CN219074361U - Intelligent mechanical arm for replacing long water gap - Google Patents
Intelligent mechanical arm for replacing long water gap Download PDFInfo
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- CN219074361U CN219074361U CN202222897616.6U CN202222897616U CN219074361U CN 219074361 U CN219074361 U CN 219074361U CN 202222897616 U CN202222897616 U CN 202222897616U CN 219074361 U CN219074361 U CN 219074361U
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Abstract
The utility model discloses an intelligent mechanical arm for replacing a long nozzle, which comprises a horizontal rotary motion assembly I, a horizontal rotary motion assembly II, a pitching swinging motion assembly, a rotary motion assembly, a telescopic linear motion assembly, an end pickup assembly and an electric servo control system for controlling the assemblies, wherein the horizontal rotary motion assembly I is provided with a first lifting mechanism, a second lifting mechanism and a first lifting mechanism: executing system instructions, and freely rotating on the installation plane. According to the utility model, the first driving end pickup assembly of the horizontal rotary motion assembly and the second driving end pickup assembly of the horizontal rotary motion assembly rotate in the installation plane, the driving end pickup assembly of the pitching swinging motion assembly swings up and down in the vertical plane, the driving end pickup assembly of the rotary motion assembly rotates around the axial direction of the driving end pickup assembly, the driving end pickup assembly of the telescopic linear motion assembly performs linear reciprocating motion along the central axis of the driving end pickup assembly, and the end pickup assembly drives the long nozzle to realize multi-degree-of-freedom movement through the mutual matching among the assemblies, so that the long nozzle is quickly butted with the water outlet of the ladle.
Description
Technical Field
The utility model relates to the technical field of casting processing, in particular to an intelligent mechanical arm for replacing a long nozzle.
Background
After the molten steel produced by the converter is refined by the refining furnace, the molten steel is cast into billets of different types and specifications. The continuous casting working section is the production procedure of continuously casting refined molten steel into steel billets, and the main equipment comprises a rotary table, a tundish, a crystallizer, a withdrawal and straightening machine and the like
And (3) conveying the ladle filled with refined molten steel to a rotary table, after the rotary table rotates to a pouring position, pouring the molten steel into a tundish, and distributing the molten steel into each crystallizer through a water gap by the tundish. The mold is one of the core devices of the continuous casting machine, which shapes the casting and rapidly solidifies and crystallizes. The withdrawal and straightening machine and the crystallization vibration device act together to withdraw the casting in the crystallizer, and after cooling and electromagnetic stirring, the casting is cut into slabs with a certain length; when molten steel is poured from a ladle to a tundish, in order to avoid oxidization and splashing, a long water gap is arranged at the lower end of a sliding water gap at the bottom of the ladle, one end of the long water gap is connected with a lower water gap, and the other end of the long water gap is inserted into molten steel of the tundish to perform sealing protection pouring.
Disclosure of Invention
The utility model aims to solve the defects in the prior art, and provides an intelligent mechanical arm for replacing a long nozzle.
In order to achieve the above purpose, the present utility model adopts the following technical scheme:
an intelligent mechanical arm for replacing a long water gap comprises a horizontal rotary motion assembly I, a horizontal rotary motion assembly II, a pitching swinging motion assembly, a rotary motion assembly, a telescopic linear motion assembly, an end pick-up assembly and an electric servo control system for controlling the assemblies, wherein the horizontal rotary motion assembly I is provided with a lifting mechanism, a lifting mechanism and a lifting mechanism, and the lifting mechanism is provided with a lifting mechanism, a lifting mechanism and a lifting mechanism, wherein the lifting mechanism is provided with a lifting mechanism, and the lifting mechanism is provided with a lifting mechanism and a lifting mechanism, and is used for lifting the lifting mechanism. Executing a system instruction, and freely rotating on an installation plane;
horizontal rotation motion assembly II: the output end of the horizontal rotary motion assembly II rotates relative to the horizontal rotary motion assembly I;
pitch and roll motion assembly: the second angle between the output end of the pitching swinging motion assembly and the horizontal rotation motion assembly is adjustable;
a rotary motion assembly: the rotary motion assembly performs rotation around the central axis of the rotary motion assembly;
telescoping linear motion assembly: the telescopic linear motion assembly performs reciprocating motion along the central axis of the telescopic linear motion assembly;
an end picking assembly: the device is arranged at the output end of the telescopic linear motion assembly and used for clamping and fixing the long nozzle.
Preferably, the first horizontal rotary motion assembly comprises a first frame assembly, a first rotary assembly, a first transmission assembly and a first driving assembly, wherein the first rotary assembly, the first transmission assembly and the first driving assembly are arranged on the first frame assembly, the first driving assembly drives the first rotary assembly to realize horizontal rotary motion through the first transmission assembly, and the first rotary assembly is connected with the second horizontal rotary motion assembly.
Preferably, the second horizontal rotary motion assembly comprises a second frame assembly connected with the first rotary assembly, the second frame assembly is provided with a second rotary assembly, a second transmission assembly and a second driving assembly respectively, the second driving assembly drives the second rotary assembly through the second transmission assembly to realize horizontal rotary motion, and the second rotary assembly is connected with the pitching swinging motion assembly.
Preferably, the pitching swinging motion assembly comprises a frame assembly III connected with the rotating assembly II, the frame assembly III is provided with a rotating assembly III, a transmission assembly III and a driving assembly III respectively, the driving assembly III drives the rotating assembly III to rotate in a vertical plane through the transmission assembly III, and the rotating assembly III is connected with the rotary motion assembly.
Preferably, the rotary motion assembly comprises a frame assembly four connected with a rotary assembly three, the frame assembly four is provided with a rotary assembly four, a transmission assembly four and a driving assembly four respectively, the driving assembly four drives the rotary assembly four to rotate around the central axis thereof through the transmission assembly four, and the rotary assembly four is connected with the telescopic linear motion assembly.
Preferably, the telescopic linear motion assembly comprises a frame assembly five connected with a rotating assembly four, a guide assembly, a power assembly, a transmission assembly five and a driving assembly five are respectively installed on the frame assembly five, a moving assembly is slidably connected in the guide assembly, the driving assembly five drives the power assembly to work through the transmission assembly five, the power assembly drives the moving assembly to linearly move along the axis direction of the moving assembly, and the end part of the moving assembly is connected with the end picking assembly.
Preferably, the end picking assembly comprises a quick-change mechanism and an argon gas butt joint device arranged on the quick-change mechanism, the quick-change mechanism is fixedly connected with the moving assembly through a quick-change bolt, a positioning device for fixing the long water gap is arranged at the end part of the quick-change mechanism, and the argon gas butt joint device is in quick butt joint communication with an air inlet of the long water gap.
Preferably, the first rotating assembly, the second rotating assembly, the third rotating assembly and the fourth rotating assembly comprise but are not limited to gear meshing transmission, synchronous pulley transmission and V-ribbed belt transmission, and the power assembly comprises but is not limited to screw transmission, belt transmission or gear-rack transmission.
Preferably, the guide assembly is a ball bushing guide assembly, a guide assembly in the form of a guide wheel group formed by a guide wheel and a guide shaft, or a linear guide rail guide assembly.
Preferably, the first rotating component, the second rotating component, the third rotating component, the fourth rotating component and the moving component are respectively provided with a zero point position and a displacement sensor.
Compared with the prior art, the utility model has the beneficial effects that: the utility model has simple structure, the first driving end pickup assembly of the horizontal rotary motion assembly and the second driving end pickup assembly of the horizontal rotary motion assembly rotate in the installation plane, the driving end pickup assembly of the pitching swinging motion assembly swings up and down in the vertical plane, the driving end pickup assembly of the revolving motion assembly rotates around the axial direction of the driving end pickup assembly, the driving end pickup assembly of the telescopic linear motion assembly performs linear reciprocating motion along the central axis of the driving end pickup assembly, and the end pickup assembly drives the long nozzle to realize multi-degree-of-freedom movement through the mutual matching among the assemblies, so that the long nozzle is quickly butted with the water outlet of the ladle.
Drawings
In order to more particularly and intuitively illustrate an embodiment of the present utility model or a technical solution in the prior art, a brief description of the drawings is provided below, which are required to be used in the description of the embodiment or the prior art.
FIG. 1 is a schematic diagram of a structure according to the present utility model;
FIG. 2 is another directional view of FIG. 1;
fig. 3 is a schematic structural view of the telescopic linear motion assembly.
In the figure: a first horizontal rotary motion assembly 100, a first frame assembly 101, a first rotary assembly 102, a first transmission assembly 103, a first driving assembly 104, a second horizontal rotary motion assembly 200, a second frame assembly 201, a second rotary assembly 202, a second transmission assembly 203, a second driving assembly 204, a pitching motion assembly 300, a third frame assembly 301, a third rotary assembly 302, a third transmission assembly 303, a third driving assembly 304, a revolving motion assembly 400, a fourth frame assembly 401, a fourth rotary assembly 402, a fourth transmission assembly 403, a fourth driving assembly 404, a telescopic linear motion assembly 500, a fifth frame assembly 501, a guide assembly 502, a moving assembly 503, a power assembly 504, a fifth transmission assembly 505, a fifth driving assembly 506, an end picking assembly 600, a quick-change bolt 601, a quick-change mechanism 602, an argon docking device 603, and a positioning device 604.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments.
Referring to fig. 1-3, an intelligent mechanical arm for replacing a long nozzle comprises a first horizontal rotary motion assembly 100, a second horizontal rotary motion assembly 200, a pitching oscillating motion assembly 300, a revolving motion assembly 400, a telescopic linear motion assembly 500, an end picking assembly 600 and an electric servo control system for controlling the above components, wherein the first horizontal rotary motion assembly 100: executing a system instruction, and freely rotating on an installation plane;
horizontal rotation motion assembly two 200: the output end of the horizontal rotary motion assembly II 200 rotates relative to the horizontal rotary motion assembly I100;
pitch-and-roll motion assembly 300: the angle between the output end of the pitching swinging motion assembly 300 and the second horizontal rotation motion assembly 200 is adjustable;
swivel motion assembly 400: mounted at the output end of the pitch swing assembly 300, the swing assembly 400 performs rotation about its central axis;
telescoping linear motion assembly 500: the telescopic linear motion assembly 500 is installed at the output end of the rotary motion assembly 400 to perform a reciprocating motion along the central axis thereof;
the end-effector assembly 600: and the long nozzle is arranged at the output end of the telescopic linear motion assembly 500 and used for clamping and fixing the long nozzle.
In this embodiment, the first horizontal rotary motion assembly 100 includes a first frame assembly 101, a first rotary assembly 102 mounted on the first frame assembly 101, a first transmission assembly 103, and a first driving assembly 104, wherein the first driving assembly 104 drives the first rotary assembly 102 to implement horizontal rotary motion through the first transmission assembly 103, and the first rotary assembly 102 is connected to the second horizontal rotary motion assembly 200.
In this embodiment, the second horizontal rotation motion component 200 includes a second frame component 201 connected to the first rotation component 102, the second frame component 201 is provided with a second rotation component 202, a second transmission component 203 and a second driving component 204, the second driving component 204 drives the second rotation component 202 through the second transmission component 203 to realize horizontal rotation motion, and the second rotation component 202 is connected to the pitching swinging motion component 300.
In this embodiment, the pitching oscillating motion assembly 300 includes a third frame assembly 301 connected to the second rotation assembly 202, a third rotation assembly 302, a third transmission assembly 303 and a third driving assembly 304 are respectively disposed on the third frame assembly 301, the third driving assembly 304 drives the third rotation assembly 302 to rotate in a vertical plane through the third transmission assembly 303, and the third rotation assembly 302 is connected to the revolving motion assembly 400.
In this embodiment, the rotary motion assembly 400 includes a frame assembly four 401 connected to the rotary assembly three 302, and the frame assembly four 401 is respectively provided with a rotary assembly four 402, a transmission assembly four 403 and a driving assembly four 404, where the driving assembly four 404 drives the rotary assembly four 402 to rotate around its central axis through the transmission assembly four 403, and the rotary assembly four 402 is connected to the telescopic linear motion assembly 500.
In this embodiment, the telescopic linear motion assembly 500 includes a frame assembly five 501 connected to the rotation assembly four 402, a guide assembly 502, a power assembly 504, a transmission assembly five 505 and a driving assembly five 506 are respectively mounted on the frame assembly five 501, a moving assembly 503 is slidably connected in the guide assembly 502, the driving assembly five 506 drives the power assembly 504 to work through the transmission assembly five 505, the power assembly 504 drives the moving assembly 503 to linearly move along the axial direction thereof, and the end of the moving assembly 503 is connected with the end picking assembly 600.
In this embodiment, the end-picking assembly 600 includes quick-change mechanism 602 and locates the argon gas interfacing apparatus 603 on it, quick-change mechanism 602 realizes fixed linking to each other with movable assembly 503 through quick-change bolt 601, can dismantle quick-change mechanism 602 and movable assembly 503 through pulling out quick-change bolt 601, in quick-change mechanism 602 use, under the circumstances that appears damaging or wearing, replace and maintain, quick-change mechanism 602's tip is installed and is used for fixing the positioner 604 of long mouth of a river, argon gas interfacing apparatus 603 and long mouth of a river air inlet quick butt joint intercommunication, argon gas interfacing apparatus 603 links to each other with argon gas supply system, after the air inlet butt joint on argon gas interfacing apparatus 603 and long mouth of a river is accomplished, argon gas can blow to inside the long mouth of a river, oxygen in the isolated air, avoid long mouth of a river and oxygen contact oxidation.
In this embodiment, rotating assemblies one 102, two 202, three 302, and four 402 include, but are not limited to, a geared drive, a synchronous pulley drive, a V-ribbed belt drive, and power assembly 504 includes, but is not limited to, a lead screw drive, a belt drive, or a rack and pinion drive.
In this embodiment, the guide assembly 502 is a ball bushing guide assembly, a guide assembly in the form of a guide wheel set formed by a guide wheel and a guide shaft, or a linear guide assembly.
In this embodiment, the first rotating component 102, the second rotating component 202, the third rotating component 302, the fourth rotating component 402 and the moving component 503 are respectively provided with a zero point and a displacement sensor, the zero point is used for realizing quick resetting, and the displacement sensor is used for feeding back the motion state and the position of each component.
In the scheme, the first horizontal rotary motion assembly 100 and the second horizontal rotary motion assembly 200 drive end pickup assembly 600 rotate in an installation plane, the pitching swinging motion assembly 300 drive end pickup assembly 600 swings up and down in a vertical plane, the swinging motion assembly 400 drive end pickup assembly 600 rotates around the axial direction of the driving end pickup assembly 600, the telescopic linear motion assembly 500 drive end pickup assembly 600 performs linear reciprocating motion along the central axis of the driving end pickup assembly 600, and through the mutual matching among the assemblies, the end pickup assembly 600 drives a long nozzle to realize multi-degree-of-freedom movement, and the long nozzle is quickly butted with a drain nozzle of a ladle.
The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.
Claims (10)
1. An intelligent mechanical arm for replacing a long nozzle comprises a horizontal rotary motion assembly I (100), a horizontal rotary motion assembly II (200), a pitching swinging motion assembly (300), a rotary motion assembly (400), a telescopic linear motion assembly (500), an end pick-up assembly (600) and an electric servo control system for controlling the components, and is characterized in that the horizontal rotary motion assembly I (100): executing a system instruction, and freely rotating on an installation plane;
horizontal rotation motion assembly two (200): the output end of the horizontal rotary motion assembly II (200) rotates relative to the horizontal rotary motion assembly I (100);
pitch and yaw motion assembly (300): the output end of the pitching swinging motion assembly (300) and the second horizontal rotation motion assembly (200) are arranged at the output end of the second horizontal rotation motion assembly (200), and the included angle between the output end and the second horizontal rotation motion assembly (200) is adjustable;
a rotary motion assembly (400): the rotary motion assembly (400) is arranged at the output end of the pitching oscillating motion assembly (300) and performs rotation around the central axis;
telescoping linear motion assembly (500): the telescopic linear motion assembly (500) is arranged at the output end of the rotary motion assembly (400) and performs reciprocating motion along the central axis of the telescopic linear motion assembly;
an end-effector assembly (600): and the long nozzle is arranged at the output end of the telescopic linear motion assembly (500) and used for clamping and fixing the long nozzle.
2. The intelligent mechanical arm for replacing a long nozzle according to claim 1, wherein the horizontal rotary motion assembly 1 (100) comprises a frame assembly 1 (101), a rotary assembly first (102), a transmission assembly first (103) and a driving assembly first (104) which are mounted on the frame assembly first (101), the driving assembly first (104) drives the rotary assembly first (102) through the transmission assembly first (103) to realize horizontal rotary motion, and the rotary assembly first (102) is connected with the horizontal rotary motion assembly second (200).
3. The intelligent mechanical arm for replacing a long nozzle according to claim 2, wherein the second horizontal rotary motion assembly (200) comprises a second frame assembly (201) connected with the first rotary assembly (102), the second frame assembly (201) is respectively provided with a second rotary assembly (202), a second transmission assembly (203) and a second driving assembly (204), the second driving assembly (204) drives the second rotary assembly (202) through the second transmission assembly (203) to realize horizontal rotary motion, and the second rotary assembly (202) is connected with the pitching oscillating motion assembly (300).
4. A smart mechanical arm for replacing a long nozzle according to claim 3, wherein the pitching swinging motion assembly (300) comprises a frame assembly three (301) connected with a rotation assembly two (202), the frame assembly three (301) is respectively provided with a rotation assembly three (302), a transmission assembly three (303) and a driving assembly three (304), the driving assembly three (304) drives the rotation assembly three (302) to rotate in a vertical plane through the transmission assembly three (303), and the rotation assembly three (302) is connected with a slewing motion assembly (400).
5. The intelligent mechanical arm for replacing a long nozzle according to claim 4, wherein the rotary motion assembly (400) comprises a frame assembly four (401) connected with a rotary assembly three (302), the frame assembly four (401) is respectively provided with a rotary assembly four (402), a transmission assembly four (403) and a driving assembly four (404), the driving assembly four (404) drives the rotary assembly four (402) to rotate around the central axis through the transmission assembly four (403), and the rotary assembly four (402) is connected with the telescopic linear motion assembly (500).
6. The intelligent mechanical arm for replacing a long nozzle according to claim 5, wherein the telescopic linear motion assembly (500) comprises a frame assembly five (501) connected with a rotating assembly four (402), a guide assembly (502), a power assembly (504), a transmission assembly five (505) and a driving assembly five (506) are respectively installed on the frame assembly five (501), a moving assembly (503) is slidably connected in the guide assembly (502), the driving assembly five (506) drives the power assembly (504) to work through the transmission assembly five (505), the power assembly (504) drives the moving assembly (503) to linearly move along the axis direction of the moving assembly, and the end of the moving assembly (503) is connected with the end picking assembly (600).
7. The intelligent mechanical arm for replacing a long nozzle according to claim 6, wherein the end picking assembly (600) comprises a quick-change mechanism (602) and an argon gas butt joint device (603) arranged on the quick-change mechanism (602), the quick-change mechanism (602) is fixedly connected with the moving assembly (503) through a quick-change bolt (601), a positioning device (604) for fixing the long nozzle is arranged at the end part of the quick-change mechanism (602), and the argon gas butt joint device (603) is in quick butt joint communication with an air inlet of the long nozzle.
8. The intelligent robotic arm for replacing a long nozzle of claim 7, wherein the first rotating assembly (102), second rotating assembly (202), third rotating assembly (302) and fourth rotating assembly (402) include, but are not limited to, a gear mesh drive, a synchronous pulley drive, a v-ribbed belt drive, and the power assembly (504) includes, but is not limited to, a lead screw drive, a belt drive, or a rack and pinion drive.
9. An intelligent mechanical arm for changing a long nozzle according to claim 8, characterized in that the guiding assembly (502) is a guiding assembly in the form of a guiding wheel set formed by a ball bushing guiding assembly, a guiding wheel and a guiding shaft or a linear guiding rail guiding assembly.
10. The intelligent mechanical arm for replacing a long nozzle according to claim 9, wherein zero points and displacement sensors are arranged on the first rotating component (102), the second rotating component (202), the third rotating component (302), the fourth rotating component (402) and the moving component (503).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222897616.6U CN219074361U (en) | 2022-11-01 | 2022-11-01 | Intelligent mechanical arm for replacing long water gap |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222897616.6U CN219074361U (en) | 2022-11-01 | 2022-11-01 | Intelligent mechanical arm for replacing long water gap |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219074361U true CN219074361U (en) | 2023-05-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222897616.6U Active CN219074361U (en) | 2022-11-01 | 2022-11-01 | Intelligent mechanical arm for replacing long water gap |
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| Country | Link |
|---|---|
| CN (1) | CN219074361U (en) |
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2022
- 2022-11-01 CN CN202222897616.6U patent/CN219074361U/en active Active
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