Hydraulic system of unmanned steel casting long nozzle manipulator

Abstract

A hydraulic system of an unmanned steel casting long-nozzle manipulator is characterized in that a ball valve is connected with a high-pressure oil pipe, and the ball valve is sequentially connected with a filter, an electromagnetic directional valve, a hydraulic control one-way valve and a proportional directional valve through pipelines. According to the hydraulic system of the unmanned steel casting long nozzle manipulator, the manipulator is controlled to ascend and descend through the hydraulic proportional control loop, the functions of grabbing and accurately sleeving the long nozzle are achieved by combining the functions of a manipulator rotating motor, a displacement sensor and the like, an operator does not need to be close to a furnace for operation, and only needs to press a key on a control console, and the operation is convenient. Therefore, the manipulator can automatically grab the nozzle and sleeve the nozzle on the large ladle nozzle, the working environment of operators is improved, and the labor cost is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of hydraulic systems, specifically, a kind of hydraulic system of unmanned steel pouring long nozzle manipulator. BACKGROUND

[0002] The hydraulic system form of long nozzle manipulator in continuous casting industry mainly has: manual control hydraulic valve group form and electromagnetic valve controlled hydraulic circuit form etc..With the continuous development of each business of Chinese wisdom manufacturing, in continuous casting industry, manual control manipulator has gradually been replaced by automatic control, and unmanned operation automatic manipulator has become the trend of continuous casting wisdom manufacturing unmanned operation.Manipulator of manual control and ordinary electromagnetic reversing valve control is operated to long nozzle, not only needs artificial auxiliary installation long nozzle, but also relies on observation and judgment of operator when long nozzle is installed in large package bottom, with certain contingency and subjectivity, not only unstable, but also certain risk.For operator, manipulator of manual control and ordinary electromagnetic reversing valve control needs high-temperature, high-dust furnace operation, and the working environment of furnace is also relatively poor, high temperature and dust have certain influence on health and safety of operator.

[0003] Therefore, the hydraulic system form of traditional long nozzle manipulator of manual control has the above various inconvenience and problems. SUMMARY

[0004] The utility model aims at providing a kind of hydraulic system of unmanned steel pouring long nozzle manipulator with high degree of automation.

[0005] To achieve the above object, the technical solution of the utility model is as follows:

[0006] A kind of hydraulic system of unmanned steel pouring long nozzle manipulator, characterized by:

[0007] The ball valve is connected with high-pressure oil pipe, and the ball valve is connected with filter, electromagnetic reversing valve, hydraulic control check valve and proportional reversing valve in sequence through pipe.

[0008] The hydraulic system of unmanned steel pouring long nozzle manipulator of the utility model can also be further realized by the following technical measures.

[0009] The hydraulic system of long nozzle manipulator of the preceding unmanned steel pouring, wherein the ball valve is high-pressure ball valve.

[0010] The hydraulic system of long nozzle manipulator of the preceding unmanned steel pouring, wherein the proportional reversing valve is provided with pre-positioned pressure reducing valve, and the pressure reducing valve is used to adjust the pressure and stability of hydraulic source to adjust the high-pressure oil pressure of proportional reversing valve import.

[0011] The hydraulic system of the unmanned long nozzle mechanical arm for pouring steel, wherein an overflow valve is arranged in the hydraulic circuit of the hydraulic system.

[0012] In order to realize that the mechanical arm long nozzle is in good contact with the ladle nozzle when the hydraulic cylinder is in a fixed working position, the mechanical arm long nozzle can move downward when the ladle nozzle presses the mechanical arm long nozzle, and the upward supporting force is unchanged to ensure that the long nozzle has no tendency to separate from the ladle nozzle.

[0013] Further comprising a pressure relay and a pressure gauge, wherein the pressure relay and the pressure gauge are connected with the hydraulic cylinder and the overflow valve respectively.

[0014] 1. The mechanical arm is lifted by using the hydraulic proportional control circuit, and the functions of the mechanical arm rotating motor and the displacement sensor are combined to realize the functions of grabbing the long nozzle and accurately sleeving the long nozzle.

[0015] 2. The operator does not need to operate near the furnace, but only needs to press the keys on the control console to realize the action that the mechanical arm automatically grabs the nozzle and sleeves the nozzle on the ladle nozzle.

[0016] 3. The working environment of the operator is improved, and the labor cost is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is the hydraulic system principle diagram of the unmanned long nozzle mechanical arm for pouring steel of the first embodiment of the utility model;

[0018] Figure 2 It is the hydraulic system principle diagram of the unmanned long nozzle mechanical arm for pouring steel of the second embodiment of the utility model;

[0019] Figure 3 It is the valve table appearance diagram of the unmanned long nozzle mechanical arm for pouring steel of the embodiment of the utility model. DETAILED DESCRIPTION

[0020] The utility model will be further described below in combination with the embodiments and the drawings thereof. Embodiment 1

[0021] Please refer to Figure 1 and Figure 3The working principle of the hydraulic system of the unmanned steel casting long nozzle manipulator of this utility model is as follows: High-pressure oil is filtered through high-pressure ball valve 1 and filter 3, and then passes through solenoid directional valve 4. When solenoid directional valve 4 is energized, the high-pressure oil will reach hydraulic control check valve 5 and its control port, thereby opening the main oil circuit to proportional directional valve 7 and the rodless chamber of hydraulic cylinder 2. Pressure reducing valve 6 is used to adjust the pressure and stability of the hydraulic source. The pressure reducing valve 6 can adjust the high-pressure oil pressure at the inlet of proportional directional valve 7. After the high-pressure oil enters proportional directional valve 7, the proportional directional valve 7 is regulated by current or voltage control, thereby realizing the extension and retraction of the hydraulic cylinder rod, and the speed of the hydraulic cylinder rod movement can be controlled. When proportional directional valve 7 is in the neutral position and the inlet and outlet ports are closed, hydraulic cylinder 2 will be in a static working state. In special circumstances, hydraulic cylinder 2 may be subjected to a force opposite to the target movement of hydraulic cylinder 2, which will cause the hydraulic cylinder rod to extend or retract slightly. The hydraulic oil will then flow from the T-pipe through check valve 8 ( Figure 3 (As shown in the diagram) Oil enters the rodless chamber of hydraulic cylinder 2, or enters the rod chamber of hydraulic cylinder 2 via check valve 8, to achieve the oil replenishment function of both chambers of hydraulic cylinder 2 without causing hydraulic cylinder 2 to suck in air. To ensure good contact between the long nozzle 12 of the robotic arm and the ladle nozzle 13 when hydraulic cylinder 2 is in a fixed working position, it is necessary to ensure that when the ladle nozzle 13 presses down on the long nozzle 12 of the robotic arm, the long nozzle 12 of the robotic arm can move downwards accordingly, while maintaining a constant upward supporting force to ensure that the long nozzle 12 does not tend to detach from the ladle nozzle. In the hydraulic circuits of the rodless and rod chambers of hydraulic cylinder 2, corresponding relief valves 9 are installed, with their relief pressure values ​​set. Thus, when the ladle nozzle is pressed downwards, hydraulic cylinder 2 is forced to retract. When the pressure reaches the set value, excess hydraulic oil can overflow from the relief valve back to the T-pipe, ensuring that the working pressure of hydraulic cylinder 2 is always maintained at the set pressure of the relief valve. This ensures that the long nozzle 12 always supports the ladle nozzle 13 upwards, maintaining a tight fit, ultimately achieving the work of fitting the nozzle. Example 2

[0022] Please see now Figure 2 and Figure 3 The structure and working principle of the hydraulic system of the unmanned steel pouring long nozzle manipulator of this utility model are the same as those of Embodiment 1, and a pressure relay 10 and a pressure gauge 11 are added on the basis of this embodiment. Figure 3 (Not shown in the image), wherein the pressure relay 10 and the pressure gauge 11 are respectively connected to the hydraulic cylinder 2 and the relief valve 9. When the system pressure reaches the set value of the pressure relay, an electrical signal is sent to depressurize and reverse the oil circuit, shut down the motor, and stop the system from working, thus providing further safety protection.

[0023] The use method of the unmanned steel pouring long nozzle manipulator hydraulic system: the manipulator is given coordinates through the controller, the target position of the long nozzle 12 of the manipulator is positioned through displacement sensors and other elements, so that the manipulator automatically travels to the position directly below the ladle nozzle 13, and then the rising function is realized through the hydraulic cylinder 2, the long nozzle 12 of the manipulator and the ladle nozzle 13 are tightly matched, and the nozzle sleeve is tightened. The hydraulic system mainly controls the vertical positioning (i.e. the lifting function) and the follow-up function of the long nozzle of the manipulator, and the rotating function of the manipulator is realized by a common motor. The hydraulic system of the unmanned steel pouring long nozzle manipulator has the advantages that the hydraulic system realizes the functions of grabbing the long nozzle and accurately sleeving the long nozzle by using the hydraulic proportional control circuit, controlling the lifting of the manipulator, combining the functions of the manipulator rotating motor and the displacement sensor, etc. The operator does not need to operate near the furnace, and only needs to press the keys on the control console, so that the manipulator can automatically grab the nozzle and sleeve the nozzle on the ladle nozzle. In this way, the operator can be away from the harsh working environment and transferred to the operation room, and the nozzle can be automatically and accurately sleeved, without the need for a dedicated operator to operate the manipulator, thereby improving the working environment of the operator and reducing the labor cost.

[0024] The above examples are only used to illustrate the utility model, and are not limited to the utility model. Those skilled in the art can make various transformations or changes without departing from the spirit and scope of the utility model. Therefore, all equivalent technical solutions should belong to the scope of the utility model, and should be limited by the claims.

Claims

1. A hydraulic system of an unmanned steel pouring shroud manipulator, comprising a ball valve (1) and a hydraulic cylinder (2), characterized in that: the ball valve (1) is connected with a high-pressure oil pipe, and the ball valve (1) is connected with a filter (3), an electromagnetic reversing valve (4), a hydraulic control check valve (5) and a proportional reversing valve (7) in sequence; the proportional reversing valve (7) is provided with a pre-positioned pressure reducing valve (6) for adjusting the pressure and stability of a hydraulic source to adjust the high-pressure oil pressure at the inlet of the proportional reversing valve (7); a check valve (8) and a relief valve (9) are arranged in the hydraulic circuit of the hydraulic system; the hydraulic system further comprises a manipulator shroud (12) and a ladle shroud (13); when the hydraulic cylinder (2) is in a fixed working position, the manipulator shroud (12) is in contact with the ladle shroud (13); when the ladle shroud (13) presses the manipulator shroud (12) downward, the manipulator shroud (12) can move downward and the upward supporting force is kept unchanged to ensure that the shroud (12) and the ladle shroud (13) have no tendency to separate.

2. The hydraulic system for unmanned steel pouring shroud robot according to claim 1, characterized in that, The ball valve (1) is a high-pressure ball valve.

3. The hydraulic system for unmanned nozzle robot as claimed in claim 1, wherein, The hydraulic system further comprises a pressure relay (10) and a pressure gauge (11), and the pressure relay (10) and the pressure gauge (11) are connected with the hydraulic cylinder (2) and the relief valve (9) respectively.

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