An all-round intelligent slag removal robot for metal smelting

Abstract

The invention discloses an all-purpose intelligent slag scooping robot for metal smelting, comprising a body, on which a gripping mechanism is arranged; the gripping mechanism has the dual functions of scooping slag in a furnace and cleaning slag in a furnace; the gripping mechanism comprises a gripper, which is composed of a plurality of gripping plates uniformly arranged in a circumferential direction; the gripper is connected with an opening and closing mechanism, and the plurality of gripping plates are driven by the opening and closing mechanism to close inward or open outward at the same time, so that the gripper is closed or opened; the invention can have the dual functions of scooping slag in a furnace and cleaning slag adhered to the inner wall of the furnace, and has strong practicality; 360° dead angle-free gripping can be achieved in one slag grabbing action during the slag scooping process, the number of slag scooping times and time can be reduced, and production efficiency can be improved; the reduction of the furnace mouth caused by the adhesion of the slag to the furnace wall during the smelting process can be avoided, and the utilization rate of the furnace lining can be increased; the splashing of molten iron caused by the falling of slag during slag scooping can be effectively avoided, the waste of molten iron can be reduced, and the safety can be improved at the same time.

Description

Technical Field

[0001] The invention relates to a slag scooping robot, in particular to an all-round intelligent slag scooping robot for metal smelting. Background Art

[0002] When smelting molten iron, a large amount of slag will be produced in the furnace. In order not to affect the quality of the molten iron during the operation, the slag needs to be removed. At present, there are two types of slag removal operations in the domestic foundry industry: manual slag removal and mechanical slag removal. Traditional manual slag removal generally requires slag removers to wear protective gear and stand close to the furnace mouth, using a long iron fork to pick up slag outside the furnace. Manual slag removal is low in safety and efficiency, and when picking up slag, it will stick to and take away a lot of molten iron, causing waste. Therefore, with the continuous development of technology, mechanical slag removal - slag removal machine has gradually emerged.

[0003] For example, Chinese patent CN201920075643.0 discloses a new type of electric cylinder slag scooping machine, which involves the field of metallurgical machinery, including a base and a column, the column is vertically arranged on the base, the upper end of the column is fixedly provided with a horizontal first telescopic arm, and the 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 column, and the other end is installed with a second telescopic arm, the upper end of the second telescopic arm is installed with a second electric cylinder, which can control the extension and contraction of the second telescopic arm, the lower end of the second telescopic arm is installed with a slag scooping gripper, and the third electric cylinder is installed inside the second telescopic arm to connect the slag scooping gripper. The advantage of the present invention is that it saves a lot of pipeline layout in the existing design, and also reduces the matching of power equipment, uses only one kind of electricity as the power source, avoids the oil leakage of the pipeline during the use of the existing hydraulic power, and greatly improves the applicable environment of the equipment.

[0004] Although the above-mentioned slag scooping machine realizes mechanical slag scooping, it has the following problems in practical application:

[0005] 1. The gripper of the above-mentioned slag scooping machine is a traditional split-type gripper or gripper teeth. During a slag grabbing action of the traditional split-type gripper, dead angles for slag grabbing will appear at both ends of the gripper. In the prior art, technicians generally solve this problem by setting a rotating device to rotate the gripper circumferentially by a certain angle and performing multiple slag grabbing actions. In this way, on the one hand, the complexity of the mechanical structure of the slag grabbing machine is increased, which not only increases the equipment manufacturing cost but also increases the equipment footprint; on the other hand, multiple slag grabbing by the slag scooping machine increases the slag scooping time, which seriously affects the improvement of production efficiency, increases production costs, and cannot meet market demand.

[0006] 2. The split-type gripper structure used in the traditional slag scooping machine, when grabbing the slag and squeezing it inward, the slag is easy to fall from both ends of the gripper, the slag is not firmly grasped, and molten iron is easy to splash, which not only causes waste of molten iron, but also has great safety hazards.

[0007] 3. Traditional slag removers can only remove floating slag in the furnace. During the actual smelting process, the slag will adhere to the inner wall of the smelting furnace, causing the furnace mouth to shrink and the furnace lining utilization rate to be low. Traditional slag removers cannot clean the slag on the inner wall of the furnace, have a single function, and are of low practicality.

[0008] In summary, the existing technology obviously has inconveniences and defects in practical use, so it is necessary to improve it. Summary of the invention

[0009] The technical problem to be solved by the present invention is to provide an all-round intelligent slag removal robot for metal smelting in view of the above shortcomings, which can achieve the following purposes:

[0010] 1. It has the dual functions of scooping out the slag in the furnace and cleaning the slag adhered to the inner wall of the furnace, and is highly practical.

[0011] 2. It can realize 360° no-dead-angle grabbing in one slag grabbing action during the slag catching process, reducing the number and time of slag catching and improving production efficiency.

[0012] 3. It can avoid the shrinkage of the furnace mouth caused by the adhesion of slag to the furnace wall during the smelting process and increase the utilization rate of the furnace lining.

[0013] 4. It can effectively avoid the splashing of molten iron caused by the falling of slag during slag removal, reducing the waste of molten iron and improving safety.

[0014] To solve the above technical problems, the present invention adopts the following technical solution: an all-round intelligent slag scooping robot for metal smelting, comprising a body, on which a grabbing mechanism is provided; the grabbing mechanism has the dual functions of scooping slag in the furnace and cleaning the fireplace slag in the furnace.

[0015] Furthermore, the gripping mechanism includes a gripper, which is composed of a plurality of gripping plates evenly arranged circumferentially; the gripper is connected to an opening and closing mechanism, and the opening and closing mechanism drives the plurality of gripping plates to close inward or open outward at the same time, so that the gripper is closed or opened.

[0016] Furthermore, the opening and closing mechanism includes a lifting plate and a plurality of crankshafts; the lower end of each crankshaft is fixedly connected to a grab plate;

[0017] The lifting plate can be slidably sleeved on a plurality of crankshafts; through the up and down movement of the lifting plate, the plurality of crankshafts drive the plurality of grab plates to be retracted inwards or opened outwards at the same time.

[0018] Furthermore, the crankshaft is a smooth round shaft having two curved portions with opposite bending directions; the upper end of each crankshaft is hingedly fixed on a fixed plate.

[0019] Furthermore, it also includes a rotating device; the rotating device is fixedly connected to the fixed plate through a connecting arm, and the rotating device drives the gripper and the opening and closing mechanism to perform rotational motion.

[0020] Furthermore, the left side of each grab plate is arranged on the inner side of the grab plate adjacent to its left side, and the right side is arranged on the outer side of the grab plate adjacent to its right side; or the left side of each grab plate is arranged on the outer side of the grab plate adjacent to its left side, and the right side is arranged on the inner side of the grab plate adjacent to its right side.

[0021] Furthermore, it also includes a control cabinet, which is used for the slag scooping robot to automatically scoop up floating slag and automatically clean up the slag in the furnace;

[0022] The control cabinet is connected to a human-machine interface; a distance sensor is installed on the machine body, which 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 scooping robot.

[0023] Furthermore, the machine body includes a machine base and a crank arm, a large arm and a pull rod are hingedly connected between the machine base and the crank arm; and a lifting cylinder is hingedly connected between the machine base and the crank arm.

[0024] Furthermore, a suspension rod is fixedly connected to the center position of the lifting plate, and the suspension rod slides through the fixed plate through a guide sleeve, and the upper end of the suspension rod is connected to the telescopic rod of the oil cylinder.

[0025] Furthermore, the upper ends of the upper arm and the pull rod of the crank arm are hingedly fixed on the inclined section of the crank arm, and the lower ends are hingedly fixed on the machine base; a connecting rod structure is formed between the machine base, the upper arm, the pull rod and the crank arm; the horizontal section of the crank arm is fixedly connected with a cross arm; the end of the cross arm is fixedly connected with the vertical arm, and the bottom end of the vertical arm is fixedly connected with the connecting arm;

[0026] The horizontal arm and the vertical arm are both telescopic.

[0027] After adopting the above technical solution, the present invention has the following advantages compared with the prior art:

[0028] 1. The present invention can realize 360° slag grabbing without dead angles in one grabbing action, reduce the number and time of slag grabbing, improve production efficiency, simplify the structure of the slag grabbing machine, reduce the volume of the equipment, and reduce production costs.

[0029] 2. The gripper of the present application adopts a circular design. The gripper can grab closely against the inner side of the furnace wall to clean the slag on the inner wall of the furnace; and the gripper can rotate 360° through the rotary device to effectively clean the slag at the upper mouth of the smelting furnace, thereby effectively cleaning the slag adhered to the furnace wall, avoiding the reduction of the furnace mouth caused by the adhesion of the slag to the furnace wall during the smelting process, and increasing the utilization rate of the furnace lining.

[0030] 3. The present invention can effectively avoid the splashing of molten iron caused by the falling of slag, reduce the waste of molten iron and improve safety.

[0031] 4. This application can not only remove the slag in the furnace but also clean the slag on the inner wall of the furnace. It has multifunctionality and a wide range of applications.

[0032] The present invention is described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the structure of the present invention;

[0034] Figure 2 It is a structural diagram of the gripping mechanism when the gripper is in an open state;

[0035] Figure 3 It is a structural schematic diagram of the gripping mechanism when the gripper is in a closed state;

[0036] Figure 4 It is a partial schematic diagram of the gripper in the open state;

[0037] Figure 5 It is a partial schematic diagram of the gripper in the closed state;

[0038] Figure 6 It is a schematic diagram of the structure of the crankshaft;

[0039] In the figure,

[0040] 1-Cylinder, 2-Board, 3-Guide Sleeve, 4-Fixed Plate, 5-Lifting Plate, 6-Crankshaft, 61-Upper Bend, 62-Lower Bend, 7-Grab Plate, 8-Cylinder Fixed Plate, 9-Connecting Arm, 10-Hinged Part, 11-Through Hole, 12-Lifting Cylinder, 13-Base, 14-Boom, 15-Pull Rod, 16-Horizontal Arm, 17-Vertical Arm, 18-Crank Arm, 19-Slewing Plate, 20-Slewing Motor, 21-Control Cabinet. DETAILED DESCRIPTION

[0041] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described with reference to the accompanying drawings.

[0042] Example 1

[0043] like Figure 1-6 As shown together, the present invention provides an all-round intelligent slag scooping robot for metal smelting, comprising a body, a gripping mechanism and a control cabinet 21, wherein the control cabinet 21 is used to control the gripping mechanism to realize automatic slag scooping and cleaning of the slag in the furnace.

[0044] The grabbing mechanism is arranged on the machine body; the machine body can be a fixed type; the machine body includes a machine base 13 and a crank arm 18, the machine base 13 of the fixed machine body is fixed on the ground, and a large arm 14 and a pull rod 15 are hingedly connected between the machine base 13 and the crank arm 18; specifically, the crank arm 18 has an inclined section and a horizontal section, and the upper ends of the large arm 14 and the pull rod 15 are hingedly fixed to the inclined section of the crank arm 18, and the lower ends are hingedly fixed to the machine base 13; a connecting rod structure is formed between the machine base 13, the large arm 14, the pull rod 15 and the crank arm 18; under the action of the connecting rod mechanism, the horizontal section of the crank arm 18 always remains in a horizontal state.

[0045] The horizontal section of the crank arm 18 is fixedly connected to the cross arm 16 , and the cross arm 16 can be horizontally extended and retracted.

[0046] The end of the horizontal arm 16 is fixedly connected to the vertical arm 17, and the vertical arm 17 can be vertically telescopic.

[0047] The horizontal arm 16 and the vertical arm 17 are both connected to telescopic cylinders, which are connected to an electronically controlled hydraulic system. The electronically controlled hydraulic system controls the movement of the telescopic cylinders to achieve the contraction of the horizontal arm 16 and the vertical arm 17.

[0048] A lifting cylinder 12 is also hingedly fixed on the machine base 13 , and a telescopic rod of the lifting cylinder 12 is hingedly fixed on the side of the boom 14 .

[0049] The machine body can also be mobile, and the mobile machine body also includes a walking mechanism, which is connected to the machine base 13 to drive the entire machine body to move together. The walking mechanism can be wheeled, rail-type, crawler-type, etc.

[0050] The grabbing mechanism is fixedly arranged at the bottom end of the vertical arm 17, and the grabbing mechanism includes a grabber, which is composed of a plurality of grab plates 7. The plurality of grab plates 7 are evenly spaced and arranged along the circumferential direction, and the plurality of grab plates 7 can be simultaneously closed inward or opened outward, so that the grabber is closed or opened to realize the grabbing and releasing action.

[0051] To avoid interference between two adjacent grab plates 7 when opening and closing, the left side of each grab plate 7 is arranged on the inner side of the adjacent grab plate 7 on its left side, and the right side of each grab plate 7 is arranged on the outer side of the adjacent grab plate 7 on its right side, or the left side of each grab plate 7 is arranged on the outer side of the adjacent grab plate 7 on its left side, and the right side of each grab plate 7 is arranged on the inner side of the adjacent grab plate 7 on its right side, so that when the gripper is closed, multiple grab plates 7 are stacked in sequence in a clockwise or counterclockwise direction.

[0052] A plurality of grab plates 7 are simultaneously retracted inward or opened outward by an opening and closing mechanism, wherein the opening and closing mechanism comprises a lifting plate 5 and a plurality of crankshafts 6, wherein the crankshaft 6 is a smooth round shaft having two curved portions with opposite bending directions; specifically, the crankshaft 6 comprises an upper curved portion 61 and a lower curved portion 62, wherein the upper curved portion 61 is curved inward, and the lower curved portion 62 is curved outward, and the connection between the upper curved portion 61 and the lower curved portion 62 is smoothly transitioned; the curvature radius of the upper curved portion 61 is greater than the curvature radius 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.

[0053] The lower end of each crankshaft 6 is fixedly connected to a gripping plate 7 , and the upper end is hingedly fixed to the fixing plate 4 via a hinge 10 .

[0054] The lifting plate 5 is provided with a plurality of through holes 11 evenly spaced circumferentially, and each crankshaft 6 passes through a through hole 11; the lifting plate 5 slides up and down along the plurality of crankshafts 6, so that the plurality of crankshafts 6 drive the plurality of grab plates 7 to simultaneously retract inward or open outward, thereby realizing a grabbing and releasing action; specifically, when the lifting plate 5 gradually moves upward from the lower curved portion 62 of the crankshaft 6, the plurality of grab plates 7 simultaneously retract inward, and the grippers close; when the lifting plate 5 moves downward from the upper curved portion 61 of the crankshaft 6, the plurality of grab plates 7 simultaneously open outward, and the grippers open.

[0055] The lifting plate 5 is fixedly connected with a suspension rod 2 at the center position. The suspension rod 2 is slidably arranged in a guide sleeve 3. The guide sleeve 3 is arranged at the center of a fixed plate 4. The upper end of the suspension rod 2 is connected to the telescopic rod of the oil cylinder 1. The oil cylinder 1 drives the lifting plate 5 to move up and down through the suspension rod 2. The oil cylinder 1 is connected to an electronically controlled hydraulic system.

[0056] The oil cylinder 1 is fixed on the oil cylinder fixing plate 8; the oil cylinder fixing plate 8 is fixedly arranged on the inner wall of the connecting arm 9, the connecting arm 9 is a hollow columnar structure, and the lower end of the connecting arm 9 is fixedly connected to the fixing plate 4; the oil cylinder 1 and the suspension rod 2 are both arranged in the inner cavity of the connecting arm 9.

[0057] The grabbing mechanism also includes a rotating device, which drives the gripper and the opening and closing mechanism to rotate; the rotating device includes a rotating disk 19, and a rotating motor 20 is connected to the rotating disk, and the rotating motor 20 drives the rotating disk 19 to rotate; the lower end of the rotating disk 19 is fixedly connected to the connecting arm 9, and the upper end of the rotating disk 19 is installed and fixed together with the telescopic arm of the slag scoop machine.

[0058] The grab plate 7 is an outwardly convex arc plate, and long inclined surfaces are provided on both sides of the grab plate 7 and one end away from the crankshaft 6 to facilitate grabbing slag and cleaning slag on the inner wall of the furnace.

[0059] The control cabinet 21 is connected to a human-machine interface, and the electric-controlled hydraulic systems for controlling the extension and retraction of the telescopic cylinders of the horizontal arm 16 and the vertical arm 17 are all connected to the control cabinet, so as to realize the control of the extension and retraction of the horizontal arm 16 and the vertical arm 17 through the control cabinet 21.

[0060] A distance sensor is installed on the machine body, which 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 scooping robot.

[0061] A displacement sensor is installed on the vertical arm 17. The displacement sensor 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 slag scooping robot gripper.

[0062] When the grabbing mechanism reaches the slag cleaning starting position and the slag cleaning key is pressed, the system automatically records the starting height, front and back, and left and right position information, and the slag scooping starting position is determined by automatic detection.

[0063] The metal smelting all-round intelligent slag scooping robot of the present invention can adopt hydraulic, electric, pneumatic and mechanical power to realize remote control operation, realize automatic operation and realize long-distance slag scooping.

[0064] Working principle of the present invention:

[0065] When scooping up the slag in the furnace, under the automatic main control of the control cabinet 21, the horizontal arm 16 is extended to the top of the smelting furnace, the vertical arm 7 is extended downward into the smelting furnace, and the cylinder 1 is retracted at the same time, so that the suspension rod 2 drives the lifting plate 5 to move upward. During the upward movement of the lifting plate 5, multiple gripping plates 7 are driven to be retracted inward at the same time through multiple crankshafts 6, and the grippers are closed inward to grab the slag; then the vertical arm 17 is retracted upward, the horizontal arm 16 is retracted to the slag placement area, and the cylinder 1 is extended at the same time, so that the suspension rod 2 drives the lifting plate 5 to move downward. During the downward movement of the lifting plate 5, multiple gripping plates 7 are driven to be opened outward at the same time through multiple crankshafts 6, and the grippers are opened outward to release the slag.

[0066] When cleaning the slag in the furnace, under the automatic main control of the control cabinet 21, the horizontal arm 16 extends to the top of the smelting furnace, and the vertical arm 17 extends downward, so that the gripper extends into the furnace mouth and close to the furnace wall, and then the slag excavator vertical arm 17 cooperates with the oil cylinder 1 to grab and clean the slag adhering to the furnace wall 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.

[0067] During the above-mentioned process of scooping up the floating slag and cleaning the slag in the furnace, the connecting rod structure composed of the machine base 13, the upper arm 14, the pull rod 15 and the crank arm 18 keeps the horizontal section of the crank arm 18 in a horizontal state at all times, thereby keeping the cross arm 16 fixed on the crank arm 18 in a horizontal state.

[0068] The present invention can realize 360° slag grabbing without dead angles in one grabbing action, reduce the number and time of slag catching, improve production efficiency, simplify the structure of the slag catching machine, reduce the volume of the equipment, and reduce production costs.

[0069] The gripper of the present invention adopts a circular design, and the gripper can be tightly attached to the inner side of the furnace wall to grab and clean the slag on the inner wall of the furnace; and the gripper can rotate 360 ​​degrees through the rotating device, which can effectively clean the slag at the upper mouth of the smelting furnace, thereby effectively cleaning the slag adhered to the furnace wall, avoiding the reduction of the furnace mouth caused by the adhesion of the slag to the furnace wall during the smelting process, and increasing the utilization rate of the furnace lining.

[0070] The present invention can effectively avoid splashing of molten iron caused by falling slag, reduce waste of molten iron and improve safety.

[0071] The invention can not only scoop out the floating slag in the furnace but also clean the slag on the inner wall of the furnace, and has multifunctionality and a wide range of applications.

[0072] The above is an example of the best implementation of the present invention, and the parts not described in detail are common knowledge of ordinary technicians in the field. The protection scope of the present invention shall be based on 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

1. An all-round intelligent slag removal robot for metal smelting, characterized by: The machine comprises a body, on which a grabbing mechanism is provided; the grabbing mechanism has the dual functions of scooping up the slag in the furnace and cleaning the slag in the furnace; The gripping mechanism comprises a gripper, which is composed of a plurality of gripping plates (7) uniformly arranged in the circumferential direction; the gripper is connected to an opening and closing mechanism, and the opening and closing mechanism drives the plurality of gripping plates (7) to close inward or open outward at the same time, so that the gripper is closed or opened; The opening and closing mechanism comprises a lifting plate (5) and a plurality of crankshafts (6); the lower end of each crankshaft (6) is fixedly connected to a grab plate (7); The lifting plate (5) can be slidably mounted on the plurality of crankshafts (6); the plurality of crankshafts (6) can drive the plurality of grab plates (7) to simultaneously retract inward or open outward by the up and down movement of the lifting plate (5); The crankshaft (6) is a smooth round shaft having two curved portions with opposite bending directions; the upper end of each crankshaft (6) is hingedly fixed on the fixed plate (4); The crankshaft (6) comprises an upper curved portion (61) and a lower curved portion (62), wherein the upper curved portion (61) is curved inwardly, and the lower curved portion (62) is curved outwardly. The left side of each grab plate (7) is arranged on the inner side of the grab plate (7) adjacent to the left side thereof, and the right side is arranged on the outer side of the grab plate (7) adjacent to the right side thereof; or the left side of each grab plate (7) is arranged on the outer side of the grab plate (7) adjacent to the left side thereof, and the right side is arranged on the inner side of the grab plate (7) adjacent to the right side thereof; A suspension rod (2) is fixedly connected to the center of the lifting plate (5); the suspension rod (2) slides through the fixed plate (4) via a guide sleeve (3); and the upper end of the suspension rod (2) is connected to the telescopic rod of the oil cylinder (1).

2. A gripper assembly for a slag scooping robot as claimed in claim 1, characterized in that: It also includes a rotating device; the rotating device is fixedly connected to the fixed plate (4) via a connecting arm (9), and the rotating device drives the gripper and the opening and closing mechanism to perform a rotating motion.

3. The all-round intelligent slag removal robot for metal smelting according to claim 1, characterized in that: It also includes a control cabinet (21), wherein the control cabinet (21) is used for the slag scooping robot to automatically scoop up floating slag and automatically clean up the slag in the furnace; The control cabinet (21) is connected to a human-machine interaction interface; a distance sensor is installed on the machine body, the distance 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 scooping robot.

4. The all-round intelligent slag removal robot for metal smelting as claimed in claim 2, characterized in that: The machine body comprises a machine base (13) and a crank arm (18), a large arm (14) and a pull rod (15) are hingedly connected between the machine base (13) and the crank arm (18); and a lifting cylinder (12) is hingedly connected between the machine base (13) and the large arm (14).

5. The all-round intelligent slag removal robot for metal smelting as claimed in claim 4, characterized in that: The crank arm (18) has an inclined section and a horizontal section, and the upper ends of the large arm (14) and the pull rod (15) are hingedly fixed to the inclined section of the crank arm (18), and the lower ends are hingedly fixed to the machine base (13); a connecting rod structure is formed between the machine base (13), the large arm (14), the pull rod (15) and the crank arm (18); the horizontal section of the crank arm (18) is fixedly connected to a cross arm (16); the end of the cross arm (16) is fixedly connected to the vertical arm (17), and the bottom end of the vertical arm (17) is fixedly connected to the connecting arm (9); The horizontal arm (16) and the vertical arm (17) are both telescopic.

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