WO2021232466A1

WO2021232466A1 - All-around intelligent slag dredging robot for metal smelting

Info

Publication number: WO2021232466A1
Application number: PCT/CN2020/092854
Authority: WO
Inventors: 吴国伟; 吴坤凡
Original assignee: 青州晨泰机械设备科技有限公司
Priority date: 2020-05-21
Filing date: 2020-05-28
Publication date: 2021-11-25
Also published as: CN111408712A

Abstract

An all-around intelligent slag dredging robot for metal smelting, comprising a body, wherein the body is provided with a grabbing mechanism. The grabbing mechanism has the dual functions of dredging dross in a furnace and cleaning slag on the inner wall of the furnace, and the grabbing mechanism comprises a grabber, wherein the grabber is composed of a plurality of grabbing plates (7) which are evenly arranged in a circumferential direction; and the grabber is connected to an opening and closing mechanism, and the plurality of grabbing plates are driven by the opening and closing mechanism to simultaneously be closed inwards or opened outwards, such that the grabber is closed or opened. The intelligent slag dredging robot can have the dual functions of dredging dross in a furnace and cleaning slag that adheres to the inner wall of the furnace, and has a high practicability; 360° dead-corner-free grabbing can be achieved in one slag grabbing action during a slag dredging process, thereby reducing the frequency and time of slag dredging and improving the production efficiency; the narrowing of a furnace mouth caused by slag adhering to the furnace wall during a smelting process can be avoided, and the utilization rate of a furnace lining is increased; and molten iron splashes caused by dross falling during slag dredging can be effectively avoided, thereby reducing molten iron waste and improving the safety.

Description

A metal smelting all-round intelligent slag removing robot

Technical field

The invention relates to a slag removing robot, in particular to a metal smelting all-round intelligent slag removing robot.

Background technique

When molten iron is smelted, a large amount of scum is generated in the furnace. In order not to affect the quality of the molten iron, the scum needs to be removed during the operation. At present, the domestic slag removal operations in the foundry industry include manual slag removal and mechanical slag removal. The traditional manual slag removal is generally that the slag removal worker puts on protective gear and stands at the furnace mouth at close range. The slag has low safety and low efficiency, and when picking up the slag, it will stick and take away a lot of molten iron, causing waste. Therefore, with the continuous development of technology, mechanical slag conveyors gradually appeared.

For example, Chinese patent CN201920075643.0 discloses a new type of electric cylinder slag conveyor, which relates to the field of metallurgical machinery, including a base and a column, the column is vertically arranged on the base, and the upper end of the column is fixedly arranged A horizontal first telescopic arm, a first electric cylinder is installed in the first telescopic arm; the first electric cylinder is located at one end of the first telescopic arm close to the upright, and the other end is installed with a first electric cylinder. Two telescopic arms, the upper end of the second telescopic arm is equipped with a second electric cylinder, which can control the expansion and contraction of the second telescopic arm, the lower end of the second telescopic arm is equipped with a slag catcher, and the third The electric cylinder is installed inside the second telescopic arm to be connected with a slag catcher. The advantage of the present invention is that it saves many pipeline layouts in the existing design, and at the same time reduces the matching of power equipment, only uses one kind of electric power as the power source, and avoids the pipelines in the use of the existing hydraulic power. The oil leakage has also greatly improved the applicable environment of the equipment.

Although the above-mentioned slag conveyor realizes mechanical slag removal, the following problems exist in practical application:

1. The gripper of the above-mentioned slag conveyor is a traditional split-type grab or tooth. In the process of a traditional split-type gripper, the two ends of the gripper will have dead corners for grabbing slag. In the prior art Technicians usually set a rotating device to rotate the gripper in the circumferential direction to a certain angle, and solve the problem through multiple grabbing actions. In this way, on the one hand, the complexity of the mechanical structure of the slag grabber is increased, and the equipment manufacturing cost is increased. On the other hand, the slag conveyor has repeatedly caught the slag to increase the slag removal time, which seriously affects the improvement of production efficiency, increases the production cost, and cannot meet the market demand.

2. The split grip structure used in the traditional slag conveyor, when the scum is pulled inward to squeeze the scum, the scum is easy to fall from the two ends of the gripper, and the scum is not firmly grasped. It is easy to produce molten iron splashing, which not only causes waste of molten iron, but also poses a serious safety hazard.

3. The traditional slag conveyor can only catch the scum in the furnace, but in the actual smelting process, the slag will stick to the inner wall of the smelting furnace, causing the furnace mouth to shrink and the utilization rate of the furnace lining is low. The traditional slag conveyor cannot clean the inner wall of the furnace. The slag has a single function and low practicability.

In summary, the existing technology obviously has inconveniences and defects in actual use, so it is necessary to improve it.

Summary of the invention

The technical problem to be solved by the present invention is to address the above shortcomings and provide a metal smelting all-round intelligent slag removing robot, which can achieve the following objectives:

1. It has the dual functions of picking up the scum in the furnace and cleaning the adhered slag on the inner wall of the furnace, and has strong practicability.

2. It can realize 360° no dead angle grabbing in one slag grabbing action during the slag dredging process, reducing the number and time of slag dredging and improving production efficiency.

3. It can avoid the shrinkage of the furnace mouth caused by the adhesion between the slag and the furnace wall during the smelting process, and increase the utilization rate of the furnace lining.

4. It can effectively avoid molten iron splash caused by scum falling during slag removal, reduce the waste of molten iron, and improve safety at the same time.

In order to solve the above technical problems, the present invention adopts the following technical solutions: a metal smelting all-round intelligent slag removal robot, including a body, the body is provided with a grasping mechanism; the grasping mechanism has the ability to pick up scum in the furnace and clean The dual function of the fireplace slag in the furnace.

Further, the grasping mechanism includes a grasping hand, the grasping hand is composed of a plurality of grasping plates evenly arranged in a circumferential direction; the grasping hand is connected with the opening and closing mechanism, and the opening and closing mechanism drives the multiple grasping plates inward at the same time Close or open outward to close or open the gripper.

Further, the opening and closing mechanism includes a lifting plate and a plurality of crankshafts; the lower end of each crankshaft is fixedly connected with a grab plate;

The lifting plate can be slidably sleeved on a plurality of crankshafts; through the up and down movement of the lifting plate, the multiple crankshafts can drive a plurality of grabbing plates to simultaneously shrink inward or open outward.

Further, the crankshaft is a smooth round shaft having two curved parts with opposite bending directions; the upper end of each crankshaft is hingedly fixed on a fixed plate.

Further, it also includes a slewing device; the slewing device is fixedly connected to the fixed plate through a connecting arm, and the slewing device drives the gripper and the opening and closing mechanism to make a rotation movement.

Further, the left side of each grab board is set on the inner side of its left adjacent grab board, and the right side is set on the outer side of its right side adjacent grab board; or the left side of each grab board is set on its left side. The left side is adjacent to the outer side of the grab plate, and the right side is provided on the inner side of the right side adjacent to the grab plate.

Further, it also includes a control cabinet, which is used for the slag removal robot to realize automatic removal of scum and automatic cleaning of fireplace slag in the furnace;

The control cabinet is connected with a human-machine interactive interface; a distance measuring sensor is installed on the body, and the distance measuring sensor measures the distance between the equipment and the smelting furnace, and transmits the measurement result to the control cabinet as a basic parameter for controlling the advance and retreat of the slag removal robot.

Further, the machine body includes a machine base and a crank arm, a boom and a pull rod are hingedly connected between the machine base and the crank arm; a lifting cylinder is hinged between the machine base and the boom.

Further, a suspension rod is fixedly connected to the center of the lifting plate, the suspension rod slides through the fixed plate through a guide sleeve, and the upper end of the suspension rod is connected with the telescopic rod of the oil cylinder.

Further, for the inclined section and horizontal section of the crank arm, the upper ends of the boom and the pull rod are hingedly fixed on the inclined section of the boom, and the lower end is hingedly fixed on the base; the base, the boom, the pull rod and the crank A link structure is formed between the arms; the horizontal section of the turning arm is fixedly connected with a horizontal arm; the end of the horizontal arm is fixedly connected with the vertical arm, and the bottom end of the vertical arm is fixedly connected with the connecting arm;

Both the horizontal arm and the vertical arm can extend and contract.

Compared with the prior art, the present invention has the following advantages after adopting the above technical solutions:

1. This application can realize 360° slag grabbing without dead angles in one grabbing action, reduce the number and time of slag dredging, improve production efficiency, simplify the structure of the slag dredger, reduce the volume of equipment, and reduce production costs.

2. The gripper in this application adopts a circular design. The gripper can be close to the inside of the furnace wall and can be gripped to clean the slag on the inner wall of the furnace; and the gripper rotates 360° through the rotary device, which can effectively clean the slag at the mouth of the smelting furnace. It can effectively clean the adhered slag on the furnace wall, avoid the shrinkage of the furnace mouth caused by the adhesion of the slag and the furnace wall during the smelting process, and increase the utilization rate of the furnace lining.

3. The application can effectively avoid molten iron splash caused by scum falling, reduce the waste of molten iron, and improve safety.

4. This application can not only collect the scum in the furnace but also clean the slag on the inner wall of the furnace, which is multi-functional and has a wide range of applications.

The present invention will be described in detail below with reference to the drawings and embodiments.

Description of the drawings

Figure 1 is a schematic diagram of the structure of the present invention;

Figure 2 is a schematic diagram of the structure of the grasping mechanism when the gripper is in an open state;

Figure 3 is a schematic structural diagram of the grasping mechanism when the gripper is closed;

Figure 4 is a partial schematic diagram of the open state of the gripper;

Figure 5 is a partial schematic diagram of the closed state of the gripper;

Figure 6 is a schematic diagram of the structure of the crankshaft;

In the figure,

1- cylinder, 2- boom, 3- guide sleeve, 4- fixed plate, 5- lifting plate, 6- crankshaft, 61- upper bending part, 62- lower bending part, 7- grasping plate, 8-cylinder fixing plate , 9-connecting arm, 10-articulation, 11-through hole, 12-lifting cylinder, 13-frame, 14-boom, 15-rod, 16-cross arm, 17-vertical arm, 18-canter arm , 19-slewing disc, 20-slewing motor, 21-control cabinet.

Detailed ways

In order to have a clearer understanding of the technical features, objectives and effects of the present invention, the present invention will be described with reference to the accompanying drawings.

Specific embodiments of the invention.

Example 1

As shown in Figures 1-6, the present invention provides a metal smelting all-round intelligent slag removal robot, including a body, a grasping mechanism, and a control cabinet 21. The control cabinet 21 is used to control the grasping mechanism to realize automatic slag removal and Clean the fireplace slag in the furnace.

The grasping mechanism is arranged on the body; the body may be a fixed type; the body includes a base 13 and a turning arm 18, the base 13 of the fixed body is fixed on the ground, the base 13 and the turning arm A boom 14 and a tie rod 15 are hingedly connected between the boom 18; specifically, the inclined section and the horizontal section of the boom 18, the upper end of the boom 14 and the tie rod 15 are hingedly fixed on the inclined section of the boom 18, and the lower end is hinged Fixed on the base 13; the base 13, the boom 14, the pull rod 15 and the turning arm 18 form a linkage structure; the turning arm 18 keeps its horizontal section always level under the action of the linkage mechanism .

The horizontal section of the turning arm 18 is fixedly connected with a cross arm 16, and the cross arm 16 can be horizontally telescopic.

The end of the cross arm 16 is fixedly connected to the vertical arm 17, and the vertical arm 17 can be vertically telescopic.

Both the cross arm 16 and the vertical arm 17 are connected with a telescopic oil cylinder, which is connected with an electronic control hydraulic system, and the operation of the telescopic oil cylinder is controlled by the electronic control hydraulic system, so as to realize the contraction of the cross arm 16 and the vertical arm 17.

A lifting cylinder 12 is also hingedly fixed on the base 13, and a telescopic rod of the lifting cylinder 12 is hingedly fixed to the side of the boom 14.

The machine body may also be a mobile type. The mobile machine body also includes a walking mechanism connected to the base 13 to drive the entire machine body to move together. The walking mechanism includes a wheel type, a rail type, a crawler type, and the like.

The grasping mechanism is fixedly arranged at the bottom end of the vertical arm 17, and the grasping mechanism includes a gripper. The gripping plates 7 can be folded inwardly to close or open outwardly at the same time, so that the gripper can be closed or opened to realize the grasping and releasing action.

In order to avoid interference between the two adjacent grab boards 7 when they are opened and closed, the left side of each grab board 7 is set on the inner side of its left side adjacent grab board 7, and the right side of each grab board 7 is set On the outer side of its right side adjacent grab board 7, or the left side of each grab board 7 is set on the outer side of its left side adjacent grab board 7, and the right side of each grab board 7 is set on its right side. It is adjacent to the inner side of the gripping plate 7, so that when the gripper is closed, a plurality of gripping plates 7 are arranged in a stack in a clockwise or counterclockwise direction.

A plurality of grasping plates 7 are simultaneously retracted inward or expanded outward through an opening and closing mechanism. The opening and closing mechanism includes a lifting plate 5 and a plurality of crankshafts 6, and the crankshafts 6 are smooth with two curved portions with opposite bending directions. Round shaft; specifically, the crankshaft 6 includes an upper bent portion 61 and a lower bent portion 62, the upper bent portion 61 is bent inward, the lower bent portion 62 is bent outward, the upper bent portion 61 and the lower bent portion A smooth transition at the junction of the upper curved portion 61; the radius of curvature of the upper curved portion 61 is greater than the radius of curvature of the lower curved portion 62; and the length of the upper curved portion 61 is greater than the length of the lower curved portion 62.

The lower end of each crankshaft 6 is fixedly connected with a grasping plate 7, and the upper end is hingedly fixed on the fixed plate 4 through a hinge 10.

The lifting plate 5 is provided with a plurality of through holes 11 evenly spaced in the circumferential direction, and each crankshaft 6 passes through a through hole 11; The grasping plates 7 are simultaneously retracted inward or expanded outward to realize the grasping and placing action; specifically, when the lifting plate 5 gradually moves upward from the lower curved portion 62 of the crankshaft 6, the multiple grasping plates 7 are simultaneously retracted inward, and the gripper Closed; when the lifting plate 5 moves downward from the upper curved portion 61 of the crankshaft 6, a plurality of grasping plates 7 are simultaneously opened outwards, and the grasping hands are opened.

A suspension rod 2 is fixedly connected to the center of the lifting plate 5, the suspension rod 2 is slidably arranged in the guide sleeve 3, the guide sleeve 3 is arranged in the center of the fixed disc 4, and the upper end of the suspension rod 2 is connected to the oil cylinder 1 is connected with the telescopic rod, the oil cylinder 1 drives the lifting plate 5 to move up and down through the boom 2, and the oil cylinder 1 is connected with the electronic control hydraulic system.

The cylinder 1 is fixed on the cylinder fixing plate 8; the cylinder fixing plate 8 is fixedly arranged on the inner wall of the connecting arm 9, the connecting arm 9 is a hollow cylindrical structure, and the lower end of the connecting arm 9 is fixedly connected to On the fixed plate 4; the cylinder 1 and the boom 2 are all arranged in the inner cavity of the connecting arm 9.

The grasping mechanism also includes a rotating device that drives the gripper and the opening and closing mechanism to rotate; the rotating device includes a rotating disk 19, which is connected with a rotating motor 20, and the rotating motor 20 drives back The turntable 19 rotates; the lower end of the turntable 19 is fixedly connected with the connecting arm 9, and the upper end of the turntable 19 is installed and fixed with the telescopic arm of the slag conveyor.

The grab plate 7 is an outwardly convex arc-shaped plate. Both sides of the grab plate 7 and one end away from the crankshaft 6 are provided with long inclined surfaces to facilitate grabbing scum and cleaning the slag on the inner wall of the furnace.

The control cabinet 21 is connected to the man-machine interactive interface, and the electronically controlled hydraulic system that controls the telescopic cylinders of the horizontal arm 16 and the vertical arm 17 is connected to the control cabinet, so as to realize the control of the horizontal arm 16 and the vertical arm 17 through the control cabinet 21. .

A distance measuring sensor is installed on the body. The distance measuring sensor measures the distance between the equipment and the smelting furnace, and transmits the measurement result to the control cabinet 21 as a basic parameter for controlling the advance and retreat of the slag removal robot.

The vertical arm 17 is equipped with a displacement sensor that measures the center distance of the furnace mouth to obtain the left and right position data of the gripper and transmits the measurement result to the control cabinet as the left and right basic parameters of the gripper of the slag removal robot.

When the grasping mechanism reaches the slag removal starting position, press the slag removal button, the system automatically records the starting height, front and rear, and left and right position information, and the slag removal starting position is determined by an automatic detection method.

The metal smelting all-round intelligent slag removing robot of the present invention can use hydraulic, electric, pneumatic, and mechanical power to realize remote control operation, realize automatic operation, and realize long-distance slag removal.

The working principle of the present invention:

When picking up the scum in the furnace, under the automatic main control of the control cabinet 21, the cross arm 16 extends to the top of the melting furnace, the vertical arm 7 extends downwards into the melting furnace, and at the same time the cylinder 1 retracts to drive the boom 2 The lifting plate 5 moves upward. During the upward movement of the lifting plate 5, multiple crankshafts 6 drive multiple grab plates 7 to simultaneously retract inward, and the gripper closes inward to grab the scum; then the vertical arm 17 retracts upward, and the cross arm 16 Retract to the scum placement area, and at the same time the cylinder 1 extends, so that the boom 2 drives the lifting plate 5 to move downwards. During the downward movement of the lifting plate 5, multiple crankshafts 6 drive multiple grab plates 7 to simultaneously expand outward Open, open the gripper to open the scum.

When cleaning the fireplace slag in the furnace, under the automatic main control of the control cabinet 21, the cross arm 16 extends to the top of the smelting furnace, and the vertical arm 17 extends downwards, so that the gripper reaches into the furnace mouth and is close to the furnace wall, and then digs the slag The vertical arm 17 of the machine cooperates with the cylinder 1 to grasp and clean the slag adhered to the furnace wall downwards along the furnace wall, and the rotary device drives the gripper to rotate 360 degrees at the furnace mouth. The circular gripper can Clean the slag at the furnace mouth.

In the above process of picking up the scum and cleaning the fireplace slag in the furnace, the connecting rod structure composed of the base 13, the boom 14, the pull rod 15 and the turning arm 18 keeps the horizontal section of the turning arm 18 always in a horizontal state, so that it is fixed on the turning arm. The cross arm 16 on the 18 is used to keep it level.

The invention can realize 360° slag grab without dead angles in one grabbing action, reduce the number and time of slag dredging, improve production efficiency, simplify the structure of the slag dredger, reduce the volume of equipment, and reduce the production cost.

The gripper of the present invention adopts a circular design, and the gripper can be close to the inner side of the furnace wall and can be gripped to clean the slag on the inner wall of the furnace; and the gripper can be rotated by 360° through the rotary device, which can effectively clean the slag at the upper mouth of the smelting furnace. Clean the adhered slag on the furnace wall to avoid the shrinkage of the furnace mouth caused by the adhesion of the slag and the furnace wall during the smelting process, and increase the utilization rate of the furnace lining.

The invention can effectively avoid molten iron splash caused by scum falling, reduce the waste of molten iron, and improve safety.

The invention can not only fish the scum in the furnace but also clean the slag on the inner wall of the furnace, has multi-functionality and has a wide application range.

The above are examples of the best embodiments of the present invention, and the parts not mentioned in detail are common knowledge of those of ordinary skill 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 enlightenment of the present invention is also within the protection scope of the present invention.

Claims

An all-purpose intelligent slag removing robot for metal smelting is characterized in that it comprises a body on which a grasping mechanism is provided; the grasping mechanism has the dual functions of picking up scum in the furnace and cleaning up the fireplace slag in the furnace.
The metal smelting all-round intelligent slag removing robot according to claim 2, characterized in that: the grasping mechanism includes a gripper, and the gripper is composed of a plurality of grippers (7) evenly arranged in a circumferential direction; The gripping hand is connected with the opening and closing mechanism, and the opening and closing mechanism drives a plurality of gripping plates (7) to close inward or open outward at the same time, so that the gripping hand is closed or opened.
A metal smelting all-purpose intelligent slag removing robot according to claim 2, characterized in that: the opening and closing mechanism includes a lifting plate (5) and a plurality of crankshafts (6); the lower end of each crankshaft (6) and A grab plate (7) is fixedly connected;

The lifting plate (5) can be slidably sleeved on multiple crankshafts (6); by moving the lifting plate (5) up and down, the multiple crankshafts (6) can drive multiple grabbing plates (7) to be simultaneously folded inward or Splay outwards.
The metal smelting all-round intelligent slag removing robot according to claim 3, characterized in that: the crankshaft (6) is a smooth circular shaft with two curved parts with opposite bending directions; The upper end is hingedly fixed on the fixed plate (4).
A gripper assembly for a slag removal robot according to claim 4, characterized in that it further comprises a rotating device; the rotating device is fixedly connected to the fixed plate (4) through a connecting arm (9), so The slewing device drives the gripper and the opening and closing mechanism to rotate.
The metal smelting all-round intelligent slag removing robot according to claim 2, characterized in that: the left side of each grab board (7) is set on the inner side of the adjacent grab board (7) on its left side, and the right side The side is set on the outer side of the adjacent grab board (7) on its right side; or the left side of each grab board (7) is set on the outer side of its left side adjacent grab board (7), and the right side is set on its right side. The side is adjacent to the inside of the grab plate (7).
The metal smelting all-round intelligent slag removing robot according to claim 1, characterized in that it further comprises a control cabinet (21), and the control cabinet (21) is used for the slag removing robot to realize automatic scum removal and automatic cleaning. Fireplace slag in the furnace;

The control cabinet (21) is connected with a man-machine interactive interface; a distance measuring sensor is installed on the body, and the distance measuring sensor measures the distance between the equipment and the smelting furnace, and transmits the measurement result to the control cabinet (21) as a control slag removal The basic parameters of the robot's advance and retreat.
The metal smelting all-round intelligent slag removing robot according to claim 5, characterized in that: the body includes a machine base (13) and a crank arm (18), and the machine base (13) and the crank arm (18) A boom (14) and a pull rod (15) are hingedly connected between ); a lifting cylinder (12) is hinged between the base (13) and the boom (14).
The metal smelting all-round intelligent slag removing robot according to claim 4, characterized in that: the center position of the lifting plate (5) is fixedly connected with a boom (2), and the boom (2) is guided by The sleeve (3) slides through the fixed plate (4), and the upper end of the boom (2) is connected with the telescopic rod of the oil cylinder (1).
The metal smelting all-round intelligent slag removing robot according to claim 8, characterized in that: the inclined section and the horizontal section of the turning arm (18), the upper end of the boom (14) and the pull rod (15) are hinged It is fixed on the inclined section of the turning arm (18), and the lower end is hingedly fixed on the base (13); the base (13), the boom (14), the pull rod (15) and the turning arm (18) are formed between Link structure; the horizontal section of the turning arm (18) is fixedly connected with a horizontal arm (16); the end of the horizontal arm (16) is fixedly connected with the vertical arm (17), and the vertical arm (17) The bottom end is fixedly connected with the connecting arm (9);

Both the horizontal arm (16) and the vertical arm (17) can extend and contract.