A calcium carbide transfer system

Abstract

The present invention belongs to the technical field of calcium carbide production equipment, and particularly relates to a calcium carbide transfer system, which includes a calcium carbide tapping system and a calcium carbide ingot stacking system. The calcium carbide ingot tapping system includes a calcium carbide pot, a conveyor, a plug manipulator and a ingot pulling mechanism. The conveyor drives the calcium carbide pot to move to the position of the plug manipulator or the ingot pulling mechanism. The plug manipulator opens or closes the plug in the calcium carbide pot, and the ingot pulling mechanism takes out the calcium carbide ingot from the calcium carbide pot. The calcium carbide ingot stacking system includes a calcium carbide ingot transporter and a stacking manipulator. The ingot pulling mechanism places the taken-out calcium carbide ingot on the calcium carbide ingot transporter, and the calcium carbide ingot transporter moves to the position of the stacking manipulator. The stacking manipulator takes out the calcium carbide ingot on the calcium carbide ingot transporter for stacking. The above process can avoid direct manual intervention, improve work efficiency, and reduce labor intensity and the occurrence of safety accidents.

Description

Technical Field

[0001] The present invention belongs to the technical field of calcium carbide production equipment, and particularly relates to a calcium carbide transfer system. Background Art

[0002] Calcium carbide is a chemical raw material, which is currently mainly produced by an electric furnace. A calcium carbide pot is a common equipment for producing calcium carbide. The melted calcium carbide flows into the calcium carbide pot for cooling, thereby forming calcium carbide lumps. Then the calcium carbide lumps are taken out and loaded onto a vehicle. There are many problems in the existing production process, mainly including:

[0003] 1. There are plug plates at both ends of the calcium carbide pot. Manual tools such as crowbars are used to pull out the plug plates at both ends of the calcium carbide pot, and then a lifting tool is used to lift the calcium carbide lumps out of the calcium carbide pot. Although the calcium carbide lumps have cooled, there is still a relatively high temperature in fact. Therefore, there is still a certain danger when manual workers pull out the plug plates on both sides.

[0004] 2. During the process of lifting the calcium carbide lumps out of the calcium carbide pot by a lifting tool: if the driver's skills are not good, someone has to hold and hook the card. Situations such as slipping hooks and exploding lumps may occur, posing a great potential safety hazard. Therefore, it is necessary to improve the existing technology. Moreover, the lifting process of the existing lifting tool is not very stable, further leading to the occurrence of the above situations.

[0005] 3. After the plug plates are manually removed, the plug plates and the calcium carbide pot are in a separated state, so that the situation of searching for the plug plates or the loss of the plug plates may occur, which is very inconvenient in the actual use process.

[0006] 4. Currently, it is common to transfer the calcium carbide lumps by a flatbed cart. Since the bottom of the calcium carbide lumps may be uneven, it is easy to tilt. First, it is not convenient for later stacking. Second, it may cause the calcium carbide lumps to fall. Moreover, calcium carbide slag will fall on the calcium carbide lumps. Therefore, during the transfer process, it may spill all over the place, affecting the working environment. And when the calcium carbide lumps are placed again, due to the existence of the calcium carbide slag, it is easier to cause the calcium carbide lumps to be placed unstably.

[0007] 5. Stacking requires movement with multiple degrees of freedom. Commonly, it is carried out by a traveling crane for lifting. Since the degree of freedom of movement of the traveling crane is limited, manual assistance may be required during the stacking process, which is rather inconvenient. Summary of the Invention

[0008] In view of the above technical problems, the present invention provides a calcium carbide transfer system, which can replace manual operations, reduce direct manual operations, and improve work efficiency.

[0009] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0010] A calcium carbide transfer system includes a calcium carbide tapping system and a calcium carbide ingot stacking system. The calcium carbide tapping system includes a calcium carbide pot, a conveyor, a plug manipulator, and a ingot removing mechanism. The conveyor drives the calcium carbide pot to move to the position of the plug manipulator or the ingot removing mechanism. The plug manipulator opens or closes the plug in the calcium carbide pot, and the ingot removing mechanism takes out the calcium carbide ingot from the calcium carbide pot. The calcium carbide ingot stacking system includes a calcium carbide ingot transporter and a stacking manipulator. The ingot removing mechanism places the taken-out calcium carbide ingot on the calcium carbide ingot transporter, and the calcium carbide ingot transporter moves to the position of the stacking manipulator. The stacking manipulator takes out the calcium carbide ingot on the calcium carbide ingot transporter for stacking.

[0011] It further includes a loading system. The loading system includes a lifting platform, a forklift, and a truck. The lifting platform drives the truck to lift and lower, and the forklift loads the calcium carbide ingots. It also includes a waste heat recovery kiln. The conveyor drives the calcium carbide pot into the waste heat recovery kiln, and the waste heat recovery kiln absorbs the heat of the calcium carbide ingot.

[0012] The calcium carbide pot includes a pot body and a wedge-shaped plug. The pot body is provided with corresponding wedge-shaped grooves. The opening of the wedge-shaped groove is large inside and small outside. The wedge-shaped plug is connected to the wedge-shaped groove. The pot body is provided with a plug guide groove. The wedge-shaped plug is connected to the plug guide groove through a plug connecting rod. One end of the plug connecting rod is hinged to the wedge-shaped plug, and the other end of the plug connecting rod is provided with a connecting pin connected to the plug guide groove. The connecting pin is located in the plug guide groove and can move and rotate along the plug guide groove.

[0013] The conveyor includes a conveying track and a flatbed truck. The flatbed truck is arranged on the conveying track and can move along the conveying track. The calcium carbide pot is placed on the flatbed truck.

[0014] The conveying track includes a driving device and a number of sequentially arranged track wheels. The bottom of the flatbed truck is provided with protrusions connected to the track wheels. The driving device is connected to the track wheels to drive the track wheels to rotate.

[0015] The plug manipulator includes a column, a cantilever, and an opening and closing mechanism. One end of the cantilever is connected to the column, and a lifting mechanism is provided on the column to drive the cantilever to move along the column through the lifting mechanism. The opening and closing mechanism includes a plug hook guide rail and plug hooks. There are two plug hooks, and both plug hooks are slidably connected to the plug hook guide rail. The two plug hooks are connected to a plug hook driving mechanism to drive the two plug hooks to move through the plug hook driving mechanism. The plug hook guide rail is connected to the cantilever through a plug hook slewing mechanism to drive the plug hook guide rail to rotate through the plug hook slewing mechanism.

[0016] The boulder pulling mechanism includes a truss and a lifting clamp. A movable trolley is provided on the truss, and a connecting frame is fixed on the trolley. The lifting clamp is connected to the connecting frame through a swing arm, and both ends of the swing arm are hinged to the lifting clamp and the connecting frame respectively. It also includes a counterweight block, which is connected with a hoisting mechanism. The counterweight block is driven to lift and lower by the hoisting mechanism. The counterweight block is connected to the swing arm. When the counterweight block rises, the lifting clamp moves downward, and when the counterweight block descends, the lifting clamp moves upward.

[0017] The hoisting mechanism includes a chain, a driving sprocket, a first transmission sprocket, a second transmission sprocket and a third transmission sprocket. The driving sprocket is arranged on the truss and connected with a driving mechanism, and the driving sprocket is driven to rotate by the driving mechanism. The first transmission sprocket and the third transmission sprocket are arranged on the trolley, and the second transmission sprocket is arranged on the cantilever. One end of the chain is fixedly connected with the counterweight block, and the other end of the chain passes through the first transmission sprocket, the second transmission sprocket and the third transmission sprocket in sequence and is fixed to the truss.

[0018] The calcium carbide boulder handling vehicle includes a vehicle frame and a conveying mechanism. A placing groove is provided on the vehicle frame, and there is an opening below the placing groove. The conveying mechanism is arranged on the vehicle frame and below the placing groove. The calcium carbide slag falling from the opening can fall on the conveying mechanism. A traveling mechanism is provided at the lower end of the vehicle frame, and the vehicle frame is driven to move by the traveling mechanism.

[0019] The palletizing robot includes a frame, a robot arm and a lifting tool. A horizontally moving trolley that can move is provided on the frame. The robot arm includes a base, a first robotic arm, a second robotic arm and a linkage mechanism. The bottom of the base is connected to the horizontally moving trolley through a rotating disc. One end of the first robotic arm is hinged to the base, and a first telescopic cylinder is provided between the first robotic arm and the base. Both ends of the first telescopic cylinder are hinged to the first robotic arm and the base respectively. One end of the second robotic arm is hinged to the other end of the first robotic arm, and a second telescopic cylinder is provided between the second robotic arm and the first robotic arm. Both ends of the second telescopic cylinder are hinged to the second robotic arm and the first robotic arm respectively. A connecting seat is hinged to the other end of the second robotic arm, and the lifting tool is connected to the connecting seat. The linkage mechanism includes a first connecting rod, a second connecting rod and a connecting rod frame. The connecting rod frame is hinged at the hinged part of the second robotic arm and the first robotic arm. Both ends of the first connecting rod are hinged to the base and the connecting rod frame respectively. Both ends of the second connecting rod are hinged to the connecting seat and the connecting rod frame respectively. A first buffer cylinder is also provided between the connecting rod frame and the connecting seat. Both ends of the first buffer cylinder are hinged to the connecting rod frame and the connecting seat respectively.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] The carbide pot is driven by a conveyor to move to the plug manipulator or the bung pulling mechanism. The plug in the carbide pot is opened or closed by the plug manipulator, and the carbide bung in the carbide pot is taken out by the bung pulling mechanism. The bung pulling mechanism places the taken-out carbide bung on the carbide bung transporter, and the carbide bung transporter moves to the palletizing manipulator. The carbide bung on the carbide bung transporter is taken out by the palletizing manipulator for palletizing. This process can avoid direct human intervention, improve work efficiency, and reduce labor intensity and the occurrence of safety accidents.

[0022] The pot body is provided with a plug guide groove. The wedge-shaped plug is connected to the plug guide groove through a plug connecting rod. One end of the plug connecting rod is hinged to the wedge-shaped plug, and the other end of the plug connecting rod is provided with a connecting pin connected to the plug guide groove. When the wedge-shaped plug is opened or closed, the connecting pin can move along the plug guide groove and can rotate in the plug guide groove. Using this structure can ensure that the wedge-shaped plug is always connected to the pot body without affecting the opening and closing, thus avoiding situations such as loss.

[0023] Adopting the moving mode of driving the flatbed truck by track wheels to drive the transfer of the carbide pot can avoid accidents such as derailment of common track trucks. An insulating layer is provided on the upper surface of the flatbed truck to prevent the carbide from burning through the flatbed truck.

[0024] The opening and closing mechanism is opposed to the plug of the carbide pot through the cantilever and the plug hook slewing mechanism, and the plug is opened by the opening and closing mechanism. This mechanism can replace manual operation, improve efficiency, and effectively reduce risks at the same time.

[0025] The trolley drives the lifting hook to move above the carbide bung to lift it out of the carbide pot. The lifting mechanism drives the counterweight to rise and fall. The counterweight is connected to the swing arm. When the counterweight rises, the swing arm swings downward, and when the counterweight falls, the swing arm swings upward. The lifting mechanism can realize the linkage between the counterweight and the lifting hook, and the counterweight can play a certain balancing role after lifting the carbide bung, thus improving the stability.

[0026] The frame is provided with a placement groove, and the carbide bung can be placed in the placement groove to ensure transportation. An opening is provided below the placement groove, and the carbide slag falling from the carbide bung can fall onto the conveying mechanism through the opening. Finally, the frame moves to the designated carbide slag storage area, and the carbide slag on it is unloaded through the conveying mechanism to avoid affecting the next transportation.

[0027] The transverse movement trolley can drive the manipulator and the lifting tool to move horizontally, and the rotating disk can realize the rotation of the first robotic arm, the second robotic arm and the lifting tool. The angles of the first robotic arm and the second robotic arm can be controlled by the first telescopic cylinder and the second telescopic cylinder. A linkage mechanism is also provided to ensure that the lifting tool is in a stable state when the first robotic arm and the second robotic arm move. Through the above solutions, multi-degree-of-freedom movement can be realized, which is convenient for palletizing operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 is Figure 1 a partially enlarged view of part A in

[0030] Figure 3 the front view of the calcium carbide pot of the present invention;

[0031] Figure 4 the side view of the calcium carbide pot of the present invention;

[0032] Figure 5 is Figure 4 a sectional view taken along the line A - A in

[0033] Figure 6 the top view of the calcium carbide pot of the present invention;

[0034] Figure 7 a schematic diagram of the use state of the calcium carbide pot of the present invention;

[0035] Figure 8 a schematic diagram of the structure of the conveyor of the present invention;

[0036] Figure 9 is Figure 8 a partially enlarged view of part A in

[0037] Figure 10 a schematic diagram of the structure of the flatbed cart of the present invention;

[0038] Figure 11 a schematic diagram of the structure of the plug - board manipulator of the present invention;

[0039] Figure 12 a schematic diagram of the structure of the opening and closing mechanism of the present invention;

[0040] Figure 13 is Figure 12 a partially enlarged view of part A in

[0041] Figure 14 a schematic diagram of the principle of the weight - removing mechanism of the present invention;

[0042] Figure 15 a schematic diagram of the structure of the counterweight guide frame of the present invention;

[0043] Figure 16 an axonometric view of the weight - removing mechanism of the present invention;

[0044] Figure 17 the front view of the calcium carbide weight carrier of the present invention;

[0045] Figure 18It is the top view of the calcium carbide ingot carrier of the present invention;

[0046] Figure 19 It is the side view of the calcium carbide ingot carrier of the present invention;

[0047] Figure 20 It is the axonometric view of the calcium carbide ingot carrier of the present invention;

[0048] Figure 21 It is the front view of the palletizing manipulator of the present invention;

[0049] Figure 22 It is the left view of the palletizing manipulator of the present invention;

[0050] Figure 23 It is the right view of the palletizing manipulator of the present invention;

[0051] Figure 24 It is Figure 21 the partial enlarged view at position A in

[0052] Figure 25 It is Figure 21 the sectional view taken along the A-A direction in

[0053] Figure 26 It is the axonometric view of the palletizing manipulator of the present invention;

[0054] Wherein: 1 is the calcium carbide pot, 101 is the pot body, 1010 is the wedge-shaped groove, 1011 is the insertion plate guide groove, 102 is the wedge-shaped insertion plate, 1020 is the hook ear, 1021 is the connecting ear, 103 is the insertion plate connecting rod, 1030 is the connecting pin;

[0055] 2 is the conveyor, 204 is the conveying track, 2040 is the driving device, 2041 is the track wheel, 205 is the flatbed truck, 2050 is the protrusion, 2051 is the heat insulation layer;

[0056] 3 is the insertion plate manipulator, 301 is the column, 302 is the cantilever, 303 is the opening and closing mechanism, 3030 is the insertion plate hook, 3031 is the insertion plate hook guide rail, 3032 is the insertion plate hook driving mechanism, 30320 is the first motor, 30321 is the second motor, 30322 is the transmission shaft, 30323 is the transmission shaft sleeve, 30324 is the first chain, 30325 is the second chain, 30326 is the driving sprocket, 304 is the lifting mechanism, 305 is the insertion plate hook rotating mechanism, 3050 is the turntable, 3051 is the driving element, 3052 is the gear transmission mechanism, 30520 is the gear disk, 30521 is the gear, 306 is the sliding sleeve, 307 is the moving platform, 308 is the rotating platform;

[0057] 4 is the pulling weight mechanism, 401 is the truss, 402 is the elevating work tongs, 403 is the trolley, 4030 is the car body, 4031 is the chain drive mechanism, 40310 is the first driving sprocket, 40311 is the driven sprocket, 40312 is the driving chain, 404 is the connecting frame, 405 is the swing arm, 406 is the counterweight, 407 is the hoisting mechanism, 4070 is the chain, 4071 is the driving sprocket, 4072 is the first transmission sprocket, 4073 is the second transmission sprocket, 4074 is the third transmission sprocket, 4075 is the driving mechanism, 408 is the counterweight guide frame, 409 is the rotating table;

[0058] 5 is the calcium carbide weight carrier vehicle, 501 is the vehicle frame, 502 is the conveying mechanism, 503 is the placing groove, 5030 is the opening, 504 is the traveling mechanism, 5040 is the wheel, 5041 is the track, 5042 is the driving part, 505 is the rack, 506 is the gear, 507 is the baffle plate, 508 is the calcium carbide weight;

[0059] 6 is the palletizing robot, 601 is the frame, 602 is the robot arm, 6020 is the base, 6021 is the first robotic arm, 6022 is the second robotic arm, 6023 is the linkage mechanism, 60230 is the first connecting rod, 60231 is the second connecting rod, 60232 is the connecting rod frame, 6024 is the connecting seat, 6025 is the rotating disk, 6026 is the first telescopic cylinder, 6027 is the second telescopic cylinder, 6028 is the first buffer cylinder, 603 is the spreader, 604 is the transverse trolley, 605 is the transverse drive mechanism, 606 is the longitudinal movement mechanism, 6061 is the longitudinal drive mechanism, 607 is the spreader turntable, 608 is the second buffer cylinder;

[0060] 7 is the calcium carbide weight; 8 is the loading system, 801 is the lifting platform, 802 is the forklift, 803 is the truck; 9 is the waste heat recovery kiln. Detailed implementation manners

[0061] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Apparently, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without any creative efforts shall fall within the protection scope of the present invention.

[0062] Such as Figures 1 to 2As shown in the figure, a calcium carbide transfer system includes a calcium carbide tapping system and a calcium carbide ingot palletizing system. The calcium carbide tapping system includes a calcium carbide pot 1, a conveyor 2, a plug manipulator 3, and a ingot removing mechanism 4. The conveyor 2 drives the calcium carbide pot 1 to move to the position of the plug manipulator 3 or the ingot removing mechanism 4. The plug manipulator 3 opens or closes the plug of the calcium carbide pot 1, and the ingot removing mechanism 4 takes out the calcium carbide ingot in the calcium carbide pot 1. The calcium carbide ingot palletizing system includes a calcium carbide ingot transporter 5 and a palletizing manipulator 6. The ingot removing mechanism 4 places the taken-out calcium carbide ingot on the calcium carbide ingot transporter 5. The calcium carbide ingot transporter 5 moves to the position of the palletizing manipulator 6, and the palletizing manipulator 6 takes out the calcium carbide ingot on the calcium carbide ingot transporter 5 for palletizing.

[0063] The specific operation process is as follows: The conveyor 2 drives the empty calcium carbide pot 1 to move to the calcium carbide furnace. Calcium carbide flows into the calcium carbide pot 1 through the furnace eye of the calcium carbide pot. After it is full, it is driven forward by the conveyor 2 to move the subsequent calcium carbide pot 1 to the furnace eye position. There are several calcium carbide pots 1 on the conveying mechanism. After the calcium carbide in the calcium carbide pot 1 cools to form a calcium carbide ingot, the plug manipulator 3 opens the plug of the calcium carbide pot 1, and then the ingot removing manipulator 4 takes out the calcium carbide ingot and puts it on the calcium carbide ingot transporter 5. The calcium carbide pot 1 from which the calcium carbide ingot is taken out has its plug closed by the plug manipulator 3 and is conveyed again by the conveyor 2 to the calcium carbide furnace position for operation again. The calcium carbide ingot transporter 5 moves to the position of the palletizing manipulator 6, and the palletizing manipulator 6 unloads the calcium carbide ingot on the calcium carbide ingot transporter 5 for palletizing.

[0064] Furthermore, the palletized calcium carbide ingots are moved to other factories or locations as needed. Therefore, a loading system 8 is also provided. The loading system 8 includes a lifting platform 801, a forklift 802, and a truck 803. The truck 803 drives onto the lifting platform 801. The lifting platform 801 descends to make the bottom of the truck 803's carriage flush with the ground. The forklift 802 can directly drive onto the carriage of the truck 803, thus facilitating loading by the forklift 802. After loading, the lifting platform 801 rises and the truck 803 drives out.

[0065] Furthermore, a waste heat recovery kiln 9 is also included. The calcium carbide ingot releases heat during the cooling process. The conveyor 2 drives the calcium carbide pot 1 into the waste heat recovery kiln 9, and the waste heat recovery kiln 9 absorbs the heat of the calcium carbide ingot. After cooling, the conveyor 2 drives to move the calcium carbide pot 1 out of the waste heat recovery kiln 9.

[0066] Furthermore, as Figures 3 to 7As shown in the figure, the calcium carbide pot 1 includes a pot body 101 and a wedge-shaped plug 102. A wedge-shaped groove 1010 is provided on the pot body 101, and the wedge-shaped plug 102 is connected to the wedge-shaped groove 1010. An insertion plate guide groove 1011 is provided on the pot body 101, and the wedge-shaped plug 102 is connected to the insertion plate guide groove 1011 through an insertion plate connecting rod 103. One end of the insertion plate connecting rod 103 is hinged to the wedge-shaped plug 102, and a connecting pin 1030 connected to the insertion plate guide groove 1011 is provided at the other end of the insertion plate connecting rod 103; the connecting pin 1030 can move along the insertion plate guide groove 1011 and can rotate within the insertion plate guide groove 1011.

[0067] When opening, the wedge-shaped plug 102 is lifted by the plug manipulator 2, so that the wedge-shaped plug 102 is separated from the pot body 101 by taking it out from the wedge-shaped groove 1010, and then the wedge-shaped plug 102 is moved outward and downward, and finally the wedge-shaped plug 102 is located below the pot body 101; when closing, the reverse operation can be performed, that is, the wedge-shaped plug 102 is lifted and then inserted inward and downward into the wedge-shaped groove 1010.

[0068] The above pot body 101, wedge-shaped plug 102 and wedge-shaped groove 1010 can adopt the common structural settings in the prior art; in the prior art, the opening of the wedge-shaped groove 1010 is in the shape of being large inside and small outside, and the shape of the wedge-shaped groove 1010 corresponds to that of the wedge-shaped plug 102. The wedge-shaped structure with a large inside and a small outside can ensure that when calcium carbide is loaded, under the action of the calcium carbide, the wedge-shaped plug 102 is tightly connected to the wedge-shaped groove 1010, thereby avoiding leakage.

[0069] Furthermore, a hook ear 1020 is provided on the wedge-shaped plug 102, and the wedge-shaped plug 102 can be conveniently controlled through the hook ear 1020, that is, the manipulator can hook the hook ear 1020.

[0070] Furthermore, a connecting ear 1021 is provided at the bottom of the pot body 101, and through the connecting ear 1021, it can be connected to other devices as needed, such as a conveying device, etc.

[0071] Furthermore, as Figures 8 to 10 shown in the figure, the conveyor 2 includes a conveying track 204 and a trolley 205. The trolley 205 is arranged on the conveying track 204, and the trolley 205 can move along the conveying track 204; the pot body 101 is placed on the trolley 205, so as to realize the transfer of the calcium carbide pot.

[0072] Furthermore, the conveying track 204 includes a driving device 2040 and a number of track wheels 2041 arranged in sequence. A protrusion 2050 connected to the track wheels 2041 is provided at the bottom of the trolley 205; the protrusion 2050 is stuck between the left and right wheels of the track wheels 2041, and the track wheels 2041 are in contact with the lower surface of the trolley 205. The driving device 2040 is connected to the track wheels 2041 to drive the track wheels 2041 to rotate, and when the track wheels 2041 rotate, the trolley 205 will be driven to move through the frictional force.

[0073] Further, a plurality of track wheels 2041 are arranged in a ring, and of course, specific adjustments can be made according to the site.

[0074] Further, adjacent track wheels 2041 are connected by a chain drive mechanism, that is, the power transmission is realized through the chain drive mechanism.

[0075] Further, a heat insulation layer 2051 is provided on the upper surface of the flatbed truck 205, which can prevent the calcium carbide from burning through the flatbed truck 205.

[0076] Further, as Figures 11 to 13 shown, the plugboard manipulator 3 includes a column 301, a cantilever 302 and an opening and closing mechanism 303. One end of the cantilever 302 is connected to the column 301. A lifting mechanism 304 is provided on the column 301, and the cantilever 302 is driven to move along the column 301 by the lifting mechanism 304; the opening and closing mechanism 303 includes a plugboard hook guide rail 3031 and plugboard hooks 3030. There are two plugboard hooks 3030, and both plugboard hooks 3030 are slidably connected to the plugboard hook guide rail 3031. The two plugboard hooks 3030 are connected with a plugboard hook driving mechanism 3032, and the two plugboard hooks 3030 are driven to move by the plugboard hook driving mechanism 3032; the plugboard hook guide rail 3031 is connected to the cantilever 302 through a plugboard hook slewing mechanism 305, and the plugboard hook guide rail 3031 is driven to rotate by the plugboard hook slewing mechanism 305.

[0077] During use, the lifting mechanism 304 moves the cantilever 302 down to an appropriate position, and then the plugboard hook guide rail 3031 is rotated by a certain angle through the plugboard hook slewing mechanism 305 so that the plugboard hooks 3030 are opposite to the plugboard (wedge-shaped plugboard 102) on the calcium carbide pot; then the two plugboard hooks 3030 are driven to move relatively by the plugboard hook driving mechanism 3032 to hook the plugboard on the calcium carbide pot, and then the lifting mechanism 304 moves upward to open the plugboard.

[0078] Further, the plugboard hook slewing mechanism 305 is mainly used to drive the rotation of the plugboard hook guide rail 3031, so it can adopt various structures, and preferably adopt the following structure:

[0079] The plugboard hook slewing mechanism 305 includes a turntable 3050 and a driving element 3051. The plugboard hook guide rail 3031 is fixedly connected to the turntable 3050. The turntable 3050 is rotatably connected to the cantilever 302. The driving element 3051 is arranged on the cantilever 302 and connected to the turntable 3050, and the turntable 3050 is driven to rotate by the driving element 3051.

[0080] Further, the driving element 3051 is connected to the turntable 3050 through a gear transmission mechanism 3052; a toothed disc 30520 is fixed on the turntable 3050, and a gear 30521 that mates with the toothed disc 30520 is provided on the output shaft of the driving element 3051. The output shaft of the driving element 3051 rotates, and the rotation of the turntable 3050 is realized through the meshing of the gear 30521 and the toothed disc 30520.

[0081] Further, the plug hook driving mechanism 3032 includes a first motor 30320, a second motor 30321, a transmission shaft 30322, and a transmission shaft sleeve 30323. The axes of the transmission shaft 30322 and the transmission shaft sleeve 30323 are both located at the rotation center of the plug hook guide rail 3031. Setting them at the rotation center can ensure the realization of the rotation and driving of the two plug hooks 3030 to move.

[0082] The transmission shaft sleeve 30323 is rotatably connected to the transmission shaft 30322, and the two ends of the transmission shaft sleeve 30323 are respectively rotatably connected to the cantilever 302 and the plug hook guide rail 3031; the first motor 30320 is connected to one of the two plug hooks 3030 through the transmission shaft 30322, and the second motor 30321 is connected to the other plug hook 3030 through the transmission shaft sleeve 30323.

[0083] Of course, the first motor 30320 and the second motor 30321 can be directly arranged on the plug hook guide rail 3031 and then connected to the two plug hooks 3030 respectively to achieve driving. However, due to the high temperature of the calcium carbide pot, it may cause damage to the first motor 30320 and the second motor 30321. Therefore, the first motor 30320 and the second motor 30321 are arranged on the cantilever 302 and are driven through the transmission shaft 30322 and the transmission shaft sleeve 30323, so as to avoid being affected by the high temperature of the calcium carbide pot.

[0084] Further, sprockets are respectively fixed at both ends of the transmission shaft 30322 and the transmission shaft sleeve 30323, and driving sprockets 30326 are respectively rotatably connected to both ends of the plug hook 3030. The sprocket at the lower end of the transmission shaft 30322 is connected to one of the driving sprockets 30326 through a first chain 30324, and the sprocket at the lower end of the transmission shaft sleeve 30323 is connected to the other driving sprocket 30326 through a second chain 30325. The first motor 30320 is connected to the sprocket at the upper end of the transmission shaft 30322, and the second motor 30321 is connected to the sprocket at the upper end of the transmission shaft sleeve 30323; one of the two plug hooks 3030 is fixedly connected to the first chain 30324, and the other plug hook 3030 is fixedly connected to the second chain 30325. The connection between the first motor 30320 and the sprocket at the upper end of the transmission shaft 30322 and the connection between the second motor 30321 and the sprocket at the upper end of the transmission shaft sleeve 30323 are also through chains.

[0085] Specific driving process: A sprocket is provided on the output shaft of the first motor 30320. This sprocket is connected to the sprocket at the upper end of the transmission shaft 30322 through a chain. When the output shaft of the first motor 30320 rotates, it will drive the transmission shaft 30322 and the sprocket at its lower end to rotate. When the sprocket at its lower end rotates, it will drive the first chain 30324 and one of the driving sprockets 30326 to move. When the first chain 30324 moves, it will drive the plug hook 3030 connected thereto to move along the plug hook guide rail 3031.

[0086] A sprocket is provided on the output shaft of the second motor 30321. This sprocket is connected to the sprocket at the upper end of the transmission shaft sleeve 30323 through a chain. When the output shaft of the second motor 30321 rotates, it will drive the transmission shaft sleeve 30323 and the sprocket at its lower end to rotate. When the sprocket at its lower end rotates, it will drive the second chain 30325 and the other driving sprocket 30326 to move; similarly, when the second chain 30325 moves, it will drive the plug hook 3030 connected thereto to move along the plug hook guide rail 3031.

[0087] By the rotation of the first motor 30320 and the second motor 30321, the movement of the plug hook 3030 can be realized respectively.

[0088] Further, one end of the cantilever 302 is connected to the column 301 through a sliding sleeve 306. The sliding sleeve 306 is slidably connected to the column 301, and the cantilever 302 is fixedly connected to the sliding sleeve 306; the lifting mechanism 304 adopts a telescopic cylinder, and both ends of the telescopic cylinder are fixedly connected or hinged to the sliding sleeve 306 and the column 301 respectively.

[0089] Further, it further includes a moving platform 307. The column 301 is connected to the moving platform 307. By driving the column 301 to move through the moving platform 307, the position adjustment can be realized. The moving platform 307 can adopt a moving trolley in the prior art.

[0090] Further, the moving platform 307 is connected to the column 301 through a rotating platform 308. By driving the column 301 to rotate through the rotating platform 308, the angle adjustment can be realized. The rotating platform 308 can adopt a common rotating table in the prior art. The base of the rotating table is fixed on the moving platform 307, and the rotating part of the rotating table is fixedly connected to the column 301.

[0091] Further, as Figure 14 and 16As shown in the figure, the boulder pulling mechanism 4 includes a truss 401 and a lifting clamp 402. A movable trolley 403 is provided on the truss 401, and a connecting frame 404 is fixed on the trolley 403. The lifting clamp 402 is connected to the connecting frame 404 through a swing arm 405. Both ends of the swing arm 405 are hinged to the lifting clamp 402 and the connecting frame 404 respectively. It also includes a counterweight 406, and the counterweight 406 is connected with a hoisting mechanism 407. The counterweight 406 is driven by the hoisting mechanism 407 to move up and down. The counterweight 406 is connected with the swing arm 405. When the counterweight 406 rises, the lifting clamp 402 moves down and the swing arm 405 swings downward. When the counterweight 406 descends, the lifting clamp 402 moves up and the swing arm 405 swings upward.

[0092] During use, the trolley 403 drives the lifting clamp 402 to move above the calcium carbide pot (the plug has been opened), and then the hoisting mechanism 407 drives the counterweight 406 to rise. At this time, the lifting clamp 402 moves down, and then the lifting clamp 402 catches the calcium carbide boulder. After that, the hoisting mechanism 407 drives the counterweight 406 to descend to make the lifting clamp 402 move up, and then it moves to the designated position through the trolley 403. Finally, the hoisting mechanism 407 drives the counterweight 406 to rise to make the lifting clamp 402 move down and put down the calcium carbide boulder.

[0093] Furthermore, the hoisting mechanism 407 includes a chain 4070, a driving sprocket 4071, a first transmission sprocket 4072, a second transmission sprocket 4073 and a third transmission sprocket 4074. The driving sprocket 4071 is arranged on the truss 401 and connected with a driving mechanism 4075. The driving sprocket 4071 is driven to rotate by the driving mechanism 4075. The first transmission sprocket 4072 and the third transmission sprocket 4074 are arranged on the trolley 403, and the second transmission sprocket 4073 is arranged on the cantilever. One end of the chain 4070 is fixedly connected with the counterweight 406, and the other end of the chain 4070 passes through the first transmission sprocket 4072, the second transmission sprocket 4073 and the third transmission sprocket 4074 in sequence and is fixed to the truss 401.

[0094] The output shaft of the driving mechanism 4075 is connected with the driving sprocket 4071. The driving sprocket 4071 is driven to rotate by the driving mechanism 4075, and the first transmission sprocket 4072, the second transmission sprocket 4073 and the third transmission sprocket 4074 also rotate accordingly. When the driving sprocket 4071 drives the chain 40312 to move upward, the chain 4070 above the lifting clamp 402 will lengthen, and under the action of the gravity of the lifting clamp 402, it will move down and the swing arm 405 will swing downward. On the contrary, when the driving sprocket 4071 drives the chain 40312 to move downward, the chain 4070 above the lifting clamp 402 will shorten, and under the action of the gravity of the counterweight 406 and the driving sprocket 4071, the lifting clamp 402 will move up and the swing arm 405 will swing upward.

[0095] The above-mentioned first driving sprocket 4072 and the third driving sprocket 4074 are both rotatably connected to the trolley 403, and the second driving sprocket 4073 is rotatably connected to the swing arm 405; of course, the first driving sprocket 4072, the second driving sprocket 4073 and the third driving sprocket 4074 can adopt the structure with a support in the prior art, and their supports can be fixed to the trolley 403 or the swing arm 405. The output shaft of the driving mechanism 4075 can be directly connected to the driving sprocket 4071, or can be connected through a transmission mechanism. As shown in the figure, in this solution, the driving mechanism 4075 and the driving sprocket 4071 are in a vertical relationship, that is, a common gear transmission mechanism such as bevel gears can be used for transmission.

[0096] Further, as Figure 15 shown, it further includes a counterweight guide frame 408. The counterweight guide frame 408 is fixed to the truss 401, and the counterweight 406 is slidably connected to the counterweight guide frame 408. The counterweight 406 can move along the counterweight guide frame 408.

[0097] Further, the trolley 403 includes a vehicle body 4030 and a chain driving mechanism 4031. The vehicle body 4030 is slidably or rollably connected to the truss 401, and the trolley 403 is driven to move along the truss 401 through the chain driving mechanism 4031. The chain driving mechanism 4031 includes a first driving sprocket 40310, a driven sprocket 40311 and a driving chain 40312. The driven sprocket 40311 is arranged on the truss 401. The first driving sprocket 40310 is connected to the output shaft of the motor and is driven to rotate by the motor; the first driving sprocket 40310 and the driven sprocket 40311 are connected by the driving chain 40312, and the vehicle body 4030 of the trolley 403 is fixedly connected to the driving chain 40312. The number of driven sprockets 40311 can be set according to actual situations. As shown in the figure, four driven sprockets can be provided.

[0098] Further, the lifting clamp 402 is connected to the swing arm 405 through a rotating platform 409. The lifting clamp 402 is connected to the rotating platform 409, and the lifting clamp 402 is driven to rotate through the rotating platform 409. The rotating platform 409 is hinged to the swing arm 405. The rotating platform 409 can adopt a structure such as an electric turntable in the prior art. Its rotating part (turntable) is fixedly connected to the suspension bracket of the lifting clamp 402, and its fixed part (base) is hinged to the swing arm 405. For the lifting clamp 402, common lifting tools in the prior art can be adopted, such as a new type of double clamping pliers disclosed in the patent application No. 201720674328.0; a calcium carbide clamping and lifting device disclosed in the patent application No. 201920908775.7.

[0099] Further, as Figures 17 to 20As shown in the figure, the calcium carbide ingot carrier 5 includes a frame 501 and a conveying mechanism 502. A placement groove 503 is provided on the frame 501, and an opening 5030 is provided below the placement groove 503. The conveying mechanism 502 is arranged on the frame 501 and is located below the placement groove 503. A traveling mechanism 504 is provided at the lower end of the frame 501, and the frame 501 is driven to move by the traveling mechanism 504.

[0100] During use, the calcium carbide ingot is placed in the placement groove 503. The movement of the calcium carbide ingot can be restricted through the placement groove 503. The frame 501 is driven by the traveling mechanism 504 to move to the designated stacking position. The calcium carbide slag falling from the calcium carbide ingot will fall onto the conveying mechanism 502 through the opening 5030. After reaching the designated stacking position, the calcium carbide ingot is taken out of the placement groove 503 by a lifting tool. Finally, the traveling mechanism 504 drives the frame 501 to return to perform the loading operation again. When there is a large amount of calcium carbide slag on the conveying mechanism 502, the conveying mechanism 502 is started to unload the calcium carbide slag.

[0101] Furthermore, the placement groove 503 is a trapezoidal groove, and the shape of the calcium carbide ingot is also trapezoidal. Therefore, the side surface of the calcium carbide ingot can fit with the placement groove 503, so as to lift the calcium carbide ingot, ensure that there is space for the calcium carbide slag to fall, and ensure the stable placement of the calcium carbide ingot.

[0102] Furthermore, the traveling mechanism 504 can adopt various structures. No matter what structure is adopted, as long as it can drive the frame 501 to move, the following structure is preferably adopted:

[0103] The traveling mechanism 504 includes wheels 5040 and a track 5041. The wheels 5040 are arranged below the frame 501. The wheels 5040 are connected to the track 5041 and can move along the track 5041. A corresponding driving member 5042 is provided on the frame 501, and power is provided by the driving member 5042. The driving member 5042 can adopt common devices such as a motor.

[0104] Furthermore, a rack 505 is provided on the track 5041, and a gear 506 meshing with the rack 505 is provided on the output shaft of the driving member 5042. The housing of the driving member 5042 is fixed on the frame 501, and the frame 501 is driven to move by the rotation of the gear 506 and its meshing with the rack 505.

[0105] Furthermore, a baffle 507 is provided at the opening 5030, and the baffle 507 can play a role in converging the calcium carbide slag.

[0106] Further, the conveying mechanism 502 is a belt conveyor, and the belt conveyor can adopt a common structure in the prior art. As for its structure, it is well-known to those skilled in the art. It mainly includes a frame, a driving roller and a driven roller arranged on the frame, and the belt is wrapped outside the driving roller and the driven roller. Therefore, it is only necessary to fix the frame of the belt conveyor on the vehicle frame 501.

[0107] Further, as Figures 21 to 26 shown, the palletizing manipulator 6 includes a frame 601, a manipulator 602 and a spreader 603. A movable cross-carriage 604 is arranged on the frame 601. The manipulator 602 includes a base 6020, a first robotic arm 6021, a second robotic arm 6022 and a linkage mechanism 6023. The bottom of the base 6020 is connected to the cross-carriage 604 through a rotating disk 6025; the base 6020 can be driven to rotate through the rotating disk 6025.

[0108] The rotating disk 6025 can adopt a common electric turntable in the prior art. Its rotating part (turntable) is fixedly connected to the base 6020, and its fixed part (base) is fixedly connected to the cross-carriage 604.

[0109] One end of the first robotic arm 6021 is hinged to the base 6020. A first telescopic cylinder 6026 is arranged between the first robotic arm 6021 and the base 6020. Both ends of the first telescopic cylinder 6026 are respectively hinged to the first robotic arm 6021 and the base 6020; the angle between the first robotic arm 6021 and the base 6020 can be changed by the telescopic movement of the first telescopic cylinder 6026.

[0110] One end of the second robotic arm 6022 is hinged to the other end of the first robotic arm 6021. A second telescopic cylinder 6027 is arranged between the second robotic arm 6022 and the first robotic arm 6021. Both ends of the second telescopic cylinder 6027 are respectively hinged to the second robotic arm 6022 and the first robotic arm 6021; the angle between the second robotic arm 6022 and the first robotic arm 6021 can be changed by the telescopic movement of the second telescopic cylinder 6027.

[0111] The activities of the first robotic arm 6021 and the second robotic arm 6022 can be realized by the telescopic movement of the first telescopic cylinder 6026 and the second telescopic cylinder 6027. A connecting seat 6024 is hinged to the other end of the second robotic arm 6022, and the spreader 603 is connected to the connecting seat 6024; when the first robotic arm 6021 and the second robotic arm 6022 move, the connecting seat 6024 and the spreader 603 can be driven to move, so as to move to a specified position to grab the calcium carbide ingots on the calcium carbide ingot transporter 5, and then transfer them to a specified position for palletizing after grabbing.

[0112] The linkage mechanism 6023 includes a first link 60230, a second link 60231, and a link frame 60232. The link frame 60232 is articulated at the articulation point between the second robotic arm 6022 and the first robotic arm 6021. The two ends of the first link 60230 are respectively articulated with the base 6020 and the link frame 60232. The two ends of the second link 60231 are respectively articulated with the connection seat 6024 and the link frame 60232. A first buffer cylinder 6028 is further provided between the link frame 60232 and the connection seat 6024. The two ends of the first buffer cylinder 6028 are respectively articulated with the link frame 60232 and the connection seat 6024.

[0113] Through the linkage mechanism 6023, it can be ensured that when the first robotic arm 6021 and the second robotic arm 6022 move, the spreader 603 is in a vertical state, which is convenient for grasping operations, and the smoothness during operation can be improved.

[0114] Furthermore, the transverse trolley 604 can adopt a common structural arrangement, such as the structural arrangement in a traveling crane. No matter what structural arrangement is adopted, as long as it can achieve its movement along the frame 601. Specifically, the following structural arrangement can be adopted:

[0115] The transverse trolley 604 is slidably or rollably connected to the frame 601. A transverse drive mechanism 605 is provided on the transverse trolley 604. The transverse trolley 604 is driven to move through the transverse drive mechanism 605. A rack is fixed on the frame 601, and a gear meshing with the rack is provided on the transverse drive mechanism 605.

[0116] The transverse drive mechanism 605 can adopt a motor. The output shaft of the motor is connected to the gear, and the housing of the motor is fixed on the transverse trolley 604. The transverse trolley 604 is driven to move through the rotation of the gear.

[0117] Furthermore, a longitudinal movement mechanism 606 is provided at the bottom of the frame 601. The frame 601 is driven to move longitudinally through the longitudinal movement mechanism 606.

[0118] Furthermore, similarly, the driving method of the transverse trolley 604 can also be adopted, that is, the driving method of gear and rack is also adopted:

[0119] The longitudinal movement mechanism 606 includes a track and a longitudinal drive mechanism 6061. The bottom of the frame 601 is slidably or rollably connected to the track. A rack is provided on the track, and a gear meshing with the rack is provided on the longitudinal drive mechanism 6061. The longitudinal drive mechanism 6061 can also adopt a motor. The output shaft of the motor is connected to the gear, and the housing of the motor is fixed at the bottom of the frame 601. The frame 601 is driven to move along the track through the rotation of the gear.

[0120] Further, the spreader 603 is connected to the connecting seat 6024 through the spreader turntable 607, and the spreader 603 is driven to rotate by the spreader turntable 607. Similarly, the spreader turntable 607 can adopt a common electric turntable in the prior art. Its rotating part (turntable) is fixedly connected to the hanger of the spreader 603, and its fixed part (base) is fixedly connected to the connecting seat 6024. For the spreader 603, a common fixture in the prior art can be adopted, such as a new type of double clamping pliers disclosed in the patent application No. 201720674328.0; a calcium carbide clamping and lifting device disclosed in the patent application No. 201920908775.7.

[0121] Further, a second buffer cylinder 608 is further included. Two ends of the second buffer cylinder 608 are respectively hinged to the second robotic arm 6022 and the base 6020.

[0122] Further, both the first buffer cylinder 6028 and the second buffer cylinder 608 adopt nitrogen cylinders.

[0123] The above only elaborates on the preferred embodiments of the present invention in detail. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various changes can be made without departing from the gist of the present invention, and all such changes should be included within the protection scope of the present invention.

Claims

1. A calcium carbide transfer system, characterized in that: It includes a calcium carbide tapping system and a calcium carbide ingot stacking system. The calcium carbide tapping system includes a calcium carbide pot, a conveyor, a plug manipulator and a ingot pulling mechanism. The conveyor drives the calcium carbide pot to move to the position of the plug manipulator or the ingot pulling mechanism. The plug manipulator opens or closes the plug of the calcium carbide pot, and the ingot pulling mechanism takes out the calcium carbide ingot in the calcium carbide pot; the calcium carbide ingot stacking system includes a calcium carbide ingot transporter and a stacking manipulator. The ingot pulling mechanism places the taken-out calcium carbide ingot on the calcium carbide ingot transporter, and the calcium carbide ingot transporter moves to the position of the stacking manipulator. The stacking manipulator takes out the calcium carbide ingot on the calcium carbide ingot transporter for stacking; It further includes a loading system. The loading system includes a lifting platform, a forklift and a truck. The lifting platform drives the truck to lift and lower, and the forklift loads the calcium carbide ingots; it also includes a waste heat recovery kiln. The conveyor drives the calcium carbide pot into the waste heat recovery kiln, and the waste heat recovery kiln recovers the heat of the calcium carbide ingot; The calcium carbide pot includes a pot body and a wedge-shaped plug. The pot body is provided with corresponding wedge-shaped grooves. The opening of the wedge-shaped groove is large inside and small outside. The wedge-shaped plug is connected to the wedge-shaped groove. The pot body is provided with a plug guide groove. The wedge-shaped plug is connected to the plug guide groove through a plug connecting rod. One end of the plug connecting rod is hinged to the wedge-shaped plug, and the other end of the plug connecting rod is provided with a connecting pin connected to the plug guide groove; The connecting pin is located in the plug guide groove and can move and rotate along the plug guide groove; The plug manipulator includes a column, a cantilever and an opening and closing mechanism. One end of the cantilever is connected to the column, and the column is provided with a lifting mechanism. The lifting mechanism drives the cantilever to move along the column; the opening and closing mechanism includes a plug hook guide rail and a plug hook. There are two plug hooks, and both plug hooks are slidably connected to the plug hook guide rail. The two plug hooks are connected with a plug hook driving mechanism, and the plug hook driving mechanism drives the two plug hooks to move; the plug hook guide rail is connected to the cantilever through a plug hook rotating mechanism, and the plug hook guide rail is driven to rotate through the plug hook rotating mechanism; The calcium carbide ingot transporter includes a vehicle frame and a conveying mechanism. The vehicle frame is provided with a placement groove, and there is an opening below the placement groove. The conveying mechanism is arranged on the vehicle frame and is located below the placement groove. The calcium carbide slag falling at the opening can fall on the conveying mechanism. The lower end of the vehicle frame is provided with a traveling mechanism, and the traveling mechanism drives the vehicle frame to move.

2. A calcium carbide transfer system according to claim 1, characterized in that: The conveyor includes a conveying track and a flatbed truck. The flatbed truck is arranged on the conveying track, and the flatbed truck can move along the conveying track; the pot body is placed on the flatbed truck.

3. A calcium carbide transfer system according to claim 2, characterized in that: The conveying track includes a driving device and a number of track wheels arranged in sequence. The bottom of the flatbed truck is provided with protrusions connected to the track wheels; the driving device is connected to the track wheels and drives the track wheels to rotate.

4. A calcium carbide transfer system according to claim 1, characterized in that: The bobbing mechanism includes a truss and a lifting clamp. A movable trolley is provided on the truss, and a connecting frame is fixed on the trolley. The lifting clamp is connected to the connecting frame through a swing arm, and two ends of the swing arm are respectively hinged to the lifting clamp and the connecting frame. A counterweight is further included. The counterweight is connected with a hoisting mechanism. The counterweight is driven to lift and lower by the hoisting mechanism. The counterweight is connected with the swing arm. When the counterweight rises, the lifting clamp moves downward, and when the counterweight descends, the lifting clamp moves upward.

5. The calcium carbide transfer system according to claim 4, characterized in that: The hoisting mechanism includes a chain, a driving sprocket, a first transmission sprocket, a second transmission sprocket and a third transmission sprocket. The driving sprocket is arranged on the truss and connected with a driving mechanism, and the driving sprocket is driven to rotate by the driving mechanism. The first transmission sprocket and the third transmission sprocket are arranged on the trolley, and the second transmission sprocket is arranged on the cantilever. One end of the chain is fixedly connected with the counterweight, and the other end of the chain sequentially passes through the first transmission sprocket, the second transmission sprocket and the third transmission sprocket and is fixed to the truss.

6. The calcium carbide transfer system according to claim 1, characterized in that: The palletizing manipulator includes a frame, a manipulator and a lifting appliance. A transverse moving trolley capable of moving is provided on the frame. The manipulator includes a base, a first robotic arm, a second robotic arm and a linkage mechanism. The bottom of the base is connected to the transverse moving trolley through a rotating disk. One end of the first robotic arm is hinged to the base, and a first telescopic cylinder is arranged between the first robotic arm and the base. Two ends of the first telescopic cylinder are respectively hinged to the first robotic arm and the base. One end of the second robotic arm is hinged to the other end of the first robotic arm, and a second telescopic cylinder is arranged between the second robotic arm and the first robotic arm. Two ends of the second telescopic cylinder are respectively hinged to the second robotic arm and the first robotic arm. A connecting seat is hinged to the other end of the second robotic arm, and the lifting appliance is connected to the connecting seat. The linkage mechanism includes a first connecting rod, a second connecting rod and a connecting rod frame. The connecting rod frame is hinged at the hinged position between the second robotic arm and the first robotic arm. Two ends of the first connecting rod are respectively hinged to the base and the connecting rod frame. Two ends of the second connecting rod are respectively hinged to the connecting seat and the connecting rod frame. A first buffer cylinder is further arranged between the connecting rod frame and the connecting seat. Two ends of the first buffer cylinder are respectively hinged to the connecting rod frame and the connecting seat.

Images