CN114152086B - Multi-angle telescopic arm for rotary kiln slag skimming - Google Patents
Multi-angle telescopic arm for rotary kiln slag skimming Download PDFInfo
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- CN114152086B CN114152086B CN202111384158.XA CN202111384158A CN114152086B CN 114152086 B CN114152086 B CN 114152086B CN 202111384158 A CN202111384158 A CN 202111384158A CN 114152086 B CN114152086 B CN 114152086B
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- Prior art keywords
- arm
- rake
- oil cylinder
- outer arm
- rear end
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- 239000002893 slag Substances 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 229910001220 stainless steel Inorganic materials 0.000 claims abstract description 4
- 239000010935 stainless steel Substances 0.000 claims abstract description 4
- 230000007704 transition Effects 0.000 claims description 22
- 239000000463 material Substances 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 238000005192 partition Methods 0.000 claims description 10
- 238000012806 monitoring device Methods 0.000 claims description 5
- 239000003086 colorant Substances 0.000 claims description 3
- 230000008859 change Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 239000008188 pellet Substances 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000013590 bulk material Substances 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000003723 Smelting Methods 0.000 description 1
- HCHKCACWOHOZIP-UHFFFAOYSA-N Zinc Chemical compound [Zn] HCHKCACWOHOZIP-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009970 fire resistant effect Effects 0.000 description 1
- 230000009975 flexible effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
- 239000011701 zinc Substances 0.000 description 1
- 229910052725 zinc Inorganic materials 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27B—FURNACES, KILNS, OVENS, OR RETORTS IN GENERAL; OPEN SINTERING OR LIKE APPARATUS
- F27B7/00—Rotary-drum furnaces, i.e. horizontal or slightly inclined
- F27B7/20—Details, accessories, or equipment peculiar to rotary-drum furnaces
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D25/00—Devices or methods for removing incrustations, e.g. slag, metal deposits, dust; Devices or methods for preventing the adherence of slag
- F27D25/001—Devices or methods for removing incrustations, e.g. slag, metal deposits, dust; Devices or methods for preventing the adherence of slag comprising breaking tools, e.g. hammers, drills, scrapers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D3/00—Charging; Discharging; Manipulation of charge
- F27D3/15—Tapping equipment; Equipment for removing or retaining slag
- F27D3/1545—Equipment for removing or retaining slag
- F27D3/1554—Equipment for removing or retaining slag for removing the slag from the surface of the melt
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27B—FURNACES, KILNS, OVENS, OR RETORTS IN GENERAL; OPEN SINTERING OR LIKE APPARATUS
- F27B7/00—Rotary-drum furnaces, i.e. horizontal or slightly inclined
- F27B7/20—Details, accessories, or equipment peculiar to rotary-drum furnaces
- F27B7/2075—Removing incrustations
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Crushing And Grinding (AREA)
Abstract
The invention discloses a multi-angle telescopic arm for rotary kiln slag skimming, which comprises an outer arm and an inner arm, wherein the inner arm is connected in the outer arm in a sliding way, the front end of the inner arm is detachably connected with a rake assembly, the rake assembly comprises a rotatable rake, a rake rod of the rake adopts a high-temperature resistant stainless steel pipe, a telescopic oil cylinder for controlling the inner arm to stretch out and draw back is further arranged between the outer arm and the inner arm by taking the position of the rake assembly relative to the inner arm as the forward direction, the end part of a piston rod of the telescopic oil cylinder is hinged with the rear end of the inner side of the outer arm, the cylinder body of the telescopic oil cylinder is hinged with the rear end of the inner arm, the hinged part is positioned at the rear end of the cylinder body of the telescopic oil cylinder, and the bottom of the front end of the cylinder body of the telescopic oil cylinder is kept balanced through a supporting wheel; the lifting mechanism is vertically arranged below the middle part of the outer side of the outer arm, a first amplitude-variable oil cylinder is hinged between the fixed part of the lifting mechanism and the rear end of the outer side of the outer arm, and the movable part of the lifting mechanism is hinged on the outer arm. The invention can solve the problem that the slag skimming angle of the existing rotary kiln can not be flexibly adjusted at high temperature.
Description
Technical Field
The invention relates to the technical field of pellet rotary kiln slag treatment, in particular to a multi-angle telescopic arm for rotary kiln slag skimming.
Background
In the field of pellet rotary kilns in iron and steel ore plants, pellets and iron powder are roasted in the rotary kiln at the temperature of 1200 ℃, and in the high-temperature roasting and rotation processes, the iron powder is melted and sintered with the pellets into irregular-sized blocks, and the blocks are conveyed to kiln heads along with the rotation of the rotary kiln and fall on water-cooled beams distributed at equal intervals on the kiln heads. Small lump materials and pellets fall into the flow passage area of the grate cooler from the water-cooled beam at equal intervals, and larger lump materials fall into the kiln working area of the kiln head and are required to be treated by opening a side furnace door. The maximum weight of each block is about 800kg, the furnace door is required to be opened for treatment once every 2-3 hours, the larger block is required to be crushed, the labor intensity is high, the efficiency is low, high-temperature radiation and potential safety hazards exist in manual slag skimming operation, and the tool is not high-temperature resistant and is more fragile in manual slag skimming.
At present, slag removing robots working below 700 ℃ exist at home and abroad, and the problems of floating oxide skin treatment on the surface layer of boiler solution and later cleaning of low-temperature slag and fire-resistant coating operation in the process of smelting steel, aluminum, lead and zinc are mainly solved. However, because the mechanical arm load of the traditional industrial robot is generally tens to hundreds of kilograms, the mechanical arm has the advantages of high speed and accurate positioning, but because the mechanical arm load is not large in bearing, the mechanical arm load is driven by a motor acceleration and deceleration device in a transmission mode, and the mechanical arm load is difficult to meet the working conditions of high temperature and large load. In addition, the mechanical arm of the engineering machinery generally adopts a folding arm, a hydraulic cylinder and a wrist structure, and has the advantages of large load capacity, flexible action, low precision and no high-temperature operation condition resistance through practice.
Therefore, no slagging-off robot capable of performing multi-angle transformation in the slagging-off treatment operation of the rotary kiln at the high temperature of 1200 ℃ exists at present.
Disclosure of Invention
The invention aims to provide a multi-angle telescopic arm for rotary kiln slag skimming, which is used for solving the problem that the slag skimming angle cannot be flexibly adjusted at high temperature in the conventional rotary kiln slag skimming operation.
In order to solve the problems, the invention adopts the following technical scheme:
the multi-angle telescopic arm for the rotary kiln slag skimming comprises an outer arm and an inner arm, wherein the inner arm is connected in the outer arm in a sliding manner, the front end of the inner arm is detachably connected with a rake assembly, the rake assembly comprises a rotatable rake, a rake rod of the rake adopts a high-temperature resistant stainless steel pipe, a telescopic oil cylinder for controlling the inner arm to stretch out and draw back is further arranged between the outer arm and the inner arm by taking the position of the rake assembly relative to the inner arm as the forward direction, the end part of a piston rod of the telescopic oil cylinder is hinged with the inner rear end of the outer arm, the cylinder body of the telescopic oil cylinder is hinged with the rear end of the inner arm, the hinged position is positioned at the rear end of the cylinder body of the telescopic oil cylinder, and the bottom of the front end of the cylinder body of the telescopic oil cylinder is balanced through a supporting wheel;
a lifting mechanism is vertically arranged below the middle part of the outer side of the outer arm, a first amplitude-variable oil cylinder is hinged between the fixed part of the lifting mechanism and the rear end of the outer side of the outer arm, and the movable part of the lifting mechanism is hinged on the outer arm.
Optionally, the outside sliding connection of outer arm has the crushing subassembly that is used for broken bulk material, is provided with the second luffing cylinder that is used for driving the crushing subassembly and rotates for the outer arm between crushing subassembly and the outer arm.
Optionally, the breaking assembly comprises a breaking hammer, a drill rod is arranged on the breaking hammer, a sliding rail, a pushing oil cylinder and a breaking bracket are arranged on the outer side of the outer arm, the sliding rail is fixed on the outer side surface of the outer arm, the sliding rail is parallel to the axial direction of the outer arm, the breaking bracket is in sliding connection with the sliding rail, the pushing oil cylinder is hinged between the rear end of the outer side of the outer arm and the breaking bracket, a second amplitude variation oil cylinder is hinged between the breaking bracket and the breaking hammer, and when a piston rod of the second amplitude variation oil cylinder does not extend, the drill rod is parallel to the axial direction of the outer arm.
Optionally, the rake assembly further comprises a short bearing seat and a transition shaft, the transition shaft is rotationally connected in the short bearing seat through a high-temperature bearing, the rear end face of the short bearing seat is detachably and fixedly connected with the front end face of the inner arm, a transmission shaft is installed in the inner arm, the rear end of the transmission shaft is provided with a swing hydraulic cylinder, the front end of the transmission shaft is detachably and fixedly connected with the rear end of the transition shaft, and the front end of the transition shaft is detachably and fixedly connected with the rake.
Optionally, a first high-temperature-resistant partition plate is arranged at the front end of the short bearing seat, a threaded flange is connected to the rear periphery of the transition shaft, which extends out of the first high-temperature-resistant partition plate, the rear end of the rake is in a flange disc shape, and the rear end of the rake is connected with the threaded flange through a quick-release bolt;
the front end of the threaded flange and the front end of the transition shaft are locked by a high-temperature-resistant bolt and a second high-temperature-resistant partition plate.
Optionally, the lifting mechanism comprises a lifting oil cylinder and a lifting frame, the lifting frame comprises an outer sleeve and an inner sleeve which is connected in the outer sleeve in a sliding manner, a cylinder body of the lifting oil cylinder is fixedly connected with the outer sleeve, and a piston rod of the lifting oil cylinder is fixedly connected with the inner sleeve; the top end of the inner sleeve is hinged to the middle part of the outer side of the outer arm, and the first amplitude variation oil cylinder is hinged between the outer sleeve and the rear end of the outer side of the outer arm.
Optionally, an upper drag chain frame is fixedly arranged at the upper part of the outer arm, an upper drag chain is arranged in the upper drag chain frame, and one end of the upper drag chain extends out of the upper drag chain frame and is fixedly connected with the upper end of the crushing bracket;
the lower part of the outer arm is fixedly provided with a lower drag chain frame, a lower drag chain is arranged in the lower drag chain frame, and one end of the lower drag chain extends out of the lower drag chain frame and is fixedly connected with the rear end of the inner arm.
Optionally, the cross sections of the outer arm and the inner arm are both of an unequal hexagonal structure, the unequal hexagonal structure comprises an upper plane, a lower plane, two side surfaces and two lower inclined surfaces, the upper plane and the lower plane are parallel and opposite, the two side surfaces are parallel and opposite, and the lower inclined surfaces are connected between the side surfaces and the lower plane.
Optionally, an upper slider is arranged between the upper plane of the outer arm and the upper plane of the inner arm, a side slider is arranged between the side surface of the outer arm and the side surface of the inner arm, and a lower slider is arranged between the lower inclined surface of the outer arm and the lower inclined surface of the inner arm.
Optionally, the device also comprises a remote controller and a remote monitoring device, wherein the interface of the remote controller is provided with indicator lamps and emergency stop buttons with different colors, and the rake is provided with a temperature sensor.
By adopting the technical scheme, the invention has the following advantages:
the telescopic arm can drive the rake assembly to move forwards and backwards and change the pitching angle, the rake assembly can rake out large materials before crushing and small materials after crushing by combining the crushing assembly, meanwhile, the whole telescopic arm can change the height position through the lifting mechanism, the action control is fine, the rake assembly which is connected to the telescopic arm in a quick-dismantling manner can be quickly separated from the telescopic arm, emergency is conveniently handled, the safety is improved, all parts in the rake assembly adopt high-temperature resistant parts, and the whole high-temperature resistance of the rake assembly is conveniently improved; the rake can realize the angle transformation of the rake end through the swing hydraulic cylinder, the transmission shaft and the transition shaft, so that the angle of the claw hook of the rake end relative to the material can be conveniently adjusted.
In addition, the crushing assembly can stretch out and draw back along the telescopic arm and change the pitching angle on the basis of the position of the telescopic arm, so that the large-block materials are crushed.
In conclusion, the multifunctional telescopic arm equipment adopting full hydraulic drive can better solve the problems of high labor intensity, high-temperature radiation, high potential safety hazard and the like of manual operation in high-temperature places, has the functions of multi-angle large-block removal and large-block crushing under high-temperature conditions, integrates the electromechanical-hydraulic integrated technology, can improve the operation efficiency and reduces the safety risk.
Drawings
FIG. 1 is a schematic view of the telescopic boom of the present invention;
FIG. 2 is a cross-sectional view A-A of FIG. 1;
FIG. 3 is a partial cross-sectional view of the telescopic arm of the present invention;
fig. 4 is a schematic view of the rake assembly of the present invention.
Reference numerals: 11. the device comprises an outer arm, 12, an inner arm, 13, a first amplitude-variable oil cylinder, 14, a telescopic oil cylinder, 15, a supporting wheel, 16, a displacement sensor, 17, a transmission shaft, 18, a swinging hydraulic cylinder, 19 and an angular displacement sensor;
21. the device comprises a rake, 22, a short bearing seat, 23, a transition shaft, 24, a high-temperature bearing, 25, a first high-temperature resistant partition plate, 26, a threaded flange, 27, a quick-release bolt, 28, a high-temperature resistant bolt, 29 and a second high-temperature resistant partition plate;
31. the crushing hammer, 32, a drill rod, 33, a slide rail, 34, a thrust cylinder, 35, a crushing bracket, 36 and a second amplitude cylinder;
41. lifting cylinder 42, outer sleeve 43 and inner sleeve;
51. an upper drag chain frame, 52, an upper drag chain, 53, a lower drag chain frame, 54, a lower drag chain;
61. upper slide block, 62, side slide block, 63, lower slide block.
Detailed Description
In order to make the technical objects, technical schemes and advantageous effects of the present invention more clear, the technical schemes of the present invention will be further described with reference to fig. 1 to 4 and specific embodiments.
An embodiment of a multi-angle telescopic arm for rotary kiln slag skimming:
the multi-angle telescopic arm for rotary kiln slag removal comprises an outer arm 11 and an inner arm 12, wherein the inner arm 12 is slidably connected in the outer arm 11, the front end of the inner arm 12 is detachably connected with a rake assembly, the rake assembly comprises a rotatable rake 21, a rake rod of the rake 21 is made of a high-temperature-resistant stainless steel pipe, the diameter of the rake rod is 40-48mm, the wall thickness of the rake rod is 3.5-5 mm, compared with a manual rake rod, the rake rod is thicker and has better rigidity and strength, the rake rod is more resistant to high temperature, the rake rod can be prevented from being bent under high temperature, a telescopic cylinder 14 for controlling the expansion of the inner arm 12 is arranged between the outer arm 11 and the inner arm 12 in a forward direction relative to the position of the inner arm 12, the piston rod end of the telescopic cylinder 14 is hinged with the inner rear end of the outer arm 11, the cylinder body of the telescopic cylinder 14 is hinged with the rear end of the inner arm 12, the front end of the cylinder body of the telescopic cylinder 14 is kept balanced through a supporting wheel 15, the supporting wheel 15 can be supported by the inner arm 14, the telescopic cylinder body 14 can be conveniently linearly displaced by the supporting the inner arm 14, the telescopic cylinder body 14 is conveniently, and the displacement sensor is conveniently mounted in a linear displacement sensor of the inner arm 12, and the front end of the telescopic cylinder 14 is conveniently displaced, and the front end of the telescopic cylinder 14 is conveniently mounted in a displacement sensor is controlled;
a lifting mechanism is vertically arranged below the middle part of the outer side of the outer arm 11, a first amplitude cylinder 13 is hinged between the fixed part of the lifting mechanism and the rear end of the outer side of the outer arm 11, and the movable part of the lifting mechanism is hinged on the outer arm 11.
The outside of outer arm 11 sliding connection has the crushing subassembly that is used for broken bulk material, is provided with the second luffing cylinder 36 that is used for driving the crushing subassembly and rotates relative to outer arm 11 between crushing subassembly and the outer arm 11.
The lifting mechanism can control the change of the telescopic arm in height, so that the height of the upper and lower positions of the rake 21 can be adjusted in the slag removing process; the pitching angle of the outer arm 11 can be controlled by the action of the first amplitude variation oil cylinder 13, so that the quick adjustment of the change of the pitching angle of the rake 21 in the slag removing process is realized.
Further, as one embodiment of the present invention, the breaking assembly includes a breaking hammer 31, a drill rod 32 is mounted on the breaking hammer 31, a sliding rail 33, a pushing cylinder 34 and a breaking bracket 35 are disposed on the outer side of the outer arm 11, the sliding rail 33 is fixed on the outer side surface of the outer arm 11, the sliding rail 33 is parallel to the axial direction of the outer arm 11, the breaking bracket 35 is slidably connected with the sliding rail 33, the pushing cylinder 34 is hinged between the rear end of the outer side of the outer arm 11 and the breaking bracket 35, the second amplitude cylinder 36 is hinged between the breaking bracket 35 and the breaking hammer 31, and when the piston rod of the second amplitude cylinder 36 is not extended, the drill rod 32 is parallel to the axial direction of the outer arm 11.
The crushing assembly can crush massive materials, the crushing bracket 35 is pushed to move along the sliding rail 33 by arranging the pushing oil cylinder 34, the breaking hammer 31 and the drill rod 32 can linearly move along the front-back direction of the axis, and the pitching angle of the breaking hammer 31 can be adjusted by the second amplitude changing oil cylinder 36.
Further, as one embodiment of the present invention, the rake assembly further includes a short bearing seat 22 and a transition shaft 23, the transition shaft 23 is rotatably connected in the short bearing seat 22 through a high temperature bearing 24, the rear end surface of the short bearing seat 22 is detachably and fixedly connected with the front end surface of the inner arm 12 through a bolt, the inner arm 12 is internally provided with a transmission shaft 17, the rear end of the transmission shaft 17 is provided with a swinging hydraulic cylinder 18, the swinging hydraulic cylinder 18 is provided with an angular displacement sensor 19, the rotation angle of the swinging hydraulic cylinder 18 can be controlled through the angular displacement sensor 19, the rotation of the rake assembly is realized, the angle of the claw hook at the rake end relative to the material is convenient to adjust, the front end of the transmission shaft 17 is detachably and fixedly connected with the rear end of the transition shaft 23 through a bolt, a sliding bearing is further installed between the rear end of the transition shaft 23 and the short bearing seat 22, and the front end of the transition shaft 23 is detachably and fixedly connected with the rake 21.
Further, as one embodiment of the present invention, a first high temperature resistant partition plate 25 is installed at the front end of the short bearing seat 22, a threaded flange 26 is screwed on the rear periphery of the transition shaft 23 extending out of the first high temperature resistant partition plate 25, the rear end of the rake 21 is flange-shaped, and the rear end of the rake 21 is connected with the threaded flange 26 through a quick-release bolt 27;
the front end of the threaded flange 26 and the front end of the transition shaft 23 are locked by a high temperature resistant bolt 28 and a second high temperature resistant baffle 29.
In emergency conditions, the rake 21 can be quickly detached by the quick-release bolts 27, so that the rake is quickly detached from the inner arm 12. All parts in the rake assembly adopt high temperature resistant parts.
Further, as one embodiment of the invention, the lifting mechanism comprises a lifting cylinder 41 and a lifting frame, the lifting frame comprises an outer sleeve 42 and an inner sleeve 43 which is slidably connected in the outer sleeve 42, the cylinder body of the lifting cylinder 41 is fixedly connected with the outer sleeve 42, the piston rod of the lifting cylinder 41 is fixedly connected with the inner sleeve 43, the top end of the inner sleeve 43 is hinged to the middle part of the outer side of the outer arm 11, and the first amplitude-variable cylinder 13 is hinged between the outer sleeve 42 and the rear end of the outer side of the outer arm 11.
Further, as one embodiment of the present invention, an upper drag chain bracket 51 is fixedly installed at the upper portion of the outer arm 11, an upper drag chain 52 is installed in the upper drag chain bracket 51, and one end of the upper drag chain 52 extends out of the upper drag chain bracket 51 and is fixedly connected with the upper end of the crushing bracket 35;
the lower part of the outer arm 11 is fixedly provided with a lower drag chain bracket 53, a lower drag chain 54 is arranged in the lower drag chain bracket 53, and one end of the lower drag chain 54 extends out of the lower drag chain bracket 53 and is fixedly connected with the rear end of the inner arm 12.
The drag chain frame and the drag chain can effectively protect pipelines and avoid the mess and damage of the pipelines.
Further, as one embodiment of the present invention, the cross sections of the outer arm 11 and the inner arm 12 are of an unequal hexagonal structure, the unequal hexagonal structure includes an upper plane, a lower plane, two sides and two lower inclined planes, the upper plane and the lower plane are parallel and opposite, the two sides are parallel and opposite, the lower inclined plane is connected between the sides and the lower plane, the structure is more beneficial to avoiding the relative rotation between the outer arm 11 and the inner arm 12 relative to the common circular structure or square structure, an upper sliding block 61 is arranged between the upper plane of the outer arm 11 and the upper plane of the inner arm 12, a side sliding block 62 is arranged between the side of the outer arm 11 and the side of the inner arm 12, a lower sliding block 63 is arranged between the lower inclined plane of the outer arm 11 and the lower inclined plane of the inner arm 12, one end of the upper sliding block 61, the side sliding block 62 and the lower sliding block 63 is fixed on the inner arm 12 or the outer arm 11, and the other end of the upper sliding block 61, the side sliding block 62 and the lower sliding block 63 are slidingly connected with the outer arm 11 or the inner arm 12. It is convenient to achieve a stable free sliding of the inner arm 12 within the outer arm 11.
Further, as one embodiment of the invention, the lifting mechanism fixing part of the multi-angle telescopic arm can be arranged on the slewing bearing, and the slewing bearing is driven to rotate by the driving mechanism, so that the whole rotation of the multi-angle telescopic arm can be realized, and the rotation of the telescopic arm in the Z direction can be realized conveniently.
Further, as one embodiment of the invention, a remote controller and a remote monitoring device can be further arranged, each motion joint of the robot is monitored through a display screen of the remote monitoring device, a temperature sensor is installed on the rake assembly to monitor the temperature, real-time temperature feedback can be performed, so that the remote controller can be used for controlling a plurality of postures of the robot in real time, in addition, the interface of the remote controller can be provided with indicator lamps with different colors and emergency stop buttons, the indicator lamps can realize prompt and early warning functions, and the installation connection of the remote controller, the remote monitoring device and the temperature sensor is the prior art and is not repeated.
When the multifunctional telescopic arm robot for rotary kiln bulk treatment is used for slag removal treatment operation, the following operation method can be adopted, and the steps comprise:
s1, confirming an initial state: by adjusting each hydraulic cylinder, the axial direction of the telescopic arm is in a horizontal state, and the rake 21 faces the side furnace door of the rotary kiln, at this time, the piston rod of the first luffing cylinder 13 is in an extended state, and the piston rod of the second luffing cylinder 36, the piston rod of the telescopic cylinder 14 and the piston rod of the pushing cylinder 34 are in a contracted state.
S2, controlling the telescopic arm to integrally move to a side furnace door of the rotary kiln through the mobile equipment.
S3, adjusting the position of the telescopic boom: the height of the telescopic boom is controlled through the lifting oil cylinder 41, the pitching angle of the telescopic boom is controlled through the first luffing oil cylinder 13, the piston rod of the first luffing oil cylinder 13 continues to extend, and the telescopic boom rotates downwards around the lifting frame by a certain angle.
S4, breaking the large materials by using a breaking hammer 31: the displacement of the breaking hammer 31 and the drill rod 32 relative to the telescopic arm is controlled through the pushing oil cylinder 34, when the drill rod 32 is smashed to a large block of materials at a certain angle, the drill rod 32 is controlled to retract through the pushing oil cylinder 34, then the pitching angle of the drill rod 32 is adjusted through the second amplitude varying oil cylinder 36, and the actions of the pushing oil cylinder 34 for telescoping and pitching angle adjustment are repeated repeatedly until the large block of materials are smashed to slag.
S5, raking slag by the rake 21: the telescopic oil cylinder 14 is used for controlling the telescopic operation of the rake 21, and meanwhile, the swinging hydraulic cylinder 18 is used for controlling the rotation angle of the rake 21, so that the angle of the rake end is adjusted, when the rake 21 rakes out slag materials at a certain pitching angle, the pitching angle of the rake 21 is adjusted through the first amplitude varying oil cylinder 13, and the telescopic oil cylinder 14 is repeatedly used for stretching and pitching angle adjusting until the slag materials are all raked out.
In step S4 or S5, the position of the drill rod 32 or the rake 21 may be adjusted in combination with the lift cylinder 41 for auxiliary control.
S6, resetting: and controlling the mobile equipment to drive the telescopic arm to be far away from the side furnace door of the rotary kiln, and returning each hydraulic cylinder to the initial state, so that the slag removing operation is completed.
The above embodiments are not limited in any way by the shape, materials, structure, etc. of the present invention, and any simple modification, equivalent variation and modification made to the above embodiments according to the technical substance of the present invention are all included in the protection scope of the technical solution of the present invention.
Claims (6)
1. A multi-angle telescopic boom for rotary kiln slagging-off, its characterized in that: the device comprises an outer arm and an inner arm, wherein the inner arm is in sliding connection with the outer arm, the front end of the inner arm is detachably connected with a rake assembly, the rake assembly comprises a rotatable rake, a rake rod of the rake adopts a high-temperature-resistant stainless steel pipe, a telescopic oil cylinder for controlling the inner arm to stretch out and draw back is further arranged between the outer arm and the inner arm by taking the rake assembly as the forward direction relative to the position of the inner arm, the end part of a piston rod of the telescopic oil cylinder is hinged with the rear end of the inner side of the outer arm, a cylinder body of the telescopic oil cylinder is hinged with the rear end of the inner arm, the hinged position is positioned at the rear end of the cylinder body of the telescopic oil cylinder, and the bottom of the front end of the cylinder body of the telescopic oil cylinder is balanced through a supporting wheel;
a lifting mechanism is vertically arranged below the middle part of the outer side of the outer arm, a first amplitude-variable oil cylinder is hinged between the fixed part of the lifting mechanism and the rear end of the outer side of the outer arm, and the movable part of the lifting mechanism is hinged on the outer arm;
the outside of the outer arm is connected with a crushing assembly for crushing large materials in the same side sliding way of the rake, and a second amplitude-variable oil cylinder for driving the crushing assembly to rotate relative to the outer arm is arranged between the crushing assembly and the outer arm;
the crushing assembly comprises a breaking hammer, a drill rod is arranged on the breaking hammer, a sliding rail, a pushing oil cylinder and a crushing bracket are arranged on the outer side of an outer arm, the sliding rail is fixed on the outer side surface of the outer arm, the sliding rail is parallel to the axial direction of the outer arm, the crushing bracket is in sliding connection with the sliding rail, the pushing oil cylinder is hinged between the rear end of the outer side of the outer arm and the crushing bracket, a second amplitude variation oil cylinder is hinged between the crushing bracket and the breaking hammer, and when a piston rod of the second amplitude variation oil cylinder does not extend, the drill rod is parallel to the axial direction of the outer arm;
the rake assembly further comprises a short bearing seat and a transition shaft, the transition shaft is rotationally connected in the short bearing seat through a high-temperature bearing, the rear end face of the short bearing seat is detachably and fixedly connected with the front end face of the inner arm, a transmission shaft is installed in the inner arm, a swing hydraulic cylinder is installed at the rear end of the transmission shaft, the front end of the transmission shaft is detachably and fixedly connected with the rear end of the transition shaft, and the front end of the transition shaft is detachably and fixedly connected with the rake;
the front end of the short bearing seat is provided with a first high-temperature-resistant partition plate, the front end of the transition shaft extends out of the first high-temperature-resistant partition plate, the rear periphery of the transition shaft is in threaded connection with a threaded flange, the rear end of the rake is in a flange disc shape, and the rear end of the rake is connected with the threaded flange through a quick-release bolt;
the front end of the threaded flange and the front end of the transition shaft are locked by a high-temperature-resistant bolt and a second high-temperature-resistant partition plate;
the linear travel of the telescopic cylinder is controlled by a displacement sensor, and the rotation angle of the swinging hydraulic cylinder is controlled by an angular displacement sensor.
2. The multi-angle telescopic boom for rotary kiln slag skimming of claim 1, wherein: the lifting mechanism comprises a lifting oil cylinder and a lifting frame, the lifting frame comprises an outer sleeve and an inner sleeve which is connected in the outer sleeve in a sliding manner, a cylinder body of the lifting oil cylinder is fixedly connected with the outer sleeve, and a piston rod of the lifting oil cylinder is fixedly connected with the inner sleeve; the top end of the inner sleeve is hinged to the middle part of the outer side of the outer arm, and the first amplitude variation oil cylinder is hinged between the outer sleeve and the rear end of the outer side of the outer arm.
3. The multi-angle telescopic boom for rotary kiln slag skimming of claim 1, wherein: an upper drag chain frame is fixedly arranged at the upper part of the outer arm, an upper drag chain is arranged in the upper drag chain frame, and one end of the upper drag chain extends out of the upper drag chain frame and is fixedly connected with the upper end of the crushing bracket;
the lower part of the outer arm is fixedly provided with a lower drag chain frame, a lower drag chain is arranged in the lower drag chain frame, and one end of the lower drag chain extends out of the lower drag chain frame and is fixedly connected with the rear end of the inner arm.
4. The multi-angle telescopic boom for rotary kiln slag skimming of claim 1, wherein: the cross sections of the outer arm and the inner arm are of an unequal hexagonal structure, the unequal hexagonal structure comprises an upper plane, a lower plane, two side surfaces and two lower inclined planes, the upper plane and the lower plane are parallel and opposite, the two side surfaces are parallel and opposite, and the lower inclined planes are connected between the side surfaces and the lower plane.
5. The multi-angle telescoping arm for rotary kiln slag removal as in claim 4, wherein: an upper sliding block is arranged between the upper plane of the outer arm and the upper plane of the inner arm, a side sliding block is arranged between the side surface of the outer arm and the side surface of the inner arm, and a lower sliding block is arranged between the lower inclined surface of the outer arm and the lower inclined surface of the inner arm.
6. The multi-angle telescopic boom for rotary kiln slag skimming of claim 1, wherein: the intelligent rake also comprises a remote controller and a remote monitoring device, wherein the interface of the remote controller is provided with indicator lamps and emergency stop buttons with different colors, and the rake is provided with a temperature sensor.
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| CN202111384158.XA CN114152086B (en) | 2021-11-19 | 2021-11-19 | Multi-angle telescopic arm for rotary kiln slag skimming |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111384158.XA CN114152086B (en) | 2021-11-19 | 2021-11-19 | Multi-angle telescopic arm for rotary kiln slag skimming |
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| CN114152086A (en) | 2022-03-08 |
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