CN111792538A - High-efficient sediment system of grabbing of blast furnace grain slag - Google Patents

High-efficient sediment system of grabbing of blast furnace grain slag Download PDF

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Publication number
CN111792538A
CN111792538A CN202010645644.1A CN202010645644A CN111792538A CN 111792538 A CN111792538 A CN 111792538A CN 202010645644 A CN202010645644 A CN 202010645644A CN 111792538 A CN111792538 A CN 111792538A
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CN
China
Prior art keywords
slag
swing
hydraulic cylinder
axis
rotating shaft
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CN202010645644.1A
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Chinese (zh)
Inventor
王得刚
靳征
段国建
李明东
陈秀娟
全强
孟凯彪
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MCC Capital Engineering and Research Incorporation Ltd
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MCC Capital Engineering and Research Incorporation Ltd
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Priority to CN202010645644.1A priority Critical patent/CN111792538A/en
Publication of CN111792538A publication Critical patent/CN111792538A/en
Pending legal-status Critical Current

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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
    • B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
    • B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00—Trolleys or crabs, e.g. operating above runways
    • B66C11/14—Trolleys or crabs, e.g. operating above runways adapted to operate on crane or bridge structure of particular configuration, e.g. on reinforced concrete girders of rectangular cross-section
    • 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
    • B66C13/20—Control systems or devices for non-electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B66C3/02—Bucket grabs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B66C3/14—Grabs opened or closed by driving motors thereon
    • B66C3/16—Grabs opened or closed by driving motors thereon by fluid motors
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21B—MANUFACTURE OF IRON OR STEEL
    • C21B3/00—General features in the manufacture of pig-iron
    • C21B3/04—Recovery of by-products, e.g. slag
    • C21B3/06—Treatment of liquid slag
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21B—MANUFACTURE OF IRON OR STEEL
    • C21B2400/00—Treatment of slags originating from iron or steel processes
    • C21B2400/05—Apparatus features
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W30/00—Technologies for solid waste management
    • Y02W30/50—Reuse, recycling or recovery technologies

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Materials Engineering (AREA)
  • Metallurgy (AREA)
  • Organic Chemistry (AREA)
  • Automation & Control Theory (AREA)
  • Furnace Details (AREA)

Abstract

The invention discloses a high-efficiency slag grabbing system for blast furnace granulated slag, which comprises a slag grabbing bucket mechanism (6), a hydraulic mechanical arm mechanism (5), a horizontal moving mechanism and a main control unit (8), wherein the hydraulic mechanical arm mechanism (5) comprises a plurality of swing arms, each swing arm is connected with a swing hydraulic cylinder, one end of the hydraulic mechanical arm mechanism (5) is connected with the slag grabbing bucket mechanism (6), and the hydraulic mechanical arm mechanism (5) can adjust the position of the slag grabbing bucket mechanism (6) in the vertical direction; and the horizontal moving mechanism can enable the hydraulic mechanical arm mechanism (5) to move along the horizontal direction, and the other end of the hydraulic mechanical arm mechanism (5) is connected with the horizontal moving mechanism. This high-efficient slag grabbing system of blast furnace grain slag has adopted hydraulic pressure arm mechanism to solved the grab bucket and waved the problem of spilling the material, can enough accurately accomplish and grab the sediment, unload the sediment operation, can avoid taking place again and spill the material condition, avoid destroying the filtering material structure of filtering ponds, improved the operating efficiency.

Description

High-efficient sediment system of grabbing of blast furnace grain slag
Technical Field
The invention relates to the field of metallurgical iron-making equipment, in particular to a high-efficiency slag grabbing system for blast furnace granulated slag.
Background
High-temperature liquid slag is generated during furnace smelting, and the slag is treated by a precipitation filtration method (commonly called a bottom filtration method) granulating slag process at home and abroad. Hydraulic slag flushing is carried out in front of a blast furnace, slag is smashed by water quenching and then becomes a loose slag-water mixture (often called water slag), water slag enters a filter tank through a slag flushing ditch, liquid water is filtered through a filter layer in the filter tank, solid wet slag particles are left at the bottom of the filter tank, and then the slag particles are grabbed and loaded by a manually operated bridge type grab crane for outward transportation.
For the slag grabbing operation of the conventional grain slag system, a bridge type grab bucket crane is commonly used, wherein the connection and the driving of the grab bucket and the travelling mechanism are completed through a steel wire rope, and the grab bucket and the travelling mechanism are flexibly connected.
After the grab bucket finishes the slag grabbing operation in the filter tank, the grab bucket needs to move to the position above the slag conveying automobile to carry out slag unloading operation. After a trolley mechanism of the grab crane runs above a slag transporting automobile and stops, the grab bucket can swing slightly due to the inertia effect, the material scattering condition can be avoided when the grab bucket is unloaded, a site worker needs to clean falling slag particles, and the extra workload of the site worker is increased.
Disclosure of Invention
In order to solve the problem that the conventional slag grabbing equipment is easy to scatter materials, the invention provides the high-efficiency slag grabbing system for the blast furnace granulated slag, which adopts a hydraulic mechanical arm mechanism, so that the problem of swinging and scattering of a grab bucket is solved, the slag grabbing and unloading operation can be accurately finished, the material scattering condition can be avoided, the filter material structure of a filter tank is prevented from being damaged, and the operation efficiency is improved.
The technical scheme adopted by the invention for solving the technical problems is as follows: a high-efficient sediment system of grabbing of blast furnace grain slag includes:
the slag grab bucket mechanism can grab the granulated slag;
the hydraulic mechanical arm mechanism comprises a plurality of swing arms, each swing arm is connected with a swing hydraulic cylinder, one end of the hydraulic mechanical arm mechanism is connected with the slag grab bucket mechanism, and the hydraulic mechanical arm mechanism can adjust the position of the slag grab bucket mechanism in the vertical direction;
the horizontal moving mechanism can enable the hydraulic mechanical arm mechanism to move along the horizontal direction, and the other end of the hydraulic mechanical arm mechanism is connected with the horizontal moving mechanism;
the main control unit can control the position of the slag grab bucket mechanism in the vertical direction through the hydraulic mechanical arm mechanism, and can also control the position of the slag grab bucket mechanism in the horizontal direction through the horizontal moving mechanism.
The horizontal moving mechanism comprises a cart track, a cart mechanism, a trolley track and a trolley mechanism, wherein the trolley track is positioned on the cart mechanism, the cart mechanism can walk on the cart track, the trolley mechanism can walk on the trolley track, and the trolley track is perpendicular to the cart track.
The extension direction of the cart track is the same as the length direction of the filter tank, the extension direction of the trolley track is the same as the width direction of the filter tank, the cart tracks are positioned at two sides of the filter tank, and the cart mechanism, the trolley tracks and the trolley mechanism are all positioned above the filter tank.
In a space rectangular coordinate system taking an X, Y, Z axis as a coordinate axis, the extending direction of a cart track is parallel to a Y axis, the extending direction of a trolley track is parallel to an X axis, the plane where the X axis and the Y axis are located is parallel to a horizontal plane, and the Z axis direction is parallel to a vertical direction.
The hydraulic mechanical arm mechanism comprises two swing arms and two swing hydraulic cylinders, the two swing arms are respectively a first swing arm and a second swing arm, the two swing hydraulic cylinders are respectively a first swing hydraulic cylinder and a second swing hydraulic cylinder, and the hydraulic mechanical arm mechanism further comprises an upper mounting support and a lower mounting support.
Go up erection support and be fixed in the below of dolly mechanism, the one end of first swing arm is connected with last erection support through first pivot, and the other end of first swing arm is connected through the middle part of second pivot with the second swing arm, and the one end of second swing arm is connected with erection support down through the third pivot, and the axis of first pivot, the axis of second pivot and the axis of third pivot all are on a parallel with the X axle.
One end of the first swing hydraulic cylinder is connected with the upper mounting support through a fourth rotating shaft, the fourth rotating shaft is located below the first rotating shaft, the other end of the first swing hydraulic cylinder is connected with the middle part of the first swing arm through a fifth rotating shaft, one end of the second swing hydraulic cylinder is connected with the middle part of the first swing arm through a sixth rotating shaft, the other end of the second swing hydraulic cylinder is connected with the other end of the second swing arm through a seventh rotating shaft, and the axis of the fourth rotating shaft and the axis of the fifth rotating shaft are parallel to the X shaft.
The slag grab bucket mechanism comprises an opening and closing hydraulic cylinder, a bottom supporting plate, a grab bucket and a connecting rod, wherein the inner side of the upper end of the grab bucket is connected with the bottom supporting plate through a first pin shaft, the middle part of the upper end of the grab bucket is connected with the lower end of the connecting rod through a second pin shaft, the upper end of the connecting rod is connected with the middle part or the upper part of the opening and closing hydraulic cylinder through a third pin shaft, the lower end of the opening and closing hydraulic cylinder is fixedly connected with the bottom supporting plate, and the axis of the first pin shaft, the axis of the second pin shaft and the axis.
The main control unit comprises a grab bucket horizontal control part, a grab bucket height control part and a grab bucket opening and closing control part, wherein the grab bucket horizontal control part comprises a cart mechanism control module and a trolley mechanism control module, and the grab bucket height control part comprises a first hydraulic cylinder control module and a second hydraulic cylinder control module.
The cart mechanism control module can control the position of a cart mechanism on a cart track, the trolley mechanism control module can control the position of a trolley mechanism on a trolley track, the first hydraulic cylinder control module can control the length of the first swing hydraulic cylinder, the second hydraulic cylinder control module can control the length of the second swing hydraulic cylinder, and the grab bucket opening and closing control part can control the opening and closing of the grab bucket.
The invention has the beneficial effects that:
1. the high-efficiency slag grabbing system for the blast furnace granulated slag effectively solves the problem of swinging of the common grab bucket crane, and avoids the occurrence of material scattering.
The grab bucket operates above the slag conveying vehicle to unload slag after completing slag grabbing operation in the filter tank, and the slag grabbing bucket mechanism and the hydraulic mechanical arm mechanism are rigid connection mechanisms, so that the problem of grab bucket swinging after a common grab bucket crane is flexibly connected by a steel wire rope is solved.
2. The grab bucket height control part can realize the height control of the grab bucket mechanism by controlling the extension length of the swing hydraulic cylinder, and the height of the grab bucket mechanism is too low to damage the filter material structure of the filter tank when the grab slag is avoided.
3. The high-efficiency slag grabbing system for the blast furnace granulated slag adopts hydraulic drive, and fully ensures the high efficiency and accuracy of slag grabbing and discharging operations.
The slag grab bucket mechanism and the hydraulic mechanical arm mechanism are driven by hydraulic cylinders, slag grabbing and discharging actions are accurate and reliable, and the efficiency and accuracy of slag grabbing and discharging operations are fully guaranteed.
4. The intelligent control of the hydraulic slag grabbing machine is easily realized by adopting hydraulic drive.
The hydraulic drive is convenient to control and adjust, and intelligent slag grabbing is easily realized aiming at the complex slag particle surface state in the filter tank.
5. The hydraulic slag grabbing machine is driven by hydraulic pressure, is stable in action, fast in equipment reaction, capable of starting at a high speed and reversing frequently, and capable of greatly improving the working efficiency of grabbing slag and unloading slag.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.
FIG. 1 is a three-dimensional view of the high-efficiency slag grabbing system for the blast furnace granulated slag.
Fig. 2 is a three-dimensional view of the grab bucket mechanism and the hydraulic robotic arm mechanism.
Fig. 3 is a three-dimensional view of the grapple bucket mechanism in an open state.
Fig. 4 is a three-dimensional view of the grapple bucket mechanism in a closed state.
FIG. 5 is a schematic diagram of the composition of the main control unit.
1. A cart track; 2. a cart mechanism; 3. a trolley track; 4. a trolley mechanism; 5. a hydraulic mechanical arm mechanism; 6. a slag grab bucket mechanism; 7. a filtration tank; 8. a main control unit; 9. a slag transport vehicle;
51. a first swing arm; 52. a second swing arm; 53. a first swing hydraulic cylinder; 54. a second swing hydraulic cylinder; 55. installing a support on the base; 56. a lower mounting support;
511. a first rotating shaft; 512. a second rotating shaft; 521. a third rotating shaft; 531. a fourth rotating shaft; 532. a fifth rotating shaft; 541. a seventh rotating shaft;
61. opening and closing the hydraulic cylinder; 62. a bottom support plate; 63. a grab bucket; 64. a connecting rod; 65. a first pin shaft; 66. a second pin shaft; 67. a third pin shaft;
81. a grab bucket horizontal control part; 82. a grab height control section; 83. a grab bucket opening and closing control part;
811. a cart mechanism control module; 812. a trolley mechanism control module; 821. a first hydraulic cylinder control module; 822. and the second hydraulic cylinder control module.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
A high-efficient sediment system of grabbing of blast furnace grain slag includes:
the slag grab bucket mechanism 6 can grab the granulated slag;
the hydraulic mechanical arm mechanism 5 comprises a plurality of swing arms, each swing arm is connected with a swing hydraulic cylinder, one end of the hydraulic mechanical arm mechanism 5 is connected with the slag grab bucket mechanism 6, and the hydraulic mechanical arm mechanism 5 can adjust the position of the slag grab bucket mechanism 6 in the vertical direction;
the horizontal moving mechanism can enable the hydraulic mechanical arm mechanism 5 to move along the horizontal direction, and the other end of the hydraulic mechanical arm mechanism 5 is connected with the horizontal moving mechanism;
the main control unit 8 can control the position of the slag hopper mechanism 6 in the vertical direction by the hydraulic robot arm mechanism 5, and can also control the position of the slag hopper mechanism 6 in the horizontal direction by the horizontal movement mechanism, as shown in fig. 1 and 2.
The hydraulic mechanical arm mechanism 5 comprises a plurality of swing arms which are sequentially connected end to end through a rotating shaft, namely the hydraulic mechanical arm mechanism is of a rigid connection structure. The height of the slag grab bucket mechanism 6 is controlled through the expansion and contraction of the swing hydraulic cylinder, so that slag grabbing and discharging operations are completed, the problem of swinging of the grab bucket after the common grab bucket crane is flexibly connected through a steel wire rope is effectively solved, and the material scattering condition is avoided.
In this embodiment, the horizontal moving mechanism includes a cart track 1, a cart mechanism 2, a trolley track 3 and a trolley mechanism 4, which are connected in sequence, the cart mechanism 2 is located on the cart track 1, the trolley track 3 is located on the cart mechanism 2, and the trolley mechanism 4 is located on the trolley track 3. The cart mechanism 2 can walk on the cart track 1, the trolley mechanism 4 can walk on the trolley track 3, and the trolley track 3 is perpendicular to the cart track 1.
In this embodiment, the extending direction of the cart track 1 is the same as the length direction of the filtering tank 7, the extending direction of the trolley track 3 is the same as the width direction of the filtering tank 7, the cart track 1 is located on two sides of the filtering tank 7, and the cart mechanism 2, the trolley track 3 and the trolley mechanism 4 are located above the filtering tank 7.
The cart mechanism 2 can travel along the extending direction of the cart rail 1 (i.e. the length direction of the filter tank 7), the cart mechanism 4 can travel along the extending direction of the cart rail 3 (i.e. the width direction of the filter tank 7), and the extending direction of the cart rail 1 is perpendicular to the extending direction of the cart rail 3, as shown in fig. 1. The cart mechanism 2 and the trolley mechanism 4 are both in the prior art, and wheels are arranged at the lower parts of the cart mechanism 2 and the trolley mechanism 4.
In this embodiment, in a rectangular spatial coordinate system with X, Y, Z axes as coordinate axes, the extension direction of the cart rail 1 is parallel to the Y axis, the extension direction of the cart rail 3 is parallel to the X axis, the planes of the X axis and the Y axis are parallel to the horizontal plane, and the Z axis direction is parallel to the vertical direction. The horizontal moving mechanism comprises two cart tracks 1 and two trolley tracks 3.
In this embodiment, the hydraulic mechanical arm mechanism 5 includes two swing arms and two swing hydraulic cylinders, the two swing arms are a first swing arm 51 and a second swing arm 52, the two swing hydraulic cylinders are a first swing hydraulic cylinder 53 and a second swing hydraulic cylinder 54, and the hydraulic mechanical arm mechanism 5 further includes an upper mounting support 55 and a lower mounting support 56, as shown in fig. 2.
In this embodiment, the upper mounting support 55 is fixed below the cart mechanism 4, the upper end of the first swing arm 51 is connected to the upper mounting support 55 through the first rotating shaft 511, the lower end of the first swing arm 51 is connected to the middle of the second swing arm 52 through the second rotating shaft 512, the lower end of the second swing arm 52 is connected to the lower mounting support 56 through the third rotating shaft 521, and the axis of the first rotating shaft 511, the axis of the second rotating shaft 512, and the axis of the third rotating shaft 521 are all parallel to the X axis, as shown in fig. 2.
In this embodiment, the upper end of the first swing hydraulic cylinder 53 is connected to the upper mounting support 55 through the fourth rotating shaft 531, a long strip-shaped mounting through hole is provided in the cart mechanism 2, the upper mounting support 55 is located in the mounting through hole, and the length direction of the mounting through hole is parallel to the X axis. The fourth rotating shaft 531 is located below the first rotating shaft 511, the lower end of the first swing hydraulic cylinder 53 is connected with the middle of the first swing arm 51 through the fifth rotating shaft 532, the upper end of the second swing hydraulic cylinder 54 is connected with the middle of the first swing arm 51 through the sixth rotating shaft, the lower end of the second swing hydraulic cylinder 54 is connected with the upper end of the second swing arm 52 through the seventh rotating shaft 541, and the axis of the fourth rotating shaft 531, the axis of the fifth rotating shaft 532, the axis of the sixth rotating shaft and the axis of the seventh rotating shaft 541 are all parallel to the X axis.
When the first swing hydraulic cylinder 53 extends or contracts, the first swing arm 51 can rotate about the first rotation shaft 511. When the second swing hydraulic cylinder 54 extends or contracts, the second swing arm 52 can rotate about the second rotating shaft 512. The upper mounting support 55 is rigidly connected with the trolley mechanism 4, the lower mounting support 56 is rigidly connected with the slag grab bucket mechanism 6, and the position of the slag grab bucket mechanism 6 in the vertical direction can be accurately controlled by accurately controlling the telescopic lengths of the first swing hydraulic cylinder 53 and the second swing hydraulic cylinder 54.
The sixth rotating shaft and the fifth rotating shaft 532 may have the same shaft, that is, the lower end of the first swing hydraulic cylinder 53 is connected to the middle of the first swing arm 51 through the fifth rotating shaft 532, and the upper end of the second swing hydraulic cylinder 54 is connected to the middle of the first swing arm 51 through the fifth rotating shaft 532. The upper end of the upper mounting bracket 55 is rigidly connected to the lower surface of the carriage mechanism 4, and the lower end of the lower mounting bracket 56 is rigidly connected to the upper end of an opening/closing hydraulic cylinder 61 described below.
In this embodiment, the slag grab mechanism 6 includes an open-close hydraulic cylinder 61, a bottom support plate 62, a grab bucket 63 and a connecting rod 64, the inner side of the upper end of the grab bucket 63 is connected with the bottom support plate 62 through a first pin 65, the middle part of the upper end of the grab bucket 63 is connected with the lower end of the connecting rod 64 through a second pin 66, the upper end of the connecting rod 64 is connected with the middle part or the upper part of the open-close hydraulic cylinder 61 through a third pin 67, the lower end of the open-close hydraulic cylinder 61 is fixedly connected with the bottom support plate 62, and the axis of the first pin 65, the axis of the second pin 66 and the axis of the third pin 67 are all parallel to the X axis.
The grapple 63 and the link 64 are symmetrically provided on both left and right sides of the opening/closing cylinder 61, and the opening/closing cylinder 61 is in an upright state, and the grapple 63 can rotate about the first pin 65. In the process of gradually extending the opening and closing hydraulic cylinder 61, the grab bucket 63 of the grab bucket mechanism 6 is gradually opened, that is, the distance between the lower ends of the two grab buckets 63 is gradually increased. When the opening and closing hydraulic cylinder 61 is at the extended extreme position, the slag grab mechanism 6 is at the open extreme state, as shown in fig. 3. In the process of gradually shortening the opening and closing hydraulic cylinder 61, the grab bucket 63 of the grab bucket mechanism 6 is gradually closed, that is, the distance between the lower ends of the two grab buckets 63 is gradually reduced. When the opening-closing hydraulic cylinder 61 is at the shortened limit position, the slag trap mechanism 6 is in the closed state, as shown in fig. 4.
In the present embodiment, the main control unit 8 includes a grapple horizontal control portion 81, a grapple height control portion 82, and a grapple opening and closing control portion 83, the grapple horizontal control portion 81 includes a cart mechanism control module 811 and a cart mechanism control module 812, and the grapple height control portion 82 includes a first hydraulic cylinder control module 821 and a second hydraulic cylinder control module 822, as shown in fig. 5.
The cart mechanism control module 811 can accurately control the position of the cart mechanism 2 on the cart rail 1, the cart mechanism control module 812 can accurately control the position of the cart mechanism 4 on the cart rail 3, the first hydraulic cylinder control module 821 can accurately control the length of the first swing hydraulic cylinder 53, the second hydraulic cylinder control module 822 can accurately control the length of the second swing hydraulic cylinder 54, and the grab bucket opening and closing control portion 83 can control the opening and closing of the grab bucket 63.
The first hydraulic cylinder control module 821 can precisely control the position of the second swing arm 52 in the space rectangular coordinate system by precisely controlling the length of the first swing hydraulic cylinder 53. The second hydraulic cylinder control module 822 can precisely control the position of the slag grab bucket mechanism 6 in the spatial rectangular coordinate system by precisely controlling the length of the second swing hydraulic cylinder 54. The grapple opening/closing control portion 83 controls the expansion and contraction of the opening/closing hydraulic cylinder 61 to thereby place the slag grapple mechanism 6 in an open state or a closed state.
Hydraulic mechanical arm mechanism 5 and grab sediment fill mechanism 6 adopt hydraulic drive, and the action is steady, equipment reaction is fast, fully guarantees to grab the sediment, unloads the high efficiency and the accuracy of sediment operation, easily realizes intelligent sediment of grabbing to the complicated sediment grain surface condition in the filter tank. The common problem of grab swing of a common grab bucket crane is effectively solved, and the material scattering condition is avoided; the grab bucket positioning control system can realize the control of the height of the grab bucket by controlling the extension length of the hydraulic cylinder, and the filter material structure of the filter tank is damaged due to the over-low height of the grab bucket when the slag is grabbed.
The working process of the high-efficiency slag grabbing system for the blast furnace granulated slag is described below.
The slag car 9 is moved to a desired position between the filter tank 7 and the cart track 1.
The first swing hydraulic cylinder 53 is accurately controlled by the first hydraulic cylinder control module 821, and the second swing hydraulic cylinder 54 is accurately controlled by the second hydraulic cylinder control module 822, so that the position of the slag grab bucket mechanism 6 in the vertical direction can be accurately controlled, and the filter material structure in the filter tank 7 is damaged due to too low height of the grab bucket 63 during slag grabbing.
The grapple opening/closing control portion 83 controls the expansion and contraction of the opening/closing hydraulic cylinder 61 to thereby place the slag grapple mechanism 6 in an open state or a closed state. The slag grabbing and discharging operations of the slag grab bucket mechanism 6 can be realized by controlling the action of the opening and closing hydraulic cylinder 61.
The cart mechanism control module 811 controls the position of the cart mechanism 2 on the cart track 1, and the trolley mechanism control module 812 controls the position of the trolley mechanism 4 on the trolley track 3, so as to accurately control the horizontal positions of the hydraulic mechanical arm mechanism 5 and the slag grab bucket mechanism 6, and efficiently realize slag grabbing operation at the position of the filter tank 7 and slag unloading operation at the position of the slag transport vehicle 9.
The above description is only exemplary of the invention and should not be taken as limiting the scope of the invention, so that the invention is intended to cover all modifications and equivalents of the embodiments described herein. In addition, the technical features and the technical schemes, and the technical schemes can be freely combined and used.

Claims (10)

1. The utility model provides a high-efficient sediment system of grabbing of blast furnace grain slag which characterized in that, the high-efficient sediment system of grabbing of blast furnace grain slag includes:
the slag grab bucket mechanism (6) can grab the granulated slag;
the hydraulic mechanical arm mechanism (5) comprises a plurality of swing arms, each swing arm is connected with a swing hydraulic cylinder, one end of the hydraulic mechanical arm mechanism (5) is connected with the slag grab bucket mechanism (6), and the hydraulic mechanical arm mechanism (5) can adjust the position of the slag grab bucket mechanism (6) in the vertical direction;
the horizontal moving mechanism can enable the hydraulic mechanical arm mechanism (5) to move along the horizontal direction, and the other end of the hydraulic mechanical arm mechanism (5) is connected with the horizontal moving mechanism;
the main control unit (8) can control the position of the slag grab bucket mechanism (6) in the vertical direction through the hydraulic mechanical arm mechanism (5), and can also control the position of the slag grab bucket mechanism (6) in the horizontal direction through the horizontal moving mechanism.
2. The blast furnace granulated slag efficient slag grabbing system according to claim 1, wherein the horizontal moving mechanism comprises a cart track (1), a cart mechanism (2), a trolley track (3) and a trolley mechanism (4), the trolley track (3) is located on the cart mechanism (2), the cart mechanism (2) can run on the cart track (1), the trolley mechanism (4) can run on the trolley track (3), and the trolley track (3) is perpendicular to the cart track (1).
3. The blast furnace granulated slag efficient slag grabbing system according to claim 2, wherein the extending direction of the cart track (1) is the same as the length direction of the filtering tank (7), the extending direction of the trolley track (3) is the same as the width direction of the filtering tank (7), the cart track (1) is positioned on two sides of the filtering tank (7), and the cart mechanism (2), the trolley track (3) and the trolley mechanism (4) are positioned above the filtering tank (7).
4. The high-efficiency slag grabbing system for blast furnace granulated slag according to claim 2 is characterized in that in a spatial rectangular coordinate system taking X, Y, Z axes as coordinate axes, the extending direction of the cart track (1) is parallel to the Y axis, the extending direction of the trolley track (3) is parallel to the X axis, the planes of the X axis and the Y axis are parallel to the horizontal plane, and the Z axis direction is parallel to the vertical direction.
5. The high-efficiency slag grabbing system for the blast furnace granulated slag according to claim 4 is characterized in that the hydraulic mechanical arm mechanism (5) comprises two swing arms and two swing hydraulic cylinders, wherein the two swing arms are a first swing arm (51) and a second swing arm (52), the two swing hydraulic cylinders are a first swing hydraulic cylinder (53) and a second swing hydraulic cylinder (54), and the hydraulic mechanical arm mechanism (5) further comprises an upper mounting support (55) and a lower mounting support (56).
6. The blast furnace granulated slag efficient slag grabbing system according to claim 5, wherein the upper mounting support (55) is fixed below the trolley mechanism (4), one end of the first swing arm (51) is connected with the upper mounting support (55) through a first rotating shaft (511), the other end of the first swing arm (51) is connected with the middle part of the second swing arm (52) through a second rotating shaft (512), one end of the second swing arm (52) is connected with the lower mounting support (56) through a third rotating shaft (521), and the axis of the first rotating shaft (511), the axis of the second rotating shaft (512) and the axis of the third rotating shaft (521) are all parallel to the X axis.
7. The high-efficiency slag grabbing system for the blast furnace granulated slag according to claim 6 is characterized in that one end of a first swing hydraulic cylinder (53) is connected with an upper mounting support (55) through a fourth rotating shaft (531), the fourth rotating shaft (531) is located below the first rotating shaft (511), the other end of the first swing hydraulic cylinder (53) is connected with the middle part of a first swing arm (51) through a fifth rotating shaft (532), one end of a second swing hydraulic cylinder (54) is connected with the middle part of the first swing arm (51) through a sixth rotating shaft, the other end of the second swing hydraulic cylinder (54) is connected with the other end of a second swing arm (52) through a seventh rotating shaft (541), and the axis of the fourth rotating shaft (531), the axis of the fifth rotating shaft (532), the axis of the sixth rotating shaft and the axis of the seventh rotating shaft (541) are all parallel to the X axis.
8. The blast furnace granulated slag efficient slag grabbing system according to claim 4, wherein the slag grabbing bucket mechanism (6) comprises an opening and closing hydraulic cylinder (61), a bottom supporting plate (62), a grabbing bucket (63) and a connecting rod (64), the inner side of the upper end of the grabbing bucket (63) is connected with the bottom supporting plate (62) through a first pin shaft (65), the middle part of the upper end of the grabbing bucket (63) is connected with the lower end of the connecting rod (64) through a second pin shaft (66), the upper end of the connecting rod (64) is connected with the middle part or the upper part of the opening and closing hydraulic cylinder (61) through a third pin shaft (67), the lower end of the opening and closing hydraulic cylinder (61) is fixedly connected with the bottom supporting plate (62), and the axis of the first pin shaft (65), the axis of the second pin shaft (66) and the axis of the third pin shaft (67) are all parallel to the.
9. The blast furnace granulated slag high-efficiency slag grabbing system according to claim 5, wherein the main control unit (8) comprises a grab bucket horizontal control part (81), a grab bucket height control part (82) and a grab bucket opening and closing control part (83), the grab bucket horizontal control part (81) comprises a cart mechanism control module (811) and a cart mechanism control module (812), and the grab bucket height control part (82) comprises a first hydraulic cylinder control module (821) and a second hydraulic cylinder control module (822).
10. The high-efficiency slag grabbing system for blast furnace granulated slag according to claim 9, wherein the cart mechanism control module (811) can control the position of the cart mechanism (2) on the cart track (1), the trolley mechanism control module (812) can control the position of the trolley mechanism (4) on the trolley track (3), the first hydraulic cylinder control module (821) can control the length of the first swing hydraulic cylinder (53), the second hydraulic cylinder control module (822) can control the length of the second swing hydraulic cylinder (54), and the grab bucket opening and closing control part (83) can control the opening and closing of the grab bucket (63).
CN202010645644.1A 2020-07-07 2020-07-07 High-efficient sediment system of grabbing of blast furnace grain slag Pending CN111792538A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114053766A (en) * 2021-11-24 2022-02-18 中冶京诚工程技术有限公司 Method for cleaning hardened substances in blast furnace water slag bottom filter
CN114053768A (en) * 2021-11-24 2022-02-18 中冶京诚工程技术有限公司 Method for preventing hardening of filter material of blast furnace water slag bottom filtering system
CN114231678A (en) * 2021-12-20 2022-03-25 广西柳钢环保股份有限公司 Water fetching device and method for hot stewing slag pool
CN115448162A (en) * 2022-09-21 2022-12-09 中冶南方工程技术有限公司 Automatic slag grabbing method for water slag travelling crane by using high furnace bottom filtration method
CN116924223A (en) * 2023-09-13 2023-10-24 河南省黄海重型装备制造有限公司新乡分公司 Material loading and unloading equipment

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114053766A (en) * 2021-11-24 2022-02-18 中冶京诚工程技术有限公司 Method for cleaning hardened substances in blast furnace water slag bottom filter
CN114053768A (en) * 2021-11-24 2022-02-18 中冶京诚工程技术有限公司 Method for preventing hardening of filter material of blast furnace water slag bottom filtering system
CN114053768B (en) * 2021-11-24 2022-12-20 中冶京诚工程技术有限公司 Method for preventing hardening of filter material of blast furnace water slag bottom filtering system
CN114231678A (en) * 2021-12-20 2022-03-25 广西柳钢环保股份有限公司 Water fetching device and method for hot stewing slag pool
CN115448162A (en) * 2022-09-21 2022-12-09 中冶南方工程技术有限公司 Automatic slag grabbing method for water slag travelling crane by using high furnace bottom filtration method
CN115448162B (en) * 2022-09-21 2023-08-25 中冶南方工程技术有限公司 Automatic slag grabbing method for water slag travelling crane by using blast furnace bottom filtering method
CN116924223A (en) * 2023-09-13 2023-10-24 河南省黄海重型装备制造有限公司新乡分公司 Material loading and unloading equipment
CN116924223B (en) * 2023-09-13 2023-12-15 河南省黄海重型装备制造有限公司新乡分公司 Material loading and unloading equipment

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