CN212419624U - All-round intelligent slag-dragging robot for metal smelting - Google Patents

Abstract

The utility model discloses an all-round intelligent slag-fishing robot for metal smelting, which comprises a machine body, wherein a grabbing mechanism is arranged on the machine body; the grabbing mechanism has the double functions of fishing scum in the furnace and cleaning slag on the inner wall of the furnace; the grabbing mechanism comprises a grab hand, and the grab hand consists of a plurality of grabbing plates which are uniformly arranged in the circumferential direction; the gripper is connected with the opening and closing mechanism, and the plurality of gripper plates are driven by the opening and closing mechanism to be simultaneously closed inwards or opened outwards so as to close or open the gripper; the utility model has the double functions of fishing the scum in the furnace and cleaning the slag adhered on the inner wall of the furnace, and has strong practicability; the device can realize 360-degree dead-angle-free grabbing in one-time grabbing action in the slag dragging process, reduces the slag dragging times and time, and improves the production efficiency; the furnace mouth shrinkage caused by the adhesion of the slag and the furnace wall in the smelting process can be avoided, and the utilization rate of the furnace lining is increased; molten iron splashing caused by the fact that scum falls in the process of dragging slag can be effectively avoided, waste of the molten iron is reduced, and meanwhile safety is improved.

Description

All-round intelligent slag-dragging robot for metal smelting

Technical Field

The utility model relates to a drag for sediment robot, specific theory relates to a metal melting all-round type intelligence drag for sediment robot.

Background

When molten iron is melted, a large amount of dross is generated in the melting furnace, and the dross needs to be fished out in order not to affect the quality of the molten iron in the operation process. At present, the slag is dragged for in the domestic casting industry and the manual work is dragged for the sediment and the sediment is dragged for mechanically, and the traditional manual work is dragged for the sediment worker and is worn the protection protective equipment low coverage and leave the station at the fire door, and the sediment is chosen outside the stove to the long iron fork, and the manual work is dragged for the sediment security low, and is inefficient, and can the adhesion take away a lot of molten irons when choosing the sediment, causes the waste. Therefore, with the continuous development of the technology, a mechanical slag salvaging machine gradually appears.

For example, chinese patent CN201920075643.0 discloses a novel electric cylinder slag conveyor, which relates to the field of metallurgical machinery, and comprises a base and an upright column, wherein the upright column is vertically arranged on the base, a horizontal first telescopic arm is fixedly arranged at the upper end of the upright column, and a first electric cylinder is installed in the first telescopic arm; the first electric cylinder is located the first telescopic arm close to one end of the stand column, the other end of the first telescopic arm is provided with a second telescopic arm, the upper end of the second telescopic arm is provided with a second electric cylinder capable of controlling the extension and retraction of the second telescopic arm, the lower end of the second telescopic arm is provided with a slag fishing gripper, and a third electric cylinder is arranged inside the second telescopic arm and connected with the slag fishing gripper. The utility model has the advantages of, saved more pipeline in the current design and laid, also reduced power equipment's supporting simultaneously, only used an electric power as the power supply, avoided the pipeline oil leak condition of current hydraulic power in the use, also great promotion the applicable environment of equipment.

Although the slag conveyor realizes mechanical slag conveying, the following problems exist in practical application:

1. the grab of the slag salvaging machine is a traditional split grab plate or grab tooth, the two ends of the grab can generate a slag grabbing dead angle in the process of one-time slag grabbing action of the traditional split grab, in the prior art, technicians generally rotate the grab at a certain angle along the circumferential direction by arranging a rotating device, and the problem is solved by multiple slag grabbing actions, so that the complexity of the mechanical structure of the slag salvaging machine is increased, the manufacturing cost of equipment is increased, and the occupied area of the equipment is increased; on the other hand, the slag salvaging time is increased due to the fact that the slag salvaging machine grabs the slag for many times, the improvement of production efficiency is seriously influenced, the production cost is increased, and the market demand can not be met.

2. The split type gripper structure adopted in the traditional slag dragging machine draws in when grabbing scum and extrudes the scum, the scum drops from the two ends of the gripper easily, the slag grabbing is not firm, molten iron splashes easily, waste of the molten iron is caused, and the potential safety hazard is large.

3. Traditional dragveyer can only fish for interior dross of stove, and in the actual smelting process, the slag can adhere at smelting furnace inner wall, causes the fire door to shrink, and the furnace wall rate of utilization is low, and traditional dragveyer can not clear up the slag on the stove inner wall, and the function is single, and the practicality is low.

In view of the above, the prior art is obviously inconvenient and disadvantageous in practical use, and needs to be improved.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to above not enough, provide a metal melting all-round type intelligence drag for sediment robot, can realize following mesh:

1. can have the dual functions of fishing scum in the furnace and cleaning the slag adhered on the inner wall of the furnace, and has strong practicability.

2. Can realize 360 no dead angles and snatch in grabbing the sediment action once in-process of dragging for the sediment, reduce and drag for sediment number of times and time, improve production efficiency.

3. The furnace mouth shrinkage caused by the adhesion of the slag and the furnace wall in the smelting process can be avoided, and the utilization rate of the furnace lining is increased.

4. Molten iron splashing caused by the fact that scum falls in the process of dragging slag can be effectively avoided, waste of the molten iron is reduced, and meanwhile safety is improved.

For solving the technical problem, the utility model discloses a following technical scheme: an all-round intelligent slag-dragging robot for metal smelting comprises a machine body, wherein a grabbing mechanism is arranged on the machine body; the grabbing mechanism has double functions of fishing scum in the furnace and cleaning slag on the inner wall of the furnace.

Further, the gripping mechanism comprises a gripper, and the gripper is composed of a plurality of gripping plates which are uniformly arranged in the circumferential direction; the gripper is connected with the opening and closing mechanism, and the plurality of gripper plates are driven by the opening and closing mechanism to be simultaneously closed inwards or opened outwards, so that the gripper is closed or opened.

Further, the opening and closing mechanism comprises a lifting disc and a plurality of crankshafts; the lower end of each crankshaft is fixedly connected with one grabbing plate;

the lifting disc is sleeved on the plurality of crankshafts in a sliding manner; through the up-and-down movement of the lifting disc, the plurality of crankshafts drive the plurality of grabbing plates to be simultaneously folded inwards or unfolded outwards.

Further, the crankshaft is a smooth round shaft with two bending parts with opposite bending directions; the upper end of each crankshaft is hinged and fixed on the fixed disc.

Further, the device also comprises a rotating device; the rotating device is fixedly connected to the fixed disc through the connecting arm and drives the gripper and the opening and closing mechanism to rotate.

Furthermore, the left side edge of each grabbing plate is arranged on the inner side of the adjacent grabbing plate on the left side, and the right side edge of each grabbing plate is arranged on the outer side of the adjacent grabbing plate on the right side; or the left side edge of each grabbing plate is arranged on the outer side of the adjacent grabbing plate on the left side, and the right side edge of each grabbing plate is arranged on the inner side of the adjacent grabbing plate on the right side.

The control cabinet is used for realizing automatic skimming of scum and automatic cleaning of furnace inner wall slag by the skimming robot;

the control cabinet is connected with a human-computer interaction interface; the machine body is provided with a distance measuring sensor which measures the distance between the equipment and the smelting furnace and transmits the measuring result to the control cabinet as the basic parameter for controlling the slag salvaging robot to advance and retreat.

Furthermore, the machine body comprises a machine base and a crank arm, and a large arm and a pull rod are hinged between the machine base and the crank arm; and a lifting oil cylinder is hinged between the base and the large arm.

Furthermore, the central position fixedly connected with jib of lifting disk, the jib passes the fixed disk through the uide bushing slip, the upper end and the telescopic link of hydro-cylinder of jib are connected.

Furthermore, the upper ends of the large arm and the pull rod are hinged and fixed on the inclined section of the crank arm, and the lower ends of the large arm and the pull rod are hinged and fixed on the base; a connecting rod structure is formed among the base, the large arm, the pull rod and the crank arm; a horizontal section of the crank arm is fixedly connected with a cross arm; the end part of the transverse arm is fixedly connected with the vertical arm, and the bottom end of the vertical arm is fixedly connected with the connecting arm;

the cross arm and the vertical arm can be telescopic.

The utility model adopts the above technical scheme after, compare with prior art, have following advantage:

1. this application can realize 360 no dead angles in once snatching the action and grab the sediment, reduces and drags for sediment number of times and time, has improved production efficiency, has simplified the structure of dragveyer, reduces equipment volume, has reduced manufacturing cost.

2. The gripping handle is designed in a circular manner, and can be tightly attached to the inner side of the furnace wall to grip downwards to clean the furnace slag on the inner wall of the furnace; and the tongs are rotated by 360 degrees through the rotating device, so that slag at the opening part above the smelting furnace can be effectively cleaned, the slag adhered to the furnace wall can be effectively cleaned, the furnace mouth is prevented from being reduced due to the adhesion of the slag and the furnace wall in the smelting process, and the utilization rate of the furnace lining is increased.

3. This application can effectively avoid the dross to drop the molten iron that causes and splash, has reduced the waste of molten iron, has improved the security.

4. The utility model provides a both can fish for the interior dross of stove and can clear up the slag of stove inner wall again, have the multifunctionality, application scope is wide.

The present invention will be described in detail with reference to the accompanying drawings and examples.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

FIG. 2 is a schematic view of the grasping mechanism in an open state of the grasping hand;

FIG. 3 is a schematic view of the gripper mechanism in the closed position;

FIG. 4 is a partial schematic view of the open state of the hand grip;

FIG. 5 is a partial schematic view of the closed condition of the fingers;

FIG. 6 is a schematic structural view of a crankshaft;

in the figure, the position of the upper end of the main shaft,

1-oil cylinder, 2-suspension rod, 3-guide sleeve, 4-fixed disk, 5-lifting disk, 6-crankshaft, 61-upper bending part, 62-lower bending part, 7-grasping plate, 8-oil cylinder fixing plate, 9-connecting arm, 10-hinged part, 11-through hole, 12-lifting oil cylinder, 13-base, 14-big arm, 15-pull rod, 16-cross arm, 17-vertical arm, 18-crank arm, 19-rotary disk, 20-rotary motor and 21-control cabinet.

Detailed Description

In order to clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will be described with reference to the accompanying drawings.

Example 1

As shown in fig. 1-6 jointly, the utility model provides a metal melting all-round type intelligence drags for sediment robot, include the organism, snatch mechanism and switch board 21, switch board 21 is used for controlling and snatchs the mechanism and realize automatic draging for sediment and clearance stove inner wall slag.

The grabbing mechanism is arranged on the machine body; the machine body can be fixed; the machine body comprises a machine base 13 and a crank arm 18, the machine base 13 of the fixed machine body is fixed on the ground, and a large arm 14 and a pull rod 15 are hinged between the machine base 13 and the crank arm 18; specifically, the upper ends of the large arm 14 and the pull rod 15 are hinged and fixed on the inclined section of the crank arm 18, and the lower ends are hinged and fixed on the base 13; a connecting rod structure is formed among the base 13, the large arm 14, the pull rod 15 and the crank arm 18; the crank arm 18 keeps the horizontal section thereof in a horizontal state all the time under the action of the link mechanism.

A cross arm 16 is fixedly connected to the horizontal section of the crank arm 18, and the cross arm 16 can horizontally stretch and retract.

The end part of the cross arm 16 is fixedly connected with a vertical arm 17, and the vertical arm 17 can vertically extend and retract.

The transverse arm 16 and the vertical arm 17 are both connected with telescopic oil cylinders, the telescopic oil cylinders are connected with an electric control hydraulic system, and the electric control hydraulic system controls the telescopic oil cylinders to move, so that the transverse arm 16 and the vertical arm 17 are contracted.

And a lifting oil cylinder 12 is further hinged and fixed on the machine base 13, and a telescopic rod of the lifting oil cylinder 12 is hinged and fixed on the side part of the large arm 14.

The machine body can also be movable, the movable machine body further comprises a traveling mechanism, the traveling mechanism is connected with the machine base 13 to drive the whole machine body to move together, and the traveling mechanism comprises wheels, rails, crawler belts and the like.

The grabbing mechanism is fixedly arranged at the bottom end of the vertical arm 17 and comprises a grabbing hand, the grabbing hand consists of a plurality of grabbing plates 7, the grabbing plates 7 are uniformly arranged at intervals along the circumferential direction, and the grabbing plates 7 can be simultaneously folded inwards, closed or outwards opened, so that the grabbing hand is closed or opened, and grabbing and releasing actions are realized.

In order to avoid interference between two adjacent grabbing plates 7 during opening and closing, the left side edge of each grabbing plate 7 is arranged on the inner side of the adjacent grabbing plate 7 on the left side, the right side edge of each grabbing plate 7 is arranged on the outer side of the adjacent grabbing plate 7 on the right side, or the left side edge of each grabbing plate 7 is arranged on the outer side of the adjacent grabbing plate 7 on the left side, and the right side edge of each grabbing plate 7 is arranged on the inner side of the adjacent grabbing plate 7 on the right side, so that when the grabbing hand is closed, the grabbing plates 7 are sequentially stacked in a clockwise or anticlockwise direction.

The plurality of grabbing plates 7 are simultaneously folded inwards or unfolded outwards through an opening and closing mechanism, the opening and closing mechanism comprises a lifting disc 5 and a plurality of crankshafts 6, and the crankshafts 6 are smooth round shafts with two bending parts with opposite bending directions; specifically, the crankshaft 6 includes an upper bent portion 61 and a lower bent portion 62, the upper bent portion 61 is bent inward, the lower bent portion 62 is bent outward, and a junction where the upper bent portion 61 and the lower bent portion 62 are joined smoothly; the radius of curvature of the upper curved portion 61 is greater than the radius of curvature of the lower curved portion 62; and the length of the upper bent portion 61 is greater than that of the lower bent portion 62.

The lower end of each crankshaft 6 is fixedly connected with a grabbing plate 7, and the upper end of each crankshaft is hinged and fixed on the fixed plate 4 through a hinge piece 10.

A plurality of through holes 11 are uniformly arranged on the lifting disc 5 in the circumferential direction at intervals, and each crankshaft 6 penetrates through one through hole 11; the lifting disc 5 slides up and down along the crankshafts 6, so that the crankshafts 6 drive the grabbing plates 7 to simultaneously fold inwards or unfold outwards, and grabbing and releasing actions are realized; specifically, when the lifting disc 5 is gradually moved upward from the lower bent portion 62 of the crankshaft 6, the plurality of grip plates 7 are simultaneously gathered inward, and the grips are closed; when the lifting disk 5 moves downward from the upper bent portion 61 of the crankshaft 6, the plurality of gripping plates 7 are simultaneously opened outward and the grippers are opened.

Fixedly connected with jib 2 is put to the central point of lifter plate 5, jib 2 slides and establishes in uide bushing 3, uide bushing 3 sets up the center at fixed disk 4, the upper end and the telescopic link of hydro-cylinder 1 of jib 2 are connected, and hydro-cylinder 1 drives lifter plate 5 through jib 2 and reciprocates, hydro-cylinder 1 is connected with automatically controlled hydraulic system.

The oil cylinder 1 is fixed on an oil cylinder fixing plate 8; the oil cylinder fixing plate 8 is fixedly arranged on the inner wall of the connecting arm 9, the connecting arm 9 is of a hollow column structure, and the lower end of the connecting arm 9 is fixedly connected to the fixed disc 4; the oil cylinder 1 and the suspender 2 are both arranged in the inner cavity of the connecting arm 9.

The gripping mechanism further comprises a rotating device, and the rotating device drives the gripper and the opening and closing mechanism to rotate; the rotating device comprises a rotating disc 19, a rotating motor 20 is connected to the rotating disc, and the rotating motor 20 drives the rotating disc 19 to rotate; the lower end of the rotary disc 19 is fixedly connected with the connecting arm 9, and the upper end of the rotary disc 19 is fixedly installed with the telescopic arm of the slag conveyor.

The grabbing plate 7 is an arc-shaped plate protruding outwards, and long inclined planes are arranged on two side edges of the grabbing plate 7 and one end far away from the crankshaft 6 so as to grab scum and clean slag on the inner wall of the furnace.

The control cabinet 21 is connected with a human-computer interaction interface, and electric control hydraulic systems for controlling the extension and retraction of the telescopic oil cylinders of the cross arm 16 and the vertical arm 17 are connected with the control cabinet, so that the extension and retraction of the cross arm 16 and the vertical arm 17 are controlled through the control cabinet 21.

The machine body is provided with a distance measuring sensor which measures the distance between the equipment and the smelting furnace and transmits the measuring result to the control cabinet 21 as the basic parameter for controlling the slag salvaging robot to advance and retreat.

And a displacement sensor is arranged on the vertical arm 17 and used for measuring the center distance of the furnace mouth so as to obtain left and right position data of the gripper and transmitting the measurement result to the control cabinet to be used as left and right basic parameters of the gripper of the slag dragging robot.

The grabbing mechanism reaches a slag removal starting position, a slag removal key is pressed, the system automatically records the height, the front and back and the left and right position information of the starting position, and the slag fishing starting position is determined in an automatic detection mode.

All-round type intelligence of metal melting drags for sediment robot can adopt hydraulic pressure, electronic, pneumatics, machinery to realize remote control for power, realizes the automation mechanized operation, has realized remote sediment of dragging for.

The utility model discloses a theory of operation:

when scum in a furnace is fished, under the automatic main control of a control cabinet 21, a cross arm 16 extends out to the upper part of the smelting furnace, a vertical arm 7 extends out to the lower part of the smelting furnace, an oil cylinder 1 retracts at the same time, a lifting rod 2 drives a lifting disc 5 to move upwards, a plurality of grabbing plates 7 are driven by a plurality of crankshafts 6 to simultaneously fold inwards in the upward moving process of the lifting disc 5, and a gripper is closed inwards to grab the scum; then the vertical arm 17 retracts upwards, the cross arm 16 retracts to the scum placing area, meanwhile, the oil cylinder 1 extends out, the lifting rod 2 drives the lifting disc 5 to move downwards, in the downward moving process of the lifting disc 5, the plurality of grabbing plates 7 are driven by the plurality of crankshafts 6 to open outwards at the same time, and the grippers open outwards to release the scum.

When the furnace inner wall slag is cleaned, under the automatic main control of the control cabinet 21, the cross arm 16 extends to the upper side of the smelting furnace, the vertical arm 17 extends downwards, the hand grip extends into the furnace mouth and is tightly attached to the furnace wall, then the vertical arm 17 and the oil cylinder 1 are matched to act through the slag digging machine, the furnace wall is downwards grabbed and cleaned to remove the slag adhered to the furnace wall, the rotary device drives the hand grip to do 360-degree rotary motion at the furnace mouth, and the circularly designed hand grip can be used for removing the furnace slag at the furnace mouth.

In the process of fishing scum and cleaning slag on the inner wall of the furnace, the horizontal section of the crank arm 18 is always kept in a horizontal state through a connecting rod structure consisting of the base 13, the large arm 14, the pull rod 15 and the crank arm 18, so that the cross arm 16 fixed on the crank arm 18 is kept in a horizontal state.

The utility model discloses can realize 360 no dead angles in once snatching the action and grab the sediment, reduce and drag for sediment number of times and time, improve production efficiency, simplify the structure of dragveyer, reduce the equipment volume, reduce manufacturing cost.

The utility model adopts a circular design, and the tongs can be tightly attached to the inner side of the furnace wall to grab and clean the furnace slag on the inner wall of the furnace; and the tongs are rotated by 360 degrees through the rotating device, so that slag at the opening part above the smelting furnace can be effectively cleaned, the slag adhered to the furnace wall can be effectively cleaned, the furnace mouth is prevented from being reduced due to the adhesion of the slag and the furnace wall in the smelting process, and the utilization rate of the furnace lining is increased.

The utility model discloses can effectively avoid the dross to drop the molten iron that causes and splash, reduce the waste of molten iron, improve the security.

The utility model can not only fish the scum in the furnace, but also clean the slag on the inner wall of the furnace, and has the advantages of multifunction and wide application range.

The foregoing is illustrative of the best mode of the invention, and details not described herein are within the common general knowledge of a person of ordinary skill in the art. The protection scope of the present invention is subject to the content of the claims, and any equivalent transformation based on the technical teaching of the present invention is also within the protection scope of the present invention.

Claims (8)

1. The utility model provides a metal melting all-round type intelligence drags for sediment robot which characterized in that: the device comprises a machine body, wherein a grabbing mechanism is arranged on the machine body; the grabbing mechanism has double functions of fishing scum in the furnace and cleaning slag on the inner wall of the furnace;

the gripping mechanism comprises a gripper, and the gripper is composed of a plurality of gripping plates (7) which are uniformly arranged in the circumferential direction; the hand grips are connected with the opening and closing mechanism, and the plurality of gripping plates (7) are driven by the opening and closing mechanism to be simultaneously closed inwards or opened outwards so as to be closed or opened;

the opening and closing mechanism comprises a lifting disc (5) and a plurality of crankshafts (6); the lower end of each crankshaft (6) is fixedly connected with a grabbing plate (7);

the lifting disc (5) is sleeved on the crankshafts (6) in a sliding manner; through the up-and-down movement of the lifting disc (5), the plurality of crankshafts (6) drive the plurality of grabbing plates (7) to simultaneously fold inwards or unfold outwards.

2. The metal smelting omnipotent intelligent slag-dragging robot of claim 1, characterized by: the crankshaft (6) is a smooth round shaft with two bending parts with opposite bending directions; the upper end of each crankshaft (6) is hinged and fixed on the fixed disc (4).

3. The metal smelting omnipotent intelligent slag-dragging robot of claim 2, characterized by: the device also comprises a rotating device; the rotating device is fixedly connected to the fixed disc (4) through a connecting arm (9), and the rotating device drives the gripper and the opening and closing mechanism to rotate.

4. The metal smelting omnipotent intelligent slag-dragging robot of claim 1, characterized by: the left side edge of each grabbing plate (7) is arranged on the inner side of the adjacent grabbing plate (7) on the left side, and the right side edge of each grabbing plate (7) is arranged on the outer side of the adjacent grabbing plate (7) on the right side; or the left side edge of each grabbing plate (7) is arranged on the outer side of the adjacent grabbing plate (7) on the left side, and the right side edge of each grabbing plate (7) is arranged on the inner side of the adjacent grabbing plate (7) on the right side.

5. The metal smelting omnipotent intelligent slag-dragging robot of claim 1, characterized by: the slag-removing robot further comprises a control cabinet (21), wherein the control cabinet (21) is used for realizing automatic slag-removing and automatic cleaning of slag on the inner wall of the furnace by the slag-removing robot;

the control cabinet (21) is connected with a human-computer interaction interface; the machine body is provided with a distance measuring sensor which measures the distance between the equipment and the smelting furnace and transmits the measurement result to a control cabinet (21) as a basic parameter for controlling the slag salvaging robot to advance and retreat.

6. The metal smelting omnipotent intelligent slag-dragging robot of claim 3, characterized by: the machine body comprises a machine base (13) and a crank arm (18), wherein a large arm (14) and a pull rod (15) are hinged between the machine base (13) and the crank arm (18); a lifting oil cylinder (12) is hinged between the machine base (13) and the large arm (14).

7. The metal smelting omnipotent intelligent slag-dragging robot of claim 2, characterized by: the center of lifting disk (5) puts fixedly connected with jib (2), jib (2) slide through uide bushing (3) and pass fixed disk (4), the upper end and the telescopic link of hydro-cylinder (1) of jib (2) are connected.

8. The metal smelting omnipotent intelligent slag-dragging robot of claim 6, characterized by: the upper ends of the large arm (14) and the pull rod (15) are hinged and fixed on the inclined section of the crank arm (18), and the lower ends of the large arm and the pull rod are hinged and fixed on the base (13); a connecting rod structure is formed among the base (13), the large arm (14), the pull rod (15) and the crank arm (18); a cross arm (16) is fixedly connected to the horizontal section of the crank arm (18); the end part of the cross arm (16) is fixedly connected with a vertical arm (17), and the bottom end of the vertical arm (17) is fixedly connected with the connecting arm (9);

the cross arm (16) and the vertical arm (17) can be extended and retracted.

Images