CN111923063B

CN111923063B - Zinc alloy slag skimming robot and working method thereof

Info

Publication number: CN111923063B
Application number: CN202010801270.8A
Authority: CN
Inventors: 马光; 孙浩岚; 魏金亮; 陈皓栋; 李龙龙; 高科炜; 申允德
Original assignee: Wenzhou University
Current assignee: Wenzhou University
Priority date: 2020-08-11
Filing date: 2020-08-11
Publication date: 2021-07-16
Anticipated expiration: 2040-08-11
Also published as: CN111923063A

Abstract

The invention discloses a zinc alloy slag-raking robot and a working method thereof, and the zinc alloy slag-raking robot comprises a synchronous moving device (1), wherein the top of the synchronous moving device (1) is connected with a mechanical arm base (3) through a mechanical arm support (2), a mechanical arm big arm device (4) is installed on the mechanical arm base (3), the top end of the mechanical arm big arm device (4) is connected with a mechanical arm small arm device (5), the top end of the mechanical arm small arm device (5) is provided with a mechanical arm wrist part (6), and the front end of the mechanical arm wrist part (6) is provided with a slag-raking plate (7). The automatic slag removing machine can automatically remove slag, liberates labor force, saves cost and has the characteristic of good slag removing effect.

Description

Zinc alloy slag skimming robot and working method thereof

Technical Field

The invention relates to the technical field of alloy production, in particular to a zinc alloy slagging-off robot and a working method thereof.

Background

In the production process of the zinc alloy raw material, the surface of the zinc alloy is oxidized to generate a certain amount of zinc dross, and the surface dross needs to be removed before cooling and forming in order to ensure the quality of the zinc alloy. The existing zinc alloy ingot casting production line realizes the automatic production from melting reaction, pouring to cooling forming and blanking, but the slag skimming work is still finished manually, the work station has high labor intensity and poor working environment, and the quality of artificial products is difficult to improve. For the non-skilled station, the industrial automation equipment is used, so that the production efficiency and the product quality of the manufacturing industry can be effectively improved, the manpower can be liberated in the high-risk high-labor-intensity operation, and the cost is saved. Therefore, the design of automatic slag-off mechanical equipment which can be suitable for the existing zinc alloy ingot production line has great significance.

Disclosure of Invention

The invention aims to provide a zinc alloy slagging-off robot and a working method thereof. The automatic slag removing machine can automatically remove slag, liberates labor force, saves cost and has the characteristic of good slag removing effect.

The technical scheme of the invention is as follows: a zinc alloy slag-raking robot comprises a synchronous moving device, wherein the top of the synchronous moving device is connected with a mechanical arm base through a mechanical arm support, a mechanical arm large-arm device is mounted on the mechanical arm base, the top end of the mechanical arm large-arm device is connected with a mechanical arm small-arm device, the top end of the mechanical arm small-arm device is provided with a mechanical arm wrist, and the front end of the mechanical arm wrist is provided with a slag-raking plate; the synchronous moving device comprises a synchronous moving shell, a synchronous moving cover plate is fixed on the synchronous moving shell through a bolt, and a first motor is fixed on the synchronous moving cover plate; a vertical first driving shaft and a vertical first driven shaft are arranged between the synchronous moving shell and the synchronous moving cover plate, an output shaft of a first motor is in transmission connection with the shaft end of the first driving shaft, and a driving synchronous belt pulley and a first incomplete gear are arranged on the first driving shaft from bottom to top; the first driven shaft is provided with a driven synchronous belt pulley and a second incomplete gear from bottom to top; a linear sliding rail positioned between a first driving shaft and a first driven shaft is fixed in the synchronous moving shell, a linear sliding block sliding along the linear sliding rail is arranged on the linear sliding rail, a double-sided rack is fixed at the top of the linear sliding block, a rack on one side face of the double-sided rack is matched with a first incomplete gear, a rack on the other side face of the double-sided rack is matched with a second incomplete gear, and the double-sided rack is not meshed with the first incomplete gear and the second incomplete gear at the same time; the synchronous belt is sleeved between the driving synchronous belt wheel and the driven synchronous belt wheel, a sliding groove parallel to the linear sliding rail is formed in the synchronous moving cover plate, and the bottom of the mechanical arm support penetrates through the sliding groove and is fixedly connected with the top of the double-sided rack.

In the zinc alloy slagging-off robot, the mechanical arm base comprises a base shell fixedly mounted at the top of the mechanical arm support, a second motor and a speed reducer are mounted at the bottom of an inner cavity of the base shell, a first bevel gear is mounted on an output shaft of the speed reducer, a second driving shaft horizontally and transversely arranged is arranged above the first bevel gear on the base shell, a first straight gear and a second bevel gear are sequentially mounted on the second driving shaft, the second bevel gear is in meshing transmission with the first bevel gear, a second driven shaft is arranged above the second driving shaft on the base shell, a second straight gear and a first flange are sequentially mounted on the second driven shaft, and the tail end of the first flange is connected with the tail end of the mechanical arm large-arm device and used for controlling the rotation of the mechanical arm large-arm device; the first straight gear and the second straight gear are in meshed transmission.

In the zinc alloy slagging-off robot, the mechanical arm large arm device comprises a large arm shell connected with a first flange, a third driven shaft and a fourth driven shaft are respectively installed at two ends of an inner cavity of the large arm shell, a second driven sprocket and a first driven sprocket are sequentially installed on the third driven shaft, a third driven sprocket and a second flange are sequentially installed on the fourth driven shaft, and the tail end of the second flange is connected with the mechanical arm small arm device and used for controlling the rotation of the mechanical arm small arm device; a secondary transmission mechanism is arranged between the mechanical arm big arm device and the mechanical arm base, the secondary rotation mechanism comprises a first driving chain wheel arranged on a second driving shaft and a first tension wheel arranged in the base shell, and a first chain is arranged among the first driving chain wheel, the first tension wheel and a first driven chain wheel; and a second tensioning wheel is arranged in the large arm shell, and a second chain is sleeved among the second driven chain wheel, the second tensioning wheel and the third driven chain wheel.

In the zinc alloy slagging-off robot, the mechanical arm small arm device comprises a small arm shell fixedly connected with the second flange, a third driving shaft and a fifth driven shaft are respectively arranged at two ends of the small arm shell, a second driving sprocket is arranged on the third driving shaft, and a fourth driven sprocket is arranged on the fifth driven shaft; a third tension wheel is arranged in the small arm shell, and a third chain is arranged among the second driving chain wheel, the third tension wheel and the fourth driven chain wheel; the top end of the large arm shell is provided with a third motor, an output shaft of the third motor is in transmission connection with a third driving shaft, and the mechanical arm wrist is installed at the shaft end of a fifth driven shaft.

In the zinc alloy slag-raking robot, the mechanical arm wrist part is provided with the square chute, the end part of the slag-raking plate extends into the square chute and can move along the square chute, and the inner wall of the square chute is provided with the set screw for fixing the slag-raking plate.

The working method of the zinc alloy slagging-off robot comprises the following steps: in an initial state, the synchronous moving device is fixedly arranged on the ground, a linear sliding block inside the synchronous moving device is positioned at one end of a linear sliding rail, a double-sided rack is meshed with a first incomplete gear and is separated from a second incomplete gear, a mechanical arm large-arm device and a mechanical arm small-arm device are retracted to be approximately in a vertically placed state, and a slag removing plate is parallel to the mechanical arm small-arm device under the control of a mechanical arm wrist part; when the device works, the third motor is started, and the wrist part of the mechanical arm is controlled to be lowered through the transmission of the second driving chain wheel and the fourth driven chain wheel until the slag removing plate is contacted with one end of the zinc alloy molten liquid; then, a first motor is started to drive a first driving shaft, a first incomplete gear is in meshing transmission with the double-sided rack, the double-sided rack is driven to move towards the other end of the linear sliding rail, the horizontal linear movement of the slag skimming plate is driven, and the moving speed of a zinc alloy production line is matched; meanwhile, the second motor is started, the second driving shaft is driven to rotate through the transmission of the first bevel gear and the second bevel gear, on one hand, the second driven shaft is driven to rotate through the transmission of the first straight gear and the second straight gear, and then the large arm device of the mechanical arm is driven to be placed downwards; on the other hand, the fourth driven shaft is driven to rotate through the two-stage transmission of the first driving chain wheel and the first driven chain wheel, and the second driven chain wheel and the third driven chain wheel, so that the mechanical arm small arm device is driven to lift; the third motor rotates to ensure that the wrist part of the mechanical arm and the alloy production line are kept in a relatively static state until the slag removing plate moves to the other end of the alloy molten liquid, the wrist part of the mechanical arm is lifted quickly to throw out zinc slag, and slag removing work is completed; and then, the second motor rotates reversely to withdraw the mechanical arm big arm device and the mechanical arm small arm device, the first incomplete gear is separated from the double-sided rack in the synchronous moving device, the second incomplete gear is meshed with the double-sided rack, and the first driven shaft is driven to rotate through synchronous belt transmission, so that the double-sided rack is driven to move reversely, and the original position is recovered.

Compared with the prior art, the invention has the following advantages:

1. according to the invention, through the cooperation of the synchronous moving device, the mechanical arm base, the mechanical arm large-arm device, the mechanical arm small-arm device and the mechanical arm wrist part, the automatic slag skimming work on the zinc alloy pouring production line is realized, manual assistance is not required, and the device has the characteristics of small volume, good slag skimming effect and low cost. According to the invention, the synchronous moving device drives the mechanical arm base, the mechanical arm large-arm device, the mechanical arm small-arm device and the mechanical arm wrist part to do reciprocating linear motion, so that the relative static of the mechanical arm and the horizontal moving direction of the zinc alloy pouring production line is ensured during working, and the stability of slag skimming is ensured.

The automatic reciprocating linear motion of the mechanical arm is realized by arranging the specific synchronous moving device, the speed of the reciprocating motion can be adjusted by changing the transmission ratio of the driving synchronous belt wheel and the driven synchronous belt wheel, the time required for resetting is greatly reduced, the working time is prolonged, and the slag skimming quality is improved.

The second motor is started and drives the second driving shaft to rotate through the transmission of the first bevel gear and the second bevel gear, on one hand, the second driven shaft is driven to rotate through the transmission of the first straight gear and the second straight gear, and then the mechanical arm big arm device is driven to be placed downwards; and on the other hand, the fourth driven shaft is driven to rotate through the two-stage transmission of the first driving chain wheel and the first driven chain wheel, and the second driven chain wheel and the third driven chain wheel, so that the mechanical arm small arm device is driven to lift up, and the simultaneous driving of the mechanical arm large arm device and the mechanical arm small arm device is realized.

The invention can properly adjust the distance between the slag-raking plate and the production line through the matching of the mechanical arm wrist and the slag-raking plate and the square chute and the set screw, thereby having more universality.

The zinc alloy slagging-off robot comprises a synchronous moving device, a double-sided rack, a mechanical arm large arm device, a mechanical arm small arm device, a slagging-off plate, a first incomplete gear, a second incomplete gear, a third incomplete gear, a fourth incomplete gear, a fifth incomplete gear, a sixth gear; when the device works, the third motor is started, and the wrist part of the mechanical arm is controlled to be lowered through the transmission of the second driving chain wheel and the fourth driven chain wheel until the slag removing plate is contacted with one end of the zinc alloy molten liquid; then, a first motor is started to drive a first driving shaft, a first incomplete gear is in meshing transmission with the double-sided rack, the double-sided rack is driven to move towards the other end of the linear sliding rail, the horizontal linear movement of the slag skimming plate is driven, and the moving speed of a zinc alloy production line is matched; meanwhile, the second motor is started, the second driving shaft is driven to rotate through the transmission of the first bevel gear and the second bevel gear, on one hand, the second driven shaft is driven to rotate through the transmission of the first straight gear and the second straight gear, and then the large arm device of the mechanical arm is driven to be placed downwards; on the other hand, the fourth driven shaft is driven to rotate through the two-stage transmission of the first driving chain wheel and the first driven chain wheel, and the second driven chain wheel and the third driven chain wheel, so that the mechanical arm small arm device is driven to lift; the third motor rotates to ensure that the wrist part of the mechanical arm and the alloy production line are kept in a relatively static state until the slag removing plate moves to the other end of the alloy molten liquid, the wrist part of the mechanical arm is lifted quickly to throw out zinc slag, and slag removing work is completed; and then, the second motor rotates reversely to withdraw the mechanical arm big arm device and the mechanical arm small arm device, the first incomplete gear is separated from the double-sided rack in the synchronous moving device, the second incomplete gear is meshed with the double-sided rack, and the first driven shaft is driven to rotate through synchronous belt transmission, so that the double-sided rack is driven to move reversely, and the original position is recovered.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic diagram of a synchronous moving device;

FIG. 3 is a schematic diagram of the construction of the robot arm base;

FIG. 4 is a schematic view of the structure of the joint between the robot base and the robot boom assembly;

FIG. 5 is a schematic view of the construction of the boom assembly of the robotic arm;

FIG. 6 is a schematic structural view of a small arm device of the mechanical arm;

fig. 7 is a schematic view of the structure of the arm wrist.

The synchronous moving device; 11. synchronously moving the shells; 12. synchronously moving the cover plate; 13. a first motor; 16. a first drive shaft; 17. a first driven shaft; 18. a first incomplete gear; 19. a second incomplete gear; 111. a driving synchronous pulley; 112. a driven synchronous pulley; 113. a synchronous belt; 114. a linear slide rail; 115. a linear slider; 116. a double-sided rack; 2. a mechanical arm support; 3. a mechanical arm base; 31. a base housing; 32. a second motor; 33. a speed reducer; 34. a first bevel gear; 35. a second driving shaft; 37. a first straight gear; 311. a second bevel gear; 312. a first drive sprocket; 313. a second driven shaft; 314. a second spur gear; 315. a first flange; 316. a first tensioning wheel; 317. a first driven sprocket; 318. a first chain; 4. a mechanical arm large arm device; 41. a large arm housing; 43. a second driven sprocket; 44. a third driven shaft; 45. a second tensioning wheel; 46. a fourth driven shaft; 47. a third driven sprocket; 48. a second flange; 49. a second chain; 410. a third motor; 5. a mechanical arm small arm device; 51. a forearm housing; 52. a third driving shaft; 53. a second drive sprocket; 54. a fifth driven shaft; 56. a fourth driven sprocket; 57. a third tension pulley; 58. a third chain; 6. a robot arm wrist; 7. slag removing plates; 8. a square chute.

Detailed Description

The invention is further illustrated by the following figures and examples, which are not to be construed as limiting the invention.

Example (b): a zinc alloy slag-raking robot is shown in figures 1-7 and comprises a synchronous moving device 1, wherein the top of the synchronous moving device 1 is connected with a mechanical arm base 3 through a mechanical arm support 2, a mechanical arm big arm device 4 is installed on the mechanical arm base 3, the top end of the mechanical arm big arm device 4 is connected with a mechanical arm small arm device 5, a mechanical arm wrist portion 6 is installed at the top end of the mechanical arm small arm device 5, and a slag-raking plate 7 is arranged at the front end of the mechanical arm wrist portion 6. According to the invention, the synchronous moving device 1, the mechanical arm base 3, the mechanical arm large arm device 4, the mechanical arm small arm device 5 and the mechanical arm wrist part 6 are matched, so that the automatic slag skimming on a zinc alloy pouring production line is realized, manual assistance is not required, and the automatic slag skimming machine has the characteristics of small volume, good slag skimming effect and low cost. According to the invention, the synchronous moving device 1 drives the mechanical arm base 3, the mechanical arm large-arm device 4, the mechanical arm small-arm device 5 and the mechanical arm wrist part 6 to do reciprocating linear motion, so that the relative rest of the mechanical arm and the horizontal moving direction of the zinc alloy pouring production line is ensured during working, and the stability of slag skimming is ensured; the driving mechanism in the mechanical arm base 3 can be used for simultaneously driving the mechanical arm large arm device 4 and the mechanical arm small arm device 5, and the head of the mechanical arm small arm device 5 can be ensured to move on a horizontal straight line all the time through matching mechanical transmission; the third motor 410 of the mechanical arm wrist part 6 is arranged at the head part of the mechanical arm large-arm device 4, so that the load of the mechanical arm is reduced, the angle between the slag removing plate 7 and the liquid level of the molten liquid is unchanged during working, the slag removing quality is ensured, and after slag removing, the rotary mechanical arm wrist part 6 throws out waste slag while resetting, so that the working time is saved.

As shown in fig. 2, the synchronous moving device 1 includes a synchronous moving housing 11, a synchronous moving cover plate 12 is fixed on the synchronous moving housing 11 through a bolt, and a first motor 13 is fixed on the synchronous moving cover plate 12; a vertical first driving shaft 16 and a vertical first driven shaft 17 are arranged between the synchronous moving shell 11 and the synchronous moving cover plate 12, an output shaft of the first motor 13 is in transmission connection with a shaft end of the first driving shaft 16, and the first driving shaft 16 is provided with a driving synchronous belt pulley 111 and a first incomplete gear 18 from bottom to top; the first driven shaft 17 is provided with a driven synchronous pulley 112 and a second incomplete gear 19 from bottom to top; a linear sliding rail 114 positioned between the first driving shaft 16 and the first driven shaft 17 is fixed in the synchronous moving shell 11, a linear sliding block 115 sliding along the linear sliding rail 114 is arranged on the linear sliding rail 114, a double-sided rack 116 is fixed at the top of the linear sliding block 115, a rack on one side surface of the double-sided rack 116 is matched with the first incomplete gear 18, a rack on the other side surface of the double-sided rack 116 is matched with the second incomplete gear 19, and the double-sided rack 116 is not meshed with the first incomplete gear 18 and the second incomplete gear 19 at the same time; the synchronous belt 113 is sleeved between the driving synchronous pulley 111 and the driven synchronous pulley 112, a chute parallel to the linear slide rail 114 is arranged on the synchronous moving cover plate 12, the bottom of the mechanical arm support 2 penetrates through the chute to be fixedly connected with the top of the double-sided rack 116, the automatic reciprocating linear motion of the mechanical arm is realized by arranging the specific synchronous moving device 1, the speed of the reciprocating motion can be adjusted by changing the transmission ratio of the driving synchronous pulley 111 to the driven synchronous pulley 112, the time required for resetting is greatly reduced, the working time is prolonged, the slag removing quality is improved, the double-sided rack 116 is mainly pushed to drive the linear slide block 115 to reciprocate along the linear slide rail 114 by not being meshed with the first incomplete gear 18 and the second incomplete gear 19 at the same time, the mechanical arm base 3 and the mechanical arm device 4 are further driven, the arm small-arm device 5 and the arm wrist 6 perform reciprocating linear motion.

As shown in fig. 3, 4 and 5, the robot arm base 3 includes a base housing 31 fixedly installed on the top of the robot arm support 2, a second motor 32 and a speed reducer 33 are installed at the bottom of the inner cavity of the base housing 31, a first bevel gear 34 is installed on an output shaft of the speed reducer 33, the base housing 31 is provided with a horizontally transversely disposed second driving shaft 35 above the first bevel gear 34, a first straight gear 37 and a second bevel gear 311 are sequentially arranged on the second driving shaft 35, the second bevel gear 311 is in meshed transmission with the first bevel gear 34, a second driven shaft 313 is arranged above the second driving shaft 35 of the base shell 31, a second straight gear 314 and a first flange 315 are sequentially mounted on the second driven shaft 313, and the tail end of the first flange 315 is connected with the tail end of the large arm device 4 of the mechanical arm and is used for controlling the rotation of the large arm device 4 of the mechanical arm; the first straight gear 37 and the second straight gear 314 are in meshed transmission. The mechanical arm large arm device 4 comprises a large arm shell 41 connected with a first flange 315, a third driven shaft 44 and a fourth driven shaft 46 are respectively installed at two ends of an inner cavity of the large arm shell 41, a second driven chain wheel 43 and a first driven chain wheel 317 are sequentially installed on the third driven shaft 44, a third driven chain wheel 47 and a second flange 48 are sequentially installed on the fourth driven shaft 46, and the tail end of the second flange 48 is connected with the mechanical arm small arm device 5 and used for controlling the rotation of the mechanical arm small arm device 5; a secondary transmission mechanism is arranged between the mechanical arm big arm device 4 and the mechanical arm base 3, the secondary transmission mechanism comprises a first driving sprocket 312 arranged on the second driving shaft 35 and a first tension wheel 316 arranged in the base shell 31, and a first chain 318 is arranged among the first driving sprocket 312, the first tension wheel 316 and a first driven sprocket 317; a second tension pulley 45 is arranged in the large arm housing 41, and a second chain 49 is sleeved among the second driven sprocket 43, the second tension pulley 45 and the third driven sprocket 47. According to the invention, the mechanical arm big arm device 4 and the mechanical arm small arm device 5 can be simultaneously driven by the second motor 32, so that the head of the mechanical arm small arm device 5 can be ensured to do horizontal linear motion, meanwhile, the number of driving motors is reduced, the cost and the control difficulty are reduced, the second motor 32 is started, the second driving shaft 35 is driven to rotate through the transmission of the first bevel gear 34 and the second bevel gear 311, on one hand, the second driven shaft 313 is driven to rotate through the transmission of the first straight gear 37 and the second straight gear 314, and further, the mechanical arm big arm device 4 is driven to be placed downwards; on the other hand, the fourth driven shaft 46 is driven to rotate through the two-stage transmission of the first driving sprocket 312 and the first driven sprocket 317, and the second driven sprocket 43 and the third driven sprocket 47, so that the arm forearm device 5 is lifted up, and the simultaneous driving of the arm forearm device 4 and the arm forearm device 5 is realized. The effective lengths of the small arm device 5 and the large arm device 4 are required to be equal, the head of the small arm device 5 and the tail end of the large arm device 4 are on the same horizontal plane, the rotating speed of the small arm device 5 is twice that of the large arm device 4, and the rotating directions are opposite.

As shown in fig. 6, the mechanical arm small arm device 5 includes a small arm housing 51 fixedly connected to the second flange 48, a third driving shaft 52 and a fifth driven shaft 54 are respectively disposed at two ends of the small arm housing 51, a second driving sprocket 53 is disposed on the third driving shaft 52, and a fourth driven sprocket 56 is disposed on the fifth driven shaft 54; a third tension pulley 57 is arranged in the small arm shell 51, and a third chain 58 is arranged among the second driving sprocket 53, the third tension pulley 57 and the fourth driven sprocket 56; the top end of the big arm shell 41 is provided with a third motor 410, an output shaft of the third motor 410 is in transmission connection with a third driving shaft 52, the mechanical arm wrist part 6 is installed at the shaft end of a fifth driven shaft 54, the third driving shaft 52 is driven by the third motor 410, the fifth driven shaft 54 is driven to rotate by a third chain 58, and the mechanical arm wrist part 6 is driven to rotate to carry out slag raking action.

As shown in fig. 7, a square chute 8 is arranged on the wrist portion 6 of the mechanical arm, the end portion of the slag removing plate 7 extends into the square chute 8 and can move along the square chute 8, a set screw for fixing the slag removing plate 7 is arranged on the inner wall of the square chute 8, and the distance from the slag removing plate 7 to the production line can be properly adjusted through the matching of the wrist portion 6 of the mechanical arm and the slag removing plate 7 and the set screw, so that the mechanical arm has high universality.

The working method of the zinc alloy slag removing robot comprises the following steps: in an initial state, the synchronous moving device 1 is fixedly installed on the ground, a linear sliding block 115 inside the synchronous moving device 1 is positioned at one end of a linear sliding rail 114, a double-sided rack 116 is meshed with a first incomplete gear 18 and is separated from a second incomplete gear 19, the mechanical arm large-arm device 4 and the mechanical arm small-arm device 5 are retracted and are approximately vertically placed, and the slag removing plate 7 is parallel to the mechanical arm small-arm device 5 under the control of a mechanical arm wrist part 6; when the device works, the third motor 410 is started, and the mechanical arm wrist part 6 is controlled to be lowered through the transmission of the second driving chain wheel 53 and the fourth driven chain wheel 56 until the slag scraping plate 7 contacts one end of the zinc alloy molten liquid; then, the first motor 13 is started to drive the first driving shaft 16, the first incomplete gear 18 is in meshing transmission with the double-sided rack 116, the double-sided rack 116 is driven to move towards the other end of the linear slide rail 114, and the slag skimming plate 7 is driven to horizontally and linearly move in cooperation with the moving speed of the zinc alloy production line; meanwhile, the second motor 32 is started, the second driving shaft 35 is driven to rotate through the transmission of the first bevel gear 34 and the second bevel gear 311, on one hand, the second driven shaft 313 is driven to rotate through the transmission of the first straight gear 37 and the second straight gear 314, and then the mechanical arm large-arm device 4 is driven to be placed downwards; on the other hand, the second-stage transmission of the first driving sprocket 312 and the first driven sprocket 317, and the second driven sprocket 43 and the third driven sprocket 47 drives the fourth driven shaft 46 to rotate, so as to drive the mechanical arm small arm device 5 to lift up; the third motor 410 rotates to ensure that the wrist part 6 of the mechanical arm and the alloy production line keep a relative static state until the slag removing plate 7 moves to the other end of the alloy molten liquid, the wrist part 6 of the mechanical arm is lifted quickly to throw out zinc slag, and the slag removing work is finished; then, the second motor 32 rotates reversely to retract the mechanical arm big arm device 4 and the mechanical arm small arm device 5, in the synchronous moving device 1, the first incomplete gear 18 is separated from the double-sided rack 116, the second incomplete gear 19 is meshed with the double-sided rack 116, and the first driven shaft 17 is driven to rotate through the transmission of the synchronous belt 113, so that the double-sided rack 116 is driven to move reversely, and the original position is recovered.

Claims

1. A zinc alloy slagging-off robot is characterized in that: the slag removing device comprises a synchronous moving device (1), the top of the synchronous moving device (1) is connected with a mechanical arm base (3) through a mechanical arm support (2), a mechanical arm big arm device (4) is installed on the mechanical arm base (3), the top end of the mechanical arm big arm device (4) is connected with a mechanical arm small arm device (5), a mechanical arm wrist part (6) is installed at the top end of the mechanical arm small arm device (5), and a slag removing plate (7) is arranged at the front end of the mechanical arm wrist part (6); the synchronous moving device (1) comprises a synchronous moving shell (11), a synchronous moving cover plate (12) is fixed on the synchronous moving shell (11) through a bolt, and a first motor (13) is fixed on the synchronous moving cover plate (12); a vertical first driving shaft (16) and a vertical first driven shaft (17) are arranged between the synchronous moving shell (11) and the synchronous moving cover plate (12), an output shaft of a first motor (13) is in transmission connection with the shaft end of the first driving shaft (16), and the first driving shaft (16) is provided with a driving synchronous belt pulley (111) and a first incomplete gear (18) from bottom to top; a driven synchronous pulley (112) and a second incomplete gear (19) are arranged on the first driven shaft (17) from bottom to top; a linear sliding rail (114) positioned between a first driving shaft (16) and a first driven shaft (17) is fixed in the synchronous moving shell (11), a linear sliding block (115) sliding along the linear sliding rail (114) is arranged on the linear sliding rail (114), a double-sided rack (116) is fixed at the top of the linear sliding block (115), a rack on one side surface of the double-sided rack (116) is matched with the first incomplete gear (18), a rack on the other side surface of the double-sided rack (116) is matched with the second incomplete gear (19), and the double-sided rack (116) is not meshed with the first incomplete gear (18) and the second incomplete gear (19) simultaneously; a synchronous belt (113) is sleeved between the driving synchronous pulley (111) and the driven synchronous pulley (112), a sliding groove parallel to the linear sliding rail (114) is formed in the synchronous moving cover plate (12), and the bottom of the mechanical arm support (2) penetrates through the sliding groove to be fixedly connected with the top of the double-sided rack (116); a square sliding chute (8) is arranged on the mechanical arm wrist part (6), the end part of the slag scraping plate (7) extends into the square sliding chute (8) and can move along the square sliding chute (8), and a set screw for fixing the slag scraping plate (7) is arranged on the inner wall of the square sliding chute (8); the mechanical arm base (3) comprises a base shell (31) fixedly installed at the top of the mechanical arm support (2), a second motor (32) and a speed reducer (33) are installed at the bottom of an inner cavity of the base shell (31), a first bevel gear (34) is installed on an output shaft of the speed reducer (33), a second driving shaft (35) horizontally arranged is arranged above the first bevel gear (34) of the base shell (31), a first straight gear (37) and a second bevel gear (311) are sequentially installed on the second driving shaft (35), the second bevel gear (311) is in meshing transmission with the first bevel gear (34), a second driven shaft (313) is arranged above the second driving shaft (35) of the base shell (31), a second straight gear (314) and a first flange (315) are sequentially installed on the second driven shaft (313), and the tail end of the first flange (315) is connected with the tail end of the mechanical arm large-arm device (4), the device is used for controlling the rotation of the mechanical arm big arm device (4); the first straight gear (37) and the second straight gear (314) are in meshed transmission.

2. The zinc alloy slagging-off robot according to claim 1, wherein the mechanical arm large arm device (4) comprises a large arm shell (41) connected with a first flange (315), a third driven shaft (44) and a fourth driven shaft (46) are respectively installed at two ends of an inner cavity of the large arm shell (41), a second driven sprocket (43) and a first driven sprocket (317) are sequentially installed on the third driven shaft (44), a third driven sprocket (47) and a second flange (48) are sequentially installed on the fourth driven shaft (46), and the tail end of the second flange (48) is connected with the mechanical arm small arm device (5) and is used for controlling the rotation of the mechanical arm small arm device (5); a secondary transmission mechanism is arranged between the mechanical arm big arm device (4) and the mechanical arm base (3), the secondary rotation mechanism comprises a first driving chain wheel (312) arranged on a second driving shaft (35) and a first tension wheel (316) arranged in the base shell (31), and a first chain (318) is arranged among the first driving chain wheel (312), the first tension wheel (316) and a first driven chain wheel (317); and a second tensioning wheel (45) is arranged in the large arm shell (41), and a second chain (49) is sleeved among the second driven chain wheel (43), the second tensioning wheel (45) and the third driven chain wheel (47).

3. The zinc alloy slagging-off robot according to claim 2, wherein the mechanical arm small arm device (5) comprises a small arm shell (51) fixedly connected with the second flange (48), a third driving shaft (52) and a fifth driven shaft (54) are respectively arranged at two ends of the small arm shell (51), a second driving sprocket (53) is arranged on the third driving shaft (52), and a fourth driven sprocket (56) is arranged on the fifth driven shaft (54); a third tension pulley (57) is arranged in the small arm shell (51), and a third chain (58) is arranged among the second driving chain wheel (53), the third tension pulley (57) and a fourth driven chain wheel (56); the top end of the large arm shell (41) is provided with a third motor (410), an output shaft of the third motor (410) is in transmission connection with a third driving shaft (52), and the mechanical arm wrist part (6) is installed at the shaft end of a fifth driven shaft (54).

4. The working method of the zinc alloy slagging-off robot according to claim 3, wherein the working process of the zinc alloy slagging-off robot is as follows: in an initial state, the synchronous moving device is fixedly arranged on the ground, a linear sliding block inside the synchronous moving device is positioned at one end of a linear sliding rail, a double-sided rack is meshed with a first incomplete gear and is separated from a second incomplete gear, a mechanical arm large-arm device and a mechanical arm small-arm device are retracted to be approximately in a vertically placed state, and a slag removing plate is parallel to the mechanical arm small-arm device under the control of a mechanical arm wrist part; when the device works, the third motor is started, and the wrist part of the mechanical arm is controlled to be lowered through the transmission of the second driving chain wheel and the fourth driven chain wheel until the slag removing plate is contacted with one end of the zinc alloy molten liquid; then, a first motor is started to drive a first driving shaft, a first incomplete gear is in meshing transmission with the double-sided rack, the double-sided rack is driven to move towards the other end of the linear sliding rail, the horizontal linear movement of the slag skimming plate is driven, and the moving speed of a zinc alloy production line is matched; meanwhile, the second motor is started, the second driving shaft is driven to rotate through the transmission of the first bevel gear and the second bevel gear, on one hand, the second driven shaft is driven to rotate through the transmission of the first straight gear and the second straight gear, and then the large arm device of the mechanical arm is driven to be placed downwards; on the other hand, the fourth driven shaft is driven to rotate through the two-stage transmission of the first driving chain wheel and the first driven chain wheel, and the second driven chain wheel and the third driven chain wheel, so that the mechanical arm small arm device is driven to lift; the third motor rotates to ensure that the wrist part of the mechanical arm and the alloy production line are kept in a relatively static state until the slag removing plate moves to the other end of the alloy molten liquid, the wrist part of the mechanical arm is lifted quickly to throw out zinc slag, and slag removing work is completed; and then, the second motor rotates reversely to withdraw the mechanical arm big arm device and the mechanical arm small arm device, the first incomplete gear is separated from the double-sided rack in the synchronous moving device, the second incomplete gear is meshed with the double-sided rack, and the first driven shaft is driven to rotate through synchronous belt transmission, so that the double-sided rack is driven to move reversely, and the original position is recovered.