CN108406733B

CN108406733B - Station switching and transferring method for ferrosilicon tapping robot

Info

Publication number: CN108406733B
Application number: CN201810195441.XA
Authority: CN
Inventors: 倪红军; 刘延杰; 吴明月; 奚泉; 刘相元
Original assignee: Harbin Boshi Automation Co Ltd
Current assignee: Harbin Boshi Automation Co Ltd
Priority date: 2018-03-09
Filing date: 2018-03-09
Publication date: 2021-02-09
Anticipated expiration: 2038-03-09
Also published as: CN108406733A

Abstract

The utility model provides a ferrosilicon robot station switching transportation method that comes out of stove, belongs to the metallurgical equipment field, and its technical essential is: firstly, keeping a telescopic arm parallel to a transfer direction; moving the ferrosilicon tapping robot to the rightmost end of the supporting operation platform, and separating the two walking driving gears from the racks; mounting a ferrosilicon discharging robot on the station conversion device; rotating the front end of the other supporting operation platform at the same side along the transposition guide rail to be connected with the station transfer device; pushing the ferrosilicon tapping robot to move to the leftmost end of the other supporting operation platform along the arc-shaped guide rail; and then the two walking driving gears are meshed with the racks, and the supporting operation platform is rotated to a working position to complete station switching and transferring. The tool switching robot can adapt to a plurality of furnace outlets, is convenient for the robot body switching station to carry out furnace outlet operation on different furnace outlets, and can realize the functions of lifting, pitching, rotating and horizontal moving so as to be convenient for randomly controlling each tool and meet the requirements of the furnace outlet operation.

Description

Station switching and transferring method for ferrosilicon tapping robot

The technical field is as follows:

the invention relates to the field of metallurgical equipment, in particular to a station switching and transferring method of a ferrosilicon tapping robot.

Background art:

functional processes such as open a hole, scarfing cinder, stifled hole need be carried out in the operation of going out the stove of ferrosilicon, and the instrument that these processes used is unified to be installed on the tool holder, has open a hole drill rod (quantity 2), and slag removal drill rod (quantity 2) and stifled hole instrument (quantity 2) etc. begin ferrosilicon operation of going out the stove through the operation of opening a hole earlier, dredges the ferrosilicon runner, clears up the stove tongue by the slag removal drill rod, by stifled hole instrument shutoff fire door after the operation of going out the stove is accomplished.

The existing mode is that the tapping operation of the ferrosilicon furnace is completed by manually switching among different procedures, the operation is complex, time and labor are wasted, the existing ferrosilicon furnace is provided with four tapping holes, each tapping hole needs to be switched to another tapping hole after dozens of days of operation, tools used for tapping operation are various, the tool frame for bearing the tools is not free from time and labor wasting when being switched among the tapping holes, and the labor intensity of workers is greatly increased.

The invention content is as follows:

the invention aims to overcome the technical problems and provides a station switching and transferring method of a ferrosilicon tapping robot, which can adapt to a plurality of tapping holes, is convenient for a robot body to switch stations to perform tapping operation on different tapping holes, and the robot body can realize the functions of lifting, rotating, pitching and horizontal moving so as to be convenient for grabbing tools at will to meet the requirements of the tapping operation.

The invention relates to a station switching and transferring method of a ferrosilicon tapping robot, which adopts the technical scheme for realizing the purpose that:

step one, rotating a telescopic arm of a robot body by 90 degrees to enable the telescopic arm to be parallel to a transfer direction;

moving the robot body to the rightmost end of the supporting operation platform, and manually separating two walking driving gears meshed with racks arranged on the supporting operation platform from the racks;

moving the robot body to the other end of the station transfer device;

step four, rotating the front end of the other supporting operation platform on the same side along the transposition guide rail to be connected with the station transfer device;

and fifthly, manually engaging the two walking driving gears of the robot body with the rack on the supporting operation platform again, locking the tensioning bolt, and rotating the supporting operation platform to a working position along the transposition guide rail to be locked.

As a further improvement of the present invention, in the step one, the rotation mode of the telescopic arm is as follows: and starting the rotary driving motor, driving the rotary driving gear to rotate by the rotary driving motor, and driving the disc guide rail to rotate by the meshing transmission of the rotary driving gear and the inner ring teeth of the disc guide rail so as to rotate the chassis, the connecting seat and the telescopic arm.

As a further improvement of the invention, in the second step, the walking driving motor is started to drive the walking driving gear to rotate, and the supporting disk walks along the moving rack through the meshing transmission of the walking driving gear and the moving rack.

As a further improvement of the invention, in the third step, the robot body is manually pushed, and the walking wheels are directly moved to the other end of the station transfer device along two guide rails tangent to the supporting operation platform.

As a further improvement of the invention, in the third step, the tool transfer robot is hoisted to the hook of the small crane on the station transfer device by using the hoisting steel wire rope, and the lengths of the steel wire ropes at four corners are ensured to be equal. The station transfer mode and the mode of carrying out station transfer by utilizing the travelling wheels to travel along the two guide rails tangent to the supporting operation platform are independent, and one of the two modes is selected according to the field condition during application.

As a further improvement of the invention, in the tapping operation in the fifth step, the lifting modes of the front lifting mechanism and the rear lifting mechanism are as follows: the motor drives the lead screw to rotate, the lead screw and a nut fixed on the chassis generate relative movement in the vertical direction through rotation of the lead screw, the shell is driven to move up and down relative to the chassis, the shell drives the connecting seat to move up and down through the pin shaft, and the connecting seat drives the telescopic arm to move up and down.

As a further improvement of the present invention, in the tapping operation in the fifth step, the moving mode of the telescopic arm is: and starting the moving motor, wherein the moving motor drives the moving gear to rotate through a bevel gear reducer, and the moving gear is meshed with the moving rack on the telescopic arm for transmission.

As a further improvement of the invention, in the step two, the tensioning bolt is loosened, so that the walking driving motor rotates around the fixed shaft, and the walking driving gear is disengaged from the rack; step five, when the walking driving motor is required to drive the walking driving gear to be meshed with the rack for transmission to drive the robot body to walk, adjusting the tensioning bolt to be proper, and enabling the walking driving gear to be meshed with the rack;

as a further improvement of the present invention, in the tapping operation in the fifth step, the moving mode of the rear manipulator is: and starting a driving motor of the movable trolley, driving a transmission chain wheel to rotate through a bevel gear reducer, and pulling the movable trolley to rotate by a chain to enable the rear manipulator to move left and right on the telescopic arm.

The invention has the beneficial effects that:

two sets of full-automatic ferrosilicon tapping systems are arranged around a ferrosilicon furnace, each tapping system is responsible for two tapping holes and is arranged on operation platforms on two sides of the ferrosilicon furnace, a supporting operation platform is arranged in front of the two tapping holes on each tapping system, a tool rack is arranged beside each supporting operation platform, and the two supporting operation platforms in each tapping system share one ferrosilicon tapping robot, so that the requirement of tapping operation is met, and the cost is reduced; and a station transfer device is arranged between the two supporting operation platforms and is used for transferring the ferrosilicon tapping robot to the supporting operation platform in front of the next tapping hole from one tapping hole so as to be used for tapping operation of the tapping hole.

The ferrosilicon tapping robot is a production system for replacing manual operation to carry out ferrosilicon furnace smelting tapping operation of the ferrosilicon furnace, the ferrosilicon tapping robot can be driven to transversely move by moving a mobile cart, a driving mechanism of the ferrosilicon tapping robot adopts a gear and rack driving mode, and a double-motor driving mode of two walking driving motors is adopted for stable operation; the revolving mechanism of the ferrosilicon tapping robot can drive 7 parts of the chassis, the front lifting mechanism, the rear lifting mechanism, the telescopic arm, the movable trolley, the front manipulator and the rear manipulator to carry out revolving motion through the meshing of the inner gear ring and the rotary driving gear; the telescopic arm of the ferrosilicon tapping robot can move back and forth relative to the mobile cart through a gear rack mechanism; the front lifting mechanism and the rear lifting mechanism of the ferrosilicon tapping robot are matched through a screw nut driven by a motor, the lifting and pitching actions of the telescopic arm can be realized, and the movable trolley is driven by a chain wheel and a chain and can move back and forth relative to the telescopic arm. The ferrosilicon tapping robot has the advantages that the ferrosilicon tapping robot completely replaces the existing manual operation mode, the labor intensity of operation workers is effectively reduced, the health and the safety of the operation workers are guaranteed, the ferrosilicon tapping robot has the functions of automatically grabbing, replacing various tools, automatically finishing opening, slag removal, hole blocking and the like, the production efficiency is improved, the labor intensity of the workers is reduced, and time and labor are saved.

The station transfer device has two structural forms with different station transfer modes: one is that the robot body moves directly on two guide rails made of H-shaped steel rails tangent with a supporting operation platform; the other method is that a rail made of an I-shaped steel arc rail is hoisted on a ceiling through a plurality of base plates, when the station transfer is needed, hooks below steel wire ropes on a supporting sling arranged on the rail are manually connected with four hoisting rings on a supporting disc on a robot body, then walking driving gears of walking driving motors of two mobile trolleys are separated from racks on a supporting operation platform, and the robot body is hoisted by the supporting sling to carry out the station transfer. The two station transfer modes can be implemented according to any one of the field conditions in practice, and are flexible and convenient to use.

Description of the drawings:

FIG. 1 is a structural diagram of the whole use state of tapping equipment of the invention;

FIG. 2 is a schematic view showing a set of usage states of the tapping apparatus according to the present invention;

FIG. 3 is a disassembled schematic view of a station conversion device in the tapping equipment of the present invention;

FIG. 4 is a front view of the ferrosilicon tapping robot;

FIG. 5 is a rear view of the ferrosilicon tapping robot;

FIG. 6 is a top view of the ferrosilicon tapping robot;

FIG. 7 is a perspective view of the ferrosilicon tapping robot;

FIG. 8 is a left side view of the ferrosilicon tapping robot;

FIG. 9 is a right side view of the ferrosilicon tapping robot;

FIG. 10 is a schematic structural view of a station transfer device;

FIG. 11 is a schematic structural view of a support work platform;

FIG. 12 is a schematic structural view of a hoisting ferrosilicon tapping robot;

FIG. 13 is a top view of the hoisting ferrosilicon tapping robot;

FIG. 14 is a schematic structural diagram of a slewing mechanism in the ferrosilicon tapping robot;

FIG. 15 is a schematic view of a connection structure of a walking drive motor and a motor base in the ferrosilicon tapping robot;

as shown in the figure, the robot body 1, the supporting operation platform 2, the tool rack 3, the station transfer device 4, the mobile cart 5, the walking drive motor 6, the front lifting mechanism 7, the rotation drive motor 8, the rear lifting mechanism 9, the front manipulator 10, the connecting base 11, the revolving mechanism 12, the chassis 13, the chain 14, the rear manipulator 15, the mobile cart 16, the transmission chain wheel 17, the bevel gear reducer 18, the mobile cart drive motor 19, the telescopic arm 20, the mobile rack 21, the first slide rail 22, the second slide rail 23, the walking wheel 24, the rotary groove 25, the rotation drive gear 26, the mobile motor 27, the disc guide rail 28, the silicon iron furnace 29, the walking drive gear 30, the first guide wheel 31, the second guide wheel 32, the silicon iron shipping pot 33, the side plate 34, the supporting frame 35, the rail 36, the guide rail 37, the connecting beam 38, the supporting hanger 39, the third guide wheel 40, the hook 41, the steel wire 42, the steel, The device comprises a top plate 43, a fixed shaft 44, a working platform 45, a rotating shaft 46, a motor base 47, a transposition guide rail 48, a support beam 49, a connecting beam 50, a support plate 51, a rack 52, a connecting plate 53, a guide wheel assembly 54, a backing plate 55, a long shaft 56, a rotary guide wheel 57, a bearing cover 58, a shaft end baffle plate 59, a tapered roller bearing 60, a round nut 61, a bolt 62, a positioning plate 63, a tensioning bolt 64, a moving gear 65, a lifting motor 70, a shell 71 and a lead screw 72.

The specific implementation mode is as follows:

as shown in FIG. 1, the ferrosilicon furnace 29 used in the present invention has 4 tapping ports, each of which is tapped continuously for 15 days and then replaced with the next tapping port for tapping. Therefore, 1 tapping system of the present invention is provided at 2 adjacent tapping ports of the ferrosilicon furnace 29, that is, 2 tapping systems of the present invention are provided for each ferrosilicon furnace 29.

Referring to fig. 1 to 3, the ferrosilicon tapping robot station switching and transferring method relies on a full-automatic ferrosilicon tapping system, the tapping system comprises a robot body 1, two supporting operation platforms 2, two tool racks 3 and a station transfer device 4, the tool racks 3 are arranged beside each supporting operation platform 2, the station transfer device 4 is arranged between the two supporting operation platforms 2, the station transfer device 4 surrounds the tapping hole of a ferrosilicon furnace 29, the robot body 1 is arranged on the supporting operation platforms 2, and the robot body 1 can walk along the station transfer device 4. The tapping apparatus is mounted on a work platform 45.

The concrete structure is as follows:

referring to fig. 11, the supporting work platform 2 includes two parallel supporting beams 49, two parallel connecting beams 50 and a rack 52, two ends of the two supporting beams 49 are respectively connected by the two connecting beams 50, the connecting beams 50 are in contact with the lower surfaces of the supporting beams 49, the rack 52 is disposed inside the supporting beams 49, referring to fig. 1 and 3, one end of one of the supporting work platforms 2 close to the station transfer device 4 is slidably disposed on an arc-shaped transposition guide rail 48, and a rotating shaft 46 is disposed at the center of the bottom of the connecting beam 50 at the other end of the supporting work platform 2.

Referring to fig. 4 to 7, the robot body 1 includes a mobile cart 5, a telescopic arm 20, a front manipulator 10, a rear manipulator 15 and a mobile cart 16, the mobile cart 5 includes a support plate 51, a swing mechanism 12 and a chassis 13, the upper portion of the chassis 13 is connected to the support plate 51 through the swing mechanism 12, the lower portion of the chassis 13 is slidably connected to the telescopic arm 20 through a connection seat 11, referring to fig. 14, the swing mechanism 12 includes four sets of guide wheel assemblies 54 fixed to the support plate 51, a disc guide rail 28 fixed to the chassis 13, a rotation driving motor 8 and a rotation driving gear 26, wherein the guide wheel assemblies 54 include a backing plate 55, a long shaft 56, a rotation guide wheel 57, a bearing cover 58, a shaft end baffle 59, a tapered roller bearing 60, a round nut 61 and a bolt 62, two opposite tapered roller bearings 60 are installed between the rotation guide wheel and the long shaft 56, the lower end of the tapered roller bearing 60 is provided with a bearing cover 58; the shaft end baffle 59 is fixed at the bottom end of the long shaft 56 by four bolts 62 to block the tapered roller bearing 60 from falling; the lower end of the long shaft 56 penetrates through a round hole in the supporting disc 51 and is provided with a rotary guide wheel, and the upper end of the long shaft 56 is locked and fixed on the supporting disc 51 through a backing plate 55 and two round nuts 61; the disc guide rail 28 is fixed on the chassis 13, the cross section of the four rotary guide wheels 57 is concave V-shaped, the cross section of the outer ring of the disc guide rail 28 is convex V-shaped, the inner ring of the disc guide rail 28 is an inner gear ring, and the convex V-shaped part of the disc guide rail 28 is inserted into the concave V-shaped part of the rotary guide wheels 57, so that the disc guide rail can be rotatably guided and can support the weight of the telescopic arm 20 and other parts; the long shaft 56 is an eccentric shaft, so that the gap between the rotary guide wheel 57 and the disc guide rail 28 can be adjusted by rotating the long shaft 56 to a certain angle, so that the rotary guide wheel 57 and the disc guide rail 28 are better contacted; the rotary driving motor 8 is fixed on the supporting disk 51, and the extending shaft of the rotary driving motor is connected with the rotary driving gear 26; the rotary driving gear 26 is engaged with the inner gear ring of the disc guide rail 28, and the rotary driving gear 26 is driven to rotate by the rotation of the rotary driving motor 8, so as to drive the disc guide rail 28 to rotate, further to rotate the chassis 13, the connecting seat 11 and the telescopic arm 20, and finally to drive the front lifting mechanism 7, the rear lifting mechanism 9, the moving trolley 16, the front manipulator 10 and the rear manipulator 15 to perform rotary motion.

Referring to fig. 6, arc-shaped rotating grooves 25 are formed in the supporting plate 51 on both sides of the disc guide 28, and the two rotating grooves 25 are symmetrical to each other at the center of the disc guide 28; referring to fig. 4, 5 and 7, arched motor bases 47 are arranged on the supporting disc 51 near to two sides, a walking driving motor 6 is arranged on each of the two motor bases 47, and an extending shaft of the walking driving motor 6 downwardly penetrates through the top of the motor base 47 and is provided with a walking driving gear 30; referring to fig. 4, 5, 7, 8 and 9, a front lifting mechanism 7 and a rear lifting mechanism 9 are disposed on the chassis 13, each of the front lifting mechanism 7 and the rear lifting mechanism 9 is composed of a lifting motor 70, a housing 71, a lead screw 72 and a nut, referring to fig. 6 and 7, a bottom end of the housing 71 passes through the rotation slot 25 and is hinged to the connection seat 11 through a pin shaft, the lifting motor 70 is disposed on the housing 71, the lead screw 72 is disposed in the housing 71 and is connected to an extending shaft of the lifting motor 70, and the nut (not shown, but implemented by structures shown in the drawings and written contents recorded in the description) is sleeved on the lead screw 72, is fixedly connected to the chassis 13, and can move relative to the housing 71; the top of the telescopic arm 20 is provided with a movable rack 21, the movable rack 21 is in meshing transmission with a movable gear 65, the movable gear 65 is driven by a movable motor 27 fixed on the connecting seat 11, the bottom of the telescopic arm 20 is provided with a front manipulator 10 at the front end and a rear manipulator 15 at the rear end, and the rear manipulator 15 is arranged on the telescopic arm 20 through a movable trolley 16.

The motor base 47 is composed of a top plate 43, a fixed shaft 44, a positioning plate 63 and a tension bolt 64, one end of the top plate 43 is rotatably arranged on the fixed shaft 44, and the other end of the top plate 43 is connected with the positioning plate 63 through the tension bolt 64, so that the walking drive motor 6 arranged on the top plate 43 can rotate around the fixed shaft 44, when the walking drive gear 30 is driven by the walking drive motor 6 to be meshed with the rack 52 for transmission to drive the robot body 1 to walk, the tension bolt 64 is adjusted to be proper, and the walking drive gear 30 is meshed with the rack 52; when a station transfer is required, the tension bolt 64 is loosened, and the travel drive motor 6 is rotated about the fixed shaft 44 to disengage the travel drive gear 30 from the rack gear 52.

Further, referring to fig. 4, 5 and 7, four sets of first guide wheels 31 fixed on the connecting seat 11 are connected with the telescopic arm 20 through the first slide rail 22, specifically: first slide rails 22 are symmetrically arranged on two side faces, close to the top, of a telescopic arm 20 on the robot body 1, the connecting seat 11 is in an arch shape and is arranged at the top of the telescopic arm 20 in a crossing mode, a trapezoidal groove is formed in the bottom end of a side plate 34, located above the telescopic arm 20, of the connecting seat 11, the telescopic arm 20 freely passes through the connecting seat 11 when moving, referring to fig. 8, first guide wheels 31 are arranged on the inner sides of two side plates forming the connecting seat 11, and the first guide wheels 31 are located between two plate bodies forming the first slide rails 22 and slide along the plate bodies.

Further, referring to fig. 4, 5 and 7, four sets of second guide wheels 32 fixed on the moving trolley 16 are connected with the telescopic arm 20 through the second slide rail 23, specifically: the two side surfaces of the telescopic arm 20 are symmetrically provided with second slide rails 23 near the bottom, the front and the rear of the second slide rails 23 are provided with transmission chain wheels 17, the end part of the telescopic arm 20 is provided with a moving trolley driving motor 19, an extension shaft of the moving trolley driving motor 19 is connected with one pair of transmission chain wheels 17 through a bevel gear reducer 18, the two transmission chain wheels 17 on each side are in transmission connection through a chain 14, the chain 14 is positioned on the outer side of the second slide rails 23, the moving trolley 16 is arranged at the bottom of the telescopic arm 20 in an arched shape, the head end and the tail end of the chain 14 are connected with the two sides of the moving trolley 16, a rear manipulator 15 is arranged on a bottom plate forming the moving trolley 16, referring to fig. 9, the inner sides of the two side plates forming the moving trolley 16 are provided with second guide wheels 32, and the second guide wheels 32 are positioned between the two plate bodies.

The tool rack 3 comprises 4 parts including a support, 2 open-hole steel rods, 2 slag-removing steel rods and 2 hole-plugging tools, wherein the support is a steel frame for storing various tools and formed by welding profile steels; the drilling drill rod is grabbed by the robot body 1 to perform drilling operation so as to start the tapping operation of the ferrosilicon; the slag-removing drill steel is grabbed by the robot body 1 to dredge the silicon iron runner and clean the furnace tongue; the plugging tool is grabbed by the robot body 1, and after the furnace outlet operation is completed, the furnace mouth is plugged.

Referring to fig. 2 and 10, station transfer device 4 includes curved support frame 35, support frame 35 includes guide rail 37 and tie-beam 38, guide rail 37 be two with support operation platform 2 tangent "H" shaped steel track, it is supported by support frame 35 and locates on the operation platform 45, two guide rails 37 are arc parallel to each other the level encircle arrange by the fire door of ferrosilicon stove 29, connect by a plurality of tie-beams 38 between two sets of support frames 35, robot body 1 walks along guide rail 37 through walking wheel 24 that supporting disk 51 both sides set up.

The other structural form of the station transfer device 4 is as follows:

referring to fig. 3, 12 and 13, the station transfer device 4 is provided with an arc-shaped rail 36, and the robot body 1 is hung on the rail 36 through a steel wire rope 42 and travels along the rail 36.

Referring to fig. 3, the rail 36 is an i-shaped steel arc rail, and is hung on a ceiling through a plurality of connecting plates 53, third guide wheels 40 are symmetrically arranged in two side frames forming the i-shaped rail 36, the third guide wheels 40 are arranged in a U-shaped supporting hanger 39 through connecting shafts, a hook 41 for hanging a steel wire rope 42 is arranged at the bottom of the supporting hanger 39, and the bottom end of the steel wire rope 42 is hung on a hanging ring arranged on a supporting disk 51 through the hook, so that the steel wire rope 42 is connected with the supporting disk 51, the robot body 1 is hung on the rail 36, the walking drive gears 30 of the walking drive motors 6 of the two mobile carts 5 are separated from a rack 52 on the supporting operation platform 2, and the robot body 1 is hung by the supporting hanger 39 to perform station transfer. The station transfer mode has the advantage of stable operation.

Example one

In view of the particularity of tapping operation of the ferrosilicon furnace 29, one tapping port is continuously tapped for 15 days, and then the other tapping port is replaced to perform tapping operation. In order to save cost, two sets of tapping systems of the invention can be arranged on one ferrosilicon furnace 29, and every two adjacent tapping holes are provided with one set of tapping equipment of the invention, as shown in figure 1, one set of tapping equipment is arranged for No. 291 and No. 2 tapping holes of the ferrosilicon furnace, and the other set of tapping equipment is arranged for No. 3 and No. 4 tapping holes of the ferrosilicon furnace. After the operation of the furnace outlet No. 1 is finished, the robot body 1 positioned at the furnace outlet No. 1 needs to be transferred from the supporting workbench platform to the supporting operation platform 2 positioned at the furnace outlet No. 2.

The specific process is as follows:

step one, rotating a telescopic arm 20 of a robot body 1 by 90 degrees to enable the telescopic arm 20 to be parallel to a transfer direction;

secondly, moving the robot body 1 to the rightmost end of the supporting operation platform 2, and manually separating the two walking driving gears 30 meshed with the rack 52 arranged on the supporting operation platform 2 from the rack 52;

step three, manually pushing the ferrosilicon tapping robot, and directly moving the ferrosilicon tapping robot to the other end of the station transfer device 4 along two guide rails 37 tangent to the supporting operation platform 2 by using walking wheels 24;

fourthly, the front end of the other supporting operation platform 2 on the same side rotates along the transposition guide rail 48 to be connected with the station transfer device 4;

and step five, manually engaging the two walking driving gears 30 of the robot body 1 with the rack 52 on the supporting operation platform 2 again, locking the tensioning bolt, and rotating the supporting operation platform 2 to a working position along the transposition guide rail 48 to be locked. At this time, the robot body 1 can be switched to the automatic operation state to wait for the tapping work.

In the first step, the rotation mode of the telescopic arm 20 is as follows: the rotary driving motor 8 is started, the rotary driving gear 26 is driven to rotate by the rotary driving motor 8, the disc guide rail 28 is driven to rotate through the meshing transmission of the inner ring teeth of the rotary driving gear 26 and the disc guide rail 28, and the chassis 13, the connecting seat 11 and the telescopic arm 20 are further rotated.

In the second step, the walking driving motor 6 is started to drive the walking driving gear 30 to rotate, and the supporting plate 51 walks along the moving rack 21 through the meshing transmission of the walking driving gear 30 and the moving rack 21, so that the robot body 1 walks to the rightmost end of the supporting operation platform 2 along the supporting operation platform 2.

In the discharging operation in the fifth step, the lifting modes of the front lifting mechanism 7 and the rear lifting mechanism 9 are as follows: the lifting motor 70 drives the screw rod 72 to rotate, the screw rod 72 rotates to move relative to a nut fixed on the chassis 13 in the vertical direction, the shell 71 is driven to move up and down relative to the chassis 13, the shell 71 drives the connecting seat 11 to move up and down through the pin shaft, and the connecting seat 11 drives the telescopic arm 20 to move up and down, so that the telescopic arm 20 is lifted up and down, and the lifting through the telescopic arm 20 meets the use requirements of corresponding tools.

In the tapping operation in the fifth step, the moving mode of the telescopic arm 20 is as follows: the moving motor 27 is started, the moving motor 27 drives the moving gear 65 to rotate through a bevel gear reducer, and the moving gear 65 is meshed with the moving rack 21 on the telescopic arm 20 for transmission, so that the telescopic arm 20 is driven to move left and right, and tools on the tool rack can be taken or put back, and various operations of discharging are carried out.

In the tapping operation in the fifth step, the moving mode of the rear manipulator 15 is as follows: the driving motor 19 of the mobile car is started, the transmission chain wheel 17 is driven to rotate through the bevel gear reducer 18, the chain 14 pulls the mobile car 16 to rotate, and the mechanical arm 15 moves left and right on the telescopic arm 20 after pulling.

In the fifth step, the two walking driving gears 30 are manually meshed with the moving rack 52 on the supporting operation platform 2, the tensioning bolt is locked, and the supporting operation platform 2 rotates to the working position along the transposition guide rail 48 and is locked. At this time, the robot body can be switched to an automatic working state to wait for tapping.

Example two

The station transfer mode in this embodiment is different from that in the first embodiment:

in the third step, the lower end of the steel wire rope 42 is connected with the supporting plate 51 of the robot body 1, the upper end of the steel wire rope 42 is hung on the hook 41 to hoist the robot body 1 to the rail 36 of the station transfer device 4, the robot body 1 is hoisted to the hook 41 of the supporting hanger 39 on the station transfer device 4 by using the hoisting steel wire rope 42, the lengths of the four corner steel wire ropes 42 are required to be ensured to be equal, so that the robot body 1 moves stably, and then the supporting hanger 39 with the hook 41 walks along the rail 36 formed by the i-steel, so that the robot body 1 is hoisted to perform station transfer operation.

The station transfer mode has the advantages that the space of the two-layer operation platform 45 is not occupied, and the walking of workers is not hindered.

Claims

1. The station switching and transferring method of the ferrosilicon tapping robot is characterized in that:

step one, a telescopic arm (20) of a robot body (1) rotates by 90 degrees, so that the telescopic arm (20) is kept parallel to a transfer direction;

moving the robot body (1) to the rightmost end of the supporting operation platform (2), and manually separating two walking driving gears (30) meshed with a rack (52) arranged on the supporting operation platform (2) from the rack (52);

step three, mounting the robot body (1) on the station transfer device (4) and moving the robot body to the other end of the station transfer device (4);

fourthly, the front end of the other supporting operation platform (2) on the same side rotates along the transposition guide rail (48) to be connected with the station transfer device (4);

and fifthly, manually engaging the two walking driving gears (30) of the robot body (1) with the rack (52) on the supporting operation platform (2) again, locking the tensioning bolt, and rotating the supporting operation platform (2) to a working position along the transposition guide rail (48) to be locked.

2. The station switching and transferring method of the ferrosilicon tapping robot as claimed in claim 1, characterized in that: in the first step, the rotation mode of the telescopic arm (20) is as follows: the rotary driving motor (8) is started, the rotary driving gear (26) is driven to rotate by the rotary driving motor (8), the disc guide rail (28) is driven to rotate through the meshing transmission of the rotary driving gear (26) and the inner ring teeth of the disc guide rail (28), and then the chassis (13), the connecting seat (11) and the telescopic arm (20) are rotated.

3. The station switching and transferring method of the ferrosilicon tapping robot as claimed in claim 1, characterized in that: and in the second step, the walking driving motor (6) is started to drive the walking driving gear (30) to rotate, and the supporting disk (51) walks along the moving rack (21) through the meshing transmission of the walking driving gear (30) and the moving rack (21).

4. The station switching and transferring method of the ferrosilicon tapping robot as claimed in claim 1, characterized in that: and in the third step, the robot body (1) is manually pushed, and the walking wheels (24) are directly moved to the other end of the station transfer device (4) along two guide rails (37) tangent to the supporting operation platform (2).

5. The station switching and transferring method of the ferrosilicon tapping robot as claimed in claim 1, characterized in that: in the third step, the tool conversion robot (1) is hoisted to a hook (41) of a small crane on the station transfer device (4) by using a hoisting steel wire rope (42), and the lengths of the four-corner steel wire ropes (42) are ensured to be equal.

6. The station switching and transferring method of the ferrosilicon tapping robot as claimed in claim 1, characterized in that: in the discharging operation in the fifth step, the lifting modes of the front lifting mechanism (7) and the rear lifting mechanism (9) are as follows: the lifting motor (70) drives the screw rod (72) to rotate, the screw rod (72) rotates to move relative to a nut fixed on the chassis (13) in the vertical direction, the shell (71) is driven to move up and down relative to the chassis (13), the shell (71) drives the connecting seat (11) to move up and down through the pin shaft, and the connecting seat (11) drives the telescopic arm (20) to move up and down.

7. The station switching and transferring method of the ferrosilicon tapping robot as claimed in claim 1, characterized in that: in the discharging operation in the fifth step, the moving mode of the telescopic arm (20) is as follows: and starting the moving motor (27), wherein the moving motor (27) drives the moving gear (65) to rotate through a bevel gear reducer, and the moving gear (65) is meshed with the moving rack (21) on the telescopic arm (20) for transmission.

8. The station switching and transferring method of the ferrosilicon tapping robot as claimed in claim 1, characterized in that: in the second step, the tensioning bolt (64) is loosened, so that the walking driving motor (6) rotates around the fixed shaft (44), and the walking driving gear (30) is separated from the rack (52); and step five, when the walking driving motor (6) is required to drive the walking driving gear (30) to be meshed with the rack (52) for transmission to drive the robot body (1) to walk, adjusting the tensioning bolt (64) to be proper, and enabling the walking driving gear (30) to be meshed with the rack (52).

9. The station switching and transferring method of the ferrosilicon tapping robot as claimed in any one of claims 1 to 8, wherein: in the discharging operation in the fifth step, the moving mode of the rear manipulator (15) is as follows: and starting a driving motor (19) of the movable trolley, driving a transmission chain wheel (17) to rotate through a bevel gear reducer (18), and pulling the movable trolley (16) to rotate by a chain (14) to enable the rear manipulator (15) to move left and right on a telescopic arm (20).