Hot rolled steel plate with 590MPa-level tensile strength and production method thereof

The invention relates to the field of metallurgy, in particular to a hot rolled steel plate with 590MPa-level tensile strength, and a production method thereof. The technical problem that the invention solves is to provide a hot rolled steel plate with 590MPa-level tensile strength, which comprises the following components in percentage by weight: 0.05 to 0.10 percent of C, 0.10 to 0.25 percent of Si, 1.10 to 1.50 percent of Mn, 0.03 to 0.08 percent of P, less than or equal to 0.008 percent of S, 0.50 to 0.80 percent of Cr, 0.015 to 0.065 percent of Als, and the balance of iron and inevitable impurities. The hot rolled steel plate which is prepared by adding trace alloy elements P and Cr through a directly controlled rolling and cooling process has the advantages of low yield ratio, high ductility, high strength, excellent flange extension performance and cut edge stretching forming performance, high size precision, good surface quality, and low cost because no expensive alloy element is ...

Distributed force sense synchronous sensing method and system

The invention relates to a distributed force sense synchronous sensing method and system. The system is formed by networking a server, three sets of computing and display terminals and three Falcon three-dimensional force feedback devices. The distributed fore sense synchronous sensing method comprises the following steps of: constructing a three-dimensional maze scene; carrying out a series of processing such as de-noising, A/D (Analog/Digital) conversion and the like on a trigger signal of an input force feedback device by a data acquisition module, and transmitting the touch signal to a remote communication module; collecting multiple input signals by the remote communication module, and synthesizing and calculating speed and position parameters of a sphere; synchronizing scenes of multiple clients by a scene synchronizing module; detecting collision in real time; if the sphere colloids with a pipeline, responding to collision; and resolving a feedback force in real time according to ...

Spherical robot capable of jumping

The invention discloses a spherical robot capable of jumping, and particularly relates to a spherical robot which can be used in a complex and variable environment, move in all the directions and jump. On a flat ground, the robot can make planar motions, namely the robot can achieve planar rolling and planar turning. When meeting an obstacle, the robot can cross the obstacle by jumping. The outer shape of the robot is spherical, the inner structure is designed to be simple and compact, and the robot can achieve jump. The jumping height can be adjusted according to the actual conditions when the robot jumps, the jumping direction can be adjusted, and the energy utilization rate is high. After jumping, due to the low gravity center and falling-resistant characteristic of the robot, the posture of the robot can be automatically adjusted.

Distributed force sense synchronous sensing method and system

The invention relates to a distributed force sense synchronous sensing method and system. The system is formed by networking a server, three sets of computing and display terminals and three Falcon three-dimensional force feedback devices. The distributed fore sense synchronous sensing method comprises the following steps of: constructing a three-dimensional maze scene; carrying out a series of processing such as de-noising, A/D (Analog/Digital) conversion and the like on a trigger signal of an input force feedback device by a data acquisition module, and transmitting the touch signal to a remote communication module; collecting multiple input signals by the remote communication module, and synthesizing and calculating speed and position parameters of a sphere; synchronizing scenes of multiple clients by a scene synchronizing module; detecting collision in real time; if the sphere colloids with a pipeline, responding to collision; and resolving a feedback force in real time according to ...

RH furnace top lance oxygen blowing automatic control method and device

The invention discloses a RH furnace top lance oxygen blowing automatic control method and a device; the method comprises the following steps: provides a display interface used for inputting control top lance oxygen blowing parameters by a user; the user inputs corresponding parameter values according to prompts of the display interface; controls the top lance to carry out oxygen blowing operation according to the parameter value inputted by the user; if the user modifies the parameters in the furnace top lance oxygen blowing process, then the parameter modification order is rejected, and the top lance is controlled to carry out oxygen blowing operation according to the parameters. The RH furnace top lance oxygen blowing automatic control method and device can prevent people from frequently calculating corresponding device operation parameters, and thereby eliminating influences to a follow up step because of abnormity of molten steel component and temperature generated by labor input errors ...

Three-drive spherical robot

The invention discloses a three-drive spherical robot which comprises a circle spherical shell and a drive motor; wherein, a track is arranged on the inner surface of the spherical shell; an annular rack is arranged on the inner surface of the track; a walking bracket is connected with the track by a road wheel engaged with the rack; a walking bracket guide wheel is arranged on the walking bracket as well; the walking bracket is provided with a track motor and comprises a spherical frame as well; one end of the spherical frame is connected with the walking bracket by a bearing and the other end is connected with a rotating bracket by a long axis motor; a short-axis motor is axially arranged at the spherical frame; a heavy pendulum is axially arranged at the short-axis motor; the rotating bracket is connected with the track by the guide wheel arranged at the walking bracket. The three-drive spherical robot not only moves flexibly, but also realizes motion redundancy; under the situation ...

High-strength weathering steel and method for smelting same from semisteel

The invention provides high-strength weathering steel and a method for smelting the same from semisteel. The high-strength weathering steel comprises the following chemical components in percentage by weight: 0.01-0.04% of C, 0.10-0.20% of Si, 0.30-0.40% of Mn, 3.45-3.75% of Cr, 0.30-0.40% of Ni, 0.40-0.50% of Cu, 0.027-0.045% of Nb, 0.020-0.050% of Als, 0.01-0.015% of Ti, less than or equal to 0.020% of P, less than or equal to 0.005% of S, and the balance of iron and inevitable impurities. According to the method, the semisteel is adopted as a raw material, the alloy adding system of each process is reasonably allocated in production, and the high-strength weathering steel is obtained by smelting.

Method for smelting low-phosphorous molten steel by utilizing semisteel

The invention belongs to the metallurgical field, particularly relating to a method for smelting low-phosphorous molten steel by utilizing semisteel. The technical problem solved by the invention is to lower the phosphorus content of the final molten steel so as to be beneficial for producing the low phosphorus steel on the premise of ensuring converter decarburization effect. The technical scheme for solving the technical problem in the invention is to provide the method for smelting the low-phosphorous molten steel by utilizing the semisteel. The method comprises the following steps: mixing the semisteel subjected to desulfuration and vanadium extraction into a converter; adding the first batch of steelmaking slagging agent; converting for 4-6 minutes in the converter; slagging; and adding the second batch of slagging agent for converting. By adopting the method of the invention, the final molten steel can be obtained, wherein, the phosphorus content is less than or equal to 0.006%; and ...

Amphibious spherical robot

The invention discloses an amphibious spherical robot which includes a spherical shell; a water spray propulsion device, a sink and float device and a drive mechanism are arranged in the spherical shell. The water spray propulsion device includes a propulsion pump; one ends of a suction pipe and a water spray tube are connected on the propulsion pump; the other ends of the suction pipe and the water spray tube are connected on a water suction opening and a water spray opening arranged on the spherical shell; a remote-control mechanism for controlling the water spray amount is arranged on the spherical shell. The sink and float device includes a water storage tank arranged in the spherical shell which is connected with one end of a water inlet and outlet tube; the other end of the water inlet and outlet tube is connected with a special water inlet and a special water outlet arranged on the spherical shell; the drive mechanism is fixed on the inner wall of the spherical shell to drive the ...

Steelmaking method with semi-steel

The invention discloses a steelmaking method with semi-steel. The method includes following steps: carrying out a vanadium-extracting process after vanadium-containing molten iron being desulfurized through molten iron pre-process, adding ferrosilicon during the vanadium-extracting and semi-steel-tapping process, carrying out a vanadium-slag-removing process after the semi-steel is tapped, adding the semi-steel to a converter after the vanadium-slag-removing process, adding waste steel for carrying out a converter steelmaking process, carrying out an argon-blowing process to the tapped molten steel and carrying out a continuous casting process to the molten steel after being subjected to the argon-blowing process. The method is an overall-process production method from molten iron pre-processing to continuous casting during the semi-steel steelmaking method. The method has characteristics of a low cost, a high scrap ratio (50-90 kg steel scrap per ton of the steel), a high tapping temperature ...

Deformation mechanism for underwater robots

The invention discloses a deformation mechanism for underwater robots, which comprises a circular retractable component, wherein the retractable component is formed by connecting a plurality of parallelogram mechanisms; a front support rod assembly is connected between a linkage at the outer side of the retractable component and a front end ring; a back support rod assembly is connected between the linkage at the inner side of the retractable component and a back end ring; the front end ring is corresponding to the back end ring; a sliding component is connected between the front end ring andthe back end ring in a seal mode; the sliding component is in a cylindrical guide tube shape and penetrates through the hollow part in the middle of the retractable component; the inner cavity of thesliding component is an independent space and is communicated with the outside through the front end ring and the back end ring; the sliding component is connected with a driving component; and the driving ...

Method for lowering end point oxygen content in molten iron/steel/semisteel smelting process

The invention discloses a method for lowering end point oxygen content in a semisteel smelting process, which comprises the following steps: adding semisteel molten iron after vanadium extraction into a converter; and sequentially adding iron silicon alloy and slagging auxiliary materials into the converter. On the basis of the method, the invention also discloses molten iron prepared by the method and steel prepared from the molten iron. On the premise of using the iron silicon alloy instead of the conventional common slag former, the end point carbon content is obviously enhanced as compared with the prior art, and the end point oxygen content is obviously lowered.

Hemispheric differential spherical robot

The invention provides a hemispheric differential spherical robot. The spherical robot comprises an outer spherical shell formed by a left hemispheric shell and a right hemispheric shell; a main frame is arranged in the spherical shell; a left support seat and a right support seat are respectively fixed on the inner side at the top of the left hemispherical shell and the right hemispherical shell; the support seats are connected with the connection positions of two corresponding rectangular frameworks by a support frame; one end of the support frame is fixedly connected with the main frame and the other end thereof is connected with the support seats in a slide way; an electric motor support plate is arranged at the connection position between the support frame and the main frame and used for fixing an electric motor with long axis; the electric motor with long axis is connected with the support seats by a bearing which is arranged in the support frame in a penetrating way; and the main ...

Hemispheric differential spherical robot

The invention provides a hemispheric differential spherical robot. The spherical robot comprises an outer spherical shell formed by a left hemispheric shell and a right hemispheric shell; a main frameis arranged in the spherical shell; a left support seat and a right support seat are respectively fixed on the inner side at the top of the left hemispherical shell and the right hemispherical shell;the support seats are connected with the connection positions of two corresponding rectangular frameworks by a support frame; one end of the support frame is fixedly connected with the main frame andthe other end thereof is connected with the support seats in a slide way; an electric motor support plate is arranged at the connection position between the support frame and the main frame and usedfor fixing an electric motor with long axis; the electric motor with long axis is connected with the support seats by a bearing which is arranged in the support frame in a penetrating way; and the main frame ...

System and method for automatically controlling coal oxygen combustion of top lance of RH (Ruhrstahl-Heraeus) furnace

The invention discloses a system and method for automatically controlling the coal oxygen combustion of a top lance of an RH (Ruhrstahl-Heraeus) furnace. The method comprises the following steps: receiving parameters for controlling the top lance to execute the operation of the coal oxygen combustion; controlling the top lance to execute the operation of the coal oxygen combustion based on the received parameters, wherein a modification command for the parameters is refused to be executed when the modification command for the parameters is received during the operation period of the top lance, and the top lance is continuously controlled to execute the operation of the coal oxygen combustion based on the parameters. According to the system and the method for automatically controlling the coal oxygen combustion of the top lance of the RH furnace, the parameters for spraying and blowing the coal oxygen combustion process through the top lance at an interval between the non-treatment period ...

Hot continuous rolling steel plate for cold forming and production method thereof

The invention relates to the production field of metal strips, in particular to a hot continuous rolling steel plate for cold forming and a production method thereof, wherein, the hot continuous rolling steel plate for cold forming has good obdurability matching, excellent formability and high yield strength up to 500MPa grade. The hot continuous rolling steel plate for cold forming comprises the following chemical components in percentage by weight: 0.05-0.10% of C, 0-0.10% of Si, 1.30-1.60% of Mn, 0-0.025% of P, 0-0.010% of S, 0.020-0.045% of Nb, 0.040-0.10% of V, balance of Fe and unavoidable impurities. The tensile strength reaches over 600MPa and the elongation percentage reaches over 24%, thus the hot continuous rolling steel plate has the characteristics of good obdurability matching and excellent formability. Meanwhile the billet made of the chemical components can be also taken as raw materials of a cold-rolling steel plate and a cold-rolling coated steel plate to unify the components ...

Spherical robot stable supporting mechanism

The invention relates to a steady supporting structure for spherical robot, which is arranged right below the body of the spherical robot. The steady supporting structure for spherical robot comprises a detachable partial round spherical shell which can form a round ball with the external shell of the spherical robot, a driving unit formed by connecting a DC brushless motor with a gear group, a guide screw transmission unit consisting of a guide screw and a screw nut which can be transmitted with the guide screw in a threaded way, and a group supporting mechanisms; slotted holes in which stabilizers of the supporting structure is arranged are arranged on the partial spherical shell; each supporting mechanism consists of an upper connecting rod hinged with the screw nut and a three-connecting-rod mechanism hinged with the upper connecting rod; wherein, the third connecting rod of the three-connecting-rod mechanism is the stabilizer which is fixed on the partial spherical shell and can fall ...

Test platform for movable spherical robot

The invention discloses a testing platform for spherical mobile robot, comprising a base, wherein a base bearing seat is fixed on a central position; a base frame on an upper side of the base that is a semi-square tri-edge frame. The central positions of the bottom horizontal frame are connected to the base bearing seat of the base adopting a bearing bushing by a base plate driving shaft driven by a first motor and; an outer frame, the central positions of two vertical frames are connected to a head end of two corresponding vertical frame by a rotary connection piece driven by a second motor; an inner frame, the central positions of two horizontal frames are connected to the central positions of two corresponding horizontal frames by the rotary connection piece of a third motor; the inner frame is provided with a unit device that fixedly clamps the spherical mobile robot. The spherical mobile robot can be clamped in the inner frame. The spherical state changes along three shaft corners.

Rapid desulfurization method for converter smelting

The invention belongs to the field of metallurgy, and particularly discloses a rapid desulfurization method for converter smelting. The method comprises the steps that in the converter smelting tapping process, a desulfurizing agent is added into a steel ladle, inert gas is blown into the steel ladle for desulfurization, and after tapping is finished, desulfurization slag is removed. Molten steel impact force and a heat source in the tapping process are effectively utilized for desulfurization, and efficient and low-cost desulfurization of molten iron is achieved.

Spherical robot having visual sensation and arms on both sides

The invention discloses a spherical robot with vision and arms on two sides. The spherical robot comprises a spherical shell, two lateral arms, a lifting photographing device, a movement driving system and a support stabilizing mechanism, wherein, the spherical shell consists of a lifting top spherical crown, a left spherical crown, a right spherical crown, a unlifting bottom spherical crown and amiddle spherical shell. The lower part of the top spherical crown is provided with the photographing device which can lift and rotate by 360 degrees in a plane; the left spherical crown and the rightspherical crown on two sides of the spherical robot are respectively provided with one or a plurality of 3-DOF (degree of freedom) mechanical arms which can respectively extend out of the shell; andthe bottom spherical crown is provided with a mechanism which can make a sphere stand stably. The spherical robot is a mobile robot provided with a vision sensor and can carry out complex operations and have ...

Pendulum type three-propeller underwater spherical robot

The invention relates to the field of research on underwater robots, and in particular relates to a novel spherical underwater robot provided with three propellers and a heavy pendulum. The spherical underwater robot is capable of steering by the propellers and adjusting the pitch attitude by the heavy pendulum. The spherical underwater robot adopts a transparent shell made of organic glass, the three propellers pass through a spherical shell, the robot can steer by the thrust difference of the propellers respectively arranged on the two sides, the pitch attitude can be changed by the counter-acting force of the heavy pendulum generated in the rotating process, and the heavy pendulum is also used for adjusting the center of gravity of the robot so as to enable the attitude of the robot to be stable. The depth of the robot can be adjusted by adjusting the attitude change of the robot when the robot is pushed forward. The weight of the robot is enabled to be equal to the buoyancy by adjusting ...

Underwater spherical robot with six degrees of freedom

The invention discloses an underwater spherical robot with six degrees of freedom, comprising a spherical shell; the spherical shell is internally provided with a long shaft and a piston type water storage device; the two ends of the long shaft are fixed in two round holes; a cavity of the long shaft is only provided with an underwater propeller; the middle part of the long shaft is sleeved with a rotating square cylinder; one end of the square cylinder is provided with a large gear which is sleeved and fixed on the long shaft; the left side of the square cylinder is provided with a first motor; the output shaft of the first motor is provided with a small gear which is meshed with a large gear; the front side and the rear side of the square cylinder are respectively provided with a short rod and the two short rods are symmetrical; the outer end part of each short rod is provided with a swinging arm; the lower end part of each swinging arm is provided with a weight; the right side of the ...

Steel-making method

The invention discloses a steel-making method comprising the steps: within 60 seconds from the beginning of converting, controlling the oxygen lance position of top-blowing oxygen to be 1.8-2.3 meters, and controlling the oxygen supply flow to be 18000-23000Nm<3>/h; from the sixtieth second to the ninetieth second of converting, controlling the oxygen lance position of top-blowing oxygen to be 1.5-1.8 meters, and controlling the oxygen supply flow to be 29000-32000Nm>3>/h; after converting for 90 seconds, controlling the oxygen lance position of top-blowing oxygen to be 1.5-2.6 meters, and controlling the oxygen supply flow to be 40000-45000Nm>3>/h; within 11 minutes from the beginning of converting, controlling the flow of bottom-blowing inert gas to be 30-50Nm<3>/h; from the eleventh second of converting to the end of tapping, controlling the flow of the bottom-blowing inert gas to be 50-80Nm<3>/h. According to the method disclosed by the invention, the top-blowing oxygen flow, the oxygen ...

Tridrive spherical robot

The invention provides a tridrive spherical robot. The tridrive spherical robot comprises that: two transmission shafts are symmetrically arranged in a spherical shell through a sphere center; one end of each transmission shaft is fixedly connected with the inner wall of the spherical shell; a frame in a differential transmission mechanism is rotationally and fixedly arranged on a shaft end part adjacent to the two transmission shafts; two bevel gears are rotationally and fixedly arranged on the transmission shafts respectively and are connected with a motor respectively through the transmission mechanism; a counter weight connecting shaft is arranged on a frame body and is vertical to the two transmission shafts through the sphere center; a bevel gear is integrally and fixedly arranged on the counter weight connecting shaft, is positioned between the two bevel gears and is meshed with the two bevel gears; two oscillating bars are integrally and fixedly connected with and sleeved on the ...

Method for reducing semisteel steel-making final slag total iron content

The invention relates to a method for reducing semisteel steel-making final slag total iron content and belongs to the technical field of metallurgy. The invention aims at providing the method for reducing the semisteel steel-making final slag total iron content. The method comprises the following steps: adding a magnesium carbon ball after finishing semisteel converter smelting, performing top-blowing nitrogen for 20-50s, standing for 60-120s after finishing nitrogen blowing, and tapping. By adopting the method, the semisteel steel-making converter final slag TFe content is controlled within 18%, the final slag TFe is obviously reduced and the effect is obvious, additionally the method is simple in operation, few in magnesium carbon ball dosage and low in cost.

Spherical robot stable supporting mechanism

The invention relates to a steady supporting structure for spherical robot, which is arranged right below the body of the spherical robot. The steady supporting structure for spherical robot comprises a detachable partial round spherical shell which can form a round ball with the external shell of the spherical robot, a driving unit formed by connecting a DC brushless motor with a gear group, a guide screw transmission unit consisting of a guide screw and a screw nut which can be transmitted with the guide screw in a threaded way, and a group supporting mechanisms; slotted holes in which stabilizers of the supporting structure is arranged are arranged on the partial spherical shell; each supporting mechanism consists of an upper connecting rod hinged with the screw nut and a three-connecting-rod mechanism hinged with the upper connecting rod; wherein, the third connecting rod of the three-connecting-rod mechanism is the stabilizer which is fixed on the partial spherical shell and can fall ...

Dephosphorizing steelmaking method for increasing manganese content in molten steel at terminal of convertor

The invention discloses a dephosphorizing steelmaking method for increasing manganese content in molten steel at a terminal of a convertor. The method includes following steps: a silicon-increasing agent is added at a ratio of 2-8 kg of the silicon-increasing agent per ton of steel to the convertor after semi-steel being added to the convertor; adding scrap steel at a ratio of 30-90 kg of the scrap steel per ton of the steel to carry out a convertor-blowing process; adding manganese ore at a ratio of 2-10 kg of the manganese ore per ton of the steel when an oxygen-blowing progress rate being 30-70%, wherein a bottom-argon-blowing intensity during the oxygen-blowing process is 0.02-0.06 m<3> per minute per ton of the steel; increasing the bottom-argon-blowing intensity to 0.08-0.16 m<3> per minute per ton of the steel after the oxygen-blowing process being finished; carrying out a stirring process for 1-5 min; and carrying out a tapping process to obtain molten steel. With the method in ...

Method for alloying vanadium in molten steel by using ferrovanadium fine powder in RH station

The invention belongs to the field of metallurgy of iron and steel, in particular relates to a method for alloying vanadium in molten steel by using ferrovanadium fine powder in an RH station. The method solves the technical problem that fine powder containing vanadium is difficult to be utilized effectively. The invention aims to provide a method for alloying molten steel by using FeV50 fine powder with the granularity of 5-15 millimeters in an RH molten steel refining station. The method not only has no effect on a steel making mission and a production organization, but also ensures that the FeV50 fine powder resource with the granularity of 5-15 millimeters can be fully utilized. The method has the characteristics of simple operation, easy control, high yield of metal vanadium, and thelike. The invention provides a new selection for fully and effectively utilizing the vanadium resource and reducing the production cost in the steel making process.

Hot rolled steel plate with 590MPa-level tensile strength and production method thereof

The invention relates to the field of metallurgy, in particular to a hot rolled steel plate with 590MPa-level tensile strength, and a production method thereof. The technical problem that the invention solves is to provide a hot rolled steel plate with 590MPa-level tensile strength, which comprises the following components in percentage by weight: 0.05 to 0.10 percent of C, 0.10 to 0.25 percent of Si, 1.10 to 1.50 percent of Mn, 0.03 to 0.08 percent of P, less than or equal to 0.008 percent of S, 0.50 to 0.80 percent of Cr, 0.015 to 0.065 percent of Als, and the balance of iron and inevitable impurities. The hot rolled steel plate which is prepared by adding trace alloy elements P and Cr through a directly controlled rolling and cooling process has the advantages of low yield ratio, high ductility, high strength, excellent flange extension performance and cut edge stretching forming performance, high size precision, good surface quality, and low cost because no expensive alloy element is ...

Crawler type spherical robot

The invention discloses a crawler type spherical robot, which comprises a spherical shell, a frame arranged in the spherical shell, a rolling drive device arranged on the frame, a mechanical arm arranged on the frame, spherical shell opening-closing devices and a crawler travelling device, wherein the spherical shell consists of a left semi-spherical shell and a right semi-spherical shell; the spherical shell opening-closing devices are both arranged between the frame and the left semi-spherical shell and the right semi-spherical shell; the robot also comprises a driving motor arranged on theframe, and the driving motor is connected with the left semi-spherical shell and the right semi-spherical shell by a transmission mechanism, so that the left semi-spherical shell and the right semi-spherical shell can move relative to the frame so as to realize the opening and closing of the spherical shell; and the frame is provided with the driving motor which is connected with the crawler travelling ...

Deformation mechanism for underwater robots

The invention discloses a deformation mechanism for underwater robots, which comprises a circular retractable component, wherein the retractable component is formed by connecting a plurality of parallelogram mechanisms; a front support rod assembly is connected between a linkage at the outer side of the retractable component and a front end ring; a back support rod assembly is connected between the linkage at the inner side of the retractable component and a back end ring; the front end ring is corresponding to the back end ring; a sliding component is connected between the front end ring and the back end ring in a seal mode; the sliding component is in a cylindrical guide tube shape and penetrates through the hollow part in the middle of the retractable component; the inner cavity of the sliding component is an independent space and is communicated with the outside through the front end ring and the back end ring; the sliding component is connected with a driving component; and the driving ...

Method for reducing end point carbon oxygen deposits of converter

The invention discloses a method for reducing end point carbon oxygen deposits of a converter. The method comprises the following steps: adding semi-steel into the converter, blowing oxygen from the top and gas from the bottom for smelting in the converter, and tapping, wherein the step of blowing the gas from the bottom comprises the sub-steps of blowing nitrogen or argon gas from the bottom during early period of smelting and blowing argon gas from the bottom during middle and later periods of smelting; the argon gas is blown from the bottom in the tapping process; the flow of the nitrogen or argon gas blown from the bottom during the early period of smelting is 40-60m<3>/h, the flow of the argon gas blown from the bottom during the middle period of smelting is 40-60m<3>/h, the flow of the argon gas blown from the bottom during the later period of smelting is 70-90m<3>/h, and the flow of the argon gas blown from the bottom in the tapping process is 40-60m<3>/h. According to the method ...

Flexible wriggle pipeline robot with guide head

The invention discloses a flexible wriggle pipeline robot with a guide head, comprising a left hemispheric shell and a right hemispheric shell, wherein the end parts of the left hemispheric shell and the right hemispheric shell are provided with a left ring flange and a right ring flange; the left hemispheric shell is internally provided with a driving device, screw drive is formed by the drivingdevice and a threaded flexible shaft, and the right end of the threaded flexible shaft passes through the left hemispheric shell to fixedly connect the right ring flange; the top end of the right hemispheric shell is spherically articulated with the guide head, the left surface of a bottom plate of the guide head is provided with four chutes which are uniformly distributed along a circumferentialdirection, and the chutes are connected with guide mechanisms in a sliding way; the other ends of the guide mechanisms respectively correspond to four electromagnets positioned on the left ring flange, the ...

Dephosphorizing method of molten steel

The invention discloses a dephosphorizing method of molten steel. The method includes following steps: (1) controlling a terminal of a converter smelting process to enable a phosphorus content in obtained molten steel to be not more than 0.012 wt%, a carbon content to be 0.03-0.05 wt% and a temperature to be 1640-1680 DEG C; (2) tapping the molten steel obtained in the step (1) into a steel ladle, adding a pre-refining agent in the steel ladle and performing an argon-blowing refining process, wherein the pre-refining agent includes active lime and fluorite; and (3) performing an RH vacuum processing process to the molten steed obtained after the argon-blowing refining process with a dephosphorizing agent being added during the RH vacuum processing process, wherein the dephosphorizing agent includes active lime and scales. By means of the method, an object of dephosphorization of molten steel is achieved and phosphorus content in processed molten steel is not more than 0.007 wt%.

Wheelchair with standing and walking assisting functions

The invention discloses a wheelchair with auxiliary standing and walking functions, which mainly comprises an auxiliary lifting arm and a wheelchair body, the auxiliary lifting arm is mounted on the wheelchair body, the auxiliary lifting arm can realize suspension weight reduction for people with disabled lower limbs, and a cushion on the wheelchair body can turn over relative to the wheelchair body to realize the auxiliary standing function. The device is simple in structure, low in cost and convenient to use.

Deep decarbonization method for mild steel and steel prepared according to method

The invention discloses a deep decarbonization method for mild steel and steel prepared according to the method. The method comprises an RH vacuum refining step, wherein when pulled in molten steel is lower than 0.040 wt% in carbon content and higher than 350 ppm in oxygen content, natural decarbonization is conducted on the molten steel for 20 to 23 min, while when the molten steel is not less than 0.040 wt% in carbon content and not higher than 350 ppm in oxygen content, top gun oxygen blowing is conducted on the molten steel first for enforced decarbonization, and then natural decarbonization is conducted on the molten steel for 15 to 17 min. According to the method, different measures are taken out according to different carbon contents and oxygen contents of RH pulled in molten steel, so as to not only optimize deep decarbonization process to improve decarbonization effect without increasing deoxygenation load, and overcome the problem of over-high carbon content of the product caused ...

Spherical shell unwinding mechanism of spherical robot

The invention discloses a spherical shell unfolding mechanism of a spherical robot, which comprises an upper support, a lower support and a group of reinforcing ribs; the reinforcing ribs are used for supporting and connecting the upper support and the lower support, a group of spherical shell lamellas which can open and close can surround a full sphere together with external walls of the upper support and the lower support when being closed; the lower ends of the spherical shell lamellas are fixed on the lower support; a drive device that drives all spherical shell lamellas to open or close is positioned on the lower support. The drive device that drives all the spherical shell lamellas to open or close is a leading screw drive unit driven by a DC brushless motor; the leading screw drive unit comprises leading screws and leading screw nuts that can carry out screw transmission together with the leading screws, the other end of a connecting rod which is fixedly connected with the spherical ...

Amphibious spherical robot

The invention discloses an amphibious spherical robot which includes a spherical shell; a water spray propulsion device, a sink and float device and a drive mechanism are arranged in the spherical shell. The water spray propulsion device includes a propulsion pump; one ends of a suction pipe and a water spray tube are connected on the propulsion pump; the other ends of the suction pipe and the water spray tube are connected on a water suction opening and a water spray opening arranged on the spherical shell; a remote-control mechanism for controlling the water spray amount is arranged on the spherical shell. The sink and float device includes a water storage tank arranged in the spherical shell which is connected with one end of a water inlet and outlet tube; the other end of the water inlet and outlet tube is connected with a special water inlet and a special water outlet arranged on the spherical shell; the drive mechanism is fixed on the inner wall of the spherical shell to drive the ...

Lead icing risk grade forecasting method introducing growth and disappearance mechanism

The invention provides a conductor icing risk grade forecasting method introducing a growth and disappearance mechanism. The method comprises the following steps: a, taking first three spatial mode troposphere high-layer circulation fields as weather classification standards according to a principal component objective analysis result; b, 200hPa fluctuation fluxes and potential height fields under different weather classification circulation situations are used as calculation standards of snow-water score indexes in the icing stage discrimination model; c, determining an icing thickness risk level in the falling area through an icing stage identification model and an icing thickness calculation model; and d, calculating a numerical sequence of M through an icing thickness calculation model, and dividing risk indexes into four grades. According to the conductor icing risk grade forecasting method introducing the generation and disappearance mechanism, the conductor icing risk calculation ...

Spherical robot having visual sensation and arms on both sides

The invention discloses a spherical robot with vision and arms on two sides. The spherical robot comprises a spherical shell, two lateral arms, a lifting photographing device, a movement driving system and a support stabilizing mechanism, wherein, the spherical shell consists of a lifting top spherical crown, a left spherical crown, a right spherical crown, a unlifting bottom spherical crown and a middle spherical shell. The lower part of the top spherical crown is provided with the photographing device which can lift and rotate by 360 degrees in a plane; the left spherical crown and the right spherical crown on two sides of the spherical robot are respectively provided with one or a plurality of 3-DOF (degree of freedom) mechanical arms which can respectively extend out of the shell; and the bottom spherical crown is provided with a mechanism which can make a sphere stand stably. The spherical robot is a mobile robot provided with a vision sensor and can carry out complex operations and ...

Method for improving Mn alloy yield in semisteel steel-making

The invention discloses a method for improving Mn alloy yield in semisteel steel-making. The method comprises the following steps: adding semisteel in a converter and adding slag making materials to perform converter smelting; and then performing the converter smelting terminal control and tapping. In the tapping process, middle carbon manganese iron alloy is added to increase the manganese of the semisteel, wherein the slag making material comprises ferrosilicon, active lime and high-magnesium lime, the adding amount of the slag making material enables the slag basicity to be 3-4, and the adding amount of the ferrosilicon is 4-6kg/ton of steel. By adopting the method disclosed by the invention, the high catch carbon tapping can be realized, the terminal oxygen activity is effectively reduced so as to effectively improve the Mn alloy yield.

Method for smelting low-sulfur steel with semisteel

The invention discloses a method for smelting low-sulfur steel with semisteel. The method comprises the steps of putting semisteel into a converter, then adding slag making materials, carrying out top blowing of oxygen for smelting in the converter, controlling the smelting terminal of the converter and tapping, wherein the slag making materials comprise silicon iron, active lime and high-magnesium lime; due to the addition amount of the slag making materials, the slag basicity can be regulated to be 3-4; the addition amount of the silicon iron is 3-5kg each ton of steel. According to the method disclosed by the invention, resulfurization amount can be greatly reduced so as to realize smelting of the low-sulfur steel with semisteel. Furthermore, the method is simple to operate and has good popularization and application prospect.

Method for preventing blowing explosion venting of dry dust-removing system of semi-steel steelmaking converter

The invention provides a method for preventing blowing explosion venting of a dry dust-removing system of a semi-steel steelmaking converter. The method comprises the following steps: adding semi-steel into a 180-260T steelmaking converter; after the beginning of blowing, within 60s, controlling the oxygen blowing amount to be 18000-24000Nm<3>/h and controlling the position of an oxygen lance at 2-2.4m; after blowing for 60-90s, controlling the oxygen blowing amount to be 28000-32000Nm<3>/h; after blowing for 90s, controlling the oxygen blowing amount to be 40000-45000Nm<3>/h; after the beginning of blowing, within 30s, adding a combustion accelerator into the converter and controlling the bottom blowing gas supplying amount to be 400-600NL/h; within 30-600s of blowing, reducing the bottom blowing gas supplying amount and controlling the bottom blowing gas supplying amount to be 300-500NL/h; after blowing for 600s, controlling the bottom blowing gas supplying amount to be 800-1200NL/ h.

Underwater spherical robot with six degrees of freedom

The invention discloses an underwater spherical robot with six degrees of freedom, comprising a spherical shell; the spherical shell is internally provided with a long shaft and a piston type water storage device; the two ends of the long shaft are fixed in two round holes; a cavity of the long shaft is only provided with an underwater propeller; the middle part of the long shaft is sleeved with arotating square cylinder; one end of the square cylinder is provided with a large gear which is sleeved and fixed on the long shaft; the left side of the square cylinder is provided with a first motor; the output shaft of the first motor is provided with a small gear which is meshed with a large gear; the front side and the rear side of the square cylinder are respectively provided with a short rod and the two short rods are symmetrical; the outer end part of each short rod is provided with a swinging arm; the lower end part of each swinging arm is provided with a weight; the right side of the ...

Method for enhancing Si alloy yield of semisteel smelting

The invention discloses a method for enhancing Si alloy yield of semisteel smelting, which comprises the following steps: adding semisteel into a converter, adding a slagging material to perform converter smelting, controlling the converter smelting end point and tapping, wherein in the tapping process, silicon iron is added to increase the silicon in the semisteel. The method is characterized in that the slagging material comprises silicon iron, active lime and high-magnesium lime, the addition of the slagging material regulates the basicity of slag to 3-4, and 4-6kg of the silicon iron is added to every ton of steel. The method disclosed by the invention can implement high-catch-carbon tapping and effectively lower the end point oxygen activity, thereby effectively enhancing the Si alloy yield.

Flexible wiggle pipeline robot

The invention relates to a flexibly peristaltic pipeline robot. Left and right hemispherical shells of the robot are fixedly provided with ring flanges inside, the ring flanges are provided with connected pipelines and are connected with honeycomb ducts; the end of the right hemispherical shell is provided with a vane wheel connected with a generator, the right hemispherical shell is connected with a cavity, the cavity is connected with the honeycomb ducts, a DC brushless motor and a flexible shaft with screw thread guide rail are arranged on the ring flange of the right hemispherical shell, the DC brushless motor is connected with a rotary baffle; the ring flange of the left hemispherical shell is provided with a receiving channel, the flexible shaft passes through the channel, the flexible shaft is provided with a dual-sided screw nut through screw threads, the nut is externally connected with a gear which is fixed on the ring flange of the left hemispherical shell and is connected with ...

Collecting device for discharging unqualified condensed water in starting process of steam turbine

The utility model discloses a collecting device for discharging unqualified condensed water in the starting process of a steam turbine, which comprises a pit, a water inlet pipe arranged at the upper part of the pit, a water discharge pipe arranged at the bottom of the pit, a mounting frame fixedly arranged at the top of the pit, a cover plate fixedly arranged on the mounting frame and completely covering an opening at the upper part of the pit, an exhaust pipe is fixedly arranged on the mounting frame, the bottom of the exhaust pipe extends into the pit, the top of the exhaust pipe extends to the outside, a heat exchange pipe is further fixedly arranged on the mounting frame, the middle of the heat exchange pipe is located in the pit, and the inlet end and the outlet end of the heat exchange pipe are both located above the cover plate. A closed structure is adopted, and the top opening of the pit is sealed by the cover plate, so that the influence of steam generated by high-temperature ...

Crawler type spherical robot

The invention discloses a crawler type spherical robot, which comprises a spherical shell, a frame arranged in the spherical shell, a rolling drive device arranged on the frame, a mechanical arm arranged on the frame, spherical shell opening-closing devices and a crawler travelling device, wherein the spherical shell consists of a left semi-spherical shell and a right semi-spherical shell; the spherical shell opening-closing devices are both arranged between the frame and the left semi-spherical shell and the right semi-spherical shell; the robot also comprises a driving motor arranged on the frame, and the driving motor is connected with the left semi-spherical shell and the right semi-spherical shell by a transmission mechanism, so that the left semi-spherical shell and the right semi-spherical shell can move relative to the frame so as to realize the opening and closing of the spherical shell; and the frame is provided with the driving motor which is connected with the crawler travelling ...

Space robot gripper mechanism

The invention discloses a space robot gripper mechanism, namely an end effector of a mechanical arm, which solves the problems of small gripping range, non-unique locking position, high probability of losing a target during griping and the like existing in the conventional gripper mechanism, greatly simplifies the entire mechanism and also improves the manufacturability. In the mechanism, a palm surface 1, an upper bearing seat 3, a lower bearing seat 4 and a box bottom 7 form a basic frame of the entire mechanism; two finger shafts 9 are arranged in bearing holes between the palm surface 1 and the upper bearing seat 3; two fingers 2 and 5 are fixedly connected with the finger shafts 9; the shaft ends of the two finger shafts are provided with gears 19; a motor 11 and a brake shaft 22 are arranged in through holes between the upper bearing seat 3 and the lower bearing seat 4; the shaft ends of the brake shaft 22 and the motor 11 are provided with gears 21; the gripper box bottom 7 is connected ...

Ball-shaped robot used for detection

The invention provides a ball-shaped robot used for detection. The ball-shaped robot comprises a ball shell in which a barrel body is arranged, the barrel body is rotatably connected with the ball shell; two openings of the barrel body are respectively provided with a ball shell cover; the ball shell covers and the ball shell form a complete ball shape; the barrel body is internally provided withtwo arms; each arm comprises a fixed arm part and a movable arm part; the fixed arm part is fixedly connected with the barrel body, the movable arm parts are connected with the fixed arm parts by a motor and a transmission mechanism; the two ball shell covers are respectively fixed on the movable arm of each arm; the barrel body is fixedly provided with a barrel body driving motor which is connected with the ball shell by a transmission device; a counterweight mechanism is arranged on the barrel body; and a gravity-swinging driving motor drives the counterweight mechanism. By the robot, the external ...

Semisteel slag forming method

The invention discloses a semisteel slag forming method which comprises the following steps: adding semisteel molten iron after vanadium extraction and a first part of slagging auxiliary material into a converter; and sequentially adding iron silicon alloy and a second part of slagging auxiliary material into the converter. The method disclosed by the invention can implement quick slag formation on the semisteel molten iron after vanadium extraction on the premise of well controlling the slag state.

Hot continuous rolling steel plate for cold forming and production method thereof

The invention relates to the production field of metal strips, in particular to a hot continuous rolling steel plate for cold forming and a production method thereof, wherein, the hot continuous rolling steel plate for cold forming has good obdurability matching, excellent formability and high yield strength up to 500MPa grade. The hot continuous rolling steel plate for cold forming comprises thefollowing chemical components in percentage by weight: 0.05-0.10% of C, 0-0.10% of Si, 1.30-1.60% of Mn, 0-0.025% of P, 0-0.010% of S, 0.020-0.045% of Nb, 0.040-0.10% of V, balance of Fe and unavoidable impurities. The tensile strength reaches over 600MPa and the elongation percentage reaches over 24%, thus the hot continuous rolling steel plate has the characteristics of good obdurability matching and excellent formability. Meanwhile the billet made of the chemical components can be also taken as raw materials of a cold-rolling steel plate and a cold-rolling coated steel plate to unify the components ...

Flexible wriggle pipeline robot with guide head

The invention discloses a flexible wriggle pipeline robot with a guide head, comprising a left hemispheric shell and a right hemispheric shell, wherein the end parts of the left hemispheric shell and the right hemispheric shell are provided with a left ring flange and a right ring flange; the left hemispheric shell is internally provided with a driving device, screw drive is formed by the driving device and a threaded flexible shaft, and the right end of the threaded flexible shaft passes through the left hemispheric shell to fixedly connect the right ring flange; the top end of the right hemispheric shell is spherically articulated with the guide head, the left surface of a bottom plate of the guide head is provided with four chutes which are uniformly distributed along a circumferential direction, and the chutes are connected with guide mechanisms in a sliding way; the other ends of the guide mechanisms respectively correspond to four electromagnets positioned on the left ring flange, ...

Three-drive spherical robot

Method for alloying vanadium in molten steel by using ferrovanadium fine powder in RH station

The invention belongs to the field of metallurgy of iron and steel, in particular relates to a method for alloying vanadium in molten steel by using ferrovanadium fine powder in an RH station. The method solves the technical problem that fine powder containing vanadium is difficult to be utilized effectively. The invention aims to provide a method for alloying molten steel by using FeV50 fine powder with the granularity of 5-15 millimeters in an RH molten steel refining station. The method not only has no effect on a steel making mission and a production organization, but also ensures that the FeV50 fine powder resource with the granularity of 5-15 millimeters can be fully utilized. The method has the characteristics of simple operation, easy control, high yield of metal vanadium, and the like. The invention provides a new selection for fully and effectively utilizing the vanadium resource and reducing the production cost in the steel making process.

Spherical shell unwinding mechanism of spherical robot

Method for enhancing end point carbon of high-carbon steel in molten iron/steel/semisteel smelting process

The invention discloses a method for enhancing end point carbon of high-carbon steel in a semisteel smelting process, which comprises the following steps: adding semisteel molten iron after vanadium extraction into a converter; and sequentially adding iron silicon alloy and slagging auxiliary materials into the converter, wherein the addition amount of the iron silicon alloy is 4-8.5kg per ton of steel. On the basis of the method, the invention also discloses molten iron prepared by the method and steel prepared from the molten iron. On the premise of using the iron silicon alloy instead of the conventional common slag former, the end point carbon content is obviously enhanced as compared with the prior art, and the end point oxygen content is obviously lowered.

Flexible wiggle pipeline robot

The invention relates to a flexibly peristaltic pipeline robot. Left and right hemispherical shells of the robot are fixedly provided with ring flanges inside, the ring flanges are provided with connected pipelines and are connected with honeycomb ducts; the end of the right hemispherical shell is provided with a vane wheel connected with a generator, the right hemispherical shell is connected with a cavity, the cavity is connected with the honeycomb ducts, a DC brushless motor and a flexible shaft with screw thread guide rail are arranged on the ring flange of the right hemispherical shell, the DC brushless motor is connected with a rotary baffle; the ring flange of the left hemispherical shell is provided with a receiving channel, the flexible shaft passes through the channel, the flexible shaft is provided with a dual-sided screw nut through screw threads, the nut is externally connected with a gear which is fixed on the ring flange of the left hemispherical shell and is connected with ...