CN111558947A - Automatic steel ladle hooking equipment for steel mill - Google Patents

Abstract

An automatic steel ladle hook device in a steel mill belongs to the technical field of steel ladle devices. When the steel slag is poured manually, workers can be injured by splashing of high-temperature steel slag in the slag ladle when hanging rings into the lifting lugs and hooks of the slag ladle in a short distance. The invention comprises a crawler type trolley, a shield and a pitching picking mechanism, wherein the pitching picking mechanism is connected with the upper end of a crawler type trolley body through an external tooth flange, the shield is covered at the connection part of the pitching picking mechanism and the crawler type trolley body, and the shield is connected with a base of the pitching picking mechanism. According to the automatic steel ladle hooking device for the steel mill, a manual operation mode is replaced by machinery, so that the phenomenon that workers are damaged due to splashing of high-temperature steel slag in the slag pot and scalding due to high-temperature waste heat of the slag pot in a close-range hooking process is avoided, the operation environment of the workers is improved, the working strength of the workers is reduced, the working comfort is improved, and a foundation is laid for intelligent unmanned automation of each process link of a subsequent steel mill.

Description

Automatic steel ladle hooking equipment for steel mill

Technical Field

The invention belongs to the technical field of steel ladle equipment, and particularly relates to steel mill steel ladle automatic hook equipment.

Background

The steel mill will smelt the waste residue and concentrate and empty the collection, and the train transports the slag ladle to empting the factory building, is carried out the operation by artifical cooperation hoist when empting the slag ladle. At the moment, steel plants dump the steel slag by matching two modes with the operation of a crane according to the actual situation of the site, hanging rings (weighing about 30Kg) below and above lifting lugs of the slag pot by workers respectively, and then lifting the crane to dump the steel slag. No matter which mode, the workman all probably receives the injury that high temperature slag splashes and brings in the slag ladle at the in-process of closely hanging in touch to the slag ladle has about 1000 ℃ of waste heat, and the high temperature operation environment is very easily scalded.

Disclosure of Invention

The invention aims to solve the problem that when steel slag is poured manually, workers can be injured by splashing of high-temperature steel slag in a slag pot when hanging rings into a lifting lug of the slag pot for hanging operation at a short distance, and steel ladles in a steel mill are automatically hung.

The technical scheme adopted by the invention is as follows:

the automatic steel ladle hook equipment for the steel mill comprises a crawler type trolley, a shield and a pitching pickup mechanism, wherein the pitching pickup mechanism is connected with the upper end of a crawler type trolley body through an external tooth flange, the shield is covered at the joint of the pitching pickup mechanism and the crawler type trolley body, and the shield is connected with a base of the pitching pickup mechanism.

Compared with the prior art, the invention has the beneficial effects that: according to the automatic steel ladle hooking device for the steel mill, a manual operation mode is replaced by machinery, so that the phenomenon that workers are damaged due to splashing of high-temperature steel slag in the slag pot and scalding due to high-temperature waste heat of the slag pot in a close-range hooking process is avoided, the operation environment of the workers is improved, the working strength of the workers is reduced, the working comfort is improved, and a foundation is laid for intelligent unmanned automation of each process link of a subsequent steel mill.

Drawings

FIG. 1 is an isometric view of a steel mill ladle automatic hooking device solution-assembly of the present invention;

fig. 2 is an isometric view of a pitch pick up mechanism of a second embodiment;

FIG. 3 is an isometric view of a four bar linkage mounting plate assembly;

FIG. 4 is an isometric view of the pitch frame;

FIG. 5 is an isometric view of an iron ring gripper;

FIG. 6 is an isometric view of a four-bar linkage mounting plate assembly;

FIG. 7 is an isometric view of a second embodiment of the automatic ladle hooking device of the steel mill according to the present invention;

FIG. 8 is an isometric view of a slag pot dumping utilizing an automatic steel ladle hooking apparatus embodiment of the present invention;

FIG. 9 is an isometric view of a slag pot dumping utilizing a steel mill ladle automatic hooking device embodiment two of the present invention;

FIG. 10 is an isometric view of a slag pot lifting lug;

FIG. 11 is a front view of the external toothed flange meshing with the pinion gear;

FIG. 12 is an isometric view of the assembly of the iron ring gripper with the iron ring gripper motor and worm gear drive;

FIG. 13 is an enlarged view of a portion of FIG. 1 at M;

FIG. 14 is an enlarged view of a portion of FIG. 2 at N;

FIG. 15 is a partial enlarged view at O of FIG. 2;

FIG. 16 is an enlarged view of a portion of FIG. 8 at P;

FIG. 17 is an enlarged view of a portion of FIG. 9 at Q;

FIG. 18 is an enlarged view of a portion of FIG. 11 at R;

fig. 19 is an isometric view of a pitch pick mechanism of the seventh embodiment;

FIG. 20 is an isometric view of the chassis;

FIG. 21 is a partial enlarged view at S of FIG. 19;

fig. 22 is a partially enlarged view at T of fig. 19.

The names and reference numbers of the components referred to in the above figures are as follows:

the crawler type trolley comprises a crawler type trolley 1, a shield 2, a pitching picking mechanism 3, a base 31, an L-shaped connecting plate 311, a fixing frame 312, a first lug 313, a U-shaped groove 314, a lifting arm 32, a cross beam 321, a longitudinal beam 322, a pitching frame 33, an L-shaped limiting plate 331, a bracket 332, a connecting piece body 333, a pitching frame body 334, a mounting hole 335, a four-link mounting plate component 34, a fixing plate 341, a connecting arm 342, a second lug 343, a four-link mounting plate assembly 35, a plate body 351, a flange 352, a third lug 353, an iron ring gripper 36, a fixing clamp 361, a movable clamp 362, a connecting piece 363, a refractory rubber block 364, an external gear flange 37, a pinion 38, a slag pot lifting lug 4, a lifting lug nose 41, a base motor A, a lifting arm cylinder B, a camera C, a pitching frame motor D, an iron ring gripper motor E, an.

Detailed Description

The first embodiment is as follows: as shown in fig. 1 and 13, the embodiment discloses a steel mill ladle automatic hooking device, which comprises a crawler type trolley 1, a shield 2 and a pitching picking mechanism 3, wherein the pitching picking mechanism 3 is connected with the upper end of the body of the crawler type trolley 1 through an external tooth flange 37, the shield 2 is covered at the joint of the pitching picking mechanism 3 and the body of the crawler type trolley 1, and the shield 2 is connected with a base 31 (through a first bolt) of the pitching picking mechanism 3.

The second embodiment is as follows: as shown in fig. 1, 2, 4, 11, 14, 15 and 18, in one embodiment of the steel mill ladle automatic hooking device, the elevation picking mechanism 3 includes a base motor a, an elevation frame motor D, a boom cylinder B, a camera C, a base 31, a boom 32, an elevation frame 33, a four-bar link mounting plate assembly 34, an external tooth flange 37 and a pinion 38;

an external tooth flange 37 is fixedly connected below the base 31, the base motor A is fixed on the base 31, a pinion 38 is fixedly installed on an output shaft of the base motor A (through a key I), the pinion 38 and the external tooth flange 37 are meshed with each other (because the external tooth flange 37 is fixed with the base 31, the base 31 can rotate on a horizontal plane through transmission, one end of the boom 32 is hinged with an L-shaped connecting plate 311 of the base 31 (through four pins I), a cylinder body of the boom cylinder B is fixedly connected with a fixing frame 312 of the base 31, a cylinder rod of the boom cylinder B is fixedly connected with a cross beam 321 of a lower-layer arm of the boom 32 (preferably, a second cross beam 321 from one side to the opposite side of the base 31 is fixedly connected with a cylinder rod of the boom cylinder B), and the other end of the boom 32 is hinged with a four-bar mounting plate assembly 34 (through four pins, the camera C is fixedly mounted on the four-bar mounting plate assembly 34, the pitching frame motor D is fixed on the rear side surface of the four-bar mounting plate assembly 34 (through a second bolt), and an output shaft of the pitching frame motor D passes through a through hole in the four-bar mounting plate assembly 34 and a mounting hole (through a second bolt) of the connecting piece body 333 on the pitching frame 33 and is fixedly connected (the output shaft of the pitching frame motor D can rotate in the through hole of the four-bar mounting plate assembly 34).

The third concrete implementation mode: as shown in fig. 2, 14, 15 and 20, in the automatic hooking device for steel ladles in a steel mill according to the second embodiment, the base 31 includes an L-shaped connecting plate 311, a fixing frame 312 and four first lugs 313; a fixing frame 312 is fixed on the upper end face below the L-shaped connecting plate 311, the right side of the upper end plate face of the L-shaped connecting plate 311 is fixedly connected with one end of the fixing frame 312, four first lugs 313 are fixed on the left side plate face of the L-shaped connecting plate 311, the four first lugs 313 are arranged in a matrix form, connecting holes I of the two first lugs 313 on the same row are coaxial, a U-shaped groove 314 is formed in the middle of the upper end of the L-shaped connecting plate 311 and corresponds to the middle space of the fixing frame 312, and a cylinder body of a boom cylinder B is arranged in the U-shaped groove 314 of the L; the base motor a is fixed on the upper end surface below the L-shaped connecting plate 311.

The fourth concrete implementation mode: as shown in fig. 3, in the automatic steel ladle hooking device in the steel mill according to the third embodiment, the four-bar linkage mounting plate assembly 34 includes a fixing plate 341, two connecting arms 342, and four lugs 343; four second lugs 343 are fixed on one side surface of the fixed plate 341, the four second lugs 343 are arranged in a matrix form, the connecting holes of the two second lugs 343 on the same row are coaxial, two connecting arms 342 are fixed on the other side surface of the fixed plate 341 in parallel from left to right, and the through holes are coaxially arranged at the lower parts of the two connecting arms 342.

The fifth concrete implementation mode: as shown in fig. 2, 14 and 15, in the fourth embodiment, the crane arm 32 includes an upper layer of support arm and a lower layer of support arm; the upper layer of support arm and the lower layer of support arm are arranged in parallel, each layer of support arm comprises two longitudinal beams 322 and a plurality of cross beams 321, the plurality of cross beams 321 are fixed between the two longitudinal beams 322 at equal intervals, two ends of each longitudinal beam 322 are respectively provided with a groove-shaped connecting lug, a first lug 313 is arranged in each groove-shaped connecting lug at one end of the crane boom 32, each groove-shaped connecting lug at one end of the crane boom 32 is hinged with the first lug 313 through a first pin, a second lug 343 is arranged in each groove-shaped connecting lug at the other end of the crane boom 32, and each groove-shaped connecting lug at the other end of the crane boom 32 is hinged with the second lug 343 through.

The sixth specific implementation mode: as shown in fig. 2, 4, 14 and 15, in the automatic hooking device for steel ladles in a steel mill according to the second embodiment, the pitching frame 33 includes a pitching frame body 334, a bracket 332, a connector body 333 and a pair of L-shaped limiting plates 331; the connecting piece body 333 and a pitching frame body 334 a lateral surface fixed connection, the middle part of the connecting piece body 333 is equipped with mounting hole 335, a face of bracket 332 and a pair of L shape limiting plate 331 is fixed respectively (through bolt three) on pitching frame body 334's opposite side face, and another face of a pair of L shape limiting plate 331 sets up relatively, bracket 332 sets up the upper portion between a pair of L shape limiting plate 331.

As shown in fig. 1, the bracket 332 will hold the hanging ring from below and place the hanging ring in the fixed area through a pair of L-shaped limit plates 331.

The seventh embodiment: as shown in fig. 5-7, 11, and 19-22, in a steel mill ladle automatic hooking device according to a first embodiment, the elevation picking mechanism 3 includes a base motor a, a boom cylinder B, a camera C, a base 31, a boom 32, an iron ring gripper 36, a four-bar mounting plate assembly 35, an external gear flange 37, and a pinion 38;

an external tooth flange 37 is fixedly connected below the base 31, the base motor A is fixed on the base 31, a pinion 38 is fixedly installed on an output shaft of the base motor A (through a key III), the pinion 38 and the external tooth flange 37 are meshed with each other (because the external tooth flange 37 is fixed with the base 31, the base 31 can rotate on a horizontal plane through transmission, one end of the boom 32 is hinged with an L-shaped connecting plate 311 of the base 31 (through four pins I), a cylinder body of the boom cylinder B is fixedly connected with a fixing frame 312 of the base 31, a cylinder rod of the boom cylinder B is fixedly connected with a cross beam 321 of a lower-layer arm of the boom 32 (preferably, a second cross beam 321 from one side to the opposite side of the base 31 is fixedly connected with a cylinder rod of the boom cylinder B), and the other end of the boom 32 is hinged with a four-bar mounting plate assembly 35 (through four pins III, the camera C is fixedly mounted on the four-bar linkage mounting plate assembly 35, and the hoop gripper 36 is connected with a flange 352 of the four-bar linkage mounting plate assembly 35 through a connecting piece 363.

The specific implementation mode is eight: as shown in fig. 19 to 22, in the automatic hooking device for steel ladles in a steel mill according to the seventh embodiment, the base 31 includes an L-shaped connecting plate 311, a fixing frame 312 and four first lugs 313; a fixing frame 312 is fixed on the upper end face below the L-shaped connecting plate 311, the right side of the upper end plate face of the L-shaped connecting plate 311 is fixedly connected with one end of the fixing frame 312, four first lugs 313 are fixed on the left side plate face of the L-shaped connecting plate 311, the four first lugs 313 are arranged in a matrix form, connecting holes I of the two first lugs 313 on the same row are coaxial, a U-shaped groove 314 is formed in the middle of the upper end of the L-shaped connecting plate 311 and corresponds to the middle space of the fixing frame 312, and a cylinder body of a boom cylinder B is arranged in the U-shaped groove 314 of the L; the base motor a is fixed on the upper end surface below the L-shaped connecting plate 311.

The specific implementation method nine: as shown in fig. 6, 19, 21 and 22, in the automatic hooking device for steel ladles in a steel mill according to the seventh embodiment, the four-bar mounting plate assembly 35 includes a plate body 351, a flange 352 and four lugs 353; four lugs three 353 are fixed on the plate surface on one side of the plate body 351, the four lugs three 353 are arranged in a matrix form, connecting holes of the two lugs three 353 on the same row are coaxial, and a flange 352 is fixed at the center of the plate surface on the other side of the plate body 351;

the cargo boom 32 comprises an upper layer of support arm and a lower layer of support arm; the upper layer of support arm and the lower layer of support arm are arranged in parallel, each layer of support arm comprises two longitudinal beams 322 and a plurality of cross beams 321, the plurality of cross beams 321 are fixed between the two longitudinal beams 322 at equal intervals, two ends of each longitudinal beam 322 are respectively provided with a groove-shaped connecting lug, one lug 313 is arranged in each groove-shaped connecting lug at one end of the crane boom 32, each groove-shaped connecting lug at one end of the crane boom 32 is hinged with the lug 313 through a pin I, one lug III 353 is arranged in each groove-shaped connecting lug at the other end of the crane boom 32, and each groove-shaped connecting lug at the other end of the crane boom 32 is hinged with the lug III 353 through a pin.

The detailed implementation mode is ten: as shown in fig. 5-7 and 12, in the ninth embodiment, the iron ring gripper 36 includes an iron ring gripper motor E, a housing K, an iron ring gripper cylinder F, a fixing clamp 361, a movable clamp 362, a connecting piece 363, a worm and gear transmission mechanism, and two refractory rubber blocks 364; the worm gear and worm transmission mechanism comprises a worm G and a worm wheel H; the worm and gear transmission mechanism is arranged in a shell K, the shell K is detachably connected with a connecting piece 363 (through a fourth bolt), an iron ring gripper motor E is fixedly connected with the connecting piece 363, an output shaft of the iron ring gripper motor E is fixedly connected with one end of a worm G, the worm G is meshed with a worm wheel H, a wheel shaft of the worm wheel H is fixedly connected with the shell K through a bearing (the iron ring gripper motor E controls an iron ring gripper 36 to rotate through the worm and gear transmission mechanism, the iron ring gripper 36 can realize clockwise and anticlockwise infinite circular rotation through the forward and reverse rotation of the iron ring gripper motor E), the connecting piece 363 is connected and fixed on a plate body 351 of the four-connecting-rod mounting plate assembly 35 through a flange 352, a cylinder body of an iron ring gripper cylinder F is rotationally connected with a first connecting lug on a fixing clamp 361 through a pin shaft, a piston rod of the iron ring gripper cylinder F is rotationally connected with a second connecting lug on a movable clamp 362 through a second pin shaft, the fixed end of the fixed clamp 361 is fixedly connected with the connecting piece 363, the non-working end of the movable clamp 362 is rotatably connected with a connecting lug tee on the connecting piece 363 through a pin shaft III, and the inner surfaces of the working ends of the fixed clamp 361 and the movable clamp 362 are respectively fixed with a fireproof rubber block 364.

The working principle of the invention is as follows:

the first scheme is as follows: as shown in fig. 1, 2, 8 and 16, firstly, the lifting ring is placed on a pitching frame 33 of the equipment, the movement direction of the equipment is controlled at the far end through a remote control device (an external part), the equipment is watched through a camera C until the equipment moves to a proper position, the tracked trolley 1 stops moving, a pitching picking mechanism 3 lifts a boom 32 under the contraction action of a boom cylinder B, when the equipment is lifted to a proper height, the pitching frame 33 is adjusted to a proper angle (the elevation angle of the pitching frame 33 is 60 degrees at most) under the action of a pitching frame motor D, the lifting frame is lifted to be placed below a slag pot lifting lug 4 (the slag pot lifting lug 4 is fixed below the outer wall of the slag pot, the middle part of the slag pot lifting lug 4 is provided with a lifting lug nose 41 as shown in fig. 10), the tracked trolley 1 retreats remotely at the far end, and the whole working process that the lifting ring is hung below the slag pot lifting lug.

Scheme II: as shown in fig. 5, 7, 9, 17 and 19, firstly, the hoisting ring is placed on a fixed clamp 361 of an iron ring gripper 36 and a refractory rubber block 364 of a movable clamp 362 of the equipment to be clamped, the far end controls the motion direction of the equipment through a remote control device, the equipment is watched through a camera C until the equipment moves to a proper position, the crawler type trolley 1 stops moving, the hoisting arm 32 is lifted under the contraction action of a self hoisting arm cylinder B of the pitching picking mechanism 3, when the hoisting arm is lifted to a proper height, under the action of an iron ring gripper motor E (the iron ring gripper motor E is fixed on a shell K of a turbine H, an output shaft of the iron ring gripper motor E is fixedly connected with a worm G through a key four), the iron ring gripper 36 is adjusted to a proper angle, the iron ring gripper cylinder gripper F works to push the movable clamp 362 away, and the whole working process that the hoisting ring falls above a slag pot lifting lug 4 is.

Claims (10)

1. The utility model provides an automatic couple equipment of steel mill ladle which characterized in that: the pitching picking mechanism comprises a crawler type trolley (1), a shield (2) and a pitching picking mechanism (3), wherein the pitching picking mechanism (3) is connected with the upper end of the crawler type trolley (1) body through an external tooth flange (37), the shield (2) is covered at the joint of the pitching picking mechanism (3) and the crawler type trolley (1) body, and the shield (2) is connected with a base (31) of the pitching picking mechanism (3).

2. The automatic hooking device for the steel ladles of the steel mill according to claim 1, characterized in that: the pitching picking-up mechanism (3) comprises a base motor (A), a pitching frame motor (D), a boom cylinder (B), a camera (C), a base (31), a boom (32), a pitching frame (33), a four-bar mounting plate assembly (34), an external tooth flange (37) and a pinion (38);

an external tooth flange (37) is fixedly connected below the base (31), the base motor (A) is fixed on the base (31), a pinion (38) is fixedly installed on an output shaft of the base motor (A), the pinion (38) is meshed with the external tooth flange (37), one end of the cargo boom (32) is hinged to an L-shaped connecting plate (311) of the base (31), a cylinder body of a cargo boom cylinder (B) is fixedly connected with a fixing frame (312) of the base (31), a cylinder rod of the cargo boom cylinder (B) is fixedly connected with a cross beam (321) of a lower-layer supporting arm of the cargo boom (32), the other end of the cargo boom (32) is hinged to a four-connecting-rod mounting plate component (34), the camera (C) is fixedly installed on the four-connecting-rod mounting plate component (34), and the pitching frame motor (D) is fixed on the rear side face of the four-connecting-rod mounting, an output shaft of the pitching frame motor (D) passes through a through hole on the four-bar mounting plate component (34) and a mounting hole of a connecting piece body (333) on the pitching frame (33) to be fixedly connected.

3. The automatic hooking device for the steel ladles of the steel mill according to claim 2, characterized in that: the base (31) comprises an L-shaped connecting plate (311), a fixing frame (312) and four first lugs (313); a fixing frame (312) is fixed on the upper end face below the L-shaped connecting plate (311), the right side of the upper end plate face of the L-shaped connecting plate (311) is fixedly connected with one end of the fixing frame (312), four first lugs (313) are fixed on the left side plate face of the L-shaped connecting plate (311), the four first lugs (313) are arranged in a matrix form, connecting holes I of the two first lugs (313) on the same row are coaxial, a U-shaped groove (314) is formed in the middle of the upper end of the L-shaped connecting plate (311) and corresponds to the middle space of the fixing frame (312), and a cylinder body of a boom cylinder (B) is arranged in the U-shaped groove (314) of the L-shaped connecting plate; the base motor (A) is fixed on the upper end face below the L-shaped connecting plate (311).

4. The automatic hooking device for the steel ladles of the steel mill according to claim 3, characterized in that: the four-link mounting plate assembly (34) comprises a fixing plate (341), two connecting arms (342) and four lugs II (343); four second lugs (343) are fixed on the surface of one side of the fixing plate (341), the four second lugs (343) are arranged in a matrix form, the connecting holes of the two second lugs (343) on the same row are coaxial, two connecting arms (342) are fixed on the other side face of the fixing plate (341) in parallel from left to right, and the through holes are coaxially formed in the lower parts of the two connecting arms (342).

5. The automatic hooking device for the steel ladles of the steel mill as claimed in claim 4, characterized in that: the cargo boom (32) comprises an upper layer of support arm and a lower layer of support arm; the upper layer of support arm and the lower layer of support arm are arranged in parallel, each layer of support arm comprises two longitudinal beams (322) and a plurality of cross beams (321), the plurality of cross beams (321) are fixed between the two longitudinal beams (322) at equal intervals, groove-shaped connection lugs are respectively arranged at two ends of each longitudinal beam (322), one lug (313) is arranged in each groove-shaped connection lug at one end of the lifting arm (32), each groove-shaped connection lug at one end of the lifting arm (32) is hinged to the lug (313) through a pin I, one lug II (343) is arranged in each groove-shaped connection lug at the other end of the lifting arm (32), and each groove-shaped connection lug at the other end of the lifting arm (32) is hinged to the lug II (343) through a pin II.

6. The automatic hooking device for the steel ladles of the steel mill according to claim 2, characterized in that: the pitching frame (33) comprises a pitching frame body (334), a bracket (332), a connecting piece body (333) and a pair of L-shaped limiting plates (331); the connecting piece body (333) and a pitching frame body (334) lateral surface fixed connection, the middle part of the connecting piece body (333) is equipped with mounting hole (335), a face of bracket (332) and a pair of L shape limiting plate (331) is fixed respectively on the opposite side face of pitching frame body (334), and another face of a pair of L shape limiting plate (331) sets up relatively, upper portion between a pair of L shape limiting plate (331) is set up in bracket (332).

7. The automatic hooking device for the steel ladles of the steel mill according to claim 1, characterized in that: the pitching picking mechanism (3) comprises a base motor (A), a boom cylinder (B), a camera (C), a base (31), a boom (32), an iron ring gripper (36), a four-bar connecting plate assembly (35), an external tooth flange (37) and a pinion (38);

an external tooth flange (37) is fixedly connected below the base (31), the base motor (A) is fixed on the base (31), a pinion (38) is fixedly arranged on an output shaft of the base motor (A), the pinion (38) is meshed with an external tooth flange (37), one end of the lifting arm (32) is hinged with an L-shaped connecting plate (311) of the base (31), the cylinder body of the boom cylinder (B) is fixedly connected with a fixed frame (312) of the base (31), the cylinder rod of the boom cylinder (B) is fixedly connected with a cross beam (321) of a lower layer supporting arm of the boom (32), the other end of the boom (32) is hinged with a four-bar connecting rod mounting plate assembly (35), the camera (C) is fixedly arranged on the four-bar mounting plate assembly (35), the iron ring gripper (36) is connected with a flange (352) of the four-bar mounting plate assembly (35) through a connecting piece (363).

8. The automatic hooking device for the steel ladles of the steel mill according to claim 7, characterized in that: the base (31) comprises an L-shaped connecting plate (311), a fixing frame (312) and four first lugs (313); a fixing frame (312) is fixed on the upper end face below the L-shaped connecting plate (311), the right side of the upper end plate face of the L-shaped connecting plate (311) is fixedly connected with one end of the fixing frame (312), four first lugs (313) are fixed on the left side plate face of the L-shaped connecting plate (311), the four first lugs (313) are arranged in a matrix form, connecting holes I of the two first lugs (313) on the same row are coaxial, a U-shaped groove (314) is formed in the middle of the upper end of the L-shaped connecting plate (311) and corresponds to the middle space of the fixing frame (312), and a cylinder body of a boom cylinder (B) is arranged in the U-shaped groove (314) of the L-shaped connecting plate; the base motor (A) is fixed on the upper end face below the L-shaped connecting plate (311).

9. The automatic hooking device for the steel ladles of the steel mill according to claim 8, characterized in that: the four-bar mounting plate assembly (35) comprises a plate body (351), a flange (352) and four lugs three (353); four lugs three (353) are fixed on the plate surface on one side of the plate body (351), the four lugs three (353) are arranged in a matrix form, connecting holes of the two lugs three (353) on the same row are coaxial, and a flange (352) is fixed at the center of the plate surface on the other side of the plate body (351);

the cargo boom (32) comprises an upper layer of support arm and a lower layer of support arm; the upper layer of support arm and the lower layer of support arm are arranged in parallel, each layer of support arm comprises two longitudinal beams (322) and a plurality of cross beams (321), the plurality of cross beams (321) are fixed between the two longitudinal beams (322) at equal intervals, groove-shaped connection lugs are respectively arranged at two ends of each longitudinal beam (322), one lug (313) is arranged in each groove-shaped connection lug at one end of the support arm (32), each groove-shaped connection lug at one end of the support arm (32) is hinged to the lug (313) through a pin I, one lug (353) is arranged in each groove-shaped connection lug at the other end of the support arm (32), and each groove-shaped connection lug at the other end of the support arm (32) is hinged to the lug III (353) through a pin III.

10. The automatic hooking device for the steel ladles of the steel mill according to claim 9, characterized in that: the iron ring gripper (36) comprises an iron ring gripper motor (E), a shell (K), an iron ring gripper cylinder (F), a fixed clamp (361), a movable clamp (362), a connecting piece (363), a worm gear transmission mechanism and two refractory rubber blocks (364); the worm gear and worm transmission mechanism comprises a worm (G) and a worm wheel (H); the worm and gear transmission mechanism is arranged in a shell (K), the shell (K) is detachably connected with a connecting piece (363), an iron ring gripper motor (E) is fixedly connected with the connecting piece (363), an output shaft of the iron ring gripper motor (E) is fixedly connected with one end of a worm (G), the worm (G) is meshed with a worm wheel (H), a wheel shaft of the worm wheel (H) is fixedly connected with the shell (K) through a bearing, the connecting piece (363) is fixedly connected with a plate body (351) of a four-connecting-rod mounting plate assembly (35) through a flange (352), a cylinder body of an iron ring gripper cylinder (F) is rotatably connected with a first connecting lug on a fixing clamp (361) through a pin shaft, a piston rod of the iron ring gripper cylinder (F) is rotatably connected with a second connecting lug on a movable clamp (362) through a second pin shaft, and a fixed end of the fixing clamp (361) is fixedly connected with the connecting piece (363), the non-working end of the movable clamp (362) is rotatably connected with a connecting lug tee on the connecting piece (363) through a pin shaft III, and the inner surfaces of the working ends of the fixed clamp (361) and the movable clamp (362) are respectively fixed with a fireproof rubber block (364).

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