CN219357917U - Tank cover conveying system of torpedo tank car - Google Patents
Tank cover conveying system of torpedo tank car Download PDFInfo
- Publication number
- CN219357917U CN219357917U CN202320082074.9U CN202320082074U CN219357917U CN 219357917 U CN219357917 U CN 219357917U CN 202320082074 U CN202320082074 U CN 202320082074U CN 219357917 U CN219357917 U CN 219357917U
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- Prior art keywords
- tank
- moving mechanism
- torpedo
- grabbing
- bracket
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Classifications
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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
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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
- B22D41/12—Travelling ladles or similar containers; Cars for ladles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The application discloses a tank cover conveying system of a torpedo tank car, which comprises a cross beam, a tank cover conveying mechanism, a tank cover storage position, a detection device and a controller, wherein the tank cover conveying mechanism comprises a first moving mechanism, a second moving mechanism and a grabbing mechanism; the beam extends along a first direction and spans a first rail for one or more torpedo tank cars to run, and the beam is suspended above the first rail; the first moving mechanism is movably arranged on the cross beam; the second moving mechanism is movably arranged on the first moving mechanism; the grabbing mechanism is connected with the second moving mechanism and is used for grabbing or releasing the tank cover; the detection device is arranged at a position adjacent to the first track and is used for detecting the position of the torpedo car; the controller is connected with the detection device, the grabbing mechanism, the first moving mechanism and the second moving mechanism respectively. The system achieves the purpose of automatically capping or uncapping the torpedo tank car, can improve the automation level and the production efficiency of a steel plant in a capping and uncapping link, and reduces the production cost.
Description
Technical Field
The application relates to the technical field of metallurgical equipment, in particular to a tank cover conveying system of a torpedo tank car.
Background
The torpedo car is a common rail vehicle for transporting molten iron in steel plants, and most of the torpedo cars are operated in an open mode at present, for example, the torpedo car can play a good role in heat preservation of empty tanks or molten iron in tanks by covering the torpedo car in the whole transportation process. At present, the covering and uncovering devices are arranged on the trolley, and the vehicle-mounted covering needs to be provided with one covering and uncovering device on each trolley and also needs to consider the ground electricity taking device, so that the equipment investment cost is higher for steel plants with torpedo tank trucks with hundreds of vehicles, and the cost reduction and the efficiency improvement are not facilitated.
Disclosure of Invention
To above-mentioned technical problem, this application provides a tank cap conveying system of torpedo tank car, and the technical scheme that this application embodiment adopted is as follows:
a tank cap delivery system for a torpedo tank car comprising:
a cross beam extending in a first direction and spanning a first track of one or more torpedo tank cars, the cross beam being suspended above the first track;
the detection device is arranged at a position adjacent to the first track and is used for sending a signal to the controller when the corresponding first track is detected to have the torpedo car driven;
a can lid storage location located below the cross beam and proximate to the first track;
the tank cover conveying mechanism comprises a first moving mechanism, a second moving mechanism and a grabbing mechanism, and the first moving mechanism is movably arranged on the cross beam; the second moving mechanism is movably arranged on the first moving mechanism, and the second moving mechanism is configured to be movable along a second direction, and the second direction is the extending direction of the first track; the first moving mechanism can drive the second moving mechanism and the grabbing mechanism to move together along a first direction to be above a first track where the torpedo car is located; the second moving mechanism can drive the grabbing mechanism to move to the position above the tank opening of the torpedo tank car along the second direction; the grabbing mechanism is connected with the second moving mechanism and can grab the can cover at the can opening or release the can cover to the can opening;
and the controller is respectively connected with the detection device, the grabbing mechanism, the first moving mechanism and the second moving mechanism and is used for controlling the first moving mechanism, the second moving mechanism and the grabbing mechanism to act.
In some embodiments, the grabbing mechanism comprises a first support, a second support, a first telescopic mechanism and a grabbing component, wherein the first support is connected with the second moving mechanism through a lifting mechanism, and the second support is positioned below the first support;
the grabbing assembly comprises a first grabbing body, a second grabbing body, a first connecting rod and a second connecting rod, wherein the first grabbing body and the second grabbing body are hinged to the same position of the second bracket, the bottom end of the first connecting rod is hinged to the top end of the first grabbing body, the bottom end of the second connecting rod is hinged to the top end of the second grabbing body, and the top end of the first connecting rod and the top end of the second connecting rod are hinged to the same position of the first bracket;
the first telescopic mechanism is used for connecting the first bracket and the second bracket, so that the second bracket can move upwards or downwards relative to the first bracket, and the first grab body and the second grab body are driven to open relatively or buckle mutually.
In some embodiments, a hanging point and at least one pair of positioning sleeves are arranged on the top surface of the tank cover, the hanging point is positioned in the middle of the top surface of the tank cover, the pair of positioning sleeves are arranged on two opposite sides of the hanging point, and positioning holes are formed in the positioning sleeves;
the grabbing mechanism further comprises first locating rods which are in one-to-one correspondence with the locating sleeves, the first locating rods are protruded out of the bottom sides of the second supports, and the first locating rods are used for extending into the locating holes to lock the relative positions of the grabbing mechanism and the tank cover.
In some embodiments, the second support is provided with a pin hole, the first positioning rod penetrates through the pin hole, the top end of the first positioning rod extends out of the pin hole to be connected with the first support, and the bottom end of the first positioning rod extends out of the pin hole and is located below the bottom side of the second support.
In some embodiments, second positioning rods corresponding to the positioning sleeves one by one are arranged on the bottom surface of the tank cover, and the second positioning rods are used for extending into positioning holes of the tank covers below the second positioning rods when the tank covers are stacked so as to lock the relative positions of two adjacent tank covers.
In some embodiments, the first grab body and the second grab body are hinged with the second bracket through the same hinge shaft, and a gravity sensor is arranged at the hinge shaft; the gravity sensor is connected with the controller.
In some embodiments, the beam is provided with a second track extending in the first direction;
the first moving mechanism comprises a first frame, a plurality of first wheels rotatably connected to the bottom of the first frame and a first driving device used for driving the first wheels to rotate, wherein the first wheels are arranged on the second track, and the first driving device is connected with the controller.
In some embodiments, a third rail extending in the second direction is provided on the first frame;
the second moving mechanism comprises a second frame, a plurality of second wheels rotatably connected to the bottom of the second frame and a second driving device for driving the second wheels to rotate, wherein the second wheels are arranged on the third track, and the second driving device is connected with the controller.
In some embodiments, the grabbing mechanism is connected with the second moving mechanism through a lifting mechanism, the lifting mechanism comprises a third driving device, a rotating shaft, a winding drum and a first chain, the rotating shaft is rotatably connected to the second frame, the winding drum is fixedly arranged on the rotating shaft, one end of the first chain is connected with the winding drum, the other end of the first chain is connected with the grabbing mechanism, the third driving device is in transmission connection with the rotating shaft and is used for driving the rotating shaft and the winding drum to rotate so as to release the first chain to drive the grabbing mechanism to descend, or wind the first chain to lift the grabbing mechanism.
In some embodiments, the detection device includes a mounting bracket, a first sensor, a second sensor, and a second telescoping mechanism;
the mounting bracket is arranged at a position close to the first track;
the first sensor is arranged on the mounting bracket and is used for detecting whether a torpedo car exists on the corresponding first track or not and sending a signal to the controller when the torpedo car exists;
the second sensor is connected with the mounting bracket through a second telescopic mechanism, and the second telescopic mechanism is used for driving the second sensor to extend into a projection area of the first track in the second direction when the first sensor detects that the first track is provided with the torpedo tank;
the second sensor is used for detecting the distance between the second sensor and the torpedo car.
According to the tank cover conveying system of the torpedo tank car, the cross beam crossing one or more first tracks operated by the torpedo tank car is arranged, the first moving mechanism is movably arranged on the cross beam, the second moving mechanism is movably arranged on the first moving mechanism, the grabbing mechanism used for grabbing the tank cover is arranged on the second moving mechanism, the detection device detects that the torpedo tank car drives to send a signal to the controller on the corresponding first track, the controller can control the first moving mechanism, the second moving mechanism and the grabbing mechanism to act, so that the purpose of automatically covering or uncovering the torpedo tank car is achieved, the automation level and the production efficiency of a covering and uncovering link of a steel plant can be remarkably improved, and the production cost of the steel plant in the torpedo tank car covering and uncovering link is reduced.
Drawings
FIG. 1 is a front view of a tank cap delivery system of a torpedo tank car according to an embodiment of the present application;
FIG. 2 is a partial side view of a tank cap delivery system of a torpedo tank car according to an embodiment of the present application;
FIG. 3 is a top view of a tank cap delivery system of a torpedo tank car according to an embodiment of the present application;
FIGS. 4 and 5 are schematic views of a partial tank cap transport system at different viewing angles;
fig. 6 and 7 are schematic structural views of the gripping assembly in different states, respectively;
FIG. 8 is a schematic view of the structure of the can lid;
fig. 9 and 10 are schematic views showing a process of gripping the can lid by the gripping mechanism;
fig. 11 is a schematic structural view of the detection device.
Reference numerals illustrate:
10-torpedo tank car; 11-a first track;
20-a cross beam; 21-a second track;
30-can lid storage; 31-lifting platform; 32-a can lid; 321-hanging points; 322-positioning sleeve; 323-a second positioning rod;
40-a first movement mechanism; 41-a first frame; 42-a first wheel; 43-first drive means; 44-a third track;
50-a second movement mechanism; 51-a second frame; 52-a second wheel; 53-a second drive means;
60-lifting mechanism; 61-a third drive means; 62-rotating shaft; 63-winding drum; 64-a first chain;
70-a grabbing mechanism; 71-a first scaffold; 711-first positioning rod; 72-a second scaffold; 721-pin holes; 722-struts; 73-a first telescopic mechanism; 74-a grasping assembly; 741-first gripper; 742-second grip; 743-a first connecting rod; 744-second connecting rod; 75-gravity sensor; 76-a second chain;
80-detecting means; 81-mounting brackets; 82-a first sensor; 83-a second sensor; 84-a second telescopic mechanism;
90-cantilever crane.
Detailed Description
Various aspects and features of the present application are described herein with reference to the accompanying drawings.
It should be understood that various modifications may be made to the embodiments of the application herein. Therefore, the above description should not be taken as limiting, but merely as exemplification of the embodiments. Other modifications within the scope and spirit of this application will occur to those skilled in the art.
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and, together with a general description of the application given above and the detailed description of the embodiments given below, serve to explain the principles of the application.
These and other characteristics of the present application will become apparent from the following description of a preferred form of embodiment, given as a non-limiting example, with reference to the accompanying drawings.
It is also to be understood that, although the present application has been described with reference to some specific examples, those skilled in the art can certainly realize many other equivalent forms of the present application.
The foregoing and other aspects, features, and advantages of the present application will become more apparent in light of the following detailed description when taken in conjunction with the accompanying drawings.
Specific embodiments of the present application will be described hereinafter with reference to the accompanying drawings; however, it is to be understood that the disclosed embodiments are merely exemplary of the application, which can be embodied in various forms. Well-known and/or repeated functions and constructions are not described in detail to avoid obscuring the application with unnecessary or excessive detail. Therefore, specific structural and functional details disclosed herein are not intended to be limiting, but merely to teach one of ordinary skill in the art to variously employ the present application in virtually any appropriately detailed structure.
The specification may use the word "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," which may each refer to one or more of the same or different embodiments as per the application.
The embodiment of the application provides a tank cover conveying system of a torpedo tank car, which is used for conveying tank covers to the upper part of a tank opening of the torpedo tank car from a tank cover placing position and covering the tank opening, or taking down the tank covers from the torpedo tank car and conveying the tank covers to the tank cover placing position.
Referring to fig. 1-3, the lid delivery system of the torpedo car 10 of the embodiments of the present application may specifically include a cross beam 20, a lid storage 30, a first moving mechanism 40, a second moving mechanism 50, a gripping mechanism 70, a detection device 80, and a controller.
A cross member 20 extends in a first direction and spans a first track 11 on which one or more torpedo cars 10 travel, the cross member 20 being suspended above the first track 11. Alternatively, brackets may be provided at both ends of the cross beam 20, by which the cross beam 20 is supported so that the cross beam 20 can be suspended above the first rail 11. Optionally, a stair may be provided between the cross beam 20 and the ground to facilitate climbing by the staff.
The detecting device 80 is disposed adjacent to the first rail 11, and the detecting device 80 is configured to detect whether the corresponding first rail 11 has the torpedo car 10 driven, detect the position of the torpedo car 10 when detecting that the corresponding first rail 11 has the torpedo car 10 driven, and send a signal to the controller. It can be seen that the signal may comprise, for example, first position information characterizing the position of the torpedo car 10 in the first direction and second position information characterizing the position of the torpedo car 10 in the second direction. However, it should be noted that the detection device 80 according to the embodiment of the present utility model actually belongs to the prior art, and the detection method adopted by the detection device 80 does not belong to the protection scope of the embodiment of the present utility model.
A can lid storage location 30 is provided below the cross beam 20 and adjacent to the first rail 11. Alternatively, the can lid storage location 30 may be provided with a lift platform 31, and the can lids 32 may be placed on the lift platform 31, and the lift platform 31 may be configured to automatically adjust the height according to the number of stacked can lids 32 so that the can lids 32 on top are at a preset height. Alternatively, the lift platform 31 may be a hydraulic shear frame lift platform.
A first moving mechanism 40 is movably provided on the cross member 20; a second moving mechanism 50 is movably provided on the first moving mechanism 40, and the second moving mechanism 50 is configured to be movable in a second direction, which is a direction in which the first rail 11 extends. A gripping mechanism 70 is coupled to the second movement mechanism 50 for gripping or releasing the can lid 32. When the first moving mechanism 40 moves along the first direction, the second moving mechanism 50 and the grabbing mechanism 70 can be driven to move together along the first direction to above the first track where the torpedo car 10 is located. The second moving mechanism 50 can drive the grabbing mechanism to move above the gateway of the torpedo car 10 along the second direction. The gripping mechanism 70 is capable of gripping the can lid 32 at the can opening or releasing the can lid 32 at the can opening.
In practice, the first moving mechanism 40, the second moving mechanism 50 and the gripping mechanism 70 together form a set of can lid conveying mechanisms, and one set of can lid conveying mechanisms or multiple sets of can lid conveying mechanisms may be disposed on the cross beam 20. For example, in the case where the cross member 20 spans a plurality of the first rails 11, a plurality of can lid storage locations 30 may be provided below the cross member 20, and a plurality of can lid conveyance mechanisms may be provided correspondingly. If can set up a can cover storage place 30 near the position of both ends of the crossbeam 20 separately, and set up two sets of can cover conveying mechanisms correspondingly one by one; alternatively, one can lid storage location 30 may be provided at a certain number of first rails 11, and a plurality of can lid conveyance mechanisms may be provided in one-to-one correspondence.
A controller is connected to the detecting device 80, the gripping mechanism 70, the first moving mechanism 40 and the second moving mechanism 50, respectively, and the controller is used for controlling the first moving mechanism 40, the second moving mechanism 50 and the gripping mechanism 70 to operate.
Optionally, the controller may be configured to: based on the first position information, the first moving mechanism 40 is controlled to drive the second moving mechanism 50 and the grabbing mechanism 70 to move above the first track 11 where the torpedo car 10 is located; based on the second position information, controlling the second moving mechanism 50 to drive the grabbing mechanism 70 to move above the tank opening of the torpedo tank car 10; the gripping mechanism 70 is controlled to grip the can lid 32 at the can opening or release the can lid 32 at the can opening.
Optionally, when capping the torpedo car 10, the controller may control the first moving mechanism 40 to drive the second moving mechanism 50 and the gripping mechanism 70 to move to the can lid storage position 30 in response to a first instruction indicating capping the torpedo car 10, adjust the position of the gripping mechanism 70 in the second direction according to the preset position information of the can lid storage position 30 by the second moving mechanism 50, move the gripping mechanism 70 to above the can lid storage position 30, and grip the can lid 32 by the gripping mechanism 70. Then, based on the first position information, the first moving mechanism 40 is controlled to drive the second moving mechanism 50, the grabbing mechanism 70 and the can lid 32 to move above the first track 11; based on the second position information, the second moving mechanism 50 is controlled to drive the grabbing mechanism 70 and the can cover 32 to move above the can opening; the gripping mechanism 70 is controlled to release the can lid 32 to the can opening.
Optionally, when the cover is uncovered from the torpedo car 10, the controller may control the first moving mechanism 40 to drive the second moving mechanism 50 and the grabbing mechanism 70 to move above the first track 11 based on the first position information in response to a second instruction indicating that the torpedo car 10 is uncovered; based on the second position information, the second moving mechanism 50 is controlled to drive the grabbing mechanism 70 to move above the tank opening; the gripping mechanism 70 is controlled to grip the can lid 32 from the can opening. Then, the first moving mechanism 40 is controlled to drive the second moving mechanism 50, the grabbing mechanism 70 and the can cover 32 to move to the can cover storage position 30, and the second moving mechanism 50 drives the grabbing mechanism 70 and the can cover 32 to adjust the position in the second direction, so that the can cover 32 is opposite to the can cover storage position 30; the gripping mechanism 70 is controlled to stack the can lids 32 on the can lid storage location 30 or over the stored can lids 32 on the can lid storage location 30.
It should be noted that the first instruction and the second instruction may be an instruction sent by a control person through an input device, or may be an instruction sent by a central control system of a factory, or may be provided with a tank cap 32 identifying device, for example, to identify and detect whether the tank cap 32 is capped on the torpedo car 10 moving to the tank cap conveying system.
According to the tank cover conveying system of the torpedo tank truck 10, the cross beam 20 crossing one or more first tracks 11 operated by the torpedo tank truck 10 is arranged, the first moving mechanism 40 is movably arranged on the cross beam 20, the second moving mechanism 50 is movably arranged on the first moving mechanism 40, the grabbing mechanism 70 for grabbing the tank cover 32 is arranged on the second moving mechanism 50, the detection device 80 detects that the torpedo tank truck 10 moves on the corresponding first tracks to send signals to the controller, and the controller can control the first moving mechanism 40, the second moving mechanism 50 and the grabbing mechanism 70 to act so as to achieve the purpose of automatically covering or uncovering the torpedo tank truck 10, so that the automation level and the production efficiency of a covering and uncovering link of a steel plant can be remarkably improved, and the production cost of the steel plant in the covering and uncovering link of the torpedo tank truck 10 can be reduced.
As shown in fig. 3 to 5, in some embodiments, the beam 20 is provided with a second rail 21 extending along the first direction; the first moving mechanism 40 includes a first frame 41, a plurality of first wheels 42 rotatably connected to the bottom of the first frame 41, and a first driving device 43 for driving the first wheels 42 to rotate, where the first wheels 42 are disposed on the second rail 21, the first driving device 43 is connected to the controller, and the controller can control the first driving device 43 to drive the first wheels 42 to rotate so as to drive the first frame 41, and the second moving mechanism 50 and the gripping mechanism 70 disposed on the first frame 41 to move.
Alternatively, the second track 21 may be formed by two parallel tracks, the first carriage 41 may be, for example, a rectangular frame, for example, four first wheels 42 may be disposed below the first carriage 41, and the first driving device 43 may include, for example, a driving motor, which may be connected to the controller. In this way, the first driving device 43 can drive the grabbing mechanism 70 to move through the space between the rectangular frame and the two rails.
Optionally, the cross beam 20 may further be provided with a cantilever crane 90, where the cantilever crane 90 may be disposed above the can lid storage location 30, so as to facilitate hanging the can lid 32. For example, during unloading or storage of the can lid 32.
As shown in fig. 4 and 5, in some embodiments, a third rail 44 extending along the second direction is provided on the first frame 41; the second moving mechanism 50 includes a second frame 51, a plurality of second wheels 52 rotatably connected to the bottom of the second frame 51, and a second driving device 53 for driving the second wheels 52 to rotate, where the second wheels 52 are disposed on the third rail 44, and the second driving device 53 is connected to the controller. The second moving mechanism 50 is simple in structure and stable in operation.
Alternatively, the third rail 44 may be similar to the second rail 21 or may consist of two parallel rails, the second frame 51 may be, for example, a rectangular frame, for example, four second wheels 52 may be provided under the second frame 51, and the second driving device 53 may comprise, for example, a driving motor.
In some embodiments, as shown in fig. 5, the grabbing mechanism 70 may be connected to the second moving mechanism 50 through a lifting mechanism 60, where the lifting mechanism 60 may include a third driving device 61, a rotation shaft 62, a winding drum 63 and a first chain 64, where the rotation shaft 62 is rotatably connected to the second frame 51, the winding drum 63 is fixedly disposed on the rotation shaft 62, one end of the first chain 64 is connected to the winding drum 63, the other end of the first chain 64 is connected to the grabbing mechanism 70, and the third driving device 61 is in driving connection with the rotation shaft 62 and is used to drive the rotation shaft 62 and the winding drum 63 to rotate, so as to release the first chain 64 to drive the grabbing mechanism 70 to descend, or wind the first chain 64 to lift the grabbing mechanism 70.
Optionally, two or more reels 63 may be disposed on the rotating shaft 62, where the two or more reels 63 may be sequentially disposed at intervals along the axial direction of the rotating shaft 62, one end of the plurality of first chains 64 is connected to each of the reels 63, and the other end of the plurality of first chains 64 may be sequentially connected to the grabbing mechanism 70, so that the grabbing mechanism 70 is stressed uniformly, and stability of the grabbing mechanism 70 may be improved, so that capping or uncapping operations may be performed smoothly.
As shown in fig. 5 to 7, in some embodiments, the gripping mechanism 70 includes a first bracket 71, a second bracket 72, a first telescopic mechanism 73, and a gripping assembly 74, where the first bracket 71 is connected to the second moving mechanism 50 through the lifting mechanism 60, and the second bracket 72 is located below the first bracket 71; the grabbing assembly 74 includes a first grabbing body 741, a second grabbing body 742, a first connecting rod 743 and a second connecting rod 744, where the first grabbing body 741 and the second grabbing body 742 are hinged at the same position of the second bracket 72, the bottom end of the first connecting rod 743 is hinged with the top end of the first grabbing body 741, the bottom end of the second connecting rod 744 is hinged with the top end of the second grabbing body 742, and the top end of the first connecting rod 743 and the top end of the second connecting rod 744 are hinged at the same position of the first bracket 71; the first telescopic mechanism 73 is used for connecting the first bracket 71 and the second bracket 72, so that the second bracket 72 can move up or down relative to the first bracket 71, so as to drive the first gripping body 741 and the second gripping body 742 to open or close to each other relatively. In fact, the first gripping body 741, the second gripping body 742, the first connecting rod 743 and the second connecting rod 744 form a scissor-type structure, and the first telescopic mechanism 73 is used to adjust the distance between the second supports 72 of the first support 71, so as to drive the first gripping body 741 and the second gripping body 742 to open or close relatively, so as to achieve the purpose of gripping the can lid 32 or releasing the can lid 32, as shown in fig. 9 and 10.
Optionally, the first bracket 71 and the second bracket 72 may be connected by a plurality of second chains 76, which have a certain flexibility, allowing the first bracket 71 and the second bracket 72 to adjust the relative positional relationship within a certain range, and keeping the connection between the first bracket 71 and the second bracket 72 stable.
Alternatively, the middle of the top surface of the can lid 32 may be provided with a hanging point 321, and the hanging point 321 may include two oppositely disposed legs, and a hanging bar connected between the two legs. Correspondingly, the bottom end of the first catch 741 may be hooked, the bottom end of the second catch 742 may be rod-shaped, and the first catch 741 and the second catch 742 may be configured such that the second catch 742 seals the opening of the first catch 741 when engaged with each other. In this manner, the boom can be hooked by the first catch 741 and the opening of the first catch 741 can be blocked by the second catch 742 to retain the lifting rod within the hooked structure of the first catch 741.
In some embodiments, the first gripping body 741 and the second gripping body 742 are hinged to the second bracket 72 through the same hinge shaft, and a gravity sensor 75 is disposed at the hinge shaft; the controller is configured to:
after the first gripping body 741 and the second gripping body 742 are fastened to each other, the lifting mechanism 60 is controlled to lift the gripping mechanism 70 upwards, and the gravity value detected by the gravity sensor 75 is obtained;
in the event that the gravity value is greater than a first threshold value, it is determined that the gripping mechanism 70 has gripped the can lid 32, and the lifting mechanism 60 is controlled to continue to lift the gripping mechanism 70.
Whether the gripping assembly 74 grips the can lid 32 can be accurately detected by the gravity sensor 75 to ensure that the capping and uncapping operations are performed efficiently. Of course, it is also possible to detect whether the gripping assembly 74 has effectively released the can lid 32 by means of the gravity sensor 75.
Referring to fig. 8 to 10, in some embodiments, at least one pair of positioning sleeves 322 are disposed on the top surface of the can cover 32, the pair of positioning sleeves 322 are disposed on opposite sides of the hanging point 321, and positioning holes are formed in the positioning sleeves 322; the grabbing mechanism 70 further comprises first positioning rods 711 corresponding to the positioning sleeves 322 one by one, the first positioning rods 711 protrude out of the bottom side of the second bracket 72, and the first positioning rods 711 are used for extending into the positioning holes so as to lock the relative positions of the grabbing mechanism 70 and the can cover 32. The gripping assembly 74 can be aligned with the hanging point 321 by the cooperation of the positioning sleeve 322 and the first positioning rod 711, so that the hanging point 321 can be accurately gripped. Alternatively, the positioning hole may be tapered to smoothly guide the first positioning rod 711 to be inserted therein.
In some embodiments, the second bracket 72 may be provided with a pin hole 721, the first positioning rod 711 penetrates the pin hole 721, the top end of the first positioning rod 711 extends out of the pin hole 721 to be connected with the first bracket 71, and the bottom end of the first positioning rod 711 extends out of the pin hole 721 and is located below the bottom side of the second bracket 72. In this way, when the second bracket 72 moves upward or downward with respect to the first bracket 71, the first positioning lever 711 does not follow up, and the positioning effect can be maintained.
In some embodiments, second positioning rods 323 corresponding to the positioning sleeves 322 one by one are arranged on the bottom surface of the can cover 32, and the second positioning rods 323 are used for extending into positioning holes of the can cover 32 below the second positioning rods when the can covers 32 are stacked so as to lock the relative positions of two adjacent can covers 32. In this way, the lid 32 can remain stable when stacked in the lid storage location 30, avoiding tipping of the lid 32.
In some embodiments, the bottom side of the second bracket 72 may also be provided with a plurality of struts 722, the struts 722 being configured to abut the top surface of the can lid 32 when the gripping assembly 74 grips the hanging point 321 of the can lid 32. In this manner, the plurality of struts 722 cooperate to limit the oscillation of the lid 32 when the lid 32 is being handled.
In some embodiments, as shown in fig. 11, the detection device 80 includes a mounting bracket 81, a first sensor 82, a second sensor 83, and a second telescoping mechanism 84; the mounting bracket 81 is provided at a position close to the first rail 11; the first sensor 82 is disposed on the mounting bracket 81, and is configured to detect whether there is a torpedo car 10 on the corresponding first track 11, and generate the first position information when the presence of the torpedo car 10 is detected; the second sensor 83 is connected with the mounting bracket 81 through a second telescopic mechanism 84, and the second telescopic mechanism 84 is used for driving the second sensor 83 to extend into a projection area of the first track 11 in the second direction when the first sensor 82 detects that the first track 11 is provided with the torpedo car 10; the second sensor 83 is configured to detect its own distance from the torpedo car 10 to determine the second location information. That is, when the first sensor 82 detects that the corresponding first track 11 has the torpedo car 10 running, a signal may be sent to the controller, and the controller may identify the identification information of the first sensor 82, so as to determine the first position information of the first track 11. Then, the controller may send a signal to the second telescopic mechanism 84, and control the second telescopic mechanism 84 to drive the second sensor 83 to extend into the projection area of the first track 11 in the second direction, and detect the distance between the second sensor 83 and the torpedo car 10, and the controller may determine the second position information based on the distance.
According to the tank cover conveying system of the torpedo tank truck 10, the cross beam 20 crossing one or more first tracks 11 operated by the torpedo tank truck 10 is arranged, the first moving mechanism 40 is movably arranged on the cross beam 20, the second moving mechanism 50 is movably arranged on the first moving mechanism 40, the grabbing mechanism 70 for grabbing the tank cover 32 is arranged on the second moving mechanism 50, the detection device 80 detects that the torpedo tank truck 10 moves on the corresponding first track 11 to send a signal to the controller, and the controller can control the first moving mechanism 40, the second moving mechanism 50 and the grabbing mechanism 70 to act so as to achieve the purpose of automatically covering or uncovering the torpedo tank truck 10, so that the automation level and the production efficiency of a steel plant in a covering and uncovering link can be remarkably improved, and the production cost of the steel plant in the torpedo tank truck 10 in the covering and uncovering link can be reduced.
The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application, the scope of which is defined by the claims. Various modifications and equivalent arrangements may be made to the present application by those skilled in the art, which modifications and equivalents are also considered to be within the scope of the present application.
Claims (10)
1. A tank cap delivery system for a torpedo tank car, comprising:
a cross beam extending in a first direction and spanning a first track of one or more torpedo tank cars, the cross beam being suspended above the first track;
the detection device is arranged at a position adjacent to the first track, and is used for detecting the position of the torpedo car when detecting that the torpedo car runs on the corresponding first track and sending a signal to the controller;
a can lid storage location located below the cross beam and proximate to the first track;
the tank cover conveying mechanism comprises a first moving mechanism, a second moving mechanism and a grabbing mechanism, and the first moving mechanism is movably arranged on the cross beam; the second moving mechanism is movably arranged on the first moving mechanism, and the second moving mechanism is configured to be movable along a second direction, and the second direction is the extending direction of the first track; the first moving mechanism can drive the second moving mechanism and the grabbing mechanism to move together along a first direction to be above a first track where the torpedo car is located; the second moving mechanism can drive the grabbing mechanism to move to the position above the tank opening of the torpedo tank car along the second direction; the grabbing mechanism is connected with the second moving mechanism and can grab the can cover at the can opening or release the can cover to the can opening;
and the controller is respectively connected with the detection device, the grabbing mechanism, the first moving mechanism and the second moving mechanism and is used for controlling the first moving mechanism, the second moving mechanism and the grabbing mechanism to act.
2. The tank cap conveying system of the torpedo tank car according to claim 1, wherein the grabbing mechanism comprises a first bracket, a second bracket, a first telescopic mechanism and a grabbing component, the first bracket is connected with the second moving mechanism through a lifting mechanism, and the second bracket is positioned below the first bracket;
the grabbing assembly comprises a first grabbing body, a second grabbing body, a first connecting rod and a second connecting rod, wherein the first grabbing body and the second grabbing body are hinged to the same position of the second bracket, the bottom end of the first connecting rod is hinged to the top end of the first grabbing body, the bottom end of the second connecting rod is hinged to the top end of the second grabbing body, and the top end of the first connecting rod and the top end of the second connecting rod are hinged to the same position of the first bracket;
the first telescopic mechanism is used for connecting the first bracket and the second bracket, so that the second bracket can move upwards or downwards relative to the first bracket, and the first grab body and the second grab body are driven to open relatively or buckle mutually.
3. A tank cover conveying system of a torpedo tank car according to claim 2, wherein a hanging point and at least one pair of positioning sleeves are arranged on the top surface of the tank cover, the hanging point is positioned in the middle of the top surface of the tank cover, the pair of positioning sleeves are arranged on two opposite sides of the hanging point, and positioning holes are formed in the positioning sleeves;
the grabbing mechanism further comprises first locating rods which are in one-to-one correspondence with the locating sleeves, the first locating rods are protruded out of the bottom sides of the second supports, and the first locating rods are used for extending into the locating holes to lock the relative positions of the grabbing mechanism and the tank cover.
4. A tank cover conveying system of a torpedo tank car according to claim 3, wherein a pin hole is formed in the second support, the first positioning rod penetrates through the pin hole, the top end of the first positioning rod extends out of the pin hole to be connected with the first support, and the bottom end of the first positioning rod extends out of the pin hole and is located below the bottom side of the second support.
5. A tank cover conveying system of a torpedo tank car according to claim 3, wherein second positioning rods corresponding to the positioning sleeves one by one are arranged on the bottom surface of the tank cover, and the second positioning rods are used for extending into positioning holes of the tank covers below the second positioning rods when the tank covers are stacked so as to lock the relative positions of two adjacent tank covers.
6. The tank cover conveying system of the torpedo tank car according to claim 2, wherein the first grab body and the second grab body are hinged with the second bracket through the same hinge shaft, and a gravity sensor is arranged at the hinge shaft; the gravity sensor is connected with the controller.
7. A tank cap transfer system for a torpedo tank car according to claim 1, wherein a second rail extending in the first direction is provided on the cross beam;
the first moving mechanism comprises a first frame, a plurality of first wheels rotatably connected to the bottom of the first frame and a first driving device used for driving the first wheels to rotate, wherein the first wheels are arranged on the second track, and the first driving device is connected with the controller.
8. The lid delivery system of a torpedo car according to claim 7, wherein a third rail extending in the second direction is provided on the first frame;
the second moving mechanism comprises a second frame, a plurality of second wheels rotatably connected to the bottom of the second frame and a second driving device for driving the second wheels to rotate, wherein the second wheels are arranged on the third track, and the second driving device is connected with the controller.
9. The tank cap transfer system of a torpedo tank car according to claim 8, wherein the gripping mechanism is connected with the second moving mechanism through a lifting mechanism, the lifting mechanism comprises a third driving device, a rotating shaft, a winding drum and a first chain, the rotating shaft is rotatably connected to the second frame, the winding drum is fixedly arranged on the rotating shaft, one end of the first chain is connected with the winding drum, the other end of the first chain is connected with the gripping mechanism, the third driving device is in transmission connection with the rotating shaft and is used for driving the rotating shaft and the winding drum to rotate so as to release the first chain to drive the gripping mechanism to descend or wind the first chain to lift the gripping mechanism.
10. The tank cap delivery system of a torpedo tank car according to claim 1, wherein the detection device comprises a mounting bracket, a first sensor, a second sensor and a second telescopic mechanism;
the mounting bracket is arranged at a position close to the first track;
the first sensor is arranged on the mounting bracket and is used for detecting whether a torpedo car exists on the corresponding first track or not and sending a signal to the controller when the torpedo car exists;
the second sensor is connected with the mounting bracket through a second telescopic mechanism, and the second telescopic mechanism is used for driving the second sensor to extend into a projection area of the first track in the second direction when the first sensor detects that the first track is provided with the torpedo tank;
the second sensor is used for detecting the distance between the second sensor and the torpedo car.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210649543.0A CN114713806A (en) | 2022-06-10 | 2022-06-10 | Tank cover conveying system of torpedo tank car |
| CN2022106495430 | 2022-06-10 |
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| Publication Number | Publication Date |
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| CN219357917U true CN219357917U (en) | 2023-07-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210649543.0A Pending CN114713806A (en) | 2022-06-10 | 2022-06-10 | Tank cover conveying system of torpedo tank car |
| CN202320082074.9U Active CN219357917U (en) | 2022-06-10 | 2023-01-11 | Tank cover conveying system of torpedo tank car |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210649543.0A Pending CN114713806A (en) | 2022-06-10 | 2022-06-10 | Tank cover conveying system of torpedo tank car |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116117121B (en) * | 2023-04-07 | 2023-06-27 | 秦皇岛泰科科技开发有限公司 | Intelligent fixed-point flexible connection magnetic attraction type torpedo tank car cover adding and uncovering system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110019976A (en) * | 2009-08-21 | 2011-03-02 | 김용호 | Cover opening and closing construction for torpedo ladle car |
| CN202518935U (en) * | 2012-03-30 | 2012-11-07 | 重庆钢铁(集团)有限责任公司 | Special hanger for high-temperature irregular wide and heavy plate |
| KR101629810B1 (en) * | 2015-01-05 | 2016-06-24 | 김용호 | Cover opening and closing apparatus for torpedo ladle car |
| CN204529194U (en) * | 2015-01-16 | 2015-08-05 | 成都星炫科技有限公司 | Electric block |
| CN111186762B (en) * | 2020-03-19 | 2021-08-03 | 河南省矿山起重机有限公司 | Special lifting appliance for coke tank |
| CN213968980U (en) * | 2020-12-03 | 2021-08-17 | 徐佳喜 | Electric cover opening and closing device for torpedo ladle |
| CN112846161B (en) * | 2021-01-06 | 2022-04-19 | 何正山 | Ultra-low clearance vehicle-mounted cover-opening machine above torpedo tank opening |
| CN214244482U (en) * | 2021-02-02 | 2021-09-21 | 秦皇岛泰科科技开发有限公司 | Ground fixed-point full-automatic grabbing type torpedo car capping device |
| CN112916843A (en) * | 2021-03-29 | 2021-06-08 | 马钢集团设计研究院有限责任公司 | Automatic torpedo ladle capping and uncovering device and using method thereof |
| CN215160316U (en) * | 2021-05-28 | 2021-12-14 | 孝感金达钢铁有限公司 | Steel billet lifting clamp |
| CN215854620U (en) * | 2021-07-02 | 2022-02-18 | 中铁七局集团郑州工程有限公司 | Template hoist convenient to handling multiunit roof beam body |
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