CN212887638U

CN212887638U - Zinc ingot slag-off robot

Info

Publication number: CN212887638U
Application number: CN202021656155.8U
Authority: CN
Inventors: 孙智超; 申允德; 张哲汪; 潘炜杰; 朱海宁; 马光
Original assignee: Wenzhou University
Current assignee: Wenzhou University
Priority date: 2020-08-11
Filing date: 2020-08-11
Publication date: 2021-04-06
Anticipated expiration: 2030-08-11

Abstract

The utility model discloses a zinc ingot slag-off robot, including lead screw slip table (500), be equipped with on lead screw slip table (500) and remove platform (501), install arm waist (400) on removing platform (501), arm waist (400) hinged joint arm device (300) in proper order, the tip of arm device (300) is equipped with wrist device (200), installs executor (100) on wrist device (200). The utility model discloses not only can improve the production efficiency that zinc was smelted, guarantee the production quality of zinc metal, the risk that moreover can greatly reduced manual work liberates the labour, has control characteristics simple, with low costs, job stabilization.

Description

Zinc ingot slag-off robot

Technical Field

The utility model relates to the technical field of robots, in particular to zinc ingot slagging-off robot.

Background

The slag removal of zinc ingots is an important process in zinc smelting: after molten zinc is cast in an ingot mold, impurities such as oxidation slag suspended on the surface of the molten zinc are scraped out before the zinc ingot is cooled and solidified, and the method is a key process for ensuring the purity and quality of the zinc ingot.

Because the casting production line is continuously moved and the slag skimming operation needs to be completed before the zinc liquid is cooled, the working time of each slag skimming is about 10s, and because of the particularity of the manufacturing industry accompanied by high risk and high labor intensity of non-ferrous metal smelting, the effect of manual slag skimming is not easy to be stable, the working environment temperature of workers is high, the labor intensity is high, and potential safety hazards such as scalding exist.

The robot exchange can not only improve the production efficiency of smelting and ensure the production quality of metal, but also greatly reduce the risk of manual operation and liberate labor force.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a zinc ingot takes off sediment robot. The utility model discloses not only can improve the production efficiency that zinc was smelted, guarantee the production quality of zinc metal, the risk that moreover can greatly reduced manual work liberates the labour, has control characteristics simple, with low costs, job stabilization.

The technical scheme of the utility model: the utility model provides a zinc ingot slag-off robot, includes the lead screw slip table, is equipped with moving platform on the lead screw slip table, installs the arm waist on the moving platform, and arm waist hinged joint has arm device, and arm device's tip is equipped with wrist device, installs the executor that is used for taking off the slag on the wrist device.

In the zinc ingot slag-off robot, the actuator comprises a vertical mounting plate, two vertical slide rails which are parallel to each other in the vertical direction are arranged on the vertical mounting plate, and a slide block mounting plate and a connecting plate are respectively arranged at the upper end and the lower end of each vertical slide rail; the upper end of the connecting plate is provided with a lifting driven part, the lower end of the connecting plate is provided with a horizontal plate, the horizontal plate is provided with a horizontal sliding rail, two ends of the horizontal sliding rail are provided with scraping plates, and the scraping plates are provided with hinge seats; the lower end of the sliding block mounting plate is provided with an opening and closing driven part, and the front end of the sliding block mounting plate is provided with a connecting rod flange shaft; a connecting rod is hinged between the connecting rod flange shaft and the hinge seat; a cam input shaft is arranged in the middle of the vertical mounting plate, and an opening and closing cam and a lifting cam are arranged on the cam input shaft; the opening and closing cam and the opening and closing driven piece form cam pair matching, and the lifting cam and the lifting driven piece form cam pair matching; and a mounting block connected with the wrist device is arranged behind the vertical mounting plate.

In the zinc ingot slag-off robot, the waist of the mechanical arm comprises a base arranged on the moving platform, a through hole is formed in the lower side of the back of the base, and an electric wire plug is arranged in the through hole; a speed reducer is arranged in a cavity in the middle of the base, a rotary table is arranged above the speed reducer, a mounting seat and a main motor are arranged on the rotary table, and a motor shaft with a gear on the main motor penetrates through the rotary table to be meshed with an input gear of the speed reducer; a hollow pipe is arranged in a cavity in the middle of the input gear of the speed reducer, and a static bevel gear is arranged on the hollow pipe; a first swing flange with a first flange shaft, a second swing flange with a second flange shaft, a third swing flange with a third flange shaft and a fourth swing flange with a fourth flange shaft are respectively arranged on the left outer side surface and the right outer side surface of the mounting seat; the first flange shaft and the second flange shaft are connected with an upper arm through bolts; the third flange shaft and the fourth flange shaft are connected with a lower arm together; the fourth flange shaft is also provided with a right duplex chain wheel, and the right duplex chain wheel is connected with an arm duplex inertia chain wheel through an arm chain; a synchronous chain wheel is arranged on the first flange shaft, a left duplex chain wheel is arranged on the third flange shaft, and a synchronous chain is connected between the left duplex chain wheel and the synchronous chain wheel; two lower end flange covers are respectively arranged on two sides of the wall surface of the lower end of the left side of the mounting seat, a lower end transmission shaft is arranged in the middle of each lower end flange cover, and a lower end chain wheel and a movable bevel gear are arranged on each lower end transmission shaft; the movable bevel gear and the static bevel gear form bevel gear matching; the lower end chain wheel and the left duplex chain wheel are driven by a left chain; a motor mounting frame is fixed on the inner side in front of the mounting seat, a tail end motor is mounted on the motor mounting frame, and a motor chain wheel is mounted on a motor shaft of the tail end motor; and the motor chain wheel and the right duplex chain wheel are driven by a right chain.

According to the zinc ingot slagging-off robot, the waist tensioners are arranged inside the right side and inside the left side of the mounting seat, and are used for tensioning the right side chain and the left side chain.

In the zinc ingot slagging-off robot, the arm device comprises an upper arm and a lower arm; an upper arm cover plate is arranged at the upper end of the upper arm, first arm flanges are respectively arranged on the front outer side and the rear outer side of the left end of the upper arm, first arm flange shafts are arranged on the arm flanges, and the first arm flange shafts are connected with side panels through bolts; the rear side bolt at the right end of the upper arm is fixed on the second swing flange, and the front side bolt is fixed on the first swing flange; a lower arm bottom plate is arranged at the lower end of the lower arm, second arm flanges are respectively arranged on the front outer side and the rear outer side of the left end of the lower arm, a second arm flange shaft is arranged on each second arm flange, and the second arm flange shafts are connected with arm chain wheel shafts; the arm duplex inertia chain wheel is arranged on the arm chain wheel shaft; and the rear side bolt at the right end of the lower arm is fixed on the fourth swing flange, and the front side bolt is fixed on the third swing flange.

According to the zinc ingot slagging-off robot, the arm tensioner is arranged below the cavity of the lower arm and used for tensioning the arm chain.

According to the zinc ingot slag-raking robot, the wrist device comprises a mounting platform connected with the mould mounting block, side panels are respectively mounted on the front side and the rear side of the mounting platform, and an arm chain wheel shaft and a first arm flange shaft are mounted on the side panels through bolts; the first arm flange shaft is connected with the upper arm through a hinge; the arm chain wheel shaft is connected with the lower arm through a hinge; the second arm flange shaft is connected with the upper arm through a hinge; a wrist flange is arranged on the outer side of the side panel, a wrist output shaft is arranged on the wrist flange, a wrist chain wheel is arranged at the position, close to the rear side, of the wrist output shaft, and the wrist chain wheel and an arm duplex inertia chain wheel are driven through a wrist chain; and the wrist output shaft is in key connection with the cam input shaft.

In the zinc ingot slag-removing robot, a dust cover is arranged behind the mounting seat, and a motor cover is arranged below the dust cover.

In the zinc ingot slag-off robot, the gradient of the scraper at one end of the horizontal slide rail is steeper, and the gradient of the scraper at the other end of the horizontal slide rail is shallower.

Compared with the prior art, the method has the following beneficial effects:

1. the utility model discloses an executor utilizes opening of synchronous pivoted to close cam and lift cam to control opening of two scraper blades about respectively and close and go up and down, closes the opening of scraper blade and carries out the orbit fit with the lift action, imitates the action of artifical slagging-off, and the slope of two scraper blades is different, and a scraper blade is used for scraping the sediment, and a scraper blade is used for flourishing sediment, and the action of taking off the sediment with the manual work is more close, and the slagging-off effect is more obvious.

2. The utility model discloses an arm device only has a motor to control: the main motor on the rotary table is used for inputting power to the speed reducer to drive the rotary table to rotate, the static bevel gear is fixed, the movable bevel gear is driven by the rotation of the rotary table to do circular rotation motion around the static bevel gear, the rotation motion of a horizontal plane is converted into the rotation motion of a vertical plane, and the power is transmitted to the rotating joint of the lower arm of the upper arm at a certain transmission ratio through chain transmission to enable the upper arm and the lower arm to synchronously swing; the wrist device and the waist of the mechanical arm are connected by double arms to form a parallelogram structure, so that the wrist device is always kept horizontal in the swinging process of the mechanical arm, and the double-arm structure can increase the load bearing capacity of the tail end of the robot.

3. The end motor and the turntable motor of the utility model are both arranged at the waist part of the mechanical arm, thereby reducing the weight of the end and leading the structure of the robot to be more compact; the electric wire can be connected with two motors inside the waist of the mechanical arm through the electric wire plug and the hollow tube leading-in waist of the mechanical arm, so that the wiring is cleaner and tidier.

4. The utility model discloses can accomplish quick installation between executor and the wrist device, adorn the key on the cam input shaft of executor, insert the slotted hole of wrist output shaft in, adjust the position of mounting hole on installation piece and the wrist mounting platform, the bolt of packing into can accomplish quick installation, and the change and the maintenance of the end effector of the robot of being convenient for have improved the commonality of robot.

5. The utility model discloses a lead screw slip table is by independent motor control, can carry out dynamic tracking according to the speed fluctuation of production line operation on continuous motion's zinc ingot casting production line, makes executor and zinc ingot remain relative static throughout, makes things convenient for the executor operation.

Drawings

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

FIG. 2 is a schematic view of the actuator;

FIG. 3 is a schematic view of the left side of the waist of the robot arm;

FIG. 4 is a schematic view of the back of the waist of the arm;

FIG. 5 is a schematic view showing a connection structure of the arm unit, the wrist unit and the waist portion of the robot arm;

FIG. 6 is a schematic view of the structure of the arm unit;

FIG. 7 is a schematic diagram of the structure of the wrist device;

FIG. 8 is a schematic view of the attachment of the wrist device actuator.

Reference numerals:

100. an actuator; 101. a squeegee; 102. a hinge mount; 103. a horizontal plate; 104. a horizontal slide rail; 105. a connecting rod; 106. a connecting plate; 107. a lifting follower; 108. an opening and closing cam; 109. a lifting cam; 110. a cam input shaft; 111. an opening and closing driven part; 112. a connecting rod flange shaft; 113. a slider mounting plate; 114. a vertical slide rail; 115. a vertical mounting plate; 116. Mounting blocks; 117. a spring; 200. a wrist device; 201. mounting a platform; 202. a side panel; 203. a wrist flange; 204. a wrist output shaft; 205. a wrist sprocket; 206. a wrist chain; 300. an arm device; 301. arm duplex inertia chain wheel; 302. an arm sprocket shaft; 3031. a first arm flange shaft; 3032. a second arm flange shaft; 304. an upper arm cover plate; 305. an upper arm; 306. a lower arm; 307. an arm chain; 308. a lower arm chassis; 3091. a first arm flange; 3092. a second arm flange; 310. an arm tensioner; 400. the waist part of the mechanical arm; 401. a mounting seat; 4021. a first swing flange; 4022. a second swing flange; 4023. A third swing flange; 4024. a fourth swing flange; 403. a first flange shaft; 404. a third flange shaft; 405. a dust cover; 406. a second flange shaft; 407. a fourth flange shaft; 408. A right duplex sprocket; 409. a right side chain; 410. a waist tensioner; 411. a motor mounting bracket; 412. a motor sprocket; 413. a terminal motor; 414. a main motor; 415. a turntable; 416. A base; 417. a wire plug; 418. a left side chain; 419. a lower end flange cover; 420. a lower end transmission shaft; 421. a synchronous sprocket; 422. a synchronization chain; 423. a left duplex sprocket; 424. A lower end sprocket; 425. a moving bevel gear; 426. a speed reducer; 427. a motor cover; 428. a stationary bevel gear; 429. a hollow tube; 500. a lead screw sliding table; 501. and (4) moving the platform.

Detailed Description

The following description is made with reference to the accompanying drawings and examples, but not to be construed as limiting the invention.

Example (b): a zinc ingot slag skimming robot comprises a lead screw sliding table 500, as shown in figure 1, a moving platform 501 is arranged on the lead screw sliding table 500, a mechanical arm waist 400 is arranged on the moving platform 501, the mechanical arm waist 400 is sequentially hinged with an arm device 300, a wrist device 200 is arranged at the end part of the arm device 300, and an actuator 100 is arranged on the wrist device 200; as shown in fig. 2, the actuator 100 includes a vertical mounting plate 115, two vertical sliding rails 114 parallel to each other in the vertical direction are disposed on the vertical mounting plate 115, a slider mounting plate 113 and a connecting plate 106 are disposed at the upper and lower ends of the vertical sliding rail 114, respectively, the slider mounting plate 113 and the connecting plate 106 are mounted on four sliders on the vertical sliding rail 114, respectively, and the connecting plate 106 is mounted below the slider mounting plate 113; the upper end of the connecting plate 106 is provided with a lifting driven part 107, the lower end of the connecting plate is provided with a horizontal plate 103, the horizontal plate 103 is provided with a horizontal sliding rail 104, two ends of the horizontal sliding rail 104 are provided with scrapers 101, and the scrapers 101 are provided with hinge seats 102; the lower end of the sliding block mounting plate 113 is provided with an opening and closing driven part 111, and the front end of the sliding block mounting plate 113 is provided with a connecting rod flange shaft 112; a connecting rod 105 is hinged between the connecting rod flange shaft 112 and the hinge seat 102, and a small shaft is arranged between the connecting rod 105 and the hinge seat 102 of the connecting rod 1; a cam input shaft 110 is arranged in the middle of the vertical mounting plate 115, and an opening and closing cam 108 and a lifting cam 109 are arranged on the cam input shaft 110; the opening and closing cam 108 and the opening and closing follower 111 form cam pair matching, and the lifting cam 109 and the lifting follower 107 form cam pair matching; the back of the vertical mounting plate 115 is provided with a mounting block 116 connected with the wrist device 200; a spring 117 is arranged between the lower end of the vertical mounting plate 115 and the connecting plate 106; the grade of the scraper 101 at one end of the horizontal sliding rail 104 is steep, and the grade of the scraper 101 at the other end is gentle. The utility model discloses an executor 100 utilizes opening of two synchronous pivoted to close cam and lift cam to control respectively about two scraper blades 101 close and go up and down, closes scraper blade 101 open and carry out the orbit fit with the lift action, imitates the action of artifical sediment of taking off, and the slope of two scraper blades 101 is different, and a scraper blade 101 is used for scraping the sediment, and a scraper blade 101 is used for flourishing sediment, and is closer with the action of artifical sediment of taking off, and it is more obvious to take off the sediment effect. The utility model discloses a lead screw slip table 500 is by independent motor control, can carry out dynamic tracking according to the speed fluctuation of production line operation on continuous motion's zinc ingot casting production line, makes executor 100 and zinc ingot remain relative static throughout, makes things convenient for executor 100 operation.

Further, as shown in fig. 3-4, the waist portion 400 of the robot arm includes a base 416 mounted on the moving platform 501, a through hole is formed at the lower side of the back of the base 416, and a wire plug 417 is mounted in the through hole; a speed reducer 426 is arranged in a cavity in the middle of the base 416, the speed reducer 426 is an RV-C speed reducer, a rotary table 415 is arranged above the speed reducer 426, a mounting seat 401 and a main motor 414 are arranged on the rotary table 415, a dust cover 405 is arranged at the back of the mounting seat 401, and a motor cover 427 is arranged at the lower side of the dust cover 405; a motor shaft with a gear on the main motor 414 passes through the rotary table 415 to be meshed with an input gear of the speed reducer 426; a hollow tube 429 is arranged in a cavity in the middle of an input gear of the speed reducer 426, and a static bevel gear 428 is arranged on the hollow tube 429; a first swing flange 4021 with a first flange shaft 403, a second swing flange 4022 with a second flange shaft 406, a third swing flange 4023 with a third flange shaft 404 and a fourth swing flange 4024 with a fourth flange shaft 407 are respectively arranged on the left outer side surface and the right outer side surface of the mounting seat 401; the first flange shaft 403 and the second flange shaft 406 are both bolted with an upper arm 305; the third flange shaft 404 and the fourth flange shaft 407 are connected together with a lower arm 306; the fourth flange shaft 407 is further provided with a right duplex sprocket 408, and the right duplex sprocket 408 is connected with an arm duplex idler sprocket 301 through an arm chain 307; a synchronous chain wheel 421 is arranged on the first flange shaft 403, a left duplex chain wheel 423 is arranged on the third flange shaft 404, and a synchronous chain 422 is connected between the left duplex chain wheel 423 and the synchronous chain wheel 421; two sides of the wall surface of the lower end of the left side of the mounting seat 401 are respectively provided with a lower end flange cover 419, the middle of the lower end flange cover 419 is provided with a lower end transmission shaft 420, and the lower end transmission shaft 420 is provided with a lower end chain wheel 424 and a movable bevel gear 425; the moving bevel gear 425 forms a bevel gear fit with the static bevel gear 428; the lower end chain wheel 424 and the left duplex chain wheel 423 are driven by a left chain 418; a motor mounting rack 411 is fixed on the inner side in front of the mounting seat 401, a tail end motor 413 is mounted on the motor mounting rack 411, and a motor chain wheel 412 is mounted on a motor shaft of the tail end motor 413; the motor sprocket 412 and the right duplex sprocket 408 are driven by a right chain 409, waist tensioners 410 are arranged inside the right side and inside the left side of the mounting seat 401, and the waist tensioners 410 are used for tensioning the right chain 409 and the left chain 418. The end motor 413 and the rotary table 415 of the utility model are both arranged at the waist part 400 of the mechanical arm, thereby reducing the weight of the end and leading the structure of the robot to be more compact; wires can be led into the waist part 400 of the mechanical arm through the wire plug 417 and the hollow tube 429 and are connected with two motors inside the waist part 400 of the mechanical arm, so that the wiring is tidier.

Further, as shown in fig. 5 to 6, the arm device 300 includes an upper arm 305 and a lower arm 306 parallel to each other; an upper arm cover plate 304 is arranged at the upper end of the upper arm 305, a first arm flange 3091 is respectively arranged on the front outer side and the rear outer side of the left end of the upper arm 305, a first arm flange shaft 3031 is arranged on the first arm flange 3031, and the first arm flange shaft 3031 is connected with the side panel 202 through bolts; a rear bolt at the right end of the upper arm 305 is fixed on the second swing flange 4022, and a front bolt is fixed on the first swing flange 4021; a lower arm bottom plate 308 is arranged at the lower end of the lower arm 306, second arm flanges 3092 are respectively arranged on the front outer side and the rear outer side of the left end of the lower arm 306, second arm flange shafts 3032 are arranged on the second arm flanges 3092, and the second arm flange shafts 3032 are connected with arm chain wheel shafts 302; the arm duplex idler sprocket 301 is arranged on the arm sprocket shaft 302, and the arm duplex idler sprocket 301 is connected with the right side duplex sprocket 408 through an arm chain 307; an arm tensioner 310 is arranged below the cavity of the lower arm 306, and the arm tensioner 310 is used for tensioning an arm chain 307; the lower arm 306 has a right end and a rear side bolt fixed to the fourth swing flange 4024, and a front side bolt fixed to the third swing flange 4023. The arm device 300 of the utility model only has one motor to control: the main motor on the rotary table 415 is used for inputting power to the speed reducer 426 to drive the rotary table 415 to rotate, the static bevel gear 428 is fixed, the movable bevel gear 425 rotates circularly around the static bevel gear 428 under the rotation driving of the rotary table 415, the rotation motion of a horizontal plane is converted into the rotation motion of a vertical plane, and the power is transmitted to the rotating joints of the upper arm 305 and the lower arm 306 at a certain transmission ratio through chain transmission to enable the upper arm 306 and the lower arm 306 to synchronously swing; the wrist device 200 and the waist 400 of the mechanical arm are connected by two arms to form a parallelogram structure, so that the wrist device 200 is always kept horizontal in the swinging process of the mechanical arm, and the load bearing capacity of the tail end of the robot can be increased by the two-arm structure.

Further, as shown in fig. 7-8, the wrist device 200 includes a mounting platform 201 connected to the mounting block, a side panel 202 is mounted on each of the front and rear sides of the mounting platform 201, and an arm chain wheel shaft 302 and a first arm flange shaft 3031 are mounted on the side panels 202 through bolts; the first arm flange shaft 3031 is connected with the upper arm 305 through a hinge; the arm chain wheel shaft 302 is connected with the lower arm 306 through a hinge; the second arm flange shaft 3032 is connected with the upper arm 305 through a hinge; a wrist flange 203 is arranged on the outer side of the side panel 202, a wrist output shaft 204 is arranged on the wrist flange 203, a wrist chain wheel 205 is arranged at the position, close to the rear side, of the wrist output shaft 204, and the wrist chain wheel 205 and an arm duplex inertia chain wheel 301 are driven by a wrist chain 206; the wrist output shaft 204 is keyed to the cam input shaft 110. The utility model discloses can accomplish quick installation between executor 100 and wrist device 200, load onto the key on the cam input shaft 110 of executor 100, insert the slotted hole of wrist output shaft 204, adjust the position of mounting hole on installation piece 116 and the wrist mounting platform 201, the bolt of packing into can accomplish quick installation, and the change and the maintenance of the end effector 100 of the robot of being convenient for have improved the commonality of robot.

The working principle is as follows:

the opening and closing cam 108 and the lifting cam 109 are connected with each other through the same key on the cam input shaft 110 and synchronously rotate, and form cam pair matching with the opening and closing follower 111 and the lifting follower 107 respectively so as to control the lifting of the slider mounting plate 113 and the connecting plate 106 respectively; the lifting of the scraper 101 is controlled by the lifting of the slider mounting plate 113 and the lifting of the scraper 101 is controlled by the lifting of the connecting plate 106.

The upper arm 305 and the lower arm 306 are parallel to each other, so that the upper arm 305, the lower arm 306, the side panel 202 and the mounting seat 401 form a parallelogram structure, thereby the wrist device 200 is always horizontal in the movement process, and the double-arm structure can increase the load bearing capacity of the tail end.

The output end of the speed reducer 426 is connected with the base 416, the input end of the speed reducer 426 is connected with the gear of the main motor 414, the shell is connected with the rotary table 415, the output end of the speed reducer 426 is fixed, and the shell drives the rotary table 415 to rotate relative to the base 416; a hollow tube 429 penetrates through the middle cavity of the speed reducer 426, and lines required by the robot can be connected to the interior of the robot through a wire plug 417 and the hollow tube 429; the hollow tube 429 is provided with a static bevel gear 428, the hollow tube 429 and the static bevel gear 428 are fixed with the base 416, and the turntable 415 drives the bevel gear 425 to do circular rotation motion when rotating, so that the rotation motion of a horizontal plane is converted into the rotation motion of a vertical plane.

The left duplex chain wheel 423 is provided with two chain wheels with different sizes, the small chain wheel has the same size with the synchronous chain wheel 421, and the synchronous chain 422 and the synchronous chain wheel 421 are used for transmission, so that the upper arm 305 and the lower arm 306 synchronously swing to adapt to a parallelogram structure; a large chain wheel in the left duplex chain wheel 423 is driven by the left chain 418 and the lower end chain wheel 424 to form a proper transmission ratio, the power of the lower end transmission shaft 420 is reduced, and the lower end chain wheel 424 and the moving bevel gear 425 are arranged on the lower end transmission shaft 420 through the same key and have the same rotating speed; two lumbar tensioners 410 are provided inside the left side of the mount 401 to tension the left chain 418.

The tail end motor 413 is sequentially transmitted to the wrist output shaft 204 through the motor chain wheel 412, the right side chain 409, the right side duplex chain wheel 408, the arm chain 307, the arm duplex idler chain wheel 301, the wrist chain 206 and the wrist chain wheel 205; wherein the right duplex sprocket 408 and the arm duplex idler sprocket 301 are both idler sprockets, and the joint with the shaft is provided with a bearing; an arm tensioner 310 is arranged below the cavity of the lower arm 306 for tensioning, and a waist tensioner 410 is arranged inside the right side of the mounting seat 401 for tensioning the right side chain 409.

Claims

1. The utility model provides a zinc ingot slag-off robot, includes lead screw slip table (500), is equipped with moving platform (501) on lead screw slip table (500), its characterized in that: the slag skimming manipulator is characterized in that a mechanical arm waist (400) is mounted on the moving platform (501), an arm device (300) is hinged to the mechanical arm waist (400), a wrist device (200) is arranged at the end of the arm device (300), and an actuator (100) for skimming slag is mounted on the wrist device (200).

2. The zinc ingot slagging-off robot of claim 1, wherein: the actuator (100) comprises a vertical mounting plate (115), two vertical sliding rails (114) which are parallel to each other in the vertical direction are arranged on the vertical mounting plate (115), and a sliding block mounting plate (113) and a connecting plate (106) are respectively arranged at the upper end and the lower end of each vertical sliding rail (114); the upper end of the connecting plate (106) is provided with a lifting driven part (107), the lower end of the connecting plate is provided with a horizontal plate (103), the horizontal plate (103) is provided with a horizontal sliding rail (104), two ends of the horizontal sliding rail (104) are provided with scrapers (101), and the scrapers (101) are provided with hinge seats (102); the lower end of the sliding block mounting plate (113) is provided with an opening and closing driven part (111), and the front end of the sliding block mounting plate (113) is provided with a connecting rod flange shaft (112); a connecting rod (105) is hinged between the connecting rod flange shaft (112) and the hinge seat (102); a cam input shaft (110) is arranged in the middle of the vertical mounting plate (115), and an opening and closing cam (108) and a lifting cam (109) are arranged on the cam input shaft (110); the opening and closing cam (108) and the opening and closing driven piece (111) form cam pair matching, and the lifting cam (109) and the lifting driven piece (107) form cam pair matching; and a mounting block (116) connected with the wrist device (200) is arranged at the back of the vertical mounting plate (115).

3. The zinc ingot slagging-off robot of claim 1, wherein: the waist part (400) of the mechanical arm comprises a base (416) arranged on the moving platform (501), a through hole is formed in the lower side of the back of the base (416), and an electric wire plug (417) is arranged in the through hole; a speed reducer (426) is arranged in a cavity in the middle of the base (416), a rotary table (415) is arranged above the speed reducer (426), a mounting seat (401) and a main motor (414) are arranged on the rotary table (415), and a motor shaft with a gear on the main motor (414) penetrates through the rotary table (415) to be meshed with an input gear of the speed reducer (426); a hollow tube (429) is arranged in a cavity in the middle of an input gear of the speed reducer (426), and a static bevel gear (428) is arranged on the hollow tube (429); a first swing flange (4021) with a first flange shaft (403), a second swing flange (4022) with a second flange shaft (406), a third swing flange (4023) with a third flange shaft (404) and a fourth swing flange (4024) with a fourth flange shaft (407) are respectively arranged on the left outer side surface and the right outer side surface of the mounting seat (401); the first flange shaft (403) and the second flange shaft (406) are connected with an upper arm (305) through bolts together; the third flange shaft (404) and the fourth flange shaft (407) are connected with a lower arm (306) together; the fourth flange shaft (407) is also provided with a right duplex chain wheel (408), and the right duplex chain wheel (408) is connected with an arm duplex idler chain wheel (301) through an arm chain (307); a synchronous chain wheel (421) is arranged on the first flange shaft (403), a left duplex chain wheel (423) is arranged on the third flange shaft (404), and a synchronous chain (422) is connected between the left duplex chain wheel (423) and the synchronous chain wheel (421); two sides of the wall surface of the lower end of the left side of the mounting seat (401) are respectively provided with a lower end flange cover (419), the middle of the lower end flange cover (419) is provided with a lower end transmission shaft (420), and a lower end chain wheel (424) and a movable bevel gear (425) are arranged on the lower end transmission shaft (420); the moving bevel gear (425) forms a bevel gear fit with the static bevel gear (428); the lower end chain wheel (424) and the left duplex chain wheel (423) are driven by a left chain (418); a motor mounting frame (411) is fixed on the inner side in front of the mounting seat (401), a tail end motor (413) is mounted on the motor mounting frame (411), and a motor chain wheel (412) is mounted on a motor shaft of the tail end motor (413); the motor chain wheel (412) and the right duplex chain wheel (408) are driven by a right chain (409).

4. The zinc ingot slagging-off robot of claim 3, wherein: and waist tensioners (410) are arranged inside the right side and the left side of the mounting seat (401), and the waist tensioners (410) are used for tensioning a right side chain (409) and a left side chain (418).

5. The zinc ingot slagging-off robot of claim 3, wherein: the arm device (300) comprises an upper arm (305) and a lower arm (306); an upper arm cover plate (304) is arranged at the upper end of the upper arm (305), first arm flanges (3091) are respectively arranged on the front outer side and the rear outer side of the left end of the upper arm (305), first arm flange shafts (3031) are arranged on the arm flanges, and the first arm flange shafts (3031) are connected with side panels (202) through bolts; the rear side bolt at the right end of the upper arm (305) is fixed on the waist part (400) of the mechanical arm, and the front side bolt is fixed on the first swing flange (4021); a lower arm bottom plate (308) is arranged at the lower end of the lower arm (306), second arm flanges (3092) are respectively arranged on the front outer side and the rear outer side of the left end of the lower arm (306), second arm flange shafts (3032) are arranged on the second arm flanges (3092), and the second arm flange shafts (3032) are connected with arm chain wheel shafts (302); the arm duplex inertia chain wheel (301) is arranged on the arm chain wheel shaft (302); the rear side bolt at the right end of the lower arm (306) is fixed on the fourth swing flange (4024), and the front side bolt is fixed on the third swing flange (4023).

6. The zinc ingot slagging-off robot of claim 5, wherein: an arm tensioner (310) is arranged below the cavity of the lower arm (306), and the arm tensioner (310) is used for tensioning an arm chain (307).

7. The zinc ingot slagging-off robot of claim 5, wherein: the wrist device (200) comprises a mounting platform (201) connected with a mounting block (116), side panels (202) are respectively mounted on the front side and the rear side of the mounting platform (201), and an arm chain wheel shaft (302) and a first arm flange shaft (3031) are mounted on the side panels (202) through bolts; the first arm flange shaft (3031) is connected with the upper arm (305) through a hinge; the arm chain wheel shaft (302) is connected with the lower arm (306) through a hinge; the second arm flange shaft (3032) is connected with the upper arm (305) through a hinge; a wrist flange (203) is arranged on the outer side of the side panel (202), a wrist output shaft (204) is arranged on the wrist flange (203), a wrist chain wheel (205) is arranged at the position, close to the rear side, of the wrist output shaft (204), and the wrist chain wheel (205) and an arm duplex inertia chain wheel (301) are driven through a wrist chain (206); the wrist output shaft (204) is connected with the cam input shaft (110) in a key mode.

8. The zinc ingot slagging-off robot of claim 3, wherein: a dust cover (405) is arranged at the back of the mounting seat (401), and a motor cover (427) is arranged at the lower side of the dust cover (405).

9. The zinc ingot slagging-off robot of claim 2, wherein: the gradient of the scraper (101) at one end of the horizontal sliding rail (104) is steeper, and the gradient of the scraper (101) at the other end is shallower.