CN216442569U

CN216442569U - Robot

Info

Publication number: CN216442569U
Application number: CN202122975489.2U
Authority: CN
Inventors: 王保红; 宁志国; 宋鹏军; 张红彬; 李福洋; 崔运涛; 蒋彬彬
Original assignee: Beijing Tongchuang Xintong Technology Co ltd
Current assignee: Beijing Tongchuang Xintong Technology Co ltd
Priority date: 2021-11-30
Filing date: 2021-11-30
Publication date: 2022-05-06
Anticipated expiration: 2031-11-30

Abstract

The embodiment of the utility model discloses a robot, which comprises: the connecting arm, the sleeve rotating shaft and the front extending arm are parallel to each other; the first longitudinal shaft is movably connected with the second longitudinal shaft through a lifting mechanism; the second longitudinal shaft is movably connected with the third longitudinal shaft through a connecting arm; the front arm is rotationally connected with the third longitudinal shaft through a sleeve rotating shaft; the lifting mechanism comprises a lifting oil cylinder, an upper connecting rod and a lower connecting rod which are parallel to each other; one end of the upper connecting rod is hinged with the upper part of the first longitudinal shaft, and the other end of the upper connecting rod is hinged with the upper part of the second longitudinal shaft; one end of the lower connecting rod is hinged with the lower part of the first longitudinal shaft, and the other end of the lower connecting rod is hinged with the lower part of the second longitudinal shaft; the lifting oil cylinder is used for driving the upper connecting rod and the lower connecting rod to rotate. The utility model has the beneficial effects that: the robot working part forms an integral structure, so that the whole robot can be quickly moved to a safe area, and the aim of quickly avoiding field equipment is fulfilled.

Description

Robot

Technical Field

The utility model relates to the technical field of steel continuous casting equipment, in particular to a robot.

Background

In the production process of the continuous casting process, molten steel flows into a tundish from a large ladle through a long water gap, then enters a crystallizer through a water outlet of the tundish, and is solidified into casting blanks with various sections after being cooled. When a ladle pours molten steel into a tundish, a long nozzle is generally adopted for pouring in order to prevent the molten steel from being oxidized and splashed. The robot is required to be used for operating the long nozzle in the whole pouring process, the existing robot can only carry out step-by-step linkage in the long nozzle operation process, the robot cannot rapidly avoid various field devices such as a ladle, a rotary platform and a tundish, and great operation risks exist.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problem that the existing robot can only carry out step-by-step linkage and cannot rapidly avoid field equipment.

The present invention provides a robot, comprising:

the device comprises a first longitudinal shaft, a second longitudinal shaft, a third longitudinal shaft, a connecting arm, a sleeve rotating shaft and a front arm, wherein the first longitudinal shaft, the second longitudinal shaft and the third longitudinal shaft are arranged in the vertical direction;

the first longitudinal shaft is movably connected with the second longitudinal shaft through a lifting mechanism, so that the second longitudinal shaft moves up and down relative to the first longitudinal shaft;

the second longitudinal shaft is movably connected with the third longitudinal shaft through the connecting arm, so that the third longitudinal shaft can move in a horizontal direction relative to the second longitudinal shaft;

the front arm is rotatably connected with the third longitudinal shaft through the sleeve rotating shaft, so that the front arm can rotate around the sleeve rotating shaft;

the lifting mechanism comprises a lifting oil cylinder, an upper connecting rod and a lower connecting rod which are parallel to each other;

one end of the upper connecting rod is hinged with the upper part of the first longitudinal shaft, and the other end of the upper connecting rod is hinged with the upper part of the second longitudinal shaft;

one end of the lower connecting rod is hinged with the lower part of the first longitudinal shaft, and the other end of the lower connecting rod is hinged with the lower part of the second longitudinal shaft;

the lifting oil cylinder is used for driving the upper connecting rod and the lower connecting rod to rotate.

As a further improvement of the utility model, the cylinder body of the lifting oil cylinder is hinged with the first longitudinal shaft, and the oil cylinder rod of the lifting oil cylinder is hinged with the lower connecting rod.

As a further improvement of the present invention, the lifting mechanism further comprises a first auxiliary link and a second auxiliary link;

the first auxiliary link is parallel to the upper link or the lower link, and the second auxiliary link is parallel to the first longitudinal axis;

one end of the first auxiliary connecting rod is hinged with the first longitudinal shaft, and the other end of the first auxiliary connecting rod is hinged with the second auxiliary connecting rod;

one end of the second auxiliary connecting rod is hinged with the upper connecting rod, and the other end of the second auxiliary connecting rod is hinged with the lower connecting rod.

As a further development of the utility model, the first longitudinal axis is fixed by means of a base.

As a further improvement of the utility model, the end part of the front arm is provided with a tail end bracket, the inner side of the tail end bracket is provided with a long nozzle supporting ring, and the long nozzle supporting ring is hinged with two side walls of the tail end bracket.

As a further improvement of the utility model, a sealing support ring is arranged above the long nozzle support ring, and the long nozzle sequentially penetrates through the sealing support ring and the long nozzle support ring and is clamped with the long nozzle support ring.

As a further improvement of the utility model, the front arm is rotationally connected with the sleeve rotating shaft through a bracket and a sleeve;

the bracket is fixed at the bottom end of the third longitudinal shaft;

one end of the front extending arm is inserted into the sleeve; the sleeve rotating shaft penetrates through the sleeve to rotatably connect the sleeve rotating shaft with the bracket;

and the top-wrapping oil cylinder drives the front extending arm to rotate around the sleeve rotating shaft.

As a further improvement of the present invention, a motor, a speed reducer and a clutch are respectively disposed inside the first longitudinal shaft, the second longitudinal shaft and the third longitudinal shaft, the motor and the speed reducer are fixedly connected, the speed reducer is connected to the clutch, and when the clutch is engaged, the first longitudinal shaft, the second longitudinal shaft and the third longitudinal shaft are driven by their respective motors to rotate autonomously.

As a further improvement of the present invention, the first longitudinal shaft, the second longitudinal shaft, the third longitudinal shaft, the lifting mechanism and the sleeve rotating shaft are provided with encoders for tracking the positions of the first longitudinal shaft, the second longitudinal shaft, the third longitudinal shaft, the lifting mechanism and the sleeve rotating shaft.

As a further improvement of the utility model, a metal pipe is arranged on the front arm, the input end of the metal pipe is connected with an inert gas source, and the output end of the metal pipe is communicated with the sealing support ring.

The utility model has the beneficial effects that: through set up the elevating system of specific structure between first axis of ordinates and second axis of ordinates, when operating long mouth of a river, elevating system can be with the whole quick travel of robot to safe region, reaches the purpose of evading field device fast, improves the operation security.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the utility model, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

Fig. 1 is a schematic structural diagram of a lifting mechanism in a robot according to an embodiment of the present invention;

fig. 2 is a schematic view of an installation structure of a lifting mechanism and a first longitudinal axis and a second longitudinal axis in a robot according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a robot according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a robot end according to an embodiment of the present invention;

fig. 5 is a schematic view of an installation structure of a robot and a long nozzle according to an embodiment of the present invention;

FIG. 6 is a diagram illustrating a robot bag-jacking state according to an embodiment of the present invention;

fig. 7 is a schematic view of an installation structure of a robot according to an embodiment of the present invention.

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

1. a base; 2. a first longitudinal axis; 3. an encoder; 4. a lift cylinder; 5. a lifting mechanism; 6. a second longitudinal axis; 7. a connecting arm; 8. a third longitudinal axis; 9. a reduction motor; 10. a sleeve shaft; 11. a support; 12. a sleeve; 13. a top-wrapping oil cylinder; 14. a forward extending arm; 15. a metal tube; 16. a terminal bracket; 17. a balancing weight; 18. a long nozzle; 19. a motor; 20. a speed reducer; 21. a clutch; 22. a cylinder block hinge shaft; 23. a cylinder rod hinge shaft; 24. a first auxiliary link; 25. an upper connecting rod; 26. a lower connecting rod; 27. a self-balancing rotating shaft; 28. a self-balancing adjusting block; 29. a rotating shaft fixing clip; 30. a long nozzle ring; 31. sealing the supporting ring; 32. a hinge axis; 33. mounting a platform; 34. a ladle; 35. a tundish; 36. a second auxiliary link.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, in the description of the present invention, the terms used are for illustrative purposes only and are not intended to limit the scope of the present invention. The terms "comprises" and/or "comprising" are used to specify the presence of stated elements, steps, operations, and/or components, but do not preclude the presence or addition of one or more other elements, steps, operations, and/or components. The terms "first," "second," and the like may be used to describe various elements, not necessarily order, and not necessarily limit the elements. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified. These terms are only used to distinguish one element from another. These and/or other aspects will become apparent to those of ordinary skill in the art in view of the following drawings, and the description of the embodiments of the present invention will be more readily understood by those of ordinary skill in the art. The drawings are only for purposes of illustrating the described embodiments of the utility model. One skilled in the art will readily recognize from the following description that alternative embodiments of the structures and methods illustrated in the present application may be employed without departing from the principles described in the present application.

In the related art, continuous casting is called continuous casting for short. In the process of producing various steel products in a steel plant, two methods are used for solidifying and forming molten steel: conventional die casting and continuous casting processes. The continuous casting technology appeared in European and American countries in the fifties of the twentieth century is an advanced technology for directly casting and forming molten steel. Compared with the traditional method, the continuous casting technology has the remarkable advantages of greatly improving the metal yield and the casting blank quality, saving energy and the like. And (3) transporting the ladle filled with the refined molten steel to a rotary table, pouring the molten steel into a tundish after the rotary table rotates to a pouring position, and distributing the molten steel into each crystallizer by the tundish through a long nozzle. The crystallizer is one of the core equipments of the continuous casting machine, which shapes the casting and rapidly solidifies the crystals. The withdrawal and straightening machine and the crystallization vibration device act together to withdraw the casting in the crystallizer, and the casting is cooled, electromagnetically stirred and cut into slabs with certain length.

In the production process of the continuous casting process, a sliding plate mechanism for adjusting the flow of molten steel is arranged at the bottom of a ladle, the top end of a long nozzle is communicated with a lower nozzle on a sliding plate, and the whole long nozzle is supported by an operating arm. Generally, the connection mode of the long nozzle and the operation arm is that the long nozzle is directly sleeved in a support ring at the front end of the operation arm, the support ring is not fixedly connected with the outer wall of the long nozzle, and the support ring is contacted with the bottom surface of an outer hoop at the top end of the long nozzle by using the self weight of the long nozzle. At present, the whole long nozzle dismounting process needs a person to operate a heavy robot, and the manipulator drives the long nozzle to complete the top ladle in a mode of manually inching the hydraulic oil cylinder.

As shown in fig. 3, a robot according to an embodiment of the present invention includes:

a first longitudinal axis 2, a second longitudinal axis 6 and a third longitudinal axis 8 arranged in a vertical direction, as well as a connecting arm 7, a sleeve spindle 10 and a reach arm 14. It will be appreciated that the first 2, second 6 and third 8 longitudinal axes comprise rotational axes and the housing frame, and that the first 2, second 6 and third 8 longitudinal axes may all rotate about their respective rotational axes.

As shown in fig. 2, the first longitudinal shaft 2 is movably connected to the second longitudinal shaft 6 by a lifting mechanism 5, so that the second longitudinal shaft 6 moves up and down relative to the first longitudinal shaft 2. The bottom end of the first longitudinal shaft 2 is connected to the base 1 and the whole robot is fixed to the ground or a mounting platform 33 by the base 1 (as shown in fig. 7). The shell frame of the first longitudinal shaft 2 is movably connected with the shell frame of the second longitudinal shaft 6, and the whole robot can move up and down through the up and down movement of the second longitudinal shaft 6.

The second longitudinal axis 6 is movably connected to the third longitudinal axis 8 by the connecting arm 7, such that the third longitudinal axis 8 is movable in a horizontal direction with respect to the second longitudinal axis 6. One end of the connecting arm 7 is pivotally connected to the bottom end of the second longitudinal shaft 6 and the other end of the connecting arm 7 is fixedly connected to the housing frame of the third longitudinal shaft 8. The connecting arm 7 can be driven to move in the horizontal direction through the rotating shaft of the second longitudinal shaft 6, and the third longitudinal shaft 8 can also move in the horizontal direction under the driving of the connecting arm 7.

The forward arm 14 is rotatably connected to the third longitudinal shaft 8 through the sleeve rotating shaft 10, so that the forward arm 14 can rotate around the sleeve rotating shaft 10.

As shown in fig. 1, the lifting mechanism 5 includes a lifting cylinder 4 and an upper link 25 and a lower link 26 which are parallel to each other;

one end of the upper connecting rod 25 is hinged with the upper part of the first longitudinal shaft 2, and the other end of the upper connecting rod 25 is hinged with the upper part of the second longitudinal shaft 6;

one end of the lower connecting rod 26 is hinged with the lower part of the first longitudinal shaft 2, and the other end of the lower connecting rod 26 is hinged with the lower part of the second longitudinal shaft 6;

the lifting cylinder 4 is used for driving the upper connecting rod 25 and the lower connecting rod 26 to rotate.

In an alternative embodiment, the body of lift cylinder 4 is hinged to first longitudinal axis 2, and the rod of lift cylinder 4 is hinged to lower connecting rod 26.

In an alternative embodiment, the lifting mechanism 5 further comprises a first auxiliary link 24 and a second auxiliary link 36;

the first auxiliary link 24 is parallel to the upper link 25 or the lower link 26, and the second auxiliary link 36 is parallel to the first longitudinal axis 2;

one end of the first auxiliary link 24 is hinged with the first longitudinal shaft 2, and the other end of the first auxiliary link 24 is hinged with the second auxiliary link 36;

one end of the second auxiliary link 36 is hinged to the upper link 25, and the other end of the second auxiliary link 36 is hinged to the lower link 26.

Preferably, the lifting mechanism 5 is a parallelogram linkage, i.e. the first longitudinal axis 2, the second longitudinal axis 6, the upper link 25 and the lower link 26 together form a parallelogram. The left end of the upper connecting rod 25 can rotate around a hinge shaft at the upper end of the shell frame of the first longitudinal shaft 2, and the right end of the upper connecting rod 25 can rotate around a hinge shaft at the upper end of the shell frame of the second longitudinal shaft 6; the left end of the lower link 26 is rotatable about a hinge axis at the lower end of the housing frame at the first longitudinal axis 2 and the right end of the lower link 26 is rotatable about a hinge axis at the lower end of the housing frame at the second longitudinal axis 6. The cylinder body of the lift cylinder 4 is hinged with the housing frame of the first longitudinal shaft 2 by a cylinder body hinge axis 22, so that the lift cylinder 4 can rotate around the cylinder body hinge axis 22; the front end of the oil cylinder rod of the lifting oil cylinder 4 is hinged with the lower connecting rod 26 through the oil cylinder rod hinge shaft 23, the lower connecting rod 26 is driven to move through the expansion and contraction of the oil cylinder rod, and the upper connecting rod 25 rotates along with the rotation of the lower connecting rod 26. A second auxiliary link 36 is arranged between the upper link 25 and the lower link 26, the upper end of the second auxiliary link 36 is movably connected with the upper link 25, and the lower end of the second auxiliary link 36 is movably connected with the lower link 26. More preferably, the second auxiliary link 36 is connected to the housing frame of the first longitudinal shaft 2 by the first auxiliary link 24. One end of the first auxiliary link 24 is hinged to the housing frame of the first longitudinal shaft 2 and the other end of the first auxiliary link 24 is hinged to the second auxiliary link 36. The first auxiliary link 24 is parallel to the upper and

lower links

25, 26 and the second auxiliary link 36 is parallel to the first longitudinal axis 2. When the elevating mechanism 5 moves, the rotation directions and rotation angles of the auxiliary link 24, the upper link 25, and the lower link 26 are always kept the same.

When the oil cylinder rod of the lifting oil cylinder 4 contracts, the upper connecting rod 25 and the lower connecting rod 26 are driven to rotate anticlockwise, so that the second longitudinal shaft 6 is lifted, when the oil cylinder rod of the lifting oil cylinder 4 extends, the upper connecting rod 25 and the lower connecting rod 26 are driven to rotate clockwise, so that the second longitudinal shaft 6 is lowered, and in the lifting motion process, the parallelogram mechanism of the lifting mechanism 5 can enable the second longitudinal shaft 6 to be always parallel to the first longitudinal shaft 2, so that the motion and posture control of each component mechanism of the robot is facilitated. The lifting of the second longitudinal shaft 6 is controlled by the lifting oil cylinder 4, so that the heights of the bracket 11 and the front boom 14 are controlled, and the front boom 14 can have the best posture when working between the steel ladle 34 and the tundish 35 by matching with the action of the ladle jacking oil cylinder 13, so that the continuous casting platform is suitable for various layouts. When the lifting oil cylinder 4 drives the lifting mechanism 5 to move upwards, the whole working part of the robot can move upwards, the robot can quickly avoid various field devices such as a steel ladle 34, a rotary platform, a tundish 35 and the like, and the safety is higher.

In an alternative embodiment, as shown in fig. 5, the end of the forward arm 14 is provided with a terminal bracket 16, and the inner side of the terminal bracket 16 is provided with a long nozzle ring 30, and the long nozzle ring 30 is hinged with two side walls of the terminal bracket 16. And a sealing support ring 31 is arranged above the long nozzle support ring 30, and the long nozzle 18 sequentially penetrates through the sealing support ring 31 and the long nozzle support ring 30 and is clamped with the long nozzle support ring 30.

Preferably, as shown in fig. 4, two side walls of the end bracket 16 are provided with self-balancing modules, each of the self-balancing modules includes a self-balancing rotating shaft 27, a self-balancing adjusting block 28, and a balancing weight 17, the self-balancing rotating shaft 27 is fixedly connected to the inner side of the left/right side wall of the end bracket 16 through a rotating shaft fixing clip 29, and the self-balancing adjusting block 28 is rotatably connected to the self-balancing rotating shaft 27, that is, the self-balancing adjusting block 28 can rotate around the self-balancing rotating shaft 27 by a certain angle. And one end of the self-balancing adjusting block 28 is located below the long nozzle supporting ring 30, the other end of the self-balancing adjusting block 28 extends to the outside of the side wall of the terminal support 16, and the balancing weight 17 and the other end of the self-balancing adjusting block 28 are fixedly connected in a detachable connection mode such as a bolt.

The long nozzle ring 30 is located between and hinged to the two side walls of the end bracket 16 by two hinge axes 32. In the installation process of the long nozzle 18, the long nozzle ring 30 is irregularly shaken due to the operation of the robot, so that the long nozzle 18 is difficult to be accurately aligned. Under the action of the balancing weight 17, the self-balancing adjusting block 28 located below the long nozzle ring 30 rotates upwards around the self-balancing rotating shaft 27 until the upper surface of the self-balancing adjusting block 28 located below the long nozzle ring 30 is completely contacted with the lower surface of the long nozzle ring 30, so that irregular shaking of the long nozzle ring 30 around the hinge shaft 32 is limited. Therefore, the position or the angle of the long nozzle support ring 30 is adjusted in a self-adaptive manner, so that the long nozzle support ring 30 has a fixed posture relative to the robot, and the long nozzle 18 can be conveniently and accurately mounted on the long nozzle support ring 30.

In an alternative embodiment, as shown in fig. 2, the front arm 14 is rotatably connected to the sleeve spindle 10 through a bracket 11 and a sleeve 12;

the bracket 11 is fixed at the bottom end of the third longitudinal shaft 8;

one end of the front arm 14 is inserted into the sleeve 12; the sleeve rotating shaft 10 penetrates through the sleeve 12 to rotatably connect the sleeve rotating shaft 10 with the bracket 11;

the top-wrapping oil cylinder 13 drives the front extending arm 14 to rotate around the sleeve rotating shaft 10.

One end of the boom 14 is sleeved with the sleeve 12, so that the boom 14 and the sleeve 12 can rotate coaxially. The two sleeve rotating shafts 10 are provided, wherein one sleeve rotating shaft 10 penetrates through the sleeve wall on the left side to rotatably connect the front arm 14 with the side wall of the support 11, and the other sleeve rotating shaft 10 penetrates through the sleeve wall on the right side to rotatably connect the front arm 14 with the side wall of the support 11, so that the front arm 14 can rotate around the sleeve rotating shaft 10. The bottom end of the rotating shaft of the third longitudinal shaft 8 is rotatably connected with the upper part of the bracket 11, so that the front arm 14 can move along the horizontal direction. The cylinder body of the top-packing oil cylinder 13 is hinged with two side walls of the bracket 11, and the oil cylinder rod of the top-packing oil cylinder 13 is hinged with the sleeve 12. When the oil cylinder rod of the top ladle oil cylinder 13 extends, the sleeve 12 and the front extension arm 14 are driven to rotate downwards; when the cylinder rod of the top-packing cylinder 13 is contracted, the driving sleeve 12 and the forward arm 14 are rotated upward. The rear end of the sleeve 12 is provided with a speed reducing motor 9, and the speed reducing motor 9 is used for driving the front arm 14 to rotate around the central shaft of the sleeve 12.

Optionally, the first longitudinal shaft 2, the second longitudinal shaft 6 or the third longitudinal shaft 8 may be removed according to the situation of field use. When the first longitudinal shaft 2 is removed, the bottom end of the second longitudinal shaft 6 is fixed on the ground or an installation platform 33 through the base 1, and the lifting mechanism 5 is arranged between the second longitudinal shaft 6 and the third longitudinal shaft 8, so that the upper connecting rod 25 is hinged with the upper end of the second longitudinal shaft 6 and the upper end of the third longitudinal shaft 8, the lower connecting rod 26 is hinged with the lower end of the second longitudinal shaft 6 and the lower end of the third longitudinal shaft 8, and the composition and connection of other parts are unchanged; when the second longitudinal shaft 6 is removed, the connecting arm 7 needs to be removed at the same time, the lifting mechanism 5 is arranged between the first longitudinal shaft 2 and the third longitudinal shaft 8, the upper connecting rod 25 is hinged with the upper end of the first longitudinal shaft 2 and the upper end of the third longitudinal shaft 8, the lower connecting rod 26 is hinged with the lower end of the first longitudinal shaft 2 and the lower end of the third longitudinal shaft 8, and the components and the connection of other components are unchanged; when the third longitudinal shaft 8 is removed, the bracket 11 is directly and fixedly connected with the lower end of the second longitudinal shaft 6, and the composition and connection of other parts are unchanged. No matter the first longitudinal shaft 2, the second longitudinal shaft 6 or the third longitudinal shaft 8 is removed, the removed robot can also realize the functions of moving, installing the long nozzle 18, jacking and the like.

In an alternative embodiment, a motor 19, a speed reducer 20 and a clutch 21 are arranged inside each of the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8, the motor 19 and the speed reducer 20 are fixedly connected, the speed reducer 20 is connected with the clutch 21, when the clutch 21 is engaged, the speed reducer 20 inside each of the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 is rigidly connected with the housing frame of the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8, respectively, and the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 are driven by their respective motors 19 to rotate autonomously. Depending on the specific position of the ladle 34 and its collector nozzle, the first 2, second 6 and third 8 longitudinal axes may be driven by the motor 19 to move so that the collector nozzle 18 moves directly below the collector nozzle. When the clutch 21 is disconnected, the speed reducer 12 inside the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 is disconnected from the housing frame of the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8, respectively, and the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 can rotate freely around the rotating shafts thereof. When the robot moves autonomously, the clutches 21 of the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 are attracted, the motor 19, the lifting oil cylinder 4 and the bag jacking oil cylinder 13 drive the robot to move, when the robot starts bag jacking operation, the clutches 21 of the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 are disconnected, and at the moment, the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 can rotate freely to adapt to position changes of the long nozzle 18 caused by height changes of a ladle 34, pulling of a sliding plate mechanism and the like, so that damage to the motor 19 and the speed reducer 20 in the working process is avoided.

In an alternative embodiment, the first longitudinal shaft 2, the second longitudinal shaft 6, the third longitudinal shaft 8, the lifting mechanism 5 and the sleeve spindle 10 are provided with an encoder 3, and the encoder 3 is used for tracking the positions of the first longitudinal shaft 2, the second longitudinal shaft 6, the third longitudinal shaft 8, the lifting mechanism 5 and the sleeve spindle 10. The encoder 3 can acquire the rotation angles of the first longitudinal shaft 2, the second longitudinal shaft 6, the third longitudinal shaft 8, the lifting mechanism 5 and the sleeve rotating shaft 10 in real time, and the postures of the working parts of the robot, such as the first longitudinal shaft 2, the second longitudinal shaft 6, the third longitudinal shaft 8, the lifting mechanism 5 and the sleeve rotating shaft 10, can be monitored in real time through the change of the display angles of the encoder 3.

In an alternative embodiment, a metal tube 15 is disposed on the front arm 14, an input end of the metal tube 15 is connected to an inert gas source, and an output end of the metal tube 15 is communicated with the seal ring 30. The metal tube 15 is used for conveying gas media such as argon and the like, and ensures that the casting molten steel cannot be oxidized. Preferably, the output end of the metal pipe 15 may be connected to the seal holder ring 31 through a hose to accommodate the movement of the seal holder ring 31.

The operation method of the robot in this embodiment is as follows: firstly, determining the weight of a balancing weight 17 according to the total weight of a long nozzle supporting ring 30 and a sealing supporting ring 31, and fixing the balancing weight on a self-balancing adjusting block 28; the clutches 21 of the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 are all in a suction state, and the robot is controlled to reach a working position for installing a long nozzle through the motor 19, the lifting oil cylinder 4 and the ladle jacking oil cylinder 13; using other robots or special equipment to load the long nozzle 18 into the long nozzle supporting ring 30; then, the robot is controlled by the motor 19, the lifting cylinder 4 and the ladle jacking cylinder 13 to move the long nozzle to a position right below a lower nozzle of the ladle 34, then the clutches 21 of the first longitudinal shaft 2, the second longitudinal shaft 6 and the third longitudinal shaft 8 are disconnected, the lifting cylinder 4 is kept still at the moment, the forward arm 14 rotates upwards along with the sleeve 12 only by controlling the ladle jacking cylinder 13 until the long nozzle 18 is aligned and pressed with the lower nozzle of the ladle 34, and the long nozzle 18 is subjected to ladle jacking operation (as shown in fig. 6).

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the utility model may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Furthermore, those of ordinary skill in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the utility model and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

It will be understood by those skilled in the art that while the present invention has been described with reference to exemplary embodiments, various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the utility model. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the utility model without departing from the essential scope thereof. Therefore, it is intended that the utility model not be limited to the particular embodiment disclosed, but that the utility model will include all embodiments falling within the scope of the appended claims.

Claims

1. A robot, characterized in that the robot comprises:

2. The robot of claim 1 wherein the body of said lift cylinder is articulated to said first longitudinal axis and the rod of said lift cylinder is articulated to said lower link.

3. The robot of claim 1, wherein said lift mechanism further comprises a first auxiliary link and a second auxiliary link;

4. A robot as set forth in claim 1 wherein said first longitudinal axis is fixed by a base.

5. The robot as claimed in claim 1, wherein the end of the forward arm is provided with a terminal bracket, and the inner side of the terminal bracket is provided with a long nozzle support ring hinged with two side walls of the terminal bracket.

6. The robot as claimed in claim 5, wherein a sealing ring is arranged above the long nozzle ring, and the long nozzle penetrates through the sealing ring and the long nozzle ring in sequence and is clamped with the long nozzle ring.

7. The robot as set forth in claim 1, wherein said reach arm is rotatably connected to said sleeve shaft by a bracket and a sleeve;

the bracket is fixed at the bottom end of the third longitudinal shaft;

8. The robot of claim 1, wherein a motor, a speed reducer and a clutch are arranged inside each of the first longitudinal shaft, the second longitudinal shaft and the third longitudinal shaft, the motor and the speed reducer are fixedly connected, the speed reducer is connected with the clutch, and when the clutch is engaged, the first longitudinal shaft, the second longitudinal shaft and the third longitudinal shaft rotate autonomously under the driving of the respective motors.

9. The robot of claim 1, wherein said first longitudinal axis, said second longitudinal axis, said third longitudinal axis, said lift mechanism and said sleeve shaft are each provided with an encoder for tracking the position of said first longitudinal axis, said second longitudinal axis, said third longitudinal axis, said lift mechanism and said sleeve shaft.

10. The robot as claimed in claim 6, wherein a metal tube is provided on the forward arm, an input end of the metal tube is connected to an inert gas source, and an output end of the metal tube is communicated with the sealing ring.