WO2018049999A1 - 金属液清渣机械手 - Google Patents

金属液清渣机械手 Download PDF

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Publication number
WO2018049999A1
WO2018049999A1 PCT/CN2017/100408 CN2017100408W WO2018049999A1 WO 2018049999 A1 WO2018049999 A1 WO 2018049999A1 CN 2017100408 W CN2017100408 W CN 2017100408W WO 2018049999 A1 WO2018049999 A1 WO 2018049999A1
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Prior art keywords
dross
rotary
bracket
slag
manipulator
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PCT/CN2017/100408
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English (en)
French (fr)
Inventor
盛富春
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盛富春
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Application filed by 盛富春 filed Critical 盛富春
Publication of WO2018049999A1 publication Critical patent/WO2018049999A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D43/00—Mechanical cleaning, e.g. skimming of molten metals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D43/00—Mechanical cleaning, e.g. skimming of molten metals
    • B22D43/005—Removing slag from a molten metal surface

Definitions

  • the invention relates to a metal liquid cleaning slag manipulator, belonging to the field of metallurgical equipment.
  • the way of scumming in the electric furnace is as follows: the slag agent is placed in the electric furnace, and then the formed slag cake is taken out by using a slag robot.
  • the defects are as follows: (1) After the poly-slag agent is added to the electric furnace, it cannot be fully and uniformly contacted with the scum, and the effect of the slag is not ideal. The slag cake is easily caught and broken by the slag during the grasping, and a large amount of slag remains in the electric furnace.
  • the effect of clearing slag is poor; (2) the placement of the slag agent mainly relies on manual operation, which has high labor intensity and poor safety; (3) the existing slag slag equipment is large in size and is not suitable for layout on a narrow electric furnace platform. .
  • the invention provides a metal liquid cleaning slag manipulator, and the technical problems to be solved are: (1) improving the effect of cleaning the slag; (2) reducing the volume of the equipment; (3) reducing the labor intensity and improving the safety of the slag cleaning operation; Sex.
  • a metal liquid cleaning slag robot comprising a body and a rotary drive assembly mounted on the body;
  • the slewing drive assembly includes a slewing drive, a mounting bracket mounted on the body, and a swivel portion mounted on the mount; the swivel portion is rotated relative to the mount by the slewing drive;
  • the rotary drive assembly is provided with a through hole penetrating through the upper and lower sides, and the telescopic cylinder passing through the through hole is further mounted on the body; the telescopic rod of the telescopic cylinder is oriented downward, and the lower end of the telescopic rod is connected by rotation Connected with a rotary lever;
  • the molten metal slag manipulator further includes a plurality of dross, each of which is connected to the swivel portion and the swivel rod through a link assembly:
  • the link assembly includes an upper bracket and a lower bracket, and the upper bracket has an upper end The rotating part is hinged, the lower end is hinged to the outer end of the lower bracket, and the inner end of the lower bracket is rotated and pulled The lower end of the rod is hinged; the dross is fixedly mounted on the lower bracket.
  • the rotating portion includes a rotating ring gear that is mounted on the fixing frame by rollers to rotate relative to the fixing frame, and further includes a rotating disk mounted on the bottom of the rotating ring gear;
  • the slewing drive device has an output shaft having teeth on the output shaft, and the teeth of the output shaft mesh with the rotating ring gear to drive the rotating ring gear to rotate;
  • the upper end of the upper bracket is hinged with the rotary disk to achieve a hinge between the upper end of the upper bracket and the rotating portion.
  • the lower end of the telescopic rod is connected to the swing rod through a rotary joint
  • the rotary coupling has an input connection end and an output connection end, the input connection end is fastly connected with a lower end of the telescopic rod, and the output connection end is fastly connected with an upper end of the rotary lever, the input connection end and the output connection end Connected by bearings.
  • a cylindrical upper protective cover is mounted on the bottom of the rotating portion, and a cylindrical lower protective cover is mounted on the rotating pull rod;
  • the outer diameter of the upper shield is smaller than the inner diameter of the lower shield or the inner diameter of the upper shield is larger than the outer diameter of the lower shield; the bottom of the upper shield and the top of the lower shield overlap to form a protective cavity, the rotation A coupling is located in the protective cavity.
  • the side of the body is further provided with a slag adding device.
  • the slewing drive is an electric motor or a hydraulic motor.
  • the invention has the following advantages: (1) the robot can not only grasp the slag, but also stir the slag agent by rotary stirring, so that the slag agent in the molten iron is in full contact with the scum, and will float.
  • the slag is adsorbed onto the slag cake, and the utilization rate of the slag agent and the slag cleaning effect are improved;
  • the through-hole for placing the telescopic cylinder is provided on the slewing drive assembly of the invention, which effectively reduces the volume and weight of the manipulator;
  • the upper end of the swinging rod is connected with the lower end of the telescopic rod of the hydraulic telescopic cylinder through the rotary coupling, so that the connecting rod assembly and the dross can be freely rotated with respect to the hydraulic telescopic cylinder, so that the rotary disc drives the respective dross to rotate without driving the hydraulic expansion and contraction
  • the cylinder and other parts rotate, the driving load is small and the speed is fast;
  • the telescopic cylinder and the slewing drive device respectively use the hydraulic cylinder and the hydraulic motor, which have the advantages of large driving force and small volume;
  • the slag agent is disposed on the side of the body
  • the injection device realizes the automatic placement
  • Figure 1 is a schematic view of the structure of the present invention.
  • a molten metal slag robot includes a body 1 and a rotary drive assembly mounted on the body 1;
  • the slewing drive assembly includes a slewing drive, a mounting bracket 2 mounted on the body 1 and a swivel portion mounted on the mounting bracket 2;
  • the swivel portion includes a swivel ring gear 3 mounted on the mount 2 by rollers to rotate relative to the mount 2, and a turntable 4 mounted on the bottom of the swivel ring gear 3;
  • the swivel drive is preferably hydraulic a motor, which may also be a motor, the output shaft of the rotary drive device has gear teeth, and the gear teeth of the output shaft mesh with the rotary ring gear 3 to drive the rotary ring gear 3 to rotate;
  • the rotary drive assembly is provided with a through hole penetrating through the upper and lower sides, and the body 1 is further mounted with a hydraulic telescopic cylinder 10 passing through the through hole; the telescopic rod of the telescopic cylinder 10 faces downward, and the lower end of the telescopic rod
  • the rotary coupling 8 is connected via a rotary coupling 13; the rotary coupling 13 has an input connection end and an output connection end, the input connection end being fastened to the lower end of the telescopic rod, the output connection end and the rotary lever 8 The upper end is fastened, and the input connection end and the output connection end are connected by bearings;
  • the molten metal slag robot further includes two slags 7, each of which is connected to the rotary disk 4 and the rotary yoke 8 through a link assembly:
  • the link assembly includes an upper bracket 5 and a lower bracket 6,
  • the upper end of the upper bracket 5 is hinged with the rotary disc 4, the lower end is hinged with the outer end of the lower bracket 6, and the inner end of the lower bracket 6 is hinged with the lower end of the swing rod 8;
  • the dross 7 is fixedly mounted on the lower bracket 6 .
  • a cylindrical upper protective cover 11 is mounted on the bottom of the rotary disk 4, and a cylindrical lower protective cover 12 is mounted on the rotary pull rod 8; the outer diameter of the upper protective cover 11 is smaller than the inner diameter of the lower protective cover 12. Or the inner diameter of the upper protective cover 11 is larger than the outer diameter of the lower protective cover 12; the bottom of the upper protective cover 11 and the top of the lower protective cover 12 overlap to form a protective cavity, and the rotary coupling 13 is located in the protective cavity. To avoid the rotary coupling 13, Parts such as the telescopic cylinder 10 are damaged by thermal shock.
  • a slag addition device 9 is also mounted on the side of the body 1.
  • the slag adding device 9 first puts the slag agent into the electric furnace, and then the robot probes into the molten iron, and the telescopic cylinder 10 retracts the telescopic rod to gather the dross 7 through the connecting rod assembly and grasp the floating The slag, and then the slewing drive device drives the rotary disk 4 to rotate, and then drives the respective link assemblies and the respective slags 7 to rotate.
  • the slag agent is continuously added, so that the slag agent in the molten iron is fully contacted with the scum, and gradually dispersed.
  • the slag is gathered to form a slag cake, and finally the slag cake is pinched out.
  • This robot can be used on a variety of multi-degree-of-freedom robots, such as column, pylon or vehicle-mounted robots.
  • remote control of the robot can be realized by wire control or remote control to improve safety.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Furnace Charging Or Discharging (AREA)
  • Casting Support Devices, Ladles, And Melt Control Thereby (AREA)
  • Furnace Details (AREA)

Abstract

一种金属液清渣机械手，包括本体(1)以及回转驱动组件；金属液清渣机械手还包括若干只渣耙(7)，各渣耙(7)分别通过一连杆组件与回转驱动组件的回转部分以及回转拉杆(8)相连接：连杆组件包括上支架(5)和下支架(6)，上支架(5)上端与回转部分相铰接、下端与下支架(6)外端相铰接，下支架(6)的内端与回转拉杆(8)相铰接；渣耙(7)固定安装在下支架(6)上。既能实现抓渣，还能在回转时连续地加入聚渣剂，再通过回转搅拌将聚渣剂搅匀，使聚渣剂与浮渣充分接触，具有聚渣剂利用率高和清渣效果好的优点，并且降低了清渣的劳动强度，提高了安全性，便于自动化操作。

Description

金属液清渣机械手 技术领域
本发明涉及一种金属液清渣机械手，属于冶金设备领域。
背景技术
现有技术中捞取电炉中浮渣的方式为：向电炉中投放聚渣剂，然后使用清渣机械手将形成的渣饼抓取出来。其缺陷在于：(1)聚渣剂加入到电炉中之后不能充分均匀地与浮渣接触，聚渣效果不理想，抓取时渣饼易被渣耙抓散、破碎，大量的渣子残留在电炉中，清渣效果差；(2)聚渣剂的投放主要依靠人工操作，劳动强度大、安全性差；(3)现有的捞渣设备体积较大，不适合在窄小的电炉平台进行布置。
技术问题
本发明提出了一种金属液清渣机械手，其所要解决的技术问题是：(1)提升清渣的效果；(2)缩小设备的体积；(3)降低劳动强度，提高清渣操作的安全性。
问题的解决方案
技术解决方案
本发明技术方案如下：
一种金属液清渣机械手，包括本体以及安装在本体上的回转驱动组件；
所述回转驱动组件包括回转驱动装置、安装在本体上的固定架和安装在固定架上的回转部分；所述回转部分在回转驱动装置的驱动下相对于固定架旋转；
所述回转驱动组件上设有上下贯通的通孔，所述本体上还安装有穿过所述通孔的伸缩缸；所述伸缩缸的伸缩杆朝向下，所述伸缩杆下端通过转动连接方式连接有回转拉杆；
所述金属液清渣机械手还包括若干只渣耙，各渣耙分别通过一连杆组件与回转部分以及回转拉杆相连接：所述连杆组件包括上支架和下支架，所述上支架上端与回转部分相铰接、下端与下支架外端相铰接，所述下支架的内端与回转拉 杆下端相铰接；所述渣耙固定安装在下支架上。
作为本发明的进一步改进：所述回转部分包括通过滚子安装在固定架上以实现相对于固定架旋转的回转齿圈、还包括安装在回转齿圈底部的回转盘；
所述回转驱动装置具有输出轴，所述输出轴上具有轮齿，所述输出轴的轮齿与回转齿圈相啮合以驱动回转齿圈旋转；
所述上支架上端与回转盘相铰接以实现上支架上端与回转部分之间的铰接。
作为本发明的进一步改进：所述伸缩杆下端通过回转联轴器连接回转拉杆；
所述回转联轴器具有输入连接端和输出连接端，所述输入连接端与伸缩杆下端紧固连接，所述输出连接端与回转拉杆上端紧固连接，所述输入连接端和输出连接端之间通过轴承连接。
作为本发明的进一步改进：所述回转部分底部安装有圆筒状的上防护罩，所述回转拉杆上安装有圆筒状的下防护罩；
所述上防护罩的外径小于下防护罩的内径或者上防护罩的内径大于下防护罩的外径；所述上防护罩的底部和下防护罩的顶部相重叠构成防护腔，所述回转联轴器位于所述防护腔中。
作为本发明的进一步改进：所述本体侧面还安装有聚渣剂加投装置。
作为本发明的进一步改进：所述回转驱动装置为电机或者液压马达。
发明的有益效果
有益效果
相对于现有技术，本发明具有以下优点：(1)本机械手既能实现抓渣，还能通过回转搅拌将聚渣剂搅匀，使铁水中的聚渣剂与浮渣充分接触，将浮渣吸附到渣饼上，提高了聚渣剂的利用率和清渣效果；(2)本发明回转驱动组件上设有用于放置伸缩缸的通孔，有效地缩小了机械手的体积和重量；(3)回转拉杆上端通过回转联轴器与液压伸缩缸的伸缩杆下端相连接，使得连杆组件和渣耙可相对于液压伸缩缸自由转动，从而回转盘驱动各渣耙回转时无需驱动液压伸缩缸等其它部分旋转，驱动负载小、速度快；(4)伸缩缸和回转驱动装置分别选用液压缸和液压马达，具有驱动力大和体积小的优点；(5)本体侧面设置有聚渣剂加投装置，实现了聚渣剂的自动投放，提高了加入均匀度和安全性，降 低了劳动强度。
对附图的简要说明
附图说明
图1为本发明的结构示意图。
发明实施例
本发明的实施方式
下面结合附图详细说明本发明的技术方案：
如图1，一种金属液清渣机械手，包括本体1以及安装在本体1上的回转驱动组件；
所述回转驱动组件包括回转驱动装置、安装在本体1上的固定架2和安装在固定架2上的回转部分；
所述回转部分包括通过滚子安装在固定架2上以实现相对于固定架2旋转的回转齿圈3、还包括安装在回转齿圈3底部的回转盘4；所述回转驱动装置优选为液压马达，也可以是电机，所述回转驱动装置的输出轴上具有轮齿，所述输出轴的轮齿与回转齿圈3相啮合以驱动回转齿圈3旋转；
所述回转驱动组件上设有上下贯通的通孔，所述本体1上还安装有穿过所述通孔的液压伸缩缸10；所述伸缩缸10的伸缩杆朝向下，所述伸缩杆下端通过回转联轴器13连接有回转拉杆8；所述回转联轴器13具有输入连接端和输出连接端，所述输入连接端与伸缩杆下端紧固连接，所述输出连接端与回转拉杆8上端紧固连接，所述输入连接端和输出连接端之间通过轴承连接；
所述金属液清渣机械手还包括两只渣耙7，各渣耙7分别通过一连杆组件与回转盘4以及回转拉杆8相连接：所述连杆组件包括上支架5和下支架6，所述上支架5上端与回转盘4相铰接、下端与下支架6外端相铰接，所述下支架6的内端与回转拉杆8下端相铰接；所述渣耙7固定安装在下支架6上。
所述回转盘4底部安装有圆筒状的上防护罩11，所述回转拉杆8上安装有圆筒状的下防护罩12；所述上防护罩11的外径小于下防护罩12的内径或者上防护罩11的内径大于下防护罩12的外径；所述上防护罩11的底部和下防护罩12的顶部相重叠构成防护腔，所述回转联轴器13位于所述防护腔中，避免回转联轴器13、 伸缩缸10等部件因受到热冲击而损坏。
所述本体1侧面还安装有聚渣剂加投装置9。
清渣时，聚渣剂加投装置9先向电炉中投放聚渣剂，然后机械手探入到铁水中，伸缩缸10将伸缩杆回缩以通过连杆组件使渣耙7聚拢、抓住浮渣，而后回转驱动装置驱动回转盘4旋转，继而带动各连杆组件和各渣耙7旋转，此时聚渣剂连续加入，使铁水中的聚渣剂与浮渣充分接触，逐步地将散渣聚集起来成渣饼，最后将渣饼夹出。
本机械手可以应用在各式多自由度机器人上，如立柱式、吊架式或者是车载行走式的机器人。为方便操作，还可采用线控或者遥控的方式实现对本机械手的远距离操作，提高安全性。

Claims (6)

  1. 一种金属液清渣机械手，其特征在于：包括本体(1)以及安装在本体(1)上的回转驱动组件；
    所述回转驱动组件包括回转驱动装置、安装在本体(1)上的固定架(2)和安装在固定架(2)上的回转部分；所述回转部分在回转驱动装置的驱动下相对于固定架(2)旋转；
    所述回转驱动组件上设有上下贯通的通孔，所述本体(1)上还安装有穿过所述通孔的伸缩缸(10)；所述伸缩缸(10)的伸缩杆朝向下，所述伸缩杆下端通过转动连接方式连接有回转拉杆(8)；
    所述金属液清渣机械手还包括若干只渣耙(7)，各渣耙(7)分别通过一连杆组件与回转部分以及回转拉杆(8)相连接：所述连杆组件包括上支架(5)和下支架(6)，所述上支架(5)上端与回转部分相铰接、下端与下支架(6)外端相铰接，所述下支架(6)的内端与回转拉杆(8)下端相铰接；所述渣耙(7)固定安装在下支架(6)上。
  2. 如权利要求1所述的金属液清渣机械手，其特征在于：所述回转部分包括通过滚子安装在固定架(2)上以实现相对于固定架(2)旋转的回转齿圈(3)、还包括安装在回转齿圈(3)底部的回转盘(4)；
    所述回转驱动装置具有输出轴，所述输出轴上具有轮齿，所述输出轴的轮齿与回转齿圈(3)相啮合以驱动回转齿圈(3)旋转；所述上支架(5)上端与回转盘(4)相铰接以实现上支架(5)上端与回转部分之间的铰接。
  3. 如权利要求1所述的金属液清渣机械手，其特征在于：所述伸缩杆下端通过回转联轴器(13)连接回转拉杆(8)；
    所述回转联轴器(13)具有输入连接端和输出连接端，所述输入连接端与伸缩杆下端紧固连接，所述输出连接端与回转拉杆(8) 上端紧固连接，所述输入连接端和输出连接端之间通过轴承连接。
  4. 如权利要求3所述的金属液清渣机械手，其特征在于：所述回转部分底部安装有圆筒状的上防护罩(11)，所述回转拉杆(8)上安装有圆筒状的下防护罩(12)；
    所述上防护罩(11)的外径小于下防护罩(12)的内径或者上防护罩(11)的内径大于下防护罩(12)的外径；所述上防护罩(11)的底部和下防护罩(12)的顶部相重叠构成防护腔，所述回转联轴器(13)位于所述防护腔中。
  5. 如权利要求1所述的金属液清渣机械手，其特征在于：所述本体(1)侧面还安装有聚渣剂加投装置(9)。
  6. 如权利要求1至5任一所述的金属液清渣机械手，其特征在于：所述回转驱动装置为电机或者液压马达。
PCT/CN2017/100408 2016-09-18 2017-09-04 金属液清渣机械手 WO2018049999A1 (zh)

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