Submersed nozzle carrying trolley for continuous casting

Abstract

The utility model discloses a continuous casting submersed nozzle carrying trolley which comprises a walking device, a rotary lifting mechanism and a mechanical arm, the rotary lifting mechanism is arranged on the walking device, the mechanical arm is transversely arranged on the rotary lifting mechanism, and a grasping device is arranged at the outer end of the mechanical arm. The walking device is used for driving the rotary lifting mechanism and the mechanical arm to move back and forth together, the rotary lifting mechanism is used for driving the mechanical arm to rotate and lift, and the grasping device is used for grasping the submersed nozzle. The device is convenient to operate, simple in structure and easy to implement; meanwhile, the number of personnel is reduced, dangerousness is reduced, and working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of metallurgy, in particular to an immersion nozzle carrying trolley for continuous casting. Background Art

[0002] In the continuous casting process of steel production, the submerged shroud is a kind of casting refractory casing that must be used. Before casting, it needs to be baked in the shroud baking box in advance. After baking, it is installed at the bottom of the tundish and inserted into the crystallizer to prevent secondary oxidation of the steel flow and splashing of molten steel when pouring. The submerged shroud is heavy and cannot be lifted by one person. It requires two or even more people to lift it. In addition, the position from the shroud baking box to the tundish is relatively far, and the temperature of the shroud after baking is high. Workers are easily scalded if they are not careful. At present, the submerged shroud is only moved back and forth by manpower using simple clamping tools, and there are no special moving tools. Summary of the invention

[0003] The utility model aims to provide a trolley for carrying an immersed nozzle for continuous casting, which is convenient to operate, simple in structure and easy to implement; at the same time, the number of personnel can be reduced, the danger can be lowered and the work efficiency can be improved.

[0004] The technical solution adopted by the utility model is:

[0005] A trolley for carrying an immersed sprue for continuous casting comprises a traveling device, a rotating lifting mechanism and a mechanical arm. The rotating lifting mechanism is arranged on the traveling device, the mechanical arm is transversely arranged on the rotating lifting mechanism, and a gripping device is arranged at the outer end of the mechanical arm; the traveling device is used to drive the rotating lifting mechanism and the mechanical arm to move back and forth, the rotating lifting mechanism is used to drive the mechanical arm to rotate and move up and down, and the gripping device is used to grip the immersed sprue.

[0006] Preferably, the rotating and lifting mechanism includes a bottom rotating device and a lifting device, the bottom rotating device is arranged on the walking device, the lifting device is arranged on the bottom rotating device, and the mechanical arm is arranged on the lifting device; the bottom rotating device is used to drive the mechanical arm to rotate, and the lifting device is used to drive the mechanical arm to lift and move.

[0007] Preferably, the rotary lifting mechanism also includes a slide rail device, which is horizontally arranged on the bottom rotating device, and the lifting device is arranged on the slide rail device; the bottom rotating device can drive the slide rail device and the lifting device to rotate, and the lifting device can move back and forth in a straight line along the slide rail device.

[0008] Preferably, the slide rail device includes a slide rail plate, a slide groove and a pulley. The slide rail plate is arranged at the top of the bottom rotating device. The bottom rotating device can drive the slide rail plate to rotate. The slide rail is arranged with a slide groove in a straight line on the upper edge of the slide rail. The pulley is connected to the bottom of the frame of the lifting device. The pulley is arranged in the slide groove. The lifting device moves back and forth along the slide groove through the pulley.

[0009] Preferably, limiting devices are provided at both ends of the slide slot to prevent the pulley from falling out of the slide slot, thereby preventing the mechanical arm from falling out.

[0010] Preferably, the lifting device includes a hydraulic cylinder and a frame, one end of the mechanical arm passes through the frame horizontally, the frame is arranged on the slide rail device, the hydraulic cylinder is arranged on the frame, the upper end of the hydraulic cylinder is connected to the mechanical arm, and the hydraulic cylinder is extended and retracted to drive the mechanical arm to rise and fall.

[0011] Preferably, the mechanical arm comprises a first tube arm and a second tube arm, the gripping device is arranged at the first end of the first tube arm, the second end of the first tube arm is sleeved with the first end of the second tube arm, and the second end of the second tube arm is provided with an operating handle;

[0012] A gripping and rotating device is provided between the first tube arm and the second tube arm, and the gripping and rotating device drives the first tube arm to rotate relative to the second tube arm.

[0013] Preferably, the grasping and rotating device includes a rotating motor, which is arranged in the second tube arm. The output end of the rotating motor is connected to the inner wall of the first tube arm through a rotating transmission mechanism. The rotating motor can drive the first tube arm to rotate relative to the second tube arm; it can drive the mechanical arm to realize bidirectional rotation at any angle, so that the clamped immersion water outlet can realize the function of rotation and tilting, making the clamping and installation process more convenient.

[0014] Preferably, the gripping device includes a gripping motor and a claw, the claw is arranged at the outer end of the robotic arm, and the gripping motor is connected to the claw through a claw transmission mechanism; the gripping motor drives the claw to realize the gripping and releasing actions, and when the robotic arm moves to a suitable angle and position, the claw can be used to clamp the immersion nozzle and place it into the nozzle baking box, or installed at the bottom of the intermediate tank.

[0015] Preferably, the walking device includes a vehicle body, and multiple sets of driving wheels and multiple sets of auxiliary wheels are arranged at the bottom of the vehicle body; the driving wheels are equipped with motors to enable the device to move forward and backward, and the auxiliary wheels have a steering function, which can enable the device to achieve overall steering. The bottom counterweight prevents the upper mechanism from tipping over during the process of clamping and moving the immersion nozzle.

[0016] The beneficial effects of the utility model are:

[0017] The utility model discloses driving a rotating lifting mechanism and a mechanical arm to move back and forth through a walking device, driving the mechanical arm to rotate and lift through the rotating lifting mechanism, grabbing an immersion nozzle through a grasping device, grabbing and carrying the immersion nozzle for continuous casting, installing the immersion nozzle to the bottom of the intermediate tank before pouring, and grabbing and moving the immersion nozzle to an idle position after use, avoiding manual carrying, and having convenient operation, simple structure and easy implementation; at the same time, reducing the number of personnel, reducing the risk and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The present invention discloses a working process of a trolley for carrying an immersed nozzle for continuous casting according to an embodiment of the utility model.

[0019] Figure 2 The utility model is a structural schematic diagram of an immersed nozzle carrying trolley for continuous casting according to an embodiment of the utility model.

[0020] In the figure: 1-gripping device; 2-mechanical arm; 3-lifting device; 4-gripping rotating device; 5-slide rail device; 6-bottom rotating device; 7-traveling device; 8-sprue baking oven; 9-immersion sprue; 10-immersion sprue handling device. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0022] In the description of the present utility model, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like are involved, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0023] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0024] Example 1

[0025] A trolley for carrying an immersed nozzle for continuous casting, such as Figure 1-2 As shown, it includes a walking device 7, a rotating lifting mechanism and a mechanical arm 2. The rotating lifting mechanism is arranged on the walking device 7, and the mechanical arm 2 is horizontally arranged on the rotating lifting mechanism. A grasping device 1 is provided at the outer end of the mechanical arm 2; the walking device 7 is used to drive the rotating lifting mechanism and the mechanical arm to move back and forth, the rotating lifting mechanism is used to drive the mechanical arm to rotate and lift, and the grasping device is used to grasp the submerged water outlet.

[0026] Example 2

[0027] The rotary lifting mechanism is further limited on the basis of Example 1, and the performance of Example 2 after the limitation is better.

[0028] The rotating and lifting mechanism includes a bottom rotating device 6 and a lifting device 3. The bottom rotating device 6 is arranged on the walking device 7, the lifting device 3 is arranged on the bottom rotating device 6, and the mechanical arm 2 is arranged on the lifting device 3; the bottom rotating device is used to drive the mechanical arm to rotate, and the lifting device is used to drive the mechanical arm to move up and down.

[0029] Furthermore, the rotating lifting mechanism also includes a slide rail device 5, which is horizontally arranged on the bottom rotating device 6, and the lifting device 3 is arranged on the slide rail device 5; the bottom rotating device 6 can drive the slide rail device 5 and the lifting device 3 to rotate, and the lifting device 3 can move back and forth in a straight line along the slide rail device.

[0030] Furthermore, the slide rail device 5 includes a slide rail plate, a slide groove and a pulley. The slide rail plate is arranged at the top of the bottom rotating device 6. The bottom rotating device 6 can drive the slide rail plate to rotate. The slide groove is arranged in a straight line on the upper edge of the slide rail plate. The pulley is connected to the bottom of the frame of the lifting device 3. The pulley is arranged in the slide groove. The lifting device moves back and forth along the slide groove through the pulley.

[0031] Furthermore, limiting devices are provided at both ends of the slide slot to prevent the pulley from escaping from the slide slot, thereby preventing the mechanical arm from falling.

[0032] Furthermore, the lifting device comprises a hydraulic cylinder and a frame, one end of the mechanical arm passes through the frame horizontally, the frame is arranged on the slide rail device (5), the hydraulic cylinder is arranged on the frame, the upper end of the hydraulic cylinder is connected to the mechanical arm, and the hydraulic cylinder is extended and retracted to drive the mechanical arm to rise and fall.

[0033] Example 3

[0034] Based on Examples 1 and 2, the robot arm and the grasping and rotating mechanism are further limited, and the performance of Example 3 after the limitations is even better.

[0035] The mechanical arm comprises a first tube arm and a second tube arm, the gripping device 1 is arranged at the first end of the first tube arm, the second end of the first tube arm is sleeved with the first end of the second tube arm, and the second end of the second tube arm is provided with an operating handle;

[0036] A gripping and rotating device is provided between the first tube arm and the second tube arm, and the gripping and rotating device drives the first tube arm to rotate relative to the second tube arm.

[0037] Furthermore, the grasping and rotating device includes a rotating motor, which is arranged in the second tube arm. The output end of the rotating motor is connected to the inner wall of the first tube arm through a rotating transmission mechanism. The rotating motor can drive the first tube arm to rotate relative to the second tube arm; it can drive the mechanical arm to realize bidirectional rotation at any angle, so that the clamped immersion water outlet can realize the function of rotation and tilting, making the clamping and installation process more convenient.

[0038] Furthermore, the gripping device 1 includes a gripping motor and a claw. The claw is arranged at the outer end of the robotic arm, and the gripping motor is connected to the claw through a claw transmission mechanism. The gripping motor drives the claw to realize the gripping and releasing actions. When the robotic arm moves to a suitable angle and position, the claw can be used to clamp the immersion nozzle and place it into the nozzle baking box, or installed at the bottom of the intermediate tank.

[0039] The claw includes two symmetrically arranged jaws, which are connected to the outer end of the first tube arm of the robotic arm through a rotating shaft. The clamping motor is connected to the inner ends of the two jaws through a gear transmission mechanism. The clamping motor drives the two jaws to rotate around their respective rotating shafts through the gear transmission mechanism to form clamping or loosening.

[0040] Furthermore, the walking device 7 includes a vehicle body, and multiple sets of driving wheels and multiple sets of auxiliary wheels are arranged at the bottom of the vehicle body; the driving wheels are equipped with motors to enable the device to move forward and backward, and the auxiliary wheels have a steering function, which can enable the device to achieve the function of overall steering. The bottom counterweight prevents the upper mechanism from tipping over during the process of clamping and moving the immersion nozzle.

[0041] The working principle of the utility model is as follows: the device utilizes a bottom rotating device to drive the entire mechanical arm to rotate, adjusts the angle through a slide rail device, a lifting device, and a gripping rotating device, clamps the submerged long water nozzle using the gripping device, moves it to the side of the intermediate tank through a walking device, and then adjusts the installation angle through various devices, installs the submerged long water nozzle to the bottom of the intermediate tank, thereby completing the movement of the submerged water nozzle.

[0042] See also Figure 1The utility model discloses a device for moving an immersion nozzle for continuous casting, which is mainly used to put the immersion nozzle into the nozzle baking box before pouring, and move it to the side of the casting position of the intermediate tank car when pouring, and then install the clamped immersion nozzle to the bottom of the intermediate tank. After the installation is completed, the device is moved to an area that does not affect the operation of personnel for the next use. The device is a mobile clamping device. In the process of clamping the immersion nozzle, the device can move in different directions and rotate at different angles to make it more convenient to clamp the immersion nozzle.

[0043] like Figure 2 As shown, the device comprises a walking device, a bottom rotating device, a slide rail device, a lifting device, a gripping rotating device and a gripping device. The device is a movable clamping and carrying device, which has the advantages of labor saving, safety and convenience.

[0044] The walking device mainly includes a bottom counterweight and a walking structure assembly, which consists of multiple sets of driving wheels and multiple sets of auxiliary wheels. The driving wheel has a motor that enables the device to move forward and backward, and the auxiliary wheel has a steering function, which enables the device to achieve overall steering. The bottom counterweight prevents the upper mechanism from tipping over during the process of clamping and moving the immersion nozzle.

[0045] The bottom rotating device mainly includes a bottom rotating mechanism and a slide groove. The bottom mechanism can realize the bidirectional rotation of the mechanism on the upper part of the rotating device at any angle; the slide groove cooperates with the slide rail mechanism.

[0046] The slide rail device includes a pulley, a mechanical arm and a limit device. The pulley moves into the slide slot to realize the extension and retraction of the entire mechanical arm. The limit device prevents the mechanical arm from derailing and falling, causing the immersion nozzle to fail and become unusable.

[0047] The entire robotic arm is also equipped with a lifting device, a grasping and rotating device, and a grasping device.

[0048] The lifting device is fixed on the position of the robot arm close to the robot arm grasping and rotating device. It can drive the entire robot arm to rise and fall by extending and retracting the hydraulic cylinder, thereby realizing the lifting and lowering of the immersion nozzle.

[0049] The gripping and rotating device includes a rotating motor, which can drive the mechanical arm to realize two-way rotation at any angle, so that the clamped immersion nozzle can realize the function of rotation and tilting, making the clamping and installation process more convenient.

[0050] The gripping device includes a gripping motor and a claw. The gripping motor drives the claw to achieve gripping and loosening actions. When the robotic arm moves to a suitable angle and position, the claw can be used to clamp the immersion nozzle and place it in the nozzle baking box, or install it to the bottom of the intermediate tank.

[0051] In summary, a device for moving an immersion nozzle for continuous casting can install the immersion nozzle to the bottom of the intermediate tank before pouring. This device is a mobile moving device. During use, the long nozzle is clamped and sent to the vicinity of the intermediate tank, and moved to an idle position after use. The device is easy to operate, simple in structure, and easy to implement; at the same time, it reduces the number of personnel, reduces danger, and improves work efficiency.

[0052] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0053] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the claims attached to the utility model.

Claims

1. A trolley for transporting an immersed nozzle for continuous casting, characterized in that: The invention comprises a walking device (7), a rotating lifting mechanism and a mechanical arm (2), wherein the rotating lifting mechanism is arranged on the walking device (7), the mechanical arm (2) is arranged transversely on the rotating lifting mechanism, and a gripping device (1) is arranged at the outer end of the mechanical arm (2); the walking device (7) is used to drive the rotating lifting mechanism and the mechanical arm to move back and forth together, the rotating lifting mechanism is used to drive the mechanical arm to rotate and move up and down, and the gripping device is used to grip the submerged nozzle.

2. The trolley for carrying the submerged nozzle for continuous casting according to claim 1, characterized in that: The rotary lifting mechanism comprises a bottom rotary device (6) and a lifting device (3); the bottom rotary device (6) is arranged on the walking device (7); the lifting device (3) is arranged on the bottom rotary device (6); and the mechanical arm (2) is arranged on the lifting device (3).

3. The trolley for carrying the submerged nozzle for continuous casting according to claim 2, characterized in that: The rotary lifting mechanism also includes a slide rail device (5), the slide rail device (5) is horizontally arranged on the bottom rotary device (6), and the lifting device (3) is arranged on the slide rail device (5).

4. The trolley for carrying the submerged nozzle for continuous casting according to claim 3, characterized in that: The slide rail device (5) comprises a slide rail plate, a slide groove and a pulley. The slide rail plate is arranged on the top of the bottom rotating device (6). The bottom rotating device (6) can drive the slide rail plate to rotate. The slide groove is arranged in a straight line on the upper edge of the slide rail plate. The pulley is connected to the bottom of the lifting device (3). The pulley is arranged in the slide groove. The lifting device moves back and forth along the slide groove via the pulley.

5. The trolley for carrying the submerged nozzle for continuous casting according to claim 4, characterized in that: Limiting devices are arranged at both ends of the slide.

6. The trolley for carrying the submerged nozzle for continuous casting according to claim 3, characterized in that: The lifting device comprises a hydraulic cylinder and a frame, one end of the mechanical arm passes through the frame horizontally, the frame is arranged on the slide rail device (5), the hydraulic cylinder is arranged on the frame, the upper end of the hydraulic cylinder is connected to the mechanical arm, and the hydraulic cylinder is extended and retracted to drive the mechanical arm to rise and fall.

7. The trolley for carrying the submerged nozzle for continuous casting according to claim 1, characterized in that: The mechanical arm comprises a first tube arm and a second tube arm, the gripping device (1) is arranged at the first end of the first tube arm, the second end of the first tube arm is sleeved with the first end of the second tube arm, and the second end of the second tube arm is provided with an operating handle; A gripping and rotating device is provided between the first tube arm and the second tube arm, and the gripping and rotating device drives the first tube arm to rotate relative to the second tube arm.

8. The trolley for carrying the submerged nozzle for continuous casting according to claim 7, characterized in that: The grasping and rotating device comprises a rotating motor, which is arranged in the second tube arm. The output end of the rotating motor is connected to the inner wall of the first tube arm. The rotating motor can drive the first tube arm to rotate relative to the second tube arm.

9. The trolley for carrying the submerged nozzle for continuous casting according to claim 1, characterized in that: The gripping device (1) comprises a gripping motor and a claw, wherein the claw is arranged at the outer end of the mechanical arm, and the gripping motor is connected to the claw via a claw transmission mechanism.

10. The trolley for carrying the submerged nozzle for continuous casting according to claim 1, characterized in that: The walking device (7) comprises a vehicle body, and a plurality of sets of driving wheels and a plurality of sets of auxiliary wheels are arranged at the bottom of the vehicle body.

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