CN108406733A - A kind of ferrosilicon is come out of the stove the artificial position switching conveyer method of machine - Google Patents

Abstract

A kind of ferrosilicon is come out of the stove the artificial position switching conveyer method of machine, is belonged to field of metallurgical equipment, is characterized in that：First so that telescopic arm keeps parallel with shift direction；Ferrosilicon robot of coming out of the stove is moved to the right end of support job platform again, two hoofing part wheel and racks are disengaged；Ferrosilicon robot of coming out of the stove is installed on station conversion device；The front end of another support job platform of homonymy is rotated along transposition guide rail to station transfer device and is connected；Push ferrosilicon come out of the stove robot along arc-shaped guide rail be moved to another support job platform left end；Two hoofing part wheel and racks are engaged again, support job platform is rotated to working position, complete Switch of working position transhipment.The present invention is suitable for multiple plug for outlet, it is that different plug for outlet carries out operation of coming out of the stove convenient for robot body conversion station, tool converting machine people therein can realize that lifting, pitching, the function that rotates and move horizontally meet the needs of coming out of the stove operation in order to arbitrarily manipulate each tool.

Description

A kind of ferrosilicon is come out of the stove the artificial position switching conveyer method of machine

Technical field：

The present invention relates to field of metallurgical equipment, and in particular to a kind of ferrosilicon is come out of the stove the artificial position switching conveyer method of machine.

Background technology：

Fesi Furnace come out of the stove operation widened the view, scarfing cinder, the functions process such as stifled eye, tool system used in these processes One is mounted on tool rack, has drill rod of widening the view (quantity 2), scarfing cinder drill rod (quantity 2) and stifled eye tool (quantity 2) etc. to first pass through Operation of widening the view starts ferrosilicon and comes out of the stove operation, by scarfing cinder drill rod dredging ferrosilicon runner, cleaning stove tongue, by stifled eye tool in operation of coming out of the stove Fire door is blocked after the completion.

Existing way is manually switched in different inter processes to complete the operation of coming out of the stove of Fesi Furnace, cumbersome, Time-consuming and laborious, for existing Fesi Furnace tool there are four plug for outlet, it is another that each plug for outlet needs the operation carried out more than ten days to be switched to again A plug for outlet, the tool kind come out of the stove used in operation is various, and the tool rack of carrying tool is converted unavoidably between each plug for outlet It is time-consuming and laborious, considerably increase the labor intensity of worker.

Invention content：

The present invention is to overcome above-mentioned technical problem, provides a kind of ferrosilicon and comes out of the stove the artificial position switching conveyer method of machine, Multiple plug for outlet are suitable for, convenient for robot body conversion station to carry out operation of coming out of the stove, robot sheet for different plug for outlet Body can realize lifting, rotation, pitching and the function that moves horizontally and meet the need of operation of coming out of the stove in order to arbitrarily capture each tool It asks.

The ferrosilicon of the present invention is come out of the stove machine artificial position switching conveyer method, technical solution used for the above purpose It is：

Step 1: the telescopic arm of robot body is rotated by 90 ° so that telescopic arm keeps parallel with shift direction；

Step 2: by robot body be moved to support job platform right end, manually will be installed on support operation Two hoofing part wheel and racks of the rack engagement on platform disengage；

Step 3: robot body to be moved to the other end of station transfer device；

Dress is shifted Step 4: being rotated the front end of another support job platform of homonymy to station along transposition guide rail 2 are set to connect；

Step 5: manually two hoofing part gears of robot body and the rack on support job platform are nibbled again It closes, locks turnbuckle, support job platform is rotated along transposition guide rail to working position, is locked.

As a further improvement on the present invention, in step 1, the rotation mode of telescopic arm is：Start rotary drive motor, By rotary drive motor driving rotary drive gear rotation, biography is engaged by rotary drive gear and the internal ring gear of disk guide rail It is dynamic to drive the rotation of disk guide rail, and then make chassis, connecting seat and telescopic arm rotation.

As a further improvement on the present invention, in step 2, start travel driving motor and drive the rotation of hoofing part gear, Support plate is set to move along rack walking by the engaged transmission of hoofing part gear and mobile rack.

As a further improvement on the present invention, in step 3, manually push robot body, using traveling wheel directed along Two tangent guide rails are moved to the other end of station transfer device with support job platform.

As a further improvement on the present invention, in step 3, tool converting machine people is lifted to work with lifting steel wire rope On the suspension hook of small crane on bit transition device, it need to ensure the equal length of quadrangle steel wire rope.Such station branch mode with It is self-existent in such a way that traveling wheel is along the two guide rails walking progress station transfer tangent with support job platform, answers Used time optional one according to field condition.

As a further improvement on the present invention, in the operation of coming out of the stove in step 5, preceding elevating mechanism and rear lifting mechanism Up-down mode is：Leading screw rotation is driven by motor, by the rotation of leading screw, is produced with the screw being fixed on chassis The relative movement in lower direction, drives shell to carry out elevating movement relative to chassis, and shell drives connecting seat lifting by axis pin again Movement, connecting seat drive telescopic arm lifting.

As a further improvement on the present invention, in the operation of coming out of the stove in step 5, the move mode of telescopic arm is：Start and moves Dynamic motor, mobile motor drive carrier wheel to rotate by a conic reducer, by the shifting on carrier wheel and telescopic arm Carry-over bar is engaged transmission.

As a further improvement on the present invention, in step 2, turnbuckle is unclamped, travel driving motor is made to be revolved around fixing axle Turn, hoofing part wheel and rack is made to disengage；In step 5, hoofing part wheel and rack is driven when needing travel driving motor When engaged transmission drives robot body walking, adjustment turnbuckle to appropriateness makes hoofing part wheel and rack engage；

As a further improvement on the present invention, in the operation of coming out of the stove in step 5, the move mode of rear manipulator is：Start Moving trolley driving motor drives drive sprocket rotation, after pulling moving trolley rotation to make by chain by conic reducer Manipulator moves left and right on telescopic arm.

The beneficial effects of the invention are as follows：

The present invention placed two sets of full-automatic ferrosilicon around Fesi Furnace and go out furnace system, often extracts furnace system and is responsible for two Plug for outlet is simultaneously set on the job platform of Fesi Furnace both sides, is often extracted and is both provided with one in front of two plug for outlet on furnace system A tool rack is arranged in a support job platform, each support by job platform, often extract two support operations in furnace system Platform shares a ferrosilicon and comes out of the stove robot, that is, meets the demand for operation of coming out of the stove, and reduce cost, wherein support operation Platform is located at before the baffle plate of each plug for outlet, is used to support the mobile cart that ferrosilicon is come out of the stove in robot and carries out transverse direction on it It is mobile, and carry ferrosilicon come out of the stove robot come out of the stove operation when generated reaction force；Between two support job platforms Provided with station transfer device, for by ferrosilicon come out of the stove robot from a plug for outlet be transported to next plug for outlet before support make On industry platform, for use in the operation of coming out of the stove of the plug for outlet.

Ferrosilicon in the present invention comes out of the stove robot for substituting manual operation, carries out Fesi Furnace Fesi Furnace and smelts operation of coming out of the stove Production system, ferrosilicon robot of coming out of the stove can be driven to carry out transverse shifting by the movement of mobile cart, driving mechanism is adopted With gear-rack drive form, to operate steadily, using the Dual-motors Driving form of two travel driving motors；Ferrosilicon furnace discharge conveyer The swing mechanism of device people can drive chassis, preceding elevating mechanism, rear elevator by ring gear with engaging for rotary drive gear 7 structure, telescopic arm, moving trolley, preceding manipulator and rear manipulator parts carry out rotary motion；Ferrosilicon is come out of the stove the flexible of robot Arm can be moved forward and backward by rack and pinion mechanism relative to mobile cart；Ferrosilicon come out of the stove robot preceding elevating mechanism and Rear lifting mechanism is the interoperation that screw-nut is driven by motor, and lifting and the pitching motion of telescopic arm may be implemented, and is moved Dynamic trolley is driven by sprocket wheel chain, can be moved forward and backward relative to telescopic arm.Make the ferrosilicon of the present invention by these structures Robot come out of the stove completely instead of existing manual work pattern, effectively reduces the labor intensity of operating worker, has ensured work The health and safety of industry worker, the ferrosilicon come out of the stove robot have capture automatically, replace various tools, being automatically performed and widen the view, clearly The functions such as slag, stifled eye, improve production efficiency, reduce the labor intensity of worker, time saving and energy saving.

There are two types of the structure types of different station branch mode for station transfer device tool in the present invention：One is robots Ontology directly moves on two " H " shaped steel track made of the guide rails tangent with support job platform；Another kind is by one Item track made of I-steel arc track is lifted on by several backing plates on ceiling, when needing to carry out station transfer, By manually by the suspension hook and robot body below the steel wire rope on installation support suspender in orbit in support plate four A hanging ring is connected, then by the hoofing part gear of the travel driving motor of two mobile carts and supports the rack on job platform Separation plays robot body by support suspender and carries out station transfer.This two kinds of station branch modes, in practice according to scene The optional one of situation is implemented, using flexible, conveniently.

Description of the drawings：

Fig. 1 goes out furnace apparatus entirety using state structure diagram for the present invention's；

Fig. 2 goes out a set of use state diagram of furnace apparatus for the present invention's；

Fig. 3 is the dismantling schematic diagram for going out station conversion device in furnace apparatus of the present invention；

Fig. 4 is that ferrosilicon is come out of the stove the front view of robot；

Fig. 5 is that ferrosilicon is come out of the stove the rearview of robot；

Fig. 6 is that ferrosilicon is come out of the stove the vertical view of robot；

Fig. 7 is that ferrosilicon is come out of the stove the stereogram of robot；

Fig. 8 is that ferrosilicon is come out of the stove the left view of robot；

Fig. 9 is that ferrosilicon is come out of the stove the right view of robot；

Figure 10 is the structural schematic diagram of station transfer device；

Figure 11 is the structural schematic diagram for supporting job platform；

Figure 12 is to lift ferrosilicon to come out of the stove the structural schematic diagram of robot；

Figure 13 is to lift ferrosilicon to come out of the stove the vertical view of robot；

Figure 14 is that ferrosilicon is come out of the stove the structural schematic diagram of swing mechanism in robot；

Figure 15 is that ferrosilicon is come out of the stove the attachment structure schematic diagram of travel driving motor and motor cabinet in robot；

As shown in the figure, robot body 1, support job platform 2, tool rack 3, station transfer device 4, mobile cart 5, row Walk driving motor 6, preceding elevating mechanism 7, rotary drive motor 8, rear lifting mechanism 9, preceding manipulator 10, connecting seat 11, turn-around machine Structure 12, chassis 13, chain 14, rear manipulator 15, moving trolley 16, drive sprocket 17, conic reducer 18, moving trolley are driven Dynamic motor 19, telescopic arm 20, mobile rack 21, the first sliding rail 22, the second sliding rail 23, traveling wheel 24, swivelling chute 25, rotation driving Gear 26, mobile motor 27, disk guide rail 28, Fesi Furnace 29, hoofing part gear 30, the first directive wheel 31, the second directive wheel 32, ferrosilicon shipment pot 33, side plate 34, supporting rack 35, track 36, guide rail 37, tie-beam 38, support suspender 39, third directive wheel 40, hook 41, steel wire rope 42, top plate 43, fixing axle 44, job platform 45, rotary shaft 46, motor cabinet 47, transposition guide rail 48, branch Support beam 49, connecting cross beam 50, support plate 51, rack 52, connecting plate 53, guide wheel assemblies 54, backing plate 55, long axis 56, rotation are led To wheel 57, bearing cap 58, axle end baffle plate 59, taper roll bearing 60, round nut 61, bolt 62, positioning plate 63, turnbuckle 64, lifting motor 70, on shell 71, leading screw 72.

Specific implementation mode：

As shown in Figure 1, the Fesi Furnace 29 applied in the present invention has 4 plug for outlet, wherein each plug for outlet needs continuously It comes out of the stove 15 days, is then replaced again to next plug for outlet and carry out operation of coming out of the stove.Therefore, at 2 adjacent plug for outlet of Fesi Furnace 29 Be configured with the invention of 1 playscript with stage directions goes out furnace system, i.e., what each Fesi Furnace 29 need to configure the invention of 2 playscripts with stage directions goes out furnace system.

Referring to figs. 1 to Fig. 3, ferrosilicon of the invention machine artificial position switching conveyer method of coming out of the stove relies on full-automatic ferrosilicon and goes out Furnace system, this goes out furnace system, including robot body 1, support job platform 2, tool rack 3 and station transfer device 4, the branch It is two to support job platform 2, and each support is equipped with tool rack 3 by job platform 2, is equipped between two support job platforms 2 Station transfer device 4, the station transfer device 4 are looped around by the plug for outlet of Fesi Furnace 29, and the setting of the robot body 1 exists It supports on job platform 2, and robot body 1 can walk along station transfer device 4.This goes out furnace apparatus and is mounted on job platform 45 On.

Concrete structure is：

Referring to Fig.1 1, the support job platform 2 includes two parallel 49, two parallel connecting cross beams 50 of supporting beam And rack 52, the both ends of two supporting beams 49 are attached by two connecting cross beams 50 respectively, connecting cross beam 50 and supporting beam 49 Lower surface contact, the inside of supporting beam 49 is equipped with rack 52, and referring to Figure 1 and Figure 3 and one of support job platform 2 leans on One end sliding of nearly station transfer device 4 is on the transposition guide rail 48 of arc, the connection of 2 other end of support job platform Rotary shaft 46 is equipped at the bottom centre of crossbeam 50.

With reference to figure with reference to Fig. 4 to Fig. 7, the robot body 1 include mobile cart 5, telescopic arm 20, preceding manipulator 10, Manipulator 15 and moving trolley 16 afterwards, the mobile cart 5 include support plate 51, swing mechanism 12 and chassis 13, the chassis 13 top connects support plate 51 by swing mechanism 12, and the lower part on chassis 13 is connected by connecting seat 11 and the sliding of telescopic arm 20 Connect, referring to Fig.1 4, the swing mechanism 12 by four groups of guide wheel assemblies being fixed in support plate 51 54, be fixed on chassis 51 Disk guide rail 28, rotary drive motor 8 and rotary drive gear 30 form, wherein guide wheel assemblies 54 are by backing plate 55, long axis 56, the compositions such as rotary steering wheel 57, bearing cap 58, axle end baffle plate 59, taper roll bearing 60, round nut 61 and bolt 62, rotation Turn that two opposite taper roll bearings 60 are installed between directive wheel and long axis 56,60 lower end of taper roll bearing is equipped with bearing cap 58；Axle end baffle plate 59 is fixed on the bottom end of long axis 56 by four bolts 62, is blocked taper roll bearing 60, so that it is fallen；It is long The lower end of axis 56 passes through the circular hole in support plate 51 and is incited somebody to action by backing plate 55 and two round nuts 61 equipped with rotary steering wheel, upper end Long axis 56 is locked in support plate 51；Disk guide rail 28 is fixed on chassis 13, the section shape of four rotary steering wheels 57 Shape be recessed " V " shape, and the cross sectional shape of the outer ring of disk guide rail 28 be convex " V " shape, inner ring be ring gear, disk guide rail 28 In the recessed " V " shape part of convex " V " shape partial insertion rotary steering wheel 5, not only rotatable guiding, but also sustainable telescopic arm 20 etc. in this way The weight of component；Long axis 56 is eccentric shaft, in this way, by rotating long axis 56 to certain angle, so that it may to adjust rotary steering wheel Gap size between 57 and disk guide rail 28, to make rotary steering wheel 57 preferably be contacted with disk guide rail 28；Rotation driving Motor 8 is fixed in support plate 51, and projecting shaft is connect with rotary drive gear 30；Rotary drive gear 30 and disk guide rail 28 ring gear engagement drives rotary drive gear 30 to rotate, to drive disk to lead by the rotation of rotary drive motor 8 Rail 28 rotates, and then chassis 13, connecting seat 11 and telescopic arm 20 is made to rotate, it is final drive before elevating mechanism 7, rear lifting mechanism 9, Moving trolley 16, preceding manipulator 10 and rear manipulator 15 carry out rotary motion.

With reference to Fig. 6, the swivelling chute 25 of arc, two rotations are offered in the both sides of disk guide rail 28 in the support plate 51 Slot 25 is symmetrical at the center of disk guide rail 28；With reference to Fig. 4, Fig. 5 and Fig. 7, it is equipped with close to both sides in the support plate 51 The motor cabinet 47 of arch is equipped with travel driving motor 6 on two motor cabinets 47, and the projecting shaft of travel driving motor 6 is worn downwards It crosses the top of motor cabinet 47 and is equipped with hoofing part gear 30；With reference to figure Fig. 4, Fig. 5, Fig. 7, Fig. 8 and Fig. 9, on the chassis 13 Equipped with preceding elevating mechanism 7 and rear lifting mechanism 9, the preceding elevating mechanism 7 and rear lifting mechanism 9 are by lifting motor 70, shell 71, leading screw 72 and screw are constituted, referring to figure 6 and figure 7, the bottom end of the shell 71 pass through swivelling chute 25 and by axis pin with connect Seat 11 is hinged, and the lifting motor 70 is set on shell 71, and the leading screw 72 is set in shell 71 and is stretched with lifting motor 70 Shaft is connected, and the screw (is not shown in figure, but the structure and explanation that those skilled in the art can be embodied by each attached drawing Word content described in book is implemented) be sheathed on leading screw 72 and be fixedly connected with chassis 13 can be opposite between shell 71 It is mobile；The top of the telescopic arm 20 is equipped with mobile rack 21, mobile rack 21 and 65 engaged transmission of carrier wheel, carrier wheel 65 mobile motor 27 by being fixed on connecting seat 11 drives, and the bottom of telescopic arm 20 is equipped with preceding manipulator 10, Yu Hou in front end End is equipped with rear manipulator 15, and the rear manipulator 15 is set to by moving trolley 16 on telescopic arm 20.

The motor cabinet 47 is made of top plate 43, fixing axle 44, positioning plate 63 and turnbuckle 64, the top plate 43 One end rotation is set in fixing axle 44, the other end is attached by turnbuckle 64 and positioning plate 63, so set, making installation Travel driving motor 8 on top plate 43 can be rotated around fixing axle 44, and hoofing part gear is driven when needing travel driving motor 8 30 with the engaged transmission of rack 52 when driving robot body 1 to walk, and adjustment turnbuckle 64 makes hoofing part gear 30 to appropriateness It is engaged with rack 52；When needing station to shift, turnbuckle 64 is unclamped, travel driving motor 30 is made to be rotated around fixing axle 44, Hoofing part gear 30 is set to be disengaged with rack 52.

Further, with reference to Fig. 4, Fig. 5 and Fig. 7, four groups of first directive wheels 31 being fixed on connecting seat 11 are by first Sliding rail 22 is connect with telescopic arm 20, specifically：It is symmetrical arranged close to top on the two sides of telescopic arm 20 on robot body 1 There are the first sliding rail 22, the connecting seat 11 to be crossed on the top of telescopic arm 20 in arched door type, connecting seat 11 is located on telescopic arm 20 The bottom end of the side plate 34 of side offers dovetail groove, and connecting seat 11 is passed freely through when telescopic arm 20 being made to move, with reference to Fig. 8, the company of composition The first directive wheel 31 is provided on the inside of the both side plate of joint chair 11, first directive wheel 31, which is in, constitutes the two of the first sliding rail 22 It is slided between a plate body and along plate body.

Further, with reference to Fig. 4, Fig. 5 and Fig. 7, four groups of second directive wheels 32 being fixed in moving trolley 16 pass through the Two sliding rails 23 are connect with telescopic arm 20, specifically：Bottom symmetrical is provided with the second cunning on the two sides of the telescopic arm 20 The forward and backward side of rail 23, the second sliding rail 23 is equipped with drive sprocket 17, and the end of telescopic arm 20 is equipped with moving trolley driving motor 19, the projecting shaft of moving trolley driving motor 19 connects one pair of which drive sprocket 17 by conic reducer 18, per side Two drive sprockets 17 are sequentially connected by chain 14, and the chain 14 is in 23 outside of the second sliding rail, and the moving trolley 16 is in Arched door type is crossed on the bottom of telescopic arm 20, and the head and the tail both ends of chain 14 are connected with the both sides of moving trolley 16, and it is small to constitute movement The bottom plate of vehicle 16 is equipped with rear manipulator 15, and with reference to Fig. 9, the inside for constituting the both side plate of moving trolley 16 is equipped with the second guiding Wheel 32, second directive wheel 32 are between two plate bodys for constituting the second sliding rail 23 and are slided along plate body.

Wherein, tool rack 3 includes holder, 2 drill rods of widening the view, 2 scarfing cinder drill rods, 2 stifled eye tools totally 4 part, holder It is the various tools of storage, is steelframe made of being welded by shaped steel；Drill rod of widening the view carries out operation of widening the view by the crawl of robot body 1 It is come out of the stove operation with starting ferrosilicon；Scarfing cinder drill rod dredges ferrosilicon runner by the crawl of robot body 1, is clear to stove tonguing row Reason；Stifled eye tool is captured by robot body 1, after the completion of coming out of the stove operation, is blocked to fire door.

With reference to Fig. 2 and Figure 10, the station transfer fills 4 supporting racks 35 for including arc, and support frame as described above 35 includes support Beam 35, guide rail 37 and tie-beam 38, the guide rail 37 is two " H " shaped steel tracks tangent with support job platform 2, by propping up Support 35 stays on job platform 45, and the arc-shaped horizontal circle that is mutually parallel of two guide rails 37 is arranged in going out for Fesi Furnace 29 It by fire door, is attached by several tie-beams 38 between two groups of supporting racks 35, the robot body 1 passes through 51 liang of support plate The traveling wheel 24 of side setting is walked along guide rail 37.

Another structure type of the station transfer device 4 is：

With reference to Fig. 3, Figure 12 and Figure 13, the track 36 of 4 arc of station transfer device, the robot body 1 passes through Steel wire rope 42 is lifted on track 36 and walks along track 36.

With reference to Fig. 3, the track 36 is an I-steel arc track, and ceiling is lifted on by several connecting plates 53 On, it constitutes and is arranged with third directive wheel 40 in two side frames of I-shaped track 36, the third directive wheel 40 passes through connecting shaft It is located in U-shaped support suspender 39, the bottom of support suspender 39 is equipped with the hook 41 for hanging steel rope 42, steel wire rope 42 Bottom end is hung over by suspension hook on the hanging ring being arranged in support plate 51, is connected to make steel wire rope 42 be established with support plate 51, in turn Robot body 1 is lifted on track 36, then by the hoofing part gear 30 of the travel driving motor 6 of two mobile carts 5 It is detached with the rack 52 on support job platform 2, playing robot body 1 by support suspender 39 carries out station transfer.The station The advantages of branch mode is to operate steadily.

Embodiment one

It comes out of the stove in view of Fesi Furnace 29 particularity of operation, i.e. a plug for outlet can be carried out continuously operation 15 days of coming out of the stove, later, Another plug for outlet can just be replaced and carry out operation of coming out of the stove.To save cost, two sets of present invention can be equipped on a Fesi Furnace 29 Go out furnace system, per two adjacent plug for outlet be equipped with it is a set of the present invention go out furnace apparatus, as shown in Figure 1, be Fesi Furnace 291 Number with No. 2 plug for outlet with it is a set of go out furnace apparatus, No. 3 with No. 4 plug for outlet configure it is another set of go out furnace apparatus.In No. 1 plug for outlet operation After the completion, it need to be transferred to platform platform 1 is made from support positioned at the robot body 1 of No. 1 plug for outlet position positioned at No. 2 plug for outlet Support job platform 2 on.

Detailed process is：

Step 1: the telescopic arm 20 of robot body 1 is rotated by 90 ° so that telescopic arm 20 keeps parallel with shift direction；

Step 2: robot body 1 to be moved to the right end of support job platform 2, will manually make with support is installed on Two hoofing part gears 30 that rack 52 on industry platform 2 engages are disengaged with rack 52；

The robot Step 3: artificial promotion ferrosilicon is come out of the stove, using traveling wheel 24 directed along tangent with support job platform 2 Two guide rails 37 be moved to the other end of station transfer device 4；

Step 4: the front end of another support job platform 2 of homonymy is turned along the rotation of transposition guide rail 48 to station Moving device 2 connects；

Step 5: again manually by two hoofing part gears 30 of robot body 1 and the tooth on support job platform 2 Item 52 engages, and locks turnbuckle, by support job platform 2 along transposition guide rail 48 rotation to working position, locks.At this moment, Robot body 1 can be switched to automatic mode, wait for operation of coming out of the stove.

In step 1, the rotation mode of telescopic arm 20 is：Start rotary drive motor 8, is driven and revolved by rotary drive motor 8 Turn driving gear 26 to rotate, disk guide rail is driven by the engaged transmission of the internal ring gear of rotary drive gear 26 and disk guide rail 28 28 rotations, and then chassis 13, connecting seat 11 and telescopic arm 20 is made to rotate.

In step 2, starts travel driving motor 6 and hoofing part gear 30 is driven to rotate, pass through hoofing part gear 30 Make support plate 51 move along rack 21 with the engaged transmission of mobile rack 21 to walk, to make robot body 1 along support Job platform 2 runs to the right end of support job platform 2.

In operation of coming out of the stove in step 5, the up-down mode of preceding elevating mechanism 7 and rear lifting mechanism 9 is：Pass through motor 71 It drives leading screw 72 to rotate, by the rotation of leading screw 72, the opposite of upper and lower directions is produced with the screw being fixed on chassis 13 It is mobile, drive shell 71 to carry out elevating movement relative to chassis 13, shell 71 drives the lifting fortune of connecting seat 11 by axis pin again Dynamic, connecting seat 11 drives telescopic arm 20 to lift, to realize the lifting of telescopic arm 20, by the lifting of telescopic arm 20 to fit Answer the use demand of corresponding tool.

In operation of coming out of the stove in step 5, the move mode of telescopic arm 20 is：Start mobile motor 27, mobile motor 27 Carrier wheel 65 is driven to rotate by a conic reducer, by the mobile rack 21 on carrier wheel 65 and telescopic arm 20 It is engaged transmission, to drive telescopic arm 20 to move left and right, to take or put back to each tool and the progress on tool rack The various operations come out of the stove.

In operation of coming out of the stove in step 5, the move mode of rear manipulator 15 is：Start moving trolley driving motor 19, leads to Crossing conic reducer 18 drives drive sprocket 17 to rotate, and the rotation of moving trolley 16 is pulled by chain 14, to machine after pulling Tool hand 15 moves left and right on telescopic arm 20.

In step 5, two hoofing part gears 30 are engaged with the mobile rack 52 on support job platform 2 manually, are locked Tight turnbuckle is locked by support job platform 2 along transposition guide rail 48 rotation to working position.At this moment, so that it may with by robot Ontology switches to automatic mode, waits for operation of coming out of the stove.

Embodiment two

The present embodiment is unlike the station branch mode in embodiment one：

In step 3, the lower end of steel wire rope 42 and the support plate 51 of robot body 1 are attached, by steel wire rope 42 Upper end hang over hook 41 on robot body 1 to be lifted on the guide rail 36 of station conversion device 4, with lifting steel wire rope 42 By on the hook 41 of the lifting of robot body 1 to the support suspender 39 on station transfer device 2, it need to ensure quadrangle steel wire rope 42 Equal length so that robot body 1 is steadily mobile, then is made of the support suspender 39 with hook 41 along by I-steel Track 36 walk, to play robot body 1 carry out station transfer tasks.

The advantages of station branch mode is the space for the job platform 45 for being not take up two layers, does not hinder walking about for worker.

Claims (9)

1. a kind of ferrosilicon is come out of the stove, the artificial position of machine switches conveyer method, it is characterised in that：

Step 1: the telescopic arm (20) of robot body (1) is rotated by 90 ° so that telescopic arm (20) keeps flat with shift direction Row；

Step 2: robot body (1) to be moved to the right end of support job platform (2), will manually make with support is installed on Two hoofing part gears (30) of rack (52) engagement on industry platform (2) disengage with rack (52)；

Step 3: robot body (1) is installed on station transfer device (4) and is moved to the another of station transfer device (4) One end；

Turn Step 4: being rotated the front end of another support job platform (2) of homonymy to station along transposition guide rail (48) Moving device (2) connects；

Step 5: again manually will be on two hoofing part gears (30) of robot body (1) and support job platform (2) Rack (52) engages, and locks turnbuckle, and support job platform (2) is rotated along transposition guide rail (48) to working position, is locked.

The artificial position switching conveyer method of machine 2. a kind of ferrosilicon as described in claim 1 is come out of the stove, it is characterised in that：Step 1 In, the rotation mode of telescopic arm (20) is：Start rotary drive motor (8), rotation sliding tooth is driven by rotary drive motor (8) (26) rotation is taken turns, disk guide rail is driven by the engaged transmission of the internal ring gear of rotary drive gear (26) and disk guide rail (28) (28) it rotates, and then makes chassis (13), connecting seat (11) and telescopic arm (20) rotation.

The artificial position switching conveyer method of machine 3. a kind of ferrosilicon as described in claim 1 is come out of the stove, it is characterised in that：Step 2 In, start travel driving motor (6) and hoofing part gear (30) is driven to rotate, passes through hoofing part gear (30) and mobile rack (21) engaged transmission makes support plate (51) move along rack (21) walking.

The artificial position switching conveyer method of machine 4. a kind of ferrosilicon as described in claim 1 is come out of the stove, it is characterised in that：Step 3 In, robot body (1) is manually pushed, is led directed along two tangent with support job platform (2) using traveling wheel (24) Rail (37) is moved to the other end of station transfer device (4).

The artificial position switching conveyer method of machine 5. a kind of ferrosilicon as described in claim 1 is come out of the stove, it is characterised in that：Step 3 In, tool converting machine people (1) is lifted to the suspension hook of the small crane on station transfer device (2) with lifting steel wire rope (42) (41) on, it need to ensure the equal length of quadrangle steel wire rope (42).

The artificial position switching conveyer method of machine 6. a kind of ferrosilicon as described in claim 1 is come out of the stove, it is characterised in that：In step 5 Operation of coming out of the stove in, the up-down mode of preceding elevating mechanism (7) and rear lifting mechanism (9) is：Leading screw is driven by motor (71) (72) it rotates, by the rotation of leading screw (72), the opposite shifting of upper and lower directions is produced with the screw being fixed on chassis (13) It is dynamic, drive shell (71) to carry out elevating movement relative to chassis (13), shell (71) drives connecting seat (11) to rise by axis pin again Drop movement, connecting seat (11) drive telescopic arm (20) to lift.

The artificial position switching conveyer method of machine 7. a kind of ferrosilicon as described in claim 1 is come out of the stove, it is characterised in that：In step 5 Operation of coming out of the stove in, the move mode of telescopic arm (20) is：Start mobile motor (27), mobile motor (27) passes through a cone tooth Wheel decelerator drives carrier wheel (65) to rotate, and is nibbled by carrier wheel (65) and the mobile rack (21) on telescopic arm (20) Close transmission.

The artificial position switching conveyer method of machine 8. a kind of ferrosilicon as described in claim 1 is come out of the stove, it is characterised in that：Step 2 In, turnbuckle (64) is unclamped, so that travel driving motor (30) is rotated around fixing axle (44), makes hoofing part gear (30) and tooth Item (52) disengages；In step 5, hoofing part gear (30) is driven to engage biography with rack (52) when needing travel driving motor (8) When dynamic drive robot body (1) is walked, adjustment turnbuckle (64) makes hoofing part gear (30) and rack (52) to appropriateness Engagement.

9. a kind of ferrosilicon as described in any one of claim 1-8 is come out of the stove, the artificial position of machine switches conveyer method, feature It is：In operation of coming out of the stove in step 5, the move mode of rear manipulator (15) is：Start moving trolley driving motor (19), Drive sprocket (17) is driven to rotate by conic reducer (18), pulling moving trolley (16) to rotate by chain (14) makes rear machine Tool hand (15) moves left and right on telescopic arm (20).