CN111482980A - A tongs assembly for dragging for sediment robot - Google Patents
A tongs assembly for dragging for sediment robot Download PDFInfo
- Publication number
- CN111482980A CN111482980A CN202010435807.3A CN202010435807A CN111482980A CN 111482980 A CN111482980 A CN 111482980A CN 202010435807 A CN202010435807 A CN 202010435807A CN 111482980 A CN111482980 A CN 111482980A
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- CN
- China
- Prior art keywords
- slag
- grabbing plate
- gripper
- gripper assembly
- crankshaft
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D3/00—Charging; Discharging; Manipulation of charge
- F27D3/15—Tapping equipment; Equipment for removing or retaining slag
- F27D3/1545—Equipment for removing or retaining slag
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Furnace Charging Or Discharging (AREA)
Abstract
The invention discloses a gripper assembly for a slag dragging robot, which comprises a gripper, wherein the gripper consists of a plurality of gripping plates, and the gripping plates are uniformly arranged along the circumferential direction; the opening and closing mechanism is connected with the hand grips and drives the hand grips to be closed inwards or opened outwards; the invention can reduce the slag dragging times and time, and improve the production efficiency; the furnace wall cleaning agent can effectively clean the slag adhered to the furnace wall, avoid furnace mouth shrinkage caused by adhesion of the slag and the furnace wall in the smelting process, and increase the utilization rate of the furnace lining; molten iron splashing caused by the fact that scum falls in the process of dragging slag can be effectively avoided, waste of the molten iron is reduced, and meanwhile safety is improved.
Description
Technical Field
The invention relates to a gripper assembly, in particular to a gripper assembly for a slag dragging robot.
Background
When molten iron is melted, a large amount of dross is generated in the melting furnace, and the dross needs to be fished out in order not to affect the quality of the molten iron in the operation process. At present, the slag is dragged for in the domestic casting industry and the manual work is dragged for the sediment and the sediment is dragged for mechanically, and the traditional manual work is dragged for the sediment worker and is worn the protection protective equipment low coverage and leave the station at the fire door, and the sediment is chosen outside the stove to the long iron fork, and the manual work is dragged for the sediment security low, and is inefficient, and can the adhesion take away a lot of molten irons when choosing the sediment, causes the waste. Therefore, with the continuous development of the technology, a mechanical slag salvaging machine and a slag salvaging machine gradually appear, a slag salvaging machine hand grip is needed during the operation of the slag salvaging machine, and the existing slag salvaging machine hand grip is generally a common hand grip arranged in a split mode.
For example, the chinese patent application CN201510661638.4 discloses a gripper for a slag conveyor, which comprises a main shaft, an upper gripper, an upper connecting sleeve, a lower gripper, a first pin and a second pin; the pair of lower grippers is respectively hinged on the two main shafts, and the two main shafts are respectively hinged with the pair of upper grippers; the two main shafts are respectively hinged with one end of each of the two lower connecting sleeves, and the other ends of the two lower connecting sleeves are respectively hinged with two first pin shafts; the two first pin shafts are also respectively hinged with one ends of the two upper connecting sleeves, and the other ends of the two upper connecting sleeves are respectively hinged with the second pin shaft. According to the invention, the material of the gripper is modified, the gripper is cast by using a high-temperature resistant material, and the upper gripper serving as a scum separation device is additionally arranged, so that scum can be more effectively separated from the gripper.
The dragveyer tongs that above-mentioned patent application discloses is to open structure, and its structure is more traditional, and this kind of traditional tongs structure is more general in prior art, but in the actual sediment use of dragging for, though can realize mechanical sediment of dragging for, still there is following not enough:
1. according to the traditional split type gripper, in the process of one-time slag grabbing action, two ends of the gripper can generate a slag grabbing dead angle, in the prior art, the gripper is generally rotated by a certain angle along the circumferential direction through a rotating device, and the problem is solved through multiple slag grabbing actions, so that on one hand, the structural complexity of a slag grabbing machine is increased, the equipment cost is increased, and the occupied area of the equipment is also increased; on the other hand, the slag catching time is increased due to the repeated slag catching, the improvement of the production efficiency is seriously influenced, the production cost is increased, and the market demand cannot be met.
2. Traditional dragveyer tongs structure can only fish for interior dross of stove, and in the actual smelting process, the slag can adhere at smelting the stove inner wall, causes the fire door to shrink, and the furnace wall rate of utilization is low, and traditional dragveyer tongs can not clear up the slag on the stove inner wall, and the function is single, and the practicality is low.
3. Traditional dragveyer tongs structure inwards draws in when gripping the dross and extrudeing the dross, and the dross drops from the both ends of tongs easily, and it is not firm to grab the dross, easily produces the molten iron and splashes, not only causes the waste of molten iron, and the potential safety hazard is big.
In view of the above, the prior art is obviously inconvenient and disadvantageous in practical use, and needs to be improved.
Disclosure of Invention
The invention aims to solve the technical problem that the defects are overcome, and provides a gripper assembly for a slag dragging robot, which can realize the following purposes:
1. not only can the scum in the furnace be fished, but also the slag adhered on the furnace wall can be effectively cleaned, thereby avoiding the furnace mouth from being reduced due to the adhesion of the slag and the furnace wall in the smelting process and increasing the utilization rate of the furnace lining.
2. Can realize 360 no dead angles and grab the sediment in once snatching the action, reduce and drag for sediment number of times and time, improve production efficiency.
3. Molten iron splashing caused by scum falling can be effectively avoided, waste of the molten iron is reduced, and safety is improved.
In order to solve the technical problems, the invention adopts the following technical scheme: the gripper assembly for the slag dragging robot comprises a gripper, wherein the gripper is composed of a plurality of gripping plates, and the gripping plates are uniformly arranged along the circumferential direction;
the opening and closing mechanism is connected with the hand grips and drives the hand grips to be closed inwards or opened outwards.
Further, the opening and closing mechanism comprises a lifting disc and a plurality of crankshafts; the lower end of each crankshaft is fixedly connected with one grabbing plate;
the lifting disc is sleeved on the plurality of crankshafts in a sliding manner; through the up-and-down movement of the lifting disc, the plurality of crankshafts drive the plurality of grabbing plates to be simultaneously folded inwards or unfolded outwards.
Further, the crankshaft is a smooth round shaft with two bending parts with opposite bending directions; the upper end of each crankshaft is hinged and fixed on the fixed disc.
Further, the device also comprises a rotating device; the rotating device is fixedly connected to the fixed disc through the connecting arm and drives the gripper and the opening and closing mechanism to rotate.
Furthermore, the left side edge of each grabbing plate is arranged on the inner side of the adjacent grabbing plate on the left side, and the right side edge of each grabbing plate is arranged on the outer side of the adjacent grabbing plate on the right side; or the left side edge of each grabbing plate is arranged on the outer side of the adjacent grabbing plate on the left side, and the right side edge of each grabbing plate is arranged on the inner side of the adjacent grabbing plate on the right side.
Further, the crankshaft includes smoothly connected upper and lower curved portions; the upper bending part is bent inward; the lower curved portion curves outwardly.
Furthermore, a plurality of through holes are uniformly arranged on the lifting disc in the circumferential direction at intervals, and each crankshaft penetrates through one through hole.
Furthermore, a hanging rod is fixedly connected to the center of the lifting disc, the hanging rod is slidably arranged in a guide sleeve, the guide sleeve is arranged at the center of the fixed disc, and the upper end of the hanging rod is connected with a telescopic rod of the oil cylinder.
Furthermore, the grabbing plate is an arc-shaped plate protruding outwards, and long inclined planes are arranged on two side edges of the grabbing plate and one end of the grabbing plate far away from the crankshaft.
Furthermore, the connecting arm is of a hollow cylinder structure, and the oil cylinder is fixedly arranged inside the connecting arm through an oil cylinder fixing plate.
After the technical scheme is adopted, compared with the prior art, the invention has the following advantages:
1. the invention can realize 360-degree no-dead-angle slag grabbing in one grabbing action, reduces the slag dragging times and time, improves the production efficiency, simplifies the structure of the slag dragging machine, reduces the equipment volume and reduces the production cost.
2. The gripping handle is designed in a circular manner, and can be tightly attached to the inner side of the furnace wall to grip downwards to clean the furnace slag on the inner wall of the furnace; and the tongs are rotated by 360 degrees through the rotating device, so that slag at the opening part above the smelting furnace can be effectively cleaned, the slag adhered to the furnace wall can be effectively cleaned, the furnace mouth is prevented from being reduced due to the adhesion of the slag and the furnace wall in the smelting process, and the utilization rate of the furnace lining is increased.
3. The invention can effectively avoid molten iron splashing caused by scum falling, reduce the waste of molten iron and improve the safety.
4. The invention can not only fish the scum in the furnace, but also clean the slag on the inner wall of the furnace, and has multifunction and wide application range.
The present invention will be described in detail below with reference to the accompanying drawings and examples.
Drawings
FIG. 1 is a schematic view of the present invention in its expanded configuration;
FIG. 2 is a schematic view of the present invention in a closed state;
FIG. 3 is a partial schematic view of the open state of the hand grip;
FIG. 4 is a partial schematic view of the closed condition of the fingers;
FIG. 5 is a schematic structural view of a crankshaft;
in the figure, the position of the upper end of the main shaft,
1-oil cylinder, 2-suspender, 3-guide sleeve, 4-fixed disk, 5-lifting disk, 6-crankshaft, 7-grasping plate, 8-oil cylinder fixing plate, 9-connecting arm, 10-hinged member, 11-through hole, 12-rotary disk and 13-rotary motor.
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.
Example 1
As shown in fig. 1-5, the invention provides a gripper assembly for a slag dragging robot, which comprises a gripper, wherein the gripper comprises a plurality of gripping plates 7, and the gripping plates 7 are uniformly arranged at intervals along the circumferential direction to form a circle; the plurality of gripping plates 7 can be folded inwards, closed or opened outwards at the same time, so that the grippers are closed or opened, and the gripping and releasing actions are realized.
In order to avoid interference between two adjacent grabbing plates 7 during opening and closing, the left side edge of each grabbing plate 7 is arranged on the inner side of the adjacent grabbing plate 7 on the left side, the right side edge of each grabbing plate 7 is arranged on the outer side of the adjacent grabbing plate 7 on the right side, or the left side edge of each grabbing plate 7 is arranged on the outer side of the adjacent grabbing plate 7 on the left side, the right side edge of each grabbing plate 7 is arranged on the inner side of the adjacent grabbing plate 7 on the right side, and therefore when the grabbing hand is closed, the grabbing plates 7 are sequentially arranged in a staggered and stacked mode in the circumferential direction clockwise or anticlockwise.
The plurality of grabbing plates 7 are simultaneously folded inwards or unfolded outwards through an opening and closing mechanism, the opening and closing mechanism comprises a lifting disc 5 and a plurality of crankshafts 6, and the crankshafts 6 are smooth round shafts with two bending parts with opposite bending directions; specifically, the crankshaft 6 includes an upper bent portion 61 and a lower bent portion 62, the upper bent portion 61 is bent inward, the lower bent portion 62 is bent outward, and a junction where the upper bent portion 61 and the lower bent portion 62 are joined smoothly; the radius of curvature of the upper curved portion 61 is greater than the radius of curvature of the lower curved portion 62; and the length of the upper bent portion 61 is greater than that of the lower bent portion 62.
The lower end of each crankshaft 6 is fixedly connected with a grabbing plate 7, and the upper end of each crankshaft is hinged and fixed on the fixed plate 4 through a hinge piece 10.
A plurality of through holes 11 are uniformly arranged on the lifting disc 5 in the circumferential direction at intervals, and each crankshaft 6 penetrates through one through hole 11; the lifting disc 5 slides up and down along the crankshafts 6, so that the crankshafts 6 drive the grabbing plates 7 to simultaneously fold inwards or unfold outwards, and grabbing and releasing actions are realized; specifically, when the lifting disc 5 is gradually moved upward from the lower bent portion 62 of the crankshaft 6, the plurality of grip plates 7 are simultaneously gathered inward, and the grips are closed; when the lifting disk 5 moves downward from the upper bent portion 61 of the crankshaft 6, the plurality of gripping plates 7 are simultaneously opened outward and the grippers are opened.
The central point of lifting disk 5 puts fixedly connected with jib 2, jib 2 slides and establishes in uide bushing 3, uide bushing 3 sets up the center at fixed disk 4, the upper end and the telescopic link of hydro-cylinder 1 of jib 2 are connected, and hydro-cylinder 1 drives lifting disk 5 through jib 2 and reciprocates.
The oil cylinder 1 is fixed on an oil cylinder fixing plate 8; the oil cylinder fixing plate 8 is fixedly arranged on the inner wall of the connecting arm 9, the connecting arm 9 is of a hollow column structure, and the lower end of the connecting arm 9 is fixedly connected to the fixed disc 4; the oil cylinder 1 and the suspender 2 are both arranged in the inner cavity of the connecting arm 9.
The gripper also comprises a rotating device, and the rotating device drives the gripper to rotate; the rotating device comprises a rotating disc 12, a rotating motor 13 is connected to the rotating disc, and the rotating motor 13 drives the rotating disc 12 to rotate; the lower end of the rotary disc 12 is fixedly connected with the connecting arm 9, and the upper end of the rotary disc 12 is fixedly installed with the telescopic arm of the slag conveyor.
The grabbing plate 7 is an arc-shaped plate protruding outwards, and long inclined planes are arranged on two side edges of the grabbing plate 7 and one end far away from the crankshaft 6 so as to grab scum and clean slag on the inner wall of the furnace.
The working principle of the invention is as follows:
when scum in a furnace is fished, the oil cylinder 1 retracts and extends out, so that the suspender 2 drives the lifting disc 5 to move upwards or downwards, the plurality of grabbing plates 7 are driven by the plurality of crankshafts 6 to simultaneously inwards draw or outwards open in the process that the lifting disc 5 moves upwards or downwards, and the grippers are inwards closed to grab the scum or outwards open to release the scum.
When the furnace slag on the inner wall of the furnace is cleaned, the gripper extends into the furnace mouth through the telescopic arm of the slag digging machine and is tightly attached to the furnace wall, then the gripper is matched with the oil cylinder 1 to move through the telescopic arm of the slag digging machine, the gripper can be used for cleaning the furnace slag on the furnace wall by downwards gripping along the furnace wall, the gripper is driven by the rotating device to rotate at the furnace mouth, and the circular gripper can be used for cleaning the furnace slag at the furnace mouth.
The invention can realize 360-degree no-dead-angle slag grabbing in one grabbing action, reduces the slag dragging times and time, improves the production efficiency, simplifies the structure of the slag dragging machine, reduces the equipment volume and reduces the production cost.
According to the invention, the grippers are designed in a circular manner, and can be tightly attached to the inner side of the furnace wall to grip downwards to clean the furnace slag on the inner wall of the furnace; and the tongs are rotated by 360 degrees through the rotating device, so that slag at the opening part above the smelting furnace can be effectively cleaned, the slag adhered to the furnace wall can be effectively cleaned, the furnace mouth is prevented from being reduced due to the adhesion of the slag and the furnace wall in the smelting process, and the utilization rate of the furnace lining is increased.
The invention can effectively avoid molten iron splashing caused by scum falling, reduce the waste of molten iron and improve the safety.
The invention can not only fish the scum in the furnace, but also clean the slag on the inner wall of the furnace, and has multifunction and wide application range.
The foregoing is illustrative of the best mode of the invention and details not described herein are within the common general knowledge of a person of ordinary skill in the art. The scope of the present invention is defined by the appended claims, and any equivalent modifications based on the technical teaching of the present invention are also within the scope of the present invention.
Claims (10)
1. The utility model provides a tongs assembly for dragging for sediment robot which characterized in that: the gripper comprises a plurality of gripping plates, and the gripping plates (7) are uniformly arranged along the circumferential direction;
the opening and closing mechanism is connected with the hand grips and drives the hand grips to be closed inwards or opened outwards.
2. The gripper assembly of claim 1, wherein: the opening and closing mechanism comprises a lifting disc (5) and a plurality of crankshafts (6); the lower end of each crankshaft (6) is fixedly connected with a grabbing plate (7);
the lifting disc (5) is sleeved on the crankshafts (6) in a sliding manner; through the up-and-down movement of the lifting disc (5), the plurality of crankshafts (6) drive the plurality of grabbing plates (7) to simultaneously fold inwards or unfold outwards.
3. The gripper assembly of claim 2, wherein: the crankshaft (6) is a smooth round shaft with two bending parts with opposite bending directions; the upper end of each crankshaft (6) is hinged and fixed on the fixed disc (4).
4. The gripper assembly of claim 3, wherein: the automatic opening and closing device is characterized by further comprising a rotating device, wherein the rotating device is fixedly connected to the fixed disc (4) through a connecting arm (9), and the rotating device drives the hand grip and the opening and closing mechanism to rotate.
5. The gripper assembly of claim 1, wherein: the left side edge of each grabbing plate (7) is arranged on the inner side of the adjacent grabbing plate (7) on the left side, and the right side edge of each grabbing plate (7) is arranged on the outer side of the adjacent grabbing plate (7) on the right side; or the left side edge of each grabbing plate (7) is arranged on the outer side of the adjacent grabbing plate (7) on the left side, and the right side edge of each grabbing plate (7) is arranged on the inner side of the adjacent grabbing plate (7) on the right side.
6. The gripper assembly of claim 2, wherein: the crankshaft (6) comprises an upper bent part (61) and a lower bent part (62) which are smoothly connected; the upper bent portion (61) is bent inward; the lower curved portion (62) is curved outward.
7. The gripper assembly of claim 2, wherein: a plurality of through holes (11) are uniformly arranged on the lifting disc (5) in the circumferential direction at intervals, and each crankshaft (6) penetrates through one through hole (11).
8. The gripper assembly of claim 4, wherein: fixedly connected with jib (2) is put at the center of lifting disk (5), jib (2) slide and establish in uide bushing (3), uide bushing (3) set up the center at fixed disk (4), the upper end and the telescopic link of hydro-cylinder (1) of jib (2) are connected.
9. The gripper assembly of claim 2, wherein: the grabbing plate (7) is an arc-shaped plate protruding outwards, and long inclined planes are arranged on two side edges of the grabbing plate (7) and one end of the grabbing plate far away from the crankshaft (6).
10. The gripper assembly of claim 8, wherein: the connecting arm (9) is of a hollow cylinder structure, and the oil cylinder (1) is fixedly arranged inside the connecting arm (9) through an oil cylinder fixing plate (8).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010435807.3A CN111482980A (en) | 2020-05-21 | 2020-05-21 | A tongs assembly for dragging for sediment robot |
| PCT/CN2020/092874 WO2021232468A1 (en) | 2020-05-21 | 2020-05-28 | Gripper assembly for slag salvaging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010435807.3A CN111482980A (en) | 2020-05-21 | 2020-05-21 | A tongs assembly for dragging for sediment robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111482980A true CN111482980A (en) | 2020-08-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010435807.3A Pending CN111482980A (en) | 2020-05-21 | 2020-05-21 | A tongs assembly for dragging for sediment robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111482980A (en) |
| WO (1) | WO2021232468A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114908283A (en) * | 2022-05-06 | 2022-08-16 | 上海金范机械铸造有限公司 | Preparation method of nodular cast iron |
| CN117566420A (en) * | 2023-11-22 | 2024-02-20 | 中节能（连云港）清洁技术发展有限公司 | Method and device for transferring semi-solid viscous material |
| CN117566420B (en) * | 2023-11-22 | 2024-06-28 | 中节能（连云港）清洁技术发展有限公司 | Method and device for transferring semi-solid viscous material |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2648706B2 (en) * | 1992-07-13 | 1997-09-03 | 新日本製鐵株式会社 | Device for scraping out slag of cast iron injection trough |
| CN202648457U (en) * | 2012-06-28 | 2013-01-02 | 长沙有色冶金设计研究院有限公司 | Slag removing device for metal smelting |
| DE202013103865U1 (en) * | 2013-08-27 | 2013-09-10 | Fridolin Ohnemus | Removal device for slag |
| CN105202929B (en) * | 2015-10-15 | 2017-09-26 | 青州市圣洁环保设备科技有限公司 | Hang oneself from a beam multi-functional smelting furnace dragveyer |
| CN205110780U (en) * | 2015-11-04 | 2016-03-30 | 广西玉柴机器股份有限公司 | Smelt electric stove molten iron dragveyer |
| CN209681153U (en) * | 2019-03-25 | 2019-11-26 | 新兴铸管阜康能源有限公司 | The grab mechanisms of cast tube melting frequency conversion furnace dreg grabbing machine |
| 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 |
| CN212123331U (en) * | 2020-05-21 | 2020-12-11 | 青州晨泰机械设备科技有限公司 | A tongs assembly for dragging for sediment robot |
-
2020
- 2020-05-21 CN CN202010435807.3A patent/CN111482980A/en active Pending
- 2020-05-28 WO PCT/CN2020/092874 patent/WO2021232468A1/en active Application Filing
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114908283A (en) * | 2022-05-06 | 2022-08-16 | 上海金范机械铸造有限公司 | Preparation method of nodular cast iron |
| CN117566420A (en) * | 2023-11-22 | 2024-02-20 | 中节能（连云港）清洁技术发展有限公司 | Method and device for transferring semi-solid viscous material |
| CN117566420B (en) * | 2023-11-22 | 2024-06-28 | 中节能（连云港）清洁技术发展有限公司 | Method and device for transferring semi-solid viscous material |
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| WO2021232468A1 (en) | 2021-11-25 |
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