CN111360241A - Slag dragging mechanical arm, robot and slag dragging method - Google Patents

Abstract

The invention discloses a slag dragging manipulator, a robot and a slag dragging method. The slag dragging robot comprises a mechanical arm and a slag dragging mechanical arm arranged on an oil cylinder at the tail end of the mechanical arm. The slag dragging manipulator comprises a body, a spiral plate, a rotary driving device and a slag removing mechanism, wherein the spiral plate is installed on the body; the rotation axis of the spiral plate is vertically arranged. The invention realizes mechanical slag salvaging and slag removal, and workers can complete the work by operating mechanical equipment, thereby reducing the labor intensity, improving the production efficiency and being beneficial to ensuring the personal safety.

Description

Slag catching manipulator, robot and slag catching method

technical field

The invention relates to a manipulator used for cleaning scum of metal liquid smelting in a casting electric furnace, and also relates to a slag scavenging robot and a slag scavenging method.

Background technique

At present, the cleaning of liquid metal slag smelted by electric casting furnaces is mainly completed by workers working at close distances beside the highly dangerous electric furnaces. There are problems such as high labor intensity, high safety risks, low efficiency and unstable quality. Several existing mechanical slag fishing equipment also relies heavily on manual operation, especially in the slag cleaning process, which requires manual close-up cleaning, and the problems of personal safety, low efficiency and high cost cannot be completely solved.

SUMMARY OF THE INVENTION

The present invention proposes a slag scavenging manipulator, a robot and a slag scavenging method, the purpose of which is to reduce labor intensity of workers, improve efficiency and ensure production safety.

The technical scheme of the present invention is as follows:

A slag fishing manipulator includes a main body, a spiral plate installed on the main body, a rotary drive device for driving the spiral plate to rotate relative to the main body, and a slag cleaning mechanism for removing the dregs on the spiral plate;

The rotation axis of the spiral plate is arranged vertically.

As a further improvement of the above manipulator: the screw plate is installed on the lower end of the rotating shaft, and the rotating shaft is provided with an external thread, the external thread and the screw plate have the same rotation direction and the same lead; the upper end of the external thread There is a blank segment between the upper end of the rotary shaft and the shaft;

The rotary drive device is a third motor for driving the rotary shaft to rotate;

The slag cleaning mechanism includes a lifting plate, a guide rod and a slag cleaning block;

The nut on the lifting plate is matched with the external thread; the guide rod is vertically arranged and is fixedly connected with the body; the lifting plate is slidably connected with the guide rod;

The slag cleaning block is installed on the lifting plate; the slag cleaning block is used to remove the dregs on the surface of the spiral plate.

As a further improvement of the above-mentioned manipulator: the slag-cleaning block includes an upper-cleaning slag block and a lower-cleaning slag block; a gap is left between the upper-cleaning slag block and the lower-cleaning slag block, and the former is used to clean the dregs located on the upper surface of the spiral plate, The latter is used to clean the dross located on the lower surface of the spiral plate.

The invention also discloses a slag scavenging robot, including the slag scavenging manipulator;

It also includes a manipulator; the manipulator comprises a vertically arranged oil cylinder, and the body of the slag fishing manipulator is installed on the lower end of the telescopic rod of the oil cylinder.

As a further improvement of the above robot: the mechanical arm also includes a column, a slewing support, a walking beam and a walking trolley;

The walking beam is installed on the upper end of the column through a slewing support; the walking trolley travels along the walking beam, and the cylinder body of the oil cylinder is installed on the walking trolley.

As a further improvement of the above robot, it further includes a second motor for driving the traveling beam to rotate relative to the upright column and a first motor for driving the traveling trolley to move along the traveling beam.

As a further improvement of the above robot: the walking beam is provided with two left and right sprockets, and transmission is realized between the sprockets through a transmission chain, the first motor is used to drive one of the sprockets to rotate, and the walking trolley is connected to the The drive chain is connected.

As a further improvement of the above robot: a hydraulic station is also installed on the walking beam, and the hydraulic station and the walking trolley are located on both sides of the column respectively.

As a further improvement of the above robot: it further includes a first pressure sensor for detecting the pressure of hydraulic oil in the oil cylinder and a second pressure sensor for detecting the load of the third motor.

Using the above-mentioned slag scavenging robot to carry out slag scavenging, the steps are:

(I) The third motor starts to drive the rotary shaft and the screw plate to rotate forward, so that the nut on the lifting plate is lifted to the blank section; at the same time, the slag fishing manipulator moves to the target slag fishing point under the operation of the mechanical arm;

(II) The third motor continues to rotate, at the same time, the oil cylinder is extended, and the slag fishing manipulator is lowered. When it is detected that the pressure values of the first pressure sensor and the second pressure sensor have changed abruptly, it is determined that the screw plate is in contact with the liquid surface;

(III) The oil cylinder is extended at the preset speed, while the screw plate continues to rotate until it reaches the target depth;

(IV) The third motor stops rotating, the oil cylinder retracts, and drives the slag removal manipulator to lift until the screw plate leaves the liquid surface;

(V) The manipulator moves to move the slag manipulator to the slag unloading position;

(VI) The third motor starts to reverse, so that the nut on the lifting plate is matched with the external thread, the external thread drives the lifting plate and the slag cleaning block to descend, so that the slag cleaning block removes the dregs on the surface of the spiral plate, and finally the third motor stops rotating .

Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention realizes mechanical slag scooping and slag cleaning, workers can complete work by manipulating mechanical equipment, reducing labor intensity, improving production efficiency, and has It is beneficial to protect personal safety; (2) The manipulator and its slag cleaning mechanism have a simple structure and are easy to control. The immersion state and the slag cleaning state can be converted by controlling the forward and reverse rotation of the motor. Specifically, the forward rotation of the motor can reduce the immersion liquid level. At the same time, the slag removal block can be lifted to a height that does not interfere with the screw plate by using the threaded mechanism, and when the motor is reversed, the nut on the lifting plate will be automatically combined with the external thread. Push the slag cleaning block to move down, and automatically complete the dregs cleaning; (3) The pressure sensor can quickly determine whether the spiral plate is in contact with the liquid level.

Description of drawings

FIG. 1 is a schematic structural diagram of the robot of the present invention.

FIG. 2 is a partial schematic view of part A in FIG. 1 .

Detailed ways

Describe the technical scheme of the present invention in detail below in conjunction with accompanying drawing:

As shown in Fig. 1, a slag scavenging robot includes a manipulator arm and a slag scavenging manipulator 13 installed at the end of the manipulator arm.

The robotic arm includes a column 4 , a slewing support 5 , a traveling beam 9 and a traveling trolley 12 .

The walking beam 9 is installed on the upper end of the column 4 through the slewing support 5 ;

The robotic arm further includes a second motor 8 for driving the traveling beam 9 to rotate relative to the upright column 4 and a first motor 6 for driving the traveling trolley 12 to move along the traveling beam 9 .

The walking beam 9 is provided with two left and right sprockets 7. The transmission chain is used between the sprockets 7 to realize transmission. The first motor 6 is used to drive one of the sprockets 7 to rotate. The walking trolley 12 is connected to the transmission. The chains are connected, and the first motor 6 drives the traveling trolley 12 to move through the transmission chain mechanism.

The second motor 8 drives the traveling beam 9 to rotate through a gear structure or other transmission mechanism. The slewing support 5 is also provided with a brake device 3 . The brake device 3 includes two movable brake blocks, which are used to contact the brake pads rotating with the travel beam 9 and fix the angle of the travel beam 9 relative to the column 4 .

The robotic arm also includes an oil cylinder 11 vertically arranged and mounted on the traveling trolley 12 .

A hydraulic station 1 is also installed on the traveling beam 9 , and the hydraulic station 1 and the traveling trolley 12 are respectively located on both sides of the column 4 . The hydraulic station 1 is provided with a hydraulic pump 2, and the hydraulic pump 2 is used to provide hydraulic oil for each hydraulic motor and the oil cylinder 11. The hydraulic station 1 is also provided with control elements such as hydraulic valves. The hydraulic station 1 not only acts as a power device, but also acts as a counterweight device to change the load of the traveling beam 9 to be balanced.

As shown in FIG. 2 , the slag removal manipulator 13 includes a main body 13-2, a spiral plate 13-10 installed on the main body 13-2, and a rotary drive for driving the spiral plate 13-10 to rotate relative to the main body 13-2. The device and the slag cleaning mechanism for removing the dregs on the spiral plates 13-10.

The rotation axis of the spiral plate 13-10 is vertically arranged, the spiral plate 13-10 is installed on the lower end of the rotary shaft 13-6, and the rotary shaft 13-6 is provided with an external thread 13-7. The external thread 13-7 and the screw plate 13-10 have the same rotation direction and the same lead; a blank section is left between the upper end of the external thread 13-7 and the upper end of the rotary shaft 13-6.

The upper end of the rotary shaft 13-6 is connected to the output shaft of the third motor 13-1 through the first wedge iron 13-5, and the other end is connected to the core shaft of the spiral plate 13-10 through the second wedge iron 13-12.

The rotary drive device is a third motor 13-1 for driving the rotary shaft 13-6 to rotate.

The slag cleaning mechanism includes a lifting plate 13-4, a guide rod 13-3 and a slag cleaning block.

The nut on the lift plate 13-4 is matched with the external thread 13-7; the guide rod 13-3 is vertically arranged and is fixedly connected with the main body 13-2; the lift plate 13- 4 is slidably connected with the guide rod 13-3, and is driven up and down relative to the main body 13-2 by the third motor 13-1. A limit switch 13-11 for the lift plate 13-4 is also installed on the main body 13-2.

The slag cleaning block is installed on the lifting plate 13-4; the slag cleaning block is used to remove the dregs on the surface of the spiral plate 13-10.

Specifically, the slag-cleaning blocks include an upper-cleaning slag block 13-8 and a lower-cleaning slag block 13-9; a gap is left between the upper-cleaning slag block 13-8 and the lower-cleaning slag block 13-9, and the former is used for cleaning The dregs on the upper surface of the spiral plate 13-10, the latter is used for cleaning the dregs on the lower surface of the spiral plate 13-10.

The body 13 - 2 of the slag removal manipulator 13 is installed on the lower end of the telescopic rod of the oil cylinder 11 .

The robot further includes a first pressure sensor 10 for detecting the pressure of hydraulic oil in the oil cylinder 11 and a second pressure sensor 14 for detecting the load of the third motor 13-1.

The robot is also equipped with a position detection system, including: an angle detection device is provided for detecting the angle of the walking beam 9 relative to the column 4; a displacement detection device is provided on the walking beam 9 and the walking trolley 12 for detecting the walking The position on the beam 9; the oil cylinder 11 is provided with a position detection device for detecting the position of its telescopic rod to control the height of the manipulator.

The robot also includes an electronic control console 15 and a remote control receiver 16 . The robot has at least three control modes: manual, remote control and automatic:

Manual mode: the operator sends a control signal to the hydraulic station 1 through the electronic control console 15 to make the components such as the motor and the oil cylinder 11 operate.

Remote control mode: the operator sends a control signal through the remote control, and the electronic control console 15 forwards the signal received by the remote control receiver 16 to realize control.

Automatic mode: control the robot manually or remotely to complete the action to be completed, and record the position of each joint and component through the detection device to complete the teaching. During slag production, the electronic control console 15 automatically sends control signals to realize actions according to the teaching process, and obtains the status of the robot by monitoring the signals returned by each detection device, and completes the step conversion in time until the operation is completed.

Specifically, the steps for the above-mentioned slag scavenging robot to scavenge slag are:

(I) The third motor 13-1 is started to drive the rotary shaft 13-6 and the screw plate 13-10 to rotate forward, so that the nut on the lift plate 13-4 is lifted to the blank section; at the same time, the manipulator is operated by the manipulator arm. Move to the target slag fishing point;

(II) The third motor 13-1 continues to rotate, while the oil cylinder 11 is extended, and the slag removal manipulator 13 is lowered. When it is detected that the pressure values of the first pressure sensor 10 and the second pressure sensor 14 both change abruptly, it is determined that the spiral plate 13 -10 touches the liquid level;

(III) The oil cylinder 11 extends the preset length at the preset speed, and at the same time the spiral plate 13-10 continues to rotate until it reaches the target depth; the spiral plate 13-10 enters the liquid surface in a screwed-in attitude, which can reduce the resistance At the same time, it can also avoid disturbing the dregs as much as possible, preventing the dregs from spreading and affecting the slag fishing;

(IV) The third motor 13-1 stops rotating, the oil cylinder 11 retracts, and drives the slag removal manipulator 13 to lift until the spiral plate 13-10 leaves the liquid surface; during the rising process, the scum falls on the spiral plate 13-10, followed it leaves the molten metal;

(V) The manipulator moves to move the slag fishing manipulator 13 to the slag unloading position;

(VI) The third motor 13-1 starts to reverse, so that the nut on the lifting plate 13-4 is matched with the outer thread 13-7, and the outer thread 13-7 drives the lifting plate 13-4 and the slag cleaning block to descend, so as to clear the slag The dregs on the surface of the screw plate 13-10 are removed by the block, and finally the third motor 13-1 stops rotating.

Then it can return to step (I), and the slag removal and slag removal work can be cycled.

This system can be used not only in the metallurgical field, but also in other fields that require similar slag fishing operations.

Claims (10)

1. A slag fishing manipulator, characterized in that it comprises a main body (13-2), and also comprises a spiral plate (13-10) mounted on the main body (13-2) for driving the spiral plate (13-10) A rotary drive device that rotates relative to the body (13-2) and a slag cleaning mechanism for removing scum from the spiral plate (13-10); The rotation axis of the spiral plate (13-10) is arranged vertically. 2. The slag fishing manipulator according to claim 1, wherein the spiral plate (13-10) is installed on the lower end of the rotary shaft (13-6), and the rotary shaft (13-6) is provided with External thread (13-7), the external thread (13-7) and the screw plate (13-10) have the same rotation direction and the same lead; the upper end of the external thread (13-7) is connected to the rotary shaft (13 -6) leave a blank segment between the upper ends; The rotary drive device is a third motor (13-1) for driving the rotary shaft (13-6) to rotate; The slag cleaning mechanism includes a lifting plate (13-4), a guide rod (13-3) and a slag cleaning block; The nut on the lift plate (13-4) is matched with the external thread (13-7); the guide rod (13-3) is vertically arranged and fixed to the body (13-2) connection; the lift plate (13-4) is slidingly connected with the guide rod (13-3); The slag cleaning block is installed on the lifting plate (13-4); the slag cleaning block is used to remove the dregs on the surface of the spiral plate (13-10). 3. The slag fishing manipulator according to claim 2, characterized in that: the slag cleaning block comprises a supercleaning slag block (13-8) and a lower cleaning slag block (13-9); 8) There is a gap between the bottom cleaning block (13-9), the former is used to clean the dregs located on the upper surface of the spiral plate (13-10), and the latter is used to clean the lower surface of the spiral plate (13-10) scum. 4. A slag scavenging robot, characterized in that: comprising the slag scavenging manipulator (13) as claimed in claim 2; It also includes a manipulator; the manipulator comprises a vertically arranged oil cylinder (11), and the body (13-2) of the slag fishing manipulator (13) is installed on the lower end of the telescopic rod of the oil cylinder (11). 5. The slag fishing robot according to claim 4, characterized in that: the mechanical arm further comprises a column (4), a slewing support (5), a walking beam (9) and a walking trolley (12); The walking beam (9) is installed on the upper end of the column (4) through the slewing support (5); the walking trolley (12) walks along the walking beam (9), and the cylinder body of the oil cylinder (11) is installed on the walking trolley (12) on. 6. The slag fishing robot according to claim 5, characterized in that it further comprises a second motor (8) for driving the traveling beam (9) to rotate relative to the upright column (4) and a second motor (8) for driving the traveling trolley ( 12) A first motor (6) moving along the walking beam (9). 7. The slag fishing robot according to claim 6, characterized in that: the walking beam (9) is provided with two left and right sprockets (7), and transmission is realized between the sprockets (7) through a transmission chain, so The first motor (6) is used to drive one of the sprockets (7) to rotate, and the traveling trolley (12) is connected with the transmission chain. 8 . The slag fishing robot according to claim 5 , wherein a hydraulic station ( 1 ) is also installed on the walking beam ( 9 ), and the hydraulic station ( 1 ) and the walking trolley ( 12 ) are respectively located on the upright column. 9 . (4) on both sides. 9. The slag fishing robot according to any one of claims 4 to 8, characterized in that it further comprises a first pressure sensor (10) for detecting the hydraulic oil pressure in the oil cylinder (11) and a third motor (10) for detecting the pressure of the hydraulic oil in the oil cylinder (11). 13-1) Loaded second pressure sensor (14). 10. A method for scavenging slag, characterized in that: adopting the slag scavenging robot according to claim 9 to carry out slag scavenging, the steps are: (I) The third motor (13-1) starts to drive the rotary shaft (13-6) and the screw plate (13-10) to rotate forward, so that the nut on the lift plate (13-4) is lifted to the blank section; , the slag fishing manipulator (13) moves to the target slag fishing point under the operation of the manipulator arm; (II) The third motor (13-1) continues to rotate, while the oil cylinder (11) is extended, and the slag fishing manipulator (13) is lowered, when the pressure of the first pressure sensor (10) and the second pressure sensor (14) is detected After the values all change abruptly, it is judged that the spiral plate (13-10) is in contact with the liquid surface; (III) The oil cylinder (11) is extended at the preset speed, while the spiral plate (13-10) continues to rotate until it reaches the target depth; (IV) The third motor (13-1) stops rotating, the oil cylinder (11) retracts, and drives the slag fishing manipulator (13) to lift until the spiral plate (13-10) leaves the liquid surface; (V) The manipulator moves to move the slag fishing manipulator (13) to the slag unloading position; (VI) The third motor (13-1) starts to reverse, so that the nut on the lift plate (13-4) is matched with the external thread (13-7), and the external thread (13-7) drives the lift plate (13-4) ) and the slag-cleaning block descends, so that the slag-cleaning block removes the dregs on the surface of the spiral plate (13-10), and finally the third motor (13-1) stops rotating.

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