CN218747719U - Double-shaft holding type slag dragging robot - Google Patents
Double-shaft holding type slag dragging robot Download PDFInfo
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- CN218747719U CN218747719U CN202223131011.2U CN202223131011U CN218747719U CN 218747719 U CN218747719 U CN 218747719U CN 202223131011 U CN202223131011 U CN 202223131011U CN 218747719 U CN218747719 U CN 218747719U
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- scraper
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- connecting rod
- driving shaft
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Abstract
The utility model discloses a double-shaft holding type slag dragging robot, belonging to the technical field of slag dragging equipment, comprising a holding type gripper assembly and a running mechanism, wherein the running mechanism is arranged on a base, and the holding type gripper assembly is arranged at one end of the running mechanism; the method is characterized in that: the clasping type gripper assembly comprises a first scraper and a second scraper which can be butted together, and the first scraper and the second scraper form a box-type container with an opening at the upper part after being closed; the first scraper blade and the second scraper blade can both realize 180-degree rotation; the first scraper is fixed on the first driving shaft, and the second scraper is fixed on the second driving shaft; the first driving shaft and the second driving shaft synchronously rotate in opposite directions to drive the first scraper and the second scraper to synchronously rotate in opposite directions; the utility model can enlarge the slag dragging range and realize slag dragging within 360 degrees; the flexibility ratio of tongs assembly can be improved, the adjustment of dragging for the sediment position among the sediment process is dragged for in the reduction, improves and drags for sediment accuracy and drags for the sediment effect to drag for sediment efficiency has been improved.
Description
Technical Field
The utility model relates to a biax is closed and is embraced formula drag for sediment robot belongs to and drags for sediment equipment technical field.
Background
When molten iron is melted, a large amount of dross is generated in the melting furnace, and the dross needs to be fished out in order not to affect the quality of the molten iron in the operation process. At present the internal casting trade is dragged for the sediment operation and is had the manual work to drag for the sediment and machinery to drag for the sediment, and traditional manual work is dragged for the sediment worker and is worn protection protective equipment short range from standing at the fire door, and fork toward the stove outside with long iron and choose the sediment, and the manual work is dragged for the sediment security and is low, and is inefficient, and can the adhesion take away a lot of molten irons when choosing the sediment, causes the waste. Therefore, with the continuous development of the technology, a mechanical slag dragging machine gradually appears.
The tongs of machinery dragveyer includes around the horizontal axis rotatory and around vertical axis rotation two kinds, and the dragveyer of two kinds of forms respectively has the advantage, and the enterprise carries out corresponding selection according to the demand difference, and wherein the tongs is around vertical axis rotation's dragveyer, and the structure of its tongs assembly is grabbed including fixed grabbing and rotating, relies on rotating the rotation of grabbing to realize opening and shutting of tongs assembly, and the dragveyer of this kind of form exposes following problem gradually in actual production: on one hand, the opening range of the gripper assembly is 180 degrees, the slag dragging range is limited when slag is dragged, and slag exceeding the area beyond the range of 180 degrees needs to be dragged by other rotating mechanisms; on the other hand, the flexibility ratio of tongs assembly is relatively poor, when resulting in dragging for the sediment operation, need drag for the sediment position through adjusting the difference, just can accurate realization drag for the sediment, drag for sediment efficiency lower to drag for the sediment effect also relatively poor.
In view of the above, the prior art is obviously inconvenient and disadvantageous in practical use, and needs to be improved.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the utility model is to provide a double-shaft holding type slag dragging robot, which can enlarge the slag dragging range and realize slag dragging within 360 degrees; the flexibility of tongs assembly can be improved, the adjustment of dragging for the sediment position among the reduction dragging for the sediment in-process improves and drags for sediment accuracy and drags for the sediment effect to drag for the sediment efficiency has been improved.
For solving the technical problem, the utility model discloses a following technical scheme: a double-shaft cohesion type slag fishing robot comprises a cohesion type gripper assembly and a running mechanism, wherein the running mechanism is arranged on a base, and the cohesion type gripper assembly is arranged at one end of the running mechanism; the method is characterized in that: the closed holding type gripper assembly comprises a first scraper blade and a second scraper blade which can be butted together, and the first scraper blade and the second scraper blade form a box-type container with an opening at the upper part after being closed;
the first scraper blade and the second scraper blade can both realize 180-degree rotation; the first scraper is fixed on the first driving shaft, and the second scraper is fixed on the second driving shaft; the first driving shaft and the second driving shaft synchronously rotate in the opposite direction to drive the first scraper and the second scraper to synchronously rotate in the opposite direction.
Furthermore, a slewing bearing is arranged on the base, and a slewing seat is arranged on the slewing bearing;
the operating mechanism comprises a large arm and a small arm, and the large arm is hinged on the rotary seat;
the front end of forearm is articulated to have the connecting seat, and the connecting seat is the square tube structure of vertical setting, and formula tongs assembly is installed in the lower extreme of connecting seat in embracing.
Furthermore, the upper ends of the first driving shaft and the second driving shaft extend into the connecting seat, and the first driving shaft and the second driving shaft are rotatably connected with the bottom of the connecting seat.
Furthermore, the slewing bearing is connected with a first servo motor, and the slewing bearing is driven by the first servo motor to drive the slewing seat to rotate.
Furthermore, a second servo motor is installed on the rotary seat, and the large arm is connected with the second servo motor through a rotary support.
Further, install third servo motor and fourth servo motor in the connecting seat, the upper end of first drive shaft is passed through the shaft coupling and is connected with third servo motor's output shaft transmission, and the upper end of second drive shaft is passed through the shaft coupling and is connected with fourth servo motor's output shaft transmission.
Furthermore, the small arm is provided with a hinged part, and the distance from the hinged part to the front end of the small arm is greater than that from the hinged part to the rear end of the small arm; the hinge part is hinged with the upper end of the large arm through a hinge shaft; the rear end of the small arm is hinged with the upper end of the pull rod, and the lower end of the pull rod is hinged on the rotary seat.
The balance mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod, the second connecting rod is triangular, three connecting parts are arranged at three corners of the second connecting rod, the three connecting parts are a front connecting part, a rear connecting part and a middle connecting part respectively, and the second connecting rod is rotatably arranged on a hinge shaft at the hinge joint of the large arm and the small arm through the middle connecting part; the front connecting part of the second connecting rod is hinged with the upper end of the first connecting rod, and the first connecting rod is hinged on the connecting seat; the rear connecting part of the second connecting rod is hinged with the upper end of the third connecting rod, and the third connecting rod is hinged on the rotary seat.
Furthermore, the large arm, the small arm, the pull rod and the rotary seat form a four-bar linkage together.
The utility model adopts the above technical scheme after, compare with prior art, have following advantage:
the utility model adopts double-shaft drive to realize the opening and closing of the gripper assembly, the two scraping plates can reversely realize 180-degree rotation, the slag dragging range is enlarged, and slag dragging within 360-degree range can be realized; the flexibility ratio of tongs assembly can be improved, the adjustment of dragging for the sediment position among the sediment process is dragged for in the reduction, improves and drags for sediment accuracy and drags for the sediment effect to drag for sediment efficiency has been improved.
The present invention will be described in detail with reference to the accompanying drawings and examples.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
fig. 2 is a top view of the present invention;
fig. 3 is a partial schematic view of the present invention.
In the figure, the position of the upper end of the main shaft,
1-a first scraper, 2-a second scraper, 3-a first driving shaft, 4-a second driving shaft, 5-a connecting seat, 6-a big arm, 7-a small arm, 71-a hinging part, 8-a pull rod, 9-a first servo motor, 10-a slewing bearing, 11-a second servo motor, 12-a base, 13-a slewing seat, 14-a first connecting rod, 15-a second connecting rod, 16-a third connecting rod, 17-a third servo motor and 18-a fourth servo motor.
Detailed Description
In order to clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will be described with reference to the accompanying drawings.
Examples
As shown in fig. 1-3 together, the utility model provides a double-shaft embracing type slag fishing robot, which comprises an embracing type gripper assembly, a running mechanism driving the embracing type gripper assembly to move in multiple directions, and a balance mechanism making the embracing type gripper assembly keep vertical in the moving process, wherein the running mechanism is arranged on a base 12, and the embracing type gripper assembly is arranged at one end of the running mechanism; one end of the balancing mechanism is connected with the embracing type gripper assembly, the other end of the balancing mechanism is connected with the base 12, and the middle part of the balancing mechanism is connected with the operating mechanism.
The base 12 is fixed on the ground, the slewing bearing 10 is arranged on the base 12, and the slewing seat 13 is arranged on the slewing bearing 10; the slewing bearing 10 is connected with the first servo motor 9, and the slewing bearing 10 is driven by the first servo motor 9 to drive the slewing seat 13 to rotate, so that the slag conveyor can rotate 360 degrees.
The operating mechanism comprises a large arm 6 and a small arm 7, the large arm 6 is hinged on a rotary seat 13 and is connected with a second servo motor 11 through a rotary support, and the second servo motor 11 is installed on the rotary seat 13 and drives the large arm 6 to rotate through the second servo motor 11; the small arm 7 is provided with a hinge part 71, and the distance from the hinge part 71 to the front end of the small arm 7 is larger than that from the hinge part 71 to the rear end of the small arm 7; the small arm 7 bends downwards from the hinge part 71 to two ends, so that the small arm 7 is in a shape of an unequal obtuse angle; the hinge part 71 is hinged with the upper end of the large arm 6 through a hinge shaft; the rear end of the small arm 7 is hinged with the upper end of the pull rod 8, the lower end of the pull rod 8 is hinged on the rotary seat 13, the installation height of the hinged point of the pull rod 8 on the rotary seat 3 from the ground is determined according to actual requirements, and the embracing type gripper assembly can reach different gripping heights.
The front end of forearm 7 is articulated with connecting seat 5, and connecting seat 5 is the square barrel structure of vertical setting, and formula tongs assembly is installed in the lower extreme of connecting seat 5 in a closed manner.
The large arm 6, the small arm 7, the pull rod 8 and the rotary base 13 together form a four-bar linkage mechanism, and the four-bar linkage mechanism drives the clasping type gripper assembly to move up and down and back and forth under the driving of the second servo motor 11.
The balance mechanism comprises a first connecting rod 14, a second connecting rod 15 and a third connecting rod 16, the second connecting rod 15 is triangular, three corner parts of the second connecting rod 15 are three connecting parts which are respectively a front connecting part, a rear connecting part and a middle connecting part, and the second connecting rod 15 is rotatably arranged on a hinge shaft at the hinge joint of the large arm 6 and the small arm 7 through the middle connecting part; the front connecting part of the second connecting rod 15 is hinged with the upper end of the first connecting rod 14, and the first connecting rod 14 is hinged on the connecting seat 5; the rear connecting part of the second connecting rod 15 is hinged with the upper end of a third connecting rod 16, and the third connecting rod 16 is hinged on the rotary seat 13.
And the first servo motor 9 and the second servo motor 11 are both connected with a control system of the slag conveyor.
The clasping type gripper assembly comprises a first scraper plate 1 and a second scraper plate 2 which can be butted together, and a box-type container with an opening at the upper part is formed after the first scraper plate 1 and the second scraper plate 2 are closed so as to contain the fished slag; the first scraper plate 1 and the second scraper plate 2 can rotate 180 degrees, so that the maximum opening degree of the close-holding type grab handle assembly reaches 360 degrees, and the slag fishing range is enlarged; the first scraper 1 is fixed on a first driving shaft 3, and the second scraper 2 is fixed on a second driving shaft 4; the first driving shaft 3 and the second driving shaft 4 synchronously rotate in the opposite direction to drive the first scraper plate 1 and the second scraper plate 2 to synchronously rotate in the opposite direction, so that the embracing type gripper assembly is opened and closed, and accordingly slag fishing is achieved.
Further, the first driving shaft 3 and the second driving shaft 4 are both vertically arranged, the upper ends of the first driving shaft 3 and the second driving shaft 4 extend into the connecting seat 5, and the first driving shaft 3 and the second driving shaft 4 are rotatably connected with the bottom of the connecting seat 5; install third servo motor 17 and fourth servo motor 18 in the connecting seat 5, the upper end of first drive shaft 3 is connected with the output shaft transmission of third servo motor 17 through the shaft coupling, and the upper end of second drive shaft 4 is connected with the output shaft transmission of fourth servo motor 18 through the shaft coupling.
The third servo motor 17 and the fourth servo motor 18 are both connected with a control system of the slag conveyor.
The utility model discloses a theory of operation:
when scum in the furnace is fished, the first servo motor drives the rotary seat to rotate by driving the rotary support, so that the running mechanism and the close-holding type gripper assembly rotate by 360 degrees together.
The second servo motor drives the large arm to rotate, and the embracing type gripper assembly is driven by a four-bar mechanism formed by the large arm, the small arm, the pull rod and the rotary seat to move up and down and back and forth.
The third servo motor and the fourth servo motor drive the first driving shaft and the second driving shaft to synchronously and reversely rotate to drive the first scraper and the second scraper to synchronously and oppositely rotate, so that the close of the clasping type gripper assembly is realized, and the slag is fished.
The utility model discloses a four-bar linkage that big arm, forearm, pull rod and revolving bed constitute jointly drives and closes and reciprocates around embracing formula tongs assembly, operates steadily, and the action is nimble, easy operation.
The utility model discloses balance mechanism's setting can be at the operating device action in-process, through the linkage of first connecting rod, second connecting rod, third connecting rod, guarantees to close formula tongs assembly and remove the in-process and keep the vertical state all the time to guarantee the accuracy of snatching.
The above description is illustrative of the best mode contemplated for carrying out the present invention and the details not specifically mentioned are within the common general knowledge of those skilled in the art. The protection scope of the present invention is subject to the content of the claims, and any equivalent transformation based on the technical teaching of the present invention is also within the protection scope of the present invention.
Claims (9)
1. A double-shaft cohesion type slag fishing robot comprises a cohesion type gripper assembly and a running mechanism, wherein the running mechanism is arranged on a base (12), and the cohesion type gripper assembly is arranged at one end of the running mechanism; the method is characterized in that: the clasping type gripper assembly comprises a first scraper (1) and a second scraper (2) which can be butted together, and the first scraper (1) and the second scraper (2) form a box-type container with an upper opening after being closed;
the first scraper (1) and the second scraper (2) can both realize 180-degree rotation; the first scraper (1) is fixed on the first driving shaft (3), and the second scraper (2) is fixed on the second driving shaft (4); the first driving shaft (3) and the second driving shaft (4) synchronously rotate in the opposite direction to drive the first scraper (1) and the second scraper (2) to synchronously rotate in the opposite direction.
2. The double-shaft cohesion type slag fishing robot according to claim 1, characterized in that: a slewing bearing (10) is arranged on the base (12), and a slewing seat (13) is arranged on the slewing bearing (10);
the operating mechanism comprises a large arm (6) and a small arm (7), and the large arm (6) is hinged on the rotary seat (13);
the front end of forearm (7) articulates there is connecting seat (5), and connecting seat (5) are the square tubular structure of vertical setting, and formula tongs assembly is installed in the lower extreme of connecting seat (5) to embrace.
3. The double-shaft embracing type slag dragging robot according to claim 2, characterized in that: the upper ends of the first driving shaft (3) and the second driving shaft (4) extend into the connecting seat (5), and the first driving shaft (3) and the second driving shaft (4) are rotatably connected with the bottom of the connecting seat (5).
4. The double-shaft embracing type slag dragging robot according to claim 2, characterized in that: slewing bearing (10) are connected with first servo motor (9), drive slewing bearing (10) through first servo motor (9) and drive revolving bed (13) and rotate.
5. The double-shaft embracing type slag dragging robot according to claim 2, characterized in that: and a second servo motor (11) is installed on the rotary seat (13), and the large arm (6) is connected with the second servo motor (11) through a rotary support.
6. The double-shaft embracing type slag dragging robot according to claim 2, characterized in that: install third servo motor (17) and fourth servo motor (18) in connecting seat (5), the upper end of first drive shaft (3) is connected with the output shaft transmission of third servo motor (17) through the shaft coupling, and the upper end of second drive shaft (4) is connected with the output shaft transmission of fourth servo motor (18) through the shaft coupling.
7. The double-shaft embracing type slag dragging robot according to claim 2, characterized in that: the small arm (7) is provided with a hinge part (71), and the distance from the hinge part (71) to the front end of the small arm (7) is greater than the distance from the hinge part (71) to the rear end of the small arm (7); the hinge part (71) is hinged with the upper end of the large arm (6) through a hinge shaft; the rear end of the small arm (7) is hinged with the upper end of the pull rod (8), and the lower end of the pull rod (8) is hinged on the rotary seat (13).
8. The double-shaft cohesion type slag fishing robot according to claim 2, characterized in that: the balance mechanism comprises a first connecting rod (14), a second connecting rod (15) and a third connecting rod (16), the second connecting rod (15) is triangular, three corner parts of the second connecting rod (15) are three connecting parts which are respectively a front connecting part, a rear connecting part and a middle connecting part, and the second connecting rod (15) is rotatably arranged on a hinge shaft at the hinge joint of the large arm (6) and the small arm (7) through the middle connecting part; the front connecting part of the second connecting rod (15) is hinged with the upper end of the first connecting rod (14), and the first connecting rod (14) is hinged on the connecting seat (5); the rear connecting part of the second connecting rod (15) is hinged with the upper end of a third connecting rod (16), and the third connecting rod (16) is hinged on the rotary seat (13).
9. The double-shaft embracing type slag dragging robot according to claim 7, wherein: the large arm (6), the small arm (7), the pull rod (8) and the rotary seat (13) jointly form a four-bar mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223131011.2U CN218747719U (en) | 2022-11-24 | 2022-11-24 | Double-shaft holding type slag dragging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223131011.2U CN218747719U (en) | 2022-11-24 | 2022-11-24 | Double-shaft holding type slag dragging robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218747719U true CN218747719U (en) | 2023-03-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223131011.2U Active CN218747719U (en) | 2022-11-24 | 2022-11-24 | Double-shaft holding type slag dragging robot |
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| Country | Link |
|---|---|
| CN (1) | CN218747719U (en) |
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- 2022-11-24 CN CN202223131011.2U patent/CN218747719U/en active Active
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