CN110885910A - Steelmaking robot based on scrap steel recovery - Google Patents
Steelmaking robot based on scrap steel recovery Download PDFInfo
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- CN110885910A CN110885910A CN201911269966.4A CN201911269966A CN110885910A CN 110885910 A CN110885910 A CN 110885910A CN 201911269966 A CN201911269966 A CN 201911269966A CN 110885910 A CN110885910 A CN 110885910A
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21B—MANUFACTURE OF IRON OR STEEL
- C21B3/00—General features in the manufacture of pig-iron
- C21B3/04—Recovery of by-products, e.g. slag
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/20—Recycling
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
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- Chemical & Material Sciences (AREA)
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- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Processing Of Solid Wastes (AREA)
Abstract
The invention relates to the technical field of steel slag treatment, in particular to a steel-making robot based on steel scrap recovery, which comprises a support frame, a moving mechanism, a lifting grabbing mechanism, a stirring mechanism, a vibrating mechanism and a turnover mechanism, wherein the moving mechanism is arranged at the upper end of the support frame, the lifting grabbing mechanism is arranged at the lower end of the moving mechanism, a bottom plate is arranged beside the support frame, the turnover mechanism is arranged above the bottom plate, the vibrating mechanism is arranged at the upper end of the turnover mechanism, the stirring mechanism is arranged on the vibrating mechanism, the stirring mechanism comprises a stirring box, a first rotating motor and a plurality of stirring rollers, a screen for filtering is arranged at the bottom end of the stirring box, the stirring box is arranged on the vibrating mechanism, the stirring rollers are arranged inside the stirring box, and a turnover assembly is arranged on the stirring box. Meanwhile, the equipment is convenient, reliable and efficient, has less demand on labor force, and meets the market demand.
Description
Technical Field
The invention relates to the technical field of steel slag treatment, in particular to a steel-making robot based on scrap steel recovery.
Background
The steel slag is waste slag generated in the metallurgical industry, the generation rate of the steel slag is 8% -15% of the yield of crude steel, and the worldwide discharge amount of the steel slag in 2012 is about 1.8 hundred million tons. The amount of steel slag produced in China is rapidly increased along with the rapid development of the steel industry, so the problems of waste slag treatment and resource utilization of steel enterprises are more and more emphasized.
However, steel slag is not an unusable solid waste, which contains a large amount of usable components such as steel slag, calcium oxide, iron, and magnesium oxide.
Therefore, in order to reuse the steel slag, the surface treatment of the steel slag is required, and therefore, a steel-making robot based on scrap steel recovery is designed.
Disclosure of Invention
The invention aims to provide a steelmaking robot based on scrap steel recovery, which can well remove impurities from the surface of steel slag, and meanwhile, the equipment is convenient, reliable, high in efficiency, low in labor force demand and capable of meeting the market demand.
In order to solve the technical problems, the invention provides the following technical scheme:
provides a steelmaking robot based on scrap steel recovery, which comprises a support frame, a moving mechanism, a lifting grabbing mechanism, a stirring mechanism, a vibrating mechanism and a turnover mechanism, wherein the moving mechanism is movably arranged at the upper end of the support frame, the lifting grabbing mechanism is arranged at the lower end of the moving mechanism, a bottom plate is fixedly arranged beside the support frame, the turnover mechanism is rotatably arranged above the bottom plate, the vibrating mechanism is arranged at the upper end of the turnover mechanism, the stirring mechanism is arranged on the vibrating mechanism, the stirring mechanism, the vibrating mechanism and the turnover mechanism are all arranged beside one end of the support frame, the moving mechanism and the lifting grabbing mechanism are arranged above the stirring mechanism, the stirring mechanism comprises a stirring box, a first rotating motor and a plurality of stirring rollers, the stirring box is rectangular and hollow, a screen mesh for filtering is arranged at the bottom end of the stirring box, the stirring box is arranged on the vibrating mechanism, the rotatable setting of all stirring roller level equidistance is in the inside of agitator tank, and first rotating electrical machines level sets up the side at the agitator tank to servo motor is connected with the stirring roller transmission, is provided with rotatable upset subassembly on the agitator tank.
As an optimal scheme of steel-making robot based on scrap steel recovery, the upset subassembly includes returning face plate and two first pneumatic cylinders, two first pneumatic cylinders symmetry are fixed to be set up on the both ends face of agitator tank, the upper end symmetry of a terminal surface of returning face plate is fixed be provided with two be used for with agitator tank both ends articulated first articulated piece, the lower extreme symmetry of a terminal surface of returning face plate is fixed be provided with two articulated pieces of second, the output shaft of two first pneumatic cylinders is respectively through two connecting plates and two articulated piece fixed connection of second.
As a preferred scheme of a steelmaking robot based on scrap steel recovery, the stirring rollers comprise a first stirring roller and two second stirring rollers, the first stirring roller is rotatably arranged in the middle of the stirring box, the two second stirring rollers are rotatably arranged in the stirring box, the first stirring roller is arranged between the two second stirring rollers, one end of the first stirring roller penetrates through the stirring box and is fixedly connected with an output shaft of a first rotating motor, an output shaft of the first rotating motor is fixedly connected with a driving wheel, one ends of the two second stirring rollers respectively penetrate through the stirring box, one ends of the two second stirring rollers are respectively connected with a driven wheel, the driving wheel is in transmission connection with the two driven wheels through two staggered synchronous belts, four corners at the bottom end of the stirring box are respectively provided with supporting legs for connecting a vibration mechanism, and the lower end of one end face of the stirring box is provided with a strip-shaped groove for discharging, a plurality of stirring rods are uniformly and equidistantly arranged on the first stirring roller and the second stirring roller along the circumferential direction.
As a preferred scheme of the steelmaking robot based on scrap steel recovery, the turnover mechanism comprises a first support, a second support, two fixing seats, two fixing blocks and two second hydraulic cylinders, wherein the two fixing blocks are vertically and symmetrically arranged at two ends of a bottom plate, the two second hydraulic cylinders are respectively vertically and fixedly arranged at the upper ends of the two fixing blocks, the two fixing seats are respectively vertically and symmetrically arranged at two ends of the bottom plate, the two fixing seats are respectively arranged at the side of the two fixing blocks, the first support is arranged at the side of the fixing seats, in addition, the two ends of the bottom of the first support are respectively and fixedly provided with a third hinge block, the third hinge block is hinged with the output end of the second hydraulic cylinder through two first connecting rods, the middle parts of the two first connecting rods are respectively and rotatably arranged at the upper ends of the fixing seats, the second support is arranged above one end, far away from the fixing blocks, two fourth hinge blocks for being hinged with the second support are fixedly arranged at two ends of the, the vibrating mechanism is arranged at the upper ends of the first support and the second support, and the stirring box is arranged right above the first support and the second support.
As a preferred scheme of the steel-making robot based on scrap steel recovery, the vibration mechanism comprises two groups of vibration assemblies, the two groups of vibration assemblies are respectively arranged at two ends of a first support and a second support, the two groups of vibration assemblies are respectively arranged at two ends of a stirring box, each vibration assembly comprises a second rotating motor, a transmission shaft, two T-shaped connecting rods, two second connecting rods, two third connecting rods and four bearing seats, the four bearing seats are respectively and symmetrically fixed at one end of the first support and one end of the second support in an equidistant mode, the transmission shafts are rotatably arranged on the two bearing seats, the second rotating motor is fixedly arranged on the first support through a motor seat, output shafts of the rotating motors are fixedly connected with the transmission shafts, one ends of the two second connecting rods are rotatably arranged at two ends of the transmission shafts, one ends of the two third connecting rods are respectively and rotatably connected with the two bearing seats, the two T-shaped connecting rods are respectively and fixedly connected with the other ends of the two second connecting rods and the two third connecting rods, and the T-shaped connecting rods are fixedly connected with the bottom end of the stirring mechanism.
As an optimal scheme of steel-making robot based on scrap steel recovery, moving mechanism includes the third rotating electrical machines, rack and removal frame, the upper end of support frame is provided with two guide rails along the length direction horizontal fixation of support frame, remove the frame through four sliding blocks and two guide rail sliding connection, four sliding block bisymmetry fixed settings are at the both ends of removing the frame, the fixed upper end that sets up at the support frame of rack, and the fixed side that sets up at the guide rail of rack, the fixed setting of third rotating electrical machines is on the one end of removing the frame, and fixedly connected with is used for the gear that rack drive is connected on the output shaft of third rotating electrical machines, gear and rack toothing, the mechanism setting is snatched in the lower extreme that removes the frame in the lift.
As an optimal scheme of a steelmaking robot based on scrap steel recovery, the lifting grabbing mechanism comprises a lifting control box, a movable box, a third hydraulic cylinder and a grab bucket, the lifting control box is fixedly arranged at the bottom end of a movable frame, the movable box is arranged below the lifting control box, four locking rings are symmetrically and fixedly arranged at the top end of the movable box, the lifting control box is fixedly connected with the four locking rings through ropes, the third hydraulic cylinder is fixedly arranged in the movable box, an output shaft of the third hydraulic cylinder faces downwards, and the grab bucket is hinged and connected with the bottom end of the movable box.
As a preferred scheme of the steelmaking robot based on scrap steel recovery, a hinged plate is fixedly connected to an output shaft of a third hydraulic cylinder, two first hinged points are fixedly arranged at two ends of the hinged plate, second hinged points used for hinging are fixedly arranged at two ends of the grab bucket respectively, and the first hinged points are hinged to the second hinged points through two fourth connecting rods.
Compared with the prior art, the invention has the beneficial effects that: the steelmaking robot based on scrap steel recovery can well remove impurities from the surface of steel slag, and meanwhile, the equipment is convenient, fast, reliable, high in efficiency, low in labor force demand and capable of meeting the market demand.
Drawings
FIG. 1 is a first perspective view of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is a schematic perspective view of the stirring mechanism of the present invention;
FIG. 4 is an exploded perspective view of the stirring mechanism of the present invention;
FIG. 5 is a schematic perspective view of the flipping module of the present invention;
FIG. 6 is an exploded perspective view of the flip assembly of the present invention;
FIG. 7 is a schematic perspective view of the turnover mechanism of the present invention;
FIG. 8 is an exploded perspective view of the canting mechanism of the present invention;
FIG. 9 is a schematic perspective view of the vibration mechanism of the present invention;
FIG. 10 is an exploded perspective view of the vibration mechanism of the present invention;
FIG. 11 is a schematic perspective view of the moving mechanism of the present invention;
FIG. 12 is an exploded perspective view of the moving mechanism of the present invention;
fig. 13 is a schematic perspective view of the lifting clamping mechanism of the present invention;
fig. 14 is an exploded perspective view of the lifting gripper of the present invention;
fig. 15 is an exploded perspective view of the grapple of the present invention.
The reference numbers in the figures are: a support frame 1; a moving mechanism 2; a lifting grabbing mechanism 3; a stirring mechanism 4; a vibration mechanism 5; a turnover mechanism 6; a bottom plate 7; a stirring tank 8; a first rotating electrical machine 9; a slider 10; a screen 11; a flipping assembly 12; a roll-over plate 13; a first hydraulic cylinder 14; a first hinge block 15; a second articulated block 16; a connecting plate 17; a first stirring roller 18; a second stirring roller 19; a driving wheel 20; a driven pulley 21; a synchronous belt 22; support legs 23; a strip groove 24; a stirring rod 25; a first bracket 26; a second bracket 27; a fixed seat 28; a fixed block 29; a second hydraulic cylinder 30; a third hinge block 31; a first connecting rod 32; a fourth hinge block 33; the second rotating electrical machine 34; a transmission shaft 35; a T-shaped connecting rod 36; a second connecting rod 37; a third connecting rod 38; a bearing seat 39; a motor base 40; a third rotating electrical machine 41; a rack 42; a moving frame 43; a guide rail 44; a gear 45; a lift control box 46; a moving box 47; a third hydraulic cylinder 48; a grab bucket 49; a lock ring 50; a rope 51; hinge plates 52; a first hinge point 53; a second hinge point 54; a fourth connecting rod 55.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Referring to fig. 1 to 15, a steel-making robot based on scrap steel recovery comprises a support frame 1, a moving mechanism 2, a lifting grabbing mechanism 3, a stirring mechanism 4, a vibrating mechanism 5 and a turnover mechanism 6, wherein the moving mechanism 2 is movably arranged at the upper end of the support frame 1, the lifting grabbing mechanism 3 is arranged at the lower end of the moving mechanism 2, a bottom plate 7 is fixedly arranged beside the support frame 1, the turnover mechanism 6 is rotatably arranged above the bottom plate 7, the vibrating mechanism 5 is arranged at the upper end of the turnover mechanism 6, the stirring mechanism 4 is arranged on the vibrating mechanism 5, the stirring mechanism 4, the vibrating mechanism 5 and the turnover mechanism 6 are all arranged beside one end of the support frame 1, the moving mechanism 2 and the lifting grabbing mechanism 3 are arranged above the stirring mechanism 4, the stirring mechanism 4 comprises a stirring box 8, a first rotating motor 9 and a plurality of stirring rollers, the stirring box 8 is rectangular and hollow, the bottom of agitator tank 8 is provided with and is used for filterable screen cloth 11, and agitator tank 8 sets up on vibration mechanism 5, and the rotatable setting of all stirring roller horizontal equidistance is in the inside of agitator tank 8, and the level of first rotating electrical machines 9 sets up the side at agitator tank 8 to servo motor is connected with the stirring roller transmission, is provided with rotatable upset subassembly 12 on the agitator tank 8. Firstly, a steel-making robot for recovering scrap steel is arranged at a steel slag stacking position of a steel plant, a support frame 1 is arranged around the steel slag, when the steel-making robot works, a moving mechanism 2 is started, the moving mechanism 2 drives a lifting grabbing mechanism 3 to move towards the upper part of the steel slag, then, the lifting grabbing mechanism 3 works, the lifting grabbing mechanism 3 moves downwards, then, part of the steel slag is grabbed, under the action of the moving mechanism 2 and the lifting grabbing mechanism 3, part of the steel slag is conveyed into a stirring box 8 of a stirring mechanism 4, then, the stirring mechanism 4 works, a first rotating motor 9 is started, the first rotating motor 9 drives a stirring roller to rotate in the stirring box 8, the stirring roller fully mixes and stirs the steel slag in the stirring box 8 and can remove impurities on the surface of the steel slag, then, the vibrating mechanism 5 works, the vibrating mechanism 5 drives the stirring box 8 to swing up and down, screening out the impurities removed from the steel slag in the stirring box 8 from the screen mesh 11, fully operating the stirring mechanism 4 and the vibrating mechanism 5 for a period of time, stopping the operation of the turnover mechanism 6, starting the turnover component 12, opening the discharge hole of the stirring box 8 by the turnover component 12, meanwhile, starting the turnover mechanism 6, driving the stirring mechanism 4 and the vibrating mechanism 5 to rotate by the turnover mechanism 6, dumping the steel slag in the stirring box 8 into a collection box beside the turnover component in the rotating process, finally returning the turnover mechanism 6 to the initial position, stopping the operation, repeating the steps, removing impurities on the surface of one batch of steel slag and another batch of steel slag, and performing secondary utilization after the processed steel slag is accumulated in the collection box to a certain degree so as to achieve the purpose of designing the steel-making robot to recycle the steel slag.
The turnover assembly 12 comprises a turnover plate 13 and two first hydraulic cylinders 14, the two first hydraulic cylinders 14 are symmetrically and fixedly arranged on two end faces of the stirring box 8, two first hinged blocks 15 which are hinged with two ends of the stirring box 8 are symmetrically and fixedly arranged at the upper end of one end face of the turnover plate 13, two second hinged blocks 16 are symmetrically and fixedly arranged at the lower end of one end face of the turnover plate 13, and output shafts of the two first hydraulic cylinders 14 are fixedly connected with the two second hinged blocks 16 through two connecting plates 17 respectively. Firstly, upset subassembly 12 starts, two first pneumatic cylinders 14 operations, and first pneumatic cylinder 14 drives the motion of connecting plate 17, and connecting plate 17 drives the returning face plate 13 and rotates to this discharge gate of opening agitator tank 8, the setting of first articulated piece 15 and the articulated piece 16 of second for first pneumatic cylinder 14 is more ingenious with being connected of returning face plate 13.
The stirring rollers comprise a first stirring roller 18 and two second stirring rollers 19, the first stirring roller 18 is rotatably arranged in the middle of the stirring box 8, the two second stirring rollers 19 are rotatably arranged in the stirring box 8, the first stirring roller 18 is arranged between the two second stirring rollers 19, one end of the first stirring roller 18 penetrates through the stirring box 8 and is fixedly connected with an output shaft of a first rotating motor 9, an output shaft of the first rotating motor 9 is fixedly connected with a driving wheel 20, one ends of the two second stirring rollers 19 respectively penetrate through the stirring box 8, one ends of the two second stirring rollers 19 are respectively connected with a driven wheel 21, the driving wheel 20 is in transmission connection with the two driven wheels 21 through two synchronous belts 22 in a staggered manner, supporting legs 23 used for connecting with the vibration mechanism 5 are respectively arranged at four corners at the bottom end of the stirring box 8, and a strip-shaped groove 24 used for discharging is arranged at the lower end face of the stirring box 8, a plurality of stirring rods 25 are uniformly and equidistantly arranged on the first stirring roller 18 and the second stirring roller 19 along the circumferential direction. Firstly, rabbling mechanism 4 operation, first rotating electrical machines 9 starts, drive action wheel 20 and rotate, action wheel 20 drives first stirring roller 18 and two second stirring roller 19 and rotates, first stirring roller 18 and second stirring roller 19 drive a plurality of stirring rod 25 and rotate, stirring rod 25 carries out abundant edulcoration to the slag in agitator tank 8, reach the operation of rabbling mechanism 4 with this, action wheel 20, from the setting of driving wheel 21 and hold-in range 22, make a first rotating electrical machines 9 can drive the rotation of a plurality of stirring roller, the setting of supporting leg 23, be for better being connected with vibrating mechanism 5, the setting of bar groove 24, be for when upset subassembly 12 is opened, can pour the slag in agitator tank 8, the setting of stirring rod 25, be for better surface contact with the slag, the edulcoration effect to the slag is better.
The vibration mechanism 5 comprises two groups of vibration components, the two groups of vibration components are respectively arranged at two ends of the first support 26 and the second support 27, the two groups of vibration components are respectively arranged at two ends of the stirring box 8, the vibration components comprise a second rotating motor 34, a transmission shaft 35, two T-shaped connecting rods 36, two second connecting rods 37, two third connecting rods 38 and four bearing seats 39, the four bearing seats 39 are respectively and symmetrically and fixedly arranged at one end of the first support 26 and one end of the second support 27 at equal intervals, the transmission shaft 35 is rotatably arranged on the two bearing seats 39, the second rotating motor 34 is fixedly arranged on the first support 26 through a motor seat 40, an output shaft of the rotating motor is fixedly connected with the transmission shaft 35, one ends of the two second connecting rods 37 are rotatably arranged at two ends of the transmission shaft 35, one ends of the two third connecting rods 38 are respectively and rotatably connected with the two bearing seats 39, the two T-shaped connecting rods 36 are respectively and fixedly connected with the other ends of the two second connecting rods 37 and the two third connecting rods 38, and the T-shaped connecting rods 36 are fixedly connected with the bottom end of the stirring mechanism 4. Firstly, the operation of vibration mechanism 5, second rotating electrical machines 34 starts, it rotates to drive transmission shaft 35, second transmission shaft 35 drives two second connecting rods 37 and rotates, two second connecting rods 37 drive two T word connecting rods 36 and rotate, two T word connecting plates 17 drive two third connecting rods 38 and rotate, meanwhile, T word connecting rod 36 drives supporting leg 23 on agitator tank 8, after the high-speed operation of two second rotating electrical machines 34, it carries out high-speed rocking to drive agitator tank 8, make the impurity in agitator tank 8 drop through screen cloth 11, vibration mechanism 5 accomplishes the operation.
The moving mechanism 2 comprises a third rotating motor 41, a rack 42 and a moving frame 43, two guide rails 44 are horizontally and fixedly arranged at the upper end of the support frame 1 along the length direction of the support frame 1, the moving frame 43 is in sliding connection with the two guide rails 44 through four sliding blocks 10, the four sliding blocks 10 are symmetrically arranged at two ends of the moving frame 43 in pairs, the rack 42 is fixedly arranged at the upper end of the support frame 1, the rack 42 is fixedly arranged at the side of the guide rails 44, the third rotating motor 41 is fixedly arranged at one end of the moving frame 43, a gear 45 for transmission connection of the rack 42 is fixedly connected to an output shaft of the third rotating motor 41, the gear 45 is meshed with the rack 42, and the lifting grabbing mechanism 3 is arranged at the lower end of the moving frame 43. Firstly, the moving mechanism 2 is operated, the third rotating motor 41 is started to drive the gear 45 to rotate, the gear 45 rotates on the rack 42, so that the moving frame 43 also moves on the guide rail 44 along with the third rotating motor 41, and the moving frame 43 drives the lifting grabbing mechanism 3 to move on the supporting frame 1.
The lifting grabbing mechanism 3 comprises a lifting control box 46, a moving box 47, a third hydraulic cylinder 48 and a grab bucket 49, wherein the lifting control box 46 is fixedly arranged at the bottom end of the moving frame 43, the moving box 47 is arranged below the lifting control box 46, four locking rings 50 are symmetrically and fixedly arranged at the top end of the moving box 47, the lifting control box 46 is fixedly connected with the four locking rings 50 through ropes 51, the third hydraulic cylinder 48 is fixedly arranged in the moving box 47, an output shaft of the third hydraulic cylinder 48 is arranged downwards, and the grab bucket 49 is hinged to the bottom end of the moving box 47. Firstly, the lifting and grabbing mechanism 3 is operated, the lifting control box 46 is started, the rope 51 is slowly released downwards, the moving box 47, the third hydraulic cylinder 48 and the grab bucket 49 move downwards until the grab bucket 49 reaches the position close to the upper part of the stirring box 8, then the third hydraulic cylinder 48 is started, the grab bucket 49 is opened, steel slag in the grab bucket 49 is released, the steel slag falls into the stirring box 8, and then the grab bucket 49 is moved to the position where the steel slag is stacked under the action of the moving mechanism 2 and the lifting and grabbing mechanism 3 to carry out the next round of steel slag conveying.
A hinge plate 52 is fixedly connected to an output shaft of the third hydraulic cylinder 48, two first hinge points 53 are fixedly arranged at two ends of the hinge plate 52, second hinge points 54 for hinging are fixedly arranged at two ends of the grab bucket 49 respectively, and the first hinge points 53 are connected with the second hinge points 54 in a hinged manner through two fourth connecting rods 55. First, the fourth link 55 is provided such that when the output shaft of the third hydraulic cylinder 48 is output downward, the grab bucket 49 is opened by the fourth link 55 to feed the steel slag into the stirring tank 8, and when the output shaft of the third hydraulic cylinder 48 is retracted upward, the grab bucket 49 is closed by the fourth link 55 to accumulate the steel slag in the grab bucket 49.
The working principle is as follows: firstly, when the steel-making robot works, the moving mechanism 2 is started, the moving mechanism 2 drives the lifting grabbing mechanism 3 to move towards the steel slag stacking position, then, the lifting grabbing mechanism 3 works, the lifting grabbing mechanism 3 drives the grabbing bucket 49 to move downwards, then, the grabbing bucket 49 grabs a part of steel slag, under the action of the moving mechanism 2 and the lifting grabbing mechanism 3, a part of steel slag is conveyed into the stirring box 8 of the stirring mechanism 4, then, the moving mechanism 2 and the lifting grabbing mechanism 3 repeat the above-mentioned operation, then, the stirring mechanism 4 works, the first rotating motor 9 is started, the first rotating motor 9 drives the stirring roller to rotate in the stirring box 8, the stirring roller fully mixes and stirs the steel slag in the stirring box 8 and can remove impurities on the surface of the steel slag, then, the vibrating mechanism 5 works, the vibrating mechanism 5 drives the stirring box 8 to swing up and down, screening out the impurity that removes from the slag in agitator tank 8 from screen cloth 11, behind 5 abundant operations of rabbling mechanism 4 and vibration mechanism a period, the operation stops, then upset subassembly 12 starts, upset subassembly 12 opens the discharge gate of agitator tank 8, and meanwhile, tilting mechanism 6 starts, tilting mechanism 6 drives rabbling mechanism 4 and vibration mechanism 5 and rotates, at the pivoted in-process, with the slag in agitator tank 8 in the collection box of pouring into the side through bar groove 24, last tilting mechanism 6 is getting back to the initial position, tilting mechanism 6 stops the operation, at repeated above-mentioned step afterwards, carry out surperficial edulcoration to a batch of slag again.
Claims (8)
1. A steel-making robot based on scrap steel recovery is characterized by comprising a support frame (1), a moving mechanism (2), a lifting grabbing mechanism (3), a stirring mechanism (4), a vibrating mechanism (5) and a turnover mechanism (6), wherein the moving mechanism (2) is movably arranged at the upper end of the support frame (1), the lifting grabbing mechanism (3) is arranged at the lower end of the moving mechanism (2), a bottom plate (7) is fixedly arranged beside the support frame (1), the turnover mechanism (6) is rotatably arranged above the bottom plate (7), the vibrating mechanism (5) is arranged at the upper end of the turnover mechanism (6), the stirring mechanism (4) is arranged on the vibrating mechanism (5), the stirring mechanism (4), the vibrating mechanism (5) and the turnover mechanism (6) are all arranged beside one end of the support frame (1), and the moving mechanism (2) and the lifting grabbing mechanism (3) are arranged above the stirring mechanism (4), rabbling mechanism (4) are including agitator tank (8), first rotating electrical machines (9) and a plurality of stirring roller, agitator tank (8) are rectangle cavity form, the bottom of agitator tank (8) is provided with and is used for filterable screen cloth (11), agitator tank (8) set up on vibration mechanism (5), the rotatable setting of all stirring roller level equidistance is in the inside of agitator tank (8), first rotating electrical machines (9) level sets up the side in agitator tank (8), and servo motor is connected with the stirring roller transmission, be provided with rotatable upset subassembly (12) on agitator tank (8).
2. The steelmaking robot based on scrap recovery according to claim 1, wherein the tilting assembly (12) comprises a tilting plate (13) and two first hydraulic cylinders (14), the two first hydraulic cylinders (14) are symmetrically and fixedly arranged on two end faces of the stirring box (8), the upper end of one end face of the tilting plate (13) is symmetrically and fixedly provided with two first hinged blocks (15) for being hinged with two ends of the stirring box (8), the lower end of one end face of the tilting plate (13) is symmetrically and fixedly provided with two second hinged blocks (16), and output shafts of the two first hydraulic cylinders (14) are respectively and fixedly connected with the two second hinged blocks (16) through two connecting plates (17).
3. The steelmaking robot based on scrap steel recovery as recited in claim 1, wherein the stirring rollers include a first stirring roller (18) and two second stirring rollers (19), the first stirring roller (18) is rotatably disposed in the middle of the stirring box (8), the two second stirring rollers (19) are rotatably disposed in the stirring box (8), the first stirring roller (18) is disposed in the middle of the two second stirring rollers (19), one end of the first stirring roller (18) passes through the stirring box (8) and is fixedly connected with the output shaft of the first rotating motor (9), the output shaft of the first rotating motor (9) is fixedly connected with a driving wheel (20), one end of the two second stirring rollers (19) respectively passes through the stirring box (8), and one end of each of the two second stirring rollers (19) is connected with a driven wheel (21), the driving wheel (20) is in transmission connection with the two driven wheels (21) through the two synchronous belts (22) in a staggered manner, four turnings of agitator tank (8) bottom are provided with supporting leg (23) that are used for connecting vibration mechanism (5) respectively to bar groove (24) that are used for the ejection of compact are seted up to the lower extreme of agitator tank (8) terminal surface, along the even equidistance of circumferencial direction be provided with a plurality of stirring rod (25) on first stirring roller (18) and second stirring roller (19).
4. The steelmaking robot based on scrap steel recovery as claimed in claim 1, wherein the tilting mechanism (6) comprises a first bracket (26), a second bracket (27), two fixing seats (28), two fixing blocks (29) and two second hydraulic cylinders (30), the two fixing blocks (29) are vertically and symmetrically arranged at two ends of the base plate (7), the two second hydraulic cylinders (30) are respectively vertically and fixedly arranged at the upper ends of the two fixing blocks (29), the two fixing seats (28) are respectively vertically and symmetrically arranged at two ends of the base plate (7), the two fixing seats (28) are respectively arranged at the sides of the two fixing blocks (29), the first bracket (26) is arranged at the side of the fixing seats (28), and third hinge blocks (31) are respectively and fixedly arranged at two ends of the bottom of the first bracket (26), the third hinge blocks (31) are hinged with the output ends of the second hydraulic cylinders (30) through two first connecting rods (32), the middle parts of two head rods (32) all rotate and set up the upper end at fixing base (28), second support (27) set up and keep away from the top of fixed block (29) one end in bottom plate (7), fixed being provided with two on both ends on bottom plate (7) and being used for articulated fourth articulated piece (33) of being connected with second support (27), vibration mechanism (5) set up the upper end at first support (26) and second support (27), agitator tank (8) set up directly over first support (26) and second support (27).
5. The steelmaking robot based on scrap recovery according to claim 1, wherein the vibration mechanism (5) comprises two sets of vibration assemblies, the two sets of vibration assemblies are respectively disposed at both ends of the first bracket (26) and the second bracket (27), and the two sets of vibration assemblies are respectively disposed at both ends of the stirring box (8), the vibration assemblies comprise a second rotating motor (34), a transmission shaft (35), two T-shaped connecting rods (36), two second connecting rods (37), two third connecting rods (38) and four bearing seats (39), the four bearing seats (39) are respectively and fixedly disposed at one end of the first bracket (26) and the second bracket (27) in an equidistant symmetrical manner, the transmission shaft (35) is rotatably disposed on the two bearing seats (39), the second rotating motor (34) is fixedly disposed on the first bracket (26) through a motor seat (40), and the output shaft of rotating electrical machines and transmission shaft (35) fixed connection, the one end of two second connecting rods (37) is rotated and is set up the both ends in transmission shaft (35), the one end of two third connecting rods (38) rotates with two bearing frames (39) respectively and is connected, two T word connecting rods (36) respectively with the other end fixed connection of two second connecting rods (37) and two third connecting rods (38), the bottom fixed connection of T word connecting rod (36) and rabbling mechanism (4).
6. The steelmaking robot based on scrap recovery according to claim 1, wherein the moving mechanism (2) comprises a third rotating motor (41), a rack (42) and a moving frame (43), two guide rails (44) are horizontally and fixedly arranged at the upper end of the supporting frame (1) along the length direction of the supporting frame (1), the moving frame (43) is slidably connected with the two guide rails (44) through four sliding blocks (10), the four sliding blocks (10) are symmetrically arranged at two ends of the moving frame (43), the rack (42) is fixedly arranged at the upper end of the supporting frame (1), the rack (42) is fixedly arranged at the side of the guide rails (44), the third rotating motor (41) is fixedly arranged at one end of the moving frame (43), and a gear (45) for driving connection of the rack (42) is fixedly connected to the output shaft of the third rotating motor (41), the gear (45) is meshed with the rack (42), and the lifting grabbing mechanism (3) is arranged at the lower end of the moving frame (43).
7. The steelmaking robot based on scrap steel recovery as claimed in claim 6, wherein the lifting grabbing mechanism (3) comprises a lifting control box (46), a moving box (47), a third hydraulic cylinder (48) and a grab bucket (49), the lifting control box (46) is fixedly arranged at the bottom end of the moving frame (43), the moving box (47) is arranged below the lifting control box (46), four lock rings (50) are symmetrically and fixedly arranged at the top end of the moving box (47), the lifting control box (46) is fixedly connected with the four lock rings (50) through ropes (51), the third hydraulic cylinder (48) is fixedly arranged in the moving box (47), an output shaft of the third hydraulic cylinder (48) is arranged downwards, and the grab bucket (49) is hinged and connected with the bottom end of the moving box (47).
8. The steelmaking robot based on scrap recovery according to claim 7, wherein the output shaft of the third hydraulic cylinder (48) is fixedly connected with a hinged plate (52), two first hinged points (53) are fixedly arranged at two ends of the hinged plate (52), a second hinged point (54) for hinging is fixedly arranged at two ends of the grab bucket (49), and the first hinged point (53) and the second hinged point (54) are hinged and connected through two fourth connecting rods (55).
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| CN201911269966.4A CN110885910B (en) | 2019-12-11 | 2019-12-11 | Steelmaking robot based on scrap steel recovery |
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| CN110885910B CN110885910B (en) | 2021-10-22 |
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| CN112410506A (en) * | 2020-10-19 | 2021-02-26 | 绵阳双辉金属科技有限公司 | Device for recycling renewable resources and using method thereof |
| CN112616025A (en) * | 2021-01-15 | 2021-04-06 | 湖南镭目科技有限公司 | Metallurgical industry scrap steel crushed aggregates identification system |
| CN112780896A (en) * | 2021-01-15 | 2021-05-11 | 湖南镭目科技有限公司 | Metallurgical industry steel scrap identification system |
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|---|---|
| CN110885910B (en) | 2021-10-22 |
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