CN104017935A - Steelmaking swing converter parallel tilting mechanism with three degrees of freedom - Google Patents
Steelmaking swing converter parallel tilting mechanism with three degrees of freedom Download PDFInfo
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- CN104017935A CN104017935A CN201410239997.6A CN201410239997A CN104017935A CN 104017935 A CN104017935 A CN 104017935A CN 201410239997 A CN201410239997 A CN 201410239997A CN 104017935 A CN104017935 A CN 104017935A
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Abstract
A steelmaking swing converter parallel tilting mechanism with three degrees of freedom is disclosed. The mechanism mainly comprises an engine base, a mobile platform, a swing converter, an upper transverse shaft, a lower transverse shaft, two RPR type linear driving branches, a UPR type linear driving branch and three groups of counterweight devices. The lower transverse shaft is rotatably connected to the engine base. The upper transverse shaft is rotatably connected to the mobile platform. The swing converter is fixedly connected to the mobile platform. The upper ends and the lower ends of the two RPR type linear driving branches are respectively rotatably connected to the two ends of the upper transverse shaft and the two ends of the lower transverse shaft. The axes of four rotation pairs are parallel with each other. A plane closed-loop dual drive side chain is formed. The lower end of the UPR type linear driving branch is connected to the engine base in a universal pair, and the upper end is connected to the mobile platform in a rotation pair. The three groups of the counterweight devices are disposed at positions opposite to the three branches on the mobile platform. The mechanism has advantages of simple structure, high bearing capacity, high rigidity, large working space for the swing converter, and good swing flexibility, and can refine high-quality steel and prolong the service lifetime of furnace linings.
Description
Technical field
The present invention relates to robot field, particularly a kind of steel-making rocking-turn stove tilting mechanism in parallel.
Background technology
Steel-making converter and the blowing of oxygen rifle are in conjunction with being one of major equipment of making steel at present both at home and abroad.Domestic and international existing steel-making converter adopts single-degree-of-freedom tilting machine equipment to drive converter inclining by backing ring more at present.Tilting machine equipment adopts many ac variable-frequency electric motors to drive, and multiple motors adopts multi point engagement integral form, carries out moment equilibrium by torsion bar device.Because this class tilting machine equipment only has single-degree-of-freedom to fascinate, the commutation impact moment that fascinates is very large, in stove, molten iron and alloy material mix poor-performing, de-(hydrogen, phosphorus, carbon, sulphur, gas) and removal impurity ability are poor, washed away by the single degree of freedom molten steel that fascinates, the converter lining life-span is shorter.
As 1994, two Chinese invention patents of nineteen ninety-five Austrian Iron And Steel Enterprise Arpa Industrial Equipment Manufacturing Company's application, are respectively tiltable converter CN1084569 and essemer converter CN1100145.Two Chinese invention patents of German SMS De Marger GmbH's application in 2001,2002 years, are respectively converter installation CN1282379 and converter gearing CN1553965.The application Chinese invention patent CN1259580 of Wuhan Iron and Steel Design Research Inst. Metallurgical Industrial Ministry (CN in 2000, the system of automatic balance rotating torque of converter.Zhou Guanwu application Chinese invention patent CN1125256 in 1996, removable converter.
Content of the present invention
The object of the invention be to provide a kind of simple in structure, bearing capacity is large, rigidity is high, rocking-turn stove and accessory has the three degree of freedom steel-making rocking-turn stove parallel connection tilting mechanism that working space is large and handiness is good.This mechanism mainly comprises support, moving platform, rocking-turn stove, upper transverse axis, lower transverse axis, RPR type linear drives branch that two structures are identical, UPR type linear drives branch and and three groups of weight-balancing devices.Wherein, lower transverse axis rotates and connects with support, and upper transverse axis rotates and connects with moving platform, and rocking-turn stove is connected in the center of moving platform, and support is fixed on ground; Two identical RPR type linear drives branches are plane symmetry and arrange between support and moving platform, each RPR type linear drives branch comprises expansion link, oscillating cylinder, electric motor, upper end revolute pair and lower end revolute pair, above-mentioned upper transverse axis two ends are respectively equipped with a hole, its axis is parallel to each other, and vertically go up the axis of transverse axis, and two upper end revolute pairs connect with the rotation of upper transverse axis two ends by the hole at upper transverse axis two ends respectively, and its axis is parallel to each other; Above-mentioned lower transverse axis two ends are respectively equipped with a hole, and its axis is parallel to each other, and vertically go up the axis of transverse axis, and two lower end revolute pairs are rotated and connected with lower transverse axis two ends, its axis and upper end turns auxiliary shaft line parallel by the hole at lower transverse axis two ends respectively; One end of swinging cylinder is connected with the drivingmotor that is located at revolute pair outside, lower end by lower end revolute pair, the other end of this swinging cylinder and one end of expansion link socket, the other end of this expansion link is connected with upper end revolute pair, the drivingmotor that is located at revolute pair outside, lower end can be guaranteed effective shift motion of this branch, and expansion link and oscillating cylinder and electric motor form a conventional screw drives moving sets.Liang GeRPRXing linear drives branch upper and lower end rotates and connects with upper transverse axis and lower transverse axis respectively, and four revolute pair axis are parallel to each other, and form a plane closed loop Dual Drive side chain.
UPR type linear drives branch comprises expansion link, oscillating cylinder, electric motor, the universal hinge in lower end and upper end revolute pair; The universal hinge in lower end is made up of mutually orthogonal outside revolute pair and inner side revolute pair, and outside revolute pair is rotated and connected with support, and its axis is vertical with upper transverse axis axis; The revolute pair of upper end connects with the supporting leg rotation being connected on moving platform, and its axis is parallel with lower transverse axis axis; One end of swinging cylinder is connected with the drivingmotor that is located at universal hinge outside, lower end by the universal hinge in lower end, the other end of this swinging cylinder and one end of expansion link socket, the other end of this expansion link is connected with upper end revolute pair, drivingmotor is located at universal hinge outside, lower end, guarantees effective shift motion of this branch.Expansion link, oscillating cylinder and electric motor form a conventional driving moving sets.
Converter identical with conventional converter, its axial line is vertically gone up the axis of transverse axis.Three groups of weight-balancing devices are located on moving platform on the position corresponding with three branches, and every group of weight-balancing device comprises damper weight, traction rope and guide wheel group; Traction rope is walked around guide wheel group, and the two ends of this traction rope freely connect with damper weight and moving platform respectively, and guide wheel group is made up of bearing and two introductions, and bearing is fixed on ground.Utilize three groups of weight-balancing devices, can effectively reduce each linear drives bifurcation load.
The present invention compared with prior art tool has the following advantages:
1, simple in structure, bearing capacity is large, rigidity is high, rocking-turn stove working space is large and rocking-turn handiness is good.
2, mix molten steel and alloy material in stove in the three degree of freedom rocking-turn mode of fascinating, reversing impact moment reduces to fascinate, improve molten steel stirring in stove and mix performance, improve de-(carbon, sulphur, phosphorus, hydrogen, gas) and go deimpurity ability, improve lining life, meet the process requirements of refining high-quality steel.
Brief description of the drawings
Fig. 1 is that the present invention is in entopic three-dimensional simplified schematic diagram.
Fig. 2 is the three-dimensional simplified schematic diagram of rocking-turn stove of the present invention in maximum tilted position.
1-support, 2-moving platform, 3-rocking-turn stove, transverse axis under 4-, the upper transverse axis of 5-, the identical RPR type linear drives of 6,7 two of – branch, 8-UPR type linear drives branch, 9,10, tri-groups of identical weight-balancing devices of 11-
6-1-electric motor, 6-2-lower end revolute pair, 6-3-oscillating cylinder, 6-4-expansion link, 6-5-upper end revolute pair
8-1-electric motor, revolute pair inside 8-2-, revolute pair outside 8-3-, 8-4-oscillating cylinder, 8-5-expansion link, 8-6-upper end revolute pair, 9-1-damper weight, 9-2-traction rope, the 9-3-wheels that lead
Embodiment
In the three degree of freedom steel-making rocking-turn stove tilting mechanism schematic diagram in parallel shown in Fig. 1, lower transverse axis 4 rotates and connects with support 1, and upper transverse axis 5 rotates and connects with moving platform 2, and rocking-turn stove 3 is connected in the center of moving platform, and support is fixed on ground; Two identical RPR type linear drives branches 6,7 are plane symmetry and arrange between support and moving platform, above-mentioned upper transverse axis two ends are respectively equipped with a hole, its axis is parallel to each other, and vertically go up the axis of transverse axis, upper end revolute pair 6-5 in Liang GeRPRXing linear drives branch is rotated and connects with upper transverse axis two ends by the hole at upper transverse axis two ends respectively, and its axis is parallel to each other; Above-mentioned lower transverse axis two ends are respectively equipped with a hole, and its axis is parallel to each other, and vertically go up the axis of transverse axis, and lower end revolute pair 6-2 rotates and connects with lower transverse axis two ends, its axis and upper end turns auxiliary shaft line parallel by the hole at lower transverse axis two ends respectively; One end of swinging cylinder 6-3 is connected with the drivingmotor 6-1 that is located at revolute pair outside, lower end by lower end revolute pair, one end socket of the other end of this swinging cylinder and expansion link 6-4, the other end of this expansion link is connected with upper end revolute pair, the drivingmotor that is located at revolute pair outside, lower end can be guaranteed effective shift motion of this branch, and expansion link and oscillating cylinder and electric motor form a conventional screw drives moving sets.Liang GeRPRXing linear drives branch upper and lower end rotates and connects with upper transverse axis and lower transverse axis respectively, and four revolute pair axis are parallel to each other, and form a plane closed loop Dual Drive side chain.
The universal hinge in lower end in UPR type linear drives branch 8 is made up of mutually orthogonal outside revolute pair 8-3 and inner side revolute pair 8-2, and outside revolute pair is rotated and connected with support, and its axis is vertical with upper transverse axis axis; The revolute pair 8-6 of upper end connects with the supporting leg rotation being connected on moving platform, and its axis is parallel with lower transverse axis axis; One end of swinging cylinder 8-4 is connected with the drivingmotor 8-1 that is located at universal hinge outside, lower end by the universal hinge in lower end, one end socket of the other end of this swinging cylinder and expansion link 8-5, the other end of this expansion link is connected with upper end revolute pair, drivingmotor is located at universal hinge outside, lower end, guarantees effective shift motion of this branch.Expansion link, oscillating cylinder and electric motor form a conventional driving moving sets.
The axial line of converter is vertically gone up the axis of transverse axis, and three groups of weight-balancing devices 9,10,11 are located on moving platform on the position corresponding with three branches, and every group of weight-balancing device comprises damper weight 9-1, traction rope 9-2 and guide wheel group 9-3; Traction rope is walked around guide wheel group, and the two ends of this traction rope freely connect with damper weight and moving platform respectively, and guide wheel group is made up of bearing and two introductions, and bearing is fixed on ground.Utilize three groups of weight-balancing devices, can effectively reduce each linear drives bifurcation load.
Claims (1)
1. a three degree of freedom steel-making rocking-turn stove tilting mechanism in parallel, it mainly comprises support, moving platform, rocking-turn stove, upper transverse axis, lower transverse axis, two RPR type linear drives branch, a UPR type linear drives branch and three groups of weight-balancing devices that structure is identical, it is characterized in that: its lower transverse axis rotates and connects with support, upper transverse axis rotates and connects with moving platform, rocking-turn stove is connected in the center of moving platform, and support is fixed on ground; Two identical RPR type linear drives branches are plane symmetry and arrange between support and moving platform, each RPR type linear drives branch comprises expansion link, oscillating cylinder, electric motor, upper end revolute pair and lower end revolute pair, above-mentioned upper transverse axis two ends are respectively equipped with a hole, its axis is parallel to each other, and vertically go up the axis of transverse axis, and two upper end revolute pairs connect with the rotation of upper transverse axis two ends by the hole at upper transverse axis two ends respectively, and its axis is parallel to each other; Above-mentioned lower transverse axis two ends are respectively equipped with a hole, and its axis is parallel to each other, and vertically go up the axis of transverse axis, and two lower end revolute pairs are rotated and connected with lower transverse axis two ends, its axis and upper end turns auxiliary shaft line parallel by the hole at lower transverse axis two ends respectively; One end of swinging cylinder is connected with the drivingmotor that is located at revolute pair outside, lower end by lower end revolute pair, the other end of this swinging cylinder and one end of expansion link socket, the other end of this expansion link is connected with upper end revolute pair, expansion link and oscillating cylinder and electric motor form a conventional screw drives moving sets, Liang GeRPRXing linear drives branch upper and lower end rotates and connects with upper transverse axis and lower transverse axis respectively, four revolute pair axis are parallel to each other, and form a plane closed loop Dual Drive side chain; UPR type linear drives branch comprises expansion link, oscillating cylinder, electric motor, the universal hinge in lower end and upper end revolute pair, the universal hinge in lower end is made up of mutually orthogonal outside revolute pair and inner side revolute pair, and outside revolute pair is rotated and connected with support, and its axis is vertical with upper transverse axis axis; The revolute pair of upper end connects with the supporting leg rotation being connected on moving platform, and its axis is parallel with lower transverse axis axis; One end of swinging cylinder is connected with the drivingmotor that is located at universal hinge outside, lower end by the universal hinge in lower end, the other end of this swinging cylinder and one end of expansion link socket, the other end of this expansion link is connected with upper end revolute pair, and expansion link, oscillating cylinder and electric motor form a conventional driving moving sets; The axial line of converter is vertically gone up the axis of transverse axis, three groups of weight-balancing devices are located on moving platform on the position corresponding with three branches, every group of weight-balancing device comprises damper weight, traction rope and guide wheel group, traction rope is walked around guide wheel group, the two ends of this traction rope freely connect with damper weight and moving platform respectively, guide wheel group is made up of bearing and two introductions, and bearing is fixed on ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410239997.6A CN104017935B (en) | 2014-05-30 | 2014-05-30 | Three degree of freedom steel-making rocking-turn stove tilting mechanism in parallel |
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| CN201410239997.6A CN104017935B (en) | 2014-05-30 | 2014-05-30 | Three degree of freedom steel-making rocking-turn stove tilting mechanism in parallel |
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| CN104017935A true CN104017935A (en) | 2014-09-03 |
| CN104017935B CN104017935B (en) | 2016-01-20 |
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| CN201410239997.6A Expired - Fee Related CN104017935B (en) | 2014-05-30 | 2014-05-30 | Three degree of freedom steel-making rocking-turn stove tilting mechanism in parallel |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476566A (en) * | 2014-11-28 | 2015-04-01 | 天津理工大学 | Three-branch and six-degree-of-freedom parallel mechanism with rope-driven joint |
| CN106755722A (en) * | 2016-11-30 | 2017-05-31 | 燕山大学 | The steel-making multi-faceted tilting equipment in parallel of rocking-turn stove |
| CN106837904A (en) * | 2016-11-30 | 2017-06-13 | 燕山大学 | The steel-making rocking-turn stove parallel connection hand hydraulically controlled device of tilting equipment |
| CN110218834A (en) * | 2019-07-18 | 2019-09-10 | 燕山大学 | A kind of rope bar combination drive converter rocking-turn mechanism |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3327549A (en) * | 1963-12-06 | 1967-06-27 | Firm Vereinigte Osterreichisch | Tilting drive arrangement for metalurgical furnaces, such as converters or crucibles |
| CN1084569A (en) * | 1992-09-04 | 1994-03-30 | 奥地利钢铁联合企业阿尔帕工业设备制造公司 | Tiltable converter |
| CN2401566Y (en) * | 1999-12-30 | 2000-10-18 | 中国冶金建设集团包头钢铁设计研究总院 | Three-point hanged converter |
| CN201660653U (en) * | 2010-02-25 | 2010-12-01 | 鞍钢股份有限公司 | Double-freedom converter |
| CN202074813U (en) * | 2011-02-25 | 2011-12-14 | 中国恩菲工程技术有限公司 | Rotary converter |
| CN203443323U (en) * | 2013-07-26 | 2014-02-19 | 岳阳钟鼎热工电磁科技有限公司 | Tilting revolving aluminum smelting furnace |
| CN103649342A (en) * | 2011-07-08 | 2014-03-19 | 丹尼尔和科菲森梅克尼齐有限公司 | Tilting oxygen converter |
-
2014
- 2014-05-30 CN CN201410239997.6A patent/CN104017935B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3327549A (en) * | 1963-12-06 | 1967-06-27 | Firm Vereinigte Osterreichisch | Tilting drive arrangement for metalurgical furnaces, such as converters or crucibles |
| CN1084569A (en) * | 1992-09-04 | 1994-03-30 | 奥地利钢铁联合企业阿尔帕工业设备制造公司 | Tiltable converter |
| CN2401566Y (en) * | 1999-12-30 | 2000-10-18 | 中国冶金建设集团包头钢铁设计研究总院 | Three-point hanged converter |
| CN201660653U (en) * | 2010-02-25 | 2010-12-01 | 鞍钢股份有限公司 | Double-freedom converter |
| CN202074813U (en) * | 2011-02-25 | 2011-12-14 | 中国恩菲工程技术有限公司 | Rotary converter |
| CN103649342A (en) * | 2011-07-08 | 2014-03-19 | 丹尼尔和科菲森梅克尼齐有限公司 | Tilting oxygen converter |
| CN203443323U (en) * | 2013-07-26 | 2014-02-19 | 岳阳钟鼎热工电磁科技有限公司 | Tilting revolving aluminum smelting furnace |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104476566A (en) * | 2014-11-28 | 2015-04-01 | 天津理工大学 | Three-branch and six-degree-of-freedom parallel mechanism with rope-driven joint |
| CN106755722A (en) * | 2016-11-30 | 2017-05-31 | 燕山大学 | The steel-making multi-faceted tilting equipment in parallel of rocking-turn stove |
| CN106837904A (en) * | 2016-11-30 | 2017-06-13 | 燕山大学 | The steel-making rocking-turn stove parallel connection hand hydraulically controlled device of tilting equipment |
| CN106837904B (en) * | 2016-11-30 | 2018-04-06 | 燕山大学 | Make steel the hand hydraulically controlled device of rocking-turn stove parallel connection tilting equipment |
| CN106755722B (en) * | 2016-11-30 | 2018-07-27 | 燕山大学 | Make steel the multi-faceted tilting equipment in parallel of rocking-turn stove |
| CN110218834A (en) * | 2019-07-18 | 2019-09-10 | 燕山大学 | A kind of rope bar combination drive converter rocking-turn mechanism |
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| Publication number | Publication date |
|---|---|
| CN104017935B (en) | 2016-01-20 |
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Granted publication date: 20160120 Termination date: 20190530 |