CN216464715U - Multifunctional telescopic arm robot for rotary kiln bulk treatment - Google Patents

Abstract

The utility model discloses a multifunctional telescopic arm robot for rotary kiln bulk treatment, which comprises a telescopic arm and a wheel type chassis for driving the telescopic arm to integrally move and rotate, wherein the telescopic arm is provided with a detachable rake assembly, the rake assembly comprises a rotatable rake, and the direction of the rake assembly relative to the telescopic arm is taken as the forward direction; a lifting mechanism is vertically arranged between the telescopic arm and the wheel type chassis; the telescopic boom comprises an outer boom and an inner boom, the inner boom is connected in the outer boom in a sliding manner, the movable part of the lifting mechanism is hinged to the middle part of the outer side of the outer boom, a first luffing oil cylinder is hinged between the fixed part of the lifting mechanism and the rear end of the outer side of the outer boom, and a telescopic oil cylinder for controlling the inner boom to stretch is further arranged between the outer boom and the inner boom; the outer side of the outer arm is connected with a crushing component used for crushing large materials in a sliding mode. The rotary kiln slag skimming device can solve the problem that large materials cannot be processed at high temperature in the existing rotary kiln slag skimming operation.

Description

Multifunctional telescopic arm robot for rotary kiln bulk treatment

Technical Field

The utility model relates to the technical field of pellet rotary kiln slag treatment, in particular to a multifunctional telescopic arm robot for rotary kiln bulk treatment.

Background

In the field of pellet rotary kilns in iron and steel factories, pellets and iron powder are roasted in a rotary kiln at the temperature of 1200 ℃, the melted iron powder and the pellets are sintered into blocks with irregular sizes in the high-temperature roasting and rotating processes, and the blocks are conveyed to a kiln head along with the rotation of the rotary kiln and fall on water cooling beams which are distributed at equal intervals on the kiln head. Small lump materials and pellets fall to a flow passage area of the grate cooler at equal intervals from the water cooling beams, and large lump materials fall to a kiln working area of a kiln head and need to be processed by opening a side furnace door. Generally, the maximum weight of each block is about 800kg, the furnace door needs to be opened once every 2-3 hours for treatment, larger blocks need to be crushed, manual slag removing operation is relied on, the labor intensity is high, the efficiency is low, high-temperature radiation and potential safety hazards exist, and tools are not resistant to high temperature and are easy to damage during manual slag removing.

At present, a slagging-off robot working at the temperature of below 700 ℃ is available at home and abroad, and mainly solves the problems of treating floating oxide skin on the surface layer of a boiler solution and cleaning low-temperature slag and refractory coatings at the later stage in the process of smelting steel, aluminum, lead and zinc. However, because the mechanical arm load of the traditional industrial robot is generally dozens to one hundred kilograms, the traditional industrial robot has the advantages of high speed and accurate positioning, but the bearing is not large, the transmission mode is driven by a motor accelerator and a motor decelerator, and the high-temperature and heavy-load operation working conditions are difficult to meet. In addition, the mechanical arm of the engineering machinery generally adopts a structure of a folding arm, a hydraulic oil cylinder and a wrist, although the mechanical arm has large load capacity and flexible action, the precision is not high, and the mechanical arm does not have the function of resisting high-temperature operation working conditions through practice verification.

Therefore, no slagging-off robot which can be used for the massive treatment operation of the rotary kiln at the high temperature of 1200 ℃ exists at present.

Disclosure of Invention

The utility model aims to provide a multifunctional telescopic arm robot for rotary kiln bulk treatment, which is used for solving the problem that bulk materials cannot be treated at high temperature in the existing rotary kiln slag skimming operation.

In order to solve the problems, the utility model adopts the following technical scheme:

a multifunctional telescopic arm robot for rotary kiln bulk treatment comprises a telescopic arm and a wheel type chassis for driving the telescopic arm to integrally move and rotate, wherein a detachable rake component is mounted on the telescopic arm, and the rake component is located in the front direction relative to the telescopic arm;

a lifting mechanism is vertically arranged between the telescopic arm and the wheel type chassis;

the telescopic boom comprises an outer boom and an inner boom, the inner boom is connected in the outer boom in a sliding manner, a first variable amplitude oil cylinder is hinged between the fixed part of the lifting mechanism and the rear end of the outer side of the outer boom, the movable part of the lifting mechanism is hinged in the middle of the outer side of the outer boom, a telescopic oil cylinder for controlling the inner boom to stretch is further arranged between the outer boom and the inner boom, the end part of a piston rod of the telescopic oil cylinder is hinged with the rear end of the inner side of the outer boom, and the cylinder body of the telescopic oil cylinder is hinged with the rear end of the inner boom; the front end of the inner arm is detachably connected with the rake assembly, and the rake assembly comprises a rotatable rake;

the outer side of the outer arm is connected with a crushing component used for crushing large materials in a sliding manner;

the wheel type chassis comprises a frame body and wheels, wherein a slewing bearing and a slewing hydraulic motor are installed on the frame body, the slewing bearing is fixedly connected with a fixing part of the lifting mechanism, two-way hydraulic oil cylinders are further installed on the frame body, each two-way hydraulic oil cylinder corresponds to two wheels, two piston rods of each two-way hydraulic oil cylinder are hinged with supports of the wheels through connecting rods, and the hydraulic motor and the speed reducer are installed at the positions of the wheels.

Optionally, the rake subassembly still includes minor axis bearing and transition axle, and the transition axle rotates through high temperature bearing to be connected in minor axis bearing, and fixed connection can be dismantled with the preceding terminal surface of inner arm to the rear end face of minor axis bearing, installs the transmission shaft in the inner arm, and swing hydraulic cylinder is installed to the rear end of transmission shaft, and fixed connection can be dismantled with the rear end of transition axle to the front end of transmission shaft, and fixed connection can be dismantled with the rake to the front end of transition axle.

Optionally, a first high-temperature-resistant partition plate is mounted at the front end of the short shaft bearing, a threaded flange is connected to the outer periphery of the front end of the transition shaft after extending out of the first high-temperature-resistant partition plate, the rear end of the rake is in a flange disc shape, and the rear end of the rake is connected with the threaded flange through a quick-release bolt;

the front end of the threaded flange and the front end of the transition shaft are locked through a high-temperature-resistant bolt and a second high-temperature-resistant partition plate.

Optionally, the lifting mechanism comprises a lifting oil cylinder and a lifting frame, the lifting frame comprises an outer sleeve and an inner sleeve which is slidably connected in the outer sleeve, a cylinder body of the lifting oil cylinder is fixedly connected with the outer sleeve, and a piston rod of the lifting oil cylinder is fixedly connected with the inner sleeve; the top end of the inner sleeve is hinged to the middle part of the outer side of the outer arm, and the first amplitude variation oil cylinder is hinged between the outer sleeve and the rear end of the outer side of the outer arm.

Optionally, the crushing assembly comprises a crushing hammer, a drill rod is mounted on the crushing hammer, a sliding rail, a pushing cylinder and a crushing bracket are arranged on the outer side of the outer arm, the sliding rail is fixed on the surface of the outer side of the outer arm, the sliding rail is parallel to the axial direction of the outer arm, the crushing bracket is in sliding connection with the sliding rail, the pushing cylinder is hinged between the rear end of the outer side of the outer arm and the crushing bracket, a second variable-amplitude cylinder is hinged between the crushing bracket and the crushing hammer, and when a piston rod of the second variable-amplitude cylinder does not extend out, the drill rod is parallel to the axial direction of the outer arm.

Optionally, an upper drag chain frame is fixedly mounted at the upper part of the outer arm, an upper drag chain is mounted in the upper drag chain frame, and one end of the upper drag chain extends out of the upper drag chain frame and is fixedly connected with the upper end of the crushing bracket;

the lower part of the outer arm is fixedly provided with a lower drag chain frame, a lower drag chain is arranged in the lower drag chain frame, and one end of the lower drag chain extends out of the lower drag chain frame and is fixedly connected with the rear end of the inner arm.

Optionally, the cross sections of the outer arm and the inner arm are both of a inequilateral hexagon structure, the inequilateral hexagon structure comprises an upper plane, a lower plane, two side faces and two lower inclined planes, the upper plane and the lower plane are parallel and opposite, the two side faces are parallel and opposite, the lower inclined plane is connected between the side faces and the lower plane, an upper sliding block is arranged between the upper plane of the outer arm and the upper plane of the inner arm, a side sliding block is arranged between the side face of the outer arm and the side face of the inner arm, and a lower sliding block is arranged between the lower inclined plane of the outer arm and the lower inclined plane of the inner arm.

Optionally, an oil tank, a hydraulic power system and a hydraulic control system are mounted on the frame body, the hydraulic control system comprises a first hydraulic valve group and a second hydraulic valve group, the interface of the first hydraulic valve group is respectively connected with the oil port of the rotary hydraulic motor, the oil port of the hydraulic motor and the oil port of the bidirectional hydraulic cylinder, and the interface of the second hydraulic valve group is respectively connected with the oil ports of the lifting oil cylinder, the first luffing oil cylinder, the telescopic oil cylinder, the swing hydraulic cylinder, the propulsion oil cylinder and the second luffing oil cylinder;

the frame body is also provided with a cooler and an electrical control system, an oil port of the cooler is connected with an interface of the hydraulic control system, and a control interface of the electrical control system is respectively connected with a control interface of the hydraulic control system, a control interface of the cooler and a control interface of the oil tank.

By adopting the technical scheme, the utility model has the following advantages:

the telescopic arm can drive the rake component to move back and forth and change the pitch angle, the crushing component can stretch and retract along the telescopic arm and change the pitch angle on the basis of the position of the telescopic arm, so that large materials are crushed, the rake component can rake out large materials before crushing and small materials after crushing, meanwhile, the whole telescopic arm can change the height position through the lifting mechanism, the action control is fine, in addition, the rake component connected to the telescopic arm in a quick-release mode can be quickly separated from the telescopic arm, emergency situations can be conveniently dealt with, the safety is improved, all parts in the rake component are high-temperature resistant parts, and the whole high-temperature resistance performance of the rake component is convenient to improve.

According to the utility model, the electric control system is arranged on the wheel type chassis, the remote controller and the remote monitoring device are assisted, each moving joint of the robot can be monitored through the display screen of the remote monitoring device, so that remote control is carried out, and the temperature sensor can be arranged on the rake component for temperature monitoring and real-time feedback.

In conclusion, the multifunctional telescopic arm equipment adopting full hydraulic drive can better solve the problems of high labor intensity, high temperature radiation, high potential safety hazard and the like of human work in high-temperature places, has the functions of removing large blocks and crushing large blocks under the high-temperature condition, has the functions of remote control, temperature monitoring and the like, integrates the mechanical-electrical-hydraulic integrated technology, and can improve the working efficiency and reduce the safety risk.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a schematic view of the construction of the telescopic arm according to the present invention;

FIG. 4 is a cross-sectional view A-A of FIG. 3;

FIG. 5 is a partial sectional view of the telescopic arm of the present invention;

fig. 6 is a schematic structural view of the rake assembly of the present invention;

FIG. 7 is a schematic view of the construction of the wheeled chassis of the present invention;

FIG. 8 is a schematic diagram of the connection of the bi-directional hydraulic ram of FIG. 7.

Reference numerals: 1. the device comprises a telescopic arm, 11, an outer arm, 12, an inner arm, 13, a first luffing cylinder, 14, a telescopic cylinder, 15, a supporting wheel, 16, a displacement sensor, 17, a transmission shaft, 18, a swing hydraulic cylinder, 19 and an angular displacement sensor;

2. the rake assembly comprises a rake assembly 21, a rake 22, a short shaft bearing seat 23, a transition shaft 24, a high-temperature bearing 25, a first high-temperature-resistant partition plate 26, a threaded flange 27, a quick-release bolt 28, a high-temperature-resistant bolt 29 and a second high-temperature-resistant partition plate;

3. the crushing assembly 31, the crushing hammer 32, the drill rod 33, the slide rail 34, the propulsion oil cylinder 35, the crushing bracket 36 and the second amplitude-variable oil cylinder;

41. a lifting oil cylinder 42, an outer sleeve 43 and an inner sleeve;

51. an upper drag chain frame 52, an upper drag chain 53, a lower drag chain frame 54 and a lower drag chain;

61. an upper slide block 62, a side slide block 63 and a lower slide block;

7. the hydraulic control system comprises a wheel type chassis, 71, a frame body, 72, wheels, 73, a slewing bearing, 74, a slewing hydraulic motor, 75, an encoder, 76, a bidirectional hydraulic oil cylinder, 77, a connecting rod, 78 and a hydraulic motor;

81. a fuel tank 82, a hydraulic power system 83, a hydraulic control system 84, a cooler 85 and an electric control system.

Detailed Description

In order to make the technical purpose, technical solutions and advantages of the present invention more clear, the technical solutions of the present invention are further described below with reference to fig. 1 to 8 and specific embodiments.

An embodiment of a multifunctional telescopic arm robot for rotary kiln bulk treatment comprises the following steps:

a multifunctional telescopic arm robot for rotary kiln bulk treatment comprises a telescopic arm 1 and a wheel type chassis 7 for driving the telescopic arm 1 to integrally move and rotate, wherein the telescopic arm 1 is horizontally arranged in an initial state, a detachable rake component 2 is mounted on the telescopic arm 1, and the rake component 2 is in a forward direction relative to the telescopic arm 1;

a lifting mechanism is vertically arranged between the telescopic arm 1 and the wheel type chassis 7;

the telescopic boom 1 comprises an outer boom 11 and an inner boom 12, the inner boom 12 is connected in the outer boom 11 in a sliding manner, a first luffing cylinder 13 is hinged between the fixed part of the lifting mechanism and the rear end of the outer side of the outer boom 11, and the movable part of the lifting mechanism is hinged in the middle of the outer side of the outer boom 11; a telescopic oil cylinder 14 for controlling the inner arm 12 to stretch is further installed between the outer arm 11 and the inner arm 12, the end of a piston rod of the telescopic oil cylinder 14 is hinged with the inner rear end of the outer arm 11, the cylinder body of the telescopic oil cylinder 14 is hinged with the rear end of the inner arm 12, the hinged position is located at the rear end of the cylinder body of the telescopic oil cylinder 14, the bottom of the front end of the cylinder body of the telescopic oil cylinder 14 is kept balanced through a supporting wheel 15, the supporting wheel 15 can walk on the inner arm 12 along with the cylinder body of the telescopic oil cylinder 14 when the telescopic oil cylinder 14 stretches, the supporting wheel 15 is used for supporting, the supporting effect can be achieved, the installation and disassembly are convenient, a displacement sensor 16 is installed at the front end of the cylinder body of the telescopic oil cylinder 14, the linear stroke size of the telescopic oil cylinder 14 can be controlled through the displacement sensor 16, the control over the stretching amount of the inner arm 12 is achieved, and the forward and backward movement in the slag raking process of the rake 21 is completed; the front end of the inner arm 12 is detachably connected with the rake assembly 2, and the rake assembly 2 comprises a rotatable rake 21;

the outer side of the outer arm 11 is connected with a crushing component 3 for crushing large materials in a sliding manner;

the wheel type chassis 7 comprises a frame body 71 and wheels 72, wherein a rotary support 73 and a rotary hydraulic motor 74 are mounted on the frame body 71, an encoder 75 is mounted on the rotary hydraulic motor 74, the rotary support 73 is detachably and fixedly connected with a cylinder body of the lifting oil cylinder 41, two-way hydraulic oil cylinders 76 are further mounted on the frame body 71, each two-way hydraulic oil cylinder 76 corresponds to two wheels 72, two piston rods of each two-way hydraulic oil cylinder 76 are hinged with supports of the wheels 72 through connecting rods 77, and hydraulic motors 78 and speed reducers are mounted at the positions of the wheels 72.

The lifting mechanism can control the change of the telescopic arm 1 in height, so as to realize the adjustment of the height of the upper and lower positions of the rake 21 in the slag skimming process; the first luffing cylinder 13 can control the pitching angle of the outer arm 11, so that the change of the up-down pitching angle of the rake 21 in the slag skimming treatment process can be quickly adjusted.

Further, as one embodiment of the present invention, the rake assembly 2 further includes a short shaft bearing seat 22 and a transition shaft 23, the transition shaft 23 is rotatably connected in the short shaft bearing seat 22 through a high temperature bearing 24, a rear end surface of the short shaft bearing seat 22 is detachably and fixedly connected with a front end surface of the inner arm 12 through a bolt, a transmission shaft 17 is installed in the inner arm 12, a swing hydraulic cylinder 18 is installed at a rear end of the transmission shaft 17, an angular displacement sensor 19 is installed on the swing hydraulic cylinder 18, the rotation angle size of swing hydraulic cylinder 18 can be controlled through angular displacement sensor 19, the rotation of rake subassembly 2 is realized, the angle of rake end claw hook relative to the material is convenient for adjust, the fixed connection can be dismantled through the bolt to the front end of transmission shaft 17 and the rear end of transition axle 23, still install the slide bearing between the rear end of transition axle 23 and minor bearing seat 22, the fixed connection can be dismantled with rake 21 to the front end of transition axle 23.

Further, as one embodiment of the present invention, a first high temperature resistant partition plate 25 is installed at the front end of the short shaft bearing 22, a threaded flange 26 is connected to the outer circumference of the front end of the transition shaft 23 after extending out of the first high temperature resistant partition plate 25, the rear end of the rake 21 is in a flange disk shape, and the rear end of the rake 21 is connected to the threaded flange 26 through a quick-release bolt 27;

the front end of the threaded flange 26 and the front end of the transition shaft 23 are locked together by a high temperature resistant bolt 28 and a second high temperature resistant partition 29.

In an emergency, the rake 21 can be quickly disassembled by the quick-release bolt 27, so as to be quickly separated from the inner arm 12. And each part in the rake component 2 adopts a high-temperature resistant part.

The harrow bar of the harrow 21 is made of high-temperature-resistant stainless steel pipes, the diameter of the harrow bar is 40-48mm, the wall thickness of the harrow bar is 3.5-5 mm, and compared with an artificial harrow bar, the harrow bar is thicker and thicker, has better rigidity and strength and is more high-temperature-resistant, so that the harrow bar can be prevented from being stressed and bent at high temperature.

Further, as one embodiment of the present invention, the lifting mechanism includes a lifting cylinder 41 and a lifting frame, the lifting frame includes an outer sleeve 42 and an inner sleeve 43 slidably connected in the outer sleeve 42, a cylinder body of the lifting cylinder 41 is fixedly connected with the outer sleeve 42, a piston rod of the lifting cylinder 41 is fixedly connected with the inner sleeve 43, a top end of the inner sleeve 43 is hinged in the middle of the outer side of the outer arm 11, and the first luffing cylinder 13 is hinged between the outer sleeve 42 and the rear end of the outer side of the outer arm 11.

Further, as one embodiment of the present invention, the crushing assembly 3 includes a crushing hammer 31, a drill rod 32 is mounted on the crushing hammer 31, a slide rail 33, a thrust cylinder 34 and a crushing bracket 35 are disposed on the outer side of the outer arm 11, the slide rail 33 is fixed on the outer side surface of the outer arm 11, the slide rail 33 is parallel to the axial direction of the outer arm 11, the crushing bracket 35 is slidably connected to the slide rail 33, the thrust cylinder 34 is hinged between the outer rear end of the outer arm 11 and the crushing bracket 35, a second luffing cylinder 36 is hinged between the crushing bracket 35 and the crushing hammer 31, and when a piston rod of the second luffing cylinder 36 is not extended, the drill rod 32 is parallel to the axial direction of the outer arm 11.

The crushing assembly 3 can crush large materials, the crushing bracket 35 is pushed to move along the slide rail 33 by arranging the propelling oil cylinder 34, the crushing hammer 31 and the drill rod 32 can move linearly in the front-back direction of the axis, and the pitching angle of the crushing hammer 31 can be adjusted by the second amplitude-changing oil cylinder 36.

Further, as one embodiment of the present invention, an upper drag chain frame 51 is fixedly installed at an upper portion of the outer arm 11, an upper drag chain 52 is installed in the upper drag chain frame 51, and one end of the upper drag chain 52 extends out of the upper drag chain frame 51 and is fixedly connected with an upper end of the crushing bracket 35;

the lower part of the outer arm 11 is fixedly provided with a lower drag chain frame 53, a lower drag chain 54 is arranged in the lower drag chain frame 53, and one end of the lower drag chain 54 extends out of the lower drag chain frame 53 and is fixedly connected with the rear end of the inner arm 12.

The towline frame and the towline can effectively protect the pipeline, and the pipeline is prevented from being disordered and damaged.

Further, as one embodiment of the present invention, the cross-sections of the outer arm 11 and the inner arm 12 are both a scalene hexagon structure, the scalene hexagon structure includes an upper plane, a lower plane, two sides and two lower inclined planes, the upper plane and the lower plane are parallel and opposite, the two sides are parallel and opposite, the lower inclined plane is connected between the sides and the lower plane, the structure is more favorable for avoiding relative rotation between the outer arm 11 and the inner arm 12 compared with a common round structure or a square structure, an upper slide block 61 is arranged between the upper plane of the outer arm 11 and the upper plane of the inner arm 12, a side slide block 62 is arranged between the side of the outer arm 11 and the side of the inner arm 12, a lower slide block 63 and an upper slide block 61 are arranged between the lower inclined plane of the outer arm 11 and the lower inclined plane of the inner arm 12, one end of the side slider 62 and the lower slider 63 is fixed on the inner arm 12 or the outer arm 11, and the other end of the upper slider 61, the side slider 62 and the lower slider 63 is connected with the outer arm 11 or the inner arm 12 in a sliding manner. It is convenient to achieve a stable free sliding of the inner arm 12 within the outer arm 11.

Further, as one embodiment of the present invention, an oil tank 81, a hydraulic power system 82 and a hydraulic control system 83 are installed on the frame body 71, the oil tank 81 is connected with the hydraulic control system 83 through the hydraulic power system 82, the hydraulic control system 83 includes a first hydraulic valve group and a second hydraulic valve group, interfaces of the first hydraulic valve group are respectively connected with an oil port of the rotary hydraulic motor 74, an oil port of the hydraulic motor 78 and an oil port of the bidirectional hydraulic cylinder 76, and interfaces of the second hydraulic valve group are respectively connected with oil ports of the lift cylinder 41, the first luffing cylinder 13, the telescopic cylinder 14, the swing hydraulic cylinder 18, the thrust cylinder 34 and the second luffing cylinder 36;

the frame body 71 is further provided with a cooler 84 and an electrical control system 85, the cooler 84 can prolong the service life of hydraulic system components, an oil port of the cooler 84 is connected with an interface of the hydraulic control system 83, and a control interface of the electrical control system 85 is respectively connected with a control interface of the hydraulic control system 83, a control interface of the cooler 84 and a control interface of the oil tank 81.

In the slag skimming process, on one hand, the wheel type chassis 7 controls the pressure, flow and angle motions of the rotary support 73 and the rotary hydraulic motor 74 through the encoder 75 and the first hydraulic valve group, so that the integral rotation of the multifunctional telescopic arm 1 can be realized by plus or minus 180 degrees, and the slag skimming operation centered on the frame body 71 can be conveniently realized under multiple angle working conditions; on the other hand, the pressure, flow and angle of the hydraulic motor 78 and the bidirectional hydraulic oil cylinder 76 are controlled by the first hydraulic valve group, so that the straight walking and left-right steering of the wheel type chassis 7 can be realized.

In addition, set up the balanced valves on a plurality of hydraulic oil circuit, can satisfy each hydraulic cylinder, hydraulic motor 78 and stop the demand in optional position, be convenient for adjust in order to realize accurate positioning to the many gestures of telescopic boom 1, when having a power failure or pipeline go wrong externally, the effect of balanced valves can be deadly the hydraulic cylinder lock at present position, improves the security of whole equipment. The balance valve group can adopt the prior art, such as a three-position four-way valve which is in a balanced state when in a neutral position.

Furthermore, as one embodiment of the present invention, the present invention may further include a remote controller and a remote monitoring device, each moving joint of the robot is monitored through a display screen of the remote monitoring device, the rake is mounted with a temperature sensor for temperature monitoring, and real-time temperature feedback may be performed, so that the remote controller is used to control a plurality of postures of the robot in real time.

When the multifunctional telescopic arm robot for rotary kiln bulk treatment is used for slagging-off treatment operation, the following operation method can be adopted, and the steps comprise:

s1, confirming the initial state: by adjusting the hydraulic cylinders, the axial direction of the telescopic boom 1 is in a horizontal state, and the rake 21 faces the side furnace door of the rotary kiln, at this time, the piston rod of the first luffing cylinder 13 is in an extending state, and the piston rod of the second luffing cylinder 36, the piston rod of the telescopic cylinder 14 and the piston rod of the thrust cylinder 34 are all in a contracting state.

S2, walking of the wheel type chassis 7: the control wheel type chassis 7 drives the telescopic arm 1 to move to the side furnace door of the rotary kiln.

S3, adjusting the position of the telescopic arm 1: the height of the telescopic boom 1 is controlled by the lifting oil cylinder 41, the pitching angle of the telescopic boom 1 is controlled by the first luffing oil cylinder 13, so that the piston rod of the first luffing oil cylinder 13 continuously extends out, and the telescopic boom 1 rotates downwards for a certain angle around the lifting frame.

S4, crushing the large material by the crushing hammer 31: the displacement of the breaking hammer 31 and the drill rod 32 relative to the telescopic arm 1 is controlled by the propelling cylinder 34, when the drill rod 32 smashes a large material at a certain angle, the drill rod 32 is controlled to retract by the propelling cylinder 34, the pitching angle of the drill rod 32 is adjusted by the second luffing cylinder 36, and the actions of stretching and pitching angle adjustment of the propelling cylinder 34 are repeated until the large material is smashed into slag.

S5, raking by the rakes 21: the telescopic cylinder 14 is used for controlling the telescopic of the rake 21, the swing hydraulic cylinder 18 is used for controlling the self-rotation angle of the rake 21, so that the angle of the rake end is adjusted, after the rake 21 rakes out slag materials at a certain pitching angle, the pitching angle of the rake 21 is adjusted through the first luffing cylinder 13, and the telescopic cylinder 14 is repeatedly used for stretching and pitching angle adjustment until all the slag materials are raked out.

In step S4 or S5, the control may be assisted by the lift cylinder 41 when adjusting the position of the drill rod 32 or the rake 21.

S6, resetting: the control wheel type chassis 7 drives the telescopic arm 1 to be far away from a side furnace door of the rotary kiln, and returns each hydraulic cylinder to an initial state, so that the slag removing operation is completed.

The above embodiments are not intended to limit the shape, material, structure, etc. of the present invention in any way, and any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.

Claims (8)

1. The utility model provides a multi-functional flexible arm robot for rotary kiln bold is handled which characterized in that: the telescopic arm is provided with a detachable rake component, and the rake component is in a forward direction relative to the position of the telescopic arm;

a lifting mechanism is vertically arranged between the telescopic arm and the wheel type chassis;

the telescopic boom comprises an outer boom and an inner boom, the inner boom is connected in the outer boom in a sliding manner, a first variable amplitude oil cylinder is hinged between the fixed part of the lifting mechanism and the rear end of the outer side of the outer boom, the movable part of the lifting mechanism is hinged in the middle of the outer side of the outer boom, a telescopic oil cylinder for controlling the inner boom to stretch is further arranged between the outer boom and the inner boom, the end part of a piston rod of the telescopic oil cylinder is hinged with the rear end of the inner side of the outer boom, and the cylinder body of the telescopic oil cylinder is hinged with the rear end of the inner boom; the front end of the inner arm is detachably connected with the rake assembly, and the rake assembly comprises a rotatable rake;

the outer side of the outer arm is connected with a crushing component used for crushing large materials in a sliding manner;

the wheel type chassis comprises a frame body and wheels, wherein a slewing bearing and a slewing hydraulic motor are installed on the frame body, the slewing bearing is fixedly connected with a fixing part of the lifting mechanism, two-way hydraulic oil cylinders are further installed on the frame body, each two-way hydraulic oil cylinder corresponds to two wheels, two piston rods of each two-way hydraulic oil cylinder are hinged with supports of the wheels through connecting rods, and the hydraulic motor and the speed reducer are installed at the positions of the wheels.

2. The multifunctional telescopic arm robot for rotary kiln bulk treatment as claimed in claim 1, wherein: the rake assembly further comprises a short shaft bearing and a transition shaft, the transition shaft is rotatably connected into the short shaft bearing through a high-temperature bearing, the rear end face of the short shaft bearing is detachably and fixedly connected with the front end face of the inner arm, a transmission shaft is installed in the inner arm, a swing hydraulic cylinder is installed at the rear end of the transmission shaft, the front end of the transmission shaft is detachably and fixedly connected with the rear end of the transition shaft, and the front end of the transition shaft is detachably and fixedly connected with the rake.

3. The multifunctional telescopic arm robot for rotary kiln bulk treatment as claimed in claim 2, characterized in that: the front end of the short shaft bearing seat is provided with a first high-temperature-resistant partition plate, the periphery of the front end of the transition shaft, which extends out of the first high-temperature-resistant partition plate, is in threaded connection with a threaded flange, and the rear end of the rake is connected with the threaded flange through a quick-release bolt; the front end of the threaded flange and the front end of the transition shaft are locked through a high-temperature-resistant bolt and a second high-temperature-resistant partition plate.

4. The multifunctional telescopic arm robot for rotary kiln bulk treatment as claimed in claim 1, wherein: the lifting mechanism comprises a lifting oil cylinder and a lifting frame, the lifting frame comprises an outer sleeve and an inner sleeve which is connected in the outer sleeve in a sliding manner, the cylinder body of the lifting oil cylinder is fixedly connected with the outer sleeve, and the piston rod of the lifting oil cylinder is fixedly connected with the inner sleeve; the top end of the inner sleeve is hinged to the middle part of the outer side of the outer arm, and the first amplitude variation oil cylinder is hinged between the outer sleeve and the rear end of the outer side of the outer arm.

5. The multifunctional telescopic arm robot for rotary kiln bulk treatment as claimed in claim 1, wherein: the crushing assembly comprises a crushing hammer, a drill rod is mounted on the crushing hammer, a sliding rail, a pushing oil cylinder and a crushing bracket are arranged on the outer side of the outer arm, the sliding rail is fixed on the surface of the outer side of the outer arm and is parallel to the axial direction of the outer arm, the crushing bracket is in sliding connection with the sliding rail, the pushing oil cylinder is hinged between the rear end of the outer side of the outer arm and the crushing bracket, a second amplitude-changing oil cylinder is hinged between the crushing bracket and the crushing hammer, and when a piston rod of the second amplitude-changing oil cylinder does not extend out, the drill rod is parallel to the axial direction of the outer arm.

6. The multifunctional telescopic arm robot for rotary kiln bulk treatment as claimed in claim 5, characterized in that: an upper drag chain frame is fixedly arranged at the upper part of the outer arm, an upper drag chain is arranged in the upper drag chain frame, and one end of the upper drag chain extends out of the upper drag chain frame and is fixedly connected with the upper end of the crushing bracket;

the lower part of the outer arm is fixedly provided with a lower drag chain frame, a lower drag chain is arranged in the lower drag chain frame, and one end of the lower drag chain extends out of the lower drag chain frame and is fixedly connected with the rear end of the inner arm.

7. The multifunctional telescopic arm robot for rotary kiln bulk treatment as claimed in claim 1, wherein: the cross-section of outer arm and inner arm is inequilateral hexagon structure, inequilateral hexagon structure includes plane, lower plane, two sides and two lower inclined planes, it is parallel relative with lower plane to go up the plane, two sides are parallel relative, lower inclined plane is connected between side and lower plane, be provided with the top shoe between the last plane of outer arm and the last plane of inner arm, be provided with the side slider between the side of outer arm and the side of inner arm, be provided with down the slider between the lower inclined plane of outer arm and the lower inclined plane of inner arm.

8. The multifunctional telescopic arm robot for rotary kiln bulk treatment as claimed in claim 1, wherein: the hydraulic control system comprises a first hydraulic valve group and a second hydraulic valve group, the interface of the first hydraulic valve group is respectively connected with the oil port of the rotary hydraulic motor, the oil port of the hydraulic motor and the oil port of the bidirectional hydraulic oil cylinder, and the interface of the second hydraulic valve group is respectively connected with the oil ports of the lifting oil cylinder, the first amplitude-variable oil cylinder, the telescopic oil cylinder, the swing hydraulic cylinder, the propelling oil cylinder and the second amplitude-variable oil cylinder.

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