A tapping robot

Abstract

The application discloses a tapping robot and belongs to the technical field of robots. In order to solve the problem that tapping operation in the smelting industry is still mainly performed by workers, the workers perform operations such as eye burning, rod carrying and eye plugging in front of a furnace, and the labor intensity is high and the danger is high. The tapping robot comprises a telescopic mechanism, a grabbing mechanism, a pitching mechanism, a rotating mechanism and an advancing mechanism. The front end of the telescopic mechanism is hinged to the front end of the rotating mechanism, the rear end is provided with the pitching mechanism, the other end of the pitching mechanism is arranged at the rear end of the rotating mechanism, a moving trolley is arranged on the telescopic mechanism, the moving trolley is provided with the grabbing mechanism, the base assembly of the advancing mechanism is fixedly arranged on the ground foundation of a working area, and the rotating mechanism is arranged on the moving part of the advancing mechanism. The tapping robot can realize self-adaptive control and safe operation, replaces manual tapping operation in front of a furnace, improves the safety of tapping operation and improves the automation degree of tapping operation in front of a furnace.

Description

TECHNICAL FIELD

[0001] The application relates to a robot, in particular to a furnace discharge robot, and belongs to the technical field of robots. BACKGROUND

[0002] At present, furnace discharge operation of the electric arc furnace smelting industry in China is mainly manual operation, and the work such as eye burning, eye carrying, eye plugging and furnace tongue cleaning in the furnace discharge process is completed by manual operation of the on-site operator. The manual operation of furnace discharge not only has great labor intensity and a poor working environment, but also has a high on-site working environment temperature, a large amount of smoke and dust and frequent hot material splashing, which can easily cause personal injury to the operator and has great safety hazards. In addition, the furnace eye of the electric arc furnace is affected by manual eye burning operation, and the size and shape of the furnace eye are different. When the furnace eye is plugged, the size of the mud ball needs to be adjusted in time according to the on-site plugging effect, so that the plugging time is long and the plugging success rate is low. SUMMARY

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

[0004] Technical scheme of the present application:

[0005] A furnace discharge robot comprises a telescopic mechanism, a moving trolley, a grabbing mechanism, a pitching mechanism, a rotating mechanism and an advancing mechanism.

[0006] The front end of the telescopic mechanism is hinged to the front end of the rotating mechanism, the rear end is provided with the pitching mechanism, the other end of the pitching mechanism is arranged at the rear end of the rotating mechanism, the moving trolley is arranged on the telescopic mechanism, the grabbing mechanism is arranged on the moving trolley, the base assembly of the advancing mechanism is fixedly arranged on the ground foundation of the working area, and the rotating mechanism is arranged on the moving part of the advancing mechanism.

[0007] Further, the telescopic mechanism comprises a support assembly, a telescopic driving part, a guide rail and a telescopic transmission assembly, the front end of the support assembly is hinged to the front end of the rotating mechanism, the rear end of the support assembly is provided with an arc-shaped rack assembly, and the telescopic mechanism can rotate with the rotating mechanism.

[0008] Further, the telescopic driving part is arranged at the rear end of the support assembly, the telescopic driving part transmits power to the moving trolley through the telescopic transmission assembly, and drives the moving trolley to move forward and backward along the support assembly.

[0009] The telescopic driving component comprises a telescopic speed reducer and a telescopic power source, the telescopic speed reducer and the telescopic power source are arranged at the bottom of the rear end of the support assembly, the output end of the telescopic power source is connected with the input end of the telescopic speed reducer, and the telescopic power source is an electric motor or a hydraulic motor.

[0010] Further, the telescopic transmission assembly comprises a first telescopic transmission assembly and a second telescopic transmission assembly, and the telescopic driving component transmits power to the moving trolley through the first telescopic transmission assembly and the second telescopic transmission assembly.

[0011] The first telescopic transmission assembly comprises a small sprocket, a large sprocket, a first chain and a sprocket shaft, the small sprocket is arranged on the output end of the telescopic driving component, the sprocket shaft is arranged at the rear end of the support assembly, the large sprocket is arranged on the sprocket shaft, and the first chain transmits power from the telescopic driving component to the second telescopic transmission assembly through the small sprocket, the large sprocket and the sprocket shaft.

[0012] Further, the second telescopic transmission assembly comprises a front sprocket, a rear sprocket and a second chain, the rear sprocket is arranged on the sprocket shaft, two parallel second chains are arranged on the telescopic mechanism, one end of the second chain is connected with the front end of the moving trolley by passing through the front sprocket, and the other end of the second chain is connected with the rear end of the moving trolley by passing through the rear sprocket.

[0013] Further, the moving trolley comprises a trolley assembly, a walking trolley wheel and an anti-tilting trolley wheel, two parallel guide rails are arranged on the support assembly, and the moving trolley can walk along the guide rails; the walking trolley wheel is arranged at the bottom of the trolley assembly, and the anti-tilting trolley wheel is arranged on the two sides of the trolley assembly; and the walking trolley wheel is a trolley wheel group with a baffle or a trolley wheel group with a V-shaped groove.

[0014] Further, the grabbing mechanism comprises a rock drill, an inner sleeve, an outer sleeve and a supporting sleeve, the outer sleeve is fixed on the moving trolley, the inner sleeve is installed on the outer sleeve through supporting bearings at the two ends of the outer sleeve, and the front end of the inner sleeve is provided with the supporting sleeve.

[0015] Further, the auxiliary grabbing mechanism is arranged on the telescopic mechanism, and the auxiliary grabbing mechanism comprises a mounting seat, a hydraulic cylinder, a pull rod, a slide, a guide wheel, a sliding block and a flange shaft, the mounting seat is fixed at the bottom of the support assembly, the tail end of the hydraulic cylinder is hinged, the output end of the hydraulic cylinder is hinged with the rear end of the pull rod, the guide wheels are arranged on the two sides of the rear end of the pull rod, the guide wheels roll and walk in the inner special-shaped groove of the slide, and the slide is fixed on the support assembly on the two sides in a symmetrical mode; two sliding blocks are arranged on the front end of the support assembly in a symmetrical mode, the two sides of the pull rod are outwardly provided with two symmetrical guide grooves, and the two sliding blocks slide in the guide grooves of the pull rod; the sliding block is installed on the support assembly through the flange shaft, and the sliding block can rotate along the axial direction of the flange shaft.

[0016] Further, the pitching mechanism comprises a pitching gear, an arc-shaped gear rack assembly, an output flange shaft, a pitching driving component, a bearing gland and a transmission shaft. The pitching gear is installed at the rear end of the rotating platform through the transmission shaft. The arc-shaped gear rack assembly is fixed at the rear end of the telescopic mechanism. The pitching driving component is connected with the transmission shaft through the output flange shaft. The bearing gland is provided with a roller which rolls in the arc-shaped groove of the arc-shaped gear rack assembly. The pitching mechanism can adopt gear and rack transmission or pin gear transmission.

[0017] Further, the pitching mechanism comprises a pitching gear, an arc-shaped gear rack assembly, an output flange shaft, a pitching driving component, a bearing gland and a transmission shaft. The pitching gear is installed at the rear end of the rotating platform through the transmission shaft. The arc-shaped gear rack assembly is fixed at the rear end of the telescopic mechanism. The pitching driving component is connected with the transmission shaft through the output flange shaft. The bearing gland is provided with a roller which rolls in the arc-shaped groove of the arc-shaped gear rack assembly. The pitching mechanism can adopt gear and rack transmission or pin gear transmission.

[0018] Further, the rotating mechanism comprises a rotating support, a rotating platform, a rotating driving component and a rotating gear. The two connecting ends of the rotating support are connected with the rotating platform and the moving platform respectively. The rotating driving component is arranged on the rotating platform or the moving platform. The rotating gear is engaged with the inner or outer gear of the rotating support. The rotating driving component drives the rotating gear to rotate the rotating platform on the moving platform.

[0019] Further, the rotating mechanism comprises a rotating support, a rotating platform, a rotating driving component and a rotating gear. The two connecting ends of the rotating support are connected with the rotating platform and the moving platform respectively. The rotating driving component is arranged on the rotating platform or the moving platform. The rotating gear is engaged with the inner or outer gear of the rotating support. The rotating driving component drives the rotating gear to rotate the rotating platform on the moving platform.

[0020] Further, the advancing mechanism comprises a base assembly and a moving component. The moving component is driven to move forward and backward along the base assembly through the advancing driving component. The base assembly is provided with a limiting guide rail and two parallel advancing guide rails. The limiting guide rail is parallel to the advancing guide rails. The limiting guide rail is provided with an advancing gear rack simultaneously. The advancing guide rail is a standard heavy rail or a semicircular rail or a trapezoidal rail.

[0021] Further, the moving component comprises a moving platform, walking wheels, an advancing driving component and a guide wheel set. The moving platform adopts a concave structure. At least two groups of walking wheels are arranged at the two sides of the moving platform. A guide wheel set is arranged at the front and rear of the moving platform. Each guide wheel set is provided with two guide wheels. The guide wheels are pressed against the limiting guide rail to guide the moving platform to move and guide on the base assembly through the walking wheels and the guide wheel set respectively.

[0022] Further, the walking wheels are wheels with a baffle or wheels with a V-shaped groove.

[0023] Further, the forward driving component is fixed on the moving platform, and one or more groups of driving components can be arranged; the forward driving component comprises a speed reducer and a power source, the output end of the power source is connected with the input end of the speed reducer, the output end of the speed reducer is connected with a forward gear, the forward gear is engaged with a forward rack, the forward driving component drives the moving platform to move forward and backward along the base assembly by driving the forward gear, and the power source is an electric motor or a hydraulic motor.

[0024] Further, the driving transmission mode of the moving platform can be a gear and rack, gear transmission, chain and sprocket transmission or synchronous belt transmission.

[0025] The present application has the following beneficial effects:

[0026] 1. The furnace discharging robot has the functions of automatic tool taking and placing, drilling, eye opening, drill carrying and eye plugging, and adopts mixed control of electricity and hydraulic pressure; the robot has multi-dimensional force sensing capability, can resist impact load, can provide high impact energy and output torque, and can realize precise control effect.

[0027] 2. The inner and outer sleeve structure of the grabbing mechanism can realize rotary motion after grabbing the tool and can bear high impact load; the auxiliary grabbing mechanism realizes linear walking and then changes the walking direction by using a single power source, and can realize grabbing of complex tools by cooperating with the grabbing mechanism.

[0028] 3. By means of ingenious mechanical structure design, the overall height of the equipment is greatly compressed, and the equipment has the advantages of compact mechanical structure, small space occupation and strong practicability.

[0029] 4. The forward, rotary, pitching and tool taking and placing actions can complete complex multi-process furnace discharging work; in the complex furnace front operation environment including high temperature, dust, hot spatter and complex operation space, the robot can realize self-adaptive control and safe operation, and can replace manual furnace discharging operation at the furnace front. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a schematic diagram of the overall structure of the furnace discharging robot;

[0031] Figure 2 、 Figure 3 is a schematic diagram of the telescopic mechanism structure;

[0032] Figure 4 is a schematic diagram of the moving trolley structure;

[0033] Figure 5 is a schematic diagram of the grabbing mechanism structure;

[0034] Figure 6 is a schematic diagram of the auxiliary grabbing mechanism structure;

[0035] Figure 7 is the perspective view of the pull rod;

[0036] Figure 8 is the partial schematic view of the cooperation between the slide and the support assembly;

[0037] Figure 9 is the front-end running track of the auxiliary grabbing mechanism;

[0038] Figure 10 is the schematic view of the pitch mechanism structure;

[0039] Figure 11 is the schematic view of the rotation mechanism structure;

[0040] Figure 12 is the schematic view of the forward mechanism structure.

[0041] In the figure, 1 is the telescopic mechanism, 2 is the moving trolley, 3 is the grabbing mechanism, 4 is the pitch mechanism, 5 is the rotation mechanism, 6 is the forward mechanism, 7 is the auxiliary grabbing mechanism, 1-1 is the support assembly, 1-2 is the telescopic driving part, 1-3 is the guide rail, 1-4 is the telescopic transmission assembly, 1-5 is the first-stage telescopic transmission assembly, 1-6 is the second-stage telescopic transmission assembly, 1-7 is the small sprocket, 1-8 is the large sprocket, 1-9 is the first-stage chain, 1-10 is the sprocket shaft, 1-11 is the front sprocket, 1-12 is the rear sprocket, 1-13 is the second-stage chain, 2-1 is the trolley assembly, 2-2 is the walking trolley wheel, 2-3 is the anti-tilt wheel, 3-1 is the rock drill, 3-2 is the inner sleeve, 3-3 is the outer sleeve, 3-4 is the support sleeve, 4-1 is the pitch gear, 4-2 is the arc-shaped rack assembly, 4-3 is the output flange shaft, 4-4 is the pitch driving part, 4-5 is the bearing gland, 4-6 is the transmission shaft, 4-7 is the roller, 5-1 is the rotation support, 5-2 is the rotation platform, 5-3 is the rotation driving part, 5-4 is the rotation gear, 6-1 is the base assembly, 6-2 is the moving part, 6-3 is the forward driving part, 6-4 is the limit guide rail, 6-5 is the forward guide rail, 6-6 is the moving platform, 6-7 is the walking wheel, 6-8 is the guide wheel set, 6-9 is the forward rack, 6-10 is the forward gear, 7-1 is the mounting seat, 7-2 is the hydraulic cylinder, 7-3 is the pull rod, 7-4 is the slide, 7-5 is the guide wheel, 7-6 is the sliding block, 7-7 is the flange shaft, 7-8 is the special-shaped groove, and 7-9 is the guide groove. DETAILED DESCRIPTION

[0042] To make the objectives, technical solutions and advantages of the present application clearer, the present application will be described below in detail with specific embodiments shown in the drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present application. In addition, in the following description, the description of the known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present application.

[0043] Specific embodiment one: combined with Figures 1-12This embodiment describes a robot for unloading food, comprising a telescopic mechanism 1, a mobile cart 2, a gripping mechanism 3, a pitching mechanism 4, a rotating mechanism 5, and a forward mechanism 6. The front end of the telescopic mechanism 1 is hinged to the front end of the rotating mechanism 5, and the rear end is provided with the pitching mechanism 4. The other end of the pitching mechanism 4 is located at the rear end of the rotating mechanism 5, allowing adjustment of the pitch angle of the telescopic mechanism 1. The mobile cart 2 is mounted on the telescopic mechanism 1 and is equipped with the gripping mechanism 3. The robot's operation involves the forward and backward movement of the mobile cart 2 and the gripping action of the gripping mechanism 3. It enables the picking and placing of both simple and complex tools; the base assembly 6-1 of the forward mechanism 6 is fixedly arranged on the ground in the working area, and the rotary mechanism 5 is set on the moving part 6-2 of the forward mechanism 6. The forward mechanism 6 enables the robot to move back and forth, and the rotary mechanism 5 enables the robot to rotate; through the coordinated actions of various mechanisms and components, the various processes in the unloading process are completed. Through the structural design and action coordination of each component, this unloading robot has the advantages of ingenious mechanical structure design, compact structure, small space occupation, high degree of mechanization, and strong practicality.

[0044] Specific Implementation Method Two: Combining Figures 1-12 This embodiment describes a furnace-unloading robot. The telescopic mechanism 1 includes a support assembly 1-1, a telescopic drive component 1-2, a guide rail 1-3, and a telescopic transmission assembly 1-4. The front end of the support assembly 1-1 is hinged to the front end of the rotary mechanism 5, and the rear end of the support assembly 1-1 is provided with an arc-shaped rack assembly 4-2. The telescopic mechanism 1 can rotate with the rotary mechanism 5.

[0045] Furthermore, according to one implementation, the telescopic drive component 1-2 is disposed at the rear end of the support assembly 1-1, and the telescopic drive component 1-2 transmits power to the mobile trolley 2 through the telescopic transmission assembly 1-4, driving the mobile trolley 2 to move back and forth along the support assembly 1-1; the telescopic drive component 1-2 includes a telescopic reducer and a telescopic power source, the telescopic reducer and the telescopic power source are disposed at the bottom of the rear end of the support assembly 1-1, the output end of the telescopic power source is connected to the input end of the telescopic reducer, and the telescopic power source is an electric motor or a hydraulic motor;

[0046] Specific implementation method three: Combining Figures 1-12 This embodiment describes a furnace-unloading robot. The telescopic transmission assembly 1-4 includes a primary telescopic transmission assembly 1-5 and a secondary telescopic transmission assembly 1-6. The telescopic drive component 1-2 transmits power to the mobile trolley 2 through the primary telescopic transmission assembly 1-5 and the secondary telescopic transmission assembly 1-6.

[0047] The primary telescopic transmission assembly 1-5 comprises a small sprocket 1-7, a large sprocket 1-8, a primary chain 1-9, and a sprocket shaft 1-10. The small sprocket 1-7 is arranged on the output end of the telescopic drive component 1-2, the sprocket shaft 1-10 is arranged at the rear end of the support assembly 1-1, and the large sprocket 1-8 is arranged on the sprocket shaft 1-10. The primary chain 1-9 transmits power from the telescopic drive component 1-2 to the secondary telescopic transmission assembly 1-6 through the small sprocket 1-7, the large sprocket 1-8, and the sprocket shaft 1-10.

[0048] Further, according to an implementation, the secondary telescopic transmission assembly 1-6 comprises a front sprocket 1-11 and a rear sprocket 1-12, and two parallel secondary chains 1-13. The rear sprocket 1-12 is arranged on the sprocket shaft 1-10. The two parallel secondary chains 1-13 are arranged on the telescopic mechanism 1. One end of each secondary chain 1-13 is connected to the front end of the mobile trolley 2 by passing around the front sprocket 1-11, and the other end of each secondary chain 1-13 is connected to the rear end of the mobile trolley 2 by passing around the rear sprocket 1-12. In this way, the telescopic drive component 1-2 is hidden at the bottom of the support assembly 1-1, which reduces the transverse size of the telescopic mechanism 1 and provides secondary buffering for impact forces generated during operation, thereby improving the service life of the speed reducer and the motor and improving the impact resistance of the telescopic mechanism 1.

[0049] DETAILED DESCRIPTION Figures 1-12 In this embodiment, the mobile trolley 2 comprises a trolley assembly 2-1, a walking trolley wheel 2-2, and an anti-tip trolley wheel 2-3. The support assembly 1-1 is provided with two parallel guide rails 1-3, and the mobile trolley 2 can walk along the guide rails 1-3. The walking trolley wheel 2-2 is arranged at the bottom of the trolley assembly 2-1, which reduces the overall height of the trolley assembly 2-1 and makes the structure more compact. The anti-tip trolley wheel 2-3 is arranged on both sides of the trolley assembly 2-1 and is attached to the bottom surface of the protrusions on both sides of the support assembly 1-1. The walking trolley wheel 2-2 is a set of wheels with a rim or a set of wheels with a V-shaped groove, which cooperates with the two parallel guide rails 1-3 and the anti-tip trolley wheel 2-3 to withstand more complex stress conditions.

[0050] DETAILED DESCRIPTION Figures 1-12The present embodiment is described, and the present embodiment of the furnace discharge robot, the grabbing mechanism 3 comprises a rock drill 3-1, an inner sleeve 3-2, an outer sleeve 3-3, a support sleeve 3-4, the outer sleeve 3-3 is fixed on the trolley assembly 2-1, the inner sleeve 3-2 is installed on the outer sleeve 3-3 through the support bearings at both ends of the outer sleeve 3-3, the front end of the inner sleeve 3-2 is provided with a support sleeve 3-4, and the support sleeve 3-4 assists in supporting the rotating shaft of the rock drill 3-1. In this way, by screwing the outer thread of the rotating shaft of the rock drill 3-1 with the inner thread of the drill rod tool, the drill rod tool is grabbed, and the drill rod realizes the drilling function through the rotation and impact vibration of the rock drill; on the other hand, when grabbing tools such as steel drills that bear a large impact, the outer thread of the rotating shaft of the rock drill 3-1 is screwed with the inner thread of the steel drill tool, the steel drill tool is grabbed, the outer wall of the steel drill tool is tightly attached to the inner wall of the inner sleeve 3-2, the radial impact load is borne by the inner sleeve 3-2, and at the same time, the steel drill tool flange is tightly attached to the front end surface of the inner sleeve 3-2 to realize axial fixation, the axial impact load is borne by the inner sleeve 3-2, and the inner sleeve 3-2 can rotate axially with the tool, so that the problem of the tool being difficult to disassemble due to the large end face friction force between the tool and the inner sleeve 3-2 can be avoided. This structure realizes the drilling and impact with drill functions by grabbing different tools, can bear a large impact load and realize the automatic taking and placing of tools.

[0051] Specific implementation method six: combined Figures 1-12 The present embodiment is described, and the present embodiment of the furnace discharge robot, the grabbing mechanism 3 comprises a rock drill 3-1, an inner sleeve 3-2, an outer sleeve 3-3, a support sleeve 3-4, the outer sleeve 3-3 is fixed on the trolley assembly 2-1, the inner sleeve 3-2 is installed on the outer sleeve 3-3 through the support bearings at both ends of the outer sleeve 3-3, the front end of the inner sleeve 3-2 is provided with a support sleeve 3-4, and the support sleeve 3-4 assists in supporting the rotating shaft of the rock drill 3-1. In this way, by screwing the outer thread of the rotating shaft of the rock drill 3-1 with the inner thread of the drill rod tool, the drill rod tool is grabbed, and the drill rod realizes the drilling function through the rotation and impact vibration of the rock drill; on the other hand, when grabbing tools such as steel drills that bear a large impact, the outer thread of the rotating shaft of the rock drill 3-1 is screwed with the inner thread of the steel drill tool, the steel drill tool is grabbed, the outer wall of the steel drill tool is tightly attached to the inner wall of the inner sleeve 3-2, the radial impact load is borne by the inner sleeve 3-2, and at the same time, the steel drill tool flange is tightly attached to the front end surface of the inner sleeve 3-2 to realize axial fixation, the axial impact load is borne by the inner sleeve 3-2, and the inner sleeve 3-2 can rotate axially with the tool, so that the problem of the tool being difficult to disassemble due to the large end face friction force between the tool and the inner sleeve 3-2 can be avoided. This structure realizes the drilling and impact with drill functions by grabbing different tools, can bear a large impact load and realize the automatic taking and placing of tools.

[0052] The auxiliary grabbing mechanism 7 includes a mounting seat 7-1, a hydraulic cylinder 7-2, a pull rod 7-3, a slide 7-4, a guide wheel 7-5, a sliding block 7-6, and a flange shaft 7-7. The mounting seat 7-1 is fixed at the bottom of the support assembly 1-1, the tail of the hydraulic cylinder 7-2 is hinged to the mounting seat 7-1, the output end of the hydraulic cylinder 7-2 is hinged to the rear end of the pull rod 7-3, the rear end of the pull rod 7-3 is provided with the guide wheel 7-5 on both sides, the slide 7-4 is symmetrically fixed on the support assembly 1-1 on both sides, the slide 7-4 is arranged on both sides of the extending cylinder rod of the hydraulic cylinder 7-2, a special-shaped groove 7-8 is processed on the inner side wall of the slide 7-4, and the guide wheel 7-5 rolls and walks in the special-shaped groove 7-8 on the inner side of the slide 7-4; two sliding blocks 7-6 are symmetrically arranged at the front end of the support assembly 1-1, two symmetric guide grooves 7-9 are provided outward on both sides of the pull rod 7-3, and the two sliding blocks 7-6 slide in the guide grooves of the pull rod 7-3; the sliding block 7-6 is installed on the support assembly 1-1 through the flange shaft 7-7, and the sliding block 7-6 can rotate along the axial direction of the flange shaft 7-7. In this way, the auxiliary grabbing mechanism 7 can realize a variable-direction movement track through a single power source, that is, the pull rod 7-3 is pushed forward by the extending cylinder rod of the hydraulic cylinder 7-2, the shape of the special-shaped groove in the slide 7-4 and the limiting of the sliding block 7-6 can control the front end of the pull rod 7-3 to realize a straight extension in the first half stroke and an upward lifting in the second half stroke, the cooperation of the auxiliary grabbing mechanism 7 and the grabbing mechanism 3 can complete the taking and placing of the plugging device, and the forward and backward movement of the moving trolley 2 can complete the pushing and plugging work.

[0053] Specific implementation method six: in combination Figures 1-12 In this embodiment, the pitch mechanism 4 of the furnace discharging robot includes a pitch gear 4-1, an arc-shaped rack assembly 4-2, an output flange shaft 4-3, a pitch driving part 4-4, a bearing gland 4-5, and a transmission shaft 4-6. The pitch gear 4-1 is installed at the rear end of the rotary platform 5-2 through the transmission shaft 4-6, the arc-shaped rack assembly 4-2 is fixed at the rear end of the telescopic mechanism 1, the pitch driving part 4-4 is connected with the transmission shaft 4-6 through the output flange shaft 4-3, the bearing gland 4-5 is provided with a roller 4-7, and the roller rolls in the arc-shaped groove of the arc-shaped rack assembly 4-2.

[0054] Further, according to an implementation mode, the pitch mechanism 4 can adopt gear and rack transmission or pin gear transmission. In this way, the gear and rack transmission or pin gear transmission adopted can improve the transmission accuracy and ensure the high control accuracy of the pitch angle.

[0055] Further, according to an implementation mode, the pitch driving part 4-4 includes a pitch reducer and a pitch power source. The output end of the pitch power source is connected with the input end of the pitch reducer, the output end of the pitch reducer is connected with the output flange shaft 5-3, and the pitch power source is a motor or a hydraulic motor.

[0056] Specific implementation seven: combined Figures 1-12 In this embodiment, the turning mechanism 5 includes a turning support 5-1, a turning platform 5-2, a turning drive component 5-3, and a turning gear 5-4. The two connecting ends of the turning support 5-1 are connected with the turning platform 5-2 and the moving platform 6-6 respectively. The turning drive component is arranged on the turning platform 5-2 or the moving platform 6-6. The turning gear 5-4 is engaged with the inner or outer teeth of the turning support 5-1. The turning drive component 5-3 drives the turning gear 5-4 to rotate the turning platform 5-2 on the moving platform 6-6.

[0057] Further, according to an implementation, the turning drive component 5-3 includes a turning speed reducer and a turning power source. The output end of the turning power source is connected with the input end of the turning speed reducer. The output end of the turning speed reducer is connected with the turning gear 5-4. The turning power source is a motor or a hydraulic motor.

[0058] Specific implementation eight: combined Figures 1-12 In this embodiment, the advancing mechanism 6 includes a base assembly 6-1 and a moving component 6-2. The moving component 6-2 is driven by an advancing drive component 6-3 to move forward and backward along the base assembly 6-1. The base assembly 6-1 is provided with a limiting guide rail 6-4 and two parallel advancing guide rails 6-5. The limiting guide rail 6-4 is parallel to the advancing guide rail 6-5. The limiting guide rail is provided with an advancing rack 6-9.

[0059] Further, according to an implementation, the advancing guide rail 6-5 is a standard heavy rail or a semicircular track or a trapezoidal track.

[0060] Further, according to an implementation, the moving component 6-2 includes a moving platform 6-6, walking wheels 6-7, an advancing drive component 6-3, and a guide wheel set 6-8. The moving platform 6-6 adopts a concave structure. At least two groups of walking wheels 6-7 are arranged on the two sides of the moving platform 6-6. The moving platform 6-6 is provided with a guide wheel set 6-8 in front and back. One guide wheel set 6-8 is provided with two guide wheels. The guide wheels are pressed against the limiting guide rail 6-4 to guide. The moving platform 6-6 moves and guides on the base assembly 6-1 through the walking wheels 6-7 and the guide wheel set 6-8 respectively.

[0061] Further, according to an implementation, the walking wheel 6-7 is a wheel with a flange or a wheel with a V-shaped groove.

[0062] Further, according to an implementation, the forward driving component 7-3 is fixed on the moving platform 6-6, and one or more groups of driving components can be provided; the forward driving component 6-3 comprises a speed reducer and a power source, the output end of the power source is connected with the input end of the speed reducer, the output end of the speed reducer is connected with the forward gear 6-10, the forward gear 6-10 is engaged with the forward rack 6-9, the forward driving component 6-3 drives the moving platform 6-6 to move forward and backward along the base assembly 6-1 by driving the forward gear 6-10, and the power source is an electric motor or a hydraulic motor.

[0063] Further, according to an implementation, the driving transmission mode of the moving platform 6-6 can be a gear and rack, a gear transmission, a chain and sprocket transmission, or a synchronous belt transmission.

[0064] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Various modifications and changes can be made by those skilled in the art based on the principles and technical solutions of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A furnace-unloading robot, characterized in that: It includes a telescopic mechanism (1), a moving trolley (2), a gripping mechanism (3), a pitching mechanism (4), a slewing mechanism (5), and a forward movement mechanism (6); The front end of the telescopic mechanism (1) is hinged to the front end of the rotary mechanism (5), and the rear end is provided with a pitch mechanism (4). The other end of the pitch mechanism (4) is provided at the rear end of the rotary mechanism (5). The mobile trolley (2) is provided on the telescopic mechanism (1), and the mobile trolley (2) is provided with a gripping mechanism (3). The base assembly (6-1) of the forward mechanism (6) is fixedly arranged on the ground foundation of the working area, and the rotary mechanism (5) is provided on the moving part (6-2) of the forward mechanism (6). It also includes an auxiliary gripping mechanism (7), which is mounted on the telescopic mechanism (1); The auxiliary gripping mechanism (7) includes a mounting base (7-1), a hydraulic cylinder (7-2), a pull rod (7-3), a slide rail (7-4), guide wheels (7-5), a slider (7-6), and a flange shaft (7-7). The mounting base (7-1) is fixed to the bottom of the support assembly (1-1). The tail of the hydraulic cylinder (7-2) is hinged to the mounting base (7-1), and the output end of the hydraulic cylinder (7-2) is hinged to the rear end of the pull rod (7-3). Guide wheels (7-5) are provided on both sides of the rear end of the pull rod (7-3). The slide rail (7-4) is symmetrically fixed on both sides of the support assembly (1-1). The slide rail (7-4) is arranged in a hydraulic... On both sides of the pressure cylinder (7-2), the inner wall of the slide (7-4) is machined with irregular grooves (7-8), and the guide wheel (7-5) rolls in the irregular grooves (7-8) inside the slide (7-4); two sliders (7-6) are symmetrically arranged at the front end of the support assembly (1-1), and two symmetrical guide grooves (7-9) are provided on both sides of the pull rod (7-3) outward, and the two sliders (7-6) slide in the guide grooves of the pull rod (7-3); the sliders (7-6) are mounted on the support assembly (1-1) through the flange shaft (7-7), and the sliders (7-6) can rotate along the axial direction of the flange shaft (7-7).

2. The oven-unloading robot according to claim 1, characterized in that: The telescopic mechanism (1) includes a support assembly (1-1), a telescopic drive component (1-2), a guide rail (1-3), and a telescopic transmission assembly (1-4). The front end of the support assembly (1-1) is hinged to the front end of the rotary mechanism (5), and an arc-shaped rack assembly (4-2) is provided at the rear end of the support assembly (1-1). The telescopic mechanism (1) can rotate with the rotary mechanism (5). The telescopic drive component (1-2) is located at the rear end of the support assembly (1-1). The telescopic drive component (1-2) transmits power to the mobile trolley (2) through the telescopic transmission assembly (1-4), thereby driving the mobile trolley (2) to move back and forth along the support assembly (1-1).

3. The oven-unloading robot according to claim 2, characterized in that: The telescopic drive component (1-2) includes a telescopic reducer and a telescopic power source. The telescopic reducer and the telescopic power source are located at the rear end of the support assembly (1-1). The output end of the telescopic power source is connected to the input end of the telescopic reducer. The telescopic power source is a motor or a hydraulic motor. The telescopic transmission assembly (1-4) includes a primary telescopic transmission assembly (1-5) and a secondary telescopic transmission assembly (1-6). The telescopic drive component (1-2) transmits power to the mobile trolley (2) through the primary telescopic transmission assembly (1-5) and the secondary telescopic transmission assembly (1-6). The first-stage telescopic transmission assembly (1-5) includes a small sprocket (1-7), a large sprocket (1-8), a first-stage chain (1-9), and a sprocket shaft (1-10). The small sprocket (1-7) is located at the output end of the telescopic drive component (1-2), the sprocket shaft (1-10) is located at the rear end of the support assembly (1-1), and the large sprocket (1-8) is located on the sprocket shaft (1-10). The first-stage chain (1-9) transmits power from the telescopic drive component (1-2) to the second-stage telescopic transmission assembly (1-6) through the small sprocket (1-7), the large sprocket (1-8), and the sprocket shaft (1-10). The secondary telescopic transmission assembly (1-6) includes a front sprocket (1-11), a rear sprocket (1-12), and a secondary chain (1-13). The rear sprocket (1-12) is mounted on the sprocket shaft (1-10). Two parallel secondary chains (1-13) are mounted on the telescopic mechanism (1). One end of the secondary chain (1-13) passes around the front sprocket (1-11) and connects to the front end of the moving trolley (2). The other end of the secondary chain (1-13) passes around the rear sprocket (1-12) and connects to the rear end of the moving trolley (2).

4. The oven-unloading robot according to claim 2, characterized in that: The mobile trolley (2) includes a trolley assembly (2-1), traveling wheels (2-2), and anti-tilt wheels (2-3). The support assembly (1-1) is provided with two parallel guide rails (1-3), and the mobile trolley (2) can travel along the guide rails (1-3). The traveling wheels (2-2) are located at the bottom of the trolley assembly (2-1), and anti-tilt wheels (2-3) are provided on both sides of the trolley assembly (2-1). The traveling wheels (2-2) are wheel sets with sidewalls or wheel sets with V-grooves.

5. The oven-unloading robot according to claim 1, characterized in that: The gripping mechanism (3) includes a rock drill (3-1), an inner sleeve (3-2), an outer sleeve (3-3), and a support sleeve (3-4). The outer sleeve (3-3) is fixed on the trolley assembly (2-1). The inner sleeve (3-2) is mounted on the outer sleeve (3-3) through support bearings at both ends of the outer sleeve (3-3). The support sleeve (3-4) is provided at the middle of the front end of the inner sleeve (3-2).

6. The oven-unloading robot according to claim 1, characterized in that: The pitch mechanism (4) includes a pitch gear (4-1), an arc rack assembly (4-2), an output flange shaft (4-3), a pitch drive component (4-4), a bearing cover (4-5), and a drive shaft (4-6). The pitch gear (4-1) is mounted on the rear end of the rotary platform (5-2) via the drive shaft (4-6). The arc rack assembly (4-2) is fixed on the rear end of the telescopic mechanism (1). The pitch drive component (4-4) is connected to the drive shaft (4-6) via the output flange shaft (4-3). A roller (4-7) is provided on the bearing cover (4-5), and the roller (4-7) rolls in the arc groove of the arc rack assembly (4-2). The pitch drive component (4-4) includes a pitch reducer and a pitch power source. The output end of the pitch power source is connected to the input end of the pitch reducer, and the output end of the pitch reducer is connected to the output flange shaft (4-3). The pitch power source is an electric motor or a hydraulic motor.

7. The oven-unloading robot according to claim 1, characterized in that: The rotary mechanism (5) includes a rotary support (5-1), a rotary platform (5-2), a rotary drive component (5-3), and a rotary gear (5-4); the two connecting ends of the rotary support (5-1) are respectively connected to the rotary platform (5-2) and the moving platform (6-6); the rotary drive component is set on the rotary platform (5-2) or the moving platform (6-6); the rotary gear (5-4) meshes with the internal or external teeth of the rotary support (5-1); the rotary drive component (5-3) drives the rotary gear (5-4) to make the rotary platform (5-2) rotate on the moving platform (6-6); The rotary drive component (5-3) includes a rotary reducer and a rotary power source. The output end of the rotary power source is connected to the input end of the rotary reducer, and the output end of the rotary reducer is connected to the rotary gear (5-4). The rotary power source is an electric motor or a hydraulic motor.

8. The oven-unloading robot according to claim 1, characterized in that: The forward mechanism (6) includes a base assembly (6-1) and a moving component (6-2). The moving component (6-2) is driven to move back and forth along the base assembly (6-1) by a forward drive component (6-3). The base assembly (6-1) is provided with a limiting guide rail (6-4) and two parallel forward guide rails (6-5). The limiting guide rail (6-4) is parallel to the forward guide rails (6-5). A forward rack (6-9) is also provided on the limiting guide rail. The forward guide rail (6-5) is a standard heavy rail, a semi-circular rail, or a trapezoidal rail.

9. A furnace-unloading robot according to claim 8, characterized in that: The moving component (6-2) includes a moving platform (6-6), traveling wheels (6-7), a forward drive component (6-3), and a guide wheel set (6-8). The moving platform (6-6) adopts a concave structure, with at least two sets of traveling wheels (6-7) on both sides. A set of guide wheel sets (6-8) is provided at the front and rear of the moving platform (6-6). Each guide wheel set (6-8) has two guide wheels. The guide wheels press against the limiting guide rails (6-4) from both sides for guidance. The moving platform (6-6) moves and is guided on the base assembly (6-1) through the traveling wheels (6-7) and the guide wheel sets (6-8). The traveling wheels (6-7) are wheels with flanges or wheels with V-grooves; The forward drive component (6-3) is fixed on the mobile platform (6-6); the forward drive component (6-3) includes a reducer and a power source. The output end of the power source is connected to the input end of the reducer. The output end of the reducer is connected to the forward gear (6-10). The forward gear (6-10) meshes with the forward rack (6-9). The forward drive component (6-3) drives the mobile platform (6-6) to move back and forth along the base assembly (6-1) by driving the forward gear (6-10). The power source is an electric motor or a hydraulic motor.

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