CN117650406A

CN117650406A - Electrode lengthening robot

Info

Publication number: CN117650406A
Application number: CN202410117444.7A
Authority: CN
Inventors: 齐志坤; 宋植林; 王东
Original assignee: Suzhou Langxin Intelligent Technology Co ltd
Current assignee: Suzhou Langxin Intelligent Technology Co ltd
Priority date: 2024-01-29
Filing date: 2024-01-29
Publication date: 2024-03-05
Anticipated expiration: 2044-01-29
Also published as: CN117650406B

Abstract

The invention relates to the field of metallurgical equipment, and discloses an electrode lengthening robot which comprises a frame, a lifting buffer mechanism and a lower clamping module, wherein the frame is provided with the upper clamping module, the lifting buffer mechanism comprises a first telescopic driving unit arranged on the frame, a movable pulley block connected to the first telescopic driving unit so as to be driven to lift, and a flexible rope extending around the movable pulley block, one end of the flexible rope is connected to the frame, and the other end of the flexible rope is connected to the lower clamping module. The electrode lengthening robot can drive the lower clamping module to be lifted to the height suitable for clamping the old electrode by the lifting buffer mechanism according to the length of the old electrode to be lengthened when the electrode is lengthened, and drive the flexible rope to be properly tensioned all the time so as to apply upward tension to the lower clamping module, thereby avoiding the damage of the old electrode caused by overload bearing and being convenient for reducing the integral height of the frame.

Description

Electrode lengthening robot

Technical Field

The invention relates to metallurgical equipment, in particular to an electrode lengthening robot.

Background

In metallurgical production, graphite electrodes are often used as conductive members for discharging materials in an electric furnace to maintain the temperature of the materials in the furnace. The graphite electrode column on the electric furnace is generally composed of 2-3 graphite sections with the specification of 1600-2400 mm, and the graphite electrode sections are connected through a graphite pipe cone joint. According to the size of the electric furnace, a graphite electrode with proper specification is selected. In the smelting process, the length of the electrode extending into the electric furnace is shortened with consumption due to high-temperature burning loss and the like, so that the electrode needs to be lengthened. Typically, operators need to screw-dock new electrodes to old electrodes to be lengthened using crown blocks, electrode lengthening robots, and the like.

In the existing electrode lengthening devices, the lower clamping mechanism is typically connected to the frame by a rigid connection or wire rope, and the weight of the lower clamping mechanism is fully applied to the old electrode when it clamps the old electrode during the lengthening operation, which is liable to cause damage to the old electrode. In addition, in order to adapt to the lengthening operation of old electrodes with different lengths, the lengths of the electrode cylinder and the rack are generally set to be larger, so that not only is high equipment cost generated, but also the problem of inconvenient maintenance and the like exists.

In addition, in the lengthening operation process, when the electrode lengthening robot is lifted to be close to an old electrode to be lengthened, the clamped new electrode and the electrode to be lengthened need to be aligned depending on the control precision of hoisting equipment and the experience of operators; after the lower clamping module clamps the old electrode to be lengthened, the lifting device is required to be released to lower the electrode lengthening robot and the new electrode thereon to a height suitable for connection to the electrode to be lengthened, again depending on the control accuracy of the lifting device and the experience of the operator. Therefore, the existing lengthening operation is easy to cause the electrode lengthening robot to impact the old electrode and cause the steel ladle where the electrode lengthening robot is located to be damaged due to insufficient control precision of hoisting equipment and the like, and even threatens personnel safety.

Disclosure of Invention

The invention aims to solve the problems that an electrode lengthening robot in the prior art is easy to cause old electrode damage in the electrode lengthening operation process, high in equipment cost and inconvenient to maintain, and provides the electrode lengthening robot which can lift a lower clamping module to a height suitable for clamping according to the length of an old electrode to be lengthened in the electrode lengthening operation process, and apply proper pulling force to the lower clamping module so as to avoid damage of the old electrode caused by overload bearing and facilitate reduction of the integral height of a frame.

In order to achieve the above object, an aspect of the present invention provides an electrode lengthening robot, comprising:

a frame on which an upper clamping module for clamping and driving the new electrode to rotate is mounted;

a lifting buffer mechanism including a first telescopic driving unit mounted to the frame, a movable pulley block connected to the first telescopic driving unit to be capable of being driven to be lifted with respect to the frame, and a flexible cable extending around the movable pulley of the movable pulley block, one end of the flexible cable being connected to the frame; the method comprises the steps of,

and the lower clamping module is positioned below the upper clamping module and connected to the other end of the flexible rope so as to apply an upward lifting tension to the lower clamping module by the flexible rope, and the lower clamping module is lifted relative to the frame when the first telescopic driving unit drives the movable pulley block to lift.

Preferably, the frame comprises a plurality of upright posts extending vertically and a fixed plate connected to the upright posts and located below the movable pulley block, and one end of the flexible cable is connected to the fixed plate.

Preferably, a guide plate is fixed on the upright post, and a guide groove for guiding the movable pulley block to lift is formed on the guide plate.

Preferably, the movable pulley block comprises a pulley mounting plate, the movable pulley is rotatably mounted on the pulley mounting plate through a pulley shaft assembly, the pulley shaft assembly comprises a pulley shaft and a first guide sleeve sleeved on the pulley shaft, and the first guide sleeve is matched with the guide groove so as to be guided by the guide groove in the lifting process of the movable pulley block.

Preferably, the upright is a hollow tube with a longitudinal groove formed in the tube wall, the movable pulley extends into the longitudinal groove and can be driven to lift along the longitudinal groove, and the flexible cable penetrates into the hollow channel of the upright to be connected to the lower clamping module.

Preferably, the bottom end of the upright is provided with a second guide sleeve, the lower clamping module is provided with a buffer guide shaft which extends into the hollow channel of the upright and is matched with the second guide sleeve, and the flexible cable is connected to the buffer guide shaft.

Preferably, the frame includes a plurality of the columns arranged in pairs, the longitudinal grooves being formed at opposite sides of the columns to each other; the movable pulley block comprises a pulley mounting plate and two movable pulleys which are arranged at the same horizontal height position of the pulley mounting plate in pairs and respectively extend into the corresponding longitudinal grooves, and the first telescopic driving unit is connected to the vertical center line position of the pulley mounting plate.

Preferably, the frame comprises four upright posts, and the lifting buffer mechanism comprises a pair of movable pulley blocks which are arranged opposite to each other and respectively correspond to two upright posts.

Preferably, the lifting device further comprises a lifting appliance and a frame lifting mechanism, wherein the lifting appliance is arranged above the frame and is in sliding fit with the frame in the vertical direction, and the frame lifting mechanism comprises a second telescopic driving unit which is arranged on one of the frame and the lifting appliance and is connected to the other of the frame and the lifting appliance through a telescopic driving end of the second telescopic driving unit so as to drive the frame to lift relative to the lifting appliance.

Preferably, the frame comprises a plurality of vertically extending uprights which are hollow tubes and are provided with third guide sleeves at upper ends, and the lifting appliance is provided with lifting guide shafts matched with the third guide sleeves.

Preferably, the lifting appliance comprises a lifting appliance body and a lifting ring rotatably connected to the lifting appliance body, and a lifting appliance rotating mechanism for driving the lifting appliance body to rotate around a vertical axis relative to the lifting ring is arranged on the lifting appliance.

Preferably, the lifting appliance rotation mechanism comprises a lifting appliance rotation motor arranged on the lifting appliance body, a chain wheel arranged on the lifting ring and a chain connected between the chain wheel and the lifting appliance rotation motor in a transmission way.

Preferably, the upper clamping module comprises an electrode cartridge, an electrode swing drive mechanism drivingly connected to the electrode cartridge, and an upper clamp assembly mounted to the electrode cartridge for clamping the new electrode, the electrode swing drive mechanism being arranged to be able to drive the electrode cartridge in swing.

Preferably, the electrode swing driving mechanism comprises an electrode swing motor, a driving gear connected to the electrode swing motor in a transmission manner and a gear ring which is arranged on the peripheral wall of the electrode cylinder and meshed with the driving gear, and/or the upper clamp assembly comprises an upper clamp clamping telescopic driving unit and an upper clamp block connected to the upper clamp clamping telescopic driving unit in a transmission manner, and a clamping surface of the upper clamp block can move towards or away from the central line direction of the electrode cylinder along with the telescopic action of the upper clamp clamping telescopic driving unit.

Preferably, the electrode cartridge further comprises a central swivel joint including a swivel nut mounted to the frame and a swivel screw threadedly engaged with the swivel nut and fixed to the electrode cartridge, the swivel screw having an oil supply passage formed therein for supplying oil to the upper clamp clamping telescopic driving unit.

According to the technical scheme, when the electrode lengthening robot is used for lengthening the electrode, the lower clamping module can be driven by the lifting buffer mechanism to lift to the height suitable for clamping the old electrode according to the length of the old electrode to be lengthened, the old electrode is clamped by the lower clamping module, the flexible rope is always kept properly tensioned by the first telescopic driving unit, and upward pulling force is applied to the lower clamping module by the flexible rope, so that the old electrode is prevented from being excessively borne on the old electrode, and damage caused by overload bearing of the old electrode is avoided. The lower clamping module can be driven to lift relative to the frame, and particularly, the flexible rope extends around the movable pulley, so that the driving efficiency of the lifting buffer mechanism can be remarkably improved, the whole length of the frame is allowed to be greatly reduced, and the equipment cost and the maintenance difficulty are conveniently reduced.

In a preferred scheme of the invention, the electrode lengthening robot is further provided with a frame lifting mechanism, when the electrode lengthening robot is lifted to a position for clamping an electrode to be lengthened by utilizing the lower clamping module, the frame lifting mechanism can drive the frame and a new electrode clamped by the upper clamping module on the frame to lift in a small range relative to the lifting appliance, so that the accurate butt joint of the new electrode and the electrode to be lengthened is realized, and a lifting device for hanging the lifting appliance is not required to be controlled, thereby effectively reducing the impact risk of the electrode to be lengthened and a steel ladle caused by insufficient control precision of the lifting device and the like, and greatly improving the operation safety.

In another preferred scheme of the invention, the electrode lengthening robot is further provided with a lifting appliance rotating mechanism for driving the lifting appliance body to rotate relative to the lifting ring, so that when the lifting appliance lifts the electrode lengthening robot to be close to an electrode to be lengthened, the electrode lengthening robot can be aligned with the electrode to be lengthened by driving so that the lower clamping module rotates along with the lifting appliance body and the frame, and the electrode lengthening robot can be lowered to a position suitable for clamping the electrode to be lengthened, thereby improving the convenience of alignment operation, reducing the dependence degree on the control precision of the lifting appliance and the experience of operators, and reducing the safety risk of impact accidents.

Drawings

Fig. 1 is a perspective view of an electrode lengthening robot according to a preferred embodiment of the present invention;

FIG. 2 is a right side view of the electrode lengthening robot of FIG. 1;

FIG. 3 is a perspective view of the electrode lengthening robot of FIG. 1 with components such as the sling removed;

FIG. 4 is a schematic view of an installation structure of a lifting buffer mechanism of the electrode lengthening robot in FIG. 1;

FIG. 5 is a view showing the cooperation between a movable pulley block and a guide plate of a lifting buffer mechanism of the electrode lengthening robot in FIG. 1;

FIG. 6 is a perspective view of the movable sheave block of the lift buffer mechanism of FIG. 5;

FIG. 7 is a schematic view of a connection structure between a hanger and a frame of the electrode lengthening robot in FIG. 1;

FIG. 8 is a schematic view of the mounting structure of the upper clamping module and the center swivel of the electrode lengthening robot of FIG. 1;

FIG. 9 is a top view of the upper clamp assembly of the upper clamp module of FIG. 8;

FIG. 10 is a perspective view of the center swivel joint of FIG. 8;

FIG. 11 is a top view of the lower jaw assembly of the electrode lengthening robot of FIG. 1;

fig. 12 is a top view of a horizontal blade mechanism of the electrode lengthening robot of fig. 1.

Description of the reference numerals

1-lifting appliance; 1.1-hanging rings; 1.2-a lifting appliance body; 1.3-lifting guide shafts;

2-a lifting appliance rotation mechanism; 2.1-a sling rotation motor; 2.2-sprocket; 2.3-chain;

3-a frame lifting mechanism; 3.1-a second telescopic drive unit;

4-a frame; 4.1-stand columns; 4.11-longitudinal grooves; 4.12-a second guide sleeve; 4.2-fixing plate;

5-upper clamping module; 5.1-induction tube; 5.2-electrode slewing drive mechanism; 5.21-electrode swivel motor; 5.22-gear ring; 5.3-upper jaw assembly; 5.31-the upper clamp clamps the telescopic drive unit; 5.32-upper clamping blocks; 5.4-guiding wheels; 5.5-annular guides;

6-a hydraulic and control system;

7-a lifting buffer mechanism; 7.1-a first telescopic drive unit; 7.2-a movable pulley block; 7.21-a movable pulley; 7.22-pulley mounting plate; 7.23-pulley shafts; 7.24-a first guide sleeve; 7.3-flexible cord; 7.4-guide plates; 7.41-guide grooves;

8-a lower clamping module; 8.1-a lower clamp assembly; 8.11-clamping the telescopic driving unit by the lower clamp; 8.12-lower clamping blocks; 8.2-a horizontal knife mechanism; 8.21-a horizontal knife telescopic driving unit; 8.22-horizontal knife; 8.3-buffer guide shaft;

9-a central swivel joint; 9.1-turning the screw; 9.2-swivel nut.

Detailed Description

The following describes specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.

In the present invention, unless otherwise specified, terms such as "upper, lower, left, and right" and "upper, lower, left, and right" are used generically to refer to the upper, lower, left, and right illustrated in the drawings; "inner and outer" means inner and outer relative to the contour of the respective parts themselves.

Referring to fig. 1 to 4, an electrode lengthening robot according to an embodiment of the present invention includes a frame 4, a lifting buffer mechanism 7, and a lower clamping module 8, wherein the frame 4 is mounted with an upper clamping module 5 to be capable of clamping and driving a new electrode to rotate during an electrode lengthening operation; the lifting buffer mechanism 7 may comprise a first telescopic drive unit 7.1, a movable pulley block 7.2, a flexible cable 7.3, e.g. a wire rope, etc., which are detailed later; the lower clamping module 8 is drivingly connected to the lifting buffer mechanism 7 by means of a flexible cable 7.3, the flexible cable 7.3 being able to apply an upward lifting tension to the lower clamping module 8 so as to be able to be driven by the lifting buffer mechanism 7 to lift the lower clamping module 8 relative to the frame 4. When the electrode is lengthened, the lower clamping module 8 can be driven by the lifting buffer mechanism 7 to be lifted to a height suitable for clamping the old electrode according to the length of the old electrode to be lengthened, the old electrode is clamped by the lower clamping module 8, the flexible rope 7.3 is always kept in proper tension, so that upward pulling force is applied to the lower clamping module 8 by the flexible rope 7.3, the old electrode is prevented from being excessively loaded on the old electrode, and damage of the old electrode caused by overload loading is avoided.

In the electrode lengthening operation, the electrode lengthening robot of the present invention may be usually lifted by a crane or other lifting device and lifted above the old electrode. The lifting buffer mechanism 7 is then actuated such that the flexible cable 7.3 releases the lower clamping module 8, which lower clamping module 8 is lowered into a position suitable for clamping the old electrode in order to clamp the old electrode. In a state in which the lower clamping module 8 clamps the old electrode, by moving the new electrode clamped by the upper clamping module 5 toward the old electrode so as to achieve screw-engagement, since the lower clamping module 8 is connected to the frame 4 through the lifting buffer mechanism 7, lowering the height of the electrode lengthening robot by the lifting apparatus does not cause the weight of the frame 4 to be applied to the old electrode. At the same time, by driving the lifting buffer 7 such that the flexible cable 7.3 remains properly tensioned at all times, an upward pulling force is applied to the lower clamping module 8, and damage to the old electrode caused by an excessive force applied to the old electrode by the lower clamping module 8 can also be avoided. Since the lower clamping module 8 can be driven to lift relative to the frame 4 to accommodate old electrodes of different lengths, particularly, according to the travelling block principle, when the travelling block 7.2 is driven to lift relative to the frame 4 by the first telescopic driving unit 7.1, the flexible cable 7.3 and the lower clamping module 8 connected thereto can generate at least twice the lifting amplitude, thereby significantly improving the driving efficiency, thereby allowing the overall length of the frame and the electrode cartridge and other components to be greatly reduced, and facilitating the reduction of equipment cost and maintenance difficulty.

The lifting buffer mechanism 7 used by the electrode lengthening robot comprises a first telescopic driving unit 7.1, such as an oil cylinder, which is mounted on the frame 4, a movable pulley block 7.2 connected to the first telescopic driving unit 7.1 and a flexible rope 7.3 which extends around the movable pulley 7.21 of the movable pulley block 7.2, wherein the movable pulley block 7.2 can be driven by the first telescopic driving unit 7.1 to lift relative to the frame 4, one end of the flexible rope 7.3 is connected to the frame 4, and the other end is connected to the lower clamping module 8. The mounting end of the first telescopic drive unit 7.1 may be connected to the mounting plate of the frame 4, for example by means of a cylinder mount, and the driving end is connected to the movable pulley block 7.2, whereby, when the first telescopic drive unit 7.1 is in telescopic movement, the movable pulley block 7.2 is driven to lift relative to the frame 4, whereby the lower clamping module 8 is driven to lift by means of the flexible cable 7.3.

In the illustrated embodiment, the frame 7 comprises four vertically extending uprights 4.1 and a fixing plate 4.2, for example made of steel plate, and a mounting plate, which may be integrally connected by means of welding, fastening connection or the like. Wherein, the upright post 4.1 can be a hollow pipe such as a seamless steel pipe, and the bottom end of the upright post can be provided with a guide sleeve (namely a second guide sleeve 4.12); the lower clamping module 8 has a buffer guide shaft 8.3 which projects into the hollow channel of the upright 4.1 and cooperates with the second guide sleeve 4.12 in order to be able to guide the relative lifting of the lower clamping module 8 and the machine frame 4.

Referring to fig. 5 and 6, a guide plate 7.4 is fixed on the upright post 4.1 of the frame 7, and a pair of guide grooves 7.41 (see fig. 5) and an ear seat chute are formed on the guide plate 7.4. The travelling block 7.2 may comprise a pulley mounting plate 7.22 and a pair of travelling pulleys 7.21 rotatably mounted to the pulley mounting plate 7.22 by a pulley axle assembly. More specifically, the pulley shaft assembly may comprise a pulley shaft 7.23 fixed to the pulley mounting plate 7.22 and extending in a horizontal direction, the movable pulley 7.21 being rotatably mounted to the pulley shaft 7.23 by means of bearings. On the side of the bearing facing away from the pulley mounting plate 7.22, the pulley shaft 7.23 can be connected with a shaft end stop by means of screws or the like for preventing axial play of the stop pulley 7.21. On the side of the pulley mounting plate 7.22 facing away from the travelling block 7.21, a first guide sleeve 7.24 (e.g. a guide copper sleeve) and a spacer (e.g. a copper spacer) may be sleeved on the pulley shaft 7.23 to form a guide for cooperating with the guide groove 7.41 on the guide plate 7.4 so as to be guided by the guide groove 7.41 during lifting of the travelling block 7.2, so that the travelling block 7.2 is stably lifted. The pulley mounting plate 7.22 may be welded from sheet steel and may be provided with a cylinder ear plate which may be passed through an ear seat chute on the guide plate 7.4 to connect to the drive end of the first telescopic drive unit 7.1.

As before, a flexible rope 7.3, for example a wire rope, extends around the travelling block 7.21 to be guided by the travelling block 7.21, with one end connected to the fixed plate 4-2 and the other end connected to the lower clamping module 8. The flexible cable 7.3 can be connected to the fixed plate 4.2 through an adjusting stud, and the adjusting stud can be adjusted on the fixed plate 4.2 so as to adjust the tension of the flexible cable 7.3; the other end of the flexible cable 7.3 can penetrate into the upright post 4.1 of the stand 4 and is connected with the buffer guide shaft 8.3 of the lower clamping module 8 extending into the hollow channel of the upright post 4.1, for example, a hook at the end of the flexible cable 7.3 is connected with a hanging ring at the top end of the buffer guide shaft 8.3.

By controlling the expansion and contraction of the first expansion and contraction driving unit 7.1, which is an oil cylinder, the buffer lifting mechanism of the illustrated embodiment is utilized to pull the pulley mounting plate 7.22 to displace (lift) correspondingly, so that the movable pulley block 7.2 is driven to displace along the guide groove 7.41 on the guide plate 7.4, and therefore, under the action of the tensile force of the flexible rope 7.3, which is a steel wire rope, and the self weight of the lower clamping module 8, the lower clamping module 8 lifts and lowers by two times the expansion and contraction length of the first expansion and contraction driving unit 7.1 and the displacement of the movable pulley block 7.2. Therefore, by adopting the lifting driving assembly comprising the movable pulley block 7.2, the height space can be efficiently utilized in the electrode lengthening operation, the stroke and space occupation of the oil cylinder can be effectively reduced, and the lifting driving of the double stroke of the first telescopic driving unit 7.1 can be realized under the condition that the first telescopic driving unit generates the same telescopic quantity. In addition, the adjusting range of the lower clamping module 8 in the electrode lengthening robot is enlarged, and the adaptability of the electrode lengthening device to electrode lengthening requirements of different lengths is facilitated. The first telescopic drive unit 7.1 may be other types of drive means than cylinders, electric cylinders, etc.

As before, the illustrated embodiment employs a hollow tube form of the upright post 4.1 and the fixing plate 4.2 welded to the mounting plate to form the frame 4, the mounting end of the first telescopic driving unit 7.1 is connected to the mounting plate through the cylinder mounting seat, and one end of the flexible cable 7.3 is connected to the fixing plate 4.2 through the adjusting stud. In other embodiments, the first telescopic drive unit 7.1 may be connected to other parts of the frame 4, such as to the fixed plate 4.2, whereby when the first telescopic drive unit 7.1 is extended, the movable pulley block 7.2 is lifted up, thereby lifting the lower clamping module 8 relative to the frame 4; otherwise, the device descends. Alternatively, the flexible cord 7.3 may be attached to the post 4.1 or the like.

In one embodiment of the invention, by providing the upright 4.1 in the form of a hollow tube, the buffer guide shaft 8.3 of the lower clamping module 8 can be allowed to extend into the upright 4.1 and form a guide fit with the second guide sleeve 4.12, which is advantageous for compactness. In addition, as shown in fig. 3, a longitudinal groove 4.11 may be formed on the pipe wall of the upright 4.1, and the movable pulley 7.21 of the movable pulley block 7.2 may extend into the longitudinal groove 4.11 to guide the flexible cable 7.3 to be connected to the buffer guide shaft 8.3 of the lower clamping module 8 in the vertical direction, so that not only the lateral space is effectively utilized, but also abrasion of the flexible cable 7.3 caused by unnecessary frictional contact with other components or structures (such as perforations in the upright 4.1) can be avoided. In other embodiments, the frame 4 and the lower clamping module 8 may be guided into engagement using a separately provided guide mechanism.

Thus, in the electrode lengthening robot of the present invention, the frame 4 and other functional components are not limited to the illustrated form, for example, the number of the columns 4.1 in the frame 4 may be more or less than four, and the movable pulley block 7.2 may have one or more movable pulleys 7.21. As shown in fig. 1 to 4, the frame 4 may comprise a plurality of uprights 4.1 arranged in pairs, which uprights 4.1 are respectively formed with longitudinal grooves 4.11 on sides opposite to each other. Each movable pulley block 7.2 comprises a pulley mounting plate 7.22 and two movable pulleys 7.21 arranged in pairs at the same level of the pulley mounting plate 7.22 and extending into the respective longitudinal grooves 4.11, respectively, to guide the flexible cable 7.3 in a vertical direction to the buffer guide shaft 8.3 of the lower clamping module 8, respectively, not only effectively utilizing the lateral space between the uprights 4.1, but also avoiding wear of the flexible cable 7.3 due to unnecessary frictional contact with other components or structures, such as perforations in the uprights 4.1. Meanwhile, the first telescopic driving unit 7.1 can be connected to the vertical center line position of the pulley mounting plate 7.22, so that the movable pulley block 7.2 can be stably lifted in the telescopic driving process, and the lower clamping module 8 can be driven to stably lift relative to the frame 4.

In the illustrated embodiment, the frame 4 is provided with four upright posts 4.1, and a pair of movable pulley blocks 7.2 which are arranged opposite to each other and respectively correspond to two upright posts 4.1, and tension can be uniformly and stably applied to different parts of the lower clamping module 8 by utilizing the flexible cable 7.3 so as to ensure the stable lifting and electrode lengthening quality of the lower clamping module.

Further, referring to fig. 1, 2 and 7, the electrode lengthening robot according to an embodiment of the present invention further includes a hanger 1 mounted above the frame 4, and the hanger 1 may be connected to a lifting mechanism (e.g., a hook) of a lifting device such as a crane, for example, through a subsequent lifting ring 1.1, so that the electrode lengthening robot can be lifted to an electrode lengthening position by the lifting device, so that a new electrode clamped thereon is adjacent to an electrode to be lengthened on the electric furnace. The frame 4 is provided with an upper clamping module 5 and a lower clamping module 8 which are arranged at intervals in the vertical direction, and the upper clamping module 5 is suitable for clamping a new electrode and can drive the new electrode to rotate so as to be connected to an electrode to be lengthened; the lower clamping module 8 is adapted to clamp the electrode to be elongated.

The spreader 1 is in sliding engagement with the frame 4 in the vertical direction so as to be able to be driven up and down relative to each other. The electrode lengthening robot of the present invention may further include a frame lifting mechanism 3 connected between the spreader 1 and the frame 4, the frame lifting mechanism 3 being mountable to one of the spreader 1 and the frame 4 and having a telescopic driving end connected to the other of the spreader 1 and the frame 4 to be able to drive the frame 4 to lift relative to the spreader 1 during the telescopic operation of the frame lifting mechanism 3. For example, as shown in connection with fig. 7, the frame lifting mechanism 3 may comprise a second telescopic drive unit 3.1 mounted to the frame 4, which second telescopic drive unit 3.1 may be, for example, a hydraulic cylinder, an electric cylinder or the like, the piston rod of which is connected to (the spreader body 1.2 of) the spreader 1, so that when this second telescopic drive unit 3.1 is extended, the frame 4 is driven to descend relative to the spreader 1, whereby a new electrode clamped by the lower clamping module 5 can be released downwards. In other embodiments, the second telescopic drive unit 3.1 may also be mounted to the spreader 1 with its piston rod connected to the frame 4, or the second telescopic drive unit 3.1 may be replaced by another telescopic drive device such as a linear motor.

Therefore, the electrode lengthening robot can be lifted to be close to the electrode to be lengthened by the lifting equipment connected to the lifting appliance 1, and after the electrode to be lengthened is clamped by the lower clamping module 8 of the electrode lengthening robot, the electrode lengthening robot can be driven by the frame lifting mechanism 3 to lift the frame 4 and a new electrode clamped by the upper clamping module 5 of the frame relative to the lifting appliance 1 in a small range, so that the accurate butt joint of the new electrode and the electrode to be lengthened is realized, the lifting equipment for hanging the lifting appliance is not required to be controlled, the impact risk of the electrode to be lengthened and a steel ladle caused by insufficient control precision of the lifting equipment can be effectively reduced, and the operation safety is greatly improved.

The spreader 1 and the frame 4 can be in a sliding fit in a vertical direction in a suitable manner. In the case of a frame 4 welded from several steel plates and a column 4.1 in the form of a hollow tube, a third guiding sleeve may be mounted at the upper end of the column 4.1, and the spreader 1 may have a vertically downwardly extending lifting guiding shaft 1.3, the lifting guiding shaft 1.3 being in sliding engagement with the third guiding sleeve so as to be able to guide the spreader 1 to stably lift with respect to the frame 4. In other embodiments, the uprights of the frame 4 may be hollow only in the portions near the upper and lower ends, in order to mount the above-mentioned guide sleeves.

Referring to fig. 7, in one embodiment, the spreader 1 may comprise a spreader body 1.2 and a hoist ring 1.1 rotatably connected to the spreader body 1.2, and the spreader 1 is mounted with a spreader swing mechanism 2 for driving the spreader body 1.2 relative to the hoist ring 1.1 about a vertical axis. Therefore, in the state that the electrode lengthening robot is lifted by the lifting device through the lifting ring 1.1, the electrode lengthening robot and a new electrode clamped on the electrode lengthening robot can be lifted to a position close to the electrode to be lengthened by the lifting device, and then the lifting device is used for driving the rack 4 and the new electrode clamped by the upper clamping module 5 to rotate along with the lifting device body 1.2 relative to the lifting ring 1.1 and the lifting device, so that the new electrode rotates to be aligned with the electrode to be lengthened without depending on movement and control of the lifting device, and convenience of alignment operation is remarkably improved. The control precision of the hoisting equipment and the degree of dependence on experience of operators in the lengthening operation can be effectively reduced, and the safety risk of impact accidents is reduced. The lifting appliance body 1.2 can be formed by welding a plurality of steel plates and is used as a main bearing component for lifting the electrode lengthening robot.

Specifically, the lifting appliance rotation mechanism 2 may include a lifting appliance rotation motor 2.1 mounted on the lifting appliance body 1.2, a chain wheel 2.2 provided on the lifting appliance body 1.1, and a chain 2.3 drivingly connected between the chain wheel 2.2 and the lifting appliance rotation motor 2.1, when the lifting appliance rotation motor 2.1 outputs rotation power, the power may be transmitted to the lifting appliance 1.1 through the chain 2.3 and the chain wheel 2.2, and the lifting appliance 1.1 is lifted by the lifting appliance, so that the lifting appliance body 1.2 may be rotated relative to the lifting appliance 1.1, thereby enabling the frame 4 and the lower clamping module 8 to rotate relative to the lifting appliance 1.1 and the lifting appliance along with the lifting appliance body 1.2, thereby facilitating the lowering of the lower clamping module 8 to a position suitable for clamping the electrode to be connected, and thereby ensuring that the new electrode clamped by the upper clamping module 5 is aligned with the electrode to be connected in the clamped state by the lower clamping module 8.

In the present invention, the first telescopic drive unit 7.1, the second telescopic drive unit 3.1, and the upper clamping module 5 and the lower clamping module 8, etc., which are described in detail later, all require/can utilize hydraulic forces to achieve corresponding actions, for which purpose the frame 4 can be provided with a hydraulic and control system 6. For example, the hydraulic and control system 6 may include a hydraulic pump, various types of control valves, pressure gauges, remote controls, various types of electrical control elements, UPS, etc., as a primary power system during docking maneuvers. Wherein the UPS may maintain power to the robot in a powered off state.

Referring to fig. 8 to 10, the upper clamping module 5 may include an electrode tube, an electrode swing driving mechanism drivingly connected to the electrode tube, and an upper jaw assembly 5.3 mounted to the electrode tube for clamping a new electrode, wherein the electrode swing driving mechanism 5.2 includes an electrode swing motor 5.21, a driving gear drivingly connected to the electrode swing motor 5.21, and a gear ring 5.22 provided on an outer circumferential wall of the electrode tube and engaged with the driving gear, whereby when the electrode swing motor 5.21 outputs a rotational power, the electrode tube may be driven to swing by the driving gear and the gear ring 5.22 engaged with each other to drive the new electrode clamped by the upper jaw assembly 5.3 to rotate, thereby achieving connection with the electrode to be lengthened. The lower part of the electrode cylinder may be provided with an annular guide part 5.5, which annular guide part 5.5 cooperates with the guide wheel 5.4 for ensuring the rotational stability of the electrode cylinder.

The upper jaw assembly 5.3 may comprise an upper jaw clamping telescopic drive unit 5.31 and an upper clamping block 5.32 drivingly connected to the upper jaw clamping telescopic drive unit 5.31, the clamping surface of the upper clamping block 5.32 being movable in a direction towards or away from the centre line of the electrode cartridge as the upper jaw clamping telescopic drive unit 5.31 is telescopic, in order to achieve clamping and self-centering of the new electrode.

The electrode cylinder can be formed by welding steel plates, a plurality of induction pipes 5.1 can be arranged on the electrode cylinder, and a first sensor for sensing the induction pipes 5.1 can be arranged on the rack 4, so that the number of revolution of the electrode cylinder can be determined through the induction pipes 5.1. The electrode slewing drive mechanism 5.2 may be provided with a second sensor for sensing the output torque, and for example, a pressure sensor may be provided in the electrode slewing motor 5.21, and the pressure sensor may be used to detect the real-time torque when the electrode is extended. Thus, by combining the number of turns of the electrode tube and the torque applied to the new electrode, it is possible to determine whether the lengthening operation is correct or whether the lengthening is in place.

Furthermore, the upper jaw clamping telescopic drive unit 5.31 of the upper jaw assembly 5.3 and the lower jaw clamping telescopic drive unit 8.11 of the lower jaw assembly 8.1 described later may each be provided as a hydraulic cylinder, an electric cylinder or the like, in which case the electrode lengthening robot of the present invention may further comprise a swivel joint 9 comprising a swivel nut 9.2 and a swivel screw 9.1 by screw-fitting in order to facilitate the supply of hydraulic oil to the upper jaw clamping telescopic drive unit 5.31. Wherein the swivel nut 9.2 is mounted to the frame 4 and the swivel screw 9.1 is fixed to the electrode cylinder, and an oil supply oil path for supplying oil to the upward clamp telescopic drive unit 5.31 is formed in the swivel screw 9.1. When the electrode cylinder is driven to rotate by the electrode rotation driving mechanism 5.2, the rotation screw 9.1 synchronously rotates along with the electrode cylinder and ascends and descends relative to the rotation nut 9.2. For this purpose, the pitch of the screw-fit pair between the swivel screw 9.1 and the swivel nut 9.2 should be equal to the electrode lengthening pitch. The swivel joint 9 can be used not only for oil supply to the upper clamp clamping telescopic drive unit 5.31, but also for bearing the weight of the upper clamp module 5 and the new electrode clamped by it.

Referring to fig. 11 and 12, the lower clamping module 8 may include a lower jaw assembly 8.1 and a horizontal knife mechanism 8.2 located above the lower jaw assembly 8.1. Wherein the lower jaw assembly 8.1 comprises a lower jaw clamping telescopic drive unit 8.11 and a lower clamping block 8.12 drivingly connected to the lower jaw clamping telescopic drive unit 8.11, the clamping surface of the lower clamping block 8.12 being movable in a direction towards or away from the centre line of the electrode cartridge as the lower jaw clamping telescopic drive unit 8.11 is telescopic so as to be drivable by the lower jaw clamping telescopic drive unit 8.11 to clamp or release the electrode to be elongated. In the illustrated embodiment, the three lower clamping blocks 8.12 are driven by the same lower clamp clamping telescopic drive unit 8.11, which may be achieved by means of a suitably arranged linkage, such as a lower clamping block 8.12 rotatably mounted on the base with a linkage connected between the telescopic end of the lower clamp clamping telescopic drive unit 8.11 and the lower clamping block 8.12.

The horizontal blade mechanism 8.2 may comprise a horizontal blade telescopic drive unit 8.21 and a horizontal blade 8.22 drivingly connected to the horizontal blade telescopic drive unit 8.21, the horizontal blade 8.22 being drivable by the horizontal blade telescopic drive unit 8.21 to move between a positioning position and a retracted position to be able to contact the end face of the electrode to be elongated in the positioning position. In this positioning position, the horizontal blade 8.22 is located on the electrode extension path, and when the electrode extension robot descends and approaches the electrode to be extended, the horizontal blade 8.22 can be supported on the top surface of the electrode to be extended, so that the horizontal blade 8.22 is attached to the top surface of the electrode to be extended under the action of gravity, and the clamped new electrode is ensured to extend along the vertical direction so as to be connected to the electrode to be extended.

In order to facilitate better working principles and advantages of the present invention, an extension operation procedure of an electrode extension robot of the present invention is described below by way of example:

1. the crane lifts the electrode lengthening robot to approach the new electrode, the new electrode needs to be kept in a vertical state, the electrode lengthening robot holds the new electrode tightly from the upper side, and the upper clamp assembly 5.3 clamps the new electrode;

2. the crane hoisting electrode lengthening robot (containing a new electrode) approaches to the electrode to be lengthened, and in the process, the lifting buffer mechanism 7 drives the lower clamping module to lift to a proper position;

3. the horizontal knife mechanism 8.2 acts, the horizontal knife 8.22 stretches out, and the crane hoisting electrode lengthening robot continues to descend to be close to the electrode to be lengthened until the horizontal knife contacts with the electrode to be lengthened;

4. when the electrode lengthening robot approaches to the electrode to be lengthened, if the angle is deviated, the new electrode can be driven to rotate for a certain angle through the lifting appliance rotation mechanism 2 so as to align the electrode to be lengthened;

5. the electrode lengthening robot moves under the clamp assembly 8.1 after in-place, and clasps the electrode to be lengthened;

6. the frame lifting mechanism 3 acts, and the frame 4 integrally descends until reaching the lengthening distance;

7. the horizontal knife mechanism 8.2 acts to enable the horizontal knife to be retracted and to start lengthening;

8. the electrode rotation driving mechanism 5 acts to drive the new electrode to be connected to the electrode to be lengthened in a rotation way until the lengthening is finished;

9. after the lengthening is completed, the lower clamp assembly 8.1 and the upper clamp assembly 5.3 act to loosen the new and old electrodes which are connected with each other, and the crane lifts the electrode lengthening robot to leave the electrode position and starts the next lengthening operation.

The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the scope of the technical idea of the invention, a number of simple variants of the technical solution of the invention are possible, including combinations of individual specific technical features in any suitable way. The various possible combinations of the invention are not described in detail in order to avoid unnecessary repetition. Such simple variations and combinations are likewise to be regarded as being within the scope of the present disclosure.

Claims

1. An electrode lengthening robot, comprising:

a frame (4), wherein an upper clamping module (5) for clamping and driving the new electrode to rotate is arranged on the frame (4);

a lifting buffer mechanism (7), the lifting buffer mechanism (7) comprising a first telescopic driving unit (7.1) mounted to the frame (4), a movable pulley block (7.2) connected to the first telescopic driving unit (7.1) so as to be capable of being driven to lift relative to the frame (4), and a flexible cable (7.3) extending around the movable pulley (7.21) of the movable pulley block (7.2), one end of the flexible cable (7.3) being connected to the frame (4); the method comprises the steps of,

the lower clamping module (8) is positioned below the upper clamping module (5) and connected to the other end of the flexible rope (7.3) so as to apply an upward lifting tension to the lower clamping module (8) by the flexible rope (7.3), and the lower clamping module (8) is lifted relative to the frame (4) when the first telescopic driving unit (7.1) drives the movable pulley block (7.2) to lift.

2. Electrode lengthening robot according to claim 1, characterized in that the frame (4) comprises a plurality of vertically extending uprights (4.1) and a fixed plate (4.2) connected to the uprights (4.1) and located below the mobile pulley block (7.2), one end of the flexible cable (7.3) being connected to the fixed plate (4.2).

3. Electrode lengthening robot according to claim 2, characterized in that the upright (4.1) is fixed with a guiding plate (7.4), and the guiding plate (7.4) is formed with a guiding groove (7.41) for guiding the movable pulley block (7.2) to lift.

4. An electrode lengthening robot according to claim 3, characterized in that the movable pulley block (7.2) comprises a pulley mounting plate (7.22), the movable pulley (7.21) being rotatably mounted on the pulley mounting plate (7.22) by a pulley shaft assembly, the pulley shaft assembly comprising a pulley shaft (7.23) and a first guiding sleeve (7.24) sleeved on the pulley shaft (7.23), the first guiding sleeve (7.24) cooperating with the guiding groove (7.41) to be guided by the guiding groove (7.41) during lifting of the movable pulley block (7.2).

5. Electrode lengthening robot according to claim 2, characterized in that the upright (4.1) is a hollow tube with a longitudinal groove (4.11) formed in the tube wall, the travelling block (7.21) extending into the longitudinal groove (4.11) and being drivable to rise and fall along the longitudinal groove (4.11), the flexible cable (7.3) penetrating into the hollow channel of the upright (4.1) for connection to the lower clamping module (8).

6. Electrode lengthening robot according to claim 5, characterized in that the bottom end of the upright (4.1) is provided with a second guiding sleeve (4.12), the lower clamping module (8) has a buffer guiding shaft (8.3) extending into the hollow channel of the upright (4.1) and cooperating with the second guiding sleeve (4.12), the flexible cable (7.3) being connected to the buffer guiding shaft (8.3).

7. Electrode lengthening robot according to claim 5, characterized in that the frame (4) comprises a plurality of said uprights (4.1) arranged in pairs, the longitudinal grooves (4.11) being formed on opposite sides of the uprights (4.1) to each other; the movable pulley block (7.2) comprises a pulley mounting plate (7.22) and two movable pulleys (7.21) which are arranged in pairs at the same horizontal height position of the pulley mounting plate (7.22) and respectively extend into the corresponding longitudinal grooves (4.11), and the first telescopic driving unit (7.1) is connected to the vertical center line position of the pulley mounting plate (7.22).

8. Electrode lengthening robot according to claim 2, characterized in that said frame (4) comprises four said uprights (4.1), said lifting buffer mechanism (7) comprising a pair of said mobile pulleys (7.2) arranged opposite each other and respectively corresponding to two of said uprights (4.1).

9. The electrode lengthening robot according to claim 1, further comprising a hanger (1) and a frame lifting mechanism (3), the hanger (1) being mounted above the frame (4) and being in sliding engagement with the frame (4) in a vertical direction, the frame lifting mechanism (3) comprising a second telescopic drive unit (3.1), the second telescopic drive unit (3.1) being mounted to one of the frame (4) and the hanger (1) and being connected to the other of the frame (4) and the hanger (1) by its telescopic drive end so as to be drivable such that the frame (4) is lifted relative to the hanger (1).

10. Electrode lengthening robot according to claim 9, characterized in that the frame (4) comprises a plurality of vertically extending uprights (4.1), which uprights (4.1) are hollow tubes and are fitted with a third guiding sleeve at their upper end, the spreader (1) having a lifting guiding shaft (1.3) cooperating with the third guiding sleeve.

11. Electrode lengthening robot according to claim 9, characterized in that the spreader (1) comprises a spreader body (1.2) and a lifting ring (1.1) rotatably connected to the spreader body (1.2), and that the spreader (1) is provided with a spreader swing mechanism (2) for driving the spreader body (1.2) to rotate about a vertical axis relative to the lifting ring (1.1).

12. Electrode lengthening robot according to claim 11, characterized in that the spreader turning mechanism (2) comprises a spreader turning motor (2.1) mounted on the spreader body (1.2), a sprocket wheel (2.2) provided on the lifting ring (1.1) and a chain (2.3) drivingly connected between the sprocket wheel (2.2) and the spreader turning motor (2.1).

13. Electrode lengthening robot according to claim 1, characterized in that the upper clamping module (5) comprises an electrode cartridge, an electrode swivel drive mechanism drivingly connected to the electrode cartridge, and an upper clamping assembly (5.3) mounted to the electrode cartridge for clamping the new electrode, the electrode swivel drive mechanism (5.2) being arranged to be able to drive the electrode cartridge in rotation.

14. Electrode lengthening robot according to claim 13, characterized in that the electrode swivel drive mechanism (5.2) comprises an electrode swivel motor (5.21), a drive gear drivingly connected to the electrode swivel motor (5.21) and a gear ring (5.22) provided on the outer peripheral wall of the electrode cylinder and meshing with the drive gear, and/or that the upper gripper assembly (5.3) comprises an upper gripper gripping telescopic drive unit (5.31) and an upper gripper block (5.32) drivingly connected to the upper gripper gripping telescopic drive unit (5.31), the gripping surface of the upper gripper block (5.32) being movable with the telescopic upper gripper gripping telescopic drive unit (5.31) in a direction towards or away from the centre line of the electrode cylinder.

15. Electrode lengthening robot according to claim 14, characterized in that it further comprises a central swivel joint (9), which central swivel joint (9) comprises a swivel nut (9.2) mounted to the frame (4) and a swivel screw (9.1) threadedly engaged with the swivel nut (9.2) and fixed to the electrode cartridge, which swivel screw (9.1) has formed therein an oil supply circuit for supplying oil to the upper clamp clamping telescopic drive unit (5.31).