftable baffles 115-13 in the bolt mounting holes on the front side of the two converter brackets 12 are controlled to rise to be flush with the first laser ranging sensor 111 and the second laser ranging sensor 112 respectively, and the distance between the two laser ranging sensors and the corresponding liftable baffles 115-13 is detected. If there is a deviation in the distance between the two sides, the installation position of the two laser ranging sensors is adjusted forward and backward.

[0082] As a preferred embodiment, the embodiment of the present invention further optimizes the installation position of the deceleration clamping device 3 when installing it, thereby effectively ensuring the stability of the entire system of the ladle car carrying the converter, so that the ladle car will not overturn under the influence of the converter inertia force during braking and deceleration, and the rear wheels of the ladle car will not fall off the track under the influence of the converter inertia moment. Specifically, the design process of the installation position of the deceleration clamping device 3 is as follows:

[0083] In the embodiment of the present invention, the converter body 10 is supported and installed on the ladle car 9 by a liftable support device 13, and the liftable support device 13 includes four liftable support columns (or hydraulic jacks) symmetrically distributed along a rectangle. Figure 7-Figure 9 As shown, the total mass of the converter body is m 1 (according to the converter model that the ladle car is suitable for, take the maximum value), the overall mass of the ladle car system carrying the converter is m 2. The distance between the bolt mounting holes on the converter bracket and the front side of the converter body L 1. The vertical height of the contact point between the converter center of mass and the supporting structure on the ladle car L 2. Horizontal distance between the deceleration clamping device 3 and the front wheel support point of the ladle car L 3. The sliding friction coefficient between the deceleration clamping device 3 and the rail 7 is μ 1. The horizontal distance between the center of mass of the converter and the front wheel support point of the ladle car L 4. Uniform motion speed of converter (ladle car) V 1. The sliding friction coefficient between the converter and the support column surface is μ 2.

[0084] 1. First calculate the resistance required for equipment deceleration

[0085] Inertial force caused by acceleration in the horizontal direction ;

[0086] The maximum friction force that the support column can provide ;

[0087] To ensure that there is no relative sliding between the converter and the support (support column) during deceleration, it is necessary to:

[0088] ,Right now ;Right now ;

[0089] Therefore, the following calculation can be directly substituted into the acceleration a 1The magnitude of the inertial force generated.

[0090] 2. In order to prevent vibration and tilting during deceleration, the pushing mechanism (ladle car) and the converter body should maintain the same acceleration.

[0091] The maximum acceleration of the ladle car is ;

[0092] It is concluded that the maximum braking force of the ladle car (in the horizontal direction parallel to the rails) ;

[0093] Therefore, the clamping force that the deceleration clamping device 3 should provide in the horizontal direction during deceleration (in the horizontal direction perpendicular to the rail) is .

[0094] 3. Consider the torque balance problem caused by the inertia of the deceleration converter, that is, the torque generated by the inertia of the converter M 1. Torque generated by the weight of the converter M 2. Torque generated by the deceleration clamping device 3 M 3. When the torque generated by the inertial force is less than the combined torque of the deceleration clamping device and the torque generated by the converter's own weight, the pushing mechanism (ladle car) can move stably, then: ; The magnitudes of the moments are as follows:

[0095] ;

[0096] ;

[0097] ;

[0098] F 5 is the friction force provided by the deceleration clamping device in the vertical direction, due to F 5 is limited by the maximum braking force of the ladle car, therefore, ;

[0099] Substitution , we get:

[0100] ;

[0101] The calculation shows that:

[0102] ;

[0103] That is, the horizontal distance between the installation position of the deceleration clamping device 3 on the ladle car and the support point of the front wheel 2 of the ladle car should be greater than the above value (the specific installation position also needs to be comprehensively considered according to the structural layout of the equipment. L 4 When it is large enough, it can be ignored L 3).

[0104] Step 2: Use the ladle car 9 to install the converter body 10. During the transportation process, the converter position deviation detection unit is used to detect whether the two sides of the converter body 10 are deflected, and the feedback is fed back to the control unit.

[0105] Step 3: If there is installation deviation on both sides of the converter body 10, the control unit controls the deceleration clamping device 3 on the corresponding side to start, and performs unilateral deceleration on the converter body 10 and the ladle car 9 on the front side to achieve deviation correction of the converter body 10.

[0106] Specific, combined Figure 10 As shown, the first laser ranging sensor 111 and the second laser ranging sensor 112 detect the distances x1 and x2 from the two bolt mounting holes on the front side of the converter to the corresponding laser ranging sensors in real time. If the distances are equal, it indicates that there is no lateral position deviation between the bolt holes on both sides of the converter. If the distances are unequal, it indicates that the ladle car has deviated during travel. In this case, the control unit releases a deceleration signal to the side deviating forward (the side closer to the corresponding laser ranging sensor, i.e., the side with the smaller detection distance), controlling the deceleration clamping device 3 on that side to operate once, correcting the direction. The values ​​of x1 and x2 are then re-detected and compared, and the above steps are repeated until the distance difference is less than the specified deviation (e.g., 0.5 mm). When performing deceleration for correction, the hydraulic cylinder of the deceleration clamping device 3 on the corresponding side is inchingly controlled, driving the two clamping arms 33 to begin clamping the rail, achieving unilateral deceleration and performing micro-correction.

[0107] It should also be noted that during the correction process, the maximum correction acceleration must take into account the stability of the ladle car system carrying the converter; this maximum acceleration must ensure a smooth transition during the correction process, that the converter will not slide against the support point due to the acceleration, and that the converter will not separate from or overturn the support device 13 due to the acceleration. Based on the above conditions, the design process of this maximum acceleration is as follows:

[0108] Combine Figure 7As shown, the converter's mass is m1, the coefficient of static friction of the support contact surface is f, the height of the converter's center of gravity from the support surface is h, the minimum distance between the converter's center of gravity and the support is l (the distance between the center of gravity and the nearest support point along the ladle car's travel direction), and the gravitational acceleration is g. Under the deceleration clamping force, the converter deflects toward the deceleration side and generates backward acceleration. Simultaneously, the resulting inertial force acts in the opposite direction, resulting in forward inertial acceleration. Excessive clamping force can cause excessive inertial acceleration of the converter, which in turn leads to excessive inertial force on the converter support ring. When this inertial force exceeds the friction, the converter will slip relative to the support column contact surface. This can lead to horizontal deviation in the converter's positioning, complicating correction and final precise positioning, ultimately leading to converter installation failure. Therefore, it is necessary to rationally control the clamping force and deceleration distance to minimize the impact of acceleration throughout the entire process.

[0109] The maximum static friction force F obtained by analysis is that the converter does not produce sliding behavior in the horizontal direction relative to the support column contact surface. fmax for:

[0110] ;

[0111] The maximum acceleration of the converter without sliding in the horizontal direction relative to the bracket (support column contact surface) is:

[0112] ;

[0113] In addition, after unilateral deceleration, the converter will generate angular acceleration α. ​​At this time, due to the existence of angular acceleration, the converter will generate an inertial moment in the circumferential direction, the magnitude of which is the converter's rotational inertia ( ) multiplied by the angular acceleration (α) At this time, if the angular acceleration is too large and exceeds the friction torque provided by the friction force of the converter support point, the converter will slide relative to the circumference, affecting the installation accuracy.

[0114] Assume that the acceleration during unilateral deceleration is , and its distance to the center of gravity of the converter is b (such as Figure 9 shown), then ; From this, it can be concluded that its moment of inertia ;

[0115] In order to ensure that the converter does not slide relative to the bracket (support column contact surface) in the circumferential direction under the action of the inertia torque, it is necessary to ensure that the friction force of the support point relative to the friction torque of the converter center M f Not greater than the moment of inertia M I, if the radius between the support point and the center of the converter is R (the median diameter of the furnace ring), then:

[0116] ;

[0117] It can be concluded that the maximum acceleration of the converter without relative sliding in the circumferential direction relative to the support is:

[0118] ;

[0119] Therefore, the maximum acceleration at which the converter does not slide relative to the support is is the minimum of the above two, that is:

[0120] .

[0121] Furthermore, excessive acceleration during deceleration could cause the converter to separate from the column supports, or even more seriously, tip over. If the acceleration is too high, the converter and support ring will begin to tilt, pivoting around the point of contact between the front support column and the converter support ring. If the acceleration is high enough, the rear of the converter could separate from the column supports. This would place excessive stress on the other side's column supports and create the risk of the converter tipping over, posing a significant safety hazard. Therefore, separation must be avoided.

[0122] In order to prevent the converter from separating from the column support, the resultant torque of the converter's own gravity and the inertial force generated by the acceleration must be rotated toward the inside of the columns on both sides relative to the support 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 separation tendency is in a critical state, the force on the contact part is 0. According to the above conditions:

[0123] ;

[0124] The maximum acceleration without flipping is a' max .

[0125] 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 acceleration along the correction direction is a max for:

[0126] .

[0127] Step 4: After the correction is completed, that is, after the two sides of the converter body 10 are flush, the deceleration clamping device 3 stops working, and the installation hole alignment detection unit 115 performs real-time detection on the distance L1 between the converter body 10 and the bolt mounting holes on the converter bracket 12; combined with the signal of the speed meter, when the above-mentioned distance L1 reaches the set braking distance or braking deceleration starting position requirement, the control unit controls the deceleration clamping devices 3 on both sides to start simultaneously, and synchronously decelerates both sides of the ladle car 9.

[0128] The braking distance or the starting position of braking deceleration should ensure that the acceleration during the entire deceleration process when the converter is about to be put into place (that is, after the distance between the converter and the corresponding bolt mounting holes on the converter support reaches the braking distance) does not exceed the maximum value that affects the stability of the converter; considering the dynamic process of the ladle car system carrying the converter, it is necessary to ensure that during the deceleration process, the converter will not slide against the support point due to the influence of acceleration, and the converter will not separate from the supporting column due to the influence of acceleration. Based on the above conditions, the minimum value S of the braking distance (the distance between the converter and the corresponding bolt mounting holes on the converter support when the deceleration starts) is min The determination process is as follows:

[0129] Considering that during the deceleration process of the converter, if the acceleration is too large, the converter will slip, overturn, etc., affecting the positioning accuracy and construction safety, it is necessary to limit the maximum acceleration. The maximum acceleration should comply with the acceleration requirements mentioned above, that is, it should not exceed the maximum acceleration a allowed in the direction of correction. max According to the ladle car moving speed (v1) fed back by the speed sensor (speedometer), the minimum distance required to start stopping and decelerating can be calculated as:

[0130] S min = v1t-(1 / 2)a max t 2 ;

[0131] where v1 = a max t, we get:

[0132] S min = v1 2 / 2a max ;

[0133] That is, the distance between the deceleration starting point and the end point should be greater than S min , and its acceleration can be adjusted in real time according to the speed feedback from the tachometer.

[0134] Step 5: When the distance between the bolt mounting holes on the converter body 10 and the converter support 12 reaches the set alignment distance requirement, the control unit controls the two braking devices 5 to start simultaneously, performing a locking operation on the ladle car 9, thereby achieving precise positioning of the converter body.

[0135] When the converter body is precisely in place, the liftable support columns on the ladle car are controlled to descend, thereby supporting the converter body 10 on the converter support, thereby achieving installation of the converter body.

[0136] 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. A converter body installation and positioning system based on a ladle car, characterized in that: include: A ladle car (9) is used to transport the converter body (10) to the converter support (12) for installation; A position detection device (11) includes a converter position deviation detection unit and a mounting hole alignment detection unit (115), wherein the converter position deviation detection unit is used to detect whether there is a position deviation on both sides of the converter body (10) during the in-position transportation process; and the mounting hole alignment detection unit (115) is used to detect the spacing and alignment of the bolt mounting holes on the converter body (10) and the converter bracket (12); a deceleration clamping device (3) mounted on the ladle car (9) and located between the front wheels (2) and the middle wheels (4) on both sides of the ladle car (9), for clamping the rails (7) on the corresponding side when there is an installation position deviation on both sides of the converter body (10), and for simultaneously clamping the rails (7) on both sides when the converter body (10) reaches the braking distance, thereby achieving deceleration of one side or both sides of the ladle car (9); and A braking device (5) is installed on the ladle car (9) and is located between the middle wheel (4) and the rear wheel (6) on both sides of the ladle car (9), and is used to simultaneously clamp the locking rail (7) when the converter body (10) is in place, so as to achieve parking braking of the ladle car (9); The position detection device (11), the deceleration clamping device (3), and the braking device (5) are all connected to the control unit for control.

2. The converter body installation and positioning system based on the ladle car according to claim 1 is characterized in that: The converter position deviation detection unit comprises a first laser distance measuring sensor (111) and a second laser distance measuring sensor (112), wherein the two laser distance measuring sensors are symmetrically mounted above the two converter supports (12) via a fixing bracket (116), and are respectively used to detect the distance from the two bolt mounting holes on the front side of the converter body (10) to the corresponding laser distance measuring sensors, and laser reflection plates (114) are respectively provided in the two bolt mounting holes on the front side of the converter body (10).

3. The converter body installation and positioning system based on the ladle car according to claim 2, characterized in that: The first laser distance measuring sensor (111) and the second laser distance measuring sensor (112) are mounted on a fixed bracket (116) in a manner that allows them to be telescopically moved forward and backward. A corresponding liftable baffle (115-13) for calibrating the initial position of the sensors is provided in the bolt mounting holes on the converter bracket (12) close to the two laser distance measuring sensors. The liftable baffle (115-13) and the laser reflection plate (114) are both supported and mounted above the corresponding bolt mounting holes via a conical pin (113). The conical pin (113) is coaxially matched with the bolt mounting hole, and the diameter of the upper portion of the conical pin is larger than the inner diameter of the bolt mounting hole.

4. The converter body installation and positioning system based on the ladle car according to claim 3, characterized in that: The mounting hole alignment detection unit (115) comprises a flexible distance measuring sensor (115-1) and a spring rotating shaft (115-2), wherein the spring rotating shaft (115-2) is horizontally distributed in a direction perpendicular to the steel rail (7), one end of the spring rotating shaft is rotatably mounted on the fixed bracket (116), and the other end of the spring rotating shaft extends above the converter bracket (12) and is fixedly connected to the flexible distance measuring sensor (115-1), the flexible distance measuring sensor (115-1) is used to detect the alignment of the bolt mounting holes on the converter bracket (12) and the converter body (10), the spring rotating shaft (115-2) can drive the flexible distance measuring sensor (115-1) to perform a flipping motion and reset, and in an initial state, the flexible distance measuring sensor (115-1) is distributed in a vertical direction and is located directly above the bolt mounting hole on the front side of the converter bracket (12).

5. The converter body installation and positioning system based on the ladle car according to claim 4, characterized in that: The fixing bracket (116) is connected to a connecting plate (117) that is perpendicular to the rail (7) and extends in the horizontal direction. The flexible distance measuring sensor (115-1) is rotatably mounted on one end of the connecting plate (117) via a spring rotating shaft (115-2). A conical pin (113) coaxially matched with a bolt mounting hole on the converter bracket (12) is fixedly connected to the bottom of the connecting plate (117). The flexible distance measuring sensor (115-1) is coaxially arranged above the conical pin (113).

6. The converter body installation and positioning system based on the ladle car according to claim 5, characterized in that: The flexible distance measuring sensor (115-1) comprises a liftable baffle (115-13) and a laser distance measuring sensor probe, wherein the liftable baffle (115-13) is a retractable box-type structure, the laser distance measuring sensor probe is correspondingly installed inside the stretched box, and the box is provided with an opening for the laser to pass through.

7. The converter body installation and positioning system based on a ladle car according to any one of claims 1 to 6, characterized in that: The deceleration clamping device (3) and the braking device (5) both use hydraulic clamps.

8. The converter body installation and positioning system based on a ladle car according to any one of claims 1 to 6, characterized in that: The converter body (10) is supported and installed on the ladle car (9) via a liftable support device (13), and the liftable support device (13) includes four liftable support columns symmetrically distributed along a rectangle.

9. A method for installing and positioning a converter body based on a ladle car, characterized in that: The converter body installation and positioning system according to claim 6 comprises the following steps: During the process of installing and transporting the converter body (10) using the ladle car (9), a converter position deviation detection unit is used to detect whether two sides of the converter body (10) are deflected, and the detection unit feeds back to the control unit; If there is an installation deviation on both sides of the converter body (10), the control unit controls the deceleration clamping device (3) on the corresponding side to start, and performs unilateral deceleration on the converter body (10) and the ladle car (9) on the front side to achieve deviation correction of the converter body (10); After the deviation correction is completed, that is, the two sides of the converter body (10) are flush, the deceleration clamping device (3) stops working, and the spacing between the bolt mounting holes on the converter body (10) and the converter bracket (12) is detected in real time through the mounting hole alignment detection unit (115); when the above spacing reaches the set braking distance requirement, the control unit controls the deceleration clamping devices (3) on both sides to start simultaneously, and synchronously decelerates the two sides of the ladle car (9); When the distance between the bolt mounting holes on the converter body (10) and the converter bracket (12) reaches the set alignment distance requirement, the control unit controls the braking devices (5) on both sides to start simultaneously, performing a locking operation on the ladle car (9), thereby achieving accurate positioning of the converter body.

10. The method for installing and positioning a converter body based on a ladle car according to claim 9, characterized in that: Before the converter body (10) is installed and transported in place by a ladle car (9), a converter position deviation detection unit is first installed above the converter support and calibrated: two liftable baffles (115-13) located in bolt mounting holes at the same horizontal position on the converter supports on both sides are controlled to rise until they are flush with the first laser distance sensor (111) and the second laser distance sensor (112), respectively, and the distance between the two laser distance sensors and the corresponding liftable baffles (115-13) is detected. If there is a deviation in the distance between the two sides, the installation positions of the two laser distance sensors are adjusted forward and backward. The horizontal distance between the deceleration clamping device (3) and the support point of the front wheel (2) of the ladle car L 3 Satisfaction: ； in, m 1 is the total mass of the converter body, m 2 is the overall mass of the ladle car system that carries the converter, L 2 is the vertical height of the contact point between the converter mass center and the supporting structure on the ladle car, L 4 is the horizontal distance between the center of mass of the converter and the support point of the front wheel of the ladle car, μ 2 is the sliding friction coefficient between the converter and the support column surface.

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