CN107673206A - Double girder ladle carne auxiliary hook fixed pulley group frame speed of service schemes - Google Patents
Double girder ladle carne auxiliary hook fixed pulley group frame speed of service schemes Download PDFInfo
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- CN107673206A CN107673206A CN201711032386.4A CN201711032386A CN107673206A CN 107673206 A CN107673206 A CN 107673206A CN 201711032386 A CN201711032386 A CN 201711032386A CN 107673206 A CN107673206 A CN 107673206A
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- ladle
- molten steel
- auxiliary hook
- fixed pulley
- group frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Evolutionary Computation (AREA)
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Pure & Applied Mathematics (AREA)
- Mathematical Optimization (AREA)
- Mathematical Analysis (AREA)
- Computational Mathematics (AREA)
- Automation & Control Theory (AREA)
- Treatment Of Steel In Its Molten State (AREA)
Abstract
The present invention relates to double girder ladle carne auxiliary hook fixed pulley group frame speed of service schemes, belong to metallurgical special purpose crane intelligentized control method field.This programme implementation steps are as follows：（1）By hot continuous rolling or casting technique requirement, the constant flow rate or the flow value in different cast stages of molten steel cast are determined, establishes in toppling process remaining molten steel volume and the relation of time in ladle；（2）Establish different periods residue molten steel volume, ladle flip angle and the relation of time；（3）Auxiliary hook suspension centre horizontal velocity and the relation of the duration of pouring when ladle topples over molten steel are established, and draws the rule or scheme of the auxiliary hook fixed pulley group frame speed of service on double girder ladle carne dollies.The present invention has drawn double girder ladle carnes while there is provided the speed of service changing rule of the auxiliary hook fixed pulley group stand of major-minor hook dolly, realizes that molten steel constant flow rate is poured into a mould, control foundation can be provided for ladle carne intelligent operation.
Description
Technical field
The present invention relates to double girder ladle carne auxiliary hook fixed pulley group frame speed of service schemes, belong to metallurgical special lifting
Machine intellectuality control field.
Background technology
The needs of economic fast-developing and lasting infrastructure, have promoted the yield of steel to rise.Ladle carne
Topple over molten steel constant flow pouring technology has extremely important influence for the performance of steel.During the tumbling of steel ladle,
Operating personnel press ladle carne auxiliary hoisting mechanism switch and realize toppling over for ladle, upset displacement of the steel ladle in each period
It can not be precisely controlled；Moreover, again during this, often also need to ground guiding personnel cooperates to complete whole molten steel
Toppling process, the large steel-making plant toppled over for that can reach tens of secondary ladles daily, the toppling process of this repetition also can not be real
Now topple over the high stability of technique, the labor intensity and qualification for operating personnel are also huge challenge, after also influenceing
The quality of continuous hot continuous rolling section bar or cast.
At present, the structure type of the widely used rail master of the four beam four-secondary double trolley of ladle carne.The structure type requires bridge
Frame sets four relatively independent girders, and main-secondary dolly can be run on each independent track, and non-interference, work is covered
Capping product is big.Although the action for the ladle that can complete to tumble, the crane deadweight of the structure type is larger, cart wheel
Wheel load is also bigger, and crane manufacturing cost and factory building support rail beam cost are higher, and due to the ladle carne of this structure type
Total high and beam overall size is big, and causing the construction cost of factory building increases.
Structure type involved in the present invention, it is that master-auxiliary hoisting mechanism is arranged on same main carriage while pair is set
Hook fixed pulley group frame, such auxiliary hook can move forward and backward with the operation in orbit of auxiliary hook fixed pulley group frame, using such a knot
The ladle carne of configuration formula need to only set two girders, and package size reduces, and the construction cost of crane and factory building reduces.Together
When can complete ladle when hung ladle topples over molten steel and clears up slag and tumble.
And in structure type involved in the present invention, for how to realize the cast of molten steel constant flow rate and auxiliary hook fixed pulley
The problem of group frame speed of service, do not have related design implementation steps.
The content of the invention
It is an object of the invention to provide double girder ladle carne auxiliary hook fixed pulley group frame speed of service schemes, to solve
At present using the ladle carne of auxiliary hook fixed pulley group frame how by controlling the auxiliary hook fixed pulley group frame speed of service to realize perseverance
Constant flow is poured into a mould the problem of molten steel, and the flow value that constant flow rate herein refers in a period of time is certain, and the period is different, stream
It is equally applicable during value difference.
As shown in Figure of description 1, it is ladle carne auxiliary hook fixed pulley group frame type of drive, passes through motor-silk
Thick stick is driven（The kinds of drive such as gear-tooth bar can also be used）Auxiliary hook fixed pulley group frame can be eliminated caused by wheel-slip
The uncertainty of running position, its speed of service is more accurately controlled, so as to be more prone to realize molten steel ladle steady flow
Amount is poured out, and reduces ladle due to swing caused by the change of relative position between master-auxiliary hook.
To achieve the above object, double girder ladle carne auxiliary hook fixed pulley group frame speed of service scheme implementation steps are such as
Under.
Step（1）：By hot continuous rolling or casting technique requirement, the constant flow rate of molten steel cast or different cast stages are determined
Flow value, establish in toppling process remaining molten steel volume and the relation of time in ladle.
According to Figure of description 3, molten steel liquid level diameter：
mH/D=x/0.075D
x=0.075mH
Molten steel volume：
V1=1/3πD（R2+r2+Rr）
=1/3πmH((0.85/2×D)2+(0.85D+0.15mH)2/4+0.85D×(0.85D+0.15mH))
In formula：D is steel ladle opening diameter, and mH is by containing molten steel height in ladle.
For ladle when toppling over molten steel, the stereometer point counting of remaining molten steel is two states in ladle.First state
When being that bottom is covered by molten steel completely in ladle, whole molten steel forms a bevel round estrade.With the continuous increasing of ladle flip angle
Greatly, bag feather edge starts to expose in ladle, and molten steel continues to flow out out of ladle afterwards, and this period is second state, steel
Molten steel in bag forms an irregular horseshoe-shape.It is a rounding stage body according to ladle internal geometry, and ladle
Internal taper is smaller, molten steel can be set to a cylinder and be calculated.
If wherein molten steel ladle cumulative volume is V1, total dumping time is T, and time interval hop count is set to n, and time interval is
T '=T/n, n value are bigger, and accuracy is higher.Then the volume of remaining molten steel and the relation of time are in ladle：VIt is surplus= V1- ivt ',
i=1,2,…,n。
Step（2）：Establish different periods residue molten steel volume, ladle flip angle and the relation of time.
When molten steel ladle residual volume is in first state, if ladle dump angle is α1, remaining molten steel in ladle
Relational expression between volume and dump angle is：
Molten steel radius：
R=(Ф1+Ф2)/4
=(2×0.85D+0.15mH)/4
The remaining molten steel of imagination is the volume of cylinder：
VIt is surplus=πR2(h1+h2)/2
=πR2(D+D-2Rtan α1)/2
In formula：Ф1For raw steel liquid back cut diameter (Ф1=D), Ф2It is (Ф for lower port diameter2=0.85D), h is high (h=D), when inclining
It is α to turn over angle1When, it is respectively h that whole molten steel, which forms bevel cylinder its long side height with short height,2And h1。
According to above formula, ladle dump angle α is drawn1：
α1=arctan(D/R- VIt is surplus/πR3)。
When molten steel ladle residual volume is in the second state, if ladle dump angle is α2.Such as the institute of Figure of description 5
Show, the chord length that ladle exposes interiorly is 2 β with bag bottom center of circle angle, remaining molten steel volume, α in ladle2Relational expression between β
For：
Volume when imaginary molten steel is horse-hof shape：
VIt is surplus= R3tanα2(sinβ+(π-β)cosβ-sin3β/3)
α2Relational expression between β：
cosβ=(Dcotα2-r)/r
sinβ=spr{1-[(Dcotα2-r)/r]2}
β=arcos(Dcotα2-r)/r
Then remaining molten steel volume and α in ladle2Between relational expression：
VIt is surplus=R3tanα2{spr{1-[(Dcotα2-r)/r]2}+[π- arcos(Dcotα2-r)/r] (Dcotα2-r)/r - spr
{1-[(Dcotα2-r)/r]2}3/3}。
Establish ladle dump angle and the relational expression of time：
When molten steel ladle residual volume is in first state：
VIt is surplus=V1-ivt’==πR2(D+D-2Rtan α1)/2
Then
α1=arctan[D/R- (V1-ivt’)/πR3]。
The angle turned in unit interval is：
α1’ =arctan{D/R- [V1-(i+1)vt’]/πR3}-arctan[D/R- (V1-ivt’)/πR3], i=1,2 ...,
N,
When molten steel ladle residual volume is in the second state：
VIt is surplus= V1- ivt’=R3tanα2{spr{1-[(Dcotα2-r)/r]2}+[π- arcos(Dcotα2-r)/r] (Dcotα2-
r)/r - spr{1-[(Dcotα2-r)/r]2}3/3}
The angle turned in unit interval is also according to V1- (i+1)vt’- (V1- ivt ') try to achieve.
Step（3）：Auxiliary hook suspension centre horizontal velocity and the relation of time when ladle topples over molten steel are established, and draws double girder castings
Make the rule or scheme of the auxiliary hook fixed pulley group frame speed of service on monkey.
Firstly the need of the movement locus for obtaining auxiliary hook hoisting point position on ladle, incline as Figure of description 2, Fig. 6 show band
The ladle for turning over connecting rod topples over molten steel process schematic.When temporarily thinking that ladle is tumbled to 90 °, molten steel is poured out completely.When ladle is tumbled
Rotated around O points, when ladle starts to tumble, C points are stuck in ladle bottom and stretched out in the groove of plate, drive ladle rotation, the motion of C points
Track is using O as the center of circle, and OC wire lengths are the circular arc of radius.Arc EF is C point movement locus, as seen from the figure ladle inclination angle by
The line AC and arc EF of 0 ° of auxiliary hook hoisting point position A point and C points when arriving γ are tangent.If the dump angle of ladle is α, when ladle inclines
During chamfer angle α=γ, AC is parallel with Y-axis, also, when ladle continues to be tumbled to 90 ° by γ, AC is parallel with Y-axis all the time.
From above-mentioned condition, ladle dump angle is α, then when α ∈ [0 °, γ], auxiliary hook suspension centre A movement locus is
Using O points as the center of circle, spr (LOC 2+ LAC 2) be radius circular arc；As α ∈ [γ, 90 °], auxiliary hook suspension centre A movement locus be with
(0, LAC) point be the center of circle, LOCFor the circular arc of radius.
Then according to ladle dump angle, show that the distance of auxiliary hook motion and α relation are：
When α ∈ [0 °, γ]：
LIt is secondary=2πspr(LOC 2+ LAC 2)×α/360
The distance passed by unit interval is：
LIt is secondary’=2πspr(LOC 2+ LAC 2)×α’/360
As α ∈ [γ, 90 °]：
LIt is secondary=2πLOC×α/360
The distance passed by unit interval is：
LIt is secondary’=2πLOC×α’/360。
The distance moved according to auxiliary hook draws the movement velocity of auxiliary hook horizontal direction：
When α ∈ [0 °, γ]：
Vfx=cos(φ+α)×LIt is secondary’/t’
As α ∈ [γ, 90 °]：
Vfx= cos(π-φ-α)×LIt is secondary’/t’。
As Figure of description 8 show the relation of auxiliary hook fixed pulley group frame horizontal displacement distance and auxiliary hook horizontal displacement distance
Schematic diagram, X1For auxiliary hook horizontal displacement, X2For auxiliary hook fixed pulley group frame horizontal displacement.When determining the horizontal level of auxiliary hook, by auxiliary hook
In the horizontal direction make a concerted effort to try to achieve for 0, in structure involved in the present invention for hook fixed pulley group frame with ladle in level side
The effect to auxiliary hook makes a concerted effort to be equal to 0 upwards, i.e. Fxfxc+FxA=0。
The speed of service V of auxiliary hook fixed pulley group framefxc=2Vfx。
When α ∈ [0 °, γ]：
Vfxc= 2cos(φ+α)×LIt is secondary’/t’
As α ∈ [γ, 90 °]：
Vfxc=2cos(π-φ-α)×LIt is secondary’/t’
Therefore obtain ladle carne auxiliary hoisting mechanism auxiliary hook fixed pulley group frame velocity variations rule or scheme.
Brief description of the drawings
Fig. 1 is auxiliary hook fixed pulley group frame and its motor-lead screw transmission schematic diagram, wherein, 1 it is motor, 2 is rolling
Ballscrew, 3 be nut seat, 4 be auxiliary hook fixed pulley group frame.
Fig. 2 be ladle incline 0 °, 90 ° when schematic diagram, in figure (a), ladle tilts 0 °, in figure (b), and ladle tilts 90 °, its
In, A is auxiliary hook suspension centre, C is the ladle rotation point of application, O is ladle pivot, γ (definite value) is OC and X-axis angle, φ are (fixed
Value) it is OA and Y-axis angle, 5 be main hook, and 6 be auxiliary hook, and 7 be ladle.
Fig. 3 is ladle and its internal molten steel relative dimensions schematic diagram, wherein, D is steel ladle opening diameter, and mH is institute in ladle
Molten steel height is contained, 7 be ladle, and 8 be molten steel.
Fig. 4 is schematic diagram when molten steel begins to flow out ladle, wherein 6 be auxiliary hook, 7 be ladle, and 8 be molten steel.
Fig. 5 is schematic diagram when the state of ladle second starts, wherein, α2For ladle dump angle, 2 β are that ladle exposes interiorly
Chord length with bag bottom center of circle angle, 6 be auxiliary hook, and 7 be ladle, and 8 be molten steel.
Fig. 6 be ladle tilt 30 °, γ when schematic diagram, in figure（a）, 30 ° of ladle inclination, in figure（b）, ladle inclination γ, its
In, B is ladle carne main hook suspension centre, and arc EF is C point movement locus.
Fig. 7 is ladle auxiliary hook suspension centre track schematic diagram when toppling over molten steel, wherein, V is auxiliary hook movement velocity, VfyWith VfxPoint
Not Wei vertical and horizontal direction component velocity, the α of auxiliary hook movement velocity be ladle dump angle.
Fig. 8 is auxiliary hook position and auxiliary hook fixed pulley group frame travel relationships schematic diagram, and 4 be auxiliary hook fixed pulley group frame in figure, and 6 are
Auxiliary hook.
Embodiment
The implementation steps of the present invention are further illustrated with embodiment, ladle carne is assisted by main hook 5 and auxiliary hook 6
Topple over molten steel with work.
The first step：By hot continuous rolling or casting technique requirement, the flow value of molten steel cast different periods is determined, establishes and toppled over
Remaining molten steel volume and the relation of time in ladle in journey.
Ladle carne rated load weight is determined first, determines the body of molten steel 8 that the size of ladle 7 and ladle can be held
Product, molten steel volume are tried to achieve with following formula：
V1=1/3πD（R2+r2+Rr）
=1/3πmH((0.85/2×D)2+(0.85D+0.15mH)2/4+0.85D×(0.85D+0.15mH))
The volume of remaining molten steel and the relation of time are established as the following formula：
VIt is surplus= V1- ivt ', i=1,2 ..., n.
Second step, establish different periods ladle flip angle and the relation of time.
When molten steel ladle residual volume is in first state：
α1’ =arctan{D/R- [V1-(i +1)vt’]/πR3}-arctan[D/R- (V1- ivt’)/πR3], i=1,2 ...,
N,
When molten steel ladle residual volume is in the second state：
VIt is surplus= V1- ivt’
=R3tanα2{spr{1-[(Dcotα2-r)/r]2}+[π- arcos(Dcotα2-r)/r] (Dcotα2-r)/r - spr
{1-[(Dcotα2-r)/r]2}3/3}
The angle turned in unit interval is also according to V1- (i+1)vt’- (V1- ivt ') try to achieve.
3rd step, the rule or scheme of the auxiliary hook fixed pulley group frame speed of service on double girder ladle carne dollies are drawn,
Tried to achieve by following formula：
When α ∈ [0 °, γ]：
Vfxc= 2cos(φ+α)×LIt is secondary’/t’
As α ∈ [γ, 90 °]：
Vfxc=2cos(π-φ-α)×LIt is secondary’/t’。
When determining the horizontal level of auxiliary hook, tried to achieve by auxiliary hook for 0 making a concerted effort in the horizontal direction, involved in the present invention
Make a concerted effort in structure for hook fixed pulley group frame and the ladle effect to auxiliary hook in the horizontal direction equal to 0, i.e. Fxfxc+FxA=0。
Afterwards, according to the rule or scheme of the auxiliary hook fixed pulley group frame speed of service on double girder ladle carne dollies, by
Used transmission scheme determines transmission mechanism speed of service etc..
Illustrated in a manner of motor-lead screw transmission, as shown in Figure of description 1, be equipped with auxiliary hook fixed pulley group frame 4
Nut seat 3, ball-screw 2 pass through nut seat 3, by the control ball-screw rotating speed of motor 1, reach control auxiliary hook fixed pulley
The purpose of the group frame speed of service, screw rotation velocity can be tried to achieve by following formula：
When α ∈ [0 °, γ]
Vs=Vfxc/Ph= [2cos(φ+α)×LIt is secondary’/t’]/Ph
As α ∈ [γ, 90 °]
Vs=Vfxc/Ph= [2cos(π-φ-α)×LIt is secondary’/t’]/Ph
In formula：PhFor the helical pitch of used ball-screw,
Therefore obtain ladle carne auxiliary hoisting mechanism fixed pulley group dolly screw rotation velocity and formulate formula.
The foregoing is only the present invention applies a mode, is not intended to limit the invention, all according to technical solution of the present invention institute
The change of work, caused function without departing from technical solution of the present invention scope when, such as：The biography of auxiliary hook fixed pulley group frame
Flowing mode is changed to Rack and gear transmission by motor-screw rod transmission, belongs to protection scope of the present invention.
Claims (7)
1. pair girder ladle carne auxiliary hook fixed pulley group frame speed of service scheme, this programme implementation steps are as follows：（1）By heat even
Roll or casting technique requirement, determine the flow value of molten steel cast different periods, establish in toppling process remaining molten steel body in ladle
Product and the relation of time；（2）Establish different periods residue molten steel volume, ladle flip angle and the relation of time；（3）Establish ladle
Auxiliary hook suspension centre horizontal velocity and the relation of time when toppling over molten steel, and draw auxiliary hook fixed pulley on double girder ladle carne dollies
The rule or scheme of the group frame speed of service.
2. according to step in claim 1（1）Remaining molten steel volume and the relation of time are in the ladle：VIt is surplus= V1- ivt ', i
=1,2 ..., n, wherein molten steel ladle cumulative volume are V1, total dumping time is T, and time interval hop count is set to n, and time interval is
T '=T/n, n value are bigger, and accuracy is higher.
3. according to step in claim 1（2）Remaining molten steel volume, ladle flip angle and the relational expression of time are：Work as steel
When molten steel residual volume is in first state in bag, remaining molten steel volume is with ladle flip angle relational expression：
α1=arctan(D/R- VIt is surplus/πR3)
Ladle flip angle and the relational expression of time are：
α1’ =arctan{D/R- [V1-(i+1)vt’]/πR3}-arctan[D/R- (V1-ivt’)/πR3], i=1,2 ..., n
When molten steel ladle residual volume is in the second state, remaining molten steel volume is with ladle flip angle relational expression：
VIt is surplus=R3tanα2{spr{1-[(Dcotα2-r)/r]2}+[π- arcos(Dcotα2-r)/r] (Dcotα2-r)/r - spr
{1-[(Dcotα2-r)/r]2}3/3}
Ladle flip angle and the relational expression of time are also according to V1- (i+1)vt’- (V1- ivt ') try to achieve.
4. according to step in claim 1（3）Auxiliary hook fixed pulley group frame operation speed on described double girder ladle carne dollies
The rule or scheme of degree, its calculating formula are：When α ∈ [0 °, γ]
Vfxc=2cos(φ+α)×LIt is secondary’/t’
As α ∈ [γ, 90 °]
Vfxc= 2cos(π-φ-α)×LIt is secondary’/t’。
5. motor-lead screw transmission or tooth can be had according to the type of drive of the auxiliary hook fixed pulley group frame described in claim 1
Wheel-rack-driving, may be due to the uncertainty of the running position caused by wheel-slip to eliminate auxiliary hook fixed pulley group frame.
6. the flow value of pair girder ladle carne auxiliary hook fixed pulley group frame speed of service scheme, wherein molten steel cast can basis
The different value of period different set, for equally being existed using the implementation steps of different flow value by hot continuous rolling or casting technique requirement
Within the rights protection scope.
7. for method of the present invention, the cast with molten steel is not limited to, for other metal liquids or nonmetallic liquid
Cast and pouring, ladle carne is designed using the method for the present invention, all within the protection domain of this right.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711032386.4A CN107673206A (en) | 2017-10-30 | 2017-10-30 | Double girder ladle carne auxiliary hook fixed pulley group frame speed of service schemes |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711032386.4A CN107673206A (en) | 2017-10-30 | 2017-10-30 | Double girder ladle carne auxiliary hook fixed pulley group frame speed of service schemes |
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| Publication Number | Publication Date |
|---|---|
| CN107673206A true CN107673206A (en) | 2018-02-09 |
Family
ID=61143288
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711032386.4A Pending CN107673206A (en) | 2017-10-30 | 2017-10-30 | Double girder ladle carne auxiliary hook fixed pulley group frame speed of service schemes |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112919320A (en) * | 2021-04-02 | 2021-06-08 | 烟台杰瑞石油装备技术有限公司 | Sand conveying equipment, control method and equipment thereof, and storage medium |
-
2017
- 2017-10-30 CN CN201711032386.4A patent/CN107673206A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112919320A (en) * | 2021-04-02 | 2021-06-08 | 烟台杰瑞石油装备技术有限公司 | Sand conveying equipment, control method and equipment thereof, and storage medium |
| CN112919320B (en) * | 2021-04-02 | 2023-12-26 | 烟台杰瑞石油装备技术有限公司 | Sand conveying equipment, control method and equipment thereof and storage medium |
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Application publication date: 20180209 |