CN213381581U - Full hydraulic positioning long nozzle manipulator - Google Patents

Abstract

The utility model discloses a full hydraulic pressure is fixed a position long mouth of a river manipulator, it includes the base, the revolving bed, the telescopic link sleeve, rotation actuating mechanism, rotary driving mechanism and every single move actuating mechanism, the revolving bed passes through rotary driving mechanism and is connected with the base rotation, the telescopic link sleeve rotates with the revolving bed through horizontal rotating shaft and is connected, every single move actuating mechanism installs between telescopic link sleeve and revolving bed, the coaxial suit of telescopic link is connected in the telescopic link sleeve and is rotated with the telescopic link sleeve through the bearing, the front end installation mouth of a river support of telescopic link, rotation actuating mechanism installs between telescopic link sleeve and telescopic link. The utility model discloses a full fluid pressure type manipulator, operating personnel can stand in the place nearer apart from the ladle mouth of a river, carries out accurate control to the manipulator through the hand operation box, has not only alleviateed intensity of labour, has improved work efficiency moreover. In addition, the manipulator has the advantages of being easy to realize automation of the long nozzle manipulator operation and the like.

Description

Full hydraulic positioning long nozzle manipulator

Technical Field

The utility model relates to a full hydraulic pressure of conticaster is fixed a position long mouth of a river manipulator can improve the degree of automation of the long mouth of a river operation of ladle, belongs to metallurgical machinery technical field.

Background

The continuous casting non-oxidation casting technology comprises the steps of blowing nitrogen into molten steel from a large ladle to a tundish by using a long nozzle and blowing hydrogen into molten steel from the tundish to a crystallizer by using a submerged nozzle for protection. The non-oxidation casting technology is widely applied to advanced iron and steel enterprises at home and abroad, and has great significance for improving the surface quality and the internal quality of casting blanks. The long nozzle is arranged below the lower nozzle of the ladle sliding nozzle in the casting process, and the molten steel is protected by blowing hydrogen, so that the secondary oxidation of the molten steel can be effectively prevented, the deposition of oxides of easily-oxidizable elements in the steel on the inner wall of the nozzle is reduced, and the service life of the nozzle is prolonged; molten steel does not splash around the process from the ladle to the tundish, the production operation is safer, and meanwhile, the long nozzle can be used for multiple times, so that the consumption is reduced. The long nozzle manipulator of the ladle is generally installed on a platform, and the long nozzle is installed below a lower nozzle of a large ladle sliding nozzle, so that the long nozzle is kept between the lower nozzle and a middle ladle in the steel casting process, and meanwhile, hydrogen is blown to the long nozzle to protect molten steel.

The existing long nozzle manipulator is of a multi-joint type, the manipulator arm is divided into a large arm and a small arm, the large arm and the small arm are connected through an elbow joint, the large arm and an upright post are connected through a shoulder joint, and the front-back stretching and left-right moving of the manipulator are realized through multi-joint motion during working. The manipulator has the following defects:

1. the multi-joint mechanical arm is heavy and can only be operated manually, so that the labor intensity of workers is increased, and the working efficiency is reduced.

2. Because the operator is far away from the ladle nozzle, the positioning is inconvenient to carry out visual inspection, the positioning precision is low, the positioning time is long, and the working efficiency is further reduced.

3. The manual operation links are many during location, and the manipulator needs to stretch out and draw back, swing from side to side, reciprocate simultaneously, and high to operating personnel's technical merit requirement, and be unfavorable for realizing the automation.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a full hydraulic pressure is fixed a position long mouth of a river manipulator to the drawback of prior art to reduce the manipulation degree of difficulty of manipulator, alleviate workman's intensity of labour, improve work efficiency.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a full hydraulic pressure is fixed a position long mouth of a river manipulator, includes base, gyration seat, telescopic link sleeve, rotation actuating mechanism, rotary driving mechanism and every single move actuating mechanism in the constitution, the gyration seat is rotated through rotary driving mechanism and base and is connected, the telescopic link sleeve rotates through horizontal rotating shaft and gyration seat and is connected, every single move actuating mechanism installs between telescopic link sleeve and gyration seat, the coaxial suit of telescopic link is connected through bearing and telescopic link sleeve rotation in the telescopic link sleeve, the front end installation mouth of a river support of telescopic link, rotation actuating mechanism installs between telescopic link sleeve and telescopic link.

Above-mentioned full hydraulic pressure is fixed a position long mouth of a river manipulator, the telescopic link includes coaxial flexible pneumatic cylinder, dead lever and carriage release lever each other, the coaxial suit of dead lever is connected with telescopic link sleeve rotation in the telescopic link sleeve and through the bearing, and the rear end of dead lever passes through rotation actuating mechanism and telescopic link muffjoint, flexible pneumatic cylinder inserts in the blind hole of dead lever front end, the piston rod of flexible pneumatic cylinder and the bottom fixed connection of blind hole, the front end installation mouth of a river support of carriage release lever, rear end and flexible pneumatic cylinder's cylinder body fixed connection.

The full-hydraulic positioning long nozzle manipulator is characterized in that the rotation driving mechanism comprises a rotation motor and a connecting plate, the rotation motor is mounted on the telescopic rod sleeve through the connecting plate, and an output shaft of the rotation motor is connected with the rear end of the fixing rod through a coupler.

The full-hydraulic positioning long nozzle manipulator is characterized in that the pitching driving mechanism comprises a lifting hydraulic cylinder, an upper lifting cylinder base and a lower lifting cylinder base, the upper lifting cylinder base and the lower lifting cylinder base are respectively fixed on the telescopic rod sleeve and the rotary base, and two ends of the lifting hydraulic cylinder are respectively hinged with the upper lifting cylinder base and the lower lifting cylinder base.

The full-hydraulic positioning long-nozzle manipulator is characterized in that the rotary driving mechanism comprises a rotary motor, a rotary shaft, a cylindrical barrel, a pressure bearing, a rotary upper bearing and a rotary lower bearing, the rotary shaft is vertically fixed on the base, the cylindrical barrel is sleeved outside the rotary shaft, the lower end of the cylindrical barrel is rotatably connected with the base through the pressure bearing and is rotatably connected with the rotary shaft through the rotary lower bearing, the upper end of the cylindrical barrel is rotatably connected with the rotary shaft through the rotary upper bearing and is fixedly connected with the rotary base, the rotary motor is fixed on the rotary base, and an output shaft of the rotary motor is coaxially connected with the rotary shaft.

The full hydraulic positioning long nozzle manipulator is characterized in that the movable rod is formed by butting the front section of the movable rod and the rear section of the movable rod.

According to the full-hydraulic positioning long-nozzle manipulator, the protective cover is arranged outside the coupling between the rotation motor and the fixing rod and fixed between the connecting plate and the telescopic rod sleeve.

The full-hydraulic positioning long nozzle manipulator is characterized in that a manual rotating handle is mounted on the protective cover.

The full hydraulic positioning long nozzle manipulator is characterized in that a locking mechanism is arranged between the rotating shaft and the column barrel.

The full hydraulic positioning long nozzle manipulator is characterized in that the rear section of the movable rod is connected with the front section of the movable rod and the cylinder body of the telescopic hydraulic cylinder through flanges.

The utility model discloses a full fluid pressure type manipulator, operating personnel can stand in the place nearer apart from the ladle mouth of a river, carries out accurate control to the manipulator through the hand operation box, has not only alleviateed operation workman's intensity of labour, has improved work efficiency moreover. In addition, the manipulator has the advantages of being easy to realize automation of the long nozzle manipulator operation and the like.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a front view of the full hydraulic positioning long nozzle manipulator of the present invention;

fig. 2 is a top view of the full hydraulic positioning long nozzle manipulator of the present invention;

FIG. 3 is a view A-A of FIG. 2;

fig. 4 is a partially enlarged view of fig. 1.

The figures are labeled as follows: 1. the hydraulic lifting device comprises a manual rotating handle, 2, a protective cover, 3, a rotating seat, 4, a coupler, 5, a rotation bearing, 6, a fixing rod, 7, a rotating seat horizontal plate, 8, a telescopic rod sleeve, 9, a shaft sleeve, 10, a telescopic hydraulic cylinder, 11, a moving rod rear section, 12, a base cover, 13, a pillar base, 14, a lifting hydraulic cylinder, 15, a moving rod front section, 16, a water gap support, 17, a trunnion ring, 18, a rotation motor, 19, a connecting plate, 20, a base, 21, a left shaft, 22, a right shaft, 23, a lifting cylinder upper base, 24, a lifting cylinder lower base, 25, a rotating shaft, 26, a rotation upper bearing, 27, a rotation lower bearing, 28, a pillar, 29, a circular ring, 30, a pressure bearing, 31, a piston rod, 32, a cylinder body, 33, a piston, 34, a rod cavity oil port, 35, a rod-free cavity oil port, 36, a hydraulic cylinder bottom flange, 37, a moving rod rear section flange, A rotary motor 39 and a locking mechanism.

Detailed Description

The utility model provides a full hydraulic pressure is fixed a position long mouth of a river manipulator to reduce the manipulation degree of difficulty of manipulator, alleviate workman's intensity of labour, improve the automation level of work efficiency and long mouth of a river manipulator.

Referring to fig. 1, the present invention mainly comprises a base 20, a rotary base 3, a telescopic rod sleeve 8, a rotation driving mechanism and a pitch driving mechanism, a rotation driving mechanism, and a pitch driving mechanism.

The telescopic link includes flexible pneumatic cylinder 10, dead lever 6 and carriage release lever, and wherein the carriage release lever includes carriage release lever back end 11 and carriage release lever anterior segment 15, and the front end of carriage release lever anterior segment 15 is equipped with mouth of a river support 16 and trunnion ring 17. The fixed rod 6 is arranged in the telescopic rod sleeve 8, the rear end of the fixed rod 6 is a stepped shaft, and the shaft end is connected with the rotation motor 18 through a shaft coupling 4 (comprising a half shaft coupling arranged at the end part of the fixed rod and a half shaft coupling arranged at the shaft end of the rotation motor 18). The rotation bearing 5 is installed to the shaft shoulder, and 6 middle parts of dead lever are the solid, and 6 front portions of dead lever are the tube-shape (the front end is equipped with the blind hole promptly), and internally mounted has flexible pneumatic cylinder 10, and threaded connection is passed through with 6 middle part solid of dead lever to the piston rod 31 tip of flexible pneumatic cylinder 10, and the cylinder body 32 of flexible pneumatic cylinder 10 is installed in the 6 bobbin of dead lever, and the afterbody design of cylinder body 32 has no pole chamber hydraulic fluid port 35 and has pole chamber hydraulic fluid port 34. The telescopic hydraulic cylinder bottom flange 36 is connected with the moving rod rear section flange 37, when hydraulic oil is introduced into the telescopic hydraulic cylinder 10, the piston rod 31 is fixed, and the cylinder body 32 performs extending or retracting actions, so that the moving rod rear section 11, the moving rod front section 15, the water gap support 16 and the backing ring 17 extend and retract.

The rotation driving mechanism comprises a rotation motor 18, a connecting plate 19, a protective cover 2 and a coupling 4. The rotation motor 18 is installed on the connecting plate 19 and is connected with the rear shaft end of the fixed rod 6 through the coupler 4, the rotation bearing 5 is installed between the shaft shoulder of the rear shaft end of the fixed rod 6 and the telescopic rod sleeve 8, the shaft sleeve 9 is installed between the front portion of the fixed rod 6 and the telescopic rod sleeve 8, and when pressure oil is introduced into the rotation motor 18, the rotation motor 18 drives the fixed rod 6, the telescopic hydraulic cylinder 10, the movable rod rear section 11, the movable rod front section 15, the water gap support 16 and the backing ring 17 to rotate together through the coupler 4. The shield 2 is housed outside the coupling 4 and is connected between the connection plate 19 and the telescopic rod sleeve 8.

The rotary drive mechanism comprises a rotary motor 38 and a column base 13, wherein the column base 13 comprises a rotary shaft 25, a column cylinder 28, a circular ring 29, a pressure bearing 30, a rotary upper bearing 26, a rotary lower bearing 27 and a base cover 12. The rotary motor 38 is installed on the rotary seat horizontal plate 7 of the rotary seat 3, and the output shaft of the rotary motor 38 is connected with the shaft hole at the upper shaft end of the rotary shaft 25 through a flat key. The revolving shaft 25 is a stepped shaft, two sets of revolving upper bearings 26 are arranged between the upper end and the column casing, a set of revolving lower bearing 27 is arranged between the lower end and the column casing, a set of pressure bearing 30 is also arranged between the lowest column casing and the circular ring, the revolving shaft 25 is in interference fit with the base 20, the revolving shaft 25 is fixed, the revolving base 3 is connected with the column casing 28 through the hexagon socket head cap screw of the horizontal plate 7 of the revolving base, when the revolving motor 38 is filled with pressure oil, the revolving motor 38 drives the fixed revolving shaft 25 through the output shaft, and the revolving motor 38 drives the column casing 28, the revolving base 3, the telescopic rod sleeve 8 and the fixed rod 6 which are arranged on the revolving base 3, the telescopic hydraulic cylinder 10, the rear moving rod section 11, the front moving rod section 15, the water gap support 16 and the backing ring 17 to rotate together.

The pitching driving mechanism comprises a lifting hydraulic cylinder 14, a lifting cylinder upper base 23 and a lifting cylinder lower base 24. 14 front ears of hydraulic cylinder and telescopic link sleeve 8 go up the lifting cylinder of installation and go up the base 23 and be connected, 14 rear ears of hydraulic cylinder and the lifting cylinder of 3 go up the installation of roating seat under base 24 and be connected, install horizontal rotating shaft (including left axle 21 and right axle 22) on the telescopic link sleeve 8, telescopic link sleeve 8 is connected with roating seat 3 through horizontal rotating shaft, when hydraulic cylinder 14 lets in pressure oil, telescopic link sleeve 8 regard horizontal rotating shaft as the rotation of axle, drive dead lever 6, carriage release lever back end 11, carriage release lever anterior segment 15, mouth of a river support 16, backing ring 17 rotates together, thereby realize the lift of mouth of a river support 16 and backing ring 17.

The electric system of the full-hydraulic positioning long-length nozzle manipulator controls the telescopic rod, the autorotation driving mechanism, the rotation driving mechanism and the pitching driving mechanism of the full-hydraulic positioning long-length nozzle manipulator by controlling the hydraulic system of the full-hydraulic positioning long-length nozzle manipulator. The operation worker can stand on the intermediate tank platform, the long nozzle manipulator is operated by holding the hand operation box to hang the long nozzle on the ladle upper nozzle, the positioning is accurate and rapid, and the labor intensity of the operation worker is reduced.

The utility model discloses a pneumatic cylinder or hydraulic motor realize the space quick location in long mouth of a river, easily realize the automation of long mouth of a river manipulator operation.

Claims (10)

1. The utility model provides a full hydraulic pressure is fixed a position mouth of a river manipulator, characterized by includes base (20), gyration seat (3), telescopic link sleeve (8), rotation actuating mechanism, rotary driving mechanism and every single move actuating mechanism in the constitution, gyration seat (3) are rotated through rotary driving mechanism and base (20) and are connected, telescopic link sleeve (8) are rotated through horizontal rotating shaft and gyration seat (3) and are connected, every single move actuating mechanism installs between telescopic link sleeve (8) and gyration seat (3), the coaxial suit of telescopic link is connected in telescopic link sleeve (8) and is rotated through bearing and telescopic link sleeve (8), and mouth of a river support (16) are installed to the front end of telescopic link, rotation actuating mechanism installs between telescopic link sleeve (8) and telescopic link.

2. The full-hydraulic long nozzle positioning manipulator as claimed in claim 1, wherein the telescopic rod comprises a telescopic hydraulic cylinder (10), a fixed rod (6) and a movable rod which are coaxial with each other, the fixed rod (6) is coaxially sleeved in the telescopic rod sleeve (8) and is rotatably connected with the telescopic rod sleeve (8) through a bearing, the rear end of the fixed rod (6) is connected with the telescopic rod sleeve (8) through a rotation driving mechanism, the telescopic hydraulic cylinder (10) is inserted into a blind hole in the front end of the fixed rod (6), a piston rod (31) of the telescopic hydraulic cylinder (10) is fixedly connected with the bottom of the blind hole, a nozzle support (16) is installed in the front end of the movable rod, and the rear end of the movable rod is fixedly connected with a cylinder body (32) of the telescopic hydraulic cylinder (10).

3. The full hydraulic nozzle-positioning manipulator as claimed in claim 2, wherein the rotation driving mechanism comprises a rotation motor (18) and a connecting plate (19), the rotation motor (18) is mounted on the telescopic rod sleeve (8) through the connecting plate (19), and an output shaft of the rotation motor (18) is connected with the rear end of the fixing rod (6) through the coupling (4).

4. The full-hydraulic nozzle positioning manipulator according to claim 1, 2 or 3, wherein the pitching driving mechanism comprises a lifting hydraulic cylinder (14), a lifting cylinder upper base (23) and a lifting cylinder lower base (24), the lifting cylinder upper base (23) and the lifting cylinder lower base (24) are respectively fixed on the telescopic rod sleeve (8) and the rotary base (3), and two ends of the lifting hydraulic cylinder (14) are respectively hinged with the lifting cylinder upper base (23) and the lifting cylinder lower base (24).

5. The full hydraulic nozzle manipulator for positioning long nozzle of claim 4, the rotary driving mechanism comprises a rotary motor (38), a rotary shaft (25), a column barrel (28), a pressure bearing (30), a rotary upper bearing (26) and a rotary lower bearing (27), the rotating shaft (25) is vertically fixed on the base (20), the column casing (28) is sleeved outside the rotating shaft (25), the lower end of the column casing (28) is rotatably connected with the base (20) through a pressure bearing (30) and is rotatably connected with the rotating shaft (25) through a lower rotating bearing (27), the upper end of the column casing (28) is rotatably connected with the rotating shaft (25) through an upper rotating bearing (26) and is fixedly connected with the rotating base (3), the rotary motor (38) is fixed on the rotary base (3), and an output shaft of the rotary motor (38) is coaxially connected with the rotary shaft (25).

6. A full hydraulic nozzle manipulator according to claim 2, wherein the moving rod is formed by butt joint of a moving rod front section (15) and a moving rod rear section (11).

7. A full hydraulic nozzle manipulator for positioning long nozzle as claimed in claim 3, wherein a shield (2) is provided outside the coupling (4) between the rotation motor (18) and the fixed rod (6), and the shield (2) is fixed between the connecting plate (19) and the telescopic rod sleeve (8).

8. A full hydraulic nozzle manipulator for positioning long nozzle according to claim 7, wherein the protective cover (2) is provided with a manual rotating handle (1).

9. A full hydraulic nozzle manipulator for long-distance water gap according to claim 5, wherein a locking mechanism (39) is arranged between the revolving shaft (25) and the column barrel (28).

10. A full hydraulic nozzle manipulator for positioning long nozzle according to claim 6, wherein the rear section (11) of the moving rod is connected with the front section (15) of the moving rod and the cylinder body (32) of the telescopic hydraulic cylinder (10) through flanges.

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