CN114147764A - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN114147764A CN114147764A CN202111445674.9A CN202111445674A CN114147764A CN 114147764 A CN114147764 A CN 114147764A CN 202111445674 A CN202111445674 A CN 202111445674A CN 114147764 A CN114147764 A CN 114147764A
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- Prior art keywords
- longitudinal shaft
- balancing
- self
- shaft
- longitudinal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L33/00—Arrangements for connecting hoses to rigid members; Rigid hose connectors, i.e. single members engaging both hoses
- F16L33/02—Hose-clips
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L58/00—Protection of pipes or pipe fittings against corrosion or incrustation
- F16L58/02—Protection of pipes or pipe fittings against corrosion or incrustation by means of internal or external coatings
- F16L58/04—Coatings characterised by the materials used
- F16L58/08—Coatings characterised by the materials used by metal
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the invention discloses a mechanical arm, which comprises: the first longitudinal axis, the second longitudinal axis and the third longitudinal axis are parallel to each other and can rotate; the first longitudinal shaft and the second longitudinal shaft are movably connected, so that the second longitudinal shaft moves up and down; the second longitudinal shaft and the third longitudinal shaft are rotationally connected, so that the third longitudinal shaft can rotate along the horizontal direction; one end of the front extending arm is rotationally connected with the third longitudinal shaft, and the other end of the front extending arm is fixedly connected with the tail end bracket; the self-balancing module comprises a self-balancing rotating shaft, a self-balancing adjusting block and a balancing weight, and is arranged on two side walls of the tail end bracket; two lateral wall fixed connection of self-balancing pivot and terminal support, the self-balancing regulating block rotates with the self-balancing pivot to be connected, and the one end of self-balancing regulating block is located the below of long mouth of a river backing ring, and the other end of self-balancing regulating block extends to the lateral wall outside of terminal support, balancing weight and the other end fixed connection of self-balancing regulating block.
Description
Technical Field
The invention relates to the technical field of steel continuous casting equipment, in particular to a mechanical arm.
Background
In the production process of the continuous casting process, in order to prevent molten steel from being oxidized and splashed, a long nozzle is generally adopted for pouring the molten steel. In the process of installing the long nozzle on the long nozzle supporting ring, the traditional mechanical arm cannot enable the long nozzle supporting ring to keep a fixed posture, the long nozzle supporting ring can generate irregular shaking, and the long nozzle is difficult to accurately install on the long nozzle supporting ring.
Disclosure of Invention
The invention aims to solve the problem that a long nozzle supporting ring cannot keep a fixed posture in a long nozzle installation process, and provides a mechanical arm.
The present invention provides a robot arm, comprising:
the first longitudinal shaft, the second longitudinal shaft and the third longitudinal shaft are arranged along the vertical direction, and the first longitudinal shaft, the second longitudinal shaft and the third longitudinal shaft can rotate;
the first longitudinal shaft and the second longitudinal shaft are movably connected so that the second longitudinal shaft moves up and down relative to the first longitudinal shaft;
the second longitudinal shaft and the third longitudinal shaft are rotatably connected, so that the third longitudinal shaft can rotate in a horizontal direction relative to the second longitudinal shaft;
one end of the front arm is rotatably connected with the third longitudinal shaft, so that the front arm can rotate along the horizontal direction relative to the third longitudinal shaft, and the other end of the front arm is fixedly connected with the tail end bracket;
the self-balancing modules comprise self-balancing rotating shafts, self-balancing adjusting blocks and balancing weights, and the two self-balancing modules are symmetrically arranged on the two side walls of the tail end support;
the self-balancing rotating shaft is fixedly connected with the two side walls of the tail end support, the self-balancing adjusting block is rotatably connected with the self-balancing rotating shaft, one end of the self-balancing adjusting block is located below the long nozzle supporting ring, the other end of the self-balancing adjusting block extends to the outside of the side wall of the tail end support, and the balancing weight is fixedly connected with the other end of the self-balancing adjusting block.
As a further development of the invention, the first longitudinal shaft and the second longitudinal shaft are movably connected by a lifting mechanism, the lifting mechanism comprising:
the lifting oil cylinder, and an upper connecting rod and a lower connecting rod which are parallel to each other;
one end of the upper connecting rod is hinged with the upper part of the first longitudinal shaft, and the other end of the upper connecting rod is hinged with the upper part of the second longitudinal shaft;
one end of the lower connecting rod is hinged with the lower part of the first longitudinal shaft, and the other end of the lower connecting rod is hinged with the lower part of the second longitudinal shaft;
the lifting oil cylinder is used for driving the upper connecting rod and the lower connecting rod to rotate.
As a further improvement of the present invention, the second longitudinal shaft and the third longitudinal shaft are rotatably connected by a connecting arm, one end of the connecting arm is rotatably connected with the second longitudinal shaft, and the other end of the connecting arm is rotatably connected with the third longitudinal shaft.
As a further improvement of the present invention, the robot arm further comprises:
the device comprises a sleeve rotating shaft, a sleeve, a bracket and a top-wrapping oil cylinder;
one end of the front arm is inserted into the sleeve, so that the front arm and the sleeve can rotate coaxially;
the front extending arm is rotatably connected with the bracket through the sleeve and the sleeve rotating shaft;
the bracket is rotatably connected with the third longitudinal shaft, so that the front arm can rotate along the horizontal direction relative to the third longitudinal shaft;
and the top-wrapping oil cylinder is used for driving the front extending arm to rotate around the sleeve rotating shaft.
As a further improvement of the present invention, a motor, a speed reducer and a clutch are respectively disposed inside the first longitudinal shaft, the second longitudinal shaft and the third longitudinal shaft, the motor and the speed reducer are fixedly connected, the speed reducer is connected to the clutch, and when the clutch is engaged, the first longitudinal shaft, the second longitudinal shaft and the third longitudinal shaft are driven by their respective motors to rotate autonomously.
As a further improvement of the present invention, the first longitudinal shaft, the second longitudinal shaft, the third longitudinal shaft, the lifting mechanism and the sleeve rotating shaft are provided with encoders for tracking the positions of the first longitudinal shaft, the second longitudinal shaft, the third longitudinal shaft, the lifting mechanism and the sleeve rotating shaft.
As a further improvement of the invention, a sealing support ring is arranged above the long nozzle support ring, and the long nozzle penetrates through the sealing support ring and the long nozzle support ring in sequence and is clamped with the long nozzle support ring.
As a further improvement of the invention, a metal pipe is arranged on the front arm, the input end of the metal pipe is connected with an inert gas source, and the output end of the metal pipe is communicated with the sealing support ring.
As a further improvement of the invention, the weight of the long nozzle is greater than that of the balancing weight.
As a further improvement of the invention, the weight of the balancing weight is more than the total weight of the long nozzle supporting ring and the sealing supporting ring.
The invention has the beneficial effects that: through set up self-balancing pivot, self-balancing regulating block and balancing weight at the end of arm, can make long mouth of a river backing ring keep fixed gesture for the arm before installing long mouth of a river for long mouth of a river can be smoothly, accurate install on long mouth of a river backing ring.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic structural diagram of an end of a robot according to an embodiment of the present invention;
fig. 2 is a schematic view of an installation structure of the end of the robot arm and the long nozzle according to the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a front end of a robot according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a lifting mechanism in a robot according to an embodiment of the present invention;
fig. 6 is a schematic state diagram of a robot bag jacking process according to an embodiment of the present invention;
fig. 7 is a schematic view of an installation position relationship of a robot according to an embodiment of the present invention.
In the figure, the position of the upper end of the main shaft,
1. a base; 2. a first longitudinal axis; 3. an encoder; 4. a lift cylinder; 5. a lifting mechanism; 6. a second longitudinal axis; 7. a connecting arm; 8. a third longitudinal axis; 9. a reduction motor; 10. a sleeve shaft; 11. a support; 12. a sleeve; 13. a top-wrapping oil cylinder; 14. a forward arm; 15. a metal tube; 16. a terminal bracket; 17. a balancing weight; 18. a long nozzle; 19. a motor; 20. a speed reducer; 21. a clutch; 22. a hinge shaft of the oil cylinder body; 23. a cylinder rod hinge shaft; 24. a first auxiliary link; 25. an upper connecting rod; 26. a lower connecting rod; 27. a self-balancing rotating shaft; 28. a self-balancing adjusting block; 29. a rotating shaft fixing clip; 30. a long nozzle ring; 31. sealing the supporting ring; 32. a hinge axis; 33. mounting a platform; 34. a ladle; 35. a tundish; 36. a second auxiliary link.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, in the description of the present invention, the terms used are for illustrative purposes only and are not intended to limit the scope of the present invention. The terms "comprises" and/or "comprising" are used to specify the presence of stated elements, steps, operations, and/or components, but do not preclude the presence or addition of one or more other elements, steps, operations, and/or components. The terms "first," "second," and the like may be used to describe various elements, not necessarily order, and not necessarily limit the elements. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified. These terms are only used to distinguish one element from another. These and/or other aspects will become apparent to those of ordinary skill in the art in view of the following drawings, and the description of the embodiments of the present invention will be more readily understood by those of ordinary skill in the art. The drawings are only for purposes of illustrating the described embodiments of the invention. One skilled in the art will readily recognize from the following description that alternative embodiments of the structures and methods illustrated in the present application may be employed without departing from the principles described in the present application.
In the related art, continuous casting is called continuous casting for short. In the process of producing various steel products in a steel plant, two methods are used for solidifying and forming molten steel: conventional die casting and continuous casting processes. The continuous casting technology appeared in European and American countries in the fifties of the twentieth century is an advanced technology for directly casting and forming molten steel. Compared with the traditional method, the continuous casting technology has the remarkable advantages of greatly improving the metal yield and the casting blank quality, saving energy and the like. And (3) transporting the ladle filled with the refined molten steel to a rotary table, pouring the molten steel into a tundish after the rotary table rotates to a pouring position, and distributing the molten steel into each crystallizer by the tundish through a long nozzle. The crystallizer is one of the core equipments of the continuous casting machine, which shapes the casting and rapidly solidifies the crystals. The withdrawal and straightening machine and the crystallization vibration device act together to draw out the casting in the crystallizer, and the casting is cut into slabs with certain length after cooling and electromagnetic stirring.
In the production process of the continuous casting process, a sliding plate mechanism for adjusting the flow of molten steel is arranged at the bottom of a ladle, the top end of a long nozzle is communicated with a lower nozzle on a sliding plate, and the whole long nozzle is supported by an operating arm. Generally, the connection mode of the long nozzle and the operation arm is that the long nozzle is directly sleeved in a support ring at the front end of the operation arm, the support ring is not fixedly connected with the outer wall of the long nozzle, and the support ring is contacted with the bottom surface of an outer hoop at the top end of the long nozzle by using the self weight of the long nozzle. At present, the whole long nozzle dismounting process needs a person to operate a heavy mechanical arm, and the manipulator drives the long nozzle to complete the top ladle in a mode of manually inching the hydraulic oil cylinder.
As shown in fig. 3, a robot according to an embodiment of the present invention includes:
the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 are arranged along the vertical direction, and the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 can rotate. It will be appreciated that the first 2, second 6 and third 8 longitudinal axes comprise rotational axes and the housing frame, and that the first 2, second 6 and third 8 longitudinal axes may all rotate about their respective rotational axes.
The first longitudinal axis 2 and the second longitudinal axis 6 are movably connected such that the second longitudinal axis 6 is movable up and down relative to the first longitudinal axis 2. The lower end of the first longitudinal shaft 2 is connected to the base 1 and the entire robot arm is secured to the floor or mounting platform 33 (as shown in figure 7) by the base 1. The housing frame of the first longitudinal shaft 2 is movably connected with the housing frame of the second longitudinal shaft 6, and the up-and-down movement of the whole mechanical arm can be realized through the up-and-down movement of the second longitudinal shaft 6.
The second longitudinal shaft 6 and the third longitudinal shaft 8 are rotatably connected through a connecting arm 7, one end of the connecting arm 7 is rotatably connected with the bottom end of the second longitudinal shaft 6, and the other end of the connecting arm 7 is fixedly connected with the housing frame of the third longitudinal shaft 8. The connecting arm 7 can be driven to move in the horizontal direction through the rotating shaft of the second longitudinal shaft 6, and the third longitudinal shaft 8 can also move in the horizontal direction along with the connecting arm 7.
One end of the front arm 14 is connected with the bottom end of the rotating shaft of the third longitudinal shaft 8 through a support 11, and the other end of the front arm 14 is fixedly connected with a terminal support 16. The forward arm 14 is movable in the horizontal direction by the third longitudinal axis 8.
As shown in fig. 1, the self-balancing module includes a self-balancing rotating shaft 27, a self-balancing adjusting block 28 and a balancing weight 17, two of the self-balancing modules are symmetrically disposed on two side walls of the end bracket 16, one is disposed on a left side wall of the end bracket 16, and the other is disposed on a right side wall of the end bracket 16.
The self-balancing rotating shaft 27 is fixedly connected to the inner side of the left/right side wall of the end bracket 16 through a rotating shaft fixing clip 29, and the self-balancing adjusting block 28 is rotatably connected to the self-balancing rotating shaft 27, that is, the self-balancing adjusting block 28 can rotate around the self-balancing rotating shaft 27 by a certain angle. And one end of the self-balancing adjusting block 28 is located below the long nozzle supporting ring 30, the other end of the self-balancing adjusting block 28 extends to the outside of the side wall of the terminal support 16, and the balancing weight 17 and the other end of the self-balancing adjusting block 28 are fixedly connected in a detachable connection mode such as a bolt.
As shown in fig. 2, the long nozzle ring 30 is located between and hinged to the two side walls of the end bracket 16 by two hinge shafts 32. In the installation process of the long nozzle 18, the long nozzle ring 30 is irregularly shaken due to the operation of the mechanical arm, so that the long nozzle 18 is difficult to be accurately aligned. Under the action of the balancing weight 17, the self-balancing adjusting block 28 located below the long nozzle ring 30 rotates upwards around the self-balancing rotating shaft 27 until the upper surface of the self-balancing adjusting block 28 located below the long nozzle ring 30 is completely contacted with the lower surface of the long nozzle ring 30, so that irregular shaking of the long nozzle ring 30 around the hinge shaft 32 is limited. Therefore, the position or the angle of the long nozzle support ring 30 is adjusted in a self-adaptive manner, so that the long nozzle support ring 30 has a fixed posture relative to the mechanical arm, and the long nozzle 18 can be conveniently and accurately mounted on the long nozzle support ring 30.
In an alternative embodiment, as shown in fig. 4, the first longitudinal shaft 2 and the second longitudinal shaft 6 are movably connected by a lifting mechanism 5, the housing frame of the first longitudinal shaft 2 is connected with one end of the lifting mechanism 5, and the housing frame of the second longitudinal shaft 6 is connected with the other end of the lifting mechanism 5. The second longitudinal axis 6 is moved up and down relative to the first longitudinal axis 2 by the lifting mechanism 5.
As shown in fig. 5, the lifting mechanism 5 includes:
the lifting oil cylinder 4 and an upper connecting rod 25 and a lower connecting rod 26 which are parallel to each other;
one end of the upper connecting rod 25 is hinged with the upper part of the shell frame of the first longitudinal shaft 2, and the other end of the upper connecting rod 25 is hinged with the upper part of the shell frame of the second longitudinal shaft 6;
one end of the lower connecting rod 26 is hinged with the lower part of the shell frame of the first longitudinal shaft 2, and the other end of the lower connecting rod 26 is hinged with the lower part of the shell frame of the second longitudinal shaft 6;
the lifting cylinder 4 is used for driving the upper connecting rod 25 and the lower connecting rod 26 to rotate.
Preferably, the lifting mechanism 5 is a parallelogram linkage, i.e. the first longitudinal axis 2, the second longitudinal axis 6, the upper link 25 and the lower link 26 together form a parallelogram. The left end of the upper connecting rod 25 can rotate around a hinge shaft at the upper end of the shell frame of the first longitudinal shaft 2, and the right end of the upper connecting rod 25 can rotate around a hinge shaft at the upper end of the shell frame of the second longitudinal shaft 6; the left end of the lower link 26 is rotatable about a hinge axis at the lower end of the housing frame at the first longitudinal axis 2 and the right end of the lower link 26 is rotatable about a hinge axis at the lower end of the housing frame at the second longitudinal axis 6. The cylinder body of the lifting oil cylinder 4 is hinged with the shell frame of the first longitudinal shaft 2 through a cylinder body hinge shaft 22, so that the lifting oil cylinder 4 can rotate around the cylinder body hinge shaft 22; the front end of the oil cylinder rod of the lifting oil cylinder 4 is hinged with the lower connecting rod 26 through the oil cylinder rod hinge shaft 23, the lower connecting rod 26 is driven to move through the expansion and contraction of the oil cylinder rod, and the upper connecting rod 25 moves along with the movement of the lower connecting rod 26. A second auxiliary link 36 is arranged between the upper link 25 and the lower link 26, the upper end of the second auxiliary link 36 is movably connected with the upper link 25, and the lower end of the second auxiliary link 36 is movably connected with the lower link 26. More preferably, the second auxiliary link 36 is connected to the housing frame of the first longitudinal shaft 2 by the first auxiliary link 24. One end of the first auxiliary link 24 is hinged to the housing frame of the first longitudinal shaft 2 and the other end of the first auxiliary link 24 is hinged to the second auxiliary link 36. The first auxiliary link 24 is parallel to the upper link 25 and the lower link 26, and the second auxiliary link 36 is parallel to the first longitudinal axis 2. When the lifting mechanism 5 moves, the rotation directions and rotation angles of the first auxiliary link 24, the upper link 25, and the lower link 26 are always kept the same.
When the oil cylinder rod of the lifting oil cylinder 4 contracts, the upper connecting rod 25 and the lower connecting rod 26 are driven to rotate anticlockwise, so that the second longitudinal shaft 6 is lifted, when the oil cylinder rod of the lifting oil cylinder 4 extends, the upper connecting rod 25 and the lower connecting rod 26 are driven to rotate clockwise, so that the second longitudinal shaft 6 is lowered, and in the lifting motion process, the parallelogram mechanism of the lifting mechanism 5 can enable the second longitudinal shaft 6 to be always parallel to the first longitudinal shaft 2, so that the motion and posture control of each component mechanism of the mechanical arm is facilitated. The lifting of the second longitudinal shaft 6 is controlled by the lifting oil cylinder 4, so that the heights of the bracket 11 and the front boom 14 are controlled, and the front boom 14 can have the best posture when working between the steel ladle 34 and the tundish 35 by matching with the action of the ladle jacking oil cylinder 13, so that the continuous casting platform is suitable for various layouts. When the lifting oil cylinder 4 drives the lifting mechanism 5 to move upwards, the whole working part of the mechanical arm can move upwards, the mechanical arm can quickly avoid various field devices such as a steel ladle 34, a rotary platform, a tundish 35 and the like, and the safety is higher.
In an alternative embodiment, the robotic arm further comprises:
the device comprises a sleeve rotating shaft 10, a sleeve 12, a bracket 11 and a top-wrapping oil cylinder 13;
one end of the forward arm 14 is inserted into the sleeve 12, so that the forward arm 14 and the sleeve 12 can rotate coaxially;
the front arm 14 is rotatably connected with the bracket 11 through the sleeve 12 and the sleeve rotating shaft 10;
the bracket 11 is rotatably connected with the third longitudinal shaft 8, so that the front arm 14 can rotate in the horizontal direction relative to the third longitudinal shaft 8;
the top-wrapping oil cylinder 13 is used for driving the front extending arm 14 to rotate around the sleeve rotating shaft 10.
As shown in fig. 3, one end of the front arm 14 is sleeved with a sleeve 12, and is inserted into the bottom of the bracket 11 through the sleeve 12. The two sleeve rotating shafts 10 are provided, one sleeve rotating shaft 10 penetrates through the sleeve wall on the left side to rotatably connect the front arm 14 with the support 11, and the other sleeve rotating shaft 10 penetrates through the sleeve wall on the right side to rotatably connect the front arm 14 with the support 11, so that the front arm 14 can rotate around the sleeve rotating shaft 10. The bottom end of the rotating shaft of the third longitudinal shaft 8 is rotatably connected with the upper part of the bracket 11, so that the front arm 14 can move along the horizontal direction. The cylinder body of the top-packing oil cylinder 13 is hinged with two side walls of the bracket 11, and the oil cylinder rod of the top-packing oil cylinder 13 is hinged with the sleeve 12. When the oil cylinder rod of the top ladle oil cylinder 13 extends, the sleeve 12 and the front extension arm 14 are driven to rotate downwards; when the cylinder rod of the top-packing cylinder 13 is contracted, the driving sleeve 12 and the forward arm 14 are rotated upward. The rear end of the sleeve 12 is provided with a speed reducing motor 9, and the speed reducing motor 9 is used for driving the front arm 14 to rotate around the central shaft of the sleeve 12.
Optionally, the first longitudinal shaft 2, the second longitudinal shaft 6 or the third longitudinal shaft 8 may be removed according to the situation of field use. When the first longitudinal shaft 2 is removed, the bottom end of the second longitudinal shaft 6 is fixed on the ground or an installation platform 33 through the base 1, and the lifting mechanism 5 is arranged between the second longitudinal shaft 6 and the third longitudinal shaft 8, so that the upper connecting rod 25 is hinged with the upper end of the second longitudinal shaft 6 and the upper end of the third longitudinal shaft 8, the lower connecting rod 26 is hinged with the lower end of the second longitudinal shaft 6 and the lower end of the third longitudinal shaft 8, and the composition and connection of other parts are unchanged; when the second longitudinal shaft 6 is removed, the connecting arm 7 needs to be removed at the same time, the lifting mechanism 5 is arranged between the first longitudinal shaft 2 and the third longitudinal shaft 8, the upper connecting rod 25 is hinged with the upper end of the first longitudinal shaft 2 and the upper end of the third longitudinal shaft 8, the lower connecting rod 26 is hinged with the lower end of the first longitudinal shaft 2 and the lower end of the third longitudinal shaft 8, and the components and the connection of other components are unchanged; when the third longitudinal shaft 8 is removed, the bracket 11 is directly and fixedly connected with the lower end of the second longitudinal shaft 6, and the composition and connection of other parts are unchanged. No matter the first longitudinal shaft 2, the second longitudinal shaft 6 or the third longitudinal shaft 8 is removed, the removed robot can also realize the functions of moving, installing the long nozzle 18, jacking and the like.
In an alternative embodiment, a motor 19, a speed reducer 20 and a clutch 21 are disposed inside each of the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8, the motor 19 and the speed reducer 20 are fixedly connected, and the speed reducer 20 is connected to the clutch 21. When the clutch 21 is actuated, the speed reducer 20 inside the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 is rigidly connected with the shell frame of the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 respectively, the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 are driven by the motors 19 to rotate autonomously, and the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 are driven to move by the motors 19 according to the specific positions of the ladle 34 and the sewage outlet thereof; when the clutch 21 is disconnected, the speed reducer 12 inside the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 is disconnected from the housing frames of the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8, respectively, so that the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 can move under the action of external force, and the motor 19 cannot drive the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8. When the mechanical arm moves autonomously, the clutches 21 of the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 are attracted, the motor 19, the lifting cylinder 4 and the bag jacking cylinder 13 drive the mechanical arm to move, when the mechanical arm starts bag jacking operation, the clutches 21 of the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 are disconnected, and at the moment, the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 can rotate freely to adapt to position change of the long nozzle 18 caused by height change of a ladle 34, pulling of a sliding plate mechanism and the like, so that damage to the motor 19 and the speed reducer 20 in the working process is avoided.
In an alternative embodiment, the first longitudinal shaft 2, the second longitudinal shaft 6, the third longitudinal shaft 8, the lifting mechanism 5 and the sleeve spindle 10 are provided with an encoder 3, and the encoder 3 is used for tracking the positions of the first longitudinal shaft 2, the second longitudinal shaft 6, the third longitudinal shaft 8, the lifting mechanism 5 and the sleeve spindle 10. The encoder 3 can acquire the rotation angles of the first longitudinal shaft 2, the second longitudinal shaft 6, the third longitudinal shaft 8 and the lifting mechanism 5 in real time, and the postures of the working parts of the mechanical arm, such as the first longitudinal shaft 2, the second longitudinal shaft 6, the third longitudinal shaft 8, the lifting mechanism 5, the sleeve rotating shaft 10 and the like, can be monitored in real time through the change of the display angles of the encoder 3.
In an alternative embodiment, as shown in fig. 2, a sealing ring 31 is disposed above the long nozzle ring 30, and the long nozzle 18 sequentially penetrates through the sealing ring 31 and the long nozzle ring 30 and is clamped with the long nozzle ring 30.
In an alternative embodiment, the front arm 14 is provided with a metal tube 15, an input end of the metal tube 15 is connected to an inert gas source, an output end of the metal tube 15 is communicated with the sealing ring 31, and the metal tube 15 is used for conveying a gas medium such as argon to ensure that the poured molten steel is not oxidized. Preferably, the output end of the metal pipe 15 may be connected to the seal holder ring 31 through a hose to accommodate the movement of the seal holder ring 31.
In an alternative embodiment, the weight of the elongated nozzle 18 is greater than the weight of the counterweight 17. Preferably, the weight of the long nozzle 18 is much larger than that of the weight 17, so that the long nozzle 18 is not influenced by the weight of the weight 17 during the top ladle process.
In an alternative embodiment, the weight of the weight 17 is greater than the total weight of the long nozzle ring 30 and the seal ring 31. Preferably, the weight of the counterweight 17 is slightly larger than the total weight of the long nozzle ring 30 and the sealing ring 31, so as to facilitate the self-balancing adjusting block 28 to adjust the position of the long nozzle ring 30 in a self-adaptive manner.
It will be appreciated that the weight of the weight 17 may be determined based on the total weight of the shroud ring 30 and the seal ring 31. When the long nozzle ring 30 is not provided with the long nozzle 18, the weight of the counter weight 17 is slightly larger than the total weight of the long nozzle ring 30 and the sealing ring 31, under the action of the gravity of the counter weight 17, the upper plane of the self-balancing adjusting block 28 is completely contacted with the lower plane of the long nozzle ring 30, the rotation of the long nozzle ring 30 is limited, the angle of the long nozzle ring 30 relative to the front extension arm 14 is fixed, and at the moment, the posture of the long nozzle ring 30 relative to the mechanical arm can be ensured to be fixed, so that the long nozzle 18 can be conveniently arranged on the long nozzle ring 30. After the long nozzle 18 is arranged in the long nozzle supporting ring 30, the weight of the long nozzle 18 is far larger than that of the balancing weight 17, under the action of the self gravity of the long nozzle 18, the influence of the balancing weight 17 on the long nozzle supporting ring 30 can be ignored, the self-balancing adjusting block 28 can rotate around the self-balancing rotating shaft 27, at the moment, the self-balancing adjusting block 28 is in line contact or point contact with the lower surface of the long nozzle supporting ring 30, the long nozzle 18 is in a vertical state, and the bag jacking operation of a mechanical arm on the long nozzle 18 is facilitated.
The operation method of the mechanical arm in this embodiment is as follows: firstly, determining the weight of a balancing weight 17 according to the total weight of a long nozzle supporting ring 30 and a sealing supporting ring 31, and fixing the balancing weight on a self-balancing adjusting block 28; after the state of the long nozzle supporting ring 30 is stable, using other mechanical arms or special equipment to load the long nozzle 18 into the long nozzle supporting ring 30; then the position and the posture of the tail end of the mechanical arm are adjusted by controlling the motor 19, the lifting cylinder 4 and the ladle jacking cylinder 13 (at the moment, the clutches 21 of the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 are all in a suction state), the long nozzle 18 is moved to the position right below the lower nozzle of the ladle 34, then the clutch 21 of the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 is disconnected, the lifting cylinder 4 is kept still, the front extension arm 14 drives the long nozzle 18 to move upwards only by controlling the ladle jacking cylinder 13 until the long nozzle 18 is aligned and pressed with the lower nozzle of the ladle 34, during the subsequent casting, the clutch 21 of the first 2, second 6 and third 8 longitudinal shafts will always be in the disengaged state, so as to adapt to the position change of the long nozzle 18 during the action of the ladle 34 and the sliding plate mechanism, the ladle jacking cylinder 13 always provides certain pressure, and the long nozzle 18 and the lower nozzle of the ladle 34 keep constant pressing force (as shown in fig. 6).
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Furthermore, those of ordinary skill in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
It will be understood by those skilled in the art that while the present invention has been described with reference to exemplary embodiments, various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. A robotic arm, comprising:
the first longitudinal shaft, the second longitudinal shaft and the third longitudinal shaft are arranged along the vertical direction, and the first longitudinal shaft, the second longitudinal shaft and the third longitudinal shaft can rotate;
the first longitudinal shaft and the second longitudinal shaft are movably connected so that the second longitudinal shaft moves up and down relative to the first longitudinal shaft;
the second longitudinal shaft and the third longitudinal shaft are rotatably connected, so that the third longitudinal shaft can rotate in a horizontal direction relative to the second longitudinal shaft;
one end of the front arm is rotatably connected with the third longitudinal shaft, so that the front arm can rotate along the horizontal direction relative to the third longitudinal shaft, and the other end of the front arm is fixedly connected with the tail end bracket;
the self-balancing modules comprise self-balancing rotating shafts, self-balancing adjusting blocks and balancing weights, and the two self-balancing modules are symmetrically arranged on the two side walls of the tail end support;
the self-balancing rotating shaft is fixedly connected with the two side walls of the tail end support, the self-balancing adjusting block is rotatably connected with the self-balancing rotating shaft, one end of the self-balancing adjusting block is located below the long nozzle supporting ring, the other end of the self-balancing adjusting block extends to the outside of the side wall of the tail end support, and the balancing weight is fixedly connected with the other end of the self-balancing adjusting block.
2. A robotic arm as claimed in claim 1, in which the first and second longitudinal axes are movably connected by a lifting mechanism comprising:
the lifting oil cylinder, and an upper connecting rod and a lower connecting rod which are parallel to each other;
one end of the upper connecting rod is hinged with the upper part of the first longitudinal shaft, and the other end of the upper connecting rod is hinged with the upper part of the second longitudinal shaft;
one end of the lower connecting rod is hinged with the lower part of the first longitudinal shaft, and the other end of the lower connecting rod is hinged with the lower part of the second longitudinal shaft;
the lifting oil cylinder is used for driving the upper connecting rod and the lower connecting rod to rotate.
3. A robotic arm as claimed in claim 1, in which the second and third longitudinal axes are pivotally connected by a link arm, one end of the link arm being pivotally connected to the second longitudinal axis and the other end of the link arm being pivotally connected to the third longitudinal axis.
4. A robotic arm as claimed in claim 2, further comprising:
the device comprises a sleeve rotating shaft, a sleeve, a bracket and a top-wrapping oil cylinder;
one end of the front arm is inserted into the sleeve, so that the front arm and the sleeve can rotate coaxially;
the front extending arm is rotatably connected with the bracket through the sleeve and the sleeve rotating shaft;
the bracket is rotatably connected with the third longitudinal shaft, so that the front arm can rotate along the horizontal direction relative to the third longitudinal shaft;
and the top-wrapping oil cylinder is used for driving the front extending arm to rotate around the sleeve rotating shaft.
5. The mechanical arm as claimed in claim 1, wherein a motor, a speed reducer and a clutch are arranged inside each of the first longitudinal shaft, the second longitudinal shaft and the third longitudinal shaft, the motor and the speed reducer are fixedly connected, the speed reducer is connected with the clutch, and when the clutch is engaged, the first longitudinal shaft, the second longitudinal shaft and the third longitudinal shaft are driven by the respective motors to rotate autonomously.
6. A robotic arm as claimed in claim 4, in which the first, second and third longitudinal axes, the lifting mechanism and the sleeve shaft are each provided with an encoder for tracking the position of the first, second, third longitudinal axes, the lifting mechanism and the sleeve shaft.
7. The mechanical arm according to claim 1, wherein a sealing support ring is arranged above the long nozzle support ring, and the long nozzle penetrates through the sealing support ring and the long nozzle support ring in sequence and is clamped with the long nozzle support ring.
8. A robotic arm as claimed in claim 7, in which the projecting arm is provided with a metal tube, the input end of the metal tube being connected to an inert gas source, the output end of the metal tube being in communication with the seal ring.
9. The mechanical arm of claim 7, wherein the weight of the elongated nozzle is greater than the weight of the counterweight.
10. The mechanical arm of claim 7, wherein the weight of the weight block is greater than the total weight of the sprue carrier ring and the seal carrier ring.
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|---|---|---|---|
| CN202111445674.9A CN114147764B (en) | 2021-11-30 | 2021-11-30 | Mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111445674.9A CN114147764B (en) | 2021-11-30 | 2021-11-30 | Mechanical arm |
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| CN114147764A true CN114147764A (en) | 2022-03-08 |
| CN114147764B CN114147764B (en) | 2022-09-09 |
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| CN114147764B (en) | 2022-09-09 |
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