A nozzle dismounting clamp, method and robot for hot repair of a ladle

Abstract

The present application belongs to the field of automation of steel continuous casting, and particularly relates to a nozzle dismounting and mounting clamp, method and robot for ladle hot repair, the nozzle dismounting and mounting clamp for the ladle hot repair, the outer periphery of the nozzle is nested with a nozzle sleeve, the nozzle sleeve is connected at the spiral port of the ladle equipment, the nozzle dismounting and mounting clamp comprises: a dismounting mechanism, one end of which is fixedly connected with the nozzle sleeve, and has at least the freedom degrees along the axial direction, radial direction and rotation of the nozzle, for locking or loosening the nozzle sleeve and carrying the nozzle sleeve to rotate; a jaw assembly connected with a second driving mechanism, which is provided with at least the freedom degrees along the axial direction and radial direction of the nozzle, can be extended into the inside of the nozzle and moved along the radial direction to fix the nozzle from the inside of the nozzle. Through the general inventive concept provided by the embodiment of the present application, the manual dismounting and mounting in the prior art can be replaced, the operator can be avoided to be located in a dangerous environment, the risk rate of human operation is reduced, and the safety is improved.

Description

Technical Field

[0001] This invention belongs to the field of automation in continuous steel casting, and in particular relates to a fixture, method and robot for disassembling and assembling the drain outlet for hot repair of steel ladles. Background Technology

[0002] The ladle is an intermediate container connecting steelmaking and continuous casting. Almost all ladle refining processes must be completed inside the ladle. The condition of the ladle affects the quality of molten steel, furnace lining life, and production rhythm in the preceding steelmaking processes. Therefore, regular hot maintenance of the ladle is necessary.

[0003] The drain outlet is the outlet for liquid steel to flow out of the ladle equipment. During hot repairs of the ladle, the drain outlet needs to be replaced regularly.

[0004] The current disassembly and assembly methods all involve manual hand-held disassembly and assembly tools. The disassembly and assembly tools are placed on the drain outlet sleeve, and the disassembly and assembly tools are rotated to loosen the drain outlet sleeve, thereby removing the drain outlet and drain outlet sleeve together. The entire process requires manual operation. The environment for hot repair of steel ladles is very harsh, with high dust and high temperature. The internal temperature of the steel ladle body reaches 1200℃, and the external temperature is also as high as 400℃. The surrounding environment is constantly in a high-temperature state. The harsh environment such as dust and high temperature on site is very harmful to the health of workers, and usually requires the cooperation of multiple people. If the drain outlet slips, it can easily cause personnel accidents.

[0005] Therefore, with the development of automation, there is an urgent need for a technology that can be operated without human intervention to replace the existing technology. Summary of the Invention

[0006] To address the technical problems identified in the prior art, this invention provides a fixture, method, and robot for disassembling and assembling the drain outlet of a steel ladle during hot repair.

[0007] The first aspect of the present invention provides a drain outlet disassembly and assembly fixture for hot repair of steel ladles. A drain outlet sleeve is nested around the outer periphery of the drain outlet, and the drain outlet sleeve is connected to the spiral opening of the steel ladle equipment. The drain outlet disassembly and assembly fixture includes: a disassembly and assembly mechanism, one end of which is fixedly connected to the drain outlet sleeve, and having at least axial, radial, and rotational degrees of freedom along the drain outlet, for locking or loosening the drain outlet sleeve and for rotating the drain outlet sleeve; and a gripper assembly connected to a second drive mechanism, configured to have at least axial and radial degrees of freedom along the drain outlet, for extending into the interior of the drain outlet and moving radially to fix the drain outlet from the interior of the drain outlet.

[0008] In a further embodiment of this application, the disassembly and assembly mechanism includes: a fixed structure, which is annular and adapted to the outer periphery of the drain sleeve; and a connecting arm, which connects to one end of the fixed structure and is used to transmit kinetic energy to drive the fixed structure to move; wherein the fixed structure and the outer periphery of the drain sleeve are connected by at least one of snap-fit, magnetic attraction, or screw connection to lock and release the drain sleeve.

[0009] In a further embodiment of this application, the inner circumference of the fixing structure is provided with radially extending finger heads, and the drain sleeve is provided with a stop groove corresponding to the finger heads. The drain sleeve is locked by the finger heads being engaged in the stop groove and then rotated. The finger heads are then rotated in the opposite direction and moved out of the stop groove to release the drain sleeve.

[0010] Optionally, the finger head can be considered as an inward protrusion on the inner circumference of the fixed structure. The stop groove is T-shaped, consisting of a radial straight groove and a circumferential transverse groove. After the finger head enters through the straight groove of the stop groove, it is limited and locked by the transverse groove of the stop groove in either the forward or reverse direction. After locking, the finger head can rotate in the opposite direction to the straight groove position to exit, thereby completing the separation of the fixed structure and the drain sleeve.

[0011] In a further embodiment of this application, the drain outlet disassembly and assembly fixture further includes: a quick-change device female end, the quick-change device female end including a quick-change disc disposed at one end away from the drain outlet, the quick-change disc being adapted to the quick-change structure on the external robot side to achieve quick disassembly and quick replacement.

[0012] In this design, the external robot side utilizes the drain outlet assembly / disassembly fixture as a tool side. The robotic arm, in conjunction with a quick-change disc, enables rapid assembly and disassembly. The fixture can be replaced and maintained when not in use, ensuring production continuity. Furthermore, only the same robot side is needed; other tool sides can be used to perform different functions, reducing the number of robots and the space they occupy.

[0013] In a further embodiment of this application, the gripper assembly includes: a gripper mounting member providing mounting support for the drive unit and the female end of the quick-change device; a drive unit providing clamping force when the gripper finger clamps the drain outlet; and a gripper finger connected to the end of the drive unit near the drain outlet; wherein the gripper finger can extend into the inside of the drain outlet and fix the drain outlet.

[0014] The retractable gripper fingers secure the drain from the inside, providing better fixation while making full use of the drain's external space. Compared to other fixing structures, the gripper assembly requires no clamping points and can better adapt to the curved inner wall of the drain. Furthermore, the gripper assembly integrates the drive unit and pneumatic motor, resulting in a smaller and lighter gripper finger design.

[0015] In a further embodiment of this application, the clamping finger is a plate-shaped or strip-shaped structure, specifically an L-shaped structure. The long end of the clamping finger is used to extend into the interior of the drain outlet, and the short end is used to hold and fix the edge of the drain outlet.

[0016] The clamping fingers have a simple structure and are easy to replace. The cost of replacing them when damaged in the high-temperature environment of the drain outlet is low. At the same time, because the clamping fingers are long strips or plate-shaped structures, their contact area with the drain outlet is small, which avoids excessive heat transfer caused by a large heating surface and damage to the drain outlet disassembly and assembly clamps.

[0017] In a further embodiment of this application, the gripper assembly further includes a heat insulation sheet attached between the drive unit and the gripper fingers to prevent heat from being transferred from the drain outlet and the gripper fingers to the drive unit when the gripper fingers come into contact with the drain outlet, thereby preventing damage to the drive unit and increasing the reliability and service life of the product.

[0018] The second aspect of this application also provides a method for disassembling and assembling a drain outlet for hot repair of a steel ladle, which requires the application of the drain outlet disassembly and assembly fixture as described above, including: controlling the disassembly and assembly structure to lock the drain outlet sleeve; driving the drain outlet sleeve to rotate in a first direction so that the drain outlet sleeve is completely disengaged from the spiral opening of the steel ladle equipment; controlling the action of the gripper assembly to lock the drain outlet; controlling the drain outlet disassembly and assembly fixture to move backward in a direction away from the drain outlet, thereby driving the drain outlet and the drain outlet sleeve to disengage from the steel ladle equipment.

[0019] In a further embodiment of this application, the drain outlet assembly / disassembly method further includes: controlling the gripper assembly to lock the drain outlet, while the assembly / disassembly structure connects to the drain outlet sleeve; controlling the drain outlet assembly / disassembly fixture to move forward in a direction closer to the drain outlet, driving the drain outlet and the drain outlet sleeve into the ladle equipment; controlling the gripper assembly to release its grip on the drain outlet; controlling the drain outlet sleeve to rotate in a second direction to lock the drain outlet sleeve and lock the drain outlet sleeve into the spiral opening of the ladle equipment, while simultaneously locking the drain outlet; and controlling the drain outlet assembly / disassembly fixture to retract in a direction away from the drain outlet.

[0020] This application also provides a drain outlet disassembly and assembly robot for hot repair of steel ladles, comprising: a robot side including a robotic arm; and a drain outlet disassembly and assembly fixture as described above, wherein the drain outlet disassembly and assembly fixture serves as a tool side and enables quick replacement with the robotic arm.

[0021] Beneficial effects:

[0022] This invention provides a drain outlet disassembly and assembly fixture for hot repair of steel ladles, comprising a drain outlet disassembly and assembly fixture package. The invention comprises two moving parts: first, a disassembly and assembly mechanism with rotational freedom, which drives the drain outlet to rotate in the forward / reverse direction via the drain outlet sleeve, allowing the drain outlet sleeve to be screwed onto / off the auger of the ladle equipment, thereby enabling the installation and removal of both the drain outlet and the auger of the ladle equipment; second, a gripper assembly with linear freedom of movement, which extends into the drain outlet and extends from the inside to fix the drain outlet for movement, allowing it to be clamped into the drain outlet along the axial and radial directions, thus moving the drain outlet out of or into the auger of the ladle equipment. In summary, the overall inventive concept provided by this invention can replace previous manual disassembly and installation methods, avoiding hazardous environments for operators, reducing the risk of human error, and improving safety.

[0023] Other features and advantages of the embodiments of the present invention will be described in the following detailed description section. Attached Figure Description

[0024] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 The system diagram of the disassembly and assembly tools under the current technology was provided.

[0026] Figure 2 This is a schematic diagram of the structure of the drain outlet disassembly and assembly fixture for hot repair of steel ladles provided in an embodiment of the present invention;

[0027] Figure 3 An exploded view of the drain outlet disassembly and assembly fixture 100 for hot repair of steel ladles provided in an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the disassembly and assembly mechanism in the drain outlet disassembly and assembly fixture for hot repair of steel ladles provided in the embodiments of the present invention;

[0029] Figure 5 This is a schematic diagram of the specific structure of the clamping fingers in the drain outlet disassembly and assembly fixture for hot repair of steel ladles provided in the embodiments of the present invention;

[0030] Figure 6 This is a first flowchart of the method for disassembling and assembling the drain outlet for hot repair of a steel ladle provided in an embodiment of the present invention;

[0031] Figure 7 This is the second flowchart of the method for disassembling and assembling the drain outlet for hot repair of a steel ladle provided in an embodiment of the present invention.

[0032] Figure Labels

[0033] 100. Drain outlet assembly / disassembly clamps;

[0034] 101. Assembly / disassembly mechanism; 102. Gripper assembly;

[0035] 201. Drain outlet; 202. Drain outlet sleeve;

[0036] 1011. Fixed structure; 1012. Connecting arm;

[0037] 1011a, refers to the head; 2021, refers to the stop groove;

[0038] 103. Quick-change device female end; 103a. Quick-change disc;

[0039] 1021. Gripper mounting component; 1022. Drive unit;

[0040] 1023. Finger clip; 1024. Heat insulation sheet. Detailed Implementation

[0041] To make the above and other features and advantages of the present invention clearer, the invention will be further described below with reference to the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explanation to those skilled in the art and are exemplary only, not restrictive.

[0042] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," and "width" are used interchangeably. "Thickness", "Up", "Down", "Front", "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise" The orientation or positional relationship indicated by "needle", "counterclockwise", "axial", "radial", "circumferential", etc., is based on the orientation or positional relationship shown in the accompanying drawings and is only for the purpose of describing the present invention and simplifying the description. It is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0043] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0044] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0045] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0046] [Overall Invention Concept]

[0047] As previously mentioned, please refer to the following: Figure 1 , Figure 1 The diagram shows the structure of the disassembly and assembly tool under the current technology. It includes a central ring structure and a rotating arm cast integrally with the ring structure. During disassembly and assembly, the operator usually holds the rotating arm and fits the ring structure onto the outer ring of the drain outlet. Then, the operator twists the rotating arm to rotate the drain outlet, so that the drain outlet is screwed out from the spiral opening of the ladle equipment.

[0048] To address the technical problems associated with this structure and its assembly / disassembly method, such as harsh environments involving high temperatures and dust, and the potential for personnel accidents during operation, this invention provides a general inventive concept to solve these issues:

[0049] Specifically as follows:

[0050] Please see Figures 2-3 , Figure 2 This is a schematic diagram of the structure of the drain outlet disassembly and assembly clamp 100 for hot repair of steel ladles provided in this embodiment of the invention in the connected state. Figure 3 An exploded view of the drain outlet disassembly and assembly fixture 100 for hot repair of steel ladles provided in an embodiment of the present invention;

[0051] The drain outlet 201 is usually an annular opening. In this embodiment of the invention, a drain outlet sleeve 202 is nested around its outer periphery. The drain outlet sleeve 202 can be understood as an accessory that cooperates with the drain outlet assembly / disassembly fixture 100. Its inner diameter can be adaptively designed according to the outer diameter of the drain outlet. The fit is an interference fit, which requires that the drain outlet sleeve 202 be securely fitted around the outer periphery of the drain outlet 201.

[0052] Specifically, the end A of the drain sleeve 202 facing away from the drain assembly / disassembly fixture 100 is connected to the spiral opening of the ladle equipment, and the end near the drain assembly / disassembly fixture 100 is connected to the drain assembly / disassembly fixture 100.

[0053] It is understandable that the drain sleeve 202 is designed to be screwed to the spiral port of the ladle equipment at one end, and to be fixedly connected to the drain assembly / disassembly clamp 100 at the other end.

[0054] Based on the above, the drain outlet assembly / disassembly clamp 100 in this embodiment of the invention is classified according to function as follows:

[0055] The disassembly and assembly mechanism 101 is fixedly connected to the drain outlet sleeve 202 at one end, and has at least the freedom to rotate along the drain outlet 201. The degree is used to lock or loosen the drain sleeve 202 and to allow the drain sleeve 202 to rotate.

[0056] The gripper assembly 102 is configured to have at least axial and radial degrees of freedom along the drain outlet 201, and can extend into the drain outlet 201 and move radially to fix the drain outlet 201 from the inside of the drain outlet 201.

[0057] It can be understood that the drain outlet assembly / disassembly fixture 100 includes two moving parts. The first is an assembly / disassembly mechanism 101 with rotational freedom, which drives the drain outlet 201 to rotate in the forward / reverse direction through the drain outlet sleeve 202, so that the drain outlet sleeve 202 can be screwed on / off the spiral opening of the ladle equipment, thereby realizing the installation and removal of the drain outlet 201 and the spiral opening of the ladle equipment. The second is a gripper assembly 102 with movable freedom. The gripper assembly 102 is used to extend into the drain outlet 201 and extend and retract from the inside to fix the drain outlet for movement. It can clamp the inside of the drain outlet 201 with the axial and radial degrees of freedom, so that the drain outlet 201 can be moved out or moved into the spiral opening of the ladle equipment.

[0058] In summary, the inventive concept provided by the embodiments of the present invention can replace the previous manual dismantling and installation, avoid workers being in dangerous environments, reduce the risk rate of human operation, and improve safety.

[0059] Please see Figure 4 , Figure 4This is an exploded structural diagram of the disassembly and assembly mechanism 101 in the drain outlet disassembly and assembly fixture 100 for hot repair of steel ladles provided in this embodiment of the invention. The disassembly and assembly mechanism 101 includes:

[0060] The fixed structure 1011 is a ring structure that is adapted to the outer periphery of the drain sleeve 202;

[0061] The connecting arm 1012 is connected to one end of the fixed structure 1011 and is used to realize kinetic energy transmission to drive the fixed structure 1011 to move.

[0062] The outer periphery of the fixing structure 1011 and the drain sleeve 202 are connected by at least one of snap-fit, magnetic attraction, or screw connection to achieve locking and unlocking of the drain sleeve 202.

[0063] It is understood that the outer periphery of the fixed structure 1011 and the drain sleeve 202 are adapted to nest the drain sleeve 202 to achieve a fixed connection. The connecting arm 1012 can be formed by a flange and a support rod, with one end connected to the fixed structure 1011 to realize kinetic energy transmission and drive the fixed structure 1011 to move. The connecting arm 1012 connects to one end of the fixed structure 1011, and its connection method can be at least one of snap-fit, magnetic attraction, or screw connection to realize the locking and unlocking of the drain sleeve 202.

[0064] In one specific embodiment, the inner circumference of the fixed structure 1011 is provided with radially extending finger head 1011a, and the drain sleeve 202 is provided with a stop groove 2021 corresponding to the finger head 1011a. The drain sleeve 202 is locked by the finger head 1011a engaging with the stop groove 2021 and then rotating. The finger head 1011a is then rotated in the opposite direction and moved out of the stop groove 2021 to release the drain sleeve 202.

[0065] It can be understood that the finger head 1011a can be regarded as an inward protrusion on the inner circumference of the fixed structure 1011. The stop groove 2021 is T-shaped, consisting of a radial straight groove and a circumferential transverse groove. After the finger head 1011a enters through the straight groove of the stop groove 2021, it is limited by the transverse groove of the stop groove 2021 in either the forward or reverse direction, thus completing the locking. After locking, the finger head 1011a can rotate in the opposite direction to the straight groove position and then exit, thereby completing the loosening of the fixed structure 1011 and the drain sleeve 202.

[0066] In this embodiment of the invention, the drain outlet disassembly and assembly clamp 100 further includes:

[0067] The quick-change device female end 103 is used to connect to the robot arm on the robot side;

[0068] In this embodiment of the invention, the female end 103 of the quick-change device includes a quick-change disc 103a disposed at one end away from the drain outlet 201. The quick-change disc 103a is used to adapt to the quick-change structure on the external robot side to achieve quick disassembly and quick change.

[0069] In other words, the external robot side uses the drain outlet disassembly and assembly fixture 100 as a tool side, which can be quickly disassembled and replaced by the robotic arm in conjunction with the quick-change plate 103a. The drain outlet disassembly and assembly fixture 100 can be replaced and maintained when not in use, thereby achieving production continuity. Moreover, only the same robot side is needed, and other tool sides can be replaced to achieve different functions, reducing the number of robot sides and the space occupied.

[0070] Please see Figure 5 , Figure 5 This is a schematic diagram of the disassembly and assembly mechanism 102 in the drain outlet disassembly and assembly fixture 100 for hot repair of steel ladles provided in this embodiment of the invention;

[0071] In this embodiment of the invention, the gripper assembly 102 includes:

[0072] The gripper mounting component 1021 provides mounting support for the drive unit 1022 and the quick-change device female end 103;

[0073] The drive unit 1022 provides the clamping force when the clamping fingers 1023 clamp the drain outlet 201;

[0074] Clip 1023 is connected to the end of drive unit 1022 near drain outlet 201;

[0075] Among them, the finger clip 1023 can be inserted into the inside of the drain outlet 201 and fix the drain outlet 201.

[0076] In some alternative solutions, the gripper assembly 102 can also use magnetic suction or a vacuum suction cup to replace the gripper fingers 1023 to fix the drain outlet 201.

[0077] Specifically, the connecting arm 1012 is set on the outside of the gripper mounting member 1021, that is, the gripper mounting member 1021 is in the hollow area inside the connecting arm 1012, thereby achieving a compact structure and lightweight. The drive unit 1022 can control the radial extension and retraction of the gripper finger 1023. When the gripper finger 1023 contacts the inner wall of the drain outlet 201 and reaches the preset first clamping force, the drain outlet 201 is fixed.

[0078] It is understandable that using retractable clips 1023 to fix the drain outlet 201 from the inside can better secure the drain outlet. 201. At the same time, it makes full use of the external space of the drain outlet 201. Compared with other fixed structures, the gripper assembly 102 does not require any clamping points and can better adapt to the curved inner wall of the drain outlet 201. At the same time, the drive unit 1022 and the pneumatic motor of the gripper assembly 102 are integrated into one structure, so the gripper fingers 1023 are designed to be smaller and lighter.

[0079] Please see Figure 5 , Figure 5 This is a schematic diagram of the specific structure of the clamping finger 1023 in the drain outlet disassembly and assembly fixture 100 for hot repair of steel ladles provided in this embodiment of the invention;

[0080] The clamp finger 1023 has an L-shaped structure. The long end of the clamp finger 1023 is used to extend into the drain outlet 201, and the short end is used to hold the edge of the drain outlet 201 for fixation.

[0081] In some areas for improvement, the contact portion of the gripper 1023 could be made of a flexible material, with the gripping action expanding from the inside out of the drain outlet 201. This would allow for flexibility and automatic product fixation, thereby preventing physical damage to the drain outlet.

[0082] It is understandable that the clamp finger 1023 has a simple structure and is easy to replace, and the cost of replacing it when damaged in the high temperature environment of the drain outlet is low. At the same time, since the clamp finger 1023 has a long strip or plate-shaped structure, its contact area with the drain outlet 201 is small, which avoids excessive heat transfer caused by a large heating surface and damage to the drain outlet disassembly and assembly clamp 100.

[0083] In this embodiment of the invention, the gripper assembly 102 further includes:

[0084] The heat insulation sheet 1024 is attached between the drive unit 1022 and the clamp finger 1023 to prevent heat from being transferred from the drain outlet 201 and the clamp finger 1023 to the drive unit 1022 when the clamp finger 1023 comes into contact with the drain outlet 201, thus preventing damage to the drive unit 1022 and increasing the reliability and service life of the product.

[0085] Please see Figure 6 , Figure 6 This is a first flowchart of the method for disassembling and assembling the drain outlet for hot repair of a steel ladle provided in an embodiment of the present invention; the embodiment of the present invention also provides a method for disassembling and assembling the drain outlet for hot repair of a steel ladle, which requires the application of the drain outlet disassembly and assembly fixture as described above, and the drain outlet disassembly and assembly method includes:

[0086] Step S101: Control the disassembly and assembly structure to lock the drain outlet sleeve;

[0087] Step S102: Rotate the drain sleeve in the first direction to completely disengage the drain sleeve from the spiral opening of the ladle equipment;

[0088] Step S103: Control the action of the gripper assembly to lock the drain outlet;

[0089] Step S104: Control the entire drain outlet disassembly and assembly clamp to move backward in the direction away from the drain outlet, thereby causing the drain outlet and drain outlet sleeve to detach from the ladle equipment.

[0090] Please see Figure 7 , Figure 7 This is a second flowchart of the drain outlet disassembly and assembly method for hot repair of steel ladles provided in this embodiment of the invention; the drain outlet disassembly and assembly method further includes:

[0091] Step S201: Control the action of the gripper assembly to lock the drain outlet, and at the same time disassemble and assemble the drain outlet sleeve of the structure;

[0092] Step S202: Control the entire drain outlet assembly and disassembly fixture to move towards the drain outlet, thereby driving the drain outlet and drain outlet sleeve into the ladle equipment;

[0093] Step S203: Control the gripper assembly to release its grip on the drain outlet;

[0094] Step S204: Control the drive to rotate the drain sleeve in the second direction to lock the drain sleeve and lock the drain sleeve into the spiral opening of the ladle equipment, while locking the drain outlet.

[0095] Step S205: Control the entire drain outlet disassembly and assembly clamp to move backward in the direction away from the drain outlet.

[0096] This invention also provides a robot for disassembling and assembling the drain outlet for hot repair of steel ladles (not shown in the figure), comprising:

[0097] The robot side includes the robotic arm;

[0098] As mentioned above, the drain outlet assembly / disassembly fixture 100 serves as both a tool and a robotic arm for quick replacement.

[0099] It is understandable that the drain outlet disassembly and assembly fixture 100 can be used as a quick-change tool. By enabling the robot to automatically change different drain outlet disassembly and assembly fixtures 100, quick replacement can be achieved. The process is more flexible, and the drain outlet disassembly and assembly fixture 100 can be replaced and maintained at the same time. Moreover, the application scenarios of this machine can be more extensive, not only limited to the hot repair of steel ladles, but also for the replacement of drain outlets in other fields, and can solve the technical problems mentioned above.

[0100] Furthermore, those skilled in the art should understand that if all or part of the sub-modules involved in the various products of the drain outlet assembly / disassembly fixture 100 provided in the embodiments of the present invention are combined or replaced by means of fusion, simple changes, mutual transformation, etc., such as moving the position of each component; or setting the product they constitute as a whole; or having a detachable design; and if the combined components can form a device / apparatus / system with a specific function, then using such a device / apparatus / system to replace the corresponding components of the present invention also falls within the protection scope of the present invention.

[0101] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0102] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A fixture for disassembling and assembling the drain outlet of a steel ladle during hot repair, characterized in that, The outer periphery of the drain outlet (201) is nested with a drain outlet sleeve (202). One end of the drain outlet sleeve (202) facing away from the drain outlet assembly / disassembly fixture (100) is connected to the spiral opening of the ladle equipment, and the other end is connected to the drain outlet assembly / disassembly fixture (100). The drain outlet assembly / disassembly fixture (100) includes: The disassembly and assembly mechanism (101) is fixedly connected to the drain sleeve (202) at one end, and has at least a degree of freedom to rotate along the drain (201), for locking or loosening the drain sleeve (202) and for rotating the drain sleeve (202). The gripper assembly (102) is configured to have at least axial and radial degrees of freedom along the drain outlet (201), and can extend into the drain outlet (201) and move radially to fix the drain outlet (201) from the inside of the drain outlet (201); The disassembly / assembly mechanism (101) includes: The fixed structure (1011) is a ring-shaped structure and is adapted to the outer periphery of the drain sleeve (202); A connecting arm (1012) is connected to one end of the fixed structure (1011) to realize kinetic energy transmission so as to drive the fixed structure (1011) to move; The outer periphery of the fixing structure (1011) and the drain sleeve (202) are connected by at least one of snap-fit, magnetic attraction, or screw connection to achieve locking and unlocking of the drain sleeve (202); The inner circumference of the fixing structure (1011) is provided with radially extending finger head (1011a), and the drain sleeve (202) is provided with a stop groove (2021) corresponding to the finger head (1011a). The drain sleeve (202) is locked by the finger head (1011a) after it is engaged in the stop groove (2021) and rotated. The drain sleeve (202) is released by the finger head (1011a) rotating in the opposite direction and moving out of the stop groove (2021). The drain outlet assembly / disassembly clamp (100) also includes: The quick-change device female end (103) includes a quick-change disc (103a) disposed at one end away from the drain outlet (201). The quick-change disc (103a) is used to adapt to the quick-change structure on the external robot side to achieve quick disassembly and quick replacement. The gripper assembly (102) includes: The gripper mount (1021) provides mounting support for the drive unit (1022) and the quick-change device female end (103); The drive unit (1022) provides the clamping force when the clamping fingers (1023) clamp the drain outlet (201); A clip (1023) is connected to one end of the drive unit (1022) near the drain outlet (201); The clamping finger (1023) can be inserted into the inside of the drain (201) and fix the drain (201); The stop groove (2021) is T-shaped, consisting of a radial straight groove and a circumferential transverse groove. After the finger head (1011a) enters from the straight groove of the stop groove, it is limited and locked by the transverse groove of the stop groove in either the forward or reverse direction. After locking, the finger head can rotate in the opposite direction to the straight groove position to exit, thereby completing the separation of the fixed structure and the drain sleeve.

2. The drain outlet assembly / disassembly clamp according to claim 1, characterized in that, The clamping finger (1023) has an L-shaped structure. The long end of the clamping finger (1023) is used to extend into the drain outlet (201), and the short end is used to hold the edge of the drain outlet (201) for fixation.

3. The drain outlet assembly / disassembly clamp according to claim 2, characterized in that, The gripper assembly (102) further includes a heat insulation sheet (1024) attached between the drive unit (1022) and the gripper finger (1023) to prevent heat from being transferred from the drain outlet (201) and the gripper finger (1023) to the drive unit (1022) when the gripper finger (1023) comes into contact with the drain outlet (201).

4. A method for disassembling and assembling a drain outlet for hot repair of a steel ladle, requiring the application of the drain outlet disassembly and assembly fixture as described in any one of claims 1 to 3, characterized in that, include: Step S101: Control the disassembly and assembly mechanism to lock the drain outlet sleeve; Step S102: Rotate the drain sleeve in the first direction so that the drain sleeve is completely disengaged from the spiral opening of the ladle equipment; Step S103: Control the gripper assembly to lock the drain outlet; Step S104: Control the entire drain outlet disassembly and assembly clamp to move backward in a direction away from the drain outlet, thereby causing the drain outlet and drain outlet sleeve to detach from the ladle equipment.

5. The method for disassembling and assembling a drain outlet according to claim 4, characterized in that, The method for disassembling and assembling the drain outlet also includes: Step S201: Control the action of the gripper assembly to lock the drain outlet, while the disassembly and assembly mechanism connects to the drain outlet sleeve; Step S202: Control the entire drain outlet assembly and disassembly fixture to move forward toward the drain outlet, thereby driving the drain outlet and drain outlet sleeve into the ladle equipment; Step S203: Control the gripper assembly to release its grip on the drain outlet; Step S204: Control the rotation of the drain sleeve in the second direction to lock the drain sleeve and lock it into the spiral opening of the ladle equipment, while simultaneously locking the drain outlet. Step S205: Control the entire drain outlet assembly / disassembly fixture to move backward in a direction away from the drain outlet.

6. A sewer outlet disassembly and assembly robot, characterized in that, include: The robot side includes the robotic arm; The drain outlet assembly / disassembly fixture as described in any one of claims 1 to 3, wherein the drain outlet assembly / disassembly fixture serves as a tool side and enables quick-change with the robotic arm.

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