CN217102057U

CN217102057U - Vanadium nitrogen alloy transport manipulator

Info

Publication number: CN217102057U
Application number: CN202221114378.0U
Authority: CN
Inventors: 洪伟; 李伟业
Original assignee: Xichang Jiuxin Vanadium Titanium Co ltd
Current assignee: Xichang Jiuxin Vanadium Titanium Co ltd
Priority date: 2022-05-11
Filing date: 2022-05-11
Publication date: 2022-08-02
Anticipated expiration: 2032-05-11

Abstract

A vanadium-nitrogen alloy carrying manipulator relates to the technical field of vanadium-nitrogen alloy carrying, and adopts the technical scheme that the manipulator comprises a transverse moving device, a vertical moving device, a longitudinal moving device and an alloy clamp; the transverse moving device comprises a transverse rail and a transverse sliding table, the vertical moving device comprises two parallel vertical rails and a vertical sliding table, the vertical sliding table is provided with a sliding groove in a shape like a Chinese character kou, the longitudinal moving device comprises a longitudinal rail, the alloy fixture comprises a switching body, the switching body is provided with a cylinder, the cylinder is provided with a fixture support, two sides, far away from one end of the cylinder, of the fixture support are hinged with a clamping plate, the clamping plate is hinged with one end of a connecting rod towards one end of the cylinder, and the other end of the connecting rod is hinged with an output shaft of the cylinder. The utility model discloses utilize the splint of lamellar to stretch into in the gap between alloy and the graphite pot to make alloy anchor clamps press from both sides and get the vanadium nitrogen alloy, recycle horizontal, vertical, longitudinal movement device and replace the artifical transportation operation of accomplishing the alloy, improved work efficiency.

Description

Vanadium nitrogen alloy transport manipulator

Technical Field

The utility model relates to a vanadium nitrogen alloy transport technical field especially relates to a vanadium nitrogen alloy transport manipulator.

Background

The vanadium-nitrogen alloy is a microalloy steel additive, and the toughness of steel can be obviously improved by adding a small amount of vanadium-nitrogen alloy, so that the addition amount of vanadium is saved. After the vanadium-nitrogen alloy in the graphite pot is cooled in the cooling section of the pushed slab kiln, the vanadium-nitrogen alloy is generally manually transferred from the graphite pot to a turnover box, but about 30 kg of single alloy body exists, the gap between the alloy and the pot body in the graphite pot is very small, the efficiency of manually carrying the alloy out of the graphite pot by adopting a simple tool is low, and the problems of high labor intensity, safety risk caused by high temperature, dust and other factors exist.

SUMMERY OF THE UTILITY MODEL

Transport the problem of turnover case inefficiency from the graphite pot to the manual work among the prior art scheme with the alloy, the utility model provides a vanadium nitrogen alloy transport manipulator.

The utility model provides a following technical scheme: a vanadium-nitrogen alloy carrying manipulator comprises a transverse moving device, a vertical moving device, a longitudinal moving device and an alloy clamp; the transverse moving device comprises a transverse track arranged on the bracket and a transverse sliding table connected with the transverse track in a sliding way, the vertical moving device comprises two parallel vertical rails arranged on the transverse sliding table and a vertical sliding table arranged between the two vertical rails and connected with the two vertical rails in a sliding manner, the vertical sliding table is provided with a square sliding groove, the longitudinal moving device comprises a longitudinal rail which is connected with the inner wall of the sliding groove in a sliding way, the alloy clamp comprises an adapter arranged at one end of the longitudinal rail, the adapter is provided with a cylinder, a clamp bracket is arranged at one end of the cylinder far away from the switching body, clamping plates are hinged at both sides of one end of the clamp bracket far away from the cylinder, one end of the clamping plate, facing the cylinder, is hinged with one end of a connecting rod, and the other end of the connecting rod is hinged with an output shaft of the cylinder.

Preferably, the transverse rail is provided with a transverse sliding rail and a transmission rack parallel to the transverse sliding rail, and the transverse sliding table is connected with the transverse sliding rail in a sliding manner and provided with a transverse driving motor in transmission connection with the transmission rack.

Preferably, the vertical moving device further comprises two vertical end plates respectively arranged at two ends of the vertical rail, the two vertical rails are connected through the vertical end plates, one is connected with the transverse sliding table and the other is provided with a vertical driving motor, the vertical rail is provided with a vertical sliding rail connected with the vertical sliding table in a sliding manner, a vertical lead screw parallel to the vertical sliding rail is rotatably connected between the two vertical end plates, and the vertical lead screw is in transmission connection with the vertical driving motor and is in threaded connection with the vertical sliding table.

Preferably, vertical mobile device including set up respectively at the vertical end plate at vertical track both ends, a vertical end plate with the switching body coupling, another vertical end plate is provided with vertical driving motor, vertical track be provided with spout sliding connection's vertical slide rail rotates between two vertical end plates and is connected with the vertical lead screw parallel with vertical slide rail, vertical lead screw and vertical driving motor transmission be connected and with vertical slip table threaded connection.

Preferably, the clamp bracket comprises a cylinder connecting plate connected with the cylinder, a pair of parallel side plates arranged on the cylinder connecting plate, and a clamp connecting plate connected between the two side plates.

Preferably, the clamping plate is provided with an array of elliptical holes at one end away from the cylinder.

The utility model has the advantages that: utilize the splint of lamellar to stretch into in the gap between alloy and the graphite pot to make alloy anchor clamps press from both sides and get vanadium nitrogen alloy, recycle horizontal, vertical, longitudinal movement device and replace artifical transport operation of accomplishing the alloy, improved work efficiency.

Drawings

Fig. 1 is a three-dimensional schematic diagram of an embodiment of the present invention.

Fig. 2 is an enlarged view of a portion a of fig. 1.

Fig. 3 is a schematic view of an embodiment of the alloy fixture of the present invention.

Reference numerals: 1-transverse moving means, 11-carriage, 12-transverse rail, 13-transverse sliding table, 14-transverse sliding rail, 15-transmission rack, 16-transverse driving motor, 2-vertical moving means, 21-vertical rail, 22-vertical sliding table, 23-vertical end plate, 24-vertical driving motor, 25-vertical sliding rail, 26-vertical screw rod, 3-longitudinal moving means, 31-longitudinal rail, 32-longitudinal end plate, 33-longitudinal driving motor, 34-longitudinal sliding rail, 35-longitudinal screw rod, 4-alloy clamp, 41-adapter, 42-cylinder, 43-clamp carriage, 431-cylinder connecting plate, 432-side plate, 433-clamp connecting plate, 44-clamping plate, 441-elliptical hole, 442-lower support, 443-upper support, 45-link.

Detailed Description

The embodiments of the present invention will be described in more detail below with reference to the accompanying drawings and reference numerals, so that those skilled in the art can implement the embodiments after studying the specification. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

The utility model provides a vanadium-nitrogen alloy handling manipulator as shown in figures 1-3, which comprises a transverse moving device 1, a vertical moving device 2, a longitudinal moving device 3 and an alloy clamp 4; the transverse moving device 1 comprises a transverse rail 12 arranged on a support 11 and a transverse sliding table 13 connected with the transverse rail 12 in a sliding mode, the vertical moving device 2 comprises two parallel vertical rails 21 arranged on the transverse sliding table 13 and a vertical sliding table 22 arranged between the two vertical rails 21 and connected with the two vertical rails 21 in a sliding mode, the vertical sliding table 22 is provided with a sliding groove in a shape like a Chinese character kou, the longitudinal moving device 3 comprises a longitudinal rail 31 connected with the inner wall of the sliding groove in a sliding mode, the alloy clamp 4 comprises an adapter 41 arranged at one end of the longitudinal rail 31, the adapter 41 is provided with a cylinder 42, one end, far away from the adapter 41, of the cylinder 42 is provided with a clamp support 43, two sides, far away from one end of the cylinder 42, of the clamp support 43 are hinged with clamp plates 44, one end, towards one end of the cylinder 42, of each clamp plate is hinged with one end of a connecting rod 45, and the other end of each connecting rod 45 is hinged with an output shaft of the cylinder 42.

The transverse moving device 1, the vertical moving device 2 and the longitudinal moving device 3 form a three-axis mechanical arm for adjusting the position of the alloy clamp 4, the alloy clamp 4 can be moved to the position right above the graphite pot through the transverse moving device 1 and the longitudinal moving device 2, and then the alloy clamp 4 is moved to the graphite pot through the vertical moving device 2 to clamp the alloy in the graphite pot. Vertical mobile device 2 adopts two vertical tracks 21 to press from both sides vertical slip table 22 in the centre to be provided with the spout of mouth style of calligraphy in vertical slip table 22, vertical track 31 cup joints in the spout with spout sliding connection, with the stability that increases vertical track 31, the action of gravity when the alloy helps increasing the stability of arm when vertical track one end forms the moment of flexure. The alloy clamp 4 comprises an adapter body 41, a cylinder 42, a clamp bracket 43, a clamping plate 44 and a connecting rod 45, wherein the clamping plate 44 is in a thin plate shape and is convenient to extend into a gap between the alloy and the graphite pot, an output shaft of the cylinder 42 is hinged with the clamp bracket 43, the clamping plate 44 and the connecting rod 45 to form a connecting rod structure, and the two clamping plates 44 are clamped or loosened through the extension and contraction of the output shaft of the cylinder.

The utility model discloses at the during operation, can at first control horizontal slip table and slide for horizontal track, remove vertical mobile device, the position of longitudinal movement device and alloy anchor clamps, it slides for vertical slip table to control vertical track again, move the position of alloy anchor clamps directly over the graphite pot, it slides for vertical track to control vertical slip table again, drive longitudinal movement device and alloy anchor clamps move down, make alloy anchor clamps reach alloy department, make two splint insert respectively in a pair of gap between graphite pot and the alloy, restart the cylinder and press from both sides two splint tightly, control vertical slip table shifts up for vertical track, make alloy anchor clamps take out the alloy from the graphite pot, vertical mobile device is controlled again, longitudinal movement device and horizontal mobile device, move the turnover case with the alloy. The position of push pedal kiln when releasing the graphite pot at every turn is unset, and the continuous oxidation attenuation of graphite pot in the use adopts the utility model discloses can overcome the deviation that causes by above-mentioned reason.

Preferably, the transverse rail 12 is provided with a transverse slide rail 14 and a transmission rack 15 parallel to the transverse slide rail 14, and the transverse sliding table 13 is slidably connected with the transverse slide rail 14 and is provided with a transverse driving motor 16 in transmission connection with the transmission rack 15. The transmission rack 15 can be a helical transmission rack, and the transverse driving motor 16 can be provided with a gear meshed with the transmission rack 15 on an output shaft thereof to complete transmission connection. The transverse driving motor 16 can be a servo motor, and the operation of the transverse driving motor is controlled by a motion control card.

Preferably, the vertical moving device 2 further comprises two vertical end plates 23 respectively arranged at two ends of the vertical rail 21, the two vertical rails 21 are connected through the vertical end plates 23, one vertical end plate 23 is connected with the transverse sliding table 13, the other vertical end plate 23 is provided with a vertical driving motor 24, the vertical rail 21 is provided with a vertical sliding rail 25 connected with the vertical sliding table 22 in a sliding manner, a vertical lead screw 26 parallel to the vertical sliding rail 25 is rotatably connected between the two vertical end plates 23, and the vertical lead screw 26 is in transmission connection with the vertical driving motor 24 and is in threaded connection with the vertical sliding table 22.

The vertical driving motor 24 can be a servo motor, and the operation thereof is controlled by a motion control card, and a synchronous belt transmission structure is adopted to drive the vertical screw rod 26 to rotate, so as to drive the vertical sliding table 22 to slide on the vertical sliding rail 25. The synchronous belt transmission structure can obtain accurate transmission ratio, has compact structure and can adapt to severe working conditions.

Preferably, the longitudinal moving device 3 includes longitudinal end plates 32 respectively disposed at two ends of the longitudinal rail 31, one longitudinal end plate 32 is connected to the adaptor 41, the other longitudinal end plate 32 is provided with a longitudinal driving motor 33, the longitudinal rail 31 is provided with a longitudinal sliding rail 34 slidably connected to the sliding groove, a longitudinal screw 35 parallel to the longitudinal sliding rail 34 is rotatably connected between the two longitudinal end plates 32, and the longitudinal screw 35 is in transmission connection with the longitudinal driving motor 33 and in threaded connection with the vertical sliding table 22. The longitudinal driving motor 33 is a servo motor, the operation of which is controlled by a motion control card, and a coupler is adopted to drive the longitudinal screw 35 to rotate, so that the longitudinal rail 31 slides relative to the vertical sliding table 22. The longitudinal driving motor 33 and the alloy clamp 4 are respectively arranged at two ends of the longitudinal rail 31, and the stability of the longitudinal rail 31 is improved.

Preferably, the clamp bracket 43 includes a cylinder connection plate 431 connected to the cylinder 42, a pair of parallel side plates 432 provided on the cylinder connection plate 431, and a clamp connection plate 433 connected between the two side plates 432. Specifically, one end of the side plate 432 away from the air cylinder 42 is hinged with a lower bracket 442 on the clamping plate 44, and an upper bracket 443 of the clamping plate 44 towards one end of the air cylinder 42 is hinged with an output shaft of the air cylinder 42 through a connecting rod 45; the clamp link plate 433 serves to reinforce the connection structure between the two side plates 432. The clamping plate 44 may be provided with two lower brackets 442 hinged to the two side plates 432, respectively, and the number of the upper brackets 443 may also be two and both hinged to the output shaft of the cylinder 42.

Preferably, the clamping plate 44 is provided with an array of oblong holes 441 at an end thereof remote from the cylinder 42. The edges of the elliptical hole 441 may increase the friction between the clamping plate 44 and the alloy when the clamping plate 44 clamps the alloy having an irregular surface.

The foregoing is directed to one or more embodiments of the present invention, which are described in some detail and detail, but are not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The utility model provides a vanadium nitrogen alloy transport manipulator, includes lateral shifting device (1), vertical mobile device (2) and longitudinal movement device (3), its characterized in that: the alloy fixture (4) is also included; the transverse moving device (1) comprises a transverse track (12) arranged on a support (11) and a transverse sliding table (13) connected with the transverse track (12) in a sliding manner, the vertical moving device (2) comprises two parallel vertical tracks (21) arranged on the transverse sliding table (13) and vertical sliding tables (22) arranged between the two vertical tracks (21) and connected with the two vertical tracks (21) in a sliding manner, the vertical sliding tables (22) are provided with sliding grooves in a shape of a Chinese character kou, the longitudinal moving device (3) comprises a longitudinal track (31) connected with the sliding grooves in an inner wall in a sliding manner, the alloy clamp (4) comprises a switching body (41) arranged at one end of the longitudinal track (31), the switching body (41) is provided with an air cylinder (42), one end of the air cylinder (42) far away from the switching body (41) is provided with a clamp support (43), both sides that cylinder (42) one end was kept away from in anchor clamps support (43) all articulate splint (44), splint (44) articulate the one end of connecting rod (45) towards the one end of cylinder (42), the other end of connecting rod (45) is articulated with the output shaft of cylinder (42).

2. The vanadium-nitrogen alloy handling robot of claim 1, wherein: horizontal track (12) be provided with horizontal slide rail (14) and with transmission rack (15) that horizontal slide rail (14) are parallel, horizontal slip table (13) with horizontal slide rail (14) sliding connection just be provided with transmission rack (15) transmission connection's horizontal driving motor (16).

3. The vanadium-nitrogen alloy handling robot of claim 1, wherein: vertical mobile device (2) are still including setting up two vertical end plate (23) at vertical track (21) both ends respectively, and two vertical tracks (21) are connected, one through vertical end plate (23) are connected with horizontal slip table (13), another vertical end plate (23) are provided with vertical driving motor (24), vertical track (21) are provided with vertical slide rail (25) with vertical slip table (22) sliding connection, rotate between two vertical end plate (23) be connected with vertical lead screw (26) that vertical slide rail (25) are parallel, vertical lead screw (26) with vertical driving motor (24) transmission be connected and with vertical slip table (22) threaded connection.

4. The vanadium-nitrogen alloy handling robot of claim 1, wherein: vertical mobile device (3) including setting up vertical end plate (32) at vertical track (31) both ends respectively, a vertical end plate (32) with adaptor body (41) are connected, and another vertical end plate (32) are provided with vertical driving motor (33), vertical track (31) be provided with spout sliding connection's vertical slide rail (34), rotate between two vertical end plates (32) and be connected with vertical lead screw (35) parallel with vertical slide rail (34), vertical lead screw (35) and vertical driving motor (33) transmission be connected and with vertical slip table (22) threaded connection.

5. The vanadium-nitrogen alloy handling robot of claim 1, wherein: the clamp bracket (43) comprises a cylinder connecting plate (431) connected with the cylinder (42), a pair of parallel side plates (432) arranged on the cylinder connecting plate (431), and a clamp connecting plate (433) connected between the two side plates (432).

6. The vanadium-nitrogen alloy handling robot of claim 1, wherein: and one end of the clamping plate (44) far away from the air cylinder (42) is provided with elliptical holes (441) distributed in an array manner.