CN114836610B - Charging and discharging method for tail hooking frame - Google Patents
Charging and discharging method for tail hooking frame Download PDFInfo
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- CN114836610B CN114836610B CN202210475037.4A CN202210475037A CN114836610B CN 114836610 B CN114836610 B CN 114836610B CN 202210475037 A CN202210475037 A CN 202210475037A CN 114836610 B CN114836610 B CN 114836610B
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000007599 discharging Methods 0.000 title claims abstract description 34
- 238000012545 processing Methods 0.000 claims abstract description 15
- 238000010791 quenching Methods 0.000 claims abstract description 15
- 230000000171 quenching effect Effects 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 12
- 238000012546 transfer Methods 0.000 description 12
- 238000010438 heat treatment Methods 0.000 description 9
- 229910000831 Steel Inorganic materials 0.000 description 8
- 239000010959 steel Substances 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000001737 promoting effect Effects 0.000 description 4
- 238000005496 tempering Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000011819 refractory material Substances 0.000 description 2
- 238000007669 thermal treatment Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/0068—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for particular articles not mentioned below
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D1/00—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering
- C21D1/62—Quenching devices
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D11/00—Process control or regulation for heat treatments
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/0006—Details, accessories not peculiar to any of the following furnaces
- C21D9/0018—Details, accessories not peculiar to any of the following furnaces for charging, discharging or manipulation of charge
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- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/20—Recycling
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- Crystallography & Structural Chemistry (AREA)
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- Organic Chemistry (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The application relates to the technical field of hot processing of hook tail frames, and discloses a charging and discharging method for the hook tail frames, which comprises the following steps: step 1: stacking the hook tail frames to be transferred on a trolley furnace; step 2: controlling a crane lifting tail frame fixture to be above the tail frame to be transported; step 3: controlling a traveling crane to lower the tail frame hooking tool to a preset position, and fixing the tail frame to be transported by adopting the tail frame hooking tool; the coupler yoke tool vertically penetrates through the inner cavity of the coupler yoke to be transported; step 4: and controlling the travelling crane to hoist and fix the tail frame hooking tool for hooking frames to be transported, and integrally moving to a charging point or a discharging point or a quenching point. The method is used for solving the technical problem that the charging and discharging efficiency is low in the existing hot working process of the hook tail frame, the method is simple in flow and convenient to operate, the high Wen Zhuaiyun efficiency of the hook tail frame can be greatly improved, the single charging amount and discharging amount can be improved by several times, intelligent and automatic operation can be realized, and the production efficiency of the hook tail frame can be effectively improved.
Description
Technical Field
The application relates to the technical field of hot processing of hook tail frames, in particular to a charging and discharging method for a hook tail frame.
Background
The coupler yoke is an important component of a coupler buffer device on a railway vehicle, and when the vehicles drag, are connected and buffer, the transmission of longitudinal force between the vehicles is directly completed, in particular, the railway vehicles are connected through the coupler, and the coupler is connected with the coupler yoke through a coupler yoke pin, so that the connection between the train vehicles is ensured, the train transportation is formed, the traction force is transmitted, and the key effect is played for the normal operation of the railway vehicles.
With the vigorous development of railway construction, the output of trains is increased, the quantity of trains put into operation is increased, correspondingly, the demand of the coupler yoke is increased, the coupler yoke is used as a main stress piece of a coupler buffer device, in the actual operation process, a locomotive is connected with a vehicle through the coupler buffer device and is pulled along a track, great force can be applied to the coupler yoke, so that stretching and bending stress is generated on each part of the coupler yoke, and as time goes by, the stretching and bending stress can lead to failure of the coupler yoke, new coupler yoke is needed for replacement, and the demand of the coupler yoke is increased gradually.
However, the existing coupler yoke has low production efficiency, and the required quantity is difficult to saturate. One of the reasons is as follows: in the existing hook tail frame production process, the high-temperature transferring efficiency of the hook tail frame is low, so that the overall heat treatment production efficiency is low. In the production link of heat treatment, a trolley furnace is often used for heating the hook tail frame, specifically, firstly, a trolley furnace door is required to be opened, the trolley body of the trolley furnace is pulled out of the trolley furnace, then the hook tail frame is orderly piled on the plane of the trolley body, after the piling is completed, the trolley body is pushed into the trolley furnace, the furnace door is closed, a corresponding control cabinet is started to control the trolley furnace to start heating, after the heating is completed, the trolley body is pulled out, and then the hook tail frame on the trolley body is gradually transferred to a quenching point or a tempering point by adopting a tool and the like. When the tool is used for transferring, steel pipes are often used as transferring tools, the steel pipes are arranged in coaxial tail pin holes of a plurality of tail frames of the same layer and the same row (column) in a penetrating mode, and then two ends of the steel pipes are lifted through travelling crane to lift the plurality of tail frames of the steel pipes. The mode is simpler to operate, but is limited by the strength of the steel pipe, a round pipe with the length of 2m can only hoist and transport 4 to 5 pieces of hook tail frames at a time, and as the steel pipe needs to be penetrated with a plurality of hook tail pin holes, the hook tail frames are required to be in a basically coaxial state when being charged, the number of the hook tail frames in a single row cannot be too large, otherwise, the subsequent transportation is inconvenient, the charging amount of the hook tail frames is greatly limited, the transportation efficiency is not high, and the overall heat treatment production efficiency is lower.
And in the specific transportation process, when the crane is transporting the hook tail frame, not only need control personnel to control the crane and remove in the crane control room, still need have operating personnel to cooperate with the crane at the platform truck stove side, the charging point side etc. to install transportation frock or command crane and transfer towing hook etc. wherein the human cost that needs to consume is higher, and overall operation efficiency is lower.
Disclosure of Invention
The application aims to provide a charging and discharging method for a hook tail frame, which is used for solving the technical problem that the charging and discharging efficiency is low in the existing hook tail frame hot working process, has a simple process flow, can improve the single charging amount and the high-temperature discharging amount by several times, greatly improves the efficiency of Wen Zhuaiyun of the hook tail frame, and effectively improves the production efficiency of the hook tail frame.
The basic scheme provided by the application is as follows: a charging and discharging method for a tail hooking frame comprises the following steps:
step 1: stacking the hook tail frames to be transferred on a trolley furnace; when the to-be-transferred hook tail frames are stacked, the axis of the hook tail pin hole of the to-be-transferred hook tail frame is parallel to the table top of the trolley furnace;
step 2: controlling a crane lifting tail frame fixture to be above the tail frame to be transported;
step 3: controlling a traveling crane to lower the tail frame hooking tool to a preset position, and fixing the tail frame to be transported by adopting the tail frame hooking tool; the coupler yoke tool vertically penetrates through the inner cavity of the coupler yoke to be transported; the coupler yoke tooling comprises a detachable auxiliary supporting part for auxiliary lifting of the coupler yoke to be transferred, and the auxiliary supporting part is positioned below the coupler yoke to be transferred after the fixation of the coupler yoke tooling is completed;
step 4: and controlling the travelling crane to hoist and fix the tail frame hooking tool for hooking frames to be transported, and integrally moving to a charging point or a discharging point or a quenching point.
The working principle and the advantages of the application are as follows: the hook tail frame to be transferred is stacked, the axis of the hook tail pin hole of the hook tail frame to be transferred is parallel to the table top of the trolley furnace during stacking, namely, the side wall of the hook tail frame is perpendicular to the table top of the trolley furnace, the inner cavity of the hook tail frame is parallel to the table top, the follow-up hook tail frame tool vertically penetrates through the inner cavity of the hook tail frame to be transferred and is matched with the auxiliary supporting part of the hook tail frame tool, the hook tail frame tool is lifted through a crane, the hook tail frame to be transferred can be integrally lifted, and because the inner cavity space of the hook tail frame is large, the operable space is large during installation of the hook tail frame tool, the installation is convenient, the whole method is simple in flow and convenient to operate, and the high-temperature transfer efficiency of the hook tail frame can be greatly improved.
And, wait to transport coupler yoke in this scheme when the pile, compare in conventional pile mode, this scheme does not have the requirement to the axiality of coupler yoke pinhole when several coupler yoke is arranged, because the coupler yoke that adopts the pipe to pass several alignment coaxial when conventional coupler yoke is transported, the coupler yoke that the pipe passed is worn with the pipe of lifting by crane to the rethread pipe both ends, this kind of mode has strict requirements to coupler yoke pinhole axiality, and receive pipe rigidity restriction, the single transport volume of coupler yoke and the loading volume when coupler yoke loads the stove, and the frock is vertical wears to locate coupler yoke cavity department in this scheme, need not to aim at the coupler yoke pinhole, each adjacent coupler yoke normally place can, the time of loading can shorten the time of loading the stove greatly. And, when single in this scheme is transported, not only can cooperate the frock to transport a plurality of hook tail frames of the pile on the vertical direction and still can transport a plurality of hook tail frames of the pile on the lateral direction, single transport volume increases by several times, and correspondingly, this scheme is also littleer to the restriction of charge volume, and single charge volume also corresponds several times and increases, and then effectively promotes hook tail frame production efficiency.
In addition, the subsequent hook tail frame frock is arranged in and is waited to transport hook tail frame inner chamber department, make full use of hook tail frame's inner chamber space, but the additional space that can load on the trolley furnace that can not additionally consume of frock, space utilization is abundant, and the hook tail frame of different batches can be close to and place when transporting the loading, and need not additionally leave the space of hook tail frame frock, can arrange more inseparable when the loading, can load more hook tail frames, can effectively promote the single loading volume of trolley furnace.
Further, the method also comprises the step 5: and (3) dismantling the auxiliary supporting part, and controlling the travelling crane traction tail frame fixture to move upwards and be far away from the tail frame to be transported.
The hook tail frame tool is arranged in such a way, and after the transfer is finished, the hook tail frame tool does not need to be heated along with the hook tail frame in a furnace, so that the tool does not need to be made of heat-resistant steel, the manufacturing cost is reduced, and meanwhile, the service life of the tool is greatly prolonged.
Further, in the steps 2 to 5, the travelling crane is controlled to run by a self-control module; the self-control module is internally preset with a movement strategy, and is controlled according to the movement strategy when controlling running.
The automatic control device has the advantages that the automatic control device is arranged, the moving operation of the travelling crane and the like are automatically and intelligently controlled by the self-control module, manual control operation is not needed, the manpower cost can be effectively saved, the travelling distance, the moving mode and the like of the travelling crane are controlled by a program and the like, and compared with the manual operation, the automatic control device can achieve higher accuracy, and the overall position adjustment efficiency is higher.
Further, a first position sensing module for confirming position information of the coupler yoke tool in real time is arranged on the coupler yoke tool; the trolley furnace is provided with a second position sensing module for confirming the position information of the trolley furnace in real time; the first position sensing module and the second position sensing module are in communication connection with the self-control module.
The setting is equipped with the position sensing module on hook tail frame frock and platform truck stove like this, and the quick location hook tail frame frock position of driving of more being convenient for and platform truck stove position helps promoting the moving efficiency of driving.
Further, an image acquisition module and a distance measurement module are arranged on the travelling crane; the image acquisition module and the ranging module are in communication connection with the self-control module; the image acquisition module is used for acquiring images below the travelling crane in real time and confirming the relative positions of the hook tail frame to be transported and the hook tail frame tool according to the images below the travelling crane; the distance measuring module is used for measuring the distance between the traveling crane and the tail frame tool or the vertical direction of the tail frame to be transported in real time.
The device is arranged, an image acquisition module monitors and acquires images of a scene below the crane in real time, and confirms the relative positions of the tail frame to be transported and the tail frame tool, so that the crane can be assisted to confirm the specific tail frame tool lowering position; the distance measuring module can accurately confirm the specific displacement of the falling of the hook tail frame tool, and the hook tail frame tool and the position of the hook tail frame to be transported can be ensured to correspond accurately by matching the two to enable the hook tail frame tool to operate effectively.
Further, an image processing strategy is preset in the image acquisition module; the image processing strategy comprises the following sub-steps:
s1, establishing an X-Y coordinate axis for an acquired image below a travelling crane;
s2, extracting image coordinate information of a to-be-transferred hook tail frame and a hook tail frame tool from an acquired image below the traveling crane, and determining an image coordinate difference value of the to-be-transferred hook tail frame and the hook tail frame tool;
and S3, converting the image coordinate difference value of the to-be-transported coupler yoke and coupler yoke tooling into an actual coordinate difference value.
Through image processing, coordinate representation is established on the image, the positions in the actual space are confirmed through conversion of the image coordinate positions corresponding to different objects in the image on the image plane, the processing process is simple and effective, the relative positions of the hook tail frame to be transported and the hook tail frame tool can be accurately confirmed, the running can be assisted to confirm the specific hook tail frame tool placing position, and control accuracy is guaranteed.
Further, the movement strategy is: receiving the position information of the first position sensing module or the second position sensing module, and moving the travelling crane to a position corresponding to the position information of the hook tail frame tool or the position information of the trolley furnace; receiving information of an image acquisition module, and controlling a travelling crane to move so that the actual coordinate difference value of the hook tail frame to be transported and the hook tail frame tool is in the range of 0-5 cm; and receiving the information of the ranging module and controlling the traveling crane to move the traveling crane traction hook up and down.
The automatic control module is arranged in such a way, based on the information of the position sensing module, the image acquisition module and the ranging module, the moving position of the traveling crane is automatically adjusted, so that the traveling crane can accurately reach the tail frame hooking tool or the trolley furnace, and the traveling crane can be intelligently adjusted according to actual conditions when the tail frame hooking tool is lifted or lowered, and the automatic control effect is good.
Further, in the step 1, an auxiliary masonry is arranged on the table top of the trolley furnace, and the hook tail frame to be transferred is arranged on the auxiliary masonry; the auxiliary brickwork includes the several, just auxiliary brickwork is equidistant bar array and arranges on the mesa of platform truck stove.
The hook tail frames are not directly piled on the table top of the trolley furnace, but are spaced at a certain distance, and a certain suspension space is reserved. And, every two adjacent auxiliary masonry can support a series of hook tail frames respectively, and the arrangement of hook tail frames on the trolley furnace is more regular and orderly.
Further, the coupler yoke tooling comprises a fixed frame body; the fixing frame body is provided with a plurality of groups of fixing rod pieces; each group of fixed rod pieces comprises a left fixed rod and a right fixed rod which are symmetrically arranged at the left side and the right side of the fixed frame body; the top end of the fixed rod piece is connected with the fixed frame body, and the bottom end of the fixed rod piece is provided with a hook part which is bent inwards; the hook-shaped part is used for placing the cross rod, and the auxiliary supporting part is the cross rod.
The hook tail frame tool structure is simple, when the hook tail frame tool is located at the inner cavity of the hook tail frame to be transported, the fixed rod piece is equivalent to the positioning support rod, the pile hook tail frame can be stabilized, the cross rod fixed by the hook part can combine the hook tail frames correspondingly supported by the plurality of groups of fixed rod pieces, and a common bottom support is provided for the hook tail frames, so that the plurality of groups of hook tail frames can be lifted through the hook tail frame tool.
Further, the interval between the left fixed rod and the right fixed rod is smaller than the length of the inner cavity of the coupler yoke to be transported.
The space between the left and right fixed rods is definitely limited, so that the left and right fixed rods can be ensured to penetrate into the inner cavity of the to-be-transported hook tail frame, the left and right fixed rods can jointly act to stabilize the stacked hook tail frame, and the stacked hook tail frame group is prevented from shifting or falling down.
Drawings
FIG. 1 is a schematic diagram of a conventional high temperature transfer mode;
FIG. 2 is a schematic diagram of transferring a tail frame according to a first embodiment of a charging and discharging method for a tail frame of the present application;
FIG. 3 is a front view of a loading and discharging method for a tail frame according to an embodiment of the present application;
FIG. 4 is a top view of a palletized load of tail frames for a loading and unloading method of a tail frame according to an embodiment of the present application;
FIG. 5 is a three-view of a structure of a tail frame to be transferred according to an embodiment of a charging and discharging method for a tail frame of the present application;
fig. 6 is a schematic structural diagram of a tail frame tooling for a loading and unloading method of a tail frame according to an embodiment of the present application.
Detailed Description
The following is a further detailed description of the embodiments:
the labels in the drawings of this specification include: the device comprises a hook tail frame 1 to be transported, a hook tail frame lacing wire 11, a trolley furnace 2, an auxiliary masonry 3, a hook tail frame tool 4, a fixed frame 41, a fixed rod 42, a hook part 43 and a cross rod 44.
Embodiment one:
the embodiment is basically as shown in fig. 2, 3, 4, 5 and 6:
a charging and discharging method for a tail hooking frame comprises the following steps:
step 1: stacking the hook tail frames 1 to be transferred on a trolley furnace 2 as shown in fig. 1 and fig. 3; when the hook tail frames 1 to be transferred are stacked, the axes of the hook tail pin holes of the hook tail frames 1 to be transferred are parallel to the table top of the trolley furnace 2, namely the side walls of the hook tail frames are placed perpendicular to the table top of the trolley furnace 2, and the inner cavities of the hook tail frames are parallel to the table top. In addition, in this embodiment, when the hook tail frames 1 to be transferred are stacked, the hook tail frames of two adjacent layers are stacked in a crossing manner, and the head of the hook tail frame in the upper layer is aligned with the tail of the hook tail frame in the lower layer.
The hook tail frame 1 to be transported in the embodiment is a 13B type hook tail frame, as shown in fig. 5, and the cross section of the hook tail frame is a hollow frame body with a long shape; the upper side and the lower side are provided with an upper frame plate and a lower frame plate which are oppositely arranged, the right side is provided with a right frame plate which is integrally manufactured with the upper frame plate and the lower frame plate, and the left side is provided with a connecting plate which is perpendicular to the upper frame plate and the lower frame plate and is used for connecting the upper frame plate and the lower frame plate; the left end surfaces of the upper frame plate and the lower frame plate are respectively provided with a hook tail pin hole, and the hook tail pin holes on the upper frame plate are coaxial with the hook tail pin holes on the lower frame plate; the middle cuboid hollowed-out part is an inner cavity part of the hook tail frame and is used for installing a buffer; the inner cavity is also provided with a hook tail frame lacing wire 11 to strengthen the strength of the hook tail frame.
The auxiliary masonry 3 is fixedly installed on the table top of the trolley furnace 2, and the auxiliary masonry 3 is made of refractory materials, so that the auxiliary masonry 3 can bear high temperature in the subsequent heat treatment process, is not easy to damage, and is correspondingly more reliable in supporting the hook tail frame. The auxiliary masonry 3 includes a plurality of rectangular refractory masonry, seven in this embodiment. And the auxiliary brickworks 3 are distributed on the table surface of the trolley furnace 2 in an equidistant strip array. The interval between two adjacent auxiliary masonry 3 is smaller than the length of the hook tail frame 1 to be transferred, and the hook tail frame 1 to be transferred is arranged on the auxiliary masonry 3. Specifically, the head and the tail of the hook tail frame 1 to be transported are respectively arranged on two adjacent auxiliary brickwork 3, namely, the hook tail frame is transversely arranged on the adjacent auxiliary brickwork 3, so that the auxiliary brickwork 3 can stably support the hook tail frame, and the hook tail frame is ensured to be stably arranged.
Step 2: and controlling the crane to hoist the tail frame fixture 4 to the position above the tail frame 1 to be transported. Specifically, the crane is controlled to hoist the tail frame fixture 4 to the piled tail frame 1 to be transported, and the tail frame fixture is positioned at the position about 20-30cm above the uppermost layer of the tail frame 1 to be transported.
The coupler yoke tooling 4 comprises a fixing frame body 41; an array of fixed rod pieces 42 are arranged on the fixed frame body 41; each set of fixing bars 42 comprises a left fixing bar and a right fixing bar symmetrically arranged on the left side and the right side of the fixing frame body 41; the top end of the fixed rod piece 42 is detachably connected with the fixed frame body 41, and the bottom end of the fixed rod piece 42 is provided with an integrally-made inward-bent hook-shaped part 43; the hook-shaped part 43 is used for placing the cross bar 44, the cross bar 44 is used for assisting in fixing the hook tail frame, and the auxiliary supporting part is the cross bar 44. The interval between the left fixing rod and the right fixing rod is smaller than the length of the inner cavity of the coupler yoke 1 to be transported so as to ensure that the subsequent fixing rod piece 42 can penetrate into the inner cavity of the coupler yoke; and, the length of the fixed rod piece 42 is greater than the stacking height of the to-be-fixed hook tail frame groups, so that each group of fixed rod pieces 42 can be ensured to be completely penetrated in the corresponding auxiliary stable single group of hook tail frames.
When the crane pulls the tail frame tool 4, the tail frame tool 4 is connected through the iron chain hook, the pulling hook of the crane is huge, the relatively smaller tail frame and the tail frame tool 4 are not easy to directly connect and pull, and the crane pulling hook and the tail frame tool 4 are connected through the iron chain hook in a switching mode, so that the crane pulling operation is more convenient. The iron chain end of the iron chain hook is connected with the lifting hook of the crane, the hook end of the iron chain hook is connected with the fixing frame body 41 of the hook tail frame tool 4, and in the embodiment, the upper surface of the fixing frame body 41 is also fixedly provided with an integrally-made lifting lug, and the hook end is specifically connected with the lifting lug of the fixing frame body 41.
Step 3: controlling a traveling crane to lower the tail frame hooking tool 4 to a preset position, and fixing the tail frame 1 to be transported by adopting the tail frame hooking tool 4; the coupler yoke tooling 4 vertically penetrates through the inner cavity of the coupler yoke 1 to be transported; the hook tail frame tooling 4 comprises an auxiliary supporting part which is detachable and used for assisting in lifting the hook tail frame 1 to be transported, and the auxiliary supporting part is positioned below the hook tail frame 1 to be transported after the hook tail frame tooling 4 is fixed. The preset position specifically means that the position of the hook part 43 of the fixed rod piece 42 in the hook tail frame tooling 4 is lower than the position of the bottom surface of the bottommost hook tail frame of the hook tail frame 1 group to be transported by about 5cm to 10cm, and the arrangement is more convenient for the subsequent penetration of the cross rod 44 into the hook part 43.
Specifically, when the hook tail frame tool 4 is used for fixing the hook tail frame 1 to be transported, the method comprises the following substeps:
sub-step 1: the fixed rod piece 42 of the coupler yoke tooling 4 is penetrated into the inner cavity of the coupler yoke 1 to be transported; the positions of the left and right fixing rods are adjusted so that the central connecting line of the left fixing rod and the right fixing rod in the coupler yoke tool 4 is parallel to the perpendicular bisectors of the axes of the coupler yoke lacing wires 11, and the interval range between the central connecting line and the perpendicular bisectors is 0-5 cm; in this embodiment, the interval value is 0, that is, the center line of the left fixing rod and the right fixing rod coincides with the perpendicular bisector of the axis of the hook tail frame tie bar 11. At this time, the fixing rod 42 of the tail frame hooking tool 4 is relatively located at the center of each group of tail frames, and the fixing rod 42 is more balanced for supporting the single group of tail frames.
Sub-step 2: the cross bar 44 is inserted into the hook portion 43 of the fixing bar 42 to complete the tooling installation. By means of the arrangement, the cross rod 44 of the hook-shaped part 43 is inserted last, multiple groups of hook tail frames can be combined, a common bottom support is provided for the hook tail frames, and the hook tail frames are convenient to integrally hoist through the hook tail frame tool 4.
Step 4: and controlling the travelling crane to hoist and fix the tail hooking frame tooling 4 of the tail hooking frame 1 to be transported, and integrally moving to a charging point or a discharging point or a quenching point.
Specifically, the crane is connected with the traction hook tail frame tool 4 through the iron chain hook, the crane is provided with the hook tail frame tool 4, the cross bars 44 can combine the hook tail frames correspondingly supported by the array fixing rod pieces 42 at the moment, and a common bottom support is provided for the hook tail frames, so that the hook tail frame tool 4 can integrally lift the array hook tail frames. Through controlling driving traction hook tail frame to remove, can accomplish the transportation of a large amount of hook tail frames of high efficiency, quick switch heat treatment process, for example: transferring the tail frame into a quenching tank through a tail frame hooking tool 4 for quenching treatment; transferring the quenched steel into a tempering furnace for tempering treatment and the like.
Step 5: and (3) dismantling the auxiliary supporting part, and controlling the travelling crane to pull the tail frame fixture 4 to move upwards and away from the tail frame 1 to be transported. Specifically, in step 4, after the coupler yoke to be transferred 1 is transferred to a charging point or a discharging point or a quenching point and is placed stably, the crane is controlled to pull the coupler yoke tooling 4 down by about 3-5cm, and then the auxiliary support portion, that is, the cross bar 44 is removed. And then, the crane is controlled to pull the tail frame tool 4 to move upwards to leave the tail frame, and one transfer cycle is completed.
According to the charging and discharging method for the hook tail frame, the hook tail frame transferring mode is changed, and the special hook tail frame tool 4 and the trolley furnace 2 are matched, so that the utilization rate of the loading space of the trolley furnace 2 can be remarkably improved, and the single charging amount and the high-temperature discharging amount can be improved by several times. In this scheme, the inner chamber department of multiunit hook tail frame is worn to locate respectively to the array dead lever group in the hook tail frame frock 4, cooperates with horizontal pole 44, and during single operation, not only can wholly promote the multiunit hook tail frame of stacking in the vertical direction, but also can wholly lift up the multiunit hook tail frame of stacking in the transverse direction, compare in the method of transporting with the pipe that conventional adoption was used as shown in figure 1 (receive pipe rigidity restriction, single can only promote and transport 4-5 hook tail frames), this scheme single transport volume increases by several times, as shown in figure 2, this scheme can reach the five times increase of transport volume.
And, the fixed member 42 of frock is in the central point of every group of hook tail frame relatively in this scheme, can restrict the horizontal position offset of the several hook tail frame of vertical pile, if in the transportation process, the part hook tail frame receives external force to influence and takes place to incline, and fixed member 42 can restrict its tilting displacement, guarantees that the hook tail frame of whole group still keeps regular, stable, guarantees that the transportation process is reliable. This scheme is through suitable hook tail frame pile and the cooperation of hook tail frame frock 4, the effect is arranged with the structure of hook tail frame to make full use of hook tail frame's inner chamber space, but the setting up of frock can not additionally consume loading space on the platform truck stove 2, and the hook tail frame of different batches can be close to and place when transporting the dress, and need not additionally leave the space of hook tail frame frock 4, can arrange more closely when the dress is in charge, and space utilization is abundant, helps promoting whole dress stove volume.
In addition, this scheme has repacked current platform truck stove 2 structure, add refractory material brickwork on the platform truck stove 2 plane of conventional platform, cooperate with hook tail frame frock 4, make hook tail frame have unsettled space, this unsettled space can hold the hook portion 43 and the horizontal pole 44 of fixed member 42, more be convenient for adopt the car etc. directly wholly lift by crane, shift a plurality of hook tail frames of pile through hook tail frame frock 4, more be convenient for shift hook tail frame, can let hook tail frame switch the thermal treatment process (make hook tail frame arrive different thermal treatment process device department fast), promote the thermal efficiency of hook tail frame by a wide margin.
Embodiment two:
the first embodiment of the charging and discharging method for the tail hooking frame improves the steps 2 to 5 and improves the driving control method and the like.
In the steps 2 to 5, the travelling crane is controlled to run by a self-control module; the self-control module is internally preset with a movement strategy, and is controlled according to the movement strategy when controlling running. The tail hooking frame tooling 4 is provided with a first position sensing module for confirming the position information of the tail hooking frame tooling 4 in real time; the trolley furnace 2 is provided with a second position sensing module for confirming the position information of the trolley furnace 2 in real time; the first position sensing module and the second position sensing module are all in communication connection with the self-control module, and in the embodiment, the first position sensing module and the second position sensing module can adopt existing positioning modules. And optionally, at the place that other hook tail frames need to be transported to reach, including charging point, discharging point, quenching point, tempering point etc., can also set up third position sensing module, fourth position sensing module etc. and help promoting the moving efficiency of driving in whole heat treatment flow.
The travelling crane is provided with an image acquisition module and a distance measurement module; the image acquisition module and the ranging module are in communication connection with the self-control module; the image acquisition module is used for acquiring images below the travelling crane in real time and confirming the relative positions of the hook tail frame 1 to be transported and the hook tail frame tooling 4 according to the images below the travelling crane; the distance measuring module is used for measuring the distance between the traveling crane and the coupler yoke tooling 4 or the distance between the traveling crane and the coupler yoke 1 in the vertical direction to be transported in real time.
An image processing strategy is preset in the image acquisition module; the image processing strategy comprises the following sub-steps:
s1, establishing an X-Y coordinate axis for an acquired image below a travelling crane;
s2, extracting image coordinate information of a to-be-transferred coupler yoke 1 and a coupler yoke tool 4 from an acquired image below a traveling crane, and determining image coordinate difference values of the to-be-transferred coupler yoke 1 and the coupler yoke tool 4;
s3, converting the image coordinate difference values of the hook tail frame 1 to be transported and the hook tail frame tooling 4 into actual coordinate difference values.
It can be understood that the image processing strategy can also confirm the actual coordinate difference value of the iron chain hook and the hook tail frame tool 4 connected by the crane, the actual coordinate difference value of the hook tail frame tool 4 and the surface of the trolley furnace 2, the actual coordinate difference value of the hook tail frame tool 4 and the quenching point and the like by extracting different main objects in the image below the crane.
The movement strategy is: receiving the position information of the first position sensing module or the second position sensing module, and moving the travelling crane to a position corresponding to the position information of the tail hooking frame tool 4 or the position information of the trolley furnace 2; receiving information of an image acquisition module, and controlling a travelling crane to move so that the actual coordinate difference value of the hook tail frame 1 to be transported and the hook tail frame tooling 4 is in the range of 0-5 cm; and receiving the information of the ranging module and controlling the traveling crane to move the traveling crane traction hook up and down.
It should be noted that in this embodiment, the travelling crane refers to a lifting trolley in the whole travelling crane system, which is responsible for lifting, transferring and moving, and the lifting trolley can move in multiple directions, front, back, left and right, on a beam of the travelling crane system, and a traction hook is connected to the lifting trolley, and the traction hook can move up and down. The travelling crane system is a travelling crane system commonly used in the existing factory, belongs to the prior art and is not unfolded, wherein the self-control module is arranged in a control system of the travelling crane system and controls the operation of the trolley; the image acquisition module and the ranging module are both arranged on the bottom surface of the trolley body.
The control method and related strategies are described below in conjunction with the specific steps:
step 2: and the self-control module controls the crane lifting hook tail frame tool 4 to be arranged above the hook tail frame 1 to be transported.
Specifically, when the hook tail frame tooling 4 is lifted, the self-control module firstly receives the position information of the hook tail frame tooling 4 transmitted by the first position sensing module, then, according to the position information, the crane is controlled to move to the position of the hook tail frame tooling 4, the image acquisition module acquires images below the crane, and according to an image processing strategy, the image coordinate information of the lifting lug on the fixed frame body 41 of the hook tail frame tooling 4 and the iron chain hook connected by the crane traction hook is extracted from the acquired images below the crane, and the actual coordinate difference value of the lifting lug and the iron chain hook is obtained through conversion. The self-control module calculates the displacement of the travelling crane in the front-back left-right direction according to the actual coordinate difference value, and controls the travelling crane to move so that the actual coordinate difference value is zero, namely, the iron chain hook is aligned with the lifting lug of the hook tail frame tool 4. Then the distance between the travelling crane and the tail frame hooking tool 4 in the vertical direction is measured in real time by the distance measuring module, and the self-control module controls the iron chain hook to descend to a proper position according to the distance, so that the iron chain hook is accurately matched with the lifting lug, and the tail frame hooking tool 4 is lifted.
Further, the self-control module receives the position information of the trolley furnace 2 transmitted by the second position sensing module, and controls the crane to hoist the tail frame fixture 4 to the trolley furnace 2 according to the position information, namely, hoist to the tail frame 1 to be transported, which is piled on the trolley furnace 2, and controls the tail frame fixture 4 to be positioned at the position about 20-30cm above the uppermost layer of the tail frame 1 to be transported.
Step 3: the self-control module controls the traveling crane to lower the tail frame hooking tool 4 to a preset position, and the tail frame hooking tool 4 is adopted to fix the tail frame 1 to be transported; the coupler yoke tooling 4 vertically penetrates through the inner cavity of the coupler yoke 1 to be transported.
Specifically, firstly, an image acquisition module extracts image coordinate information of a hook tail frame 1 and a hook tail frame tool 4 to be transported from an acquired image below a traveling crane according to an image processing strategy, specifically, extracts image coordinate information of a central point of a lacing wire of the hook tail frame 1 to be transported and image coordinate information of a middle point of a central connecting line of a left fixed rod and a right fixed rod of the hook tail frame tool 4; and converting to obtain the actual coordinate difference of the two. The self-control module is used for controlling the displacement of the travelling crane in the front-back left-right direction according to the actual coordinate difference value, controlling the travelling crane to move so that the actual coordinate difference value is in the range of 0-5 cm, and aligning the coupler yoke tooling 4 with the inner cavity of the coupler yoke 1 to be transported.
Then, the distance between the hook tail frame tooling 4 and the hook tail frame 1 to be transported in the vertical direction is measured in real time by the distance measuring module, the descending displacement of the hook tail frame tooling 4 is confirmed by the self-control module according to the distance measured by the distance measuring module, and the hook tail frame tooling 4 is controlled to descend to a preset position. After the alignment of the main body of the hook tail frame tooling 4, the cross rod 44 is inserted into the hook-shaped part 43 of the fixed rod 42 of the hook tail frame tooling 4 to complete the tooling installation, the operation can be completed by the existing intelligent transfer robot, for example, an intelligent transfer robot with the model of owk.xk2.0 can be adopted, the intelligent transfer robot is in communication connection with the self-control module, after the alignment of the hook tail frame tooling 4 is completed, the self-control module sends a work start signal to the intelligent transfer robot, the intelligent transfer robot further starts to transfer the cross rod 44, the cross rod 44 is inserted into the hook-shaped part 43 of the fixed rod 42, after the intelligent transfer robot completes the work, the work completion signal is transmitted to the self-control module immediately, and the self-control module further starts to arrange the subsequent operation.
Step 4: and the self-control module controls the travelling crane to hoist and fix the tail hooking frame tooling 4 of the tail hooking frame 1 to be transported, and integrally moves to a charging point or a discharging point or a quenching point.
Specifically, the self-control module controls the tail frame fixture 4 fixed with the tail frame 1 to be transported to move upwards for a certain distance; and the position information transmitted by a position sensing module configured at the charging point or the discharging point or the quenching point is received from the control module, and then the travelling crane is controlled to move to the charging point or the discharging point or the quenching point according to the position information.
Step 5: and (3) dismantling the auxiliary supporting part, and controlling the travelling crane to pull the tail frame fixture 4 to move upwards and away from the tail frame 1 to be transported.
Specifically, after the travelling crane reaches the charging point, the discharging point or the quenching point, the self-control module controls the hook tail frame tooling 4 to be lowered and placed stably, and the cross rod 44 can be removed by the intelligent carrying robot.
Compared with the first embodiment, the method for loading and unloading the hook tail frame is fully automatic and intelligent in transferring process of the hook tail frame, through the cooperation of the self-control module, the image acquisition module, the ranging module and the like, the position of the hook tail frame, the hook tail frame tool 4, the trolley furnace 2, the loading point or the unloading point or the quenching point and the like can be intelligently confirmed by the crane, the positions of the hook tail frame tool 4 and the hook tail frame can be intelligently adjusted, the automation can be realized in the installation of the hook tail frame tool 4, compared with the conventional operation of taking special personnel to move the crane and installing the hook tail frame tool 4, and the method for accurately adjusting the position of the crane is needed, a great deal of labor cost and time cost are needed in the conventional operation, the scheme does not need to repeatedly adjust the position of the crane, the displacement can be accurately calculated by each module, the accurate position adjustment step is confirmed, the additional manual operation is not needed, the overall efficiency is higher, and the accuracy in position adjustment is better. The method is beneficial to promoting the automation and the intellectualization of the whole coupler yoke hot processing flow, and can effectively improve the whole efficiency of coupler yoke hot processing.
The foregoing is merely an embodiment of the present application, and a specific structure and characteristics of common knowledge in the art, which are well known in the scheme, are not described herein, so that a person of ordinary skill in the art knows all the prior art in the application date or before the priority date, can know all the prior art in the field, and has the capability of applying the conventional experimental means before the date, and a person of ordinary skill in the art can complete and implement the present embodiment in combination with his own capability in the light of the present application, and some typical known structures or known methods should not be an obstacle for a person of ordinary skill in the art to implement the present application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present application, and these should also be considered as the scope of the present application, which does not affect the effect of the implementation of the present application and the utility of the patent. The protection scope of the present application is subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (9)
1. The charging and discharging method for the coupler yoke is characterized by comprising the following steps of:
step 1: stacking the hook tail frames to be transferred on a trolley furnace; when the to-be-transferred hook tail frames are stacked, the axis of the hook tail pin hole of the to-be-transferred hook tail frame is parallel to the table top of the trolley furnace;
step 2: controlling a crane lifting tail frame fixture to be above the tail frame to be transported;
step 3: controlling a traveling crane to lower the tail frame hooking tool to a preset position, and fixing the tail frame to be transported by adopting the tail frame hooking tool; the coupler yoke tool vertically penetrates through the inner cavity of the coupler yoke to be transported; the coupler yoke tooling comprises a detachable auxiliary supporting part for auxiliary lifting of the coupler yoke to be transferred, and the auxiliary supporting part is positioned below the coupler yoke to be transferred after the fixation of the coupler yoke tooling is completed;
the coupler yoke tooling comprises a fixed frame body; the fixing frame body is provided with a plurality of groups of fixing rod pieces; each group of fixed rod pieces comprises a left fixed rod and a right fixed rod which are symmetrically arranged at the left side and the right side of the fixed frame body; the top end of the fixed rod piece is connected with the fixed frame body, and the bottom end of the fixed rod piece is provided with a hook part which is bent inwards; the hook-shaped part is used for placing the cross rod, and the auxiliary supporting part is the cross rod;
step 4: and controlling the travelling crane to hoist and fix the tail frame hooking tool for hooking frames to be transported, and integrally moving to a charging point or a discharging point or a quenching point.
2. The method for charging and discharging a tail-boom according to claim 1, further comprising step 5: and (3) dismantling the auxiliary supporting part, and controlling the travelling crane traction tail frame fixture to move upwards and be far away from the tail frame to be transported.
3. The method for charging and discharging a tail frame according to claim 2, wherein in steps 2 to 5, the travelling crane is controlled to run by a self-control module; the self-control module is internally preset with a movement strategy, and is controlled according to the movement strategy when controlling running.
4. The method for charging and discharging a tail frame according to claim 3, wherein the tail frame fixture is provided with a first position sensing module for confirming the position information of the tail frame fixture in real time; the trolley furnace is provided with a second position sensing module for confirming the position information of the trolley furnace in real time; the first position sensing module and the second position sensing module are in communication connection with the self-control module.
5. The method for charging and discharging a tail frame according to claim 4, wherein the travelling crane is provided with an image acquisition module and a ranging module; the image acquisition module and the ranging module are in communication connection with the self-control module; the image acquisition module is used for acquiring images below the travelling crane in real time and confirming the relative positions of the hook tail frame to be transported and the hook tail frame tool according to the images below the travelling crane; the distance measuring module is used for measuring the distance between the traveling crane and the tail frame tool or the vertical direction of the tail frame to be transported in real time.
6. The method for charging and discharging a tail frame according to claim 5, wherein an image processing strategy is preset in the image acquisition module; the image processing strategy comprises the following sub-steps:
s1, establishing an X-Y coordinate axis for an acquired image below a travelling crane;
s2, extracting image coordinate information of a to-be-transferred hook tail frame and a hook tail frame tool from an acquired image below the traveling crane, and determining an image coordinate difference value of the to-be-transferred hook tail frame and the hook tail frame tool;
and S3, converting the image coordinate difference value of the to-be-transported coupler yoke and coupler yoke tooling into an actual coordinate difference value.
7. The method of claim 6, wherein the movement strategy is: receiving the position information of the first position sensing module or the second position sensing module, and moving the travelling crane to a position corresponding to the position information of the hook tail frame tool or the position information of the trolley furnace; receiving information of an image acquisition module, and controlling a travelling crane to move so that the actual coordinate difference value of the hook tail frame to be transported and the hook tail frame tool is in the range of 0-5 cm; and receiving the information of the ranging module and controlling the traveling crane to move the traveling crane traction hook up and down.
8. The method according to claim 1, wherein in step 1, an auxiliary brickwork is provided on the table surface of the trolley furnace, and the hook tail frame to be transferred is placed on the auxiliary brickwork; the auxiliary brickwork includes the several, just auxiliary brickwork is equidistant bar array and arranges on the mesa of platform truck stove.
9. The method for charging and discharging a tail frame according to claim 1, wherein the interval between the left fixing rod and the right fixing rod is smaller than the length of the cavity of the tail frame to be transported.
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| CN202210475037.4A CN114836610B (en) | 2022-04-29 | 2022-04-29 | Charging and discharging method for tail hooking frame |
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| CN202210475037.4A CN114836610B (en) | 2022-04-29 | 2022-04-29 | Charging and discharging method for tail hooking frame |
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