WO2022095239A1

WO2022095239A1 - All-around slag removal robot for metal smelting

Info

Publication number: WO2022095239A1
Application number: PCT/CN2020/137824
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: 2020-11-06
Filing date: 2020-12-19
Publication date: 2022-05-12
Also published as: CN112170830A

Abstract

An all-around slag removal robot for metal smelting which is suitable for waste slag clearing during the smelting of steel, iron, copper, aluminum and various non-ferrous metals, the slag removal robot comprising a grabbing mechanism connected to a four-bar linkage mechanism, which comprises a large arm (6), wherein the large arm (6) has a lower end hinged to a rotary plate (3), and is connected with a second servo motor (5) by means of a slewing bearing; an upper end of the large arm (6) is hinged to a small arm (7); a front end of the small arm (7) is connected to the grabbing mechanism by means of a connecting arm (8), and a rear end thereof is hinged to an upper end of a pull rod (10); and the pull rod (10) is fixed on the rotary plate (3). The robot can improve the flexibility an apparatus when grabbing dross in all directions to avoid slag removal dead angles, and can improve the stability during operation of the apparatus to effectively reduce shaking and vibration during the operation of the apparatus, in order to improve the grabbing accuracy and prevent the splashing of molten iron and pollution of the apparatus caused by the dropping of dross due to the shaking and vibration.

Description

An all-round metal smelting slag fishing robot

technical field

The invention relates to an all-round metal smelting slag scavenging robot, which belongs to the technical field of metal smelting equipment.

Background technique

As we all know, a large amount of scum will be produced in the process of metal smelting, which floats on the inner surface of the smelting furnace or adheres to the inner wall of the furnace. If the scum is not cleaned up, it will affect the quality of molten iron and castings. Manual slag scavenging requires slag workers to wear thick protective tools and use long iron forks to pick slag out of the furnace. This method is not only unclean for many times to pick slag, but also it is very unsafe to splash hot molten iron during the process. The temperature in the furnace can reach 1500 degrees Celsius, especially in the summer around the furnace mouth, which can reach hundreds of degrees Celsius. The working environment is very harsh and has certain dangers. Moreover, the scum has a certain adhesion, which will take away a part of molten iron and cause waste of raw materials.

With the continuous development of technology, the emergence of slag fishing equipment has broken the traditional slag fishing. Workers do not need to pick slag at the furnace mouth, but only need remote control.

However, the existing mechanical slag fishing equipment still has the following problems in practical use:

1. During the slag fishing operation, the existing slag fishing equipment has poor flexibility, and the slag fishing gripper cannot fully grasp the scum in the smelting furnace. Dead corners need to be cleaned manually, which is time-consuming and labor-intensive, and has great safety risks.

2. The slag fishing equipment generally includes slag fishing, slag transporting and slag discharge. During the operation of the existing slag fishing equipment, the operating mechanism of the existing slag fishing equipment vibrates and vibrates violently, and the operation stability is poor. The vibration and jitter of the mechanism are prone to inaccurate grasping; on the other hand, the scum grasped by the gripper is easy to fall into the melting furnace due to the vibration and jitter of the mechanism, causing molten iron to splash, not only causing waste of molten iron, but also And there are also greater security risks. In the process of slag transport, the scum grabbed by the gripper will fall and pollute the production equipment and production site due to the vibration and shaking of the mechanism, which will bring difficulties to the later cleaning.

To sum up, the prior art obviously has inconvenience and defects in practical use, so it is necessary to improve it.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to aim at the above deficiencies, and provide an all-round metal smelting slag scavenging robot, which can improve the flexibility of the equipment, grab the scum in all directions, and avoid the dead angle of slag scavenging; can improve the stability of the equipment operation, It can effectively reduce the jitter and vibration during the operation of the equipment, improve the grasping accuracy, and avoid the splash of molten iron and equipment pollution caused by the falling scum caused by jitter and vibration.

In order to solve the above technical problems, the present invention adopts the following technical solutions: an all-round metal smelting slag fishing robot, including a grabbing mechanism, the grabbing mechanism is connected to a four-bar linkage mechanism, and the four-bar linkage mechanism includes a large arm , the lower end of the big arm is hinged on the turntable, and is connected with the second servo motor through the slewing bearing; the upper end of the big arm is hinged with the small arm; the front end of the small arm is connected with the grabbing mechanism through the connecting arm, and the rear end is connected with The upper end of the pull rod is hinged; the pull rod is fixed on the turntable.

Further, it also includes a balance mechanism, and the balance mechanism includes a second connecting rod; the second connecting rod is V-shaped and has three connecting parts: a front end, a rear end and a middle;

The second link is rotatably arranged at the hinge between the big arm and the forearm through the middle connecting part; the front connecting part of the second link is hinged with the upper end of the first link, and the lower end of the first link is hinged On the connecting arm; the rear end connecting part of the second connecting rod is hinged with the upper end of the third connecting rod, and the lower end of the third connecting rod is hinged on the turntable.

Further, the gripping mechanism is a circular gripper assembly, the circular gripper assembly includes a plurality of gripping plates that can be opened and closed, the upper end of each gripping plate is hinged with a first hinge plate, the The upper end of the first hinge plate is hinged on the lifting plate, the center of the lifting plate is provided with a lifting boom, and the lifting boom is connected with the lifting cylinder;

The top end of each grab plate is fixed with a second hinge plate, and the top end of the second hinge plate is hinged on the fixing plate.

Further, the grasping mechanism is a split-type grasper assembly, and the split-type grasper assembly includes two symmetrically arranged graspers, the two graspers are connected to an opening and closing mechanism, and the opening and closing mechanism Connect with the telescopic rod of the oil cylinder;

The gripper is a plate-type structure or a tooth-type structure.

Further, a hinge part is provided on the forearm, and the hinge part is hinged with the upper end of the big arm through a hinge shaft; the distance from the hinge part to the front end of the forearm is greater than the distance from the back end of the forearm; the forearm Bend down from the hinge to both ends.

Further, the rotary disk is mounted on the base through a rotary bearing, and is driven by a first servo motor; both the first servo motor and the second servo motor are connected to the control system.

Further, the grabbing plate is a petal-shaped structure, and a plurality of grabbing plates are evenly spaced along the circumferential direction to form a circle.

Further, the fixed plate and the lift plate are arranged coaxially, and a through hole is formed on the fixed plate at a position corresponding to the lift plate; the through hole is circular, and the diameter of the through hole is larger than that of the lift plate.

Further, the balance mechanism further includes a counterweight; the counterweight is arranged at the hinge joint between the boom and the rotary disk.

Further, when the multiple grab plates are closed, a part of them overlaps with each other at their side edges to form a closed cavity; the closed cavity is a storage space for the scum every time the grabbing plate is grabbed.

After the present invention adopts the above technical scheme, compared with the prior art, it has the following advantages:

The invention realizes fully automatic and fully intelligent slag scavenging, and avoids potential safety hazards for personnel in slag scavenging work; it is mainly suitable for steel, iron, copper, aluminum, and various non-ferrous metals, and waste slag cleaning in the smelting process.

The setting of the operating mechanism in the present invention can be driven by the second servo motor and driven by the four-link mechanism composed of the big arm, the small arm, the pull rod and the rotary disk, so that the grasping mechanism can be moved up and down, back and forth, so as to Adjust the accurate grasping position, grasp the scum in all directions, avoid the dead angle of slag fishing, and the first servo motor can also be driven by the slewing bearing and the rotating disc to make the grasping mechanism rotate 360 degrees, the equipment has good flexibility, and the equipment The operation is stable and reliable, effectively reducing the jitter and vibration during the operation of the equipment, improving the grasping accuracy, and avoiding the splash of molten iron and equipment pollution caused by the falling scum caused by jitter and vibration.

The setting of the balance mechanism of the present invention can ensure that the grasping mechanism always maintains a vertical state during the movement process through the linkage of the first link, the second link and the third link, so as to ensure the grasping accuracy.

The circumferential gripper assembly in the present invention can also be used to clean the slag on the inner wall of the furnace, which increases the scope of application of the equipment and improves the social benefit.

The gripping mechanism of the present invention can be a round gripper or a split gripper, which further improves the flexibility of the equipment and the utilization rate of the equipment, and reduces the investment of the equipment.

The present invention adopts the servo motor and the slewing bearing to drive the whole rotation of the equipment, and drives the rotation of the big arm. This method has high operation accuracy and further improves the operation stability of the equipment.

The invention drives the grabbing mechanism to move forward and backward up and down through the four-link mechanism formed by the large arm, the small arm, the pull rod and the rotary disk, and has stable operation, flexible movement and simple operation.

Driven by the rotating mechanism, the grabbing mechanism of the present invention can realize 360° rotation, which further improves the flexibility of the equipment.

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

Description of drawings

Fig. 1 is the structural representation of embodiment 1;

Fig. 2 is the structural representation of the round gripper assembly in the embodiment 1;

3 is a cross-sectional view of a circular gripper assembly in Embodiment 1;

4 is a bottom view of the circular gripper assembly in Embodiment 1;

5 is a top view of the round gripper assembly in Embodiment 1;

Fig. 6 is the structural representation of embodiment 2;

7 is a schematic structural diagram of the split-type gripper assembly in Embodiment 2;

Fig. 8 is the structural representation of embodiment 3;

In the figure,

1- base, 2- slewing bearing, 3- slewing plate, 4- first servo motor, 5- second servo motor, 6- big arm, 7- small arm, 71- hinge part, 8- connecting arm, 9- Round gripper assembly, 91-Lifting boom, 92-Lifting plate, 93-Fixing plate, -94-First hinge plate, 95-Grab plate, 96-First lug plate, 97-First hinge shaft, 98- 2nd lug, 99-second hinge shaft, 910-third lug, 911-third hinge shaft, 912-second hinge plate, 913-lifting cylinder; 10-tie rod, 11-first connecting rod, 12 -Second link, 13-Third link, 14-Counterweight, 15-Hinged shaft, 16-Split gripper assembly, 161-Gripper, 162-Opening and closing mechanism, 163-Cylinder, 164- Scraping gripper, 165-fixed frame, 17-rotating mechanism.

Detailed ways

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

Example 1

As shown in Figures 1-5, the present embodiment provides an all-round metal smelting slag scavenging robot, including a grabbing mechanism for performing slag fishing, a running mechanism for driving the grabbing mechanism to move in multiple directions, and a A vertical balance mechanism is maintained during the movement; one end of the running mechanism is fixed on the base 1, the other end is connected with the grabbing mechanism, one end of the balance mechanism is connected with the grabbing mechanism, and the other end is connected with the base 1, the balance mechanism The middle position is connected with the running mechanism.

The base 1 is fixed on the ground, a slewing bearing 2 is installed on the base 1, and a slewing disc 3 is installed on the slewing bearing 2; the slewing bearing 2 is connected with the first servo motor 4 through the first servo motor 4. The slewing bearing 2 drives the slewing plate 3 to rotate, so that the equipment can rotate 360°.

The operating mechanism includes a large arm 6 and a small arm 7, the large arm 6 is hinged on the rotary disk 3, and is connected with a second servo motor 5 through a slewing bearing, and the second servo motor 5 is installed on the rotary disk 3. , drive the big arm 6 to rotate through the second servo motor 5; 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 back end of the small arm 7; The arm 7 is bent downward from the hinge part 71 to both ends, so that the small arm 7 is in the shape of an unequal obtuse angle; the hinge part 71 is hinged with the upper end of the big arm 6 through the hinge shaft 15; the rear end of the small arm 7 It is hinged with the upper end of the pull rod 10, the lower end of the pull rod 10 is hinged on the turntable 3, and the installation height of the hinge point of the pull rod 10 on the turntable 3 from the ground is determined according to actual needs, so that the grabbing mechanism can reach different levels. Grab height.

The front end of the small arm 7 is hinged with a connecting arm 8 through a fixed seat, the connecting arm 8 is a cylindrical structure, and the connecting arm 8 is connected with the grabbing mechanism.

The big arm 6 , the small arm 7 , the pull rod 15 and the rotary disk 3 together form a four-bar linkage mechanism, which drives the grabbing mechanism to move up and down and back and forth under the driving of the second servo motor 5 .

The balance mechanism includes a first link 11, a second link 12 and a third link 13. The second link 12 is V-shaped and includes three connecting parts at the front end, the rear end and the middle. The second connecting rod 12 is rotatably arranged at the hinge joint between the big arm 6 and the small arm 7 through the middle connecting part; the front connecting part of the second connecting rod 12 is hinged with the upper end of the first connecting rod 11, and the first connecting rod 11 is hinged on the connecting arm 8 ; the rear end connecting part of the second connecting rod 12 is hinged with the upper end of the third connecting rod 13 , and the third connecting rod 13 is hinged on the rotary disk 3 .

The balance mechanism further includes a counterweight 14 , the counterweight 14 is arranged at the hinge joint between the boom 6 and the rotary disk 3 , and the counterweight 4 is used to balance the force of the boom 6 .

The first servo motor 4 and the second servo motor 5 are both connected to the control system.

The slag scavenging robot also includes a rotating mechanism 17, which is connected with the connecting arm 8, and drives the connecting arm 8 to rotate through the rotating mechanism 17, thereby driving the grabbing mechanism to rotate 360°; the rotating mechanism 17 includes and the connecting arm 8. 8 The connected slewing bearing, and the slewing motor that drives the slewing bearing to rotate, the slewing bearing and the slewing motor are both arranged on the fixed seat.

The gripping mechanism is a round gripper assembly 9, and the round gripper assembly 9 includes a plurality of gripping boards 95, the gripping boards 95 are petal-shaped structures, and the multiple gripping boards 95 are evenly spaced along the circumferential direction, Encircled into a circle; the number of the gripping plates 95 is determined according to the size change of the actual circular gripper assembly; a plurality of gripping plates 95 can be closed inwardly closed or opened outwards at the same time to realize the grasping and releasing action of the gripper .

When the multiple gripping plates 95 are closed, a part of each other at their sides overlaps to form a closed cavity; the closed cavity is used as a holding space for the scum every time the gripper is closed; therefore, when the gripper is closed, it can be The scum will not be spilled, and the scum will not fall into the smelting furnace during the slag removal process to cause molten iron splashing.

The multiple grab plates 95 are closed inward or opened outward through an opening and closing mechanism, the opening and closing mechanism includes a lifting plate 92 and a plurality of first hinge plates 94 , and the number of the first hinge plates 94 is the same as the number of the grab plates 95 . , the upper end of the first hinge plate 94 is hinged to the bottom of the lifting plate 92; specifically, the first hinge plate 94 is an elongated structure, and one end of the first hinge plate 94 is connected to the first hinge shaft 97 through the first hinge shaft 97. On an ear plate 96 , the first ear plate 96 is fixed on the bottom of the lifting plate 92 .

The lower end of each first hinge plate 94 is hinged with the upper end of a catch plate 95; specifically, the inner side of the upper end of each catch plate 95 is provided with a second ear plate 98, and the lower end of the first hinge plate 94 passes through the second lug plate 98. The hinge shaft 99 is hinged on the second ear plate 98 .

The top of each catch plate 95 is fixed with a second hinge plate 912 , the top of the second hinge plate 912 is hinged on the third ear plate 910 through the third hinge shaft 911 , and the third ear plate 910 is fixed on the fixing plate 93, the fixing plate 93 fixes the lower end of the connecting arm 8.

The fixed plate 93 and the lift plate 92 are coaxially disposed, and a circular through hole is formed on the fixed plate 93 at a position corresponding to the lift plate 92 , and the diameter of the through hole is larger than the diameter of the lift plate 92 .

The central position of the lifting plate 92 is fixedly connected with a lifting rod 91 , and the lifting rod 91 is fixedly connected with the telescopic end of the lifting cylinder 913 . The lifting cylinder 913 and the lifting rod 91 are both arranged inside the connecting arm 8 in the cavity.

The lifting cylinder 913 expands and contracts, so that the lifting boom 91 drives the plurality of first hinge plates 94 to move up or down synchronously through the lifting plate 92, so that the multiple Each gripper is closed inward or opened outward at the same time to realize the pick-and-place function of the gripper.

The working principle of the present invention:

During operation, the first servo motor 4 drives the slewing plate 3 to rotate by driving the slewing bearing 2, so that the running mechanism and the grabbing mechanism together realize 360° rotation.

The second servo motor 5 drives the big arm 6 to rotate, and is driven by the four-bar linkage mechanism composed of the big arm 6, the small arm 7, the pull rod 15 and the rotary disc 3 to move the grabbing mechanism up and down, back and forth, so as to adjust the accurate The grabbing position is convenient for slag fishing.

When the round gripper assembly picks up the scum in the furnace, it first drives the round gripper assembly to an accurate grasping position through the running mechanism, and then retracts and extends through the lifting cylinder, so that the lifting boom drives the lifting plate upward. Or move downward, during the upward or downward movement of the lifting plate, the hinge structure formed by the first hinge plate and the second hinge plate drives a plurality of grasping plates to simultaneously collect and grasp the scum; and then drives the circular The gripper assembly is raised, and cooperates with the first servo motor to transfer the scum to the predetermined slag discharge area, and multiple gripping plates open outward at the same time to complete the slag discharge, and then enter the next operation cycle.

The circular gripper assembly in this embodiment can also be used to clean the slag on the inner wall of the furnace. The circular gripper assembly extends into the furnace mouth through the running mechanism and is close to the furnace wall, and then cooperates with the lifting cylinder through the running mechanism to move along the furnace. The slag on the furnace wall can be cleaned by grabbing the wall downwards.

Example 2

As shown in Figures 6-7, this embodiment provides an all-round metal smelting slag scavenging robot. The difference between this embodiment and Embodiment 1 is that the grasping mechanism is a split-type grasper assembly 16, so The split-type gripper assembly 16 includes two symmetrically arranged grippers 161. The two grippers 161 are connected to the opening and closing mechanism 162, and the opening and closing mechanism 162 realizes opening and closing. The opening and closing mechanism 162 is connected to the oil cylinder. The telescopic rod of 163 is connected, and the opening and closing mechanism 162 is driven by the oil cylinder 163 to realize the opening and closing of the split-type gripper assembly 16 ; the oil cylinder 163 is fixed in the telescopic arm 8 .

The opening and closing mechanism 162 is provided on a fixing frame 165 , and the fixing frame 165 is fixed on the connecting arm 8 so as to be connected to the running mechanism via the split-type gripper assembly 16 .

The split-type gripper assembly 16 further includes two symmetrically arranged slag grippers 164, the slag grippers 164 are arranged above the two grippers 161, and each slag gripper 164 corresponds to one gripper. The hand setting; the slag grabbing hand 164 is also connected to the opening and closing mechanism 162, and as the opening and closing mechanism 162 drives the grabbing hand 161 to open, the slag grabbing hand 164 slaps downwardly the parts adhered to the grabbing hand 161. scum, making it fall off.

The gripper 161 and the slag scraping gripper 164 are both plate-type structures.

Example 3

As shown in FIG. 8 , this embodiment provides an all-around metal smelting slag scavenging robot. The difference between this embodiment and Embodiment 2 is that the gripper 161 and the slag scraping gripper 164 are both toothed structures.

The slag scavenging 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 scavenging; it is mainly suitable for steel, iron, copper, aluminum, and various non-ferrous metals, smelting Process waste cleaning.

The above are examples of the best embodiments of the present invention, and the parts not described in detail are the 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 inspiration of the present invention is also within the protection scope of the present invention.

Claims

An all-round metal smelting slag fishing robot, comprising a grabbing mechanism, the grabbing mechanism is connected to a four-bar linkage mechanism, characterized in that: the four-bar linkage mechanism comprises a large arm (6), and the large arm ( The lower end of the 6) is hinged on the turntable (3), and is connected with the second servo motor (5) through the slewing bearing; the upper end of the big arm (6) is hinged with the small arm (7); the front end of the small arm (7) The connecting arm (8) is connected with the grabbing mechanism, and the rear end is hinged with the upper end of the pull rod (10); the pull rod (10) is fixed on the rotary disk (3).
The all-round metal smelting slag fishing robot according to claim 1, characterized in that: it further comprises a balance mechanism, and the balance mechanism comprises a second connecting rod (12); the second connecting rod (12) is V shape, with front end, rear end and three connecting parts in the middle;

The second connecting rod (12) is rotatably arranged at the hinge joint between the big arm (6) and the small arm (7) through the middle connecting part; the front connecting part of the second connecting rod (12) is connected with the first connecting rod ( 11) is hinged at the upper end, the lower end of the first connecting rod (11) is hinged on the connecting arm (8); the rear end connecting part of the second connecting rod (12) is connected with the upper end of the third connecting rod (13) The lower end of the third link (13) is hinged on the rotary disk (3).
The all-round metal smelting slag fishing robot according to claim 1, characterized in that: the grasping mechanism is a circular grasper assembly (9), and the circular grasper assembly (9) includes a A plurality of grasping plates (95) that are opened and closed, the upper end of each grasping plate (95) is hinged with a first hinge plate (94), and the upper end of the first hinge plate (94) is hinged on the lifting plate (92) , the center of the lifting plate (92) is provided with a lifting boom (91), and the lifting boom (91) is connected with a lifting cylinder (913);

The top end of each grab plate (95) is fixed with a second hinge plate (912), and the top end of the second hinge plate (912) is hinged on the fixing plate (93).
The all-round metal smelting slag fishing robot according to claim 1, characterized in that: the grasping mechanism is a split-type gripper assembly (16), and the split-type gripper assembly (16) The two grippers (161) are symmetrically arranged, and the two grippers (161) are connected with the opening and closing mechanism (162), and the opening and closing mechanism (162) is connected with the telescopic rod of the oil cylinder (163);

The gripper (161) is a plate-type structure or a tooth-type structure.
The all-round metal smelting slag scavenging robot according to claim 1, characterized in that: the small arm (7) is provided with a hinge portion (71), and the hinge portion (71) passes through the hinge shaft (15) It is hinged with the upper end of the big arm (6); the distance from the hinge part (71) to the front end of the forearm (7) is greater than the distance from the back end of the forearm (7); ) until both ends are bent down.
The all-round metal smelting slag fishing robot according to claim 1, characterized in that: the rotary disk (3) is mounted on the base (1) through a slewing bearing, and is driven by a first servo motor (4); The first servo motor (4) and the second servo motor (5) are both connected with the control system.
The all-round metal smelting slag scavenging robot according to claim 3, characterized in that: the grasping plate (95) is a petal-shaped structure, and a plurality of grasping plates (95) are evenly spaced along the circumferential direction to form a circle shape.
The all-round metal smelting slag fishing robot according to claim 3, characterized in that: the fixed plate (93) and the lift plate (92) are arranged coaxially, and the fixed plate (93) corresponds to the lift plate The position of (92) is provided with a through hole; the through hole is circular, and the diameter of the through hole is larger than the diameter of the lifting plate (92).
The all-round metal smelting slag scavenging robot according to claim 2, characterized in that: the balance mechanism further comprises a counterweight (14); the counterweight (14) is arranged on the boom (6) and the rotary disk (3) at the hinge.
The all-round metal smelting slag scavenging robot according to claim 3, characterized in that: when the plurality of gripping plates (95) are closed, a part of each other at their sides overlaps to form a closed cavity; the closed cavity is There is room for scum every time you grab it.