CN210023759U

CN210023759U - Long nozzle cleaning and sealing gasket replacing device

Info

Publication number: CN210023759U
Application number: CN201920810548.0U
Authority: CN
Inventors: 麻万春; 孙恒; 胡冰涛; 刘洋
Original assignee: Hunan Boshi Automation Equipment Co Ltd
Current assignee: Hunan Boshi Automation Equipment Co Ltd
Priority date: 2019-05-30
Filing date: 2019-05-30
Publication date: 2020-02-07
Anticipated expiration: 2029-05-30

Abstract

A long nozzle cleaning and sealing gasket replacing device belongs to the field of smelting equipment. The automatic cleaning device can automatically complete the operations of cleaning by blowing oxygen, cleaning by a long nozzle drill rod, replacing the sealing gasket and the like. The utility model comprises a long nozzle replacing robot, a sealing gasket replacing device, a sealing gasket feeding device and a long nozzle tool rack; the long nozzle replacing robot, the sealing gasket replacing device, the sealing gasket feeding device and the long nozzle tool rack are all fixed on a working position, the sealing gasket replacing device is arranged on the right side of the long nozzle replacing robot along the front-rear direction of the long nozzle replacing robot, the long nozzle tool rack is arranged on the left side of the long nozzle replacing robot, and the sealing gasket feeding device is fixed on the front right side of the sealing gasket replacing device. The utility model discloses at the clearance at the long mouth of a river and the in-process of sealed pad change, can realize the automatic oxygen blast clearance of long mouth of a river, automatic drill rod clearance and the sealed automatic change that fills up.

Description

Long nozzle cleaning and sealing gasket replacing device

Technical Field

The utility model relates to a long mouth of a river clearance and sealed pad change device belongs to the smelting equipment field.

Background

In the steel-making process, the long nozzle needs to be cleaned and the sealing gasket needs to be replaced after being continuously used for about 4 hours. Traditional long mouth of a river clearance and sealed pad change process generally are manual operation, and operating station is very close to high temperature zone, and the environment is abominable, if the operation is improper, easily causes personnel's burn, in order to improve the operating environment, avoids personnel's burn, consequently, an urgent need can realize the device of automatic long mouth of a river clearance and sealed pad change.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to realize the automation of long mouth of a river clearance and sealed pad change, make long mouth of a river blow oxygen clearance, long mouth of a river drill rod clearance and sealed pad operations such as change can accomplish automatically, provide a long mouth of a river clearance and sealed pad change device.

Realize above-mentioned purpose, the utility model discloses the technical scheme who takes as follows:

a long nozzle cleaning and sealing pad replacing device comprises a long nozzle replacing robot; the long nozzle cleaning and sealing gasket replacing device further comprises a sealing gasket replacing device, a sealing gasket feeding device and a long nozzle tool rack; the long nozzle replacing robot, the sealing gasket replacing device, the sealing gasket feeding device and the long nozzle tool rack are all fixed on a working position, the sealing gasket replacing device is arranged on the right side of the long nozzle replacing robot along the front-rear direction of the long nozzle replacing robot, the long nozzle tool rack is arranged on the left side of the long nozzle replacing robot, and the sealing gasket feeding device is fixed on the front right side of the sealing gasket replacing device.

The utility model discloses beneficial effect for prior art is: the device working range is big, replaces original manually operation, realizes the automatic clearance of long mouth of a river and the automatic change of sealed pad. In the process of cleaning the long nozzle and replacing the sealing gasket, the automatic oxygen blowing cleaning, the automatic steel chisel cleaning and the automatic replacement of the sealing gasket of the long nozzle can be realized. The device has the advantages of simple structure and convenient operation, reduces the labor intensity of workers, improves the working efficiency, enables the operators to be far away from the high-temperature environment, and reduces the operation risk.

Drawings

Fig. 1 is an isometric view of the overall structure of the long nozzle cleaning and gasket changing apparatus of the present invention; FIG. 2 is an isometric view of the change seal device; FIG. 3 is an isometric view of the device guide rail; FIG. 4 is an isometric view of the slide base; FIG. 5 is a front view of the slide base; FIG. 6 is an isometric view of a rotating bracket; FIG. 7 is a front view of the swivel stand; FIG. 8 is an isometric view of a cleaning tool holder; FIG. 9 is a front view of the cleaning tool rack; fig. 10 is a front view of the gasket catching means; FIG. 11 is a cross-sectional view of section P-P of FIG. 10; figure 12 is an isometric view of an oxygen blowing apparatus; FIG. 13 is a front view of the oxygen blowing device; FIG. 14 is an isometric view of the gasket supply apparatus; FIG. 15 is a front view of the gasket supply device; FIG. 16 is a top view of the gasket supply device; FIG. 17 is an isometric view of a long nozzle tool holder; FIG. 18 is a rear view of the long nozzle tool holder; FIG. 19 is an isometric view of the lift table; FIG. 20 is an isometric view of the indexing carriage; FIG. 21 is an isometric view of the toggle; FIG. 22 is an enlarged view of a portion of FIG. 1 at D; FIG. 23 is an enlarged view of a portion of FIG. 1 at E; FIG. 24 is an enlarged view of a portion of FIG. 1 at F; FIG. 25 is an enlarged view of a portion of FIG. 6 at G; FIG. 26 is a partial enlarged view at H of FIG. 6; FIG. 27 is an enlarged view of a portion of FIG. 7 at J; FIG. 28 is an enlarged view of a portion of FIG. 8 at K; FIG. 29 is an enlarged view of a portion of FIG. 8 at L; FIG. 30 is an enlarged view of a portion of FIG. 8 at M; FIG. 31 is an enlarged view of a portion of FIG. 9 at N; FIG. 32 is an enlarged partial view at Q of FIG. 14; FIG. 33 is a partial enlarged view at R of FIG. 14; FIG. 34 is a partial enlarged view at S of FIG. 14; FIG. 35 is an enlarged view of a portion of FIG. 17 at T; FIG. 36 is an enlarged view of a portion of FIG. 18 at U; FIG. 37 is an enlarged view of a portion of FIG. 19 at V; FIG. 38 is an enlarged view of a portion of FIG. 19 at W; fig. 39 is a partial enlarged view at X of fig. 19.

The names and the labels of the parts in the figures are as follows:

the device comprises a sealing gasket replacing device 1, a device guide rail 11, a guide rail base 111, a transmission rack 112, a horizontal slide rail 113, a horizontal sliding block 114, a horizontal slide rail limiting seat 115, a sliding base 12, a rotary seat 121, a gear 122, a speed reducer push block 123, a push block screw 124, a front oil cylinder seat 125, a stretching air cylinder 126, a rear oil cylinder seat 127, a rotary seat speed reducer 128, a rotary seat motor 129, a rotary support 13, a fixed frame 131, a vertical slide rail 132, a vertical sliding block 133, a rotary support 134, a balancing weight 135, a gear motor 136, a gear speed reducer 137, a driving gear 138A, a driven gear 138B, a motor chain 139A, a lifting chain 139B, a lifting frame transmission shaft 130, a cleaning tool frame 14, a lifting arm speed reducer 141, a steel wire rope slide 142, a wire winding disc 143, a wire winding disc 144, a lifting frame 145, a lead weight 146, a sealing gasket seat 147, a sealing gasket, A connecting rod 1483, a connecting rod supporting seat 1484, a hand grip air cylinder 1485, a hand grip air cylinder seat 1486, a steel wire rope 149, an oxygen blowing device 15, an oxygen blowing tray fixing seat 151, a spring 152, an oxygen blowing tray 153 and an oxygen blowing pipe 154;

the sealing gasket feeding device 2, the sealing gasket feeding frame 21, the guide rod 22, the cylinder support 23, the clamping hand cylinder 24, the sealing gasket clamping hand 25, the screw rod 26, the guide shaft 27, the sealing gasket support 28 and the screw rod speed reducer 29;

the long nozzle tool holder 3, a fixed base 31, a lifting platform 32, a lifting platform support 321, an indexing frame support 322, an indexing frame pulley 323, a toggle device cylinder seat 324, a lifting platform support roller 325, a lifting roller 326, an indexing frame 33, a lower bottom plate 331, a groove II 3311, a middle support column 332, an upper top plate 333, a groove I3331, a toggle device 34, a toggle device cylinder rotating seat 341, a toggle device cylinder 342, a toggle rod 343, a toggle gear 344, a lifting platform cylinder 35, a lifting platform cylinder support 36, an indexing frame cylinder support 37 and an indexing frame cylinder 38.

Detailed Description

The first embodiment is as follows: as shown in fig. 1, 22-24, the present embodiment discloses a long nozzle cleaning and seal replacing device, comprising a long nozzle replacing robot a; the long nozzle cleaning and sealing gasket replacing device further comprises a sealing gasket replacing device 1, a sealing gasket feeding device 2 and a long nozzle tool rack 3; the long nozzle replacing robot A, the sealing gasket replacing device 1, the sealing gasket feeding device 2 and the long nozzle tool rack 3 (according to the space of a factory and the working range of the long nozzle replacing robot A) are all fixed on a working position, the sealing gasket replacing device 1 is arranged on the right side of the long nozzle replacing robot A along the front and back direction of the long nozzle replacing robot A, the long nozzle tool rack 3 is arranged on the left side of the long nozzle replacing robot A, and the sealing gasket feeding device 2 is fixed on the front right side of the sealing gasket replacing device 1.

The second embodiment is as follows: as shown in fig. 1, 2, 6 and 7, the present embodiment is further described with respect to the first embodiment, and the gasket changing apparatus 1 includes an apparatus guide rail 11, a sliding base 12, a rotating bracket 13, a cleaning tool rack 14 and an oxygen blowing apparatus 15; the device guide rail 11 is arranged along the front and back directions of the long nozzle replacing robot A and is fixed on the working position on the right side of the long nozzle replacing robot A, the sliding base 12 is fixedly connected to four horizontal sliding blocks 114 of the device guide rail 11 (through bolts), an inner flange ring of a rotary support 134 at the lower end of the rotary support 13 is detachably and fixedly connected to the sliding base 12, the back end of the cleaning tool rack 14 is fixedly connected to four vertical sliding blocks 133 of the rotary support 13 (through bolts), and the oxygen blowing device 15 is fixedly connected to the front end of the cleaning tool rack 14.

The third concrete implementation mode: as shown in fig. 2 and fig. 3, the embodiment further describes the second embodiment, and the device rail 11 includes a rail base 111, a transmission rack 112, two horizontal sliding rails 113, four horizontal sliding blocks 114, and four horizontal sliding rail limiting seats 115; the guide rail base 111 is arranged and fixed on a working position on the right side of the long nozzle replacing robot a along the front-back direction of the long nozzle replacing robot a, the transmission rack 112 is parallel to a longitudinal beam of the guide rail base 111 and is fixedly connected to a middle beam of the guide rail base 111, the two horizontal sliding rails 113 are parallel to the transmission rack 112 and are fixedly connected to two longitudinal beams on the left side and the right side of the guide rail base 111, two horizontal sliding rails 113 are respectively and slidably connected with two horizontal sliding blocks 114 (each horizontal sliding block 114 is slidably connected with the corresponding horizontal sliding rail 113 through a sliding groove arranged at the bottom of the horizontal sliding block 114), the four horizontal sliding rail limiting seats 115 are arranged in a matrix form and are fixed on front and back cross beams of the guide rail base 111, and the sliding base 12 is slidably connected with the.

The four horizontal slide rail limiting seats 115 function as follows: ensuring that the slide base 12 slides back and forth within a limited range.

The guide rail base 111 comprises two longitudinal beams, two cross beams and a plurality of middle beams, wherein the two longitudinal beams are a left longitudinal beam and a right longitudinal beam respectively, and the two cross beams are a front cross beam and a rear cross beam respectively; front beam and back beam parallel arrangement, both ends and left longeron and right longeron fixed connection about front beam and back beam, a plurality of centre sills set up between left longeron and right longeron, and a plurality of centre sills all are on a parallel with front beam and back beam setting, and a plurality of centre sills along the equidistant setting of fore-and-aft direction of longeron, both ends all with left longeron and right longeron fixed connection about a plurality of centre sills.

The fourth concrete implementation mode: as shown in fig. 2, fig. 4 and fig. 5, the present embodiment further describes a third embodiment, wherein the sliding base 12 includes a rotating base 121, a gear 122, a reducer push block 123, two push block screws 124, a front oil cylinder base 125, a stretching air cylinder 126, a rear oil cylinder base 127, a rotating base reducer 128 and a rotating base motor 129; the rotary seat 121 is fixed on the four horizontal sliding blocks 114 (the rotary seat 121 can slide back and forth along with the four horizontal sliding blocks 114), the gear 122 is fixed at the output end of a rotary seat speed reducer 128 (rotating along with a rotary seat speed reducer 128), a long hole is arranged on the rotary seat 121, the rotary seat speed reducer 128 is arranged on the rotary seat 121 and is positioned at the long hole, the rotary seat speed reducer 128 can move along the long hole, the gear 122 is meshed with the transmission rack 112 and can move back and forth along the transmission rack 112, the speed reducer push block 123 is fixed on the rotary seat 121, the two push block screw rods 124 are horizontally arranged in parallel and are in threaded connection with two screw holes arranged on a speed reducer push block 123, the rotary seat speed reducer 128 is arranged at the front side of the two push block screw rods 124 (rotating the two push block screw rods 124, the two push block screw rods 124 are in threaded connection with the, the swivel mount reducer 128 is pushed, so that the swivel mount reducer 128 can move along the motion direction of the push block screw 124 within the range of a long hole in a small amplitude, and the gear 122 and the transmission rack 112 are ensured to be tightly connected, one end of the front oil cylinder seat 125 is connected to an outer flange bolt hole of the swivel support 134 of the swivel bracket 13, the other end of the front oil cylinder seat 125 is hinged to a stretching rod end (through a first pin shaft) of the stretching air cylinder 126, one end of the rear oil cylinder seat 127 is fixed on the swivel mount 121, the other end of the rear oil cylinder seat 127 is hinged to a cylinder body (through a second pin shaft) of the stretching air cylinder 126, the input end of the swivel mount reducer 128 is connected with the output end of a swivel mount.

The fifth concrete implementation mode: as shown in fig. 2, fig. 6, fig. 7, and fig. 25 to fig. 27, the present embodiment further describes a fourth embodiment, wherein the rotating bracket 13 includes a fixed bracket 131, two vertical slide rails 132, four vertical slide blocks 133, a rotating support 134, a counterweight 135, a gear motor 136, a gear reducer 137, a driving gear 138A, a driven gear 138B, a motor chain 139A, a lifting chain 139B, and a lifting bracket transmission shaft 130;

the fixed frame 131 is connected to an outer flange of the rotary support 134, an inner flange of the rotary support 134 is connected to the rotary seat 121, the two vertical slide rails 132 are fixed on the left and right vertical beams at the front end of the fixed frame 131, two vertical slide blocks 133 are connected to the two vertical slide rails 132 in a sliding manner, the counterweight 135 is connected to one end of a lifting chain 139B, the lifting chain 139B goes around the driven gear 138B and the other end is connected to a lifting frame connecting arm 145 of the cleaning tool frame 14, the gear motor 136 and the gear reducer 137 are both fixed on the fixed frame 131, the output end of the gear motor 136 is connected with the input end of the gear reducer 137, the output end gear of the gear speed reducer 137 drives the driving gear 138A to rotate through the motor chain 139A, the driving gear 138A and the driven gear 138B are both connected to the lift frame transmission shaft 130 for synchronous rotation, the two ends of the transmission shaft 130 of the lifting frame are respectively fixed at the top end of the fixed frame 131 through a bearing seat.

The sixth specific implementation mode: as shown in fig. 2, fig. 6 to fig. 9, and fig. 28 to fig. 31, the present embodiment is further described with respect to the fifth embodiment, and the cleaning tool rack 14 includes a lifting arm 141, a steel cable slide 142, a wire spool 143, a wire spool speed reducer 144, a lifting rack connecting arm 145, a lead weight 146, a sealing pad seat 147, a sealing pad grasping device 148, a steel cable 149, and a wire spool motor;

the lifting arm 141 is fixed on the four vertical sliding blocks 133 (can slide up and down along with the four vertical sliding blocks 133), the sealing pad seat 147 is fixed at the front lower part of the upper beam of the lifting arm 141, the wire rope slide 142, the wire spool speed reducer 144 and the wire spool motor are all fixed on the upper beam of the lifting arm 141, the input end of the wire spool speed reducer 144 is connected with the output end of the wire spool motor, the wire spool 143 is fixedly arranged on the output end of the wire spool speed reducer 144, one end of the wire rope 149 is fixedly wound on the wire spool 143, the other end of the wire rope 149 sequentially passes through a through hole arranged at the front end of the upper beam of the lifting arm 141 and the hollow part of the sealing pad seat 147 to be fixedly connected with the lead weight 146, the lifting frame connecting arm 145 is fixed on the rear side surface of the vertical beam of the lifting arm 141, and the upper end of the lifting frame connecting, the gasket catching device 148 is connected to the lower end surface of the upper beam of the lifting arm 141.

The lifting arm 141 comprises an upper beam, a vertical beam and an oblique beam, wherein one end of the upper beam is fixedly connected with the upper end of the vertical beam, and the oblique beam is fixedly connected between the upper beam and the vertical beam.

The seventh embodiment: as shown in fig. 8-11, the present embodiment is further described with respect to the sixth embodiment, and the gasket catching device 148 includes a gasket finger 1481, a joint 1482, a connecting rod 1483, a connecting rod support base 1484, a finger cylinder 1485, and a finger cylinder base 1486; the sealing gasket hand 1481 is connected with one end of a connecting rod 1483 through a connector 1482, a connecting rod support 1484 (welded) is fixed to the lower surface of the upper beam of the lifting arm 141, the connecting rod 1483 is supported by the connecting rod support 1484, a hand grip cylinder block 1486 (welded) is fixed to the lower surface of the upper beam of the lifting arm 141, a hand grip cylinder 1485 cylinder body is fixed to the hand grip cylinder block 1486, and a pull rod end of the hand grip cylinder 1485 is connected with the other end of the connecting rod 1483.

As shown in fig. 2, 12 and 13, the oxygen blowing device 15 comprises an oxygen blowing tray fixing seat 151, a spring 152, an oxygen blowing tray 153 and an oxygen blowing pipe 154; one end of the oxygen blowing disc fixing seat 151 is fixed at the front end of an upper beam of the lifting arm 141, one end of a spring 152 is fixed at the other end of the lower surface of the oxygen blowing disc fixing seat 151 in a welded mode, the other end of the spring 152 is fixed at the center of the upper surface of an oxygen blowing disc 153 in a welded mode, and the oxygen blowing disc 153 can move up and down along with the spring 152; the oxygen lance 154 is arranged at the center of the spring 152, the upper end of the oxygen lance 154 penetrates through the other end of the oxygen tray fixing seat 151 in a sliding manner, the lower end of the oxygen lance 154 is fixedly connected with the center of the oxygen tray 153, and the oxygen tray 153 is provided with a central hole.

The working principle is as follows: as shown in fig. 1 to 3, 5 to 11, 22 to 27, 29 and 30, the front end of the long nozzle changing robot a clamps the long nozzle B and rotates clockwise by about 30 ° to extend to the front of the seal replacing device 1, the gear motor 136 is started, the gear reducer 137 drives the driving gear 138A to rotate clockwise through the motor chain 139A, the driven gear 138B rotates synchronously with the driving gear 138A through the lifting frame transmission shaft 130, the lifting chain 139B drives the lifting frame connecting arm 145 to lift upwards clockwise, and the cleaning tool rack 14 rises integrally along the vertical slide rail 132. The rotation seat motor 129 is started, the rotation seat speed reducer 128 rotates counterclockwise to drive the gear 122 to rotate counterclockwise, the gear 122 moves forward along the transmission rack 112, the cleaning tool rack 14 moves forward, if the cleaning tool rack 14 does not move forward smoothly, it can be considered that the gear 122 is not in close contact with the transmission rack 112, at this time, the two pushing block screws 124 can be screwed clockwise, the two pushing block screws 124 push the rotation seat speed reducer 128 to move in the moving direction of the two pushing block screws 124, so that the rotation seat speed reducer 128 drives the gear 122 to abut against the transmission rack 112, and the cleaning tool rack 14 moves forward until the sealing pad seat 147 and the sealing pad C (the sealing pad seat 147 is the seat of the sealing pad gripper 1481) move to the position right above the long nozzle B. Gear motor 136 starts, gear reducer 137 drives driving gear 138A through motor chain 139A and anticlockwise rotates, driven gear 138B rotates with driving gear 138A through hoisting frame transmission shaft 130 in step, lifting chain 139B anticlockwise drives hoisting frame connecting arm 145 to move down, cleaning tool rack 14 drives sealing gasket C to integrally descend to long nozzle B along vertical slide rail 132, and sealing gasket C is installed on long nozzle B.

The wire reel motor drives wire reel speed reducer 144 clockwise rotation, and wire reel 143 clockwise rotation, wire rope 149 extension, plumb bob 146 fall to long mouth of a river B bottom, and the wire reel motor drives wire reel speed reducer 144 anticlockwise rotation, and wire reel 143 anticlockwise rotation, and wire rope 149 shortens, and plumb bob 146 rises to sealing pad 147 below, and the up-and-down motion is repeated, accomplishes the drill rod clearance.

The gripper cylinder 1485 contracts to drive the sealing gasket gripper 1481 to open and separate from the sealing gasket C, the cleaning tool rack 14 ascends (when the gear motor 136 is started, the gear reducer 137 drives the driving gear 138A to rotate clockwise through the motor chain 139A, the driven gear 138B rotates synchronously with the driving gear 138A through the lifting rack transmission shaft 130, the lifting chain 139B drives the lifting rack connecting arm 145 to lift upwards clockwise, and the cleaning tool rack 14 ascends integrally along the vertical slide rail 132), and the gripper cylinder 1485 stretches to drive the sealing gasket gripper 1481 to close. The cleaning tool rack 14 moves backwards (the swivel base motor 129 is started, the swivel base reducer 128 rotates clockwise to drive the gear 122 to rotate clockwise, the gear 122 moves backwards along the transmission rack 112, the cleaning tool rack 14 moves backwards), the oxygen blowing device 15 moves right above the long nozzle B, the cleaning tool rack 14 moves downwards (the gear motor 136 is started, the gear reducer 137 drives the driving gear 138A to rotate anticlockwise through the motor chain 139A, the driven gear 138B rotates synchronously with the driving gear 138A through the lifting rack transmission shaft 130, the lifting chain 139B drives the lifting rack connecting arm 145 to move downwards anticlockwise, the cleaning tool rack 14 integrally descends along the vertical slide rail 132), the oxygen blowing device 15 is connected downwards with the long nozzle B tightly (tightly pressed and sealed by force), the oxygen blowing device 15 is externally connected with an oxygen pipe (the externally connected oxygen pipe is connected with the oxygen blowing pipe 154 of the oxygen blowing device 15), and blowing oxygen into the long nozzle B to finish oxygen blowing cleaning. The cleaning tool rack 14 is lifted, moved backward and lowered until the original state is restored.

The specific implementation mode is eight: as shown in fig. 14 to 16 and fig. 32 to 34, the present embodiment further illustrates a seventh embodiment, in which the gasket feeding device 2 includes a gasket feeding frame 21, four guide rods 22, a cylinder bracket 23, a clamping cylinder 24, a gasket clamping hand 25, a screw rod 26, a guide shaft 27, a gasket support 28, a screw rod speed reducer 29, and a screw rod motor;

the sealing gasket feeding frame 21 is fixed on a working position on the right front side of the sealing gasket replacing device 1, the four guide rods 22 are all arranged in the sealing gasket feeding frame 21, the four guide rods 22 are vertically arranged in a matrix form and are all connected with the sealing gasket feeding frame 21, the four guide rods 22 are distributed on two sides of the sealing gasket support 28 and are used for controlling the position of the sealing gasket support 28 (the four guide rods 22 are distributed on two sides of the sealing gasket support 28, two guide rods are arranged on each side, the guide rods 22 are tangent to side panels of the sealing gasket support 28 and oppositely clamp the sealing gasket support 28, so that the sealing gasket support 28 can relatively move up and down along the guide rods 22), the cylinder support 23 is fixed at the rear upper end of the sealing gasket feeding frame 21, the cylinder body of the clamping cylinder 24 is fixed on the cylinder support 23, the pull rod end of the clamping cylinder 24 is connected with a joint, and the joint at the pull rod end of the, sealed pad tong 25's stiff end is fixed on cylinder support 23, and sealed pad tong 25's expansion end presss from both sides tight sealed pad C, lead screw speed reducer 29 and lead screw motor are all fixed on sealed pad feed frame 21, and lead screw speed reducer 29's input is connected with lead screw motor's output, and lead screw speed reducer 29 output is connected with the lower extreme of the lead screw 26 of vertical setting, the upper end of lead screw 26 is passed through the bearing frame and is connected with sealed pad feed frame 21, sealed pad support 28 closes with lead screw 26 soon and is connected, along lead screw 26 up-and-down motion, sealed pad support 28 slides from top to bottom along the guiding axle 27 of vertical setting, the upper and lower both ends of guiding axle 27 are all fixed on sealed pad feed.

The working principle is as follows: as shown in figure 2, figure 4, figure 5, figure 8-figure 11, figure 14-figure 16, figure 28-figure 31, figure 32-figure 34,

The stretching cylinder 126 of the sliding base 12 contracts, and the rotating bracket 13 drives the cleaning tool rack 14 to rotate clockwise, so that the sealing gasket seat 147 moves right above the sealing gasket feeding device 2 (the stretching cylinder 126 contracts, and the rotating bracket 13 is driven to rotate clockwise by the front oil cylinder seat 125). The lead screw motor drives the lead screw speed reducer 29 to rotate clockwise, the lead screw 26 rotates clockwise, the sealing gasket support 28 moves upwards along the guide shaft 27, the sensing device (which is a sensor and belongs to an external component, and the sensing device is provided with matched electrical equipment and is external equipment) senses that the sealing gasket clamping hand 25 is in contact with the upper surface of the second layer of sealing gasket C, and the lead screw speed reducer 29 stops working. The gripper cylinder 1485 contracts to drive the sealing gasket gripper 1481 to open, the cleaning tool rack 14 faces downward (when the gear motor 136 is started, the gear reducer 137 drives the driving gear 138A to rotate counterclockwise through the motor chain 139A, the driven gear 138B rotates synchronously with the driving gear 138A through the lifting rack transmission shaft 130, the lifting chain 139B drives the lifting rack connecting arm 145 to move downward counterclockwise, the cleaning tool rack 14 integrally descends along the vertical sliding rail 132), the sealing gasket seat 147 is in contact with the sealing gasket C, and the gripper cylinder 1485 stretches to drive the sealing gasket gripper 1481 to close and clamp the sealing gasket C. The cleaning tool rack 14 drives the sealing gasket C to face upwards (when the gear motor 136 is started, the gear reducer 137 drives the driving gear 138A to rotate clockwise through the motor chain 139A, the driven gear 138B rotates synchronously with the driving gear 138A through the lifting frame transmission shaft 130, the lifting chain 139B drives the lifting frame connecting arm 145 to lift upwards clockwise, the cleaning tool rack 14 integrally rises along the vertical slide rail 132 to drive the sealing gasket C to face upwards, the stretching cylinder 126 stretches, the rotating support 13 drives the cleaning tool rack 14 to rotate anticlockwise to restore the working position (when the stretching cylinder 126 stretches, the front oil cylinder seat 125 moves forwards along the circumference to drive the rotating support 13 to rotate anticlockwise, and the cleaning tool rack 14 is connected with the rotating support 13 to rotate anticlockwise synchronously). The tong cylinder 24 is stretched, the sealing gasket tong 25 is opened, the lead screw motor drives the lead screw speed reducer 29 to rotate clockwise, the lead screw 26 rotates clockwise, the sealing gasket support 28 is enabled to move upwards along the guide shaft 27, the sensing device (which is a sensor and belongs to an external component) senses the upper surface contact of the sealing gasket tong 25 and the second layer of sealing gasket C, the lead screw speed reducer 29 stops working, the tong cylinder 24 contracts, the sealing gasket tong 25 closes and clamps the sealing gasket C, and the next clamping is waited.

The specific implementation method nine: as shown in fig. 1, 17-20, 35-39, the present embodiment is further described with respect to the first embodiment, and the long nozzle tool holder 3 includes a fixed base 31, a lifting table 32, an index frame 33, a toggle device 34, a lifting table cylinder 35, a lifting table cylinder support 36, an index frame cylinder support 37, and an index frame cylinder 38;

the fixed base 31 is fixed on a working position on the left side of the long nozzle replacing robot A, the lifting table 32 slides up and down along the fixed base 31 through four lifting rollers 326, the indexing frame 33 is arranged on the shifting device 34 and is in flange connection with the shifting device, the shifting device 34 is fixed on the fixed base 31, six first grooves 3331 for fixing the long nozzle B are uniformly distributed on the periphery of an upper top plate 333 of the indexing frame 33, a shifting gear 344 of the shifting device 34 is in flange connection with the indexing frame 33, a cylinder body end of the lifting table cylinder 35 is fixed on a lifting table cylinder support 36, a pull rod end of the lifting table cylinder 35 is arranged upwards and is connected with the lifting table 32 to drive the lifting table 32 to move up and down, the lifting table cylinder support 36 is connected on the fixed base 31 through a fifth pin shaft and can rotate around the fifth pin shaft, and the indexing frame cylinder support 37 is fixed on the lifting, the cylinder end of the indexing frame cylinder 38 is fixed on the lifting table 32, six second grooves 3311 are uniformly distributed on the periphery of the lower bottom plate 331 of the indexing frame 33, the six second grooves 3311 are trapezoidal grooves, and the pull rod end of the indexing frame cylinder 38 is horizontally inserted into the second groove 3311 of the indexing frame 33 to play a role in positioning.

The indexing frame cylinder 38 contracts to exit the second groove 3311 of the indexing frame 33, the toggle device cylinder 342 stretches, the toggle gear 344 is pushed forwards, the toggle device cylinder 342 contracts, the toggle rod 343 retracts into the tooth groove, the process is repeated twice, the toggle gear 344 moves forwards by 2 teeth, and the indexing frame 33 rotates anticlockwise by one station. The indexing frame cylinder 38 stretches into the second groove 3311 of the indexing frame 33 to perform a fixing function.

The indexing frame 33 belongs to a welding piece and comprises a lower base plate 331, a middle support column 332 and an upper top plate 333, wherein the lower base plate 331 is fixed on a toggle gear 344 of a toggle device 34 in a threaded connection mode (a threaded hole is formed in the middle of the lower base plate 331, a short cylindrical threaded boss in threaded connection with the threaded hole of the lower base plate 331 is formed in the middle of the toggle gear 344), the short cylindrical threaded boss can rotate synchronously with the toggle gear 344, and the middle support column 332 is welded between the upper top plate 333 and the middle of the lower base plate 331.

The detailed implementation mode is ten: as shown in fig. 17-19 and 35-39, the present embodiment further illustrates a ninth embodiment, in which the lifting table 32 includes a lifting table support 321, four dividing frame supports 322, four dividing frame pulleys 323, a toggle device cylinder block 324, four lifting table support rollers 325, and four lifting rollers 326;

the four indexing frame supports 322 are fixed on the bottom plate of the lifting table support 321, wheel shafts of the four indexing frame pulleys 323 are rotatably connected on the four indexing frame supports 322 (through bearings), the indexing frame 33 can horizontally slide on the four indexing frame pulleys 323, the toggle device cylinder seat 324 is fixed on the bottom plate of the lifting table support 321 in a welding way, two lifting table support rollers 325 are respectively arranged on two vertical beams of the lifting table support 321, two lifting table support rollers 325 arranged on each vertical beam of the lifting table support 321 are arranged up and down, the four lifting table support rollers 325 arranged on the two vertical beams of the lifting table support 321 are correspondingly arranged one by one, the lifting table support 321 slides up and down relative to the fixed base 31 through the four lifting table support rollers 325, and two lifting rollers 326 are respectively arranged on the two vertical beams of the lifting table support 321, two lifting rollers 326 arranged on each vertical beam of the lifting platform support 321 are arranged one above the other, four lifting rollers 326 arranged on two vertical beams of the lifting platform support 321 are arranged in a one-to-one correspondence manner, the lifting platform support 321 slides up and down relative to the fixed base 31 through the four lifting rollers 326 (the lifting platform support rollers 325 and the lifting rollers 326 are all used for ensuring that the lifting platform support 321 slides in the fixed base 31, the sliding directions are different), and the pull rod end of the lifting platform air cylinder 35 is connected with the lifting platform support 321 of the lifting platform 32.

The elevating platform support 321 comprises a bottom plate, two inclined beams, two vertical beams and an upper beam assembly, the lower ends of the two inclined beams and the two vertical beams are fixedly connected with the bottom plate, the two inclined beams are arranged on the left and right of the bottom plate in parallel, the two vertical beams and the two inclined beams are arranged in one-to-one correspondence and are located on the rear portion of the bottom plate, and the upper ends of the two inclined beams and the two vertical beams are fixedly connected with the upper beam assembly.

The concrete implementation mode eleven: as shown in fig. 17, 18 and 21, the present embodiment further describes a tenth embodiment, wherein the toggle mechanism 34 includes a toggle mechanism cylinder rotating base 341, a toggle mechanism cylinder 342, a toggle lever 343 and a toggle gear 344; the toggle device cylinder rotating base 341 is fixed on the toggle device cylinder base 324, the end of the toggle device cylinder 342 is hinged with the toggle device cylinder rotating base 341 (through a pin shaft four), the telescopic rod end of the toggle device cylinder 342 is hinged with the toggle rod 343 (through a pin shaft six), the toggle gear 344 is provided with twelve teeth, and the toggle rod 343 toggles two adjacent tooth indexing frames 33 to rotate one station every time.

The working principle is as follows: as shown in fig. 1, 17, 18, 35, 36 and 21, the lifting platform 32 drives the long nozzle B to lift upward by a certain distance, the long nozzle replacement robot a rotates counterclockwise to unload the long nozzle B from an overflow tank (the overflow tank is an external component, and the factory is a self-contained device), and continues to rotate counterclockwise to clamp the long nozzle B at the foremost end of the long nozzle tool holder 3, and the long nozzle replacement robot a rotates clockwise to return to the original position. The lifting platform cylinder 35 contracts, and the lifting platform 32 drives the long nozzle B to downwards contact with the fixed base 31. The indexing frame cylinder 38 contracts to exit from the second groove of the indexing frame 33, the toggle device cylinder 342 stretches to enable the toggle gear 344 to be pushed forwards, the toggle device cylinder 342 contracts, the toggle rod 343 retracts into the tooth groove, the operation is repeated twice, the toggle gear 344 moves forwards by 2 teeth, and the indexing frame 33 rotates anticlockwise by one station. The indexing frame cylinder 38 stretches and extends into the second groove of the indexing frame 33 to play a role in fixing.

The utility model discloses a theory of operation: the utility model provides a pair of long mouth of a river clearance and sealed pad change device, it can accomplish following operation:

1. automatic replacement of the sealing gasket: the front end of the long nozzle replacing robot A clamps the long nozzle B and rotates clockwise by about 30 degrees, the long nozzle B extends to the front of the sealing gasket replacing device 1, the gear motor 136 is started, the gear speed reducer 137 drives the driving gear 138A to rotate clockwise through the motor chain 139A, the driven gear 138B rotates synchronously with the driving gear 138A through the lifting frame transmission shaft 130, the lifting frame connecting arm 145 is driven clockwise by the lifting chain 139B to lift upwards, and the cleaning tool rack 14 ascends integrally along the vertical sliding rail 132. The rotation seat motor 129 is started, the rotation seat speed reducer 128 rotates counterclockwise, the gear 122 is driven to rotate counterclockwise, the gear 122 moves forward along the transmission rack 112, and the cleaning tool rack 14 moves forward. The cleaning tool holder 14 moves forward until the gasket seat 147 together with the gasket C moves right above the long nozzle B. Gear motor 136 starts, gear reducer 137 drives driving gear 138A through motor chain 139A and anticlockwise rotates, driven gear 138B rotates with driving gear 138A through hoisting frame transmission shaft 130 synchronously, hoisting chain 139B anticlockwise drives hoisting frame connecting arm 145 to move down, cleaning tool rack 14 integrally descends to long nozzle B along vertical slide rail 132, and sealing gasket C is installed on long nozzle B. After the drill steel and the oxygen blowing are cleaned, the cleaning tool rack 14 is lifted, moved backwards and lowered until the original state is recovered. The stretching cylinder 126 of the sliding base 12 is contracted, and the rotating bracket 13 drives the cleaning tool rack 14 to rotate clockwise, so that the sealing pad seat 147 moves to a position right above the sealing pad feeding device 2. The lead screw motor drives the lead screw speed reducer 29 to rotate clockwise, the lead screw 26 rotates clockwise, the sealing gasket support 28 moves upwards along the guide shaft 27, the sensing device senses that the sealing gasket clamping hand 25 is in contact with the upper end face of the second layer of sealing gasket C, and the lead screw speed reducer 29 stops working. The gripper cylinder 1485 contracts to drive the sealing gasket gripper 1481 to open, the cleaning tool rack 14 faces downwards to enable the sealing gasket seat 147 to be in contact with the sealing gasket C, and the gripper cylinder 1485 stretches to drive the sealing gasket gripper 1481 to close and clamp the sealing gasket C. The cleaning tool rack 14 drives the sealing gasket C to move upwards, the stretching cylinder 126 stretches, and the rotating bracket 13 drives the cleaning tool rack 14 to rotate anticlockwise to restore the working position. The clamping cylinder 24 stretches, the sealing gasket clamping hand 25 opens, the lead screw motor drives the lead screw speed reducer 29 to rotate clockwise, the lead screw 26 rotates clockwise, the sealing gasket support 28 moves upwards along the guide shaft 27, the sensing device senses the contact of the sealing gasket clamping hand 25 and the upper surface of the second layer of sealing gasket C, the lead screw speed reducer stops working, the clamping cylinder 24 contracts, and the sealing gasket clamping hand 25 closes to clamp the sealing gasket C to wait for clamping next time.

2. Automatic steel chisel cleaning: when installing new sealed pad C, the wire reel motor drives wire reel speed reducer 144 clockwise rotation, and wire reel 143 clockwise rotation, wire rope 149 extension, plumb bob 146 fall to long mouth of a river B bottom, and the wire reel motor drives wire reel speed reducer 144 anticlockwise rotation, and wire reel 143 anticlockwise rotation, wire rope 149 shortens, and plumb bob 146 rises to sealed pad seat 147 below, and the steel bar clearance is accomplished in the up-and-down motion that repeats.

3. Automatic oxygen blowing and cleaning: after the drill rod is cleaned, the gripper cylinder 1485 contracts to drive the sealing gasket gripper 1481 to open and separate from the sealing gasket C, the cleaning tool rack 14 ascends, and the gripper cylinder 1485 stretches to drive the sealing gasket gripper 1481 to close. And the cleaning tool rack 14 moves backwards, so that the oxygen blowing device 15 moves right above the long nozzle B, the cleaning tool rack 14 moves downwards, the oxygen blowing device 15 is connected with the long nozzle B downwards and tightly, the oxygen blowing device 15 is externally connected with an oxygen pipe, oxygen is blown into the long nozzle B, and oxygen blowing cleaning is completed.

4. Automatic change long mouth of a river: the lifting platform cylinder 35 is stretched, the lifting platform 32 drives the long nozzle B to be lifted upwards for a certain distance, the long nozzle B is dismounted at the overflow groove by the long nozzle replacing robot A in an anticlockwise rotating mode, the long nozzle B continues to rotate anticlockwise to the foremost long nozzle B clamped on the long nozzle tool rack 3, and the long nozzle replacing robot A rotates clockwise to restore the original position. The lifting platform cylinder 35 contracts, and the lifting platform 32 drives the long nozzle B to downwards contact with the fixed base 31. The indexing frame cylinder 38 contracts to exit from the second groove of the indexing frame 33, the toggle device cylinder 342 stretches to enable the toggle gear 344 to be pushed forwards, the toggle device cylinder 342 contracts, the toggle rod 343 retracts into the tooth groove, the operation is repeated twice, the toggle gear 344 moves forwards by 2 teeth, and the indexing frame 33 rotates anticlockwise by one station. The indexing frame cylinder 38 stretches and extends into the second groove of the indexing frame 33 to play a role in fixing.

Claims

1. A long nozzle cleaning and sealing pad replacing device comprises a long nozzle replacing robot (A); the method is characterized in that: the long nozzle cleaning and sealing gasket replacing device further comprises a sealing gasket replacing device (1), a sealing gasket feeding device (2) and a long nozzle tool rack (3); the long nozzle replacing robot (A), the sealing gasket replacing device (1), the sealing gasket feeding device (2) and the long nozzle tool rack (3) are all fixed on a working position, the sealing gasket replacing device (1) is arranged on the right side of the long nozzle replacing robot (A) along the front-rear direction of the long nozzle replacing robot (A), the long nozzle tool rack (3) is arranged on the left side of the long nozzle replacing robot (A), and the sealing gasket feeding device (2) is fixed on the right front side of the sealing gasket replacing device (1).

2. The long nozzle cleaning and seal replacing device according to claim 1, wherein: the sealing gasket replacing device (1) comprises a device guide rail (11), a sliding base (12), a rotating support (13), a cleaning tool rack (14) and an oxygen blowing device (15); the device guide rail (11) is arranged along the front and back directions of the long nozzle replacement robot (A) and is fixed on the working position on the right side of the long nozzle replacement robot (A), the sliding base (12) is fixedly connected onto four horizontal sliding blocks (114) of the device guide rail (11), an inner flange ring of a rotary support (134) at the lower end of the rotary support (13) is detachably and fixedly connected onto the sliding base (12), the rear end of the cleaning tool rack (14) is fixedly connected onto four vertical sliding blocks (133) of the rotary support (13), and the oxygen blowing device (15) is fixedly connected to the front end of the cleaning tool rack (14).

3. The long nozzle cleaning and seal replacing device as claimed in claim 2, wherein: the device guide rail (11) comprises a guide rail base (111), a transmission rack (112), two horizontal slide rails (113), four horizontal slide blocks (114) and four horizontal slide rail limiting seats (115); the guide rail base (111) is arranged along the front-back direction of the long nozzle replacing robot (A) and fixed on a working position on the right side of the long nozzle replacing robot (A), the transmission rack (112) is parallel to a longitudinal beam of the guide rail base (111) and fixedly connected to a middle beam of the guide rail base (111), the two horizontal sliding rails (113) are parallel to the transmission rack (112) and fixedly connected to the left longitudinal beam and the right longitudinal beam of the guide rail base (111), the two horizontal sliding rails (113) are respectively and slidably connected with two horizontal sliding blocks (114), the four horizontal sliding rail limiting seats (115) are arranged in a matrix form and fixed on the front-back transverse beam of the guide rail base (111), and the sliding base (12) is slidably connected with the two horizontal sliding rails (113) through the four horizontal sliding blocks (114).

4. A long nozzle cleaning and seal pad replacing device according to claim 3, wherein: the sliding base (12) comprises a rotary seat (121), a gear (122), a speed reducer push block (123), two push block screws (124), a front oil cylinder seat (125), a stretching air cylinder (126), a rear oil cylinder seat (127), a rotary seat speed reducer (128) and a rotary seat motor (129); the rotary seat (121) is fixed on the four horizontal sliding blocks (114), the gear (122) is fixed at the output end of a rotary seat speed reducer (128), a long hole is formed in the rotary seat (121), the rotary seat speed reducer (128) is arranged on the rotary seat (121) and located at the long hole, the rotary seat speed reducer (128) can move along the long hole, the gear (122) is meshed with the transmission rack (112) and can move back and forth along the transmission rack (112), the speed reducer push block (123) is fixed on the rotary seat (121), the two push block screw rods (124) are horizontally arranged in parallel and are in threaded connection with two screw holes formed in the speed reducer push block (123), the rotary seat speed reducer (128) is arranged on the front sides of the two push block screw rods (124), one end of the front oil cylinder seat (125) is connected to an outer flange bolt hole of a rotary support (134) of the rotary support (13), and the other end of the front oil cylinder seat (125) is hinged to a stretching rod of the stretching cylinder (, one end of the rear oil cylinder seat (127) is fixed on the rotary seat (121), the other end of the rear oil cylinder seat (127) is hinged with the cylinder body of the stretching air cylinder (126), the input end of the rotary seat speed reducer (128) is connected with the output end of the rotary seat motor (129), and the rotary seat motor (129) is fixed on the rotary seat (121).

5. The long nozzle cleaning and seal replacing device as claimed in claim 4, wherein: the rotary support (13) comprises a fixed frame (131), two vertical sliding rails (132), four vertical sliding blocks (133), a rotary support (134), a balancing weight (135), a gear motor (136), a gear speed reducer (137), a driving gear (138A), a driven gear (138B), a motor chain (139A), a lifting chain (139B) and a lifting frame transmission shaft (130);

the rotary cleaning machine is characterized in that the fixed frame (131) is connected to an outer flange of the rotary support (134), an inner flange of the rotary support (134) is connected with the rotary seat (121), the two vertical sliding rails (132) are fixed to two vertical beams on the left and right of the front end of the fixed frame (131), the two vertical sliding rails (132) are connected with two vertical sliding blocks (133) in a sliding mode, the balancing weight (135) is connected with one end of a lifting chain (139B), the lifting chain (139B) bypasses a driven gear (138B), the other end of the lifting chain is connected with a lifting frame connecting arm (145) of the cleaning tool frame (14), the gear motor (136) and the gear reducer (137) are both fixed to the fixed frame (131), the output end of the gear motor (136) is connected with the input end of the gear reducer (137), and the output end gear of the gear reducer (137) drives the driving gear (138A) to rotate through the motor chain (, the driving gear (138A) and the driven gear (138B) are connected with the lifting frame transmission shaft (130) to synchronously rotate, and two ends of the lifting frame transmission shaft (130) are fixed to the top end of the fixed frame (131) through a bearing seat respectively.

6. The long nozzle cleaning and seal replacing device as claimed in claim 5, wherein: the cleaning tool rack (14) comprises a lifting arm (141), a steel wire rope slideway (142), a wire spool (143), a wire spool speed reducer (144), a lifting frame connecting arm (145), a lead weight (146), a sealing pad seat (147), a sealing pad grabbing device (148), a steel wire rope (149) and a wire spool motor;

the lifting arm (141) is fixed on the four vertical sliding blocks (133), the sealing pad seat (147) is fixed on the front lower part of an upper beam of the lifting arm (141), the steel wire rope slide way (142), the wire spool speed reducer (144) and the wire spool motor are all fixed on the upper beam of the lifting arm (141), the input end of the wire spool speed reducer (144) is connected with the output end of the wire spool motor, the wire spool (143) is fixedly arranged on the output end of the wire spool speed reducer (144), one end of the steel wire rope (149) is fixedly wound on the wire spool (143), the other end of the steel wire rope (149) sequentially penetrates through the steel wire rope slide way (142), a through hole arranged at the front end of the upper beam of the lifting arm (141) and the hollow part of the sealing pad seat (147) to be fixedly connected with the lead weight (146), and the lifting frame connecting arm (145) is fixed on the rear side face of the vertical, the upper end of the lifting frame connecting arm (145) is connected with the other end of the lifting chain (139B), and the sealing gasket grabbing device (148) is connected with the lower end face of the upper beam of the lifting arm (141).

7. The long nozzle cleaning and seal pad replacing device as claimed in claim 6, wherein: the sealing gasket grabbing device (148) comprises a sealing gasket claw (1481), a joint (1482), a connecting rod (1483), a connecting rod supporting seat (1484), a claw air cylinder (1485) and a claw air cylinder seat (1486); the sealing gasket gripper (1481) is connected with one end of a connecting rod (1483) through a connector (1482), a connecting rod supporting seat (1484) is fixed to the lower surface of an upper beam of the lifting arm (141), the connecting rod (1483) is supported through the connecting rod supporting seat (1484), a gripper cylinder seat (1486) is fixed to the lower surface of the upper beam of the lifting arm (141), a gripper cylinder (1485) is fixed to the gripper cylinder seat (1486), and a pull rod end of the gripper cylinder (1485) is connected with the other end of the connecting rod (1483).

8. The long nozzle cleaning and seal replacing device according to claim 1, wherein: the sealing gasket feeding device (2) comprises a sealing gasket feeding frame (21), four guide rods (22), an air cylinder support (23), a clamping hand air cylinder (24), a sealing gasket clamping hand (25), a screw rod (26), a guide shaft (27), a sealing gasket support (28), a screw rod speed reducer (29) and a screw rod motor;

the sealing gasket feeding frame (21) is fixed on a working position on the right front side of the sealing gasket replacing device (1), the four guide rods (22) are all arranged in the sealing gasket feeding frame (21), the four guide rods (22) are vertically arranged in a matrix form and are all connected with the sealing gasket feeding frame (21), the four guide rods (22) are distributed on two sides of the sealing gasket support (28) and used for controlling the position of the sealing gasket support (28), the cylinder support (23) is fixed at the rear upper end of the sealing gasket feeding frame (21), the cylinder body of the clamping cylinder (24) is fixed on the cylinder support (23), the pull rod end of the clamping cylinder (24) is connected with a joint, the joint at the pull rod end of the clamping cylinder (24) is hinged with the sealing gasket clamping hand (25), the fixed end of the sealing gasket clamping hand (25) is fixed on the cylinder support (23), and the movable end of the sealing gasket clamping hand (25) clamps the sealing gasket (C), lead screw speed reducer (29) and lead screw motor all fix on sealed pad feed frame (21), and the input of lead screw speed reducer (29) is connected with lead screw motor's output, and lead screw speed reducer (29) output is connected with the lower extreme of lead screw (26) of vertical setting, the upper end of lead screw (26) is passed through the bearing frame and is connected with sealed pad feed frame (21), sealed pad support (28) close with lead screw (26) soon and be connected, along lead screw (26) up-and-down motion, sealed pad support (28) slide from top to bottom along guide shaft (27) of vertical setting, the upper and lower both ends of guide shaft (27) are all fixed on sealed pad feed frame (21).

9. The long nozzle cleaning and seal replacing device according to claim 1, wherein: the long nozzle tool rack (3) comprises a fixed base (31), a lifting table (32), an indexing frame (33), a shifting device (34), a lifting table cylinder (35), a lifting table cylinder support (36), an indexing frame cylinder support (37) and an indexing frame cylinder (38);

the fixed base (31) is fixed on a working position on the left side of the long nozzle replacing robot (A), the lifting table (32) slides up and down along the fixed base (31) through four lifting rollers (326), the dividing frame (33) is arranged on the shifting device (34) and is in flange connection with the shifting device, the shifting device (34) is fixed on the fixed base (31), six first grooves (3331) for fixing the long nozzle (B) are uniformly distributed on the periphery of an upper top plate (333) of the dividing frame (33), a shifting gear (344) of the shifting device (34) is in flange connection with the dividing frame (33), a cylinder body end of the lifting table cylinder (35) is fixed on a lifting table cylinder support (36), a pull rod end of the lifting table cylinder (35) is upwards arranged and is connected with the lifting table (32) to drive the lifting table (32) to move up and down, the lifting table cylinder support (36) is connected to the fixed base (31) through a pin shaft five, the five-axis five-.

10. The long nozzle cleaning and seal replacing device as claimed in claim 9, wherein: the lifting table (32) comprises a lifting table support (321), four indexing frame supports (322), four indexing frame pulleys (323), a shifting device cylinder seat (324), four lifting table support rollers (325) and four lifting rollers (326);

the four indexing frame supports (322) are fixed on a bottom plate of the lifting platform support (321), wheel shafts of the four indexing frame pulleys (323) are rotationally connected to the four indexing frame supports (322), the indexing frame (33) can horizontally slide on the four indexing frame pulleys (323), the toggle device cylinder seat (324) is fixed on the bottom plate of the lifting platform support (321), two lifting platform support rollers (325) are respectively installed on two vertical beams of the lifting platform support (321), two lifting platform support rollers (325) installed on each vertical beam of the lifting platform support (321) are arranged one above the other, the four lifting platform support rollers (325) installed on the two vertical beams of the lifting platform support (321) are arranged in one-to-one correspondence, and the lifting platform support (321) can slide up and down relative to the fixed base (31) through the four lifting platform support rollers (325), two lifting rollers (326) are respectively installed on two vertical beams of the lifting platform support (321), each lifting roller (326) is installed on each lifting platform support (321), the two lifting rollers (326) on the vertical beams are arranged one on the other, the four lifting rollers (326) installed on the two vertical beams of the lifting platform support (321) are arranged in a one-to-one correspondence mode, the lifting platform support (321) slides up and down relative to the fixed base (31) through the four lifting rollers (326), and the pull rod end of the lifting platform air cylinder (35) is connected with the lifting platform support (321) of the lifting platform (32).

11. The long nozzle cleaning and seal replacing device as claimed in claim 10, wherein: the toggle device (34) comprises a toggle device cylinder rotating seat (341), a toggle device cylinder (342), a toggle rod (343) and a toggle gear (344); the cylinder rotating base (341) of the toggle device is fixed on the cylinder base (324) of the toggle device, the cylinder end of the cylinder (342) of the toggle device is hinged with the cylinder rotating base (341) of the toggle device, the telescopic rod end of the cylinder (342) of the toggle device is hinged with the toggle rod (343), the toggle gear (344) is provided with twelve teeth, and the toggle rod (343) rotates one station every time the toggle rod (343) toggles two adjacent tooth indexing frames (33).