CN216523111U - Furnace discharging robot - Google Patents

Abstract

The utility model relates to a smelting robot, which belongs to the technical field of smelting equipment. The utility model comprises a ring rail mechanism, a longitudinal moving mechanism, a slewing mechanism, a telescopic arm and a pitching mechanism. The ring rail mechanism is installed on the ring rail of the basic plane, the longitudinal movement mechanism is installed on the ring rail mechanism, and the longitudinal movement mechanism is located on the ring rail mechanism. The ring rail mechanism completes the forward and backward movement along the direction of furnace eye A, the slewing mechanism is arranged on the longitudinal movement mechanism, the front end of the telescopic arm is hinged with the front end of the slewing mechanism, the rear end of the telescopic arm is hinged with the output end of the pitching mechanism, and the pitching The mechanism is mounted on the slewing mechanism. The utility model is suitable for the opening and blocking work of the rotary submerged arc furnace, which can be remotely controlled, improves the safety of the unloading operation, enables automatic completion of the pre-furnace operation, and reduces the labor intensity and labor cost of the operators.

Description

A baked robot

technical field

The utility model relates to an automatic furnace discharging robot, which belongs to the technical field of smelting equipment.

Background technique

In the production process of the industrial rotary submerged arc furnace, the blasting is the most arduous process in the whole process. The existing work such as opening the furnace, tapping out the furnace with brazing, plugging the eye and cleaning the chute are generally operated manually. The environment is harsh, the temperature is high, the smoke and dust are large, and it is easy to cause occupational injuries and other hazards, so there are many dangers in the manual operation process. In addition, due to the uneven operation level and proficiency of the operators, it is easy to cause the furnace liquid to splash and cause burns during the opening, plugging, and brazing operations. In addition, the manual opening and plugging operations take a long time, and the furnace temperature decreases significantly. , is not conducive to the stability of furnace conditions. Although there are many patents discussing the automatic plugging machine for submerged arc furnaces, due to the production particularity of industrial rotary submerged arc furnaces, it cannot completely replace manual operation and realize safe and automatic production.

Utility model content

The purpose of research and development of the present invention is to solve the above-mentioned technical problems, and a brief overview of the present invention is given below in order to provide a basic understanding of certain aspects of the present invention. It should be understood that this summary is not an exhaustive overview of the invention. It is not intended to identify key or essential parts of the present invention, nor is it intended to limit the scope of the present invention.

The technical scheme of the present utility model:

A baking robot includes a ring rail mechanism, a longitudinal movement mechanism, a slewing mechanism, a telescopic arm, a pitching mechanism and a feeding mechanism, wherein the ring rail mechanism is installed on a track of a base plane, and the longitudinal movement mechanism is installed on the ring rail mechanism, The longitudinal movement mechanism completes the forward and backward movement along the direction of furnace eye A on the ring rail mechanism. The slewing mechanism is arranged on the longitudinal movement mechanism. The ends are hinged, the pitching mechanism is installed on the slewing mechanism, and the feeding mechanism is installed on the slewing mechanism.

The longitudinal movement mechanism completes the forward and backward movement along the direction of furnace eye A by driving the gear and the rack on the ring rail mechanism. The slewing mechanism is arranged on the longitudinal movement mechanism to realize rotational movement. The front end of the telescopic arm is hinged with the front end of the slewing mechanism. The rear end of the telescopic arm is hinged with one end of the pitching mechanism, and the other end of the pitching mechanism is hinged with the rear end of the slewing mechanism.

Further: the ring rail mechanism includes a mobile platform and a drive assembly, the bottom of the mobile platform is installed with a drive assembly, the drive assembly includes a motor and a reducer, an axle box and a drive wheel, and the drive wheel is rotatably installed on the axle through a bearing and a rotating shaft. Inside the box, the motor and reducer are used to drive the drive wheel to rotate.

Further: the longitudinal movement mechanism includes a longitudinal movement platform, a longitudinal movement walking wheel, a longitudinal movement guide rail, a longitudinal movement reducer, a longitudinal movement driving gear and a longitudinal movement rack, and the longitudinal movement walking wheel is installed on the longitudinal movement platform. Two parallel longitudinal guide rails are installed on the mobile platform, and a longitudinal movement rack is installed between the two longitudinal movement guide rails. The shift reducer is installed on the longitudinal shift platform, and the longitudinal shift drive gear is installed at the output end of the longitudinal shift reducer, and the longitudinal shift drive gear is meshed with the longitudinal shift rack.

Further: the slewing mechanism includes a slewing reducer and a support frame, one end of the slewing reducer is connected with the longitudinal moving platform, and the other end of the slewing reducer is connected with the support frame.

Further: the telescopic forearm includes a drive motor, a forearm support, a first guide rail, a guide wheel, a moving cover and a clamping mechanism, the first guide rails are respectively installed on both sides of the forearm support, and the moving cover is installed with a first guide rail. Guide wheel, the moving cover is installed on the first guide rail through the guide wheel, the clamping mechanism is fixedly installed on the moving cover, the two ends of the forearm bracket are respectively installed with a driving sprocket and a driven sprocket, and the driving motor It is fixedly installed at the end of the forearm bracket, the drive motor is installed in cooperation with the driving sprocket, the driving sprocket and the driven sprocket are matched with a chain, and the two ends of the chain are respectively fixed and installed on the moving cover.

Further: the pitching mechanism includes a pitching telescopic push rod and a push rod seat, the pitching telescopic push rod is installed on the support frame of the slewing mechanism through the push rod seat, the front end of the telescopic arm has a front hinge point, and the telescopic arm is hinged through the front The point is hingedly installed with the support frame of the slewing mechanism, the rear end of the telescopic arm has a rear hinge point, and the output end of the pitching telescopic push rod is hingedly mounted with the rear hinge point.

Further: the clamping mechanism includes a driving cylinder, a tool seat and a clamping jaw, the inside of the front end of the tool seat is an outer bell mouth conical hole structure, the tool seat is provided with a clamping jaw, and the rear end of the clamping jaw is connected to the output end of the driving cylinder. Lever hinged. The drive cylinder is fixedly mounted on the moving cover.

Further: the feeding mechanism includes a transmission mechanism and a revolving silo, and the revolving silo is fixedly installed on the support frame;

The transmission mechanism includes a walking beam, a guiding mechanism, a guiding sprocket, a transmission reducer, an active transmission sprocket, a transmission chain and a feeding hopper. The guiding mechanism is installed on the support frame, and the walking beam is slidably installed on the guiding mechanism. The sprocket and the transmission reducer are installed on the support frame, and the output end of the transmission reducer is installed with an active transmission sprocket. The transmission chain is installed in sequence with the guide sprocket and the active transmission sprocket. At the left and right ends, the feeding hopper is hingedly installed on the right end of the walking beam through the feeding hopper hinge seat;

The guide mechanism includes a guide groove, the guide groove is a hollow groove structure, a guide wheel group is installed on both sides of the guide groove, the walking beam is installed in the guide groove, and the guide wheel group is used to support the walking beam to slide in the guide groove. ;

The rotary silo includes an inner wall, an outer plate, a base, a tray, a rotary walking mechanism and a pushing cylinder. The rotary silo is fixedly installed on the support frame through the base, and the inner wall, the outer plate and the base form a rotary walking. space, the rotary traveling mechanism is installed in the rotary traveling space, and a plurality of trays are installed on the rotary traveling mechanism. The rotary traveling mechanism includes a plurality of bearing seats, and two adjacent bearing seats pass through the first pin The shaft establishes a hinged relationship, the upper end of the first pin shaft is installed with a slewing running bearing, the slewing running bearing rolls along the side wall of the inner wall, a slewing drive reducer is installed on the base, and the output end of the slewing drive reducer is installed with a drive A turntable, the outer wall of the drive turntable is machined with a plurality of first grooves in an array, the first grooves are installed in cooperation with the first pin shaft, the pushing cylinder is installed on the base, and one end of the walking beam is installed with a limit block , the limit block establishes an installation relationship with the walking beam through the spring, one end of the wire rope is connected to the bottom of the feeding hopper, and the other end of the steel wire rope is connected to the limit block through the walking beam.

The support base includes an upper U-shaped frame and a lower U-shaped frame, a circular cylinder is installed in the upper U-shaped frame and the lower U-shaped frame, and the material tray is fixedly installed on the circular cylinder.

The utility model has the following beneficial effects:

1. A kind of unloading robot proposed by the utility model is suitable for the opening and blocking work of the rotary submerged arc furnace, which can be remotely controlled, improves the safety of the unloading operation, enables the automatic completion of the work before the furnace, and reduces the number of operators. labor intensity and labor cost;

2. The utility model automatically completes the pick-and-place tool, arbitrarily adjusts the opening/blocking position, automatically opens the eyes, blocks Eye work, through the cooperation of various parts, has the advantages of ingenious mechanical structure design, compact mechanical structure, small footprint, high degree of mechanization, and strong practicability;

3. The utility model utilizes the characteristics of large working range and high flexibility of the robot to realize the automation of opening and closing the eyes, so that the operations such as opening the furnace eyes, cleaning the furnace eyes, taking out the furnace with brazing, and blocking the furnace eyes can be completed automatically;

4. The baking robot of the utility model occupies less space, is light-weighted on-board layout, reduces the layout of external pipelines, facilitates on-site debugging and daily maintenance, and makes the job site more tidy;

5. The telescopic arm and the slewing mechanism of the present invention are assembled and combined ingeniously, and the linear motion of the gripping mechanism is realized through a simple chain drive, and under the action of the gripping mechanism, the eye-opening tool can be freely grasped or drilled. Plug the hole and ram the drill to complete the opening and plugging operations;

6. The feeding mechanism of the present utility model adopts the reciprocating feeding method. Under the cooperative action of the rotary silo, the transmission mechanism and the pushing cylinder, the material can be continuously conveyed and the plugging can be completed quickly.

Description of drawings

Fig. 1 is a perspective view of a furnace robot;

2 is a perspective view of a mobile platform;

Figure 3 is a perspective view of the ring rail drive assembly;

Fig. 4 is the perspective view of the longitudinal movement mechanism;

5 is a perspective view of a support frame;

Fig. 6 is the front view of Fig. 5;

Figure 7 is a perspective view of a telescopic arm;

Figure 8 is a front view of the telescopic arm;

Figure 9 is a front view of the gripping mechanism;

Figure 10 is a perspective view of a pitch mechanism;

11 is a perspective view of a baking robot in the eighth embodiment;

Figure 12 is a perspective view of the feeding mechanism;

Fig. 13 is the enlarged schematic diagram of A place in Fig. 12;

Figure 14 is a schematic view of the installation of the guide mechanism on the support frame;

Figure 15 is a perspective view of the guide groove;

Figure 16 is a perspective view of a rotary silo;

Figure 17 is a perspective view of a slewing running mechanism;

Figure 18 is a schematic diagram of the overturning structure of the feeding hopper one;

Figure 19 is a schematic view of the flipping structure of the feeding hopper II;

Figure 20 is a partial view of the installation relationship between the walking beam and the limit block;

Figure 21 is a schematic diagram of the working state of a furnace robot;

In the figure, 1-ring rail mechanism, 2-longitudinal moving mechanism, 3-slewing mechanism, 4-telescopic arm, 5-pitch mechanism, 6-feeding mechanism, 7-tool holder, 8-eye opening tool drill, 9-plugging hole Tamping drill, 11- mobile platform, 12- ring rail drive assembly, 121- motor and reducer, 122- axle box, 123- driving wheel, 21- longitudinal shifting platform, 22- longitudinal shifting traveling wheel, 23- longitudinal shifting Guide rail, 24-longitudinal movement reducer, 25-longitudinal movement drive gear, 26-longitudinal movement rack, 27-longitudinal movement walking wheel seat, 31-slewing reducer, 32-support frame, 41-drive motor, 42-small Arm bracket, 43-first guide rail, 44-guide wheel, 45-moving cover, 46-clamping mechanism, 47-drive sprocket, 48-driven sprocket, 49-chain, 51-pitch telescopic push rod, 52 -Push rod seat, 53-Front hinge point, 54-Rear hinge point, 461-Drive cylinder, 462-Tool seat, 463-Steel clamping seat, 464-Clamping jaw, 465-First hinge seat, 466-Second A connecting rod, 467-Second hinged seat, 468-Self-locking hook, 61-Transmission mechanism, 62-Rotary silo, 611-Walking beam, 612-Guide mechanism, 613-Guide sprocket, 614-Transmission reducer, 616-active transmission sprocket, 617-transmission chain, 618-feeding hopper, 619-feeding hopper hinged seat, 621-inner wall, 622-peripheral plate, 623-base, 624-support tray, 625-rotary running mechanism , 626- slewing drive reducer, 627- drive turntable, 628- first groove, 629- push cylinder, 6251- bearing seat, 6252- first pin, 6253- slewing travel bearing, 6121- guide groove, 6122-guide wheel set, 62511-upper U-shaped frame, 62512-lower U-shaped frame, 62513-circular cylinder.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present utility model more clear, the present utility model will be described below through the specific embodiments shown in the accompanying drawings. It should be understood, however, that these descriptions are only exemplary and are not intended to limit the scope of the present invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concepts of the present invention.

The connection mentioned in the present invention is divided into fixed connection and detachable connection. The fixed connection is non-detachable connection, including but not limited to conventional fixed connection methods such as folded connection, rivet connection, adhesive connection and welding connection. The detachable connection includes but is not limited to conventional disassembly methods such as screw connection, snap connection, pin connection and hinge connection. When the specific connection method is not clearly defined, the default is that at least one connection method can always be found in the existing connection methods. To realize this function, those skilled in the art can choose according to their needs. For example: Welded connection is selected for fixed connection, and hinged connection is selected for detachable connection.

Embodiment 1: This embodiment is described with reference to FIGS. 1 to 18 . A baking robot of this embodiment includes a ring rail mechanism 1, a longitudinal movement mechanism 2, a slewing mechanism 3, a telescopic arm 4, a pitch mechanism 5 and a feeding mechanism. Mechanism 6, the ring rail mechanism 1 is installed on the track of the base plane, the longitudinal movement mechanism 2 is installed on the ring rail mechanism 1, and the longitudinal movement mechanism 2 completes the front and rear movement along the direction of the furnace eye A on the ring rail mechanism 1, and rotates The mechanism 3 is arranged on the longitudinal movement mechanism 2, the front end of the telescopic arm 4 is hinged with the front end of the slewing mechanism 3, the rear end of the telescopic arm 4 is hinged with the output end of the pitching mechanism 5, and the pitching mechanism 5 is installed on the slewing mechanism 3, The feeding mechanism 6 is installed on the rotating mechanism 3 .

The longitudinal movement mechanism 2 completes the forward and backward movement along the direction of the furnace eye A by driving the gear and the rack on the ring rail mechanism 1. The slewing mechanism 3 is arranged on the longitudinal movement mechanism 2 and can realize rotational movement. The front end of the slewing mechanism 3 is hinged, the rear end of the telescopic arm 4 is hinged through one end of the pitching mechanism 5 , and the other end of the pitching mechanism 5 is hinged with the rear end of the slewing mechanism 3 .

In this embodiment, during the production process of the industrial rotary submerged arc furnace, there is a hole on the side wall of the furnace body. The purpose is to discharge the liquid material in the furnace from the "furnace hole" after the smelting is completed, and the purpose of plugging the hole is to carry out the smelting again and prevent the liquid material in the industrial furnace from pouring out during the smelting process.

In this embodiment, an installation track is set on the outer periphery of the industrial smelting furnace, and a ring-rail mechanism 1 is installed on the track. The ring-rail mechanism 1 runs along the track to realize the alignment adjustment work between the robot and the industrial furnace that needs to be opened or blocked; The mechanism 2 is installed on the ring rail mechanism 1, and the front and rear movement along the furnace eye direction is completed by driving the gear and the rack on the ring rail mechanism 1; 360° swivel action, grab the eye-opening tool drill 8 or the plugging and tamping drill 9 through the telescopic arm 4 to complete the eye opening/clogging work; the pitch mechanism 5 is used to adjust the pitch height of the telescopic arm 4, and cooperates with the longitudinal movement mechanism 2 The furnace eye alignment work is completed; the feeding mechanism 6 is used to send the eye-blocking material into the furnace, and cooperate with the tamping drill grasped by the telescopic arm 4 to tamper the material so as to seal the furnace eye.

In the present embodiment, a furnace robot automatically completes the picking and placing of tools, adjustment of the opening/opening/removal tool through the cooperation between the ring rail mechanism 1, the longitudinal movement mechanism 2, the slewing mechanism 3, the telescopic arm 4, the pitching mechanism 5 and the feeding mechanism 6. The position of eye plugging, automatic eye opening and eye plugging work, through the cooperation of various parts, has the advantages of ingenious mechanical structure design, compact mechanical structure, small space occupation, high degree of mechanization, and strong practicability.

Specific embodiment 2: This embodiment is described with reference to FIGS. 1 to 18 . In this embodiment, a baking robot is described. The ring-rail mechanism 1 includes a mobile platform 11 and a drive assembly 12 . At the four end feet of the mobile platform 11 A drive assembly 12 is installed. The drive assembly 12 includes a motor and a reducer 121, an axle box 122 and a drive wheel 123. The drive wheel 123 is rotatably installed in the axle box 122 through a bearing and a rotating shaft. The motor and the reducer 121 are used to drive the drive wheel 123. Rotating, set in this way, the rotation of the motor and the reducer 121 drives the driving wheel 123 installed in the axle box 122 to roll, and the driving wheel 123 rolls on the track in the first embodiment, thereby realizing the walking of the mobile platform 11 on the track, In addition, a steel brush is also installed on the axle box 122 , which can remove impurities and dust on the track, improve the cleanliness of the track, and reduce the risk of the normal operation of the ring rail mechanism 1 being affected by the working environment.

Embodiment 3: This embodiment is described with reference to FIGS. 1 to 18 , which is a kind of unloading robot in this embodiment. The longitudinal movement mechanism 2 includes a longitudinal movement platform 21 , a longitudinal movement traveling wheel 22 , a longitudinal movement guide rail 23 , and a longitudinal movement guide rail 23 . The speed reducer 24, the longitudinal movement drive gear 25 and the longitudinal movement rack 26, the longitudinal movement platform 21 is a steel structure platform, the longitudinal movement walking wheel 22 is installed on the longitudinal movement platform 21, and the mobile platform 11 is installed with two The longitudinal moving guide rails 23 arranged in parallel are provided with a longitudinal moving rack 26 between the two longitudinal moving guide rails 23 . The reducer 24 is mounted on the longitudinal movement platform 21 by flange, and the longitudinal movement drive gear 25 is installed at the output end of the longitudinal movement reducer 24 , and the longitudinal movement drive gear 25 is meshed with the longitudinal movement rack 26 . In this way, the principle of the longitudinal shift mechanism 2 is that when the longitudinal shift reducer 24 rotates, the longitudinal shift drive gear 25 rotates, under the meshing action of the longitudinal shift drive gear 25 and the longitudinal shift rack 26, and the longitudinal shift traveling wheel 22 In the case of sliding installation with the longitudinally moving guide rails 23 , the longitudinally moving platform 21 is moved on the longitudinally moving guide rails 23 on the moving platform 11 through the longitudinally moving traveling wheels 22 .

Specific Embodiment 4: This embodiment is described with reference to FIGS. 1 to 18 , which is a kind of unloading robot in this embodiment. The rotary mechanism 3 includes a rotary reducer 31 and a support frame 32 , and one end of the rotary reducer 31 is connected to the longitudinal The platform 21 is connected, and the other end of the rotary reducer 31 is connected to the support frame 32 . The slewing reducer 31 is used to realize the slewing action. In this embodiment, under the action of the slewing reducer 31 , the support frame 32 is rotated relative to the longitudinal moving platform 21 , and the telescopic arm 4 is installed on the support frame 32 , thereby realizing telescopic 360° swivel action of the forearm 4.

Embodiment 5: This embodiment is described with reference to FIG. 1 to FIG. 18 . In this embodiment, a baking robot is described. The telescopic arm 4 includes a drive motor 41, an arm support 42, a first guide rail 43, a guide wheel 44, The moving cover 45 and the clamping mechanism 46, the first guide rails 43 are respectively installed on both sides of the arm bracket 42, the moving cover 45 is installed with a guide wheel 44, and the guide wheel 44 is installed on the side of the moving cover 45 through bearings and shafts On the wall, the number of guide wheels 44 is 4. The moving cover 45 is fitted on the first guide rail 43 through the guide wheels 44. The clamping mechanism 46 is fixedly installed on the moving cover 45. The ends are respectively installed with a driving sprocket 47 and a driven sprocket 48. The driving motor 41 is fixedly installed on the end of the forearm bracket 42 by flange. The driving motor 41 is installed in cooperation with the driving sprocket 47. A chain 49 is fitted on the moving sprocket 48 , and both ends of the chain 49 are respectively fixed on the moving cover 45 .

Embodiment 6: This embodiment will be described with reference to FIGS. 1 to 18 . In this embodiment, a robot is released. The pitch mechanism 5 includes a pitch telescopic push rod 51 and a push rod seat 52 , and the pitch telescopic push rod 51 passes through the push rod. The seat 52 is installed on the support frame 32 of the slewing mechanism 3. The front end of the telescopic arm 4 has a front hinge point 53. The telescopic arm 4 is hingedly installed with the support frame 32 of the slewing mechanism 3 through the front hinge point 53. The rear end has a rear hinge point 54 , and the output end of the pitch telescopic push rod 51 is hingedly installed with the rear hinge point 54 . In this way, under the pushing action of the pitching telescopic push rod 51, the telescopic arm 4 is adjusted in pitch relative to the support frame 32, the clamping mechanism 46 is installed on the telescopic arm 4, and the clamping mechanism 46 is used to grab the eye-opening tool drill 8 Or plug the hole tamping drill 9, adjust the pitch angle of the eye opening tool drill 8 or the plugging tamping drill 9 relative to the furnace eye through the pitch adjustment of the telescopic arm 4, and then complete the position adjustment of the eye opening/clogging.

Embodiment 7: This embodiment will be described with reference to FIGS. 1 to 18 , which is a kind of unloading robot in this embodiment. The gripping mechanism 46 includes a driving cylinder 461 , a tool seat 462 and a gripper 464 . The tool seat 462 has a The inside of the front end is an outer bell-shaped tapered hole structure. The tool seat 462 is provided with a clamping claw 464 , and the rear end of the clamping claw 464 is hinged with the output end lever of the driving cylinder 461 . The driving cylinder 461 is fixedly installed on the moving cover 45;

In this embodiment, one end of the tool seat 462 is flange-mounted on the end of the driving cylinder 461. When in use, insert the hole-opening tool drill 8 or the plug-hole tamping drill 9 into the outer bell-shaped mouth inside the front end of the tool seat 462. Then, the cylinder 461 is driven to act, so that the clamping jaw 464 clamps the eye opening tool drill 8 or the hole plugging tamping drill 9 through the self-locking hook at the front end thereof.

This embodiment realizes the clamping of the eye-opening tool drill 8 or the hole-blocking tamping drill 9 through the mechanical link structure, which has the advantages of stable and reliable grasping. It will not fall off accidentally, and it will not fall off due to scratching, which effectively guarantees the safety of the entire eye opening and eye blocking process.

Embodiment 8: The present embodiment will be described with reference to FIGS. 1-18 . A furnace discharging robot of the present embodiment further includes a feeding mechanism 6 , which is installed on the slewing mechanism 3 ;

The feeding mechanism 6 includes a transmission mechanism 61 and a revolving bin 62, and the revolving bin 62 is fixedly installed on the support frame 32;

The transmission mechanism 61 includes a travel beam 611, a guide mechanism 612, a guide sprocket 613, a transmission reducer 614, an active transmission sprocket 616, a transmission chain 617 and a feeding hopper 618. The guide mechanism 612 is installed on the support frame 32, and the travel beam 611 is slidably installed on the guide mechanism 612, the guide sprocket 613 and the transmission reducer 614 are installed on the support frame 32, the output end of the transmission reducer 614 is installed with an active transmission sprocket 616, and the transmission chain 617 is sequentially connected with the guide sprocket. 613 and the active transmission sprocket 616 are installed together, the two ends of the transmission chain 617 are fixed on the left and right ends of the walking beam 611, and the feeding hopper 618 is hingedly installed on the right end of the walking beam 611 through the feeding hopper hinge seat 619;

The guide mechanism 612 includes a guide groove 6121. The guide groove 6121 is a hollow groove structure. Guide wheel sets 6122 are installed on both sides of the guide groove 6121. The walking beam 611 is installed in the guide groove 6121. The guide wheel set 6122 is used for The supporting walking beam 611 slides in the guide groove 6121;

The rotating material bin 62 includes an inner wall 621, an outer plate 622, a base 623, a material tray 624, a rotating walking mechanism 625 and a pushing cylinder 629. The rotating material bin 62 is fixedly installed on the support frame 32 through the base 623, The surrounding plate 621, the peripheral plate 622 and the base 623 form a rotating walking space. The rotating walking mechanism 625 is installed in the rotating walking space. A plurality of trays 624 are installed on the rotating walking mechanism 625. There are two bearing seats 6251, and two adjacent bearing seats 6251 establish a hinged relationship through the first pin shaft 6252. The upper end of the first pin shaft 6252 is installed with a slewing running bearing 6253, and the slewing running bearing 6253 is along the inner wall 621. The side wall of the rotary drive is rolled, the base 623 is installed with a rotary drive reducer 626, and the output end of the rotary drive reducer 626 is installed with a drive turntable 627, the outer wall of the drive turntable 627 is processed in an array with a plurality of first grooves 628. A groove 628 is installed in cooperation with the first pin 6252, the pushing cylinder 629 is installed on the base 623, one end of the walking beam 611 has an installation opening, and the installation opening has a limit block 6110, and the limit block 6110 is connected to the base 6110 through a spring. The left side wall of the walking beam 611 is installed, one end of the wire rope 6181 is connected to the bottom of the feeding hopper 618, and the other end of the wire rope 6181 is connected to the limit block 6110 through the walking beam 611.

The support base 6251 includes an upper U-shaped frame 62511 and a lower U-shaped frame 62512. A circular cylinder 62513 is installed in the upper U-shaped frame 62511 and the lower U-shaped frame 6251, and the material tray 624 is fixedly installed on the circular ring. On the cylinder 62513, the circular cylinder 62513 is used to realize the installation of the tray 624. In addition, the circular cylinder 62513 is installed in the U-shaped frame 6251 to play a supporting and tightening role. Under the action of the circular cylinder 62513, The support seat 6251 can walk stably in the rotating walking space formed by the inner wall 621, the outer plate 622 and the base 623, which reduces the vibration generated by the separate support seat 6251 in the walking space and affects the transportation of the plugging material.

In this embodiment, the function of the feeding mechanism 6 is to send the eye-blocking material to the furnace eye, and cooperate with the tamping drill grasped by the telescopic arm 4 to ram the material so as to seal the furnace eye. The specific working method is as follows: : As shown in Figure 15, the "plugging material" is placed on the tray 624, the rotary drive reducer 626 drives the drive turntable 627 to rotate, and under the cooperation of the first groove 628 and the first pin 6252, the turntable is driven. 627 drives the rotary travel mechanism 625 to drive in the rotary travel space formed by the inner wall 621, the outer plate 622 and the base 623. When the "hole blocking material" is transported to the tray 624 of the No. 1 station as shown in Figure 11 At this time, the material pushing cylinder 629 pushes the "blocking material" into the feeding hopper 618, and then, as shown in Figures 11-14, the transmission reducer 614 drives the active transmission sprocket 616 to rotate, and the active transmission sprocket 616 Drive the transmission chain 617, and drive the walking beam 611 to slide in the guide groove 6121 of the guide mechanism 612 through the transmission chain 617. When the feeding hopper 618 is pushed to the furnace eye of the furnace body by the walking beam 611, the wire rope 6181 at the bottom of the feeding hopper 618 Under the action of dragging (because one end of the wire rope 6181 is connected to the feeding hopper 618 and the other end is connected to the limit block 6110, when the walking beam 611 drives the feeding hopper 618 to move, the wire rope 6181 is stretched, and finally the feeding hopper 618 is relative to the feeding hopper hinge seat 619. Turn over) and dump the "blocking material" in the feeding hopper 618 at the furnace eye.

When the "hole blocking material" is poured into the furnace hole, the clamping mechanism 46 installed on the telescopic arm 4 carries a tamping drill, and under the longitudinal movement of the longitudinal moving mechanism 2, the "hole blocking material" at the furnace hole "Tamp it to seal the eyes of the furnace.

A furnace opening robot, the process of realizing furnace opening includes picking up eye opening tools and poking furnace eyes:

Picking up the eye-opening tool drill: First, the ring-rail mechanism 1 slides on the track under the drive of the ring-rail drive assembly 12, adjusts the robot to the vicinity of the tool holder 7, and moves the telescopic arm 4 through the slewing reducer 31 on the slewing mechanism 3. Rotate to make the clamping mechanism 46 installed on the telescopic arm 4 align with the eye-opening tool 8 on the tool holder 7, and then start the driving motor 41, and the driving motor 41 is connected to the driving sprocket 47, the driven sprocket 48 and the chain 49. Under the action of the moving cover 45, the moving cover 45 is driven to move linearly until the clamping mechanism 46 installed on the moving cover 45 grabs the eye-opening tool drill 8;

Poke the furnace eye: After picking up the eye opening tool drill 8, the rotary reducer 31 rotates in the reverse direction, and runs on the track with the ring rail mechanism 1, so that the entire robot is adjusted to the furnace eye position of the furnace body to be opened, and the pitch mechanism 5 is adjusted. Align the eye-opening tool drill 8 grasped by the clamping mechanism 46 with the furnace eye, and then adjust the position of the entire eye-opening tool drill 8 back and forth by the longitudinal moving mechanism 2 and the telescopic arm 4, so that the eye-opening tool drill 8 moves intermittently/reciprocatingly to open it. furnace eye;

A baked robot that realizes the process of blocking eyes:

After the robot picks up the plugging holes and tamping the drill, the "blocking material" is placed on the tray 624, the rotary drive reducer 626 drives the driving turntable 627 to rotate, and cooperates with the pushing cylinder 629 to push the "blocking material" to the feeding Inside the hopper 618, the transmission reducer 614 drives the traveling beam 611 to slide in the guide groove 6121 of the guide mechanism 612 through the active transmission sprocket 616 and the transmission chain 617, and dumps the "blocking material" in the feeding hopper 618 into the furnace eye. Then the longitudinal moving mechanism 2 and the telescopic arm 4 adjust the position of the whole plugging hole tamping drill back and forth, and the "hole plugging material" at the furnace eye is tamped by the tamping drill to seal the furnace hole.

It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components and/or combinations thereof.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the invention unless specifically stated otherwise. Meanwhile, it should be understood that, for the convenience of description, the dimensions of various parts shown in the accompanying drawings are not drawn in an actual proportional relationship. Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the authorized description. In all examples shown and discussed herein, any specific value should be construed as illustrative only and not as limiting. Accordingly, other examples of exemplary embodiments may have different values. It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further discussion in subsequent figures.

In the description of the present invention, it should be understood that orientation words such as "front, rear, top, bottom, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" etc. The orientation or positional relationship is usually based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and these orientations do not indicate and imply the indicated device unless otherwise stated. Or elements must have a specific orientation or be constructed and operated in a specific orientation, so it cannot be construed as a limitation on the protection scope of the present invention; the orientation words "inside and outside" refer to the inside and outside relative to the contour of each component itself.

For ease of description, spatially relative terms, such as "on", "over", "on the surface", "above", etc., may be used herein to describe what is shown in the figures. The spatial positional relationship of one device or feature shown to other devices or features. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or features would then be oriented "below" or "over" the other devices or features under other devices or constructions". Thus, the exemplary term "above" can encompass both an orientation of "above" and "below." The device may also be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that data so used may be interchanged under appropriate circumstances so that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein.

It should be noted that, in the above embodiments, as long as non-contradictory technical solutions can be permuted and combined, those skilled in the art can exhaust all possibilities based on the mathematical knowledge of permutation and combination, so the present invention no longer comprehends the permutation and combination of technical solutions. The solutions are described one by one, but it should be understood that the technical solutions after the arrangement and combination have been disclosed by the present invention.

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. For those skilled in the art, the present utility model may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims (10)

1. A robot that goes out of stove which characterized in that: the furnace eye A-shaped circular track moving mechanism comprises a circular track mechanism (1), a longitudinal moving mechanism (2), a rotating mechanism (3), a telescopic small arm (4) and a pitching mechanism (5), wherein the circular track mechanism (1) is installed on a track of a basic plane, the longitudinal moving mechanism (2) is installed on the circular track mechanism (1), the longitudinal moving mechanism (2) completes the front and back movement along the furnace eye A direction on the circular track mechanism (1), the rotating mechanism (3) is arranged on the longitudinal moving mechanism (2), the front end of the telescopic small arm (4) is hinged to the front end of the rotating mechanism (3), the rear end of the telescopic small arm (4) is hinged to the output end of the pitching mechanism (5), and the pitching mechanism (5) is installed on the rotating mechanism (3).

2. A tapping robot as claimed in claim 1, wherein: the circular rail mechanism (1) comprises a moving platform (11) and a driving assembly (12), the driving assembly (12) is installed at the bottom of the moving platform (11), the driving assembly (12) comprises a motor and a speed reducer (121), a wheel axle box (122) and driving wheels (123), the driving wheels (123) are installed in the wheel axle box (122) in a rotating mode through bearings and rotating shafts, and the motor and the speed reducer (121) are used for driving the driving wheels (123) to rotate.

3. A tapping robot as claimed in claim 2, wherein: indulge and move mechanism (2) including indulging and move platform (21), indulge and move walking wheel (22), indulge and move guide rail (23), indulge and move speed reducer (24), indulge and move drive gear (25) and indulge and move rack (26), indulge and move walking wheel (22) and install on indulging and moving platform (21), indulge and move guide rail (23) of installing two parallel arrangement on moving platform (11), indulge and move rack (26) between two indulging and install between guide rail (23), indulge and move platform (21) and install on indulging and moving guide rail (23) through indulging moving walking wheel (22) cooperation, indulging and moving speed reducer (24) and installing on indulging and moving platform (21), indulging and moving drive gear (25) of installing of moving speed reducer (24), indulging and move drive gear (25) and indulging and move rack (26) meshing installation.

4. A tapping robot as claimed in claim 3, wherein: the slewing mechanism (3) comprises a slewing reducer (31) and a support frame (32), one end of the slewing reducer (31) is connected with the longitudinal moving platform (21), and the other end of the slewing reducer (31) is connected with the support frame (32).

5. A tapping robot as claimed in claim 4, wherein: the telescopic small arm (4) comprises a driving motor (41), a small arm bracket (42), a first guide rail (43), a guide wheel (44), a moving cover (45) and a clamping mechanism (46), first guide rails (43) are respectively arranged on two sides of the small arm support (42), guide wheels (44) are arranged on the movable cover (45), the movable cover (45) is arranged on the first guide rails (43) through the guide wheels (44) in a matching way, press from both sides and get mechanism (46) fixed mounting on removing cover (45), driving sprocket (47) and driven sprocket (48) are installed respectively to the both ends of forearm support (42), and driving motor (41) fixed mounting is at the tip of forearm support (42), and driving motor (41) and driving sprocket (47) cooperation installation, and chain (49) are installed in the cooperation on driving sprocket (47) and driven sprocket (48), and the both ends of chain (49) are fixed mounting respectively on removing cover (45).

6. A tapping robot as claimed in claim 5, wherein: the pitching mechanism (5) comprises a pitching telescopic push rod (51) and a push rod seat (52), the pitching telescopic push rod (51) is installed on a support frame (32) of the slewing mechanism (3) through the push rod seat (52), a front hinge point (53) is arranged at the front end of the telescopic small arm (4), the telescopic small arm (4) is installed in a hinged mode with the support frame (32) of the slewing mechanism (3) through the front hinge point (53), a rear hinge point (54) is arranged at the rear end of the telescopic small arm (4), and the output end of the pitching telescopic push rod (51) is installed in a hinged mode with the rear hinge point (54).

7. A tapping robot as claimed in claim 5 or 6, characterized in that: the clamping mechanism (46) comprises a driving cylinder (461), a tool seat (462) and clamping jaws (464), the front end of the tool seat (462) is internally provided with an outer horn-mouth-shaped taper hole structure, the clamping jaws (464) are arranged on the tool seat (462), and the rear ends of the clamping jaws (464) are hinged to an output end lever of the driving cylinder (461).

8. A tapping robot as claimed in claim 4, wherein: the automatic feeding device is characterized by also comprising a feeding mechanism (6), wherein the feeding mechanism (6) is arranged on the rotary mechanism (3);

the feeding mechanism (6) comprises a transmission mechanism (61) and a rotary bin (62), and the rotary bin (62) is fixedly arranged on the support frame (32);

the conveying mechanism (61) comprises a travelling beam (611), a guiding mechanism (612), a guiding chain wheel (613), a conveying speed reducer (614), a driving conveying chain wheel (616), a conveying chain (617) and a feeding hopper (618), wherein the guiding mechanism (612) is installed on the supporting frame (32), the travelling beam (611) is installed on the guiding mechanism (612) in a sliding mode, the guiding chain wheel (613) and the conveying speed reducer (614) are installed on the supporting frame (32), the driving conveying chain wheel (616) is installed at the output end of the conveying speed reducer (614), the conveying chain (617) is installed in a matched mode with the guiding chain wheel (613) and the driving conveying chain wheel (616) in sequence, two ends of the conveying chain (617) are fixed to the left end and the right end of the travelling beam (611), and the feeding hopper (618) is installed at the right end of the travelling beam (611) in a hinged mode through a feeding hopper hinge seat (619);

the rotary storage bin (62) comprises an inner coaming plate (621), an outer coaming plate (622), a base (623), a material supporting plate (624), a rotary walking mechanism (625) and a material pushing cylinder (629), the rotary storage bin (62) is fixedly arranged on a support frame (32) through the base (623), the inner coaming plate (621), the outer coaming plate (622) and the base (623) form a rotary walking space, the rotary walking mechanism (625) is arranged in the rotary walking space, a plurality of material supporting plates (624) are arranged on the rotary walking mechanism (625), the rotary walking mechanism (625) comprises a plurality of supporting seats (6251), two adjacent supporting seats (6251) establish a hinged relation through a first pin shaft (6252), a rotary walking bearing (6253) is arranged at the upper end of the first pin shaft (6252), the rotary walking bearing (621) rolls along the side wall of the inner coaming plate (6253), and a rotary driving speed reducer (626) is arranged on the base (623), the output end of the rotary driving speed reducer (626) is provided with a driving turntable (627), a plurality of first grooves (628) are processed on the outer wall of the driving turntable (627) in an array mode, the first grooves (628) are matched with first pin shafts (6252) for installation, the material pushing cylinder (629) is installed on the base (623), one end of the walking beam (611) is provided with a limiting block (6110), the limiting block (6110) is in installation relation with the walking beam (611) through a spring, one end of the steel wire rope (6181) is connected to the bottom of the feeding hopper (618), and the other end of the steel wire rope (6181) penetrates through the walking beam (611) and is connected with the limiting block (6110).

9. A tapping robot as claimed in claim 8, wherein: the guide mechanism (612) comprises a guide groove (6121), the guide groove (6121) is of a hollow groove structure, guide wheel sets (6122) are installed on two sides of the guide groove (6121), the walking beam (611) is installed in the guide groove (6121), and the guide wheel sets (6122) are used for supporting the walking beam (611) to slide in the guide groove (6121).

10. A tapping robot as claimed in claim 8, wherein: the support seat (6251) comprises an upper U-shaped frame (62511) and a lower U-shaped frame (62512), a circular cylinder (62513) is installed in the upper U-shaped frame (62511) and the lower U-shaped frame (62512), and the material supporting plate (624) is fixedly installed on the circular cylinder (62513).

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