A slag raking robot

Abstract

The present invention relates to a robot, and particularly to a slag raking robot, which includes a slag raking manipulator. The slag raking manipulator includes a gantry that is fixedly connected to the end of the robot's arm. Left and right hinge shafts are provided at the lower ends of the two columns of the gantry; a cylinder is fixedly arranged under the top plate between the two columns of the gantry; the upper end of a connecting plate is hinged to the driving rod of the cylinder; the lower end of the connecting plate is hinged to a right slag raking claw and a left slag raking claw, and the right palm and the left palm of the right slag raking claw and the left slag raking claw are respectively hinged to the left hinge shaft and the right hinge shaft. Compared with the prior art, the present invention can filter out molten iron faster, reduce the amount of molten iron carried out, and reduce the consumption of molten iron.

Description

Technical Field

[0001] The present invention relates to a robot, and in particular to a slag skimming robot. Background Art

[0002] The hot metal in the ladle carries a large amount of slag, which will have an adverse impact on the converter smelting. Therefore, hot metal slag skimming is an important process before the converter. Slag skimming is an operation that removes impurities floating on the surface of the hot metal by utilizing the different densities of slag and iron to improve the purity of the hot metal. Due to the extremely high temperature of the hot metal, manual slag skimming requires careful operation. And if there is a slight mistake in the operation, the slag and iron will scatter, resulting in serious injuries to personnel. In addition, hot metal consumption is an important indicator of the slag skimming process. Hot metal consumption refers to the amount of hot metal carried out by slag skimming. Controlling the amount of hot metal carried out during slag skimming takes a lot of time and reduces the slag skimming efficiency. Currently, there is no hot metal slag skimming robot to replace manual labor. Summary of the Invention

[0003] In order to improve the slag skimming efficiency, reduce hot metal consumption, and reduce the labor burden, the present invention discloses a slag skimming robot, and the technical solution adopted is:

[0004] A slag skimming robot includes a slag skimming manipulator, and the slag skimming manipulator includes

[0005] A gantry, fixedly connected to the end of the robot's arm. Left and right hinge shafts are provided at the lower ends of the two columns of the gantry;

[0006] A cylinder, fixedly arranged under the top plate between the two columns of the gantry;

[0007] A connecting plate, the upper end of which is hinged to the driving rod of the cylinder;

[0008] A right slag skimming claw, including a right vertical plate, the upper end of the right vertical plate is hinged to the lower end of the connecting plate, the lower end of the right vertical plate is fixedly connected to a right palm with the longitudinal direction being the front-back direction, a plurality of right slag skimming fingers are fixedly connected to the right side of the right palm; two left extension rods are fixedly connected to the left side of the right palm near its front and rear ends, and a plurality of left picking fingers are fixedly connected to the two left extension rods; the right palm is hinged to the right hinge shaft;

[0009] A left slag skimming claw, including a left vertical plate, the upper end of the left vertical plate is hinged to the lower end of the connecting plate, the lower end of the left vertical plate is fixedly connected to a left palm with the longitudinal direction being the front-back direction, a plurality of left slag skimming fingers are fixedly connected to the left side of the left palm; two right extension rods are fixedly connected to the right side of the left palm near its front and rear ends, and a plurality of right picking fingers are fixedly connected to the two right extension rods; the left palm is hinged to the left hinge shaft.

[0010] Further, a plurality of left picking fingers and a plurality of left slag skimming fingers are staggered with each other, and a plurality of right picking fingers and a plurality of right slag skimming fingers are staggered with each other.

[0011] Further, the right scraping finger extends from the right side of the right palm to the right and then extends downward to the right; the left extension rod extends from the left side of the right palm to the upper left and then extends downward to the left; the left pinching finger extends from the left side of the left extension rod to the lower right and then extends downward; the left scraping finger extends from the left side of the left palm to the left and then extends downward to the left; the right extension rod extends from the right side of the left palm to the upper right and then extends downward to the right; the right pinching finger extends from the right side of the right extension rod to the lower left and then extends downward.

[0012] Further, the number of the right scraping fingers and the left scraping fingers is 7, and the number of the left pinching fingers and the right pinching fingers is 6.

[0013] Further, the number of the connecting plates is 4; the number of the right vertical plates and the left vertical plates is 2, and the 4 connecting plates are divided into two groups and are respectively hinged to the 2 right vertical plates and the left vertical plates.

[0014] Further, the upper and lower dead points of the air cylinder respectively correspond to the opening and closing of the right scraping finger and the left scraping finger.

[0015] Compared with the prior art, the present invention has the following beneficial technical effects:

[0016] 1. The slag scraping manipulator is arranged in a rake structure, which can filter out molten iron faster, reduce the amount of molten iron carried out, and reduce the consumption of molten iron.

[0017] 2. After the iron slag is fished out, the right scraping finger and the left scraping finger open, and the left pinching finger and the right pinching finger cross therewith, so that the iron slag adhered to the right scraping finger and the left scraping finger can be removed, preventing the iron slag from adhering to the slag scraping manipulator after cooling and causing the slag scraping manipulator to be unusable.

[0018] 3. The slag scraping robot occupies a small area, has a large load and is flexible in movement, and is very suitable for slag scraping work.

[0019] 4. The slag scraping manipulator of the slag scraping robot can reduce the consumption of molten iron, reduce the slag scraping time, reduce the labor burden and improve the slag scraping efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art.

[0021] Figure 1 It is a schematic structural diagram of the present invention.

[0022] Figure 2 It is a schematic structural diagram of the gantry of the present invention.

[0023] Figure 3 It is a schematic structural diagram of the right scraping claw of the present invention.

[0024] Figure 4 It is a front view structural diagram of the right scraping claw of the present invention.

[0025] Figure 5 This is a schematic structural diagram of the left grab claw of the present invention.

[0026] Figure 6 This is a front view structural schematic diagram of the left grab claw of the present invention.

[0027] Figures 7 - 10 This is a schematic diagram of the state of the slag scraping manipulator of the present invention from being opened to gradually closing and then to being opened again. Detailed implementation manners

[0028] The present invention will be further described below with reference to the accompanying drawings.

[0029] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0030] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "communication" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0031] As Figures 1 - 10 shown, a slag scraping robot includes a slag scraping manipulator, and the slag scraping manipulator includes

[0032] A gantry 1, fixedly connected to the end of the arm of the robot 100. Left hinge shafts 13 and right hinge shafts 14 are provided at the lower ends of the two columns 12 of the gantry 1;

[0033] A cylinder 2, fixedly arranged under the top plate 11 between the two columns of the gantry 1;

[0034] A connecting plate 3, the upper end of which is hinged to the driving rod of the cylinder 2;

[0035] A right grab claw 4, including a right vertical plate 41. The upper end of the right vertical plate 41 is hinged to the lower end of the connecting plate 3. The lower end of the right vertical plate 41 is fixedly connected to a right palm 42 with the longitudinal direction being the front-back direction. A plurality of right grab fingers 43 are fixedly connected to the right side of the right palm 42; Two left extension rods 44 are fixedly connected to the left side of the right palm 42 near its front and rear ends, and a plurality of left picking fingers 45 are fixedly connected to the two left extension rods 44; The right palm 42 is hinged to the right hinge shaft 14;

[0036] The left slag raking claw 5 includes a left vertical plate 51. The upper end of the left vertical plate 51 is hinged to the lower end of the connecting plate 3. The lower end of the left vertical plate 51 is fixedly connected with a left palm 52 whose longitudinal direction is the front-back direction. A plurality of left raking fingers 53 are fixedly connected to the left side of the left palm 52. Two right extension rods 54 are fixedly connected to the right side of the left palm 52 near its front and rear ends. A plurality of right picking fingers 55 are fixedly connected to the two right extension rods 54. The left palm 52 is hinged to the left hinge shaft 13.

[0037] A plurality of left picking fingers 45 and a plurality of left raking fingers 53 are interlaced with each other, and a plurality of right picking fingers 55 and a plurality of right raking fingers 43 are interlaced with each other.

[0038] In this embodiment, the right raking finger 43 extends from the right side of the right palm 42 to the right and then extends downward to the right. The left extension rod 44 extends from the left side of the right palm 42 to the upper left and then extends downward to the left. The left picking finger 45 extends from the left side of the left extension rod 44 to the lower right and then extends downward. The left raking finger 53 extends from the left side of the left palm 52 to the left and then extends downward to the left. The right extension rod 54 extends from the right side of the left palm 52 to the upper right and then extends downward to the right. The right picking finger 55 extends from the right side of the right extension rod 54 to the lower left and then extends downward.

[0039] In this embodiment, the number of the right raking fingers 43 and the left raking fingers 53 is 7, and the number of the left picking fingers 45 and the right picking fingers 55 is 6. The number of the connecting plates 3 is 4. The number of the right vertical plates 41 and the left vertical plates 51 is 2. The 4 connecting plates 3 are divided into two groups and are respectively hinged to the 2 right vertical plates 41 and the left vertical plates 51.

[0040] In this embodiment, the upper and lower dead points of the air cylinder 2 respectively correspond to the opening and closing of the right raking finger 43 and the left raking finger 53.

[0041] During use, the robot 100 is placed near the melting furnace. The slag removing manipulator is in an open state and enters the molten iron. The iron slag floating on the surface of the molten iron is clamped and then lifted out. The slag raking manipulator is set in a rake structure, which can filter out the molten iron faster, reduce the amount of molten iron taken out, and reduce the consumption of molten iron. After the iron slag is fished out, the right raking finger and the left raking finger open, and the left picking finger and the right picking finger cross with them accordingly, so that the iron slag adhered to the right raking finger and the left raking finger can be removed, preventing the iron slag from adhering to the slag raking manipulator after cooling and causing the slag raking manipulator to be unusable. The slag raking robot occupies a small area, has a large load, and is very flexible in movement, and is very suitable for slag raking work. The slag raking manipulator of the slag raking robot can reduce the consumption of molten iron, reduce the slag raking time, lighten the labor burden, and improve the slag raking efficiency.

[0042] The parts not described in detail in the present invention are the prior art or common general knowledge in the art.

Claims

1. A slag scraping robot, characterized in that: including a slag scraping manipulator, the slag scraping manipulator includes a gantry (1), fixedly connected to the end of the arm of the robot (100), and a left hinge shaft (13) and a right hinge shaft (14) are arranged at the lower ends of the two columns (12) of the gantry (1); a cylinder (2), fixedly arranged under the top plate (11) between the two columns of the gantry (1); a connecting plate (3), the upper end of which is hinged to the driving rod of the cylinder (2); a right slag scraping claw (4), including a right vertical plate (41), the upper end of the right vertical plate (41) is hinged to the lower end of the connecting plate (3), the lower end of the right vertical plate (41) is fixedly connected with a right palm (42) with the longitudinal direction being the front-back direction, and a plurality of right slag scraping fingers (43) are fixedly connected to the right side of the right palm (42); two left extension rods (44) are fixedly connected to the left side of the right palm (42) near its front and back ends, and a plurality of left picking fingers (45) are fixedly connected to the two left extension rods (44); the right palm (42) is hinged to the right hinge shaft (14); a left slag scraping claw (5), including a left vertical plate (51), the upper end of the left vertical plate (51) is hinged to the lower end of the connecting plate (3), the lower end of the left vertical plate (51) is fixedly connected with a left palm (52) with the longitudinal direction being the front-back direction, and a plurality of left slag scraping fingers (53) are fixedly connected to the left side of the left palm (52); two right extension rods (54) are fixedly connected to the right side of the left palm (52) near its front and back ends, and a plurality of right picking fingers (55) are fixedly connected to the two right extension rods (54); the left palm (52) is hinged to the left hinge shaft (13); the right slag scraping fingers (43) extend rightward from the right side of the right palm (42) and then extend rightward and downward; the left extension rods (44) extend leftward and upward from the left side of the right palm (42) and then extend leftward and downward; the left picking fingers (45) extend rightward and downward from the left side of the left extension rods (44) and then extend downward; the left slag scraping fingers (53) extend leftward from the left side of the left palm (52) and then extend leftward and downward; the right extension rods (54) extend rightward and upward from the right side of the left palm (52) and then extend rightward and downward; the right picking fingers (55) extend leftward and downward from the right side of the right extension rods (54) and then extend downward; after the iron slag is fished out, the right slag scraping fingers and the left slag scraping fingers open, and the left picking fingers and the right picking fingers cross with the right slag scraping fingers and the left slag scraping fingers accordingly to remove the iron slag adhered to the right slag scraping fingers and the left slag scraping fingers.

2. The slag raking robot according to claim 1, characterized in that, a plurality of left picking fingers (45) and a plurality of left slag scraping fingers (53) are interlaced with each other, and a plurality of right picking fingers (55) and a plurality of right slag scraping fingers (43) are interlaced with each other.

3. The slag raking robot according to claim 1, characterized in that, the number of the right slag scraping fingers (43) and the left slag scraping fingers (53) is 7, and the number of the left picking fingers (45) and the right picking fingers (55) is 6.

4. A slag raking robot according to claim 1, characterized in that, the number of the connecting plates (3) is 4; the number of the right vertical plates (41) and the left vertical plates (51) is 2, and the 4 connecting plates (3) are divided into two groups and are respectively hinged to the 2 right vertical plates (41) and the left vertical plates (51).

5. The slag raking robot according to claim 1, wherein the upper and lower dead points of the cylinder (2) respectively correspond to the opening and closing of the right slag scraping fingers (43) and the left slag scraping fingers (53).

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