CN201999976U - Intelligent slag tapping and loading robot for smelting magnesium - Google Patents
Intelligent slag tapping and loading robot for smelting magnesium Download PDFInfo
- Publication number
- CN201999976U CN201999976U CN2011200754477U CN201120075447U CN201999976U CN 201999976 U CN201999976 U CN 201999976U CN 2011200754477 U CN2011200754477 U CN 2011200754477U CN 201120075447 U CN201120075447 U CN 201120075447U CN 201999976 U CN201999976 U CN 201999976U
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- CN
- China
- Prior art keywords
- hinged
- forearm
- hydraulic cylinder
- trolley
- wrist joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 239000002893 slag Substances 0.000 title claims abstract description 18
- FYYHWMGAXLPEAU-UHFFFAOYSA-N Magnesium Chemical compound [Mg] FYYHWMGAXLPEAU-UHFFFAOYSA-N 0.000 title claims abstract description 15
- 229910052749 magnesium Inorganic materials 0.000 title claims abstract description 13
- 239000011777 magnesium Substances 0.000 title claims abstract description 13
- 238000003723 Smelting Methods 0.000 title claims abstract 8
- 238000010079 rubber tapping Methods 0.000 title description 3
- 210000000245 forearm Anatomy 0.000 claims abstract description 27
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 26
- 238000007599 discharging Methods 0.000 claims abstract description 9
- 210000000707 wrist Anatomy 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 15
- 238000000034 method Methods 0.000 abstract description 13
- 230000008569 process Effects 0.000 abstract description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000009467 reduction Effects 0.000 description 12
- 230000007306 turnover Effects 0.000 description 8
- 238000007670 refining Methods 0.000 description 4
- 241001062472 Stokellia anisodon Species 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 241001417490 Sillaginidae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Images
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/20—Recycling
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- Manipulator (AREA)
Abstract
本实用新型涉及镁冶炼生产用设备，特别是一种炼镁智能出渣装料机器人。该机器人包括可移动的小车和安装在小车上的可调节小车高度的高度调节装置，其特征在于在上述小车上安装有机械手，该机械手包括大臂、小臂和固定安装进出料铲的卡具，大臂的一端与小车铰接，大臂的另一端与小臂的一端铰接，小臂的另一端与腕关节铰接，卡具固定在腕关节上，带动大臂旋转的大臂液压缸的一端与小车铰接，另一端与大臂铰接，带动小臂旋转的小臂液压缸的一端与大臂铰接，另一端与小臂铰接，腕关节液压缸的一端与小臂铰接，另一端与腕关节铰接，在小车上安装有液压站和控制上述液压缸移动的控制装置。本实用新型通过模拟人的进出料过程，实现了进料和出料的机械化。
The utility model relates to equipment for magnesium smelting production, in particular to an intelligent slag discharging and charging robot for magnesium smelting. The robot includes a movable trolley and a height adjustment device installed on the trolley to adjust the height of the trolley. It is characterized in that a manipulator is installed on the trolley. , one end of the boom is hinged with the trolley, the other end of the boom is hinged with one end of the forearm, the other end of the forearm is hinged with the wrist joint, the jig is fixed on the wrist joint, and one end of the boom hydraulic cylinder that drives the boom to rotate It is hinged with the trolley, and the other end is hinged with the boom. One end of the forearm hydraulic cylinder that drives the forearm to rotate is hinged with the boom, and the other end is hinged with the forearm. One end of the wrist joint hydraulic cylinder is hinged with the forearm, and the other end is connected with the wrist joint. Hinged, the trolley is equipped with a hydraulic station and a control device for controlling the movement of the above-mentioned hydraulic cylinder. The utility model realizes the mechanization of feeding and discharging by simulating the material feeding and discharging process of people.
Description
Affiliated technical field
The utility model relates to magnesium and smelts the plant-scale equipment, particularly a kind of refining magnesium intelligence charging robot of slagging tap.
Background technology
Utilizing Pidgeon process to smelt volatile metal has at present become classical way, is example with the MAGNESIUM METAL, and it is to utilize Pidgeon process to smelt that the MAGNESIUM METAL more than 60% is arranged.This method mainly is to adopt hot reducing method to produce, and it is centrifugally cast reduction jar to be lain in a horizontal plane in the process furnace heat, and under vacuum condition the raw material in the reduction jar is reduced.Because reduction jar horizontal positioned just makes production process loading, unloading material process have problems such as labor strength is big, work situation difference.Carried out a large amount of research for addressing the above problem people, as adopting the spiral head of slagging tap is installed on the longitudinal translation car, utilize the high temperature reduction slag of screw in will reducing jar to take out of, or utilize modes such as the high temperature reduction slag of high-pressure air in will reduce jar blows out, realization discharging.Though above-mentioned dual mode can replace artificial discharging, problems such as labor strength is big, work situation difference have been alleviated, but in use there is following problem, 1. adopt spiral to slag tap in the tapping process, because the temperature of slag charge is higher, spiral is very low slag tap work-ing life of head, needs the ordinary replacing spiral head of slagging tap.The structure of head is complicated because spiral is slagged tap, and so just causes the increase of production cost, collapse phenomenon occurs when the reduction jar simultaneously, and spiral head can't enter in the jar, thereby can't slag tap; 2. adopt high-pressure air will reduce jar mode that interior high temperature reduction slag blows out when arranging, big, the uneasy congruent problem of operation site noise; 3. above-mentioned dual mode all exists can only deslagging, and the problem that can not feed can not fundamentally solve problems such as charging process labor strength is big, work situation difference on the one hand, has problems such as plant factor is low on the other hand.
Summary of the invention
The purpose of this utility model is to solve the defective that prior art exists, and provides a kind of simulation hand charging, the action of slagging tap, the charging robot but the refining magnesium intelligence of efficient context operator labour intensity and working efficiency is slagged tap.
The technical solution of the utility model is: a kind of refining magnesium intelligence charging robot of slagging tap, comprise movable trolleys and the arrangement for adjusting height that is installed in the dolly the regulated height on the dolly, it is characterized in that on above-mentioned dolly, mechanical manipulator being installed, this mechanical manipulator comprises big arm; forearm; the jig of the wrist joint and the turnover material shovel that fixedly is installed; an end and the dolly of big arm are hinged; the other end of big arm is hinged with an end of forearm; the other end and the wrist joint of forearm are hinged; jig is fixed on the wrist joint; an end and the dolly of big arm hydraulic cylinder that drives big arm rotation is hinged; the other end is hinged with big arm; an end of little arm hydraulic cylinder that drives the forearm rotation is with arm is hinged greatly; the other end and forearm are hinged; an end and the forearm of the wrist joint hydro-cylinder that the drive wrist joint rotates are hinged; the other end and wrist joint are hinged, Hydraulic Station is installed on dolly and controls the control device that above-mentioned hydro-cylinder moves.
Above-mentioned wrist joint is the rotating hydraulic cylinder, and an end and the forearm of rotating hydraulic cylinder are hinged, and the other end is fixed with the jig that is used for fixing the turnover material shovel that is installed.
On above-mentioned rotating hydraulic cylinder L shaped bracing frame is installed, an end and the rotating hydraulic cylinder of L shaped bracing frame are fixedly linked, and the other end has the hole that the spade that is used for material shovel passes, and an end of wrist joint hydro-cylinder is hinged on the L shaped bracing frame.
Said fixing be installed the turnover material shovel jig be hydraulic chucks.
The control device that above-mentioned control hydro-cylinder moves is a numerical control device.
The utility model is to utilize hydro-cylinder as power, by anthropomorphic dummy's input and output material process, realizes utilizing Pidgeon process to smelt the charging in the volatile metal and the mechanize of discharging.The utility model is compared with existing mucking machine, has characteristics: 1. a tractor serves several purposes.This robot in use by different turnover material shovels is installed, just can conveniently realize the charging and the work of slagging tap to the reduction jar; 2. simple to operate.Owing to aspect control, adopt digital control technology, can accurately control the hydraulic cylinder travel in the working process, can carry out the scene according to the equipment situation of using producer and set, the operation after the setting is very simple; 3, high efficiency, maintenance capacity are little.Charging and the charging shovel that adopts hand feed and slag tap used and go out material shovel of slagging tap, its structure is very simple, but high efficiency, under the condition of high temperature, use scrap after, only need to change shovel and get final product, so just can reduce maintenance load and cost greatly.
Description of drawings
Accompanying drawing 1 is the utility model structural representation front view;
Accompanying drawing 2 is the carpal structural representation enlarged view of the utility model.
Embodiment
As shown in Figure 1, 2, the mechanical manipulator of being made up of the jig 13 of big arm 5, forearm 6, wrist joint 9 and the turnover material shovel 11 that fixedly is installed is installed on the dolly 2 of existing removable slag remover, the lower end and the dolly of big arm are hinged, the upper end of big arm and the upper end of forearm are hinged; the lower end of forearm and wrist joint 9 are hinged; jig is fixed on the wrist joint, and jig is the hydraulic pressure card that is used to tighten workpiece that adopts mechanical industry commonly used.The lower end and the dolly of big arm hydraulic cylinder 4 that drives the rotation of big arm is hinged, the upper end is hinged with big arm, and forearm hydro-cylinder 7 lower ends that drive the forearm rotation are hinged with big arm, and upper end and forearm are hinged, the upper end and the forearm of the wrist joint hydro-cylinder 8 of drive wrist joint rotation are hinged, and lower end and wrist joint are hinged.Be used to above-mentioned hydro-cylinder to provide the Hydraulic Station 1 of power and the numerical control device 3 that the above-mentioned hydro-cylinder of control moves to be installed on the dolly.
During use, dolly moved to needs the reduction of discharging jar 12 places to fix, then according to the height of altitude mixture control dolly of reduction jar, start numerical control device then, control machinery each hydro-cylinder on hand moves by the amount of movement that configures, thereby driving the turnover material shovel is moved to the left, enter in the reduction jar slag is taken out, taking out the back passes through as carpal rotating hydraulic cylinder, driving the turnover material shovel axially rotates about 90o along it, slag is fallen down by the shovel face, repeat above-mentioned move gone out to slag till.
L shaped bracing frame 10 is installed on the rotating hydraulic cylinder, the right-hand member of L shaped bracing frame and rotating hydraulic cylinder are fixedly linked, left end has the hole 14 that the spade that is used to pass in and out material shovel passes, and wrist joint hydro-cylinder 8 lower ends are hinged on the L shaped bracing frame, so just can guarantee to pass in and out the level attitude of material shovel.
When giving reduction jar charging, jig 13 can be unclamped, change the employed charging shovel of charging, just can realize charging work.
In charging and the tapping process, the shift position of turnover material shovel can be set by numerical control device 3 according to practical situation.Numerical control device adopts microcomputer system commonly used at present to come the control figure hydraulic efficiency system to realize.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200754477U CN201999976U (en) | 2011-03-22 | 2011-03-22 | Intelligent slag tapping and loading robot for smelting magnesium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200754477U CN201999976U (en) | 2011-03-22 | 2011-03-22 | Intelligent slag tapping and loading robot for smelting magnesium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201999976U true CN201999976U (en) | 2011-10-05 |
Family
ID=44702721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011200754477U Expired - Lifetime CN201999976U (en) | 2011-03-22 | 2011-03-22 | Intelligent slag tapping and loading robot for smelting magnesium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201999976U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102140586A (en) * | 2011-03-22 | 2011-08-03 | 银川市杰力能科技有限公司 | Intelligent slagging and loading robot for smelting magnesium |
| CN108942988A (en) * | 2018-08-30 | 2018-12-07 | 无锡百禾工业机器人有限公司 | A kind of manipulator |
| CN111686867A (en) * | 2020-06-23 | 2020-09-22 | 德通建设集团有限公司 | Garbage crushing device for building construction |
-
2011
- 2011-03-22 CN CN2011200754477U patent/CN201999976U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102140586A (en) * | 2011-03-22 | 2011-08-03 | 银川市杰力能科技有限公司 | Intelligent slagging and loading robot for smelting magnesium |
| CN108942988A (en) * | 2018-08-30 | 2018-12-07 | 无锡百禾工业机器人有限公司 | A kind of manipulator |
| CN111686867A (en) * | 2020-06-23 | 2020-09-22 | 德通建设集团有限公司 | Garbage crushing device for building construction |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170605 Address after: 750001 the Ningxia Hui Autonomous Region Yinchuan city Xingqing District Regency North International Trade Building Chinese Muslim East 3E1-28, 29 floor Patentee after: Ningxia Jieli automation equipment Co. Address before: 750001, Xinhua East Street, Xingqing District, the Ningxia Hui Autonomous Region, Yinchuan, building 1718 Patentee before: Yinchuan Jielineng Technology Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| CX01 | Expiry of patent term |
Granted publication date: 20111005 |
|
| CX01 | Expiry of patent term |