CN113175820B

CN113175820B - Slag dragging manipulator

Info

Publication number: CN113175820B
Application number: CN202110458308.0A
Authority: CN
Inventors: 盛镝; 宋文涛; 刘永春
Original assignee: Yantai Shenglida Engineering Technology Co ltd
Current assignee: Yantai Shenglida Engineering Technology Co ltd
Priority date: 2021-04-27
Filing date: 2021-04-27
Publication date: 2022-07-19
Anticipated expiration: 2041-04-27
Also published as: CN113175820A

Abstract

The invention discloses a slag dragging manipulator which comprises a base body, a transmission device, a main slag rake and an auxiliary slag rake, wherein the base body is provided with a transmission device; the transmission device is arranged on the base body; the main slag rake is connected with a rotary main shaft of the transmission device, two groups of slag salvaging working bodies are uniformly distributed on the main slag rake relative to the circumference of the rotary main shaft, and each slag salvaging working body comprises a bent prism; the auxiliary slag rakes correspond to the slag dragging working bodies one by one and are uniformly distributed on the outer side of the main slag rake relative to the circumference of the rotary main shaft; the auxiliary slag rake is connected with the transmission device or the base body. The invention can improve the slag dragging efficiency, improve the stress condition of the rotary main shaft, particularly avoid collision slag cleaning and eliminate dead zones between the slag rakes, thereby improving the slag dragging and cleaning effect and prolonging the service life of equipment.

Description

Slag dragging manipulator

Technical Field

The invention relates to a slag dragging manipulator.

Background

The existing slag dragging manipulator generally comprises two slag rakes, the rear ends of the slag rakes are respectively installed on a transmission shaft, and the two slag rakes are folded/opened under the action of the transmission shaft to realize slag dragging/slag removal. The drawbacks of this structure are: (1) the slag in the furnace is often integrated and is not easy to be fished up, and the slag fishing efficiency is low; (2) the weight of the slag rake and the slag is very large, the gravity center is positioned outside the transmission shaft, the transmission shaft is unbalanced in stress and bears large bending torque, and the service life of the transmission shaft and the stability of internal transmission are influenced; (3) slag removal is completed in a collision mode, so that equipment is easily damaged; (4) when the slag rakes are completely opened, a dead zone exists between the backs of the two slag rakes, the slag at the dead zone cannot be fished up, and the slag is not thoroughly fished up.

Disclosure of Invention

The invention provides a slag dragging manipulator, which aims to: (1) the slag fishing efficiency is improved; (2) the stress condition of the transmission shaft is improved; (3) slag removal is avoided to be completed in a collision mode; (4) eliminate the slag dragging dead zone.

The technical scheme of the invention is as follows:

a slag dragging manipulator comprises a base body, a transmission device, a main slag rake and an auxiliary slag rake; the transmission device is arranged on the base body;

the main slag rake is connected with a rotary main shaft of the transmission device, two groups of slag salvaging working bodies are uniformly distributed on the main slag rake relative to the circumference of the rotary main shaft, and each slag salvaging working body comprises a first bent prism;

the auxiliary slag rakes correspond to the slag dragging working bodies one by one and are uniformly distributed on the outer side of the main slag rake relative to the circumference of the rotary main shaft; the auxiliary slag rake is connected with the transmission device or the base body.

As a further improvement of the mechanical hand: the auxiliary slag rake is connected with a driven shaft on the transmission device;

the rotary main shaft is connected with the driven shaft through an intermittent transmission mechanism.

As a further improvement of the mechanical hand: the intermittent transmission mechanism comprises a driving gear arranged on the rotary main shaft and a driven gear arranged on the driven shaft;

the driving gear or the driven gear is an incomplete gear, and the driving gear is used for being meshed with each driven gear;

when the driving gear is an incomplete gear, the gear teeth on the driving gear are arranged in a segmented manner, the segmented gear teeth are uniformly distributed in a circumferential manner, and the number of the segments is equal to that of the auxiliary slag rakes.

As a further improvement of the mechanical hand: a second prism is arranged on the auxiliary slag rake; when the main slag rakes rotate reversely to enable each slag dragging working body to be far away from the corresponding auxiliary slag rake and to be close to the adjacent auxiliary slag rake, the second prisms of the adjacent auxiliary slag rakes are staggered with the first prisms of the slag dragging working bodies.

Compared with the prior art, the invention has the following beneficial effects: (1) during downward exploration, the main slag rake can separate slag in a target area from the middle part, and each part of slag is respectively scooped up by the slag scooping working body and the auxiliary slag rake in the corresponding area in a matched manner, so that the difficulty in scooping up is reduced, and the slag scooping efficiency is improved; (2) by adopting the layout mode of circumferential uniform distribution, the main rotary shaft only bears drawing force and twisting moment in the process of rotating and lifting the main slag harrow, the stress is balanced, the transmission stability is ensured, the condition is provided for reducing the diameter of the main rotary shaft, and the service life is prolonged; (3) when the main slag harrow rotates reversely, each slag salvaging working body is far away from the corresponding auxiliary slag harrow and is close to the adjacent auxiliary slag harrow, namely, the main slag harrow is in a slag cleaning state, the second prism of the adjacent auxiliary slag harrow is staggered with the first prism on the slag salvaging working body, and the structure has the advantages that: firstly, the staggered prisms can push down residual slag on the slag rakes, so that the slag cleaning effect is ensured, and the collision between the slag rakes is avoided; (4) when the main slag rake is close to the auxiliary slag rake for folding or slag removal, the auxiliary slag rake slightly deflects under the action of the intermittent transmission mechanism, so that the auxiliary slag rake is parallel to the corresponding slag salvaging working body, and the slag salvaging and slag removal effects are ensured.

Drawings

FIG. 1 is a perspective view of the present device;

FIG. 2 is a side view of the present device;

FIG. 3 is a schematic structural view of the second embodiment when the manipulator is in a slag removal state;

fig. 4 is a schematic diagram of the structure of the transmission part.

Detailed Description

The technical scheme of the invention is explained in detail in the following by combining the drawings:

example one

A slag dragging manipulator comprises a base body 1, a transmission device, a main slag rake 2 and an auxiliary slag rake 3.

In this embodiment, the transmission base 1 is a box for placing a transmission, and is connected to a robot arm or other mechanism for operating the entire robot.

The main slag rake 2 comprises a horizontal beam, and the middle part of the beam is connected with a rotary main shaft 4 in a transmission device. The bottoms of the left half part and the right half part of the beam are respectively provided with a first bent prism, and the bending directions of the two groups of first prisms are opposite. The first prism may also be replaced by a curved plate or other structure for capturing and grabbing the dross.

The bottom of the box body is also provided with two groups of auxiliary slag rakes 3, and the two groups of auxiliary slag rakes 3 are uniformly distributed around the circumference of the rotary main shaft 4. The auxiliary slag rake 3 also comprises a horizontally arranged cross beam, and the bottom of the cross beam is connected with a vertical second prism (or a plate).

In this embodiment, the auxiliary slag rake 3 is stationary.

During dragging for the sediment, main sediment harrow 2 rotates earlier the convex part that first prism is close to the angle of adjacent vice sediment harrow 3, is in open state promptly, then under the manipulator visits the metal liquid level, this in-process, main sediment harrow 2 can be separated the dregs in target area, helps improving and drags for sediment efficiency. After the manipulator descends to the right position, the main slag rake 2 starts to rotate, the inward-bent parts of the two bent first prisms are gradually close to the auxiliary slag rake 3 on the other side (namely the auxiliary slag rake 3 corresponding to the main slag rake) along the circumferential direction, the half sides of the main slag rake 2 and the corresponding auxiliary slag rake 3 are gradually folded integrally, and finally the slag is grabbed (the slag on the furnace wall can be cleaned up in the process). Then the mechanical arm is lifted under the action of the mechanical arm and moves to a dreg containing area, the main dreg harrow 2 rotates reversely, and dregs fall down. The main slag rake 2 continues to rotate until the outward convex part at the back of the first bent prism is close to the adjacent auxiliary slag rake 3, and the main slag rake 2 and the auxiliary slag rake 3 collide to realize slag removal. And after the slag removal is finished, the next round of slag fishing is started.

This structure can guarantee that the focus of main sediment harrow 2 and dregs is located main rotary shaft 4, and in the action process, main rotary shaft 4 only bears pulling force and torsional moment, and can not bear bending moment, and the atress is balanced, has guaranteed power transmission's stationarity, has prolonged life.

It should be noted that, a plurality of groups of curved first prisms, such as three groups or four groups, may also be arranged on the main slag rake 2, the cross beam is changed into a radial structure, and the number of the auxiliary slag rakes 3 corresponds to the number of the groups of the first prisms of the main slag rake 2.

In addition, the second prism on the auxiliary slag rake 3 can be straight or curved, and if the second prism is curved, the inward-curved parts of the two prisms are opposite to each other when the main slag rake 2 is in a closed posture.

Example two

Referring to fig. 3, the present embodiment is a further optimization scheme based on the first embodiment. In this embodiment, the main slag rake 2 and the auxiliary slag rake 3 are respectively provided with a first prism and a second prism, and when the main slag rake 2 rotates in the opposite direction and each slag dragging working body is far away from the corresponding auxiliary slag rake 3 and close to the adjacent auxiliary slag rake 3, the second prism of the adjacent auxiliary slag rake 3 is staggered with the first prism of the slag dragging working body.

The advantages of this embodiment over the first embodiment are: 1. the staggered prisms can push down the residual dregs in the gaps of the dregs rakes, thereby not only ensuring the effect of removing the dregs, but also avoiding the collision between the dregs rakes. 2. When the next round of slag is used for dragging slag, the two slag rakes are separated from a back-to-back staggered state (namely the state shown in figure 3), so that the dead zone between the two slag rakes in the back-to-back state of the traditional closed slag rake is eliminated, and the slag is ensured to be thoroughly dragged.

EXAMPLE III

The first and second embodiments have the hidden trouble of insecure slag grabbing and incomplete slag cleaning, and the specific reasons are as follows: because the auxiliary slag rake 3 is fixed, when the main slag rake 2 is close to the auxiliary slag rake 3 and is folded or slag is removed, an included angle is formed between the cross beam of the main slag rake 2 and the cross beam of the auxiliary slag rake 3 in at least one state. If the included angle exists during folding, the slag is not firmly grabbed, and part of slag falls off. If the included angle exists during slag removal, the main slag rake 2 and the auxiliary slag rake 3 can not complete intersection (or perform positive collision), the slag removal is incomplete, and a dead zone can be caused.

In order to solve the problems, an intermittent mechanism is added in the transmission device to adjust the angle of the auxiliary slag rake 3.

As shown in fig. 2 and 4, the main slag rake 2 is connected with a rotary main shaft 4, and the auxiliary slag rake 3 is connected with a driven shaft 5 on the transmission device.

The rotary main shaft 4 is a driving shaft, is connected with a hydraulic motor or a motor, and is also connected with the driven shaft 5 through an intermittent transmission mechanism in the box body.

As shown in fig. 4, the intermittent drive mechanism includes a driving gear 1-1 mounted on a rotary main shaft 4 and a driven gear 1-2 mounted on a driven shaft 5. The special point is that the driving gear 1-1 and the driven gear 1-2 are both incomplete gears, and the driving gear 1-1 is used for being meshed with each driven gear 1-2. The gear teeth on the driving gear 1-1 are arranged in two sections at an interval of 180 degrees.

When the slag grabbing device works, when the main slag rake 2 and the auxiliary slag rake 3 are close to be folded (the driving gear 1-1 rotates clockwise in the figure 3), the driving gear 1-1 and the driven gear 1-2 are meshed to drive the auxiliary slag rake 3 to rotate anticlockwise, so that the cross beam of the main slag rake 2 and the cross beam of the auxiliary slag rake 3 are in a parallel state, and the slag grabbing is firmer. When the main slag rake 2 rotates reversely (anticlockwise) and approaches the position colliding with the auxiliary slag rake 3, the driving gear 1-1 and the driven gear 1-2 are meshed again to drive the auxiliary slag rake 3 to rotate clockwise by an angle, so that the cross beam of the main slag rake 2 and the cross beam of the auxiliary slag rake 3 are still in a parallel state, correct crossing of the first prism and the second prism is realized, and sufficient slag removal is ensured. When the main slag rake 2 is in the middle position, the driving gear 1-1 and the driven gear 1-2 are not meshed, and the angle of the auxiliary slag rake 3 is kept unchanged.

Note that, as long as one of the drive gear 1-1 and the driven gear 1-2 is an incomplete gear, the intermittent operation can be realized.

Claims

1. The utility model provides a dragveyer manipulator which characterized in that: comprises a base body (1), a transmission device, a main slag rake (2) and an auxiliary slag rake (3); the transmission device is arranged on the base body (1);

the main slag rake (2) is connected with a rotary main shaft (4) of a transmission device, two groups of slag salvaging working bodies which are uniformly distributed relative to the circumference of the rotary main shaft (4) are arranged on the main slag rake (2), and each slag salvaging working body comprises a first bent prism;

the auxiliary slag rakes (3) correspond to the slag dragging working bodies one by one and are uniformly distributed on the outer side of the main slag rake (2) relative to the circumference of the rotary main shaft (4); the auxiliary slag rake (3) is connected with the transmission device or the base body (1);

the auxiliary slag rake (3) is connected with a driven shaft (5) on the transmission device;

the rotary main shaft (4) is connected with the driven shaft (5) through an intermittent transmission mechanism;

the intermittent transmission mechanism comprises a driving gear (1-1) arranged on the rotary main shaft (4) and a driven gear (1-2) arranged on the driven shaft (5);

the driving gear (1-1) or the driven gear (1-2) is an incomplete gear, and the driving gear (1-1) is used for being meshed with each driven gear (1-2);

when the driving gear (1-1) is an incomplete gear, the gear teeth on the driving gear (1-1) are arranged in a segmented manner, the segmented gear teeth are uniformly distributed in a circumferential manner, and the number of the segments is equal to that of the auxiliary slag rakes (3);

a second prism is arranged on the auxiliary slag rake (3); when the main slag rakes (2) rotate reversely to enable each slag dragging working body to be far away from the corresponding auxiliary slag rakes (3) and to be close to the adjacent auxiliary slag rakes (3), the second prisms of the adjacent auxiliary slag rakes (3) are staggered with the first prisms of the slag dragging working bodies;

when the main slag rake is close to the auxiliary slag rake, the driving gear and the driven gear start to be meshed to drive the auxiliary slag rake to rotate anticlockwise, so that the beam of the main slag rake and the beam of the auxiliary slag rake are in a parallel state to finish slag dragging; when the main slag rake is close to the position where the main slag rake collides with the original adjacent auxiliary slag rake, the driving gear and the driven gear are meshed again to drive the auxiliary slag rake to rotate clockwise, so that the cross beam of the main slag rake collides with the cross beam of the auxiliary slag rake in a parallel state, correct intersection of the first prism and the second prism is realized, and slag removal is completed.