CN106837904A - The steel-making rocking-turn stove parallel connection hand hydraulically controlled device of tilting equipment - Google Patents
The steel-making rocking-turn stove parallel connection hand hydraulically controlled device of tilting equipment Download PDFInfo
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- CN106837904A CN106837904A CN201611075556.2A CN201611075556A CN106837904A CN 106837904 A CN106837904 A CN 106837904A CN 201611075556 A CN201611075556 A CN 201611075556A CN 106837904 A CN106837904 A CN 106837904A
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- hole
- cylinder rod
- piston
- rpr
- rectilinear branches
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21C—PROCESSING OF PIG-IRON, e.g. REFINING, MANUFACTURE OF WROUGHT-IRON OR STEEL; TREATMENT IN MOLTEN STATE OF FERROUS ALLOYS
- C21C5/00—Manufacture of carbon-steel, e.g. plain mild steel, medium carbon steel or cast steel or stainless steel
- C21C5/28—Manufacture of steel in the converter
- C21C5/42—Constructional features of converters
- C21C5/46—Details or accessories
- C21C5/50—Tilting mechanisms for converters
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Manufacturing & Machinery (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Actuator (AREA)
Abstract
One kind steel-making rocking-turn stove parallel connection hand hydraulically controlled device of tilting equipment, it mainly includes support, dynamic platform, handle, transverse axis, three RPR types rectilinear branches, a T-shaped axle and three hydraulicdirectional control valves, and wherein transverse axis is rotated with moving platform and coupled, and handle is connected with moving platform；Two RPR type rectilinear branches two ends rotate with transverse axis two ends and support two ends couple respectively, constitute plane double-movement closed loop side chain.Another RPR types rectilinear branches upper end rotates duplicate invoice and connects with dynamic platform, and lower end is coupled by T-shaped axle with support universal pair.Each RPR types rectilinear branches includes piston rod and cylinder rod, and three the piston rod of branch is secondary with three handle balls of reversal valve respectively and cylindrical pair is combined and couples, and three cylinder rods of branch are connected with three bases of reversal valve respectively.Manually parallel institution controls three hydraulicdirectional control valves to the present invention, can drive the steel-making rocking-turn stove multi-faceted rocking-turn of parallel hydraulic tilting equipment, reduces the impact moment that fascinates, and refines high-quality steel and improves lining durability.
Description
Technical field
More particularly to it is a kind of control device made steel and shake converter tilting mechanism the invention belongs to robot field.
Background technology
It is current one of capital equipment of steel-making both at home and abroad that steelmaking converter is combined with oxygen rifle blowing.Existing refining both at home and abroad at present
Converter inclining is driven by backing ring using single-degree-of-freedom tilting machine equipment more than steel converter.Tilting machine equipment is using many exchanges
Adjustable frequency motor drives, and multiple motors use multi point engagement integral form, and equalising torque is carried out by torsion lever apparatus.
1994, nineteen ninety-five, Austrian Iron And Steel Enterprise Arpa Industrial Equipment Manufacturing Company applied for two Chinese invention patents, respectively
It is tiltable converter CN1084569 and essemer converter CN1100145.2001,2002 years German SMS De Marger GmbH Shens
Please two Chinese invention patents, respectively converter installation CN1282379 and converter gearing CN1553965.Metallurgy in 2000
Wuhan Iron and Steel Design Inst. of the Ministry of Industry applies for Chinese invention patent CN1259580, the system of automatic balance rotating torque of converter.
Zhou Guanwu applies for Chinese invention patent CN1125256, removable converter within 1996.Because this kind of tilting machine equipment only has one certainly
Fascinated by degree, the commutation impact moment that fascinates is very big, molten iron mixes poor-performing with alloy material in stove, take off (hydrogen, phosphorus, carbon, sulphur,
Gas) and go removal of impurity ability poor, to be washed away by the single-degree-of-freedom molten steel that fascinates for a long time, the converter lining life-span is shorter.It is above-mentioned to overcome
The deficiency of steelmaking converter tiling arrangement, China authorizes patent of invention CN104017935B to disclose a kind of Three Degree Of Freedom refining within 2016
Steel rocking-turn stove parallel connection tilting equipment, it is intended to realize the multi-faceted rocking-turn of converter, effectively reduces driving converter and molten steel large eccentricity is big
Quality frequently changes the shock loading of steering, improves molten steel agitation in stove and mixes performance, improves de- (carbon, sulphur, phosphorus, hydrogen, gas) and goes
Deimpurity ability, improves lining durability, meets the process requirements of refining high-quality steel.
Invention in 2016 authorizes CN104049566B to disclose a kind of electrical drive control system method of converter inclining safety, by inclining
Dynamic angular encoder and four tilting motor speed encoders are mutually authenticated, and this encoder information is obtained by PLC, are monitored
And differentiation, prevent converter inclining from produce influence to system because encoder breaking down.Invention in 2013 is authorized
CN102061355B discloses a kind of converter tilting control device and method, with the first controller, the first relay, second controller
With the startup or closing that arrangements for speed regulation control arrangements for speed regulation.Invention in 2016 authorizes CN104018794B to disclose a kind of Power Tong and leads
Rail moving type hydraulic control backing pin resetting means, by transferring on tooth bar and reseting gear axle that fluid cylinder is promoted on tooth bar swing-type cylinder
Gear engagement, then make tooth bar swing-type cylinder promote reseting gear axle steer, so as to reach Remote Hydraulic control purpose.
Invention in 2015 authorizes CN103640974B to disclose a kind of ship crane remote hydraulic control system, and the output end of oil pump passes through
Solenoid directional control valve is connected with proportional multi-way valve, and the output end of proportional multi-way valve is connected to jack up unit, amplitude oil cylinder, stretches
Oil cylinder and slewing equipment.Invention in 2013 authorizes CN102085851B to disclose multi-stage expansion mechanism order controller and including this
A kind of engineering equipment of device, there is provided multi-stage expansion mechanism order controller.Japanese invention mandate in 2013
A kind of hydraulic control system of CN101561044B publicities, the hydraulic control system includes to be exported from gear shifting hydraulic control valve
Hydraulic coupling and principal pressure (PL) between switching be provided to primary pulley hydraulic coupling failsafe valve.Current steel-making turns
Stove is all single-degree-of-freedom tilting equipment, and its commutation is fascinated, and impact moment is big, and molten iron mixes poor-performing with alloy material in stove, takes off
(hydrogen, phosphorus, carbon, sulphur, gas) and go removal of impurity ability poor, the converter lining life-span is shorter.
The content of the invention
It is an object of the invention to provide a kind of compact conformation, manipulation easily, can reduce the impact moment that fascinates, refine it is excellent
The steel-making rocking-turn stove parallel connection hand hydraulically controlled device of tilting equipment of matter steel and raising lining durability.
The present invention includes support, dynamic platform, handle, transverse axis, three structure identical RPR types rectilinear branches, T-shaped axle and three
Structure identical routine three-position four-way hydraulic reversal valve；Wherein three RPR type rectilinear branches circumference between support and moving platform
Uniformly；The dynamic platform is equilateral triangle flat board, is provided with two drift angles at angle parallel to the side and the length coplanar with dynamic platform is logical
Hole, is provided with the parallel side and the short through hole coplanar with dynamic platform at the drift angle at another angle；The handle is vertical with Dong Tai centers
Be connected, the transverse axis two ends be provided be parallel to each other and select shaft two through holes, transverse axis middle part turns with the long through-hole of dynamic platform
Dynamic duplicate invoice connects；The support is equilateral triangle flat board, the two ends on its one side and this be respectively equipped with vertical angles it is vertical this while
And three through holes coplanar with support；The RPR types rectilinear branches upper and lower end is provided with and is parallel to each other and the orthogonal rectilinear branches
Two through holes, two two ends of RPR type rectilinear branches pass through with the through hole at transverse axis two ends and the two ends through hole on support one side respectively
The bearing pin being parallel to each other rotates duplicate invoice and connects；The T-shaped axle includes orthogonal major axis and short axle, its major axis and support another
Through hole rotates duplicate invoice and connects, and its short axle rotates duplicate invoice and connects with another RPR types rectilinear branches one end through hole, and the RPR type rectilinear branches are another
One end through hole rotates duplicate invoice and connects with the short through hole of dynamic platform by bearing pin.RPR types rectilinear branches include piston rod assembly and cylinder rod group
Part, the piston rod assembly includes piston rod and spheroid, and spheroid is provided with the through hole intersected with the centre of sphere, piston rod upper and lower end difference
Be provided with boss and piston, boss upper end is provided with the through hole of vertical piston bar, boss middle part is provided with concave spherical surface through hole, boss lower end with
Piston rod upper end is connected；Spheroid connects with concave spherical surface through hole ball duplicate invoice；The cylinder rod component include lower spring plectane, two lateral pins,
Annulus, upper spring and cylinder rod；Cylinder rod profile is square body, and the circle that one end seals with through hole, the other end is axially arranged with inside cylinder rod
Post cavity, middle part is provided with two vertical eccentrics through the lateral pin of cylindrical cavity, and cylinder rod lower end is provided with the through hole of vertical cylinder rod；Upper bullet
Spring, annulus, plectane, lower spring are each provided in cylinder rod cylindrical cavity；Piston-rod lower end passes through cylinder rod upper end through hole, upper spring, circle
Ring and two lateral pins are connected with piston；Upper spring one end is against cylinder rod cavity upper surface, and the other end is against above annulus；Under annulus
Face is against two upper sides of lateral pin, and two downsides of lateral pin are against above plectane；Lower spring one end is against plectane lower surface,
The other end is against cylindrical cavity lower surface；The base and swing rod of conventional three-position four-way hydraulic reversal valve are connected with cylinder rod outside respectively
And couple with above-mentioned spheroid through hole cylindrical pair.
The manually operated hydraulic control unit, can change three length of RPR type rectilinear branches, branch elongation with synchronous coordination
When, piston rod drives ball drive hydraulicdirectional control valve handle to be swung up, and connects steel-making rocking-turn stove parallel connection tilting equipment correspondence oil
The in-line of cylinder, while spring on piston rod band piston lifting ring compression；When the branch shortens, piston rod drives spheroid to drive
Hydrodynamic pressure reversal valve handle connects steel-making rocking-turn stove parallel connection tilting equipment correspondence oil cylinder oil return line, while piston rod to lower swing
Band piston pushes plectane compression lower spring.When the branch resets, two lateral pins are located in upper and lower spring common pressure lower piston
Between, while piston rod drives ball drive hydraulicdirectional control valve handle to swing, close steel-making rocking-turn stove parallel connection tilting equipment correspondence
Oil path in oil cylinder.Can so control to be surged the synchronous of tilting equipment in parallel with the steel-making rocking-turn stove of the hand hydraulically controlled device isomorphism type
Rocking-turn.
The present invention has the following advantages that compared with prior art：
1st, manual parallel institution coordinates three hydraulicdirectional control valves of control, and compact conformation, manipulation is easy.
2nd, the amplification proportional to manual parallel institution of rocking-turn stove parallel hydraulic tilting equipment, parallel hydraulic tilting equipment are made steel
Motion it is synchronous with manual form, with Driven by Hydraulic Cylinder, compact conformation, bearing capacity is big.
3rd, multi-faceted rocking-turn flowing mode is synchronously driven to mix molten iron and alloy in stove by controlled hydraulic system, reduction is fascinated
Impact moment, refining high-quality steel and raising lining durability.
Brief description of the drawings
Fig. 1 is three-dimensional simplified schematic diagram of the invention.
Fig. 2 is RPR types rectilinear branches sectional view of the invention.
Fig. 3 is hydraulic control system figure of the invention.
In figure：1- supports, 2- move platform, 3-RPR types rectilinear branches, 3-1- lower springs, 3-2- plectanes, 3-3- lateral pins, 3-4-
The upper spring of annulus, 3-5-, 3-6- cylinder rods, 3-7- piston rods, 3-8- spheroids, 3-9- boss, 4- transverse axis, 5-T profile shafts, 6-bearing pin,
7- handles, 8- oscillating rod types three position four-way directional control valve, 8-1- reversal valves swing rod, 9- oscillating rod types three position four-way directional control valve, 10- oscillating rod types
Three position four-way directional control valve, 11- filters, 12- oil pumps, 13- overflow valves, 14- check valves, 15- choke valves, 16- rocking-turns stove are in parallel
Tilting equipment hydraulic drive cylinder, 17- check valves, 18- choke valves, 19- rocking-turns stove parallel connection tilting equipment hydraulic drive cylinder, 20-- are mono-
To valve, 21- choke valves, 22- rocking-turns stove parallel connection tilting equipment hydraulic drive cylinder.
Specific embodiment
In the steel-making rocking-turn stove parallel connection hand hydraulically controlled schematic device of tilting equipment shown in Fig. 1, three RPR types straight lines point
The circumference uniform distribution between support 1 and dynamic platform 2 of branch 3；The dynamic platform is equilateral triangle flat board, is provided with parallel at two drift angles at angle
In the side and the long through-hole coplanar with dynamic platform, parallel side and coplanar with dynamic platform short logical is provided with the drift angle at another angle
Hole；Handle 7 is vertical with Dong Tai centers to be connected, the two ends of transverse axis 4 be provided be parallel to each other and select shaft two through holes, in the transverse axis
Portion rotates duplicate invoice and connects with the long through-hole of dynamic platform；The support is equilateral triangle flat board, two ends and the side vertical angles on its one side
Place is respectively equipped with the vertical side and three through holes coplanar with support；The RPR types rectilinear branches upper and lower end is provided with and is parallel to each other
And two through holes of the orthogonal rectilinear branches, two two ends of RPR type rectilinear branches respectively with the through hole and support at transverse axis two ends
The rotation duplicate invoice of bearing pin 6 that the two ends through hole on one side passes through to be parallel to each other connects；T-shaped axle 5 includes orthogonal major axis and short axle, its
Major axis and support another through hole rotation duplicate invoice connect, and its short axle rotates duplicate invoice and connects with another RPR types rectilinear branches one end through hole, should
RPR types rectilinear branches other end through hole rotates duplicate invoice and connects with the short through hole of dynamic platform by bearing pin；
As shown in Fig. 2 RPR types rectilinear branches include piston rod assembly and cylinder rod component, piston rod assembly includes piston rod
3-7 and spheroid 3-8, spheroid is provided with the through hole intersected with the centre of sphere, and piston rod upper and lower end is respectively equipped with boss 3-9 and piston, boss
Upper end is provided with the through hole of vertical piston bar, and boss middle part is provided with concave spherical surface through hole, and boss lower end is connected with piston rod upper end；Spheroid
Connect with concave spherical surface through hole ball duplicate invoice；Cylinder rod component includes lower spring 3-1 plectanes 3-2, two lateral pin 3-3, annulus 3-4, upper springs
3-5 and cylinder rod 3-6；Cylinder rod profile is square body, one end is axially arranged with inside cylinder rod empty with the cylinder that through hole, the other end are sealed
Chamber, middle part is provided with two vertical eccentrics through the lateral pin of cylindrical cavity, and cylinder rod lower end is provided with the through hole of vertical cylinder rod；Upper spring,
Annulus, plectane, lower spring are each provided in cylinder rod cylindrical cavity；Piston-rod lower end through cylinder rod upper end through hole, upper spring, annulus and
Two lateral pins are connected with piston；Upper spring one end is against cylinder rod cavity upper surface, and the other end is against above annulus；Supported below annulus
In two upper sides of lateral pin, two downsides of lateral pin are against above plectane；Lower spring one end is against plectane lower surface, another
End is against cylindrical cavity lower surface；The base and swing rod 8-1 of conventional three-position four-way hydraulic reversal valve are connected with cylinder rod outside respectively
And couple with above-mentioned spheroid through hole cylindrical pair.
The manually operated hydraulic control unit, can change three length of RPR type rectilinear branches, branch elongation with synchronous coordination
When, piston rod drives ball drive hydraulicdirectional control valve handle to be swung up, and connects steel-making rocking-turn stove parallel connection tilting equipment correspondence oil
The in-line of cylinder, while spring on piston rod band piston lifting ring compression；When the branch shortens, piston rod drives spheroid to drive
Hydrodynamic pressure reversal valve handle connects steel-making rocking-turn stove parallel connection tilting equipment correspondence oil cylinder oil return line, while piston rod to lower swing
Band piston pushes plectane compression lower spring.When the branch resets, two lateral pins are located in upper and lower spring common pressure lower piston
Between, while piston rod drives ball drive hydraulicdirectional control valve handle to swing, close steel-making rocking-turn stove parallel connection tilting equipment correspondence
Oil path in oil cylinder.Can so control to be surged the synchronous of tilting equipment in parallel with the steel-making rocking-turn stove of the hand hydraulically controlled device isomorphism type
Rocking-turn.
Three position four-way directional control valve of the invention Median Function more than two-position four way change valve, can play four hydraulic fluid port phases
The state mutually closed.Hydraulic control system principle is as shown in Figure 3：
When oscillating rod type three position four-way directional control valve (abbreviation reversal valve) 8,9,10 right positions work, by the hydraulic pump of filter 11
12 provide pressure oil through reversal valve, hydraulic control one-way valve 14,17,20 and one-way throttle valve 15,18,21 (now in check valve state)
The cavity of resorption of hydraulic cylinder 16,19,22 is respectively enterd, promotes the hydraulic oil of piston upwards, the epicoele of hydraulic cylinder to be returned through reversal valve
Fuel tank；When the left position of reversal valve works, hydraulic pump provides the epicoele that pressure oil enters hydraulic cylinder through reversal valve, promotes piston downward
Motion, the hydraulic oil of the cavity of resorption of hydraulic cylinder is through one-way throttle valve (now in choke valve state), hydraulic control one-way valve (because there is hydraulic oil
And reversely open) and hand-operated direction valve oil return box.When reversal valve middle position works, now, the reverse good airproof performance of hydraulic control one-way valve,
Hydraulic cylinder can be slack for a long time.
This loop can make piston rotation perdurability stabilization, and size not loaded influence, it is adaptable to balance mass change
In larger and piston lock requirement hydraulic machinery higher, the balance for making cutter scissors cylinder, forklift lifting hydraulic cylinder etc. as usual
Loop.It should be noted that：The consistent level of descent of piston speed is controlled by one-way throttle valve.Because hydraulic control one-way valve is cone
Face seals, and amount of leakage is minimum, therefore this balanced loop locking is good, reliable operation.
Claims (2)
1. a kind of to make steel the rocking-turn stove parallel connection hand hydraulically controlled device of tilting equipment, it includes support, dynamic platform, handle, transverse axis, three knots
Structure identical RPR types rectilinear branches, T-shaped axle and three structure identical routine three-position four-way hydraulic reversal valves, it is characterised in that：
Three RPR type rectilinear branches circumference uniform distribution between support and moving platform；The dynamic platform is equilateral triangle flat board, at two
Be provided with the drift angle at angle parallel to the side and the long through-hole coplanar with dynamic platform, be provided with the drift angle at another angle the parallel side and
The short through hole coplanar with dynamic platform；The handle is vertical with Dong Tai centers to be connected, and the transverse axis two ends are provided with and are parallel to each other and vertically
Two through holes of transverse axis, transverse axis middle part rotates duplicate invoice and connects with the long through-hole of dynamic platform；The support is equilateral triangle flat board, at it
The two ends on one side and this be respectively equipped with vertical angles it is vertical this while and three through holes coplanar with support；The RPR types straight line
Branch's upper and lower end be provided be parallel to each other and the orthogonal rectilinear branches two through holes, the two ends difference of two RPR type rectilinear branches
The bearing pin rotation duplicate invoice for passing through to be parallel to each other with the through hole at transverse axis two ends and the two ends through hole on support one side connects；The T-shaped axle bag
Orthogonal major axis and short axle are included, its major axis and support another through hole rotates duplicate invoice and connects, its short axle and another RPR types straight line
Branch's one end through hole rotates duplicate invoice and connects, and the RPR types rectilinear branches other end through hole rotates secondary with the short through hole of dynamic platform by bearing pin
Connection.
It is 2. according to claim 1 to make steel the rocking-turn stove parallel connection hand hydraulically controlled device of tilting equipment, it is characterised in that：It is described
RPR types rectilinear branches include piston rod assembly and cylinder rod component, and the piston rod assembly includes piston rod and spheroid, and spheroid is provided with
The through hole intersected with the centre of sphere, piston rod upper and lower end is respectively equipped with boss and piston, and boss upper end is provided with the logical of vertical piston bar
Hole, boss middle part is provided with concave spherical surface through hole, and boss lower end is connected with piston rod upper end；Spheroid connects with concave spherical surface through hole ball duplicate invoice；
The cylinder rod component includes lower spring plectane, two lateral pins, annulus, upper spring and cylinder rods；Cylinder rod profile is square body, in cylinder rod
Portion is axially arranged with the cylindrical cavity that one end seals with through hole, the other end, and middle part is provided with two vertical eccentrics through cylindrical cavity
Lateral pin, cylinder rod lower end is provided with the through hole of vertical cylinder rod；Upper spring, annulus, plectane, lower spring are each provided in cylinder rod cylindrical cavity；
Piston-rod lower end is connected through cylinder rod upper end through hole, upper spring, annulus and two lateral pins and piston；Upper spring one end is against cylinder rod
Cavity upper surface, the other end is against above annulus；Two upper sides of lateral pin are against below annulus, two horizontal strokes are against above plectane
The downside of pin；Lower spring one end is against plectane lower surface, and the other end is against cylindrical cavity lower surface；Conventional three-position four-way hydraulic
The base and swing rod of reversal valve are connected with cylinder rod outside and couple with above-mentioned spheroid through hole cylindrical pair respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611075556.2A CN106837904B (en) | 2016-11-30 | 2016-11-30 | Make steel the hand hydraulically controlled device of rocking-turn stove parallel connection tilting equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611075556.2A CN106837904B (en) | 2016-11-30 | 2016-11-30 | Make steel the hand hydraulically controlled device of rocking-turn stove parallel connection tilting equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106837904A true CN106837904A (en) | 2017-06-13 |
| CN106837904B CN106837904B (en) | 2018-04-06 |
Family
ID=59146182
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611075556.2A Active CN106837904B (en) | 2016-11-30 | 2016-11-30 | Make steel the hand hydraulically controlled device of rocking-turn stove parallel connection tilting equipment |
Country Status (1)
| Country | Link |
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| CN (1) | CN106837904B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908295A (en) * | 2018-07-16 | 2018-11-30 | 西安工程大学 | A kind of RPR parallel institution of partly decoupled |
| CN110067780A (en) * | 2019-04-08 | 2019-07-30 | 宣化钢铁集团有限责任公司 | A kind of blocking dregs of converter furnace sliding plate hydraulic control device |
| CN110497444A (en) * | 2019-07-29 | 2019-11-26 | 燕山大学 | A kind of control device in parallel exchanged automatically manually |
| CN110714956A (en) * | 2019-09-10 | 2020-01-21 | 安徽博微长安电子有限公司 | Large array surface antenna stacking type lifting control system and method thereof |
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| CN2558663Y (en) * | 2002-01-12 | 2003-07-02 | 徐恒 | Hydraulic cylinder tilting device for converter |
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| CN1647890A (en) * | 2005-02-06 | 2005-08-03 | 燕山大学 | Adjustable three freedom shunt robot mechanism with passive constrain branch |
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| CN201106057Y (en) * | 2007-11-13 | 2008-08-27 | 上海宝钢工程技术有限公司 | Molten steel tank tipping |
| CN102248535A (en) * | 2011-07-18 | 2011-11-23 | 燕山大学 | Branch three-leg five-DOF (degree of freedom) parallel mechanism containing double-compound drive |
| CN104017935A (en) * | 2014-05-30 | 2014-09-03 | 燕山大学 | Steelmaking swing converter parallel tilting mechanism with three degrees of freedom |
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| US4255126A (en) * | 1978-09-28 | 1981-03-10 | Bbc Brown Boveri & Company Limited | Furnace tilting device |
| CN2558663Y (en) * | 2002-01-12 | 2003-07-02 | 徐恒 | Hydraulic cylinder tilting device for converter |
| CN1644312A (en) * | 2005-02-06 | 2005-07-27 | 燕山大学 | Four freedom parallel robot mechanism with passive bound branch |
| CN1647890A (en) * | 2005-02-06 | 2005-08-03 | 燕山大学 | Adjustable three freedom shunt robot mechanism with passive constrain branch |
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| CN101244560A (en) * | 2008-03-22 | 2008-08-20 | 燕山大学 | Three freedom parallel robot mechanism with different structure drive branches |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908295A (en) * | 2018-07-16 | 2018-11-30 | 西安工程大学 | A kind of RPR parallel institution of partly decoupled |
| CN108908295B (en) * | 2018-07-16 | 2021-07-27 | 西安工程大学 | Partial decoupling RPR parallel mechanism |
| CN110067780A (en) * | 2019-04-08 | 2019-07-30 | 宣化钢铁集团有限责任公司 | A kind of blocking dregs of converter furnace sliding plate hydraulic control device |
| CN110497444A (en) * | 2019-07-29 | 2019-11-26 | 燕山大学 | A kind of control device in parallel exchanged automatically manually |
| CN110497444B (en) * | 2019-07-29 | 2020-10-09 | 燕山大学 | Manual and automatic interchange parallel operation device |
| CN110714956A (en) * | 2019-09-10 | 2020-01-21 | 安徽博微长安电子有限公司 | Large array surface antenna stacking type lifting control system and method thereof |
| CN110714956B (en) * | 2019-09-10 | 2021-07-16 | 安徽博微长安电子有限公司 | Large array surface antenna stacking type lifting control system and method thereof |
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| Publication number | Publication date |
|---|---|
| CN106837904B (en) | 2018-04-06 |
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