Slag scooping manipulator, robot and slag scooping method

Abstract

The present invention discloses a slag scooping manipulator, a robot, and a slag scooping method. The slag scooping robot comprises a robotic arm and a slag scooping manipulator mounted on a cylinder at the end of the robotic arm. The slag scooping manipulator comprises a body, a spiral plate mounted on the body, a rotary drive device for driving the spiral plate to rotate relative to the body, and a slag cleaning mechanism for removing slag from the spiral plate; the spiral plate has a vertically arranged axis of rotation. The present invention implements mechanical slag scooping and cleaning, allowing workers to complete their work by manipulating mechanical equipment, reducing labor intensity, improving production efficiency, and facilitating personal safety.

Description

Technical Field

[0001] The invention relates to a manipulator for cleaning slag from smelting liquid metal in a casting electric furnace, and also relates to a slag scooping robot and a slag scooping method. Background Art

[0002] Currently, cleaning slag from molten metal in electric casting furnaces primarily relies on workers working in close proximity to the highly dangerous furnaces. This presents challenges such as high labor intensity, significant safety risks, low efficiency, and inconsistent quality. Existing mechanical slag removal systems also rely heavily on manual operation, particularly for the slag removal process, which requires close-up cleaning. This poses challenges such as safety concerns, low efficiency, and high costs. Summary of the Invention

[0003] The present invention provides a slag scooping manipulator, a robot and a slag scooping method, the purpose of which is to reduce the labor intensity of workers, improve efficiency and ensure production safety.

[0004] The technical solutions of the present invention are as follows:

[0005] A slag scooping robot comprises a body, a spiral plate mounted on the body, a rotary drive device for driving the spiral plate to rotate relative to the body, and a slag cleaning mechanism for removing slag from the spiral plate;

[0006] The rotation axis of the spiral plate is arranged vertically.

[0007] As a further improvement of the above-mentioned manipulator: the spiral plate is mounted on the lower end of the rotary shaft, the rotary shaft is provided with an external thread, the external thread and the spiral plate have the same rotation direction and the same lead; a blank section is left between the upper end of the external thread and the upper end of the rotary shaft;

[0008] The rotary drive device is a third motor for driving the rotary shaft to rotate;

[0009] The slag cleaning mechanism includes a lifting plate, a guide rod and a slag cleaning block;

[0010] The nut on the lifting plate cooperates with the external thread; the guide rod is vertically arranged and fixedly connected to the body; the lifting plate is slidably connected to the guide rod;

[0011] The slag cleaning block is installed on the lifting plate; the slag cleaning block is used to remove slag on the surface of the spiral plate.

[0012] As a further improvement of the above-mentioned manipulator: the slag cleaning block includes an upper slag cleaning block and a lower slag cleaning block; a gap is left between the upper slag cleaning block and the lower slag cleaning block, the former is used to clean the slag on the upper surface of the spiral plate, and the latter is used to clean the slag on the lower surface of the spiral plate.

[0013] The present invention also discloses a slag scooping robot, comprising the slag scooping manipulator;

[0014] It also includes a mechanical arm; the mechanical arm includes a vertically arranged oil cylinder, and the body of the slag scooping manipulator is installed at the lower end of the telescopic rod of the oil cylinder.

[0015] As a further improvement of the above robot: the robotic arm further includes a column, a slewing support, a walking beam and a walking trolley;

[0016] The walking beam is installed on the upper end of the column through a slewing support; the walking trolley travels along the walking beam, and the cylinder body of the oil cylinder is installed on the walking trolley.

[0017] As a further improvement of the above robot, it also includes a second motor for driving the walking beam to rotate relative to the column and a first motor for driving the walking trolley to move along the walking beam.

[0018] As a further improvement of the above robot: two left and right sprockets are provided on the walking beam, and transmission is achieved between the sprockets through a transmission chain. The first motor is used to drive one of the sprockets to rotate, and the walking trolley is connected to the transmission chain.

[0019] As a further improvement of the above robot: a hydraulic station is also installed on the walking beam, and the hydraulic station and the walking trolley are respectively located on both sides of the column.

[0020] As a further improvement of the above robot: it also includes a first pressure sensor for detecting the hydraulic oil pressure in the oil cylinder and a second pressure sensor for detecting the load of the third motor.

[0021] The above-mentioned slag removal robot is used to remove slag, and the steps are as follows:

[0022] (I) The third motor starts, driving the rotary shaft and the spiral plate to rotate forward, lifting the nut on the lifting plate to the blank section; at the same time, the slag removal robot moves to the target slag removal point under the operation of the robotic arm;

[0023] (II) The third motor continues to rotate, the oil cylinder extends, and the slag scooping robot descends. When a sudden change in the pressure values ​​of the first pressure sensor and the second pressure sensor is detected, it is determined that the spiral plate has contacted the liquid surface;

[0024] (III) The cylinder extends at a preset speed while the spiral plate continues to rotate until it reaches the target depth;

[0025] (IV) The third motor stops rotating, the oil cylinder retracts, and the slag collecting robot is lifted until the spiral plate leaves the liquid surface;

[0026] (V) The robot arm moves to the slag unloading position;

[0027] (VI) The third motor starts to reverse, so that the nut on the lifting plate cooperates with the external thread. The external thread drives the lifting plate and the slag cleaning block to descend, so that the slag cleaning block removes the slag on the surface of the spiral plate. Finally, the third motor stops rotating.

[0028] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention realizes mechanical slag scooping and slag cleaning. Workers can complete their work by manipulating mechanical equipment, which reduces labor intensity, improves production efficiency, and is beneficial to ensuring personal safety; (2) The manipulator and its slag cleaning mechanism have a simple structure and are easy to control. The conversion between the immersed state and the slag cleaning state can be achieved by controlling the forward and reverse rotation of the motor. Specifically, the forward rotation of the motor can reduce the resistance encountered by the spiral plate immersed in the liquid surface, thereby improving efficiency. At the same time, the threaded mechanism can be used to lift the slag cleaning block to a height that does not interfere with the spiral plate. When the motor is reversed, the nut on the lifting plate will automatically engage with the external thread, pushing the slag cleaning block downward, and automatically completing the slag cleaning work; (3) The pressure sensor can quickly determine whether the spiral plate is in contact with the liquid surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the robot of the present invention.

[0030] Figure 2 for Figure 1 Partial schematic diagram of part A. DETAILED DESCRIPTION

[0031] The technical solution of the present invention is described in detail below with reference to the accompanying drawings:

[0032] like Figure 1 A slag collecting robot includes a robotic arm and a slag collecting manipulator 13 installed at the end of the robotic arm.

[0033] The robotic arm includes a column 4 , a rotary support 5 , a walking beam 9 and a walking trolley 12 .

[0034] The walking beam 9 is mounted on the upper end of the column 4 through the slewing support 5 ; the walking trolley 12 travels along the walking beam 9 , and the cylinder body of the oil cylinder 11 is mounted on the walking trolley 12 .

[0035] The robotic arm further includes a second motor 8 for driving the walking beam 9 to rotate relative to the column 4 and a first motor 6 for driving the walking trolley 12 to move along the walking beam 9 .

[0036] The walking beam 9 is provided with left and right sprockets 7, and the sprockets 7 are transmitted through a transmission chain. The first motor 6 is used to drive one of the sprockets 7 to rotate. The walking trolley 12 is connected to the transmission chain, and the first motor 6 drives the walking trolley 12 to move through the transmission chain mechanism.

[0037] A second motor 8 drives the travel beam 9 through a gear mechanism or other transmission mechanism. A brake device 3 is also provided at the slewing support 5. The brake device 3 includes two movable brake blocks that engage brake pads that rotate with the travel beam 9, thereby fixing the angle of the travel beam 9 relative to the column 4.

[0038] The robotic arm further includes a vertically arranged oil cylinder 11 mounted on a traveling trolley 12 .

[0039] The traveling beam 9 is also equipped with a hydraulic station 1. The hydraulic station 1 and the traveling trolley 12 are located on either side of the column 4. The hydraulic station 1 is equipped with a hydraulic pump 2, which supplies hydraulic oil to the hydraulic motors and cylinders 11. The hydraulic station 1 also includes control components such as hydraulic valves. The hydraulic station 1 serves not only as a power source but also as a counterweight, ensuring a balanced load on the traveling beam 9.

[0040] like Figure 2 The slag scooping robot 13 includes a main body 13-2, a spiral plate 13-10 installed on the main body 13-2, a rotary drive device for driving the spiral plate 13-10 to rotate relative to the main body 13-2, and a slag cleaning mechanism for removing slag from the spiral plate 13-10.

[0041] The rotation axis of the spiral plate 13-10 is set vertically, and the spiral plate 13-10 is installed at the lower end of the rotating shaft 13-6. The rotating shaft 13-6 is provided with an external thread 13-7. The external thread 13-7 has the same rotation direction and the same lead as the spiral plate 13-10; a blank section is left between the upper end of the external thread 13-7 and the upper end of the rotating shaft 13-6.

[0042] The upper end of the rotary shaft 13-6 is connected to the output shaft of the third motor 13-1 through the first wedge 13-5, and the other end is connected to the core shaft of the spiral plate 13-10 through the second wedge 13-12.

[0043] The rotary drive device is a third motor 13 - 1 for driving the rotary shaft 13 - 6 to rotate.

[0044] The slag cleaning mechanism includes a lifting plate 13-4, a guide rod 13-3 and a slag cleaning block.

[0045] The nut on the lifting plate 13-4 engages with the external thread 13-7. The guide rod 13-3 is vertically arranged and fixedly connected to the body 13-2. The lifting plate 13-4 is slidably connected to the guide rod 13-3 and, driven by the third motor 13-1, moves up and down relative to the body 13-2. A limit switch 13-11 for the lifting plate 13-4 is also mounted on the body 13-2.

[0046] The slag cleaning block is installed on the lifting plate 13-4; the slag cleaning block is used to remove slag on the surface of the spiral plate 13-10.

[0047] Specifically, the slag cleaning block includes an upper slag cleaning block 13-8 and a lower slag cleaning block 13-9; a gap is left between the upper slag cleaning block 13-8 and the lower slag cleaning block 13-9, the former is used to clean the slag located on the upper surface of the spiral plate 13-10, and the latter is used to clean the slag located on the lower surface of the spiral plate 13-10.

[0048] The main body 13 - 2 of the slag scooping manipulator 13 is installed at the lower end of the telescopic rod of the oil cylinder 11 .

[0049] The robot further includes a first pressure sensor 10 for detecting the pressure of the hydraulic oil in the cylinder 11 and a second pressure sensor 14 for detecting the load of the third motor 13 - 1 .

[0050] The robot is also equipped with a position detection system, including: an angle detection device for detecting the angle of the walking beam 9 relative to the column 4; a displacement detection device is provided on the walking beam 9 and the walking trolley 12 for detecting the position of the walking trolley 12 on the walking beam 9; a position detection device is provided on the oil cylinder 11 for detecting the position of its telescopic rod to control the height of the manipulator.

[0051] The robot also includes an electric control console 15 and a remote control receiver 16. The robot has at least three control modes: manual, remote control and automatic:

[0052] Manual mode: The operator sends a control signal to the hydraulic station 1 through the electronic control console 15 to activate various components such as the motors and cylinders 11.

[0053] Remote control mode: The operator sends a control signal through the remote control, and the electronic control console 15 forwards the signal received by the remote control receiver 16 to achieve control.

[0054] Automatic mode: The robot is first controlled manually or remotely to complete the desired action. During this process, detection devices record the positions of each joint and component to complete the teaching process. During slag dredging production, the electronic control console 15 automatically sends control signals to implement the action according to the teaching process. By monitoring the signals returned by each detection device, the robot's status is determined, and the step transition is completed in a timely manner until the operation is completed.

[0055] Specifically, the steps of the slag removal robot are as follows:

[0056] (I) The third motor 13-1 is started, driving the rotary shaft 13-6 and the spiral plate 13-10 to rotate forward, lifting the nut on the lifting plate 13-4 to the blank section; at the same time, the manipulator moves to the target slag removal point under the operation of the robotic arm;

[0057] (II) The third motor 13 - 1 continues to rotate, while the oil cylinder 11 extends and the slag scooping robot 13 descends. When a sudden change in the pressure values ​​of the first pressure sensor 10 and the second pressure sensor 14 is detected, it is determined that the spiral plate 13 - 10 is in contact with the liquid surface.

[0058] (III) The oil cylinder 11 extends to a preset length at a preset speed, while the spiral plate 13-10 continues to rotate until it reaches the target depth; the spiral plate 13-10 enters the liquid surface in a screw-in posture, which can not only reduce resistance but also minimize disturbance of the slag, preventing the slag from dispersing and affecting slag retrieval;

[0059] (IV) The third motor 13 - 1 stops rotating, and the oil cylinder 11 retracts, driving the slag removal robot 13 to rise until the spiral plate 13 - 10 leaves the liquid surface. During the rising process, the slag falls onto the spiral plate 13 - 10 and follows it out of the molten metal.

[0060] (V) The robot arm moves to move the slag collecting robot 13 to the slag unloading position;

[0061] (VI) The third motor 13-1 starts to reverse, so that the nut on the lifting plate 13-4 engages with the external thread 13-7. The external thread 13-7 drives the lifting plate 13-4 and the slag cleaning block to descend, so that the slag cleaning block removes the slag on the surface of the spiral plate 13-10. Finally, the third motor 13-1 stops rotating.

[0062] Then, the process can return to step (I) and cycle through the slag removal process.

[0063] This system can be used not only in the metallurgical field, but also in other fields that require similar slag removal operations.

Claims

1. A slag removal robot, characterized by: It comprises a body (13-2), a spiral plate (13-10) mounted on the body (13-2), a rotary drive device for driving the spiral plate (13-10) to rotate relative to the body (13-2), and a slag cleaning mechanism for cleaning slag on the spiral plate (13-10); The rotation axis of the spiral plate (13-10) is arranged vertically; The spiral plate (13-10) is mounted on the lower end of the rotary shaft (13-6); the rotary shaft (13-6) is provided with an external thread (13-7); the external thread (13-7) and the spiral plate (13-10) have the same rotation direction and the same lead; a blank section is left between the upper end of the external thread (13-7) and the upper end of the rotary shaft (13-6); The rotary drive device is a third motor (13-1) for driving the rotary shaft (13-6) to rotate; The slag cleaning mechanism comprises a lifting plate (13-4), a guide rod (13-3) and a slag cleaning block; The nut on the lifting plate (13-4) cooperates with the external thread (13-7); the guide rod (13-3) is vertically arranged and fixedly connected to the body (13-2); the lifting plate (13-4) is slidably connected to the guide rod (13-3); The slag cleaning block is installed on the lifting plate (13-4); the slag cleaning block is used to remove slag on the surface of the spiral plate (13-10); and a limit switch (13-11) for the lifting plate (13-4) is also installed on the main body (13-2).

2. The slag removal robot according to claim 1, characterized in that: The slag cleaning block comprises an upper slag cleaning block (13-8) and a lower slag cleaning block (13-9); a gap is left between the upper slag cleaning block (13-8) and the lower slag cleaning block (13-9); the former is used to clean slag located on the upper surface of the spiral plate (13-10), and the latter is used to clean slag located on the lower surface of the spiral plate (13-10).

3. A slag removal robot, characterized by: It comprises the slag scooping robot (13) as claimed in claim 1; It also includes a mechanical arm; the mechanical arm includes a vertically arranged oil cylinder (11), and the body (13-2) of the slag scooping manipulator (13) is installed at the lower end of the telescopic rod of the oil cylinder (11).

4. The slag collecting robot according to claim 3, characterized in that: The robotic arm further comprises a column (4), a slewing support (5), a walking beam (9) and a walking trolley (12); The walking beam (9) is mounted on the upper end of the column (4) via a slewing support (5); the walking trolley (12) travels along the walking beam (9), and the cylinder body of the oil cylinder (11) is mounted on the walking trolley (12).

5. The slag collecting robot according to claim 4, characterized in that: It also includes a second motor (8) for driving the walking beam (9) to rotate relative to the column (4) and a first motor (6) for driving the walking trolley (12) to move along the walking beam (9).

6. The slag collecting robot according to claim 5, characterized in that: The walking beam (9) is provided with left and right sprockets (7), and transmission is achieved between the sprockets (7) via a transmission chain. The first motor (6) is used to drive one of the sprockets (7) to rotate, and the walking trolley (12) is connected to the transmission chain.

7. The slag collecting robot according to claim 4, characterized in that: A hydraulic station (1) is also installed on the walking beam (9), and the hydraulic station (1) and the walking trolley (12) are respectively located on both sides of the column (4).

8. The slag collecting robot according to any one of claims 3 to 7, characterized in that: It also includes a first pressure sensor (10) for detecting the hydraulic oil pressure in the oil cylinder (11) and a second pressure sensor (14) for detecting the load of the third motor (13-1).

9. A slag removal method, characterized in that: The slag scooping robot according to claim 8 is used to scoop slag, and the steps are as follows: (I) The third motor (13-1) is started, driving the rotary shaft (13-6) and the spiral plate (13-10) to rotate forward, so that the nut on the lifting plate (13-4) is lifted to the blank section; at the same time, the slag collecting manipulator (13) moves to the target slag collecting point under the operation of the manipulator arm; (II) The third motor (13-1) continues to rotate, while the oil cylinder (11) extends and the slag scooping manipulator (13) descends. When it is detected that the pressure values ​​of the first pressure sensor (10) and the second pressure sensor (14) have both suddenly changed, it is determined that the spiral plate (13-10) has contacted the liquid surface; (III) the oil cylinder (11) extends at a preset speed, while the spiral plate (13-10) continues to rotate until it reaches the target depth; (IV) The third motor (13-1) stops rotating, the oil cylinder (11) retracts, and the slag collecting manipulator (13) is driven to rise until the spiral plate (13-10) leaves the liquid surface; (V) The robot arm moves to move the slag collecting robot (13) to the slag unloading position; (VI) The third motor (13-1) starts to rotate in reverse, so that the nut on the lifting plate (13-4) cooperates with the external thread (13-7). The external thread (13-7) drives the lifting plate (13-4) and the slag cleaning block to descend, so that the slag cleaning block removes the slag on the surface of the spiral plate (13-10). Finally, the third motor (13-1) stops rotating.

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