CN110586921A - Intelligent slag dragging robot for metal smelting - Google Patents
Intelligent slag dragging robot for metal smelting Download PDFInfo
- Publication number
- CN110586921A CN110586921A CN201911037730.8A CN201911037730A CN110586921A CN 110586921 A CN110586921 A CN 110586921A CN 201911037730 A CN201911037730 A CN 201911037730A CN 110586921 A CN110586921 A CN 110586921A
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- CN
- China
- Prior art keywords
- arm
- slag
- pull rod
- metal smelting
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D43/00—Mechanical cleaning, e.g. skimming of molten metals
- B22D43/005—Removing slag from a molten metal surface
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Furnace Charging Or Discharging (AREA)
- Manufacture And Refinement Of Metals (AREA)
Abstract
The invention discloses an intelligent slag dragging robot for metal smelting, which comprises a control cabinet and a slag dragging mechanism, wherein the control cabinet is used for controlling the slag dragging mechanism to realize automatic slag dragging; the slag fishing mechanism comprises a slewing bearing and a base, the base is fixed on the ground, the slewing bearing is installed on the base, the slewing bearing is connected with a large-arm pull rod support, the large-arm pull rod support is connected with the bottom end of a large arm and the bottom end of a pull rod, the top end of the large arm is connected with a cross beam, the cross beam is connected with a telescopic arm, and a clamping jaw is installed at the lower end of the telescopic arm. Has the following advantages: the slag can be fished for mechanically, full automation is achieved, manual remote control operation can be achieved, potential safety hazards of workers in slag fishing work are avoided, labor intensity of people is greatly reduced, and loss of metal stock solution can be reduced.
Description
Technical Field
The invention discloses an intelligent slag dragging robot for metal smelting, and belongs to the technical field of mechanical equipment.
Background
At present, the metal casting and smelting mainly adopts the traditional slag fishing mode, which not only has great personal safety hidden trouble, but also has very high labor intensity, very low working efficiency and much loss of metal stock solution. The invention provides slag dragging equipment, aiming at solving the potential safety hazard of slag dragging operation of a slag dragging worker, reducing the labor intensity of slag dragging and improving the benefit.
Disclosure of Invention
Aiming at the defects, the invention provides the intelligent slag dragging robot for metal smelting, which can adopt mechanical slag dragging, realize full-automatic slag dragging, realize manual remote control operation, avoid the potential safety hazard of personnel in slag dragging, greatly reduce the labor intensity of people and reduce the loss of metal stock solution.
In order to solve the technical problems, the invention adopts the following technical scheme:
an intelligent slag dragging robot for metal smelting comprises a control cabinet and a slag dragging mechanism, wherein the control cabinet is used for controlling the slag dragging mechanism to realize automatic slag dragging;
the slag fishing mechanism comprises a slewing bearing and a base, the base is fixed on the ground, the slewing bearing is installed on the base, the slewing bearing is connected with a large-arm pull rod support, the large-arm pull rod support is connected with the bottom end of a large arm and the bottom end of a pull rod, the top end of the large arm is connected with a cross beam, the cross beam is connected with a telescopic arm, and a clamping jaw is installed at the lower end of the telescopic arm.
Furthermore, the outer ring of the slewing bearing is connected with the base through a bolt, the inner ring of the slewing bearing is connected with a large arm pull rod support through a bolt, and the slewing bearing is connected with a motor.
Furthermore, the large arm pull rod support is connected with the large arm and the pull rod through a pin shaft, and a lifting oil cylinder is arranged between the large arm pull rod support and the large arm.
Furthermore, a cross beam ear plate is welded at one end of the cross beam, a support plate is welded at the other end of the cross beam, the top end of the large arm and the top end of the pull rod are connected with the cross beam ear plate through a pin shaft, and a telescopic arm is fixed on the support plate through a bolt.
Furthermore, the control cabinet is connected with a human-computer interaction interface, a distance measuring sensor is installed on a machine body of the slag salvaging mechanism, the distance measuring sensor measures the distance between equipment and the electric furnace, and a measuring result is transmitted to the control cabinet to be used as a basic parameter for controlling the slag salvaging robot to advance and retreat.
Furthermore, a displacement sensor is installed on the telescopic arm, and measures the center distance of the furnace mouth, so that left and right position data of the hand grab are obtained, and a measurement result is transmitted to the control cabinet to be used as left and right basic parameters of the clamping jaw of the slag dragging robot.
Further, the clamping jaw includes the gyration dish, and the lower extreme at flexible arm is installed to the gyration dish, and the upper end of gyration dish is connected with the rotary motor, and the rotary motor drives the gyration dish and rotates.
Further, the clamping jaw still includes the connecting rod, and the upper end of connecting rod is connected with the hydro-cylinder, and the connecting rod lower extreme articulates there are two claw boards, and the claw board articulates there is the V-arrangement backup pad.
Furthermore, the clamping jaw further comprises a connecting arm, the oil cylinder is installed in the connecting arm, the lower end of the connecting rod extends out of the connecting arm, and the V-shaped supporting plate is installed at the lower end of the connecting arm.
Furthermore, the upper portion of the claw plate is straight-edge-shaped, the lower portion of the claw plate is arc-shaped and bent inwards, the middle bending starting position of the claw plate is hinged to the V-shaped supporting plate, and a claw plate protecting sleeve is installed at the lower end of the claw plate.
By adopting the technical scheme, compared with the prior art, the invention has the following technical effects:
the slag can be fished for mechanically, full automation is achieved, manual remote control operation can be achieved, potential safety hazards of workers in slag fishing work are avoided, labor intensity of people is greatly reduced, and loss of metal stock solution can be reduced.
The present invention will be described in detail below with reference to the accompanying drawings and examples.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent slag salvaging robot for metal smelting in the embodiment of the invention;
FIG. 2 is a schematic structural diagram of a fishing component in an embodiment of the present invention;
FIG. 3 is a flow chart of the operation of the slag dragging robot in the embodiment of the invention;
in the figure: 1-a control cabinet; 2-a motor; 3-a slewing bearing; 4-a pull rod; 5-big arm; 6-a cross beam; 7-a telescopic arm; 8-clamping jaw; 10-lifting oil cylinder; 11-big arm pull rod support; 12-a base; 13-a support plate; 14-beam ear plate; 81-a rotary motor; 82-a turn disc; 83-oil cylinder; 84-a connecting rod; 85-claw plate; 86-jaw plate protective sleeve; 87-a linker arm; 88-V shaped support plate.
Detailed Description
Embodiment 1, as shown in fig. 1 to 3, an intelligent metal smelting slag salvaging robot comprises a control cabinet 1 and a slag salvaging mechanism, wherein the control cabinet 1 is used for controlling the slag salvaging mechanism to realize automatic slag salvaging.
Drag for sediment mechanism includes slewing bearing 3 and base 12, base 12 is fixed subaerial, slewing bearing 3 installs on base 12, slewing bearing 3 can carry out 360 degrees rotations for base 12, slewing bearing 3's outer lane passes through the bolt and is connected with base 12, slewing bearing 3's inner circle has big arm pull rod support 11 through bolted connection, slewing bearing 3 is connected with motor 2, big arm pull rod support 11 has the bottom of big arm 5 and the bottom of pull rod 4 through the round pin hub connection, be equipped with between big arm pull rod support 11 and the big arm 5 and lift cylinder 10, the top of big arm 5 is connected with crossbeam 6, the one end welding of crossbeam 6 has crossbeam otic placode 14, the other end welding of crossbeam 6 has a bedplate 13, the top of big arm 5 and the pull rod 4 top are connected with crossbeam otic placode 14 through the round pin axle, bedplate 13 has flexible arm 7 through the bolt fastening, clamping jaw 8 is installed to the lower extreme of flexible arm 7.
The crossbeam 5 and the telescopic arm 6 are telescopic, the crossbeam 5 and the telescopic arm 6 are both connected with oil cylinders, and the telescopic arm 6 and the telescopic crossbeam 5 are stretched and retracted by controlling the oil cylinders through an electric control hydraulic system.
The pull rod, the large arm and the cross beam are connected through a pin shaft and can rotate; the connecting rod structure is adopted, the rear cross beam is kept horizontal at any position of the oil cylinder because when the oil cylinder extends, the large arm rotates anticlockwise to drive the cross beam to have anticlockwise rotating momentum, but the pull rod is not telescopic, the lug plate of the cross beam is pushed to rotate clockwise, and a proper fulcrum is found on the lug plate of the cross beam, so that when the large arm rotates anticlockwise, the anticlockwise rotating momentum of the cross beam is just offset by the clockwise rotating angle of the lug plate of the cross beam pushed by the pull rod, the cross beam is guaranteed to be kept horizontal at any position of the oil cylinder, and when the oil cylinder is shortened, the same principle is adopted.
The clamping jaw 8 comprises a rotary disc 82, the rotary disc 82 is installed at the lower end of the telescopic arm 6, the upper end of the rotary disc 82 is connected with a rotary motor 81, the rotary motor 81 drives the rotary disc 82 to rotate, a connecting arm 87 is installed at the lower end of the rotary disc 82, an oil cylinder 83 is installed in the connecting arm 87, the lower end of the oil cylinder 83 is connected with a connecting rod 84, the lower end of the connecting rod 84 extends out of the connecting arm 87, the lower end of the connecting rod 84 is hinged with two claw plates 85, the upper portions of the claw plates 85 are straight edges, the lower portions of the claw plates 85 are inwards bent arcs, a V-shaped supporting plate 88 is installed at the lower end of the connecting arm 87, the middle bending starting positions of the claw plates are hinged on.
The oil cylinder 83 is controlled to stretch out and draw back through an electric control hydraulic system, when the oil cylinder 83 is shortened, the connecting rod 84 is pushed to ascend, the claw plate 85 is closed, slag is fished, otherwise when the oil cylinder 83 extends, the connecting rod is pushed to descend 84, the claw plate 85 is opened, the slag is placed into the collecting cylinder, the rotary disc 82 can also rotate, the claw plate 85 is driven to rotate 360 degrees, the rotation of the claw plate 360 degrees is realized through the rotation of the electric control hydraulic system control hydraulic motor, the slag can be fished better, the claw plate is moved to the upper portion of the collecting cylinder through the rotation of the rotary support after the slag is fished, and then the slag is put down.
The control cabinet is connected with a human-computer interaction interface, the slewing bearing is controlled by a servo motor, a program is programmed in advance, a fishing area in the furnace is set, the device can automatically rotate to the position of the fishing area, a distance measuring sensor is mounted on a machine body of the slag fishing mechanism, the distance measuring sensor measures the distance between the device and the electric furnace, and the measured result is transmitted to the control cabinet to serve as a basic parameter for controlling the slag fishing robot to advance and retreat.
And a displacement sensor is arranged on the telescopic arm 7 and is used for measuring the center distance of the furnace mouth so as to obtain left and right position data of the hand grip and transmitting the measurement result to the control cabinet to be used as left and right basic parameters of the clamping jaw of the slag dragging robot.
The fishing component 8 reaches the initial position of slag removal, the slag removal key is pressed, the system automatically records the height, the front and back, the left and right position information of the initial position, and the initial position of slag removal is determined in an automatic detection mode.
The metal smelting slag salvaging robot can adopt hydraulic pressure, electric power and pneumatic power as power to realize remote control operation, also can adopt a servo motor as power to realize automatic operation, realizes short-distance slag salvaging, simultaneously adopts a connecting rod structure consisting of a pull rod, a large arm and a cross beam to realize that the cross beam is kept horizontal at any position of an oil cylinder, and realizes the salvaging of liquid level slag of a metal casting smelting furnace through the expansion of the telescopic arm. The crossbeam also can realize stretching out and drawing back to adjust the distance with the fire door as required, slewing bearing of automobile body lower part can 360 degrees rotations, and 360 degrees rotations of automobile body are realized through automatically controlled hydraulic system control hydraulic motor's gyration, deposit the slag setting of dragging for, and the clamping jaw of flexible arm also can 360 degrees rotations, realizes dragging for the all-round of slag, and the flexible of lifting cylinder can realize dragging for the distance of sediment and adjust.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (10)
1. The utility model provides a slag robot is dragged for to metal melting intelligence which characterized in that: the slag salvaging device comprises a control cabinet (1) and a slag salvaging mechanism, wherein the control cabinet (1) is used for controlling the slag salvaging mechanism to realize automatic slag salvaging;
drag for sediment mechanism and include slewing bearing (3) and base (12), base (12) are fixed subaerial, slewing bearing (3) are installed on base (12), slewing bearing (3) are connected with big arm pull rod support (11), big arm pull rod support (11) are connected with the bottom of big arm (5) and the bottom of pull rod (4), the top of big arm (5) is connected with crossbeam (6), crossbeam (6) are connected with flexible arm (7), clamping jaw (8) are installed to the lower extreme of flexible arm (7).
2. The intelligent metal smelting slag dragging robot of claim 1, wherein: the outer ring of the slewing bearing (3) is connected with a base (12) through a bolt, the inner ring of the slewing bearing (3) is connected with a large arm pull rod support (11) through a bolt, and the slewing bearing (3) is connected with a motor (2).
3. The intelligent metal smelting slag dragging robot of claim 1, wherein: the large arm pull rod support (11) is connected with the large arm (5) and the pull rod (4) through a pin shaft, and a lifting oil cylinder (10) is arranged between the large arm pull rod support (11) and the large arm (5).
4. The intelligent metal smelting slag dragging robot of claim 1, wherein: the welding of the one end of crossbeam (6) has crossbeam otic placode (14), and the other end welding of crossbeam (6) has a bedplate (13), and the top of big arm (5) and pull rod (4) top are connected with crossbeam otic placode (14) through the round pin axle, and bedplate (13) are fixed with flexible arm (7) through the bolt.
5. The intelligent metal smelting slag dragging robot of claim 1, wherein: the control cabinet (1) is connected with a human-computer interaction interface, a distance measuring sensor is installed on a machine body of the slag salvaging mechanism, the distance measuring sensor measures the distance between equipment and the electric furnace, and a measuring result is transmitted to the control cabinet (1) to be used as a basic parameter for controlling the slag salvaging robot to advance and retreat.
6. The intelligent metal smelting slag dragging robot of claim 1, wherein: and a displacement sensor is arranged on the telescopic arm (7), measures the center distance of the furnace mouth to obtain the left and right position data of the hand grip and transmits the measurement result to the control cabinet (1) to be used as the left and right basic parameters of the clamping jaw of the slag dragging robot.
7. The intelligent metal smelting slag dragging robot of claim 1, wherein: the clamping jaw (8) comprises a rotary disc (82), the rotary disc (82) is installed at the lower end of the telescopic arm (6), a rotary motor (81) is connected to the upper end of the rotary disc (82), and the rotary motor (81) drives the rotary disc (82) to rotate.
8. The intelligent metal smelting slag dragging robot of claim 1, wherein: the clamping jaw (8) further comprises a connecting rod (84), the upper end of the connecting rod (84) is connected with an oil cylinder (83), the lower end of the connecting rod (84) is hinged with two claw plates (85), and the claw plates (85) are hinged with a V-shaped supporting plate (88).
9. The intelligent metal smelting slag dragging robot of claim 8, wherein: the clamping jaw (8) further comprises a connecting arm (87), the oil cylinder (83) is installed in the connecting arm (87), the lower end of the connecting rod (84) extends out of the connecting arm (87), and the V-shaped supporting plate (88) is installed at the lower end of the connecting arm (87).
10. The intelligent metal smelting slag dragging robot of claim 8, wherein: the upper portion of the claw plate (85) is straight-edge-shaped, the lower portion of the claw plate (85) is arc-shaped and bends inwards, the middle bending starting position of the claw plate (85) is hinged to the V-shaped supporting plate (88), and a claw plate protecting sleeve (86) is installed at the lower end of the claw plate (85).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911037730.8A CN110586921A (en) | 2019-10-25 | 2019-10-25 | Intelligent slag dragging robot for metal smelting |
| PCT/CN2019/128572 WO2021077610A1 (en) | 2019-10-25 | 2019-12-26 | Intelligent slag dragging robot for metal melting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911037730.8A CN110586921A (en) | 2019-10-25 | 2019-10-25 | Intelligent slag dragging robot for metal smelting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110586921A true CN110586921A (en) | 2019-12-20 |
Family
ID=68851909
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911037730.8A Withdrawn CN110586921A (en) | 2019-10-25 | 2019-10-25 | Intelligent slag dragging robot for metal smelting |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110586921A (en) |
| WO (1) | WO2021077610A1 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111889665A (en) * | 2020-05-29 | 2020-11-06 | 广东韶钢松山股份有限公司 | Refining furnace slag dragging platform and application thereof |
| CN112170829A (en) * | 2020-11-06 | 2021-01-05 | 青州晨泰机械设备科技有限公司 | Intelligent slag dragging robot for metal smelting |
| WO2021077610A1 (en) * | 2019-10-25 | 2021-04-29 | 青州晨泰机械设备科技有限公司 | Intelligent slag dragging robot for metal melting |
| CN112808992A (en) * | 2020-12-30 | 2021-05-18 | 新兴铸管股份有限公司 | Slag-dragging robot for smelting electric furnace |
| WO2021232466A1 (en) * | 2020-05-21 | 2021-11-25 | 青州晨泰机械设备科技有限公司 | All-around intelligent slag dredging robot for metal smelting |
| WO2021232468A1 (en) * | 2020-05-21 | 2021-11-25 | 青州晨泰机械设备科技有限公司 | Gripper assembly for slag salvaging robot |
| WO2022095241A1 (en) * | 2020-11-06 | 2022-05-12 | 青州晨泰机械设备科技有限公司 | Versatile lifting type metal smelting intelligent slag-removing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH105988A (en) * | 1996-06-27 | 1998-01-13 | Kobelco Kenki Eng Kk | Machine for removing stuck material to molten metal vessel |
| CN201780007U (en) * | 2010-09-03 | 2011-03-30 | 扬州市恒阳冶金科技有限公司 | Special cinder scraper for electric furnaces |
| KR101716906B1 (en) * | 2011-09-28 | 2017-03-16 | 현대중공업 주식회사 | Automatic Apparatus for Eliminating Slag of Melting Furnace |
| CN204616600U (en) * | 2015-04-30 | 2015-09-09 | 福建农林大学 | Harvester working arm frame for movement |
| CN207982300U (en) * | 2017-11-30 | 2018-10-19 | 上海梅山钢铁股份有限公司 | Slag cleaning plant |
| CN110026549A (en) * | 2018-05-27 | 2019-07-19 | 苏州铭阳智能科技有限公司 | A kind of robot automatic collector of residue device for ingot casting production line |
| CN109093605A (en) * | 2018-08-31 | 2018-12-28 | 南京涵铭置智能科技有限公司 | A kind of intelligent accurate positioning mechanical arm |
| CN110586921A (en) * | 2019-10-25 | 2019-12-20 | 青州晨泰机械设备科技有限公司 | Intelligent slag dragging robot for metal smelting |
-
2019
- 2019-10-25 CN CN201911037730.8A patent/CN110586921A/en not_active Withdrawn
- 2019-12-26 WO PCT/CN2019/128572 patent/WO2021077610A1/en active Application Filing
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021077610A1 (en) * | 2019-10-25 | 2021-04-29 | 青州晨泰机械设备科技有限公司 | Intelligent slag dragging robot for metal melting |
| WO2021232466A1 (en) * | 2020-05-21 | 2021-11-25 | 青州晨泰机械设备科技有限公司 | All-around intelligent slag dredging robot for metal smelting |
| WO2021232468A1 (en) * | 2020-05-21 | 2021-11-25 | 青州晨泰机械设备科技有限公司 | Gripper assembly for slag salvaging robot |
| CN111889665A (en) * | 2020-05-29 | 2020-11-06 | 广东韶钢松山股份有限公司 | Refining furnace slag dragging platform and application thereof |
| CN112170829A (en) * | 2020-11-06 | 2021-01-05 | 青州晨泰机械设备科技有限公司 | Intelligent slag dragging robot for metal smelting |
| WO2022095241A1 (en) * | 2020-11-06 | 2022-05-12 | 青州晨泰机械设备科技有限公司 | Versatile lifting type metal smelting intelligent slag-removing robot |
| WO2022095240A1 (en) * | 2020-11-06 | 2022-05-12 | 青州晨泰机械设备科技有限公司 | Intelligent slag dragging robot for metal melting |
| CN112808992A (en) * | 2020-12-30 | 2021-05-18 | 新兴铸管股份有限公司 | Slag-dragging robot for smelting electric furnace |
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|---|---|
| WO2021077610A1 (en) | 2021-04-29 |
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| PB01 | Publication | ||
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| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20191220 |