CN110539390A - robot for refractory material machine-pressing system - Google Patents

Abstract

The invention belongs to the technical field of carrying and placing of a feeding robot and refractory bricks in a refractory material machine-pressing system, and discloses a robot for the refractory material machine-pressing system, wherein two action control devices are fixedly arranged; the feeding device is fixedly arranged at the left end position of the action control device on the right side of the mechanical pressing forming machine, and the carrying device is fixedly arranged at the left end position of the action control device on the front side of the mechanical pressing forming machine; the integrated control cabinet is fixedly arranged at the upper part of the rear side of the mechanical pressing forming machine, and the emergency stop device is fixedly arranged at the middle position of the left end of the feeding device. The robot for the refractory material machine-pressing forming system improves the feeding efficiency of the refractory material in the refractory material machine-pressing forming system, improves the carrying and placing efficiency of refractory bricks, realizes the complete replacement of the robot for manpower, reduces the labor cost, improves the safety of the whole refractory brick machine-pressing forming process, and solves the problem that workers are difficult to attract.

Description

Robot for refractory material machine-pressing system

Technical Field

The invention belongs to the technical field of conveying and placing of refractory bricks by a robot in a refractory material machine-pressing system, and particularly relates to a robot for a refractory material machine-pressing system.

Background

The refractory material is applied to various fields of national economy such as steel, nonferrous metal, glass, cement, ceramics, petrifaction, machinery, boilers, light industry, electric power, military industry and the like; plays an irreplaceable important role in the development of high-temperature industrial production.

The refractory material machine-pressing forming system can be divided into feeding in a machine-pressing forming machine and carrying refractory bricks after machine-pressing forming, and simultaneously the refractory bricks are orderly placed in a drying vehicle. The specific feeding system generally needs two workers to operate in a collective cooperation mode, and the specific operation mode is as follows: and a pound material worker pours the weighed refractory material into a mold of a forming machine, firstly, the refractory material in the mold is flattened by hands, and then, a press machine is started for forming. Meanwhile, the carrying and placing system formed by the refractory brick press also needs two persons to cooperate, one person carries out the refractory bricks in the die of the machine-pressing forming machine, and the other person needs to place the refractory bricks in a drying vehicle in order.

In the prior art, operators of a machine-pressing molding system of refractory materials are heavy physical work types, the working environment is dirty, messy and poor, the noise and dust pollution are great, the danger coefficient is high, and safety accidents of injuring the limbs of workers are often caused; the whole machine-pressing molding system for the refractory materials needs much input labor force and has high labor cost, and meanwhile, due to the fact that the technical content of the engineering is low, young people do not want to dry the engineering, workers are difficult to attract. The inventor develops a robot for a refractory material machine-pressing system based on the defects in the prior art, which can well solve the problems in the prior art.

disclosure of Invention

In order to solve the technical problems, the invention provides a robot for a refractory material machine-pressing molding system, which has the advantages of simple design structure, convenient operation, high control accuracy of motion positions and high automation degree; the invention uses mathematical modeling to plan the motion track of the carrying robot for the machine-pressing refractory brick in a specific field in advance, then writes a motion control program, uses the motion control program and a motion controller to send out a pulse motion track instruction, controls the refractory material machine-pressing system robot through a drive controller, and accurately synthesizes the motion track in the specific field, thereby realizing the synthesis actions of feeding refractory materials and carrying and placing refractory bricks.

The technical scheme adopted by the invention is as follows: a robot for a refractory material machine-pressing molding system comprises a machine-pressing molding machine, a drying vehicle and a moving track; the machine pressing forming machine is fixedly arranged at the rear side position of the drying vehicle, the multi-layer drying vehicle is fixedly arranged at the front side position of the machine pressing forming machine, and the moving track for enabling the drying vehicle to move is fixedly arranged at the bottom position of the drying vehicle; the two action control devices are fixedly arranged, one action control device is fixedly arranged at the front side position of the mechanical pressing forming machine, and the other action control device is fixedly arranged at the right side position of the mechanical pressing forming machine; the feeding device is fixedly arranged at the left end position of the action control device on the right side of the mechanical pressing forming machine, and the carrying device is fixedly arranged at the left end position of the action control device on the front side of the mechanical pressing forming machine; the action control device enables the feeding device to realize the receiving action in a specific field and send the refractory material to a mould of a machine-pressing forming machine; meanwhile, the action control device enables the carrying device to carry the refractory bricks in a specific field and place the refractory bricks on the drying vehicle layer by layer; the integrated control cabinet is fixedly arranged at the upper position of the rear side of the mechanical pressing forming machine, and the feeding device and the carrying device are fixedly connected with the interior of the integrated control cabinet through connecting wires; the emergency stop device is fixedly arranged in the middle of the left end of the feeding device, the forming die is fixedly arranged in the center of the mechanical pressing forming machine, and the forming die is used for pressing and forming the refractory materials.

the action control device comprises a rotating base, the rotating base comprises a bottom plate, a chassis is fixedly arranged on the upper portion of the bottom plate, a central shaft is fixedly arranged at the upper center position of the chassis, a rotor is fixedly arranged at the upper portion position of the chassis, the center position of the rotor is sleeved on the upper portion of the central shaft, inner teeth are arranged on the inner side face of the rotor, a first servo motor is fixedly arranged at the edge position of the rotor, a driving gear is fixedly arranged at the inner edge position of the rotor, the driving gear is fixed through a fixing shaft, a power output shaft of the first servo motor is fixedly connected with the fixing shaft of the driving gear, and the driving gear is meshed; a large arm support frame is fixedly arranged at the left side position of the upper part of the rotating base, a large arm is fixedly arranged at the upper part of the large arm support frame, the large arm is sleeved on the large arm support frame, and a first rotating shaft penetrates through the joint of the large arm and the large arm support frame to be fixedly hinged; the upper part of the large arm passes through the upper part of the large arm through a second rotating shaft and is fixedly hinged with the right end of the small arm, and a third rotating shaft passes through the left end of the small arm and is fixedly hinged with the left end of the small arm; the second servo motor is fixedly arranged at the front side position of the second rotating shaft, and a power output shaft of the second servo motor is fixedly connected with the second rotating shaft; the electric push rod bracket is fixedly arranged at the edge position of the right side of the rotating base, the electric push rod is fixedly arranged at the upper part of the electric push rod bracket, the fixed block is fixedly connected with the middle position of the large arm, and the telescopic push rod of the electric push rod is hinged and fixed with the fixed block through the fixed shaft; the connecting rod balancing device is fixedly arranged at the rear side positions of the large arm, the small arm and the electric push rod, one end of the connecting rod balancing device is fixedly connected with the bottom of the electric push rod bracket, and the other end of the connecting rod balancing device is fixedly connected with the left side of the small arm; the third servo motor is fixedly arranged at the left end position of the small wall.

The connecting rod balancing device comprises a connecting rod bracket, the connecting rod bracket is fixedly arranged at the right side position of the electric push rod bracket, and the connecting rod bracket is fixedly connected with the upper part of the rotating body; the first connecting rod and the connecting rod bracket are fixedly connected through a hinge shaft passing through the upper part of the first connecting rod and the upper part of the connecting rod bracket; the triangular connecting rod is fixedly hinged with the second rotating shaft into a triangle by utilizing three connecting rods through a hinge shaft, the left end of the triangular connecting rod is fixedly hinged with the upper part of the first connecting rod through the hinge shaft, the right end and the upper part of the triangular connecting rod are fixedly hinged with the left end of the second connecting rod through the hinge shaft, and the lower part of the triangular connecting rod is fixedly hinged with the second rotating shaft; the right end of the second connecting rod and the connecting rod fixing frame penetrate through the body of the connecting rod fixing frame to be fixedly hinged, and the connecting rod fixing frame is fixedly connected with the upper portion of the right side of the supporting plate of the speed reducer supporting body.

the feeding device comprises a support body, the left end of the support body is an arc-shaped flat plate and is fixedly connected with the right side in an opening shape into a whole, and the support body is fixedly arranged at the upper part of the hinged connection part; the right end of the hinged connection part is sleeved at the left end of the small arm of the action control device and is hinged and fixed through a third rotating shaft, the swing frame is sleeved at the left side position of the hinged connection part and is fixedly connected with the swing frame through the rotating shaft, the rotating shaft is fixed at the bottom position of the right side of the swing frame through the bearing seat, and the upper part of the rotating shaft extends to the upper positions of the support body and the hinged connection part; a third servo motor of the action control device is fixedly arranged at the upper part of the support body, and a power output shaft of the third servo motor is fixedly connected with a rotating shaft extending to the upper parts of the support body and the hinged connection part; the square steel is fixedly arranged in the middle of the left side of the swing frame, the left end of the square steel is fixedly connected with the supporting bottom plate, a discharging opening for discharging is fixed in the middle of the supporting bottom plate, the hopper is hollow and trapezoidal, and the bottom opening of the hopper is equal to the discharging opening in size; the pneumatic discharging device is fixedly arranged at the bottom of the supporting bottom plate and comprises an air cylinder, the air cylinder penetrates through the middle position of the right side of the supporting bottom plate and is fixedly arranged, the transverse connecting rod is fixedly arranged at the middle position of the bottom of the telescopic rod of the air cylinder, pulling connecting rods are respectively arranged at the left side and the right side of the transverse connecting rod, and the transverse connecting rod and the pulling connecting rods are fixed through a hinged shaft; the discharging plate is fixedly arranged at the left side and the right side of the supporting bottom plate by a hinge, and the pulling connecting rods are respectively and fixedly connected with the supporting bottom plate which is arranged in a bilateral symmetry manner in a closing alignment manner; the gas pipe is fixedly arranged at the upper part of the cylinder, and the other end of the gas pipe is fixedly communicated with a high-pressure gas source; the time delay controller is fixedly arranged at one side of the hopper and is used for controlling the opening and closing control time of the discharging plate of the pneumatic discharging device.

And a connecting rod fixing frame of the connecting rod balancing device is fixedly arranged at the rear side position of a supporting body of the feeding device.

The carrying device comprises a worm speed reducer, the worm speed reducer is fixedly arranged on a speed reducer support body, the worm and gear speed reducer comprises a speed reducer body, a power input shaft is fixedly arranged at the vertical center of the speed reducer body, and a power output shaft is fixedly arranged at the transverse center of the bottom of the speed reducer body; the speed reducer supporting body is fixedly arranged at the left end position of the small arm and comprises a supporting plate in a spoon shape, a through hole is fixedly formed in the center of the supporting plate, and the fixing cylinder is fixedly arranged at the right side position of the supporting plate; the carrying arm is fixedly arranged at the bottom of the worm gear speed reducer and comprises a hollow square tube, and a fixing sleeve is fixedly arranged at the bottom of the right end of the hollow square tube; the vacuum adsorption part is fixedly arranged at the bottom of the left end of the hollow square tube, adsorption holes are uniformly distributed in the bottom surface of the vacuum adsorption part, the vacuum tube is fixedly arranged in the hollow square tube and is fixedly communicated with the vacuum adsorption part, the other end of the vacuum tube is fixedly laid on the upper part of the connecting rod balancing device and extends to the lower part of the first connecting rod of the connecting rod balancing device and is fixedly communicated with the air suction opening of the air exhauster.

The power output shaft of the third servo motor is fixedly connected with the power input shaft of the worm gear speed reducer; the power input shaft of the speed reducer body passes through the through hole of the speed reducer support body and is fixedly connected with the support plate.

The fixed sleeve at the bottom of the hollow square tube is fixedly sleeved on the power output shaft at the bottom of the speed reducer body.

the integrated control cabinet comprises a control cabinet body, the control cabinet body is a cuboid, a parameter adjusting module is fixedly arranged at the upper part of the control cabinet body, a PC chip set is fixedly arranged at the lower part of the parameter adjusting module, and a motion controller is inserted at the upper part of the PC chip set; the first driver is fixedly arranged at the bottom position of the left side of the motion controller, the second driver is fixedly arranged at the right position of the first driver, the third driver is fixedly arranged at the right position of the second driver, and the fourth driver is fixedly arranged at the right position of the third driver; the first driver, the second driver, the third driver and the fourth driver are respectively in plug-in connection with the motion controller through connecting wires; the first driver is fixedly connected with the first servo motor through a connecting wire, the second driver is fixedly connected with the second servo motor through a connecting wire, the third driver is fixedly connected with the third servo motor through a connecting wire, and the fourth driver is fixedly connected with the electric push rod through a connecting wire.

The emergency stop device comprises a material detection sensor which is fixedly arranged in the middle of the left end of the supporting bottom plate of the feeding device; the relay is fixedly arranged at the upper position of the left side of the integrated control cabinet motion controller, the main power switch is fixedly arranged at the lower position of the relay, and the relay is fixedly connected with the main power switch through a connecting wire.

The working process of the robot for the refractory material machine-pressing system is as follows: when the carrying robot for mechanically pressing and forming the refractory bricks is required to carry and place the refractory bricks, firstly, an exhaust fan of a vacuum tube is started to enable a vacuum adsorption part in a carrying arm of a carrying device to be in a strong negative pressure adsorption state, and simultaneously, a high-pressure air source is started to enable an air cylinder of a pneumatic unloading device to be in a normal action state; then according to the action motion track planned in a specific field by a refractory material machine-pressing molding system robot planned by mathematical modeling, writing a motion control action program, storing the motion control program in a PC (personal computer) chip set of an integrated control cabinet, and transmitting a pulse control signal instructed by a motion controller to a first driver, a second driver, a third driver and a fourth driver corresponding to a first servo motor, a second servo motor, a third servo motor and an electric push rod respectively, so that the first driver, the second driver, the third driver and the fourth driver are used for controlling the rotation speed, the position speed and the angular speed of the first servo motor, the second servo motor and the third servo motor and the propulsion stroke of the electric push rod, and a control closed-loop system is formed; when the feeding device feeds materials, the motion control device controls a hopper of the feeding device to be filled with refractory materials from a feed opening through the motion controller and the first driver, the second driver, the third driver and the fourth driver according to a motion track planned by a motion control program, and the refractory materials in the hopper are fed into a mold of a machine-pressing forming machine to be pressed and formed into refractory bricks; when a material detection sensor positioned at the left end of the hopper detects that no refractory material exists in a mold of the machine-pressing forming machine, the material detection sensor converts a detected electric signal into a control signal for controlling the opening and closing of a main power switch through a relay, so that the main power switch is closed, and the whole action control device stops acting; and secondly, when the carrying device carries and places the refractory bricks, when the vacuum adsorption part is in contact with the surface of the refractory bricks formed on the machine pressing forming machine, the refractory bricks are adsorbed by strong adsorption force formed by the adsorption holes, and then the instant synthetic motion action in a specific field is formed through the motion trail predetermined by the motion control program, and the refractory bricks are placed in the drying vehicle layer by layer. The action of the robot for the refractory material mechanical compression molding system is divided into the following steps: 1. decomposition operation of the operation control device: utilize the pulse control signal of motion controller instruction, through the rotation of first servo motor of first driver control, make first servo motor's power output shaft drive gear and rotate, drive gear and the internal toothing of rotor make the rotor 360 rotations on the chassis through the center pin to big arm, forearm, electric putter and the transport arm on the rotating base have been realized and have been rotated 360 in specific place. 2. The action of a connecting rod balancing device in the action control device is decomposed: the pulse control signal instructed by the motion controller is utilized, the rotation of the second servo motor and the telescopic stroke of the electric push rod are respectively controlled through the second driver and the fourth driver, the up-and-down position action between the large arm and the small arm is realized through the hinging action of the large arm support frame, the small arm support frame and the large arm support frame, meanwhile, the telescopic action of the telescopic rod of the electric push rod realizes the forward-and-backward inclined displacement action of the large arm and the small arm, and meanwhile, under the hinging linkage action of the first connecting rod, the triangular connecting rod and the second connecting rod of the connecting rod balancing device, the balance traction action on the whole large arm, the small arm and the carrying arm is realized, and the stability of the action of the large arm, the small arm and the carrying arm is improved. 3. And (3) decomposing the action of the feeding device: the rotation of a third servo motor is controlled by a third driver by utilizing a pulse control signal instructed by a motion controller, the third servo motor drives a rotating shaft to rotate, the rotating shaft drives a swing frame and square steel to rotate, at the moment, a supporting bottom plate and a hopper rotate to a feed opening, after the receiving hopper is full of refractory materials, a feeding device is moved to a forming mold of a machine pressing forming machine through a synthetic action controlled and planned by the motion controller, the telescopic action of an air cylinder is controlled by a delay controller of a pneumatic unloading device in the feeding device, and a telescopic rod of the air cylinder pushes a transverse connecting rod and pulls the connecting rod to perform vertical linkage action to open or close a material plate, so that the refractory materials in the hopper are poured into the forming mold, and the machine pressing forming is made into refractory bricks. 4. The conveying device decomposes the actions of conveying and placing refractory bricks: the third servo motor drives a power input shaft of the worm gear speed reducer to rotate through a power output shaft by utilizing a pulse control signal instructed by the motion controller, and the vertical rotation direction of the power input shaft is converted into the transverse rotation of the power output shaft in the speed reducer body; when the power input shaft vertically rotates, the hollow square tube of the carrying arm rotates 360 degrees of the horizontal position; when the power output shaft transversely rotates, the axial rotation action of the carrying arm is realized through the fixed connection effect of the fixed cylinder of the speed reducer support body, the power output shaft and the hollow square tube. The decomposition action of the machine-pressing refractory brick carrying robot is an instant synthesis action of a motion track in a specific field, which is completed by the motion controller, the first driver, the second driver, the third driver and the fourth driver through the motion controller, the first servo motor, the second servo motor, the third servo motor and the electric push rod.

A large arm support frame is fixedly arranged at the left side position of the upper part of the rotating base, a large arm is fixedly arranged at the upper part of the large arm support frame, the large arm is sleeved on the large arm support frame, and a first rotating shaft penetrates through the connecting part of the large arm and the large arm support frame to be fixedly connected; the main purpose of the arrangement is to enable the big arm to move back and forth on the big arm support frame.

The upper part of the large arm passes through the right ends of the large arm and the small arm through a second rotating shaft and is fixedly connected, and a third rotating shaft passes through a speed reducer support body and is fixedly hinged with the left end of the small arm; the worm and gear speed reducer is fixedly arranged on the speed reducer support body, the second servo motor is fixedly arranged at the front side position of the second rotating shaft, and a power output shaft of the second servo motor is fixedly connected with the second rotating shaft; the arrangement is mainly to realize the rotation action of the large arm through the second rotating shaft and the second servo motor, so that the large arm and the small arm can realize the lifting or falling action of the upper position and the lower position.

The electric push rod bracket is fixedly arranged at the edge position of the right side of the rotating base, the electric push rod is fixedly arranged at the upper part of the electric push rod bracket, the fixed block is fixedly connected with the middle position of the large arm, and the telescopic push rod of the electric push rod is hinged and fixed with the fixed block through the fixed shaft; the arrangement is mainly that the telescopic rod of the electric push rod is used for lifting or descending to push the large arm, the small arm and the carrying arm to realize the tilting action of the front and back positions.

The right end of the hinged connection part is sleeved at the left end of the small arm of the action control device and is hinged and fixed through a third rotating shaft, the swing frame is sleeved at the left side position of the hinged connection part and is fixedly connected with the swing frame through the rotating shaft, the rotating shaft is fixed at the bottom position of the right side of the swing frame through the bearing seat, and the upper part of the rotating shaft extends to the upper positions of the support body and the hinged connection part; a third servo motor of the action control device is fixedly arranged at the upper part of the support body, and a power output shaft of the third servo motor is fixedly connected with a rotating shaft extending to the upper parts of the support body and the hinged connection part; the hinged connection part is mainly used for fixedly connecting the swing frame and the small arm into a whole, the power output shaft of the third servo motor is fixedly connected with the rotating shaft through the rotating shaft, and the swing frame is driven to rotate through the rotation of the third servo motor, so that when refractory materials are connected into the hopper, the hopper can be conveniently aligned to the feeding hole; the bearing seat is mainly used for fixing the rotating shaft on the swing frame on one hand and realizing free rotation of the rotating shaft on the other hand.

The square steel is fixedly arranged at the middle position of the left side of the swing frame, the left end of the square steel is fixedly connected with the supporting bottom plate, a discharging opening for discharging is fixed at the middle position of the supporting bottom plate, the hopper is hollow and trapezoidal, and the bottom opening of the hopper is equal to the discharging opening in size; the main purpose of the arrangement is to provide a supporting function for the supporting bottom plate and the hopper by using square steel, and simultaneously, the hollow structure of the hopper is used for placing refractory materials for pressing refractory bricks in the hopper.

The pneumatic discharging device is fixedly arranged at the bottom of the supporting bottom plate and comprises an air cylinder, the air cylinder penetrates through the middle position of the right side of the supporting bottom plate and is fixedly arranged, the transverse connecting rod is fixedly arranged at the middle position of the bottom of the telescopic rod of the air cylinder, pulling connecting rods are respectively arranged at the left side and the right side of the transverse connecting rod, and the transverse connecting rod and the pulling connecting rods are fixed through a hinged shaft; the discharging plate is fixedly arranged at the left side and the right side of the supporting bottom plate by a hinge, and the pulling connecting rods are respectively and fixedly connected with the supporting bottom plate which is arranged in a bilateral symmetry manner in a closing alignment manner; the gas pipe is fixedly arranged at the upper part of the cylinder, and the other end of the gas pipe is fixedly communicated with a high-pressure gas source; the delay controller is fixedly arranged at one side of the hopper and is used for controlling the opening and closing control time of a discharging plate of the pneumatic discharging device; the main purpose of the arrangement is to utilize the time delay controller to control the up-and-down pushing action of the telescopic rod of the cylinder by setting the control time of the time delay control, simultaneously enable the linkage action of the transverse connecting rod and the pulling connecting rod to realize the feeding of the refractory material in the hopper into a forming die under the opening and closing action of the hinge and the stripper plate, and utilize a machine press forming machine to press and form the refractory brick.

The carrying arm is fixedly arranged at the bottom of the worm gear speed reducer and comprises a hollow square tube, and a fixing sleeve is fixedly arranged at the bottom of the right end of the hollow square tube; the vacuum adsorption part is fixedly arranged at the bottom of the left end of the hollow square tube, adsorption holes are uniformly distributed on the bottom surface of the vacuum adsorption part, the vacuum tube is fixedly arranged in the hollow square tube and is fixedly communicated with the vacuum adsorption part, and the other end of the vacuum tube is fixedly laid at the upper part of the connecting rod balancing device; the hollow square tube is mainly used for providing a stable supporting function for the vacuum adsorption part and providing a placing space for the vacuum tube; wherein set up the adsorption hole in the bottom of vacuum adsorption portion, mainly utilize the adsorption hole of vacuum adsorption portion bottom to live with resistant firebrick adsorption to the realization is to resistant firebrick's transport, the effect of putting.

the connecting rod balancing device is fixedly arranged at the right side positions of the large arm, the small arm and the electric push rod, one end of the connecting rod balancing device is fixedly connected with the right side bottom of the electric push rod support, and the other end of the connecting rod balancing device is fixedly connected with the right side of the speed reducer support; the arrangement is mainly that under the hinging linkage action of the first connecting rod, the triangular connecting rod and the second connecting rod, the balance traction action on the whole large arm, the small arm and the carrying arm is realized, and the stability of the actions of the large arm, the small arm and the carrying arm is improved.

The upper part of the bottom plate is fixedly provided with a chassis, the central shaft is fixedly arranged at the central position of the upper part of the chassis, the rotor is fixedly arranged at the upper part of the chassis, the central position of the rotor is sleeved at the upper part of the central shaft, the inner side surface of the rotor is provided with inner teeth, the first servo motor is fixedly arranged at the edge position of the rotor, the driving gear is fixedly arranged at the inner edge position of the rotor, the driving gear is fixed through a fixing shaft, the power output shaft of the first servo motor is fixedly connected with the fixing shaft of the driving gear, and the driving gear is meshed with the inner; the central shaft is arranged to mainly realize the rotating action of the rotating body on the chassis; wherein set up drive gear and first servo motor, the rotation through first servo motor drives drive gear's rotation to utilize the meshing effect of drive gear and the inside internal tooth of rotor, 360 rotations of drive rotor on the chassis, thereby realized that big arm, forearm, electric putter and the transport arm on the rotating base rotate 360 positions in specific place.

The worm and gear speed reducer comprises a speed reducer body, wherein a power input shaft is fixedly arranged at the vertical center of the speed reducer body, and a power output shaft is fixedly arranged at the transverse center of the bottom of the speed reducer body; the arrangement is mainly that the power input shaft of the worm gear speed reducer is driven to rotate through the power output shaft, and the vertical rotation direction of the power input shaft is converted into the transverse rotation of the power output shaft in the speed reducer body; when the power input shaft vertically rotates, the hollow square tube of the carrying arm rotates 360 degrees of the horizontal position; when the power output shaft transversely rotates, the axial rotation action of the carrying arm is realized through the fixed connection effect of the fixed cylinder of the speed reducer support body, the power output shaft and the hollow square tube.

The control cabinet body is a cuboid, the parameter adjusting module is fixedly arranged at the upper part of the control cabinet body, the PC chip set is fixedly arranged at the lower part of the parameter adjusting module, and the motion controller is inserted at the upper part of the PC chip set; the first driver is fixedly arranged at the bottom position of the left side of the motion controller, the second driver is fixedly arranged at the right position of the first driver, the third driver is fixedly arranged at the right position of the second driver, and the fourth driver is fixedly arranged at the right position of the third driver; the first driver, the second driver, the third driver and the fourth driver are respectively in plug-in connection with the motion controller through connecting wires; the first driver is fixedly connected with the first servo motor through a connecting wire, the second driver is fixedly connected with the second servo motor through a connecting wire, the third driver is fixedly connected with the third servo motor through a connecting wire, and the fourth driver is fixedly connected with the electric push rod through a connecting wire; the PC chip set is mainly used for storing a motion control program on one hand, realizing connection with a motion controller on the other hand, and sending a pulse instruction of the motion trail of the refractory brick carrying robot by using the motion controller. The motion controller is mainly used for sending motion track instructions of the refractory brick carrying robot through the motion controller according to the programmed motion control program track, transmitting the motion track instructions to the drivers, controlling the rotating speed, the position speed and the angular speed of the first servo motor, the second servo motor and the third servo motor and controlling the propelling stroke of the electric push rod.

The emergency stop device comprises a material detection sensor which is fixedly arranged in the middle of the left end of the supporting bottom plate of the feeding device; the relay is fixedly arranged at the upper position of the left side of the integrated control cabinet motion controller, the main power switch is fixedly arranged at the lower position of the relay, and the relay is fixedly connected with the main power switch through a connecting wire; the main purpose who sets up like this is that the setting of utilizing material detection sensor detects the state of refractory material in the hopper, when material detection sensor detects not having refractory material in the hopper, utilizes the switching of relay control main switch to realized the emergency shutdown to being used for refractory material machine to press forming system robot, avoided not having refractory material in the hopper, leaded to the malfunction of robot. Thereby reducing the occurrence of unsafe accidents.

The invention has the beneficial effects that: the invention provides a robot for a refractory material machine-pressing molding system, which has the advantages of simple design structure, convenient operation, high control accuracy of movement positions and high automation degree; the efficiency of refractory material pay-off among the refractory material machine-pressing molding system has been improved, has improved simultaneously to resistant firebrick's transport and put efficiency, has realized that the robot has reduced the recruitment cost to artifical complete substitution, has improved the security of whole resistant firebrick machine-pressing molding technology, has solved the difficult problem of inviting of workman.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural diagram of a motion control apparatus according to the present invention;

FIG. 3 is a top view of the internal structure of the rotating base of the present invention;

FIG. 4 is a schematic structural diagram of the link balance device of the present invention;

FIG. 5 is a schematic view of the feeding device of the present invention;

FIG. 6 is a side view of the feeding device of the present invention;

FIG. 7 is a schematic structural view of a carrying device according to the present invention;

FIG. 8 is a bottom view of the transfer arm of the present invention;

FIG. 9 is a schematic structural diagram of the worm gear reducer of the present invention;

FIG. 10 is a schematic structural view of a reducer support body of the carrying device of the present invention;

The labels in the figure are: 1. machine-pressing forming machine, 2, drying vehicle, 3, moving track, 4, motion control device, 401, rotating base, 4011, bottom plate, 4012, chassis, 4013, central shaft, 4014, rotating body, 4015, internal teeth, 4016, first servo motor, 4017, driving gear, 402, large arm, 403, small arm, 404, large arm support, 405, electric push rod support, 406, electric push rod, 407, fixed block, 408, first rotating shaft, 409, second rotating shaft, 410, third rotating shaft, 411, second servo motor, 412, third servo motor, 413, link balancing device, 4131, link support, 4132, first link, 4133, triangular link, 4134, second link, 4135, link fixing frame, 4136, articulated shaft, 5, feeding device, 501, support body, 502, articulated connection, 503, swing frame, 504, rotating shaft, 505, bearing seat, 506, square steel, 507, A support base plate, 508, a feed opening, 509, a hopper, 510, a pneumatic discharging device, 5101, a cylinder, 5102, a transverse connecting rod, 5103, a pulling connecting rod, 5104, a hinge, 5105, a discharging plate, 5106, a gas pipe, 5107, a time delay controller, 6, a carrying device, 601, a worm gear speed reducer, 6011, a speed reducer body, 6012, a power input shaft, 6013, a power output shaft, 602, a speed reducer support body, 6021, a support plate, 6022, a through hole, 6023, a fixed cylinder, 603, a carrying arm, 6031, a hollow square pipe, 6032, a fixed sleeve, 604, a vacuum adsorption part, 605, an adsorption hole, 606, a vacuum pipe, 7, an integrated control cabinet, 701, a control cabinet body, 702, a parameter adjusting module, 703, a PC chip group, 704, a motion controller, 705, a first driver, 706, a second driver, 707, a third driver, 708, a fourth driver, 8 and an emergency stopping device, 801. the material detection device comprises a material detection sensor, 802, a relay, 803, a main power switch, 9, a forming die, 10 and refractory bricks.

Detailed Description

The following detailed description of embodiments of the invention is provided in connection with the accompanying drawings.

As shown in the figure, a robot for a refractory material machine-pressing molding system comprises a machine-pressing molding machine 1, a drying vehicle 2 and a moving track 3; the machine pressing forming machine 1 is fixedly arranged at the rear side position of the drying vehicle 2, the multi-layer drying vehicle 2 is fixedly arranged at the front side position of the machine pressing forming machine 1, and the moving track 3 for enabling the drying vehicle 2 to move is fixedly arranged at the bottom position of the drying vehicle 2; two action control devices 4 are fixedly arranged, one is fixedly arranged at the front side position of the mechanical pressing forming machine 1, and the other is fixedly arranged at the right side position of the mechanical pressing forming machine 1; the feeding device 5 is fixedly arranged at the left end position of the action control device 4 at the right side of the mechanical pressing forming machine 1, and the carrying device 6 is fixedly arranged at the left end position of the action control device 4 at the front side of the mechanical pressing forming machine 1; the action control device 4 enables the feeding device 5 to realize the receiving action in a specific field and send the refractory material into a mould of the machine pressing forming machine 1; meanwhile, the operation control device 4 enables the conveying device 6 to convey the refractory bricks 10 in a specific field and place the refractory bricks 10 on the drying vehicle 2 layer by layer; the integrated control cabinet 7 is fixedly arranged at the upper position of the rear side of the mechanical pressing forming machine 1, and the feeding device 5 and the carrying device 6 are fixedly connected with the inside of the integrated control cabinet 7 through connecting wires; the emergency stop device 8 is fixedly arranged in the middle of the left end of the feeding device 5, the forming die 9 is fixedly arranged in the center of the mechanical pressing forming machine 1, and the forming die 9 is used for pressing and forming the refractory materials.

The action control device 4 comprises a rotating base 401, the rotating base 401 comprises a bottom plate 4011, a chassis 4012 is fixedly arranged on the upper portion of the bottom plate 4011, a central shaft 4013 is fixedly arranged at the central position of the upper portion of the chassis 4012, a rotor 4014 is fixedly arranged at the upper portion of the chassis 4012, the central position of the rotor 4014 is sleeved on the upper portion of the central shaft 4013, inner teeth 4015 are arranged on the inner side surface of the rotor 4014, a first servo motor 4016 is fixedly arranged at the edge position of the rotor 4014, a driving gear 4017 is fixedly arranged at the inner edge position of the rotor 4014, the driving gear 4017 is fixed through a fixed shaft, a power output shaft of the first servo motor 4016 is fixedly connected with the fixed shaft of the driving gear 4017, and the driving gear 4017 is meshed with the inner teeth; a large arm support frame 404 is fixedly arranged at the left side of the upper part of the rotating base 401, a large arm 402 is fixedly arranged at the upper part of the large arm support frame 404, the large arm 402 is sleeved on the large arm support frame 404, and a first rotating shaft 408 penetrates through the joint of the large arm 402 and the large arm support frame 404 to be fixedly hinged; the upper part of the large arm 402 passes through the upper part of the large arm 402 through a second rotating shaft 409 and is fixedly hinged with the right end of the small arm 403, and a third rotating shaft 410 passes through the left end of the small arm 403 and is fixedly hinged with the left end; the second servo motor 411 is fixedly arranged at the front side of the second rotating shaft 409, and a power output shaft of the second servo motor 411 is fixedly connected with the second rotating shaft 409; the electric push rod bracket 405 is fixedly arranged at the right edge position of the rotating base 401, the electric push rod 406 is fixedly arranged at the upper part of the electric push rod bracket 405, the fixed block 407 is fixedly connected with the middle position of the large arm 402, and the telescopic push rod of the electric push rod 406 is hinged and fixed with the fixed block 407 through a fixed shaft; the connecting rod balancing device 413 is fixedly arranged at the rear side positions of the large arm 402, the small arm 403 and the electric push rod 406, one end of the connecting rod balancing device 413 is fixedly connected with the bottom of the electric push rod support 405, and the other end of the connecting rod balancing device 413 is fixedly connected with the left side of the small arm 403; the third servomotor 412 is fixedly provided at a left end position of the small wall 403.

the connecting rod balancing device 413 comprises a connecting rod bracket 4131, the connecting rod bracket 4131 is fixedly arranged at the right side position of the electric push rod bracket 405, and the connecting rod bracket 4131 is fixedly connected with the upper part of the rotating body 4014; the first link 4132 is fixedly connected to the link bracket 4131 through the upper portion of the first link 4132 and the upper portion of the link bracket 4131 by means of the hinge shaft 4136; the triangular connecting rod 4133 is fixedly hinged into a triangle by three connecting rods through a hinge shaft 4136 and a second rotating shaft 409, the left end of the triangular connecting rod 4133 is fixedly hinged with the upper part of the first connecting rod 4132 through the hinge shaft 4136, the right end and the upper part of the triangular connecting rod 4133 are fixedly hinged with the left end of the second connecting rod 4134 through the hinge shaft 4136, and the lower part of the triangular connecting rod 4133 is fixedly hinged with the second rotating shaft 409; the right end of the second connecting rod 4134 is fixedly hinged with the connecting rod fixing frame 4135 through a hinge shaft 4136 penetrating through the body thereof, and the connecting rod fixing frame 4135 is fixedly connected with the upper part of the right side of the supporting plate 6021 of the speed reducer supporting body 602.

The feeding device 5 comprises a support body 501, the left end of the support body 501 is an arc-shaped flat plate and is fixedly connected with the right opening into a whole, and the support body 501 is fixedly arranged at the upper part of the hinged connection part 502; the right end of the hinged connection part 502 is sleeved on the left end of the small arm 403 of the motion control device 4 and is hinged and fixed through a third rotating shaft 410, the swing frame 503 is sleeved on the left side of the hinged connection part 502, the hinged connection part 502 is fixedly connected with the swing frame 503 through a rotating shaft 504, the rotating shaft 504 is fixed at the bottom position of the right side of the swing frame 503 through a bearing seat 505, and the upper part of the rotating shaft 504 extends to the upper positions of the support body 501 and the hinged connection part 502; a third servo motor 412 of the motion control device 4 is fixedly arranged on the upper part of the support body 501, and a power output shaft of the third servo motor 412 is fixedly connected with a rotating shaft 504 extending to the upper parts of the support body 501 and the hinge connection part 502; the square steel 506 is fixedly arranged at the middle position of the left side of the swing frame 503, the left end of the square steel 506 is fixedly connected with the supporting bottom plate 507, a discharging opening 508 for discharging is fixed at the middle position of the supporting bottom plate 507, the hopper 509 is in a hollow ladder shape, and the bottom opening of the hopper 509 is equal to the size of the discharging opening 508; the pneumatic discharging device 510 is fixedly arranged at the bottom of the supporting bottom plate 507, the pneumatic discharging device 510 comprises a cylinder 5101, the cylinder 5101 penetrates through the middle position of the right side of the supporting bottom plate 507 and is fixedly arranged, a transverse connecting rod 5102 is fixedly arranged at the middle position of the bottom of a telescopic rod of the cylinder 5101, pulling connecting rods 5103 are respectively arranged at the left side and the right side of the transverse connecting rod 5102, and the transverse connecting rod 5102 and the pulling connecting rods 5103 are fixed through hinged shafts; the unloading plate 5105 is fixedly arranged at the left side and the right side of the supporting bottom plate 507 by the hinge 5104, and the pulling connecting rods 5103 are respectively fixedly connected with the supporting bottom plate 507 which is symmetrically arranged left and right in a closing alignment manner; the gas delivery pipe 5106 is fixedly arranged at the upper position of the cylinder 5101, and the other end of the gas delivery pipe 5106 is fixedly communicated with a high-pressure gas source; the delay controller 5107 is fixedly arranged at one side position of the hopper 509, and the delay controller 5107 is used for controlling the opening and closing control time of the discharging plate 5105 of the pneumatic discharging device 510.

The link holder 4135 of the link balancing device 413 is fixedly disposed at a rear position of the support body 501 of the feeding device 5.

The carrying device 6 comprises a worm speed reducer 601, the worm speed reducer 601 is fixedly arranged on a speed reducer support body 602, the worm and worm speed reducer 601 comprises a speed reducer body 6011, a power input shaft 6012 is fixedly arranged at the vertical center of the speed reducer body 6011, and a power output shaft 6013 is fixedly arranged at the transverse center of the bottom of the speed reducer body 6011; the reducer supporter 602 is fixedly disposed at the left end of the small arm 403,

The reducer support 602 includes a support plate 6021, the support plate 6021 being scoop-shaped, a through hole 6022 fixedly provided at the center part of the support plate 6021, and a fixed cylinder 6023 fixedly provided at a right position of the support plate 60211; the carrying arm 603 is fixedly arranged at the bottom of the worm gear speed reducer 601, the carrying arm 603 comprises a hollow square tube 6031, and a fixing sleeve 6032 is fixedly arranged at the bottom of the right end of the hollow square tube 6031; the vacuum adsorption part 604 is fixedly arranged at the bottom of the left end of the hollow square tube 6031, the bottom surface of the vacuum adsorption part 604 is uniformly and fully provided with adsorption holes 605, the vacuum tube 606 is fixedly arranged in the hollow square tube 6031, the vacuum tube 606 is fixedly communicated with the vacuum adsorption part 604, the other end of the vacuum tube 606 is fixedly laid on the upper part of the connecting rod balancing device 414 and extends to the lower part of the first connecting rod 4142 of the connecting rod balancing device 414 and is fixedly communicated with the suction opening of the exhaust fan.

A power output shaft of the third servo motor 412 is fixedly connected with a power input shaft 6012 of the worm gear speed reducer 601; the power input shaft 6012 of the speed reducer body 6011 passes through the through hole 6022 of the speed reducer support 602 and is fixedly connected to the support plate 6021.

And a fixing sleeve 6032 at the bottom of the hollow square tube 6031 is fixedly sleeved on a power output shaft 6013 at the bottom of the speed reducer body 6011.

The integrated control cabinet 7 comprises a control cabinet body 701, the control cabinet body 701 is a cuboid, a parameter adjusting module 702 is fixedly arranged at the upper position of the control cabinet body 701, a PC chipset 703 is fixedly arranged at the lower position of the parameter adjusting module 702, and a motion controller 704 is inserted at the upper position of the PC chipset 703; a first driver 705 is fixedly disposed at a bottom left position of the motion controller 704, a second driver 706 is fixedly disposed at a right position of the first driver 705, a third driver 707 is fixedly disposed at a right position of the second driver 706, and a fourth driver 708 is fixedly disposed at a right position of the third driver 707; the first driver 705, the second driver 706, the third driver 707 and the fourth driver 708 are respectively connected with the motion controller 704 through connecting lines in a plugging manner; the first driver 705 is fixedly connected with the first servo motor 4016 through a connecting line, the second driver 706 is fixedly connected with the second servo motor 411 through a connecting line, the third driver 707 is fixedly connected with the third servo motor 412 through a connecting line, and the fourth driver 708 is fixedly connected with the electric push rod 406 through a connecting line.

The emergency stop device 8 comprises a material detection sensor 801, and the material detection sensor 801 is fixedly arranged in the middle of the left end of the support bottom plate 507 of the feeding device 5; the relay 802 is fixedly arranged at the upper position of the left side of the integrated control cabinet 7 motion controller 704, the main power switch 803 is fixedly arranged at the lower position of the relay 802, and the relay 802 and the main power switch 803 are fixedly connected through a connecting wire.

The working process of the robot for the refractory material machine-pressing system is as follows: when the carrying robot for molding refractory bricks by using the machine is required to carry and place the refractory bricks 6, firstly, the exhaust fan of the vacuum pipe 418 is started to enable the vacuum adsorption part 416 in the carrying arm 415 of the carrying device 4 to be in a strong negative pressure adsorption state, and simultaneously, the high-pressure air source is started to enable the air cylinder 5101 of the pneumatic unloading device 510 to be in a normal action state; then according to the action motion track planned in a specific field by the robot of the refractory material mechanical pressing molding system planned by mathematical modeling, a motion control program is written and stored in a PC chip set of the integrated control cabinet 7, the pulse control signals instructed by the motion controller 704 are transmitted to a first driver 705, a second driver 706, a third driver 707 and a fourth driver 708 which respectively correspond to the first servo motor 4016, the second servo motor 411, the third servo motor 412 and the electric push rod 406, thereby controlling the rotating speed, the position speed and the angular speed of the first servo motor 4016, the second servo motor 411 and the third servo motor 412 and the advancing stroke of the electric push rod 406 by using the first driver 705, the second driver 706, the third driver 707 and the fourth driver 708, and forming a control closed-loop system; when the feeding device 5 is feeding, the motion control device 4 controls the hopper 509 of the feeding device 5 to be filled with refractory material from the feeding opening through the motion controller 704, the first driver 705, the second driver 706, the third driver 707 and the fourth driver 708 according to the motion track planned by the motion control program, and then sends the refractory material in the hopper 509 to the mold of the machine-pressing forming machine 1 to be pressed and formed into the refractory brick 10; when the material detection sensor 801 at the left end of the hopper 509 detects that no refractory material exists in the mold of the machine-pressing molding machine 1, the material detection sensor 801 converts the detected electric signal into a control signal for controlling the on/off of the main power switch 803 through the relay 802, so that the main power switch 803 is turned off, and at the moment, the whole action control device 4 stops acting; secondly, when the refractory bricks 10 are carried and placed by the carrying device 6, the vacuum adsorption part 604 is in contact with the surface of the refractory bricks 10 formed on the press molding machine 1, the refractory bricks 10 are adsorbed by the strong adsorption force formed by the adsorption holes 605, and then the movement locus predetermined by the movement control program is formed to instantly compose the movement action in a specific field, and the refractory bricks 10 are placed in the drying cart 2 layer by layer. The action of the robot for the refractory material mechanical compression molding system is divided into the following steps: 1. decomposition operation of the operation control device: by utilizing a pulse control signal instructed by the motion controller 704, the rotation of the first servo motor 4016 is controlled by the first driver 705, so that a power output shaft of the first servo motor 4016 drives the driving gear 4017 to rotate, the driving gear 4017 is meshed with internal teeth 4015 of the rotating body 4014, and the rotating body 4014 rotates on the chassis 4012 by 360 degrees through the central shaft 4013, so that the large arm 402, the small arm 403, the electric push rod 406 and the carrying arm 603 on the rotating base 401 rotate by 360 degrees in a specific field. 2. The action of a connecting rod balancing device in the action control device is decomposed: the rotation of the second servo motor 411 and the telescopic stroke of the electric push rod 406 are respectively controlled by a pulse control signal instructed by the motion controller 704 through the second driver 706 and the fourth driver 708, the up-and-down position motion between the large arm 402 and the small arm 403 is realized through the hinging action of the large arm 402, the small arm 403 and the large arm support frame 404, meanwhile, the front-and-back inclined displacement motion of the large arm 402 and the small arm 403 is realized through the telescopic action of the telescopic rod of the electric push rod 406, and simultaneously, the balance traction action on the whole large arm 402, the small arm 403 and the carrying arm 603 is realized under the hinging linkage action of the first connecting rod 4132, the triangular connecting rod 4133 and the second connecting rod 4134 of the connecting rod balancing device 413, so that the motion stability of the large arm 402, the small arm 403 and the carrying arm 603 is improved. 3. And (3) decomposing the action of the feeding device: the rotation of the third servo motor 412 is controlled by a third driver 707 by using a pulse control signal instructed by the motion controller 704, the third servo motor 412 drives the rotating shaft 504 to rotate, the rotating shaft 504 drives the swing frame 503 and the square steel 506 to rotate, at the moment, the supporting bottom plate 507 and the hopper 509 rotate to the discharge opening, when the receiving hopper 509 is full of refractory materials, the feeding device 5 moves to the forming mold 9 of the machine pressing forming machine 1 through the synthetic action controlled and planned by the motion controller 704, the telescopic action of the cylinder 5101 is controlled by the delay controller 5107 of the pneumatic discharging device 510 in the feeding device 5, the telescopic rod of the cylinder 5101 pushes the transverse connecting rod 2 and pulls the connecting rod 5103 to move up and down in a linkage manner, so that the material plate 5105 is opened or closed, the refractory materials in the hopper 509 are poured into the forming mold 9, and the machine pressing forming is performed to form refractory bricks 10. 4. The conveying device decomposes the actions of conveying and placing refractory bricks: the third servo motor 412 is controlled to rotate by a third driver 707 by using a pulse control signal instructed by the motion controller 704, the third servo motor 412 drives the power input shaft 6012 of the worm gear speed reducer 601 to rotate through the power output shaft, and the vertical rotation direction of the power input shaft 6012 is converted into the transverse rotation of the power output shaft 6013 in the speed reducer body 6011; when the power input shaft 6012 rotates vertically, the hollow square tube 6031 of the carrying arm 603 rotates by 360 degrees of the horizontal position; when the power output shaft 6013 rotates laterally, the axial rotation of the transport arm 603 is realized by the fixed connection between the fixed cylinder 6023 of the reducer support 602, the power output shaft 6013, and the hollow square tube 6031. The disassembly operation of the machine-pressed firebrick handling robot is a real-time synthesis operation of the movement track in a specific field, which is completed by the motion controller 704, the first driver 705, the second driver 706, the third driver 707 and the fourth driver 708 to the first servo motor 4016, the second servo motor 411, the third servo motor 412 and the electric push rod 406 by using a motion control program.

Various modifications to the above-described embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A robot for a refractory material machine-pressing molding system comprises a machine-pressing molding machine, a drying vehicle and a moving track; the machine pressing forming machine is fixedly arranged at the rear side position of the drying vehicle, the multi-layer drying vehicle is fixedly arranged at the front side position of the machine pressing forming machine, and the moving track for enabling the drying vehicle to move is fixedly arranged at the bottom position of the drying vehicle; the method is characterized in that: the two action control devices are fixedly arranged, one action control device is fixedly arranged at the front side position of the mechanical pressing forming machine, and the other action control device is fixedly arranged at the right side position of the mechanical pressing forming machine; the feeding device is fixedly arranged at the left end position of the action control device on the right side of the mechanical pressing forming machine, and the carrying device is fixedly arranged at the left end position of the action control device on the front side of the mechanical pressing forming machine; the action control device enables the feeding device to realize the receiving action in a specific field and send the refractory material to a mould of a machine-pressing forming machine; meanwhile, the action control device enables the carrying device to carry the refractory bricks in a specific field and place the refractory bricks on the drying vehicle layer by layer; the integrated control cabinet is fixedly arranged at the upper position of the rear side of the mechanical pressing forming machine, and the feeding device and the carrying device are fixedly connected with the interior of the integrated control cabinet through connecting wires; the emergency stop device is fixedly arranged in the middle of the left end of the feeding device, the forming die is fixedly arranged in the center of the mechanical pressing forming machine, and the forming die is used for pressing and forming the refractory materials.

2. a robot for a refractory machine press molding system as defined in claim 1, wherein: the action control device comprises a rotating base, the rotating base comprises a bottom plate, a chassis is fixedly arranged on the upper portion of the bottom plate, a central shaft is fixedly arranged at the upper center position of the chassis, a rotor is fixedly arranged at the upper portion position of the chassis, the center position of the rotor is sleeved on the upper portion of the central shaft, inner teeth are arranged on the inner side face of the rotor, a first servo motor is fixedly arranged at the edge position of the rotor, a driving gear is fixedly arranged at the inner edge position of the rotor, the driving gear is fixed through a fixing shaft, a power output shaft of the first servo motor is fixedly connected with the fixing shaft of the driving gear, and the driving gear is; a large arm support frame is fixedly arranged at the left side position of the upper part of the rotating base, a large arm is fixedly arranged at the upper part of the large arm support frame, the large arm is sleeved on the large arm support frame, and a first rotating shaft penetrates through the joint of the large arm and the large arm support frame to be fixedly hinged; the upper part of the large arm passes through the upper part of the large arm through a second rotating shaft and is fixedly hinged with the right end of the small arm, and a third rotating shaft passes through the left end of the small arm and is fixedly hinged with the left end of the small arm; the second servo motor is fixedly arranged at the front side position of the second rotating shaft, and a power output shaft of the second servo motor is fixedly connected with the second rotating shaft; the electric push rod bracket is fixedly arranged at the edge position of the right side of the rotating base, the electric push rod is fixedly arranged at the upper part of the electric push rod bracket, the fixed block is fixedly connected with the middle position of the large arm, and the telescopic push rod of the electric push rod is hinged and fixed with the fixed block through the fixed shaft; the connecting rod balancing device is fixedly arranged at the rear side positions of the large arm, the small arm and the electric push rod, one end of the connecting rod balancing device is fixedly connected with the bottom of the electric push rod bracket, and the other end of the connecting rod balancing device is fixedly connected with the left side of the small arm; the third servo motor is fixedly arranged at the left end position of the small wall.

3. A robot for a refractory machine press molding system as defined in claim 2, wherein: the connecting rod balancing device comprises a connecting rod bracket, the connecting rod bracket is fixedly arranged at the right side position of the electric push rod bracket, and the connecting rod bracket is fixedly connected with the upper part of the rotating body; the first connecting rod and the connecting rod bracket are fixedly connected through a hinge shaft passing through the upper part of the first connecting rod and the upper part of the connecting rod bracket; the triangular connecting rod is fixedly hinged with the second rotating shaft into a triangle by utilizing three connecting rods through a hinge shaft, the left end of the triangular connecting rod is fixedly hinged with the upper part of the first connecting rod through the hinge shaft, the right end and the upper part of the triangular connecting rod are fixedly hinged with the left end of the second connecting rod through the hinge shaft, and the lower part of the triangular connecting rod is fixedly hinged with the second rotating shaft; the right end of the second connecting rod and the connecting rod fixing frame penetrate through the body of the connecting rod fixing frame to be fixedly hinged, and the connecting rod fixing frame is fixedly connected with the upper portion of the right side of the supporting plate of the speed reducer supporting body.

4. A robot for a refractory machine press molding system as defined in claim 1, wherein: the feeding device comprises a support body, the left end of the support body is an arc-shaped flat plate and is fixedly connected with the right side in an opening shape into a whole, and the support body is fixedly arranged at the upper part of the hinged connection part; the right end of the hinged connection part is sleeved at the left end of the small arm of the action control device and is hinged and fixed through a third rotating shaft, the swing frame is sleeved at the left side position of the hinged connection part and is fixedly connected with the swing frame through the rotating shaft, the rotating shaft is fixed at the bottom position of the right side of the swing frame through the bearing seat, and the upper part of the rotating shaft extends to the upper positions of the support body and the hinged connection part; a third servo motor of the action control device is fixedly arranged at the upper part of the support body, and a power output shaft of the third servo motor is fixedly connected with a rotating shaft extending to the upper parts of the support body and the hinged connection part; the square steel is fixedly arranged in the middle of the left side of the swing frame, the left end of the square steel is fixedly connected with the supporting bottom plate, a discharging opening for discharging is fixed in the middle of the supporting bottom plate, the hopper is hollow and trapezoidal, and the bottom opening of the hopper is equal to the discharging opening in size; the pneumatic discharging device is fixedly arranged at the bottom of the supporting bottom plate and comprises an air cylinder, the air cylinder penetrates through the middle position of the right side of the supporting bottom plate and is fixedly arranged, the transverse connecting rod is fixedly arranged at the middle position of the bottom of the telescopic rod of the air cylinder, pulling connecting rods are respectively arranged at the left side and the right side of the transverse connecting rod, and the transverse connecting rod and the pulling connecting rods are fixed through a hinged shaft; the discharging plate is fixedly arranged at the left side and the right side of the supporting bottom plate by a hinge, and the pulling connecting rods are respectively and fixedly connected with the supporting bottom plate which is arranged in a bilateral symmetry manner in a closing alignment manner; the gas pipe is fixedly arranged at the upper part of the cylinder, and the other end of the gas pipe is fixedly communicated with a high-pressure gas source; the time delay controller is fixedly arranged at one side of the hopper and is used for controlling the opening and closing control time of the discharging plate of the pneumatic discharging device.

5. A robot for a refractory machine press molding system as defined in claim 3, wherein: the connecting rod fixing frame of the connecting rod balancing device is fixedly arranged at the rear side position of the supporting body of the feeding device.

6. A robot for a refractory machine press molding system as defined in claim 1, wherein: the carrying device comprises a worm speed reducer, the worm speed reducer is fixedly arranged on a speed reducer support body, the worm and gear speed reducer comprises a speed reducer body, a power input shaft is fixedly arranged at the vertical center of the speed reducer body, and a power output shaft is fixedly arranged at the transverse center of the bottom of the speed reducer body; the speed reducer supporting body is fixedly arranged at the left end position of the small arm and comprises a supporting plate in a spoon shape, a through hole is fixedly formed in the center of the supporting plate, and the fixing cylinder is fixedly arranged at the right side position of the supporting plate; the carrying arm is fixedly arranged at the bottom of the worm gear speed reducer and comprises a hollow square tube, and a fixing sleeve is fixedly arranged at the bottom of the right end of the hollow square tube; the vacuum adsorption part is fixedly arranged at the bottom of the left end of the hollow square tube, adsorption holes are uniformly distributed in the bottom surface of the vacuum adsorption part, the vacuum tube is fixedly arranged in the hollow square tube and is fixedly communicated with the vacuum adsorption part, the other end of the vacuum tube is fixedly laid on the upper part of the connecting rod balancing device and extends to the lower part of the first connecting rod of the connecting rod balancing device and is fixedly communicated with the air suction opening of the air exhauster.

7. A robot for a refractory machine press forming system according to claim 6, wherein: a power output shaft of the third servo motor is fixedly connected with a power input shaft of the worm gear speed reducer; the power input shaft of the speed reducer body passes through the through hole of the speed reducer support body and is fixedly connected with the support plate.

8. A robot for a refractory machine press forming system according to claim 6, wherein: the fixed sleeve at the bottom of the hollow square tube is fixedly sleeved on the power output shaft at the bottom of the speed reducer body.

9. A robot for a refractory machine press molding system as defined in claim 1, wherein: the integrated control cabinet comprises a control cabinet body, the control cabinet body is a cuboid, the parameter adjusting module is fixedly arranged at the upper part of the control cabinet body, the PC chip set is fixedly arranged at the lower part of the parameter adjusting module, and the motion controller is inserted at the upper part of the PC chip set; the first driver is fixedly arranged at the bottom position of the left side of the motion controller, the second driver is fixedly arranged at the right position of the first driver, the third driver is fixedly arranged at the right position of the second driver, and the fourth driver is fixedly arranged at the right position of the third driver; the first driver, the second driver, the third driver and the fourth driver are respectively in plug-in connection with the motion controller through connecting wires; the first driver is fixedly connected with the first servo motor through a connecting wire, the second driver is fixedly connected with the second servo motor through a connecting wire, the third driver is fixedly connected with the third servo motor through a connecting wire, and the fourth driver is fixedly connected with the electric push rod through a connecting wire.

10. A robot for a refractory machine press molding system as defined in claim 1, wherein: the emergency stop device comprises a material detection sensor which is fixedly arranged in the middle of the left end of the supporting bottom plate of the feeding device; the relay is fixedly arranged at the upper position of the left side of the integrated control cabinet motion controller, the main power switch is fixedly arranged at the lower position of the relay, and the relay is fixedly connected with the main power switch through a connecting wire.