CN113369471A - Releasing device for nozzle clamp of ladle long nozzle manipulator - Google Patents
Releasing device for nozzle clamp of ladle long nozzle manipulator Download PDFInfo
- Publication number
- CN113369471A CN113369471A CN202110587502.9A CN202110587502A CN113369471A CN 113369471 A CN113369471 A CN 113369471A CN 202110587502 A CN202110587502 A CN 202110587502A CN 113369471 A CN113369471 A CN 113369471A
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- rod
- guide
- ladle
- nozzle
- manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
- B22D41/50—Pouring-nozzles
- B22D41/56—Means for supporting, manipulating or changing a pouring-nozzle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Casting Support Devices, Ladles, And Melt Control Thereby (AREA)
Abstract
A steel ladle long nozzle manipulator nozzle gripper release device belongs to the technical field of steel-making continuous casting. The device is used for solving the problems that a water gap cannot be separated from a steel ladle in time, and the front end of the clamping arm does not have enough space for installing the release device. The device changes the bolt fixed connection of original centre gripping arm and clamp into mouth of a river holder release, and the device is located the interior sheathed tube inside of centre gripping arm, and when the long mouth of a river robot of ladle was in under the accident situation, can automatic release clamp and long mouth of a river, had solved and caused the problem of whole robot trouble even damage when leading to the long mouth of a river can't break away from the ladle because of the accident. In the pouring process, in an emergency state, a release button on the manual operator is pressed, the clamp hoop can be automatically separated from the clamp holder, the manipulator body is guaranteed not to be influenced by the rotation of the steel ladle, and the equipment loss is reduced. And a new clamp is installed again, and the manipulator can be put into use again, so that the maintenance time is saved, and the production efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of steelmaking and continuous casting, and particularly relates to a releasing device for a ladle long nozzle manipulator nozzle clamp.
Background
When a continuous casting machine is used for casting, molten steel is firstly injected into a tundish below the molten steel from a ladle and then enters a crystallizer from the tundish, and the conversion from the molten steel to a casting blank is started. In order to ensure that molten steel contacts air for secondary oxidation in the casting process, a protective water gap is adopted in the two processes. The long nozzle is a hollow tubular refractory material, one end of the long nozzle is supported against the nozzle at the bottom of the ladle, the other end of the long nozzle enters and exits the tundish, and the molten steel flows into the tundish from the nozzle. The long nozzle manipulator has the main function of clamping the column ladle long nozzle and tightly pushing the column ladle long nozzle to the bottom of the ladle. According to the process operation requirements, the manipulator needs to clamp the nozzle to complete multi-dimensional actions of lifting, revolution, rotation and expansion, so that the clamping arm of the manipulator is generally of a sleeve structure, an inner sleeve can lift and revolve along with an outer pipe, and can expand, contract and rotate (rotate) relative to the outer pipe, the front end of the inner pipe fixes a long nozzle clamp through a bolt, and the clamp is used for supporting the upper part of the long nozzle to move to the nozzle. In the pouring process, a manipulator needs to clamp a water gap to prop against a water gap at the bottom of a ladle, in an accident state, for example, when steel leakage occurs, an accident button is knocked down, a rotary table can bring the ladle to rapidly leave a pouring area, the water gap can leave along with the rotation of the ladle after the water gap is not released, and the clamp holder and a frame can be damaged by pulling. The manipulator may also be injured if manually operated on site.
From the above, the long nozzle manipulator has the need of adding a nozzle holder release device, which requires that the long nozzle holder can be separated from the holding arm when an accident occurs; because the centre gripping arm need accomplish lift, flexible, rotation motion, its structure is comparatively complicated, and inner space is very compact, and the ladle is pressed close to the operating position, and external environment is unstable, and flexible and rotation motion need be accomplished to its inner tube, and the outside does not have sufficient space installation.
The long nozzle manipulator has the following problems: the water gap can not be separated from the ladle in time, and the front end of the clamping arm does not have enough space for installing the release device.
Disclosure of Invention
The invention aims to provide a releasing device for a ladle nozzle holder of a ladle long nozzle manipulator. The device is used for solving the problem that a water gap cannot be separated from a steel ladle in time, and the front end of the clamping arm does not have enough space to install a release device.
A ladle long nozzle manipulator nozzle gripper release device comprises a hydraulic cylinder 1, a connecting frame 2, a driving rod 3, a spring 4, a guide rod 5, a gripper jaw 6, a retaining sleeve 7, a nozzle gripper 8, a guide sleeve 9 and a trolley 10, wherein the trolley 10 is positioned at the tail end inside a clamping arm outer tube 11 of a manipulator, the front end of the trolley 10 is axially fixed at the rear part of the clamping arm inner tube 12, wheels arranged on the trolley 10 can linearly move along a track inside the clamping arm outer tube 11 along the clamping arm inner tube 12 but do not rotate along the clamping arm inner tube 12, the hydraulic cylinder 1 is fixed on the trolley 10, the rear part of the connecting frame 2 is fixedly connected with a cylinder rod of the hydraulic cylinder 1, a front side is provided with a hole and a rolling bearing, the driving rod 3 and the clamping arm inner tube 12 are concentrically arranged, the front part of the driving rod is positioned inside the inner tube 12, the rear part of the driving rod penetrates through the hole of the connecting frame 2 to be axially fixed with the connecting frame and can rotate relative to the driving rod, the spring 4 is arranged in a front end cavity of the driving rod 3, the guide rod 5 is concentrically sleeved inside the driving rod 3, the two types can be transported linearly relatively, a first guide rod 501 of the guide rod passes through the inner ring of the spring 4 to guide the telescopic motion of the guide rod, a second guide rod 502 of the guide rod is fixed at the head of the first guide rod 501 through threads, the end part of the spring 4 is compressed, a retaining sleeve 7 is installed at the front end of an inner tube 12 of a clamping arm, a guide sleeve 9 is provided with a conical guide surface and a U-shaped key groove and is fixed with the front end of the inner tube 12 of the clamping arm through bolts and is axially fixed to the retaining sleeve 7, a clamping claw 6 is fixed with the threads at the front end of the driving rod 3 and can move along with the clamping claw, the front end 4 claw is compressed inside the retaining sleeve 7, the front end of a nozzle clamp holder 8 is connected with a ladle long nozzle, a conical guide column at the rear end passes through the conical guide surface of the guide sleeve 9, the inner part of the tail end is propped against the end part of the guide rod 5, the outer part is clamped by the clamping claw 6, and a key 801 installed on the clamping claw is matched with the U-shaped key groove, the guide sleeve 9 and the nozzle holder 8 are rotatable synchronously.
Preferably, the retaining sleeve 7 has a flange on the inside, the diameter of which is smaller than the diameter of the outer flange on the clamping jaw 6.
Preferably, the key 801 on which the nozzle holder 8 is mounted and the U-shaped key groove on the guide sleeve 9 with which it is fitted are both wide in the front and narrow in the rear to facilitate insertion and removal of the nozzle holder 8 into and from the guide sleeve 9.
Preferably, a through hole is formed in the nozzle holder 8, is communicated with the inner cavity of the guide rod 5 and is used as an argon channel for argon sealing of the long nozzle.
Preferably, the cavity diameter of the rear end of the guide sleeve 9 is larger than the outer diameter of the expanded clamping claw 6, and the length of the guide sleeve 9 is larger than the advancing distance of the driving rod 3.
Preferably, a rotary joint 504 is arranged at the rear end of the guide rod 5 and connected with an argon pipeline.
Preferably, the guide rod 5 is in conical contact with the joint of the nozzle holder 8, and is provided with a sealing ring 503 to ensure sealing at the joint.
Preferably, the ferrule 301 of the driving rod 3 is mounted at the foremost end thereof by a thread, and the ferrule 301 is provided with a ring groove.
Preferably, the hydraulic cylinder 1 has a double-rod and double-acting cylinder, and a buffer spring 101 is mounted at one rod end.
Preferably, the hydraulic cylinder 1 is connected with a control valve table and a pump source through hydraulic pipelines.
Preferably, the hydraulic cylinder 1 is connected with a control valve table and a pump source through a hydraulic pipeline 102 and a hydraulic pipeline 103, and can be operated by a machine side or by a remote control.
Preferably, the clamping jaw 6 is a BEGR clamping jaw.
During initial assembly, the spring 4 is precompressed, because the rear end of the driving rod 3 is axially fixed, under the action of spring force, the nozzle holder 8 is fixed by the BEGR clamping claw 6, when the inner tube 12 of the clamping arm stretches back and forth relative to the outer tube 11 of the clamping arm, the nozzle holder release device of the ladle long nozzle manipulator can synchronously stretch back and forth along with the nozzle holder release device, when the inner tube 12 of the clamping arm rotates relative to the outer tube 11 of the clamping arm, the key 801 transfers the motion to the nozzle holder 8 to drive the nozzle holder to synchronously rotate with the long nozzle 14 of the ladle, but the hydraulic cylinder 1, the connecting frame 2 and the trolley 10 cannot rotate along with the nozzle holder release device, the argon pipeline connected with the rotary joint 504 cannot rotate along with the nozzle holder release device, when an accident happens, the operating button is touched, the hydraulic pipeline 102 enters pressure oil, the hydraulic cylinder rod stretches out forwards, the driving rod 3 is pushed by the connecting frame 2 to overcome the resistance of the spring 4 to push the BEGR clamping claw 6 out of the retaining sleeve 7, and the front end of the BEGR clamping claw 6 opens, the nozzle holder 8 is detached from the long nozzle manipulator holding arm.
The invention has the beneficial effects that: change the bolt fixed connection of original centre gripping arm and clamp into mouth of a river holder release, this device is located the interior sheathed tube inside of centre gripping arm, and when the long mouth of a river robot of ladle was in under the accident situation, can a key automatic release clamp and long mouth of a river, had solved and had led to the fact the problem of whole robot trouble even damage when leading to the long mouth of a river to break away from the ladle because of the accident. During the pouring process, when an accident occurs, such as steel leakage, the ladle needs to quickly rotate to leave a pouring position, and the long ladle nozzle is also supported below the ladle under the clamping of the manipulator and cannot be detached in time. Under the drive of the ladle, the clamp holder is damaged slightly, and the whole manipulator is scrapped seriously. The long nozzle clamp at the front end of the clamp holder is fixed on the clamping arm through the clamp holder, and in an emergency state, a release button on the manual operator is pressed down, so that the clamp can be automatically separated from the clamp holder, the manipulator body is guaranteed not to be influenced by ladle rotation, and equipment loss is reduced. And a new clamp is installed again, and the manipulator can be put into use again, so that the maintenance time is saved, and the production efficiency is improved.
Drawings
FIG. 1 is a schematic structural diagram of a ladle long nozzle manipulator nozzle holder release device provided by the invention;
FIG. 2 is a partial sectional view of a nozzle holder releasing device of a ladle long nozzle manipulator according to the present invention;
FIG. 3 is a schematic view of a clamping state of a ladle long nozzle manipulator nozzle clamp release device provided by the invention;
FIG. 4 is a schematic view of a releasing state of a nozzle holder releasing device of a ladle long nozzle manipulator provided by the invention;
FIG. 5 is a schematic view of a key provided by the present invention;
in the figure: the device comprises a hydraulic cylinder 1, a connecting frame 2, a driving rod 3, a spring 4, a guide rod 5, a BERG clamping claw 6, a retaining sleeve 7, a water gap clamp 8, a guide sleeve 9, a trolley 10, a clamping arm outer tube 11, a clamping arm inner tube 12, a bearing group 13, a ladle long water gap 14, a buffer spring 101, a hydraulic pipeline 102, a first guide rod 501, a second guide rod 502, a sealing ring 503, a rotary joint 504, a clamping sleeve 301 and a key 801.
Detailed Description
Fig. 1 shows a schematic structural diagram of a ladle long nozzle manipulator nozzle holder release device, the directions of the invention, front and back, respectively refer to the extending direction of an inner sleeve of a holding arm and the shortening direction of the inner sleeve of the holding arm, and the structure is positioned in the manipulator holding arm.
Referring to fig. 1 and 2, the invention comprises a hydraulic cylinder 1, a connecting frame 2, a driving rod 3, a spring 4, a guide rod 5, a clamping claw 6, a retaining sleeve 7, a water gap clamp 8, a guide sleeve 9 and a trolley 10, wherein the trolley 10 is positioned at the tail end inside a clamping arm outer tube 11 of a manipulator, the front end of the trolley 10 is axially fixed at the rear part of the clamping arm inner tube 12, the trolley can linearly move along a track inside the clamping arm outer tube 11 along the clamping arm inner tube 12 through a self-provided wheel but does not rotate along the clamping arm inner tube 12, the hydraulic cylinder 1 is fixed on the trolley 10 through a bolt, the rear part of the connecting frame 2 is in threaded connection with a cylinder rod of the hydraulic cylinder 1, a front side is provided with a hole and is provided with a rolling bearing, the driving rod 3 and the clamping arm inner tube 12 are concentrically arranged, the front part of the driving rod is positioned inside the inner tube 12, the rear part of the connecting frame 2 passes through the hole to be axially fixed with the connecting frame 2 and can rotate relative to the connecting rod, the spring 4 is arranged in a front end cavity of the driving rod 3, the rear end of a spring 4 is contacted with the cavity surface of a driving rod 3, a guide rod 5 is concentrically sleeved in the driving rod 3, the two types of the guide rods can move linearly relatively, a first guide rod 501 of the guide rod is penetrated through the inner ring of the spring 4 to guide the telescopic movement of the spring, a second guide rod 502 of the guide rod is fixed at the head of the first guide rod 501 through threads, the end part of the spring 4 is compressed, a retaining sleeve 7 is arranged at the front end of an inner tube 12 of a clamping arm, a guide sleeve 9 is provided with a conical guide surface and a U-shaped key groove and is fixed with the front end of the inner tube 12 of the clamping arm through a bolt and is axially fixed on the retaining sleeve 7, a clamping claw 6 is fixed with the threads at the front end of the driving rod 3 and can move along with the inner tube, a front end 4 claw is compressed in the retaining sleeve 7, the front end of a nozzle clamp 8 is connected with a ladle long nozzle, a rear-end conical guide column penetrates through the conical guide surface of the guide sleeve 9, the inner end of the end is propped against the end of the guide rod 5, the outer part is clamped in the clamping claw 6, the key 801 mounted thereon cooperates with the U-shaped keyway and the guide sleeve 9 and the nozzle holder 8 are rotatable synchronously.
Fig. 1 and 3 show the schematic view of the working state of the ladle long nozzle manipulator nozzle holder release device, the hydraulic cylinder does not work, the connecting frame 2 is fixed with the hydraulic cylinder rod, the driving rod 3 is axially fixed with the connecting frame 2, the driving rod 3 can rotate relative to the connecting frame 2, the spring 4 is compressed, the guide rod 5 is pushed forwards under the action of the spring force, and the nozzle holder 8 is fixed by the BEGR clamping claw 6 and the second guide rod 502; when the clamping arm contracts, the trolley 10 moves forwards/backwards to drive the inner sleeve 12 to move, and the inner sleeve drives the whole device to move; when the inner sleeve 12 rotates, the key 801 on the guide sleeve 9 drives the nozzle holder 8 to rotate, under the clamping force between the BEGR clamping claw 6 and the nozzle holder 8 and the friction force between the inner sleeve 12 and the drive rod 3, the front part of the device rotates along with the inner sleeve, and the connecting frame 2 and the rear part do not rotate along with the inner sleeve.
As shown in fig. 2, the retaining sleeve 7 has a flange on the inside, the diameter of the flange is smaller than that of the flange on the clamping jaw 6, and the clamping jaw 6 cannot be pushed out completely during the forward pushing process;
as shown in fig. 2, a through hole is arranged in the nozzle holder 8, is communicated with the inner cavity of the guide rod 5 and is used as an argon channel for argon sealing of the long nozzle;
as shown in fig. 2, the diameter of the cavity at the rear end of the guide sleeve 9 is larger than the outer diameter of the expanded clamping claw 6, and the length of the cavity is larger than the advancing distance of the driving rod 3;
as shown in fig. 2, the guide rod 5 is in conical contact with the joint of the nozzle holder 8, and is provided with a sealing ring 503 to ensure the sealing of the joint;
as shown in fig. 2, a rotary joint 504 is arranged at the rear end of the guide rod 5 and connected with an argon pipeline;
as shown in fig. 2, a ferrule 301 to which the driving rod 3 belongs is mounted at the foremost end of the driving rod by threads, and the ferrule 301 is provided with a ring groove;
as shown in fig. 1, the hydraulic cylinder 1 is connected with a control valve table and a pump source through a hydraulic pipeline 102 and a hydraulic pipeline 103, and can be operated by a machine or by a remote control;
as shown in fig. 1, the hydraulic cylinder 1 has a double-rod and double-acting cylinder, and a buffer spring 101 is mounted at the rod end of one side;
as shown in fig. 1, the clamping claw 6 is a BEGR clamping claw, the rear end of the BEGR clamping claw is provided with threads, the front end of the BEGR clamping claw is divided into four claws, and in the case of no constraint, the four claws at the front end of the BEGR clamping claw can be bounced open, and when the BEGR clamping claw is accommodated in the retaining sleeve 7, the four claws are converged.
Fig. 4 shows a schematic diagram of an accident state of a ladle long nozzle manipulator nozzle gripper release device, when an accident occurs, an operation button is touched, a hydraulic pipeline 102 enters pressure oil, a hydraulic cylinder rod extends forwards, a driving rod 3 is pushed by a connecting frame 2 to overcome the resistance of a spring 4 to push a clamping claw 6 out of a retaining sleeve 7, a clamping claw at the front end of the clamping claw 6 is opened, and a nozzle gripper 8 is disengaged from a long nozzle manipulator clamping arm.
As shown in fig. 5, the key 801 mounted on the nozzle holder 8 and the U-shaped key groove on the guide sleeve 9 matched with the key are both wide in front and narrow in back, so that the nozzle holder 8 can be inserted into and detached from the guide sleeve 9 conveniently;
the release device for the ladle long nozzle manipulator nozzle clamper provided by the invention is described in detail above. The principle and the implementation of the present invention are explained by applying specific examples in the present invention, and the above description of the examples is only used to help understanding the method and the core idea of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A ladle long nozzle manipulator nozzle gripper release device is characterized by comprising a hydraulic cylinder (1), a connecting frame (2), a driving rod (3), a spring (4), a guide rod (5), a gripper jaw (6), a retaining sleeve (7), a nozzle gripper (8), a guide sleeve (9) and a trolley (10); the small vehicle (10) is positioned at the tail end inside a clamping arm outer tube (11) of the manipulator, the front end of the small vehicle is axially fixed at the rear part of a clamping arm inner tube (12), the small vehicle can linearly move along a track in the clamping arm outer tube (11) through a self-contained wheel and does not rotate along the clamping arm inner tube (12), a hydraulic cylinder (1) is fixed on the small vehicle (10), the rear part of a connecting frame (2) is fixedly connected with a cylinder rod of the hydraulic cylinder (1), the front side of the connecting frame (2) is provided with a hole and a rolling bearing, a driving rod (3) and the clamping arm inner tube (12) are concentrically arranged, the front part of the driving rod is positioned inside the inner tube (12), the rear part of the driving rod passes through the hole of the connecting frame (2) and is axially fixed with the connecting frame (2) and can rotate relative to the connecting frame, a spring (4) is arranged in a front end cavity of the driving rod (3), a guide rod (5) is concentrically sleeved inside the driving rod (3), the two types of the guide rods can move linearly relatively, and a first guide rod (501) of the guide rod (5) penetrates through the inner ring of the spring (4) to guide the telescopic movement of the spring; a second guide rod (502) to which the guide rod (5) belongs is fixed at the head of the first guide rod (501) through threads, the end part of a compression spring (4) is fixed, a retaining sleeve (7) is installed at the front end of a clamping arm inner tube (12), a guide sleeve (9) is provided with a conical guide surface and a U-shaped key groove and is fixed with the front end of the clamping arm inner tube (12) through a bolt and is fixed with the retaining sleeve (7) axially, a clamping claw (6) is fixed with the front end of a driving rod (3) through threads, the clamping claw (6) moves along with the driving rod (3), the clamping claw (6) at the front end is compressed inside the retaining sleeve (7), the front end of a water gap clamp holder (8) is connected with a long water gap of a ladle, a conical guide column at the rear end penetrates through the conical guide surface of the guide sleeve (9), the inner part at the tail end is propped against the end part of the guide rod (5), the outer part is clamped inside the retaining sleeve (7) of the retaining sleeve by the clamping claw (6), a key (801) installed on the water gap clamp holder (8) is matched with the U-shaped key groove, the guide sleeve (9) and the nozzle holder (8) can rotate synchronously.
2. The ladle shroud manipulator nozzle holder release device according to claim 1, characterized in that the retaining sleeve (7) has a flange inside, the diameter of the flange being smaller than the diameter of the outer flange on the clamping jaw (6).
3. The ladle shroud manipulator nozzle holder release mechanism of claim 1, wherein the key (801) for mounting the nozzle holder (8) and the U-shaped key slot are both wide at the front and narrow at the back to allow the nozzle holder (8) to be inserted into and removed from the guide sleeve (9).
4. The ladle long nozzle manipulator nozzle holder release device according to claim 1, wherein the nozzle holder (8) is provided with a through hole therein, which is communicated with the inner cavity of the guide rod (5) and is used as an argon channel for argon sealing of the long nozzle.
5. The ladle shroud manipulator nozzle holder release device according to claim 1, characterized in that the diameter of the cavity at the rear end of the guide sleeve (9) is larger than the outer diameter of the opened clamping jaw (6), and the length of the guide sleeve (9) is larger than the advancing distance of the drive rod (3).
6. The ladle shroud manipulator nozzle holder release device according to claim 1, characterized in that a swivel (504) is mounted at the rear end of the guide rod (5) and connected with an argon pipeline.
7. The ladle shroud manipulator nozzle holder release device of claim 1, characterized in that the drive rod (3) is provided with a ferrule (301), the ferrule (301) is mounted at the foremost end of the drive rod (3) through threads, and the ferrule (301) is provided with a ring groove.
8. The ladle shroud manipulator nozzle holder release device of claim 1, characterized in that the hydraulic cylinder (1) is a double-rod double-acting cylinder, and a buffer spring (101) is installed on one side rod end.
9. The ladle shroud manipulator nozzle holder release device of claim 1, characterized in that the hydraulic cylinder (1) is connected to the control valve station and the pump source through hydraulic lines.
10. The ladle shroud manipulator nozzle holder release device of claim 4, characterized in that the guide rod (5) is in conical contact with the nozzle holder (8) at the junction, and a sealing ring (503) is arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110587502.9A CN113369471A (en) | 2021-05-27 | 2021-05-27 | Releasing device for nozzle clamp of ladle long nozzle manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110587502.9A CN113369471A (en) | 2021-05-27 | 2021-05-27 | Releasing device for nozzle clamp of ladle long nozzle manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113369471A true CN113369471A (en) | 2021-09-10 |
Family
ID=77572289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110587502.9A Pending CN113369471A (en) | 2021-05-27 | 2021-05-27 | Releasing device for nozzle clamp of ladle long nozzle manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113369471A (en) |
-
2021
- 2021-05-27 CN CN202110587502.9A patent/CN113369471A/en active Pending
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