A furnace-out robot

Abstract

A furnace-discharging robot belongs to the technical field of smelting equipment. The present invention includes a ring rail mechanism, a longitudinal movement mechanism, a slewing mechanism, a telescopic arm and a pitch mechanism. The ring rail mechanism is installed on the ring rail of the base plane, the longitudinal movement mechanism is installed on the ring rail mechanism, the longitudinal movement mechanism completes the forward and backward movement along the furnace eye A direction on the ring rail mechanism, the slewing mechanism is arranged on the longitudinal movement mechanism, the front end of the telescopic arm is hinged to the front end of the slewing mechanism, the rear end of the telescopic arm is hinged to the output end of the pitch mechanism, and the pitch mechanism is installed on the slewing mechanism. The present invention is suitable for the opening and blocking of the rotary ore furnace, and can be remotely controlled, which improves the safety of the furnace-discharging operation, enables the furnace front operation to be completed automatically, and reduces the labor intensity and labor cost of the operators.

Description

Technical Field

[0001] The invention relates to an automatic furnace-discharging robot, belonging to the technical field of smelting equipment. Background Art

[0002] In the production process of industrial rotary ore-burning furnace, unloading is the most arduous process in the whole process. The existing work of opening furnace eye, unloading with a brazing rod, plugging eye and cleaning chute are generally operated manually. Due to the harsh working environment, high temperature, large smoke and dust, and easy to cause occupational injuries during unloading operation, there are many dangers in the manual operation process. In addition, due to the uneven operation level and proficiency of operators, it is easy to cause furnace liquid splashing and burns during the process of opening eye, plugging eye and operating with a brazing rod. In addition, the manual opening and plugging operation time is long, the furnace temperature drops significantly, and it is not conducive to the stability of the furnace condition. Although there are many patents discussing the automatic opening and plugging machine of ore-burning furnace, due to the production particularity of industrial rotary ore-burning furnace, it cannot completely replace manual operation and realize safe and automatic production. Summary of the invention

[0003] The purpose of the present invention is to solve the above technical problems. A brief summary of the present invention is given below to provide a basic understanding of certain aspects of the present invention. It should be understood that this summary is not an exhaustive summary of the present invention. It is not intended to determine the key or important parts of the present invention, nor is it intended to limit the scope of the present invention.

[0004] The technical solution of the present invention:

[0005] A furnace unloading robot comprises a ring rail mechanism, a longitudinal movement mechanism, a swivel mechanism, a telescopic arm, a pitch mechanism and a feeding mechanism, wherein the ring rail mechanism is installed on a track of a base plane, the longitudinal movement mechanism is installed on the ring rail mechanism, the longitudinal movement mechanism completes forward and backward movement along the direction of a furnace eye A on the ring rail mechanism, the swivel mechanism is arranged on the longitudinal movement mechanism, the front end of the telescopic arm is hinged to the front end of the swivel mechanism, the rear end of the telescopic arm is hinged to the output end of the pitch mechanism, the pitch mechanism is installed on the swivel mechanism, and the feeding mechanism is installed on the swivel mechanism.

[0006] The longitudinal movement mechanism completes the forward and backward movement along the direction of the furnace eye A through the driving gear and the rack on the ring rail mechanism. The slewing mechanism is arranged on the longitudinal movement mechanism and can realize rotational movement. The front end of the telescopic arm is hinged to the front end of the slewing mechanism, and the rear end of the telescopic arm is hinged through one end of the pitch mechanism, and the other end of the pitch mechanism is hinged to the rear end of the slewing mechanism.

[0007] Furthermore: the ring track mechanism includes a mobile platform and a driving assembly, the driving assembly is installed at the bottom of the mobile platform, the driving assembly includes a motor and a reducer, an axle box and a driving wheel, the driving wheel is rotatably installed in the axle box through bearings and a rotating shaft, and the motor and the reducer are used to drive the driving wheel to rotate.

[0008] Further: the longitudinal movement mechanism includes a longitudinal movement platform, a longitudinal movement walking wheel, a longitudinal movement guide rail, a longitudinal movement reducer, a longitudinal movement drive gear and a longitudinal movement rack. The longitudinal movement walking wheel is installed on the longitudinal movement platform. Two parallel longitudinal movement guide rails are installed on the mobile platform. A longitudinal movement rack is installed between the two longitudinal movement guide rails. The longitudinal movement platform is installed on the longitudinal movement guide rail through the longitudinal movement walking wheel. The longitudinal movement reducer is installed on the longitudinal movement platform. The output end of the longitudinal movement reducer is installed with a longitudinal movement drive gear, and the longitudinal movement drive gear is meshed with the longitudinal movement rack.

[0009] Furthermore: the slewing mechanism includes a slewing reducer and a support frame, one end of the slewing reducer is connected to the longitudinal movement platform, and the other end of the slewing reducer is connected to the support frame.

[0010] Further: the telescopic arm includes a driving motor, an arm bracket, a first guide rail, a guide wheel, a movable cover and a clamping mechanism, the first guide rails are respectively installed on both sides of the arm bracket, the movable cover is installed with a guide wheel, the movable cover is installed on the first guide rail through the guide wheel, the clamping mechanism is fixedly installed on the movable cover, the two ends of the arm bracket are respectively installed with a driving sprocket and a driven sprocket, the driving motor is fixedly installed on the end of the arm bracket, the driving motor is installed in cooperation with the driving sprocket, the driving sprocket and the driven sprocket are cooperated with a chain installed, and the two ends of the chain are respectively fixedly installed on the movable cover.

[0011] Further: the pitch mechanism includes a pitch telescopic push rod and a push rod seat, the pitch telescopic push rod is installed on the support frame of the slewing mechanism through the push rod seat, the front end of the telescopic arm has a front hinge point, the telescopic arm is hingedly installed with the support frame of the slewing mechanism through the front hinge point, the rear end of the telescopic arm has a rear hinge point, and the output end of the pitch telescopic push rod is hingedly installed with the rear hinge point.

[0012] Further: the clamping mechanism includes a driving cylinder, a tool seat and a clamping claw, the front end of the tool seat is an outer trumpet-shaped cone hole structure, the tool seat is provided with a clamping claw, the rear end of the clamping claw is hinged with the output end lever of the driving cylinder. The driving cylinder is fixedly mounted on the mobile cover.

[0013] Further: the feeding mechanism includes a transmission mechanism and a rotary silo, and the rotary silo is fixedly mounted on the support frame;

[0014] The transmission mechanism includes a walking beam, a guide mechanism, a guide sprocket, a transmission reducer, an active transmission sprocket, a transmission chain and a feeding hopper. The guide mechanism is installed on a support frame, and the walking beam is slidably installed on the guide mechanism. The guide sprocket and the transmission reducer are installed on the support frame. The output end of the transmission reducer is installed with an active transmission sprocket. The transmission chain is installed in sequence with the guide sprocket and the active transmission sprocket. The two ends of the transmission chain are fixed to the left and right ends of the walking beam, and the feeding hopper is hingedly installed on the right end of the walking beam through a feeding hopper hinge seat;

[0015] The guide mechanism comprises a guide groove, which is a hollow groove structure, and guide wheel groups are installed on both sides of the guide groove. The walking beam is installed in the guide groove, and the guide wheel group is used to support the walking beam to slide in the guide groove;

[0016] The rotary silo comprises an inner panel, an outer panel, a base, a supporting tray, a rotary walking mechanism and a pushing cylinder. The rotary silo is fixedly mounted on the support frame through the base. The inner panel, the outer panel and the base form a rotary walking space. The rotary walking mechanism is mounted in the rotary walking space. A plurality of supporting trays are mounted on the rotary walking mechanism. The rotary walking mechanism comprises a plurality of supporting seats. Two adjacent supporting seats are hingedly connected by a first pin shaft. A rotary walking bearing is mounted on the upper end of the first pin shaft. The rotary walking bearing rolls along the side wall of the inner panel. A rotary driving reducer is mounted on the base. A driving turntable is mounted on the output end of the rotary driving reducer. A plurality of first grooves are machined in an array on the outer wall of the driving turntable. The first groove is mounted in cooperation with the first pin shaft. The pushing cylinder is mounted on the base. A limiting block is mounted at one end of the walking beam. The limiting block establishes an installation relationship with the walking beam through a spring. One end of the wire rope is connected to the bottom of the feeding hopper, and the other end of the wire rope passes through the walking beam and is connected to the limiting block.

[0017] The supporting seat comprises an upper U-shaped frame and a lower U-shaped frame, an annular cylinder is installed in the upper U-shaped frame and the lower U-shaped frame, and the supporting tray is fixedly installed on the annular cylinder.

[0018] The present invention has the following beneficial effects:

[0019] 1. The furnace unloading robot proposed in the present invention is suitable for opening and blocking the holes of a rotary ore-fired furnace, can be remotely controlled, improves the safety of the furnace unloading operation, enables the furnace front operation to be completed automatically, and reduces the labor intensity and labor cost of the operators;

[0020] 2. The present invention automatically completes the picking and placing of tools, arbitrarily adjusts the opening / blocking position, and automatically opens and blocks the eye through the mutual cooperation among the ring rail mechanism, the longitudinal movement mechanism, the rotation mechanism, the telescopic arm, the pitch mechanism and the feeding mechanism. The cooperation of various components has the advantages of ingenious mechanical structure design, compact mechanical structure, small space occupation, high degree of mechanization and strong practicality;

[0021] 3. The present invention utilizes the robot's large working range and high flexibility to realize the automation of eye opening and eye plugging operations, so that operations such as eye opening, eye cleaning, taking out of the furnace with a brazing rod, and eye plugging can be completed automatically;

[0022] 4. The furnace unloading robot of the present invention takes up less space, is lightweight and can be arranged on the vehicle, reduces the external pipe arrangement, is convenient for on-site debugging and daily maintenance, and makes the operation site tidier;

[0023] 5. The telescopic arm of the present invention is cleverly assembled and combined with the slewing mechanism, and the linear motion of the clamping mechanism is realized through a simple chain transmission mode. Under the action of the clamping mechanism, the eye-opening tool drill or the eye-blocking tamping drill can be freely grasped to complete the furnace eye-opening and eye-blocking operations;

[0024] 6. The feeding mechanism of the present invention adopts a reciprocating feeding method. Under the cooperation of the rotary silo, the transmission mechanism and the pushing cylinder, it realizes continuous transportation of the eye-blocking material and quickly completes the eye-blocking work. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a stereogram of a robot coming out of a furnace;

[0026] Figure 2 It is a stereogram of the mobile platform;

[0027] Figure 3 is a perspective view of the ring track drive assembly;

[0028] Figure 4 It is a three-dimensional diagram of the longitudinal movement mechanism;

[0029] Figure 5 It is a three-dimensional diagram of the support frame;

[0030] Figure 6 yes Figure 5 The main view;

[0031] Figure 7 It is a stereoscopic diagram of the telescopic arm;

[0032] Figure 8 It is the front view of the telescopic arm;

[0033] Fig. 9 It is the front view of the clamping mechanism;

[0034] Fig.10 It is a three-dimensional diagram of the pitch mechanism;

[0035] Fig.11 is a three-dimensional diagram of the robot released from the oven in the eighth embodiment;

[0036] Fig.12 It is a three-dimensional diagram of the feeding mechanism;

[0037] Fig.13 yes Fig.12 The enlarged schematic diagram of point A in the middle;

[0038] Fig.14 Schematic diagram of the installation of the guide mechanism on the support frame;

[0039] Fig.15 is a three-dimensional diagram of the guide groove;

[0040] Fig.16 It is a three-dimensional picture of the rotary silo;

[0041] Fig.17 It is a three-dimensional diagram of the rotary travel mechanism;

[0042] Fig.18 This is a schematic diagram of the flip structure of the feeding hopper Figure 1 ;

[0043] Fig.19 This is a schematic diagram of the flip structure of the feeding hopper Figure 2 ;

[0044] Fig. 20 It is a partial diagram of the installation relationship between the walking beam and the limit block;

[0045] Fig.21 It is a schematic diagram of the working state of a furnace-out robot;

[0046] In the figure, 1-annular rail mechanism, 2-longitudinal movement mechanism, 3-slewing mechanism, 4-telescopic small arm, 5-pitch mechanism, 6-feeding mechanism, 7-tool rack, 8-eye opening tool drill, 9-eye plugging and tamping drill, 11-mobile platform, 12-annular rail drive assembly, 121-motor and reducer, 122-axle box, 123-driving wheel, 21-longitudinal movement platform, 22-longitudinal movement walking wheel, 23-longitudinal movement guide rail, 24-longitudinal movement reducer, 25-longitudinal movement driving gear, 26-longitudinal movement rack, 27-longitudinal movement walking wheel seat, 31-slewing reducer, 32-support frame, 41-driving motor, 42-small arm bracket, 43-first guide rail, 44-guide wheel, 45-moving cover, 46-gripping mechanism, 47-driving sprocket, 48-driven sprocket, 49-chain, 51-pitch telescopic push rod, 52-push rod seat, 53-front hinge point, 54-rear hinge point, 461-driving cylinder, 462-tool seat, 463-steel chisel clamping seat, 464-clamping claw, 465-first hinge seat, 466-first connecting rod, 467-second hinge seat, 468-self-locking hook, 61-transmission mechanism, 62-rotating silo, 611-walking beam, 612-guide mechanism, 613-guide sprocket, 614-transmission reducer, 616-active transmission sprocket, 617-transmission chain, 618-feeding hopper, 619-feeding hopper hinged seat, 621-inner plate, 622-outer plate, 623-base, 624-supporting tray, 625-rotating walking mechanism, 626-rotating drive reducer, 627-driving turntable, 628-first groove, 629-push cylinder, 6251-supporting seat, 6252-first pin shaft, 6253-rotating walking bearing, 6121-guide groove, 6122-guide wheel group, 62511-upper U-shaped frame, 62512-lower U-shaped frame, 62513-circular cylinder. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is described below by the specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0048] The connection mentioned in the present invention is divided into fixed connection and detachable connection. The fixed connection is a non-detachable connection including but not limited to conventional fixed connection methods such as folding connection, rivet connection, bonding connection and welding connection. The detachable connection includes but not limited to conventional detachable methods such as threaded connection, snap connection, pin connection and hinge connection. When the specific connection method is not clearly defined, it is assumed that at least one connection method can always be found in the existing connection methods to achieve the function. Those skilled in the art can choose according to their needs. For example: a fixed connection is selected as a welding connection, and a detachable connection is selected as a hinge connection.

[0049] Specific implementation method 1: Combination Figure 1-Figure 18 The present embodiment is described. A furnace unloading robot of the present embodiment comprises a ring rail mechanism 1, a longitudinal movement mechanism 2, a rotating mechanism 3, a telescopic arm 4, a pitch mechanism 5 and a feeding mechanism 6. The ring rail mechanism 1 is installed on a track of a base plane, the longitudinal movement mechanism 2 is installed on the ring rail mechanism 1, the longitudinal movement mechanism 2 completes the forward and backward movement along the direction of the furnace eye A on the ring rail mechanism 1, the rotating mechanism 3 is arranged on the longitudinal movement mechanism 2, the front end of the telescopic arm 4 is hinged to the front end of the rotating mechanism 3, the rear end of the telescopic arm 4 is hinged to the output end of the pitch mechanism 5, the pitch mechanism 5 is installed on the rotating mechanism 3, and the feeding mechanism 6 is installed on the rotating mechanism 3.

[0050] The longitudinal movement mechanism 2 completes the forward and backward movement along the direction of the furnace eye A through the driving gear and the rack on the ring rail mechanism 1. The slewing mechanism 3 is arranged on the longitudinal movement mechanism 2 and can realize rotational movement. The front end of the telescopic arm 4 is hinged to the front end of the slewing mechanism 3, and the rear end of the telescopic arm 4 is hinged through one end of the pitch mechanism 5, and the other end of the pitch mechanism 5 is hinged to the rear end of the slewing mechanism 3.

[0051] In this embodiment, during the production process of the industrial rotary submerged arc furnace, there is a hole on the side wall of the furnace body. The hole is the furnace discharge hole after smelting, which is called the "furnace eye" in the technical field. The purpose of opening the hole is to discharge the liquid in the furnace from the "furnace eye" after the smelting is completed, and the purpose of blocking the hole is to perform smelting again and prevent the liquid in the industrial furnace from spilling out during the smelting process.

[0052] In this embodiment, an installation track is set on the outer periphery of the industrial smelting furnace, and a ring track mechanism 1 is installed on the track. The ring track mechanism 1 runs along the track to align and adjust the robot with the industrial furnace that needs to open or block the eye; the longitudinal movement mechanism 2 is installed on the ring track mechanism 1, and completes the forward and backward movement along the furnace eye direction by driving the gear and the rack on the ring track mechanism 1; the rotation mechanism 3 is installed on the longitudinal movement mechanism 2, and is used to realize the 360° rotation action of the telescopic arm 4, and the eye opening tool drill 8 or the eye blocking tamping drill 9 is grasped by the telescopic arm 4 to complete the eye opening / blocking work; the pitch mechanism 5 is used to adjust the pitch height of the telescopic arm 4, and cooperate with the longitudinal movement mechanism 2 to complete the furnace eye alignment work; the feeding mechanism 6 is used to deliver the blocking material into the furnace, and cooperate with the tamping drill grasped by the telescopic arm 4 to tamp the material to seal the furnace eye.

[0053] A furnace-discharging robot in the present embodiment automatically completes the picking and placing of tools, adjustment of opening / blocking eye positions, and automatic opening and blocking of eyes through the mutual cooperation among the circular track mechanism 1, the longitudinal movement mechanism 2, the rotating mechanism 3, the telescopic arm 4, the pitch mechanism 5 and the feeding mechanism 6. Through the cooperation of various components, it has the advantages of ingenious mechanical structure design, compact mechanical structure, small space occupation, high degree of mechanization and strong practicality.

[0054] Specific implementation method 2: Combination Figure 1-Figure 18 The present embodiment is described. This embodiment is a furnace-unloading robot. The circular track mechanism 1 includes a mobile platform 11 and a driving component 12. The driving component 12 is installed at the four end feet of the mobile platform 11. The driving component 12 includes a motor and a reducer 121, an axle box 122 and a driving wheel 123. The driving wheel 123 is rotatably installed in the axle box 122 through a bearing and a rotating shaft. The motor and the reducer 121 are used to drive the driving wheel 123 to rotate. In this way, the rotation of the motor and the reducer 121 drives the driving wheel 123 installed in the axle box 122 to roll, and the driving wheel 123 rolls on the track in the specific implementation method one, thereby realizing the walking of the mobile platform 11 on the track. In addition, a steel brush is also installed on the axle box 122. The steel brush can brush off impurities and dust on the track, thereby improving the cleanliness of the track and reducing the risk of affecting the normal operation of the circular track mechanism 1 due to the working environment.

[0055] Specific implementation method three: Combination Figure 1-Figure 18The present embodiment is described. The present embodiment is a furnace unloading robot. The longitudinal movement mechanism 2 includes a longitudinal movement platform 21, longitudinal movement wheels 22, longitudinal movement guide rails 23, longitudinal movement reducer 24, longitudinal movement drive gear 25 and longitudinal movement rack 26. The longitudinal movement platform 21 is a steel structure platform. The longitudinal movement wheels 22 are installed on the longitudinal movement platform 21. Two parallel longitudinal movement guide rails 23 are installed on the mobile platform 11. A longitudinal movement rack 26 is installed between the two longitudinal movement guide rails 23. The longitudinal movement platform 21 is installed on the longitudinal movement guide rail 23 through the longitudinal movement wheels 22. The longitudinal movement reducer 24 is installed on the longitudinal movement platform 21 by flange. The output end of the longitudinal movement reducer 24 is installed with a longitudinal movement drive gear 25, and the longitudinal movement drive gear 25 is installed in meshing with the longitudinal movement rack 26. With such arrangement, the principle of the longitudinal movement mechanism 2 is that when the longitudinal movement reducer 24 rotates, the longitudinal movement drive gear 25 rotates, and under the meshing action of the longitudinal movement drive gear 25 and the longitudinal movement rack 26, and under the sliding installation of the longitudinal movement running wheel 22 and the longitudinal movement guide rail 23, the longitudinal movement platform 21 is moved on the longitudinal movement guide rail 23 on the mobile platform 11 through the longitudinal movement running wheel 22.

[0056] Specific implementation method four: Combination Figure 1-Figure 18 This embodiment is described. In this embodiment, a furnace unloading robot is provided. The slewing mechanism 3 includes a slewing reducer 31 and a support frame 32. One end of the slewing reducer 31 is connected to the longitudinal moving platform 21, and the other end of the slewing reducer 31 is connected to the support frame 32. The slewing reducer 31 is used to realize the slewing action. In this embodiment, under the action of the slewing reducer 31, the support frame 32 is rotated relative to the longitudinal moving platform 21, and the telescopic arm 4 is installed on the support frame 32, thereby realizing the 360° slewing action of the telescopic arm 4.

[0057] Specific implementation method five: Combination Figure 1-Figure 18 The present embodiment is described. The present embodiment is a furnace-discharging robot. The telescopic arm 4 includes a driving motor 41, an arm bracket 42, a first guide rail 43, a guide wheel 44, a movable cover 45 and a clamping mechanism 46. The first guide rails 43 are respectively installed on both sides of the arm bracket 42. The movable cover 45 is equipped with guide wheels 44. The guide wheels 44 are installed on the side walls of the movable cover 45 through bearings and shafts. The number of guide wheels 44 is 4. The movable cover 45 is mounted on the first guide rail 43 through the guide wheels 44. The clamping mechanism 46 is fixedly mounted on the movable cover 45. A driving sprocket 47 and a driven sprocket 48 are respectively installed at both ends of the arm bracket 42. The driving motor 41 is fixedly mounted on the end of the arm bracket 42 by a flange. The driving motor 41 is installed in cooperation with the driving sprocket 47. Chains 49 are installed in cooperation on the driving sprocket 47 and the driven sprocket 48. Both ends of the chain 49 are respectively fixedly mounted on the movable cover 45.

[0058] Specific implementation method six: Combination Figure 1-Figure 18 The present embodiment is described. The present embodiment is a furnace unloading robot. The pitch mechanism 5 includes a pitch telescopic push rod 51 and a push rod seat 52. The pitch telescopic push rod 51 is installed on the support frame 32 of the rotary mechanism 3 through the push rod seat 52. The front end of the telescopic arm 4 has a front hinge point 53. The telescopic arm 4 is hingedly installed with the support frame 32 of the rotary mechanism 3 through the front hinge point 53. The rear end of the telescopic arm 4 has a rear hinge point 54. The output end of the pitch telescopic push rod 51 is hingedly installed with the rear hinge point 54. With such a configuration, under the pushing action of the pitch telescopic push rod 51, the telescopic arm 4 is pitch-adjusted relative to the support frame 32. The clamping mechanism 46 is installed on the telescopic arm 4. The clamping mechanism 46 is used to grab the eye-opening tool drill 8 or the eye-blocking tamping drill 9. Through the pitch adjustment of the telescopic arm 4, the pitch angle of the grabbed eye-opening tool drill 8 or the eye-blocking tamping drill 9 relative to the furnace eye is adjusted, thereby completing the eye-opening / eye-blocking position adjustment.

[0059] Specific implementation method seven: Combination Figure 1-Figure 18 This embodiment is described. This embodiment is a furnace unloading robot. The clamping mechanism 46 includes a driving cylinder 461, a tool seat 462 and a clamping claw 464. The front end of the tool seat 462 is an outer bell-mouth-shaped cone hole structure. The tool seat 462 is provided with a clamping claw 464. The rear end of the clamping claw 464 is hinged with the output end lever of the driving cylinder 461. The driving cylinder 461 is fixedly installed on the moving cover 45;

[0060] In this embodiment, one end of the tool holder 462 is mounted on the end of the driving cylinder 461 by means of a flange. When in use, the eye-opening tool drill 8 or the eye-plugging and tamping drill 9 is inserted into the outer trumpet-shaped conical hole inside the front end of the tool holder 462, and then the cylinder 461 is driven to operate, so that the clamp 464 clamps the eye-opening tool drill 8 or the eye-plugging and tamping drill 9 through the self-locking hook at its front end.

[0061] The present embodiment realizes the clamping of the eye-opening tool drill 8 or the eye-plugging tamping drill 9 through a mechanical connecting rod structure, and has the advantage of stable and reliable gripping. During the working process, the eye-opening tool drill 8 or the eye-plugging tamping drill 9 will not fall off accidentally, nor will it fall off due to scratching, thereby effectively ensuring the safety of the entire eye-opening and eye-plugging process.

[0062] Specific implementation method eight: Combination Figure 1-Figure 18 To explain this embodiment, a furnace discharging robot of this embodiment further includes a feeding mechanism 6, and the feeding mechanism 6 is installed on the rotary mechanism 3;

[0063] The feeding mechanism 6 includes a transmission mechanism 61 and a rotary bin 62, and the rotary bin 62 is fixedly mounted on the support frame 32;

[0064] The transmission mechanism 61 includes a walking beam 611, a guide mechanism 612, a guide sprocket 613, a transmission reducer 614, an active transmission sprocket 616, a transmission chain 617 and a feeding hopper 618. The guide mechanism 612 is installed on the support frame 32, and the walking beam 611 is slidably installed on the guide mechanism 612. The guide sprocket 613 and the transmission reducer 614 are installed on the support frame 32. The output end of the transmission reducer 614 is installed with an active transmission sprocket 616. The transmission chain 617 is installed in sequence with the guide sprocket 613 and the active transmission sprocket 616. The two ends of the transmission chain 617 are fixed to the left and right ends of the walking beam 611. The feeding hopper 618 is hingedly installed on the right end of the walking beam 611 through a feeding hopper hinge seat 619;

[0065] The guide mechanism 612 includes a guide groove 6121, which is a hollow groove structure. Guide wheel groups 6122 are installed on both sides of the guide groove 6121. The walking beam 611 is installed in the guide groove 6121. The guide wheel groups 6122 are used to support the walking beam 611 to slide in the guide groove 6121.

[0066] The rotary silo 62 includes an inner panel 621, an outer panel 622, a base 623, a material tray 624, a rotary travel mechanism 625 and a material pushing cylinder 629. The rotary silo 62 is fixedly mounted on the support frame 32 through the base 623. The base 623 forms a rotary walking space, the rotary walking mechanism 625 is installed in the rotary walking space, a plurality of supporting trays 624 are installed on the rotary walking mechanism 625, the rotary walking mechanism 625 includes a plurality of supporting seats 6251, two adjacent supporting seats 6251 are hinged through a first pin shaft 6252, a rotary walking bearing 6253 is installed on the upper end of the first pin shaft 6252, the rotary walking bearing 6253 rolls along the side wall of the inner enclosure plate 621, a rotary driving reducer 626 is installed on the base 623, a driving turntable 627 is installed on the output end of the rotary driving reducer 626, a plurality of first grooves 628 are processed in an array on the outer wall of the driving turntable 627, the first grooves 628 are installed in coordination with the first pin shaft 6252, and the pushing cylinder 629 is installed on the base 623. One end of the walking beam 611 has an installation opening, and the installation opening has a limit block 6110. The limit block 6110 is installed with the left side wall of the walking beam 611 through a spring. One end of the wire rope 6181 is connected to the bottom of the feeding hopper 618, and the other end of the wire rope 6181 passes through the walking beam 611 and is connected to the limit block 6110.

[0067] The supporting seat 6251 includes an upper U-shaped frame 62511 and a lower U-shaped frame 62512, and an annular cylinder 62513 is installed in the upper U-shaped frame 62511 and the lower U-shaped frame 6251. The supporting tray 624 is fixedly installed on the annular cylinder 62513, and the annular cylinder 62513 is used to realize the installation of the supporting tray 624. In addition, the annular cylinder 62513 is installed in the U-shaped frame 6251 to play a supporting and tightening role. Under the action of the annular cylinder 62513, the supporting seat 6251 can walk stably in the rotating walking space formed by the inner plate 621, the outer plate 622 and the base 623, thereby reducing the vibration generated by the single supporting seat 6251 in the walking space, which affects the transportation of the eye-blocking material.

[0068] In this embodiment, the feeding mechanism 6 is used to deliver the plugging material to the furnace eye, and cooperate with the tamping rod grasped by the telescopic arm 4 to tamp the material so as to seal the furnace eye. The specific working method is as follows: Fig.15 As shown in the figure, the "eye-blocking material" is placed on the support tray 624, and the rotary drive reducer 626 drives the driving turntable 627 to rotate. Under the cooperation of the first groove 628 and the first pin 6252, the driving turntable 627 drives the rotary walking mechanism 625 to transmit in the rotary walking space formed by the inner enclosure plate 621, the outer enclosure plate 622 and the base 623. When the "eye-blocking material" is transported to the support tray 624, the driving turntable 627 drives the rotary walking mechanism 625 to rotate. Fig.11 1 station on the support tray 624, at this time, the push cylinder 629 pushes the "eye-blocking material" into the feeding hopper 618, and then, as shown in Figure 11-Figure 14 As shown, the transmission reducer 614 drives the active transmission sprocket 616 to rotate, and the active transmission sprocket 616 drives the transmission chain 617, and the transmission chain 617 drives the walking beam 611 to slide in the guide groove 6121 of the guide mechanism 612. When the feeding hopper 618 is pushed to the furnace eye of the furnace body by the walking beam 611, under the dragging action of the wire rope 6181 at the bottom of the feeding hopper 618 (because one end of the wire rope 6181 is connected to the feeding hopper 618, and the other end is connected to the limit block 6110, when the walking beam 611 drives the feeding hopper 618 to move, the wire rope 6181 is stretched, and finally the feeding hopper 618 is flipped relative to the feeding hopper hinge seat 619), the "eye-blocking material" in the feeding hopper 618 is dumped into the furnace eye.

[0069] When the "eye-blocking material" is poured into the furnace eye, the clamping mechanism 46 installed on the telescopic arm 4 carries a tamping rod, and under the longitudinal movement of the longitudinal movement mechanism 2, the "eye-blocking material" at the furnace eye is tamped to seal the furnace eye.

[0070] A furnace unloading robot realizes the process of opening the furnace eye, including picking up the opening tool and poking the furnace eye:

[0071] Pick up the eye-opening tool: first, the ring rail mechanism 1 is driven by the ring rail driving assembly 12 to slide on the track, adjust the robot to the vicinity of the tool rack 7, and rotate the telescopic arm 4 through the rotary reducer 31 on the rotary mechanism 3, so that the clamping mechanism 46 installed on the telescopic arm 4 is aligned with the eye-opening tool 8 on the tool rack 7, and then start the driving motor 41. The driving motor 41 drives the moving cover 45 to move linearly under the action of the driving sprocket 47, the driven sprocket 48 and the chain 49 until the clamping mechanism 46 installed on the moving cover 45 grabs the eye-opening tool 8;

[0072] Poking the furnace eye: After picking up the eye-opening tool 8, the rotary reducer 31 rotates in the opposite direction, and the ring track mechanism 1 runs on the track, so that the entire robot is adjusted to the position of the furnace body to be opened, and the pitch mechanism 5 is adjusted to make the eye-opening tool 8 grasped by the clamping mechanism 46 align with the furnace eye, and then the longitudinal moving mechanism 2 and the telescopic small arm 4 adjust the position of the entire eye-opening tool 8 forward and backward, so that the eye-opening tool 8 intermittently / reciprocatingly moves to poke the furnace eye;

[0073] A furnace-out robot realizes the process of plugging the eye:

[0074] After the furnace robot picks up the eye-blocking tamping rod, the "eye-blocking material" is placed on the support tray 624, and the rotary drive reducer 626 drives the drive turntable 627 to rotate, and cooperates with the pushing cylinder 629 to push the "eye-blocking material" into the feeding hopper 618. Subsequently, the transmission reducer 614 drives the walking beam 611 to slide in the guide groove 6121 of the guide mechanism 612 through the active transmission sprocket 616 and the transmission chain 617, and pours the "eye-blocking material" in the feeding hopper 618 into the furnace eye, and then the longitudinal moving mechanism 2 and the telescopic arm 4 adjust the position of the entire eye-blocking tamping rod forward and backward, and use the tamping rod to tamp the "eye-blocking material" at the furnace eye to seal the furnace eye.

[0075] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0076] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps described in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0077] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0078] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0079] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0080] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be arranged and combined, and those skilled in the art can exhaust all possibilities based on the mathematical knowledge of arrangement and combination. Therefore, the present invention will no longer describe the technical solutions after arrangement and combination one by one, but it should be understood that the technical solutions after arrangement and combination have been disclosed by the present invention.

[0081] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A furnace-out robot, Features: The invention comprises a ring track mechanism (1), a longitudinal movement mechanism (2), a slewing mechanism (3), a telescopic arm (4) and a pitch mechanism (5), wherein the ring track mechanism (1) is mounted on a track of a base plane, the longitudinal movement mechanism (2) is mounted on the ring track mechanism (1), the longitudinal movement mechanism (2) completes forward and backward movement along the direction of the furnace eye A on the ring track mechanism (1), the slewing mechanism (3) is arranged on the longitudinal movement mechanism (2), the front end of the telescopic arm (4) is hinged to the front end of the slewing mechanism (3), the rear end of the telescopic arm (4) is hinged to the output end of the pitch mechanism (5), and the pitch mechanism (5) is mounted on the slewing mechanism (3); It also includes a feeding mechanism (6), wherein the feeding mechanism (6) is mounted on the rotating mechanism (3); The feeding mechanism (6) comprises a transmission mechanism (61) and a rotary material bin (62), and the rotary material bin (62) is fixedly mounted on a support frame (32); The transmission mechanism (61) comprises a walking beam (611), a guide mechanism (612), a guide sprocket (613), a transmission reducer (614), an active transmission sprocket (616), a transmission chain (617) and a feeding hopper (618); the guide mechanism (612) is mounted on a support frame (32); the walking beam (611) is slidably mounted on the guide mechanism (612); the guide sprocket (613) and the transmission reducer (614) are mounted on the support frame (32); the output end of the transmission reducer (614) is mounted with an active transmission sprocket (616); the transmission chain (617) is mounted in conjunction with the guide sprocket (613) and the active transmission sprocket (616) in sequence; two ends of the transmission chain (617) are fixed to the left and right ends of the walking beam (611); and the feeding hopper (618) is hingedly mounted on the right end of the walking beam (611) via a feeding hopper hinge seat (619); The rotary silo (62) comprises an inner panel (621), an outer panel (622), a base (623), a material support tray (624), a rotary travel mechanism (625) and a material pushing cylinder (629). The rotary silo (62) is fixedly mounted on the support frame (32) via the base (623). The inner panel (621), the outer panel (622) and the base (623) form a rotary travel space. The rotary travel mechanism (625) is mounted in the rotary travel space. A plurality of material support trays (624) are mounted on the rotary travel mechanism (625). The rotary travel mechanism (625) comprises a plurality of supporting seats (6251). Two adjacent supporting seats (6251) are hingedly connected via a first pin shaft (6252). A rotary travel bearing (6253) is mounted on the upper end of the first pin shaft (6252). The walking bearing (6253) rolls along the side wall of the inner enclosure (621); a rotary drive reducer (626) is installed on the base (623); a driving turntable (627) is installed at the output end of the rotary drive reducer (626); a plurality of first grooves (628) are processed in an array on the outer wall of the driving turntable (627); the first grooves (628) are installed in coordination with the first pin shaft (6252); the pushing cylinder (629) is installed on the base (623); a limit block (6110) is installed at one end of the walking beam (611); the limit block (6110) establishes an installation relationship with the walking beam (611) through a spring; one end of the steel wire rope (6181) is connected to the bottom of the feeding hopper (618); the other end of the steel wire rope (6181) passes through the walking beam (611) and is connected to the limit block (6110).

2. A furnace discharging robot according to claim 1, Features: The circular track mechanism (1) comprises a mobile platform (11) and a driving assembly (12); the driving assembly (12) is installed at the bottom of the mobile platform (11); the driving assembly (12) comprises a motor and a reducer (121), an axle box (122), and a driving wheel (123); the driving wheel (123) is rotatably installed in the axle box (122) via a bearing and a rotating shaft; the motor and the reducer (121) are used to drive the driving wheel (123) to rotate.

3. A furnace-discharging robot according to claim 2, Features: The longitudinal movement mechanism (2) comprises a longitudinal movement platform (21), longitudinal movement wheels (22), longitudinal movement guide rails (23), a longitudinal movement speed reducer (24), a longitudinal movement driving gear (25) and a longitudinal movement rack (26); the longitudinal movement wheels (22) are mounted on the longitudinal movement platform (21); two longitudinal movement guide rails (23) arranged in parallel are mounted on the mobile platform (11); a longitudinal movement rack (26) is mounted between the two longitudinal movement guide rails (23); the longitudinal movement platform (21) is mounted on the longitudinal movement guide rails (23) by means of the longitudinal movement wheels (22); the longitudinal movement speed reducer (24) is mounted on the longitudinal movement platform (21); a longitudinal movement driving gear (25) is mounted on the output end of the longitudinal movement speed reducer (24); and the longitudinal movement driving gear (25) is mounted in meshing engagement with the longitudinal movement rack (26).

4. A furnace discharging robot according to claim 3, Features: The slewing mechanism (3) comprises a slewing reducer (31) and a support frame (32); one end of the slewing reducer (31) is connected to the longitudinal movement platform (21), and the other end of the slewing reducer (31) is connected to the support frame (32).

5. A furnace-discharging robot according to claim 4, Features: The telescopic arm (4) comprises a driving motor (41), an arm bracket (42), a first guide rail (43), a guide wheel (44), a movable cover (45) and a clamping mechanism (46). The first guide rails (43) are respectively mounted on both sides of the arm bracket (42). The movable cover (45) is mounted with a guide wheel (44). The movable cover (45) is mounted on the first guide rail (43) through the guide wheel (44). The clamping mechanism (46) is fixedly mounted on the movable cover (45). A driving sprocket (47) and a driven sprocket (48) are respectively mounted on both ends of the arm bracket (42). The driving motor (41) is fixedly mounted on the end of the arm bracket (42). The driving motor (41) is mounted in cooperation with the driving sprocket (47). A chain (49) is mounted in cooperation with the driving sprocket (47) and the driven sprocket (48). Both ends of the chain (49) are respectively fixedly mounted on the movable cover (45).

6. A furnace-discharging robot according to claim 5, Features: The pitch mechanism (5) comprises a pitch telescopic push rod (51) and a push rod seat (52); the pitch telescopic push rod (51) is mounted on a support frame (32) of the slewing mechanism (3) via the push rod seat (52); the front end of the telescopic arm (4) has a front hinge point (53); the telescopic arm (4) is hingedly mounted to the support frame (32) of the slewing mechanism (3) via the front hinge point (53); the rear end of the telescopic arm (4) has a rear hinge point (54); and the output end of the pitch telescopic push rod (51) is hingedly mounted to the rear hinge point (54).

7. A furnace unloading robot according to claim 5 or 6, Features: The clamping mechanism (46) comprises a driving cylinder (461), a tool seat (462) and a clamping claw (464); the front end of the tool seat (462) has an external trumpet-shaped conical hole structure; the tool seat (462) is provided with a clamping claw (464); the rear end of the clamping claw (464) is hinged to the output end lever of the driving cylinder (461).

8. The furnace-discharging robot according to claim 1, Features: The guide mechanism (612) comprises a guide groove (6121), the guide groove (6121) being a hollow groove structure, guide wheel groups (6122) being installed on both sides of the guide groove (6121), the walking beam (611) being installed in the guide groove (6121), and the guide wheel groups (6122) being used to support the walking beam (611) to slide in the guide groove (6121).

9. The furnace-discharging robot according to claim 1, Features: The supporting seat (6251) comprises an upper U-shaped frame (62511) and a lower U-shaped frame (62512), and an annular cylinder (62513) is installed in the upper U-shaped frame (62511) and the lower U-shaped frame (62512), and the supporting tray (624) is fixedly installed on the annular cylinder (62513).

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