Multi-degree-of-freedom foldable slag salvaging device and method for salvaging slag in molten steel

Abstract

The invention provides a multi-degree-of-freedom foldable slag salvaging device for salvaging slag in molten steel and a method thereof, and relates to the technical field of steel slag treatment machine devices.The slag salvaging device comprises a vertical telescopic arm unit, a horizontal telescopic arm unit, a rotary base unit and a salvaging claw unit, and a salvaging claw is connected with a driving rod through a driving gear; the two ends of the vertical arm ball screw and the two ends of the vertical arm linear guide rail are connected with the mounting end of the vertical arm telescopic base respectively. A first mounting end of the cable-stayed support is connected with a fourth mounting end of the vertical arm telescopic seat, a second mounting end of the cable-stayed support is respectively connected with a nut end of the cable-stayed ball screw and a sliding block end of the cable-stayed linear guide rail, and a first mounting end and a second mounting end of the I-shaped steel horizontal arm are respectively connected with a turntable bearing and a connecting end of the horizontal arm outer frame; the main process of the slag salvaging method comprises a non-working state, a slag salvaging state and a slag pouring state. Circumferential fishing is adopted, and meanwhile, multiple degrees of freedom are achieved, so that the surface of the whole molten iron tank can be covered, and repeated slag fishing is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of slag processing machine devices, and in particular to a multi-freedom foldable slag scooping device and a method thereof for scooping slag in molten steel. Background Art

[0002] During the smelting process, a large amount of slag will be produced in the electric furnace, floating and condensing on the surface of the molten iron. If this slag is not removed, the quality of the cast iron will be affected. The traditional operation is to wear protective gear, stand at the furnace mouth, and use a long iron fork to pick up the slag outside the furnace. In this process, the labor intensity is high, the safety hazard is great, the work efficiency is low, and the molten iron loss is high. The slag picker that has appeared in recent years has alleviated the work intensity of workers and improved the smelting efficiency.

[0003] Slag remover can remove slag quickly and continuously, shorten the steelmaking cycle and improve production efficiency. It is widely used in the field of slag removal of large smelting furnaces because it does not require close operation by workers, has high speed and can remove more slag at one time. For example, the double-axis embracing slag remover of Qingzhou Chentai Machinery Equipment Co., Ltd. has a main mechanism of embracing gripper assembly and operating mechanism, which can realize circular slag removal. However, the slag scoop machine needs to be installed on a horizontal ground and cannot be folded, which causes it to occupy a large amount of space during non-working hours. In addition, when the scoop claws are moved, both the upper arm and the lower arm have to move accordingly, which reduces the operability of its operating mechanism. Jiangsu Gangfeng Machinery Casting Company has a slag scoop machine whose main mechanisms are a telescopic operating mechanism and multiple slag scoop claws. However, even with two scoop claws, it is impossible to scoop all the slag in the molten iron tank at one time, and multiple telescopic mechanism operations will waste a lot of time. Jinsheng Auto Parts Company has a molten iron slag scoop machine, whose horizontal position movement mainly relies on its mobile base on the workbench. The slag scoop occupies a large area, and for a cylindrical molten iron tank, it is impossible to scoop all the slag at one time, and the efficiency is low.

[0004] It can be seen that the existing slag scooping machine is mainly driven by hydraulic drive, and the control method is mostly manual or remote control. Most slag scooping machines are only suitable for open smelting sites. The obstacles in the movement of the mechanical arm and the folding and recovery of the mechanical arm after slag scooping still need to be improved. In addition, most slag scooping machines have small claws and light weight, and cannot scoop a large amount of slag at one time. Therefore, the present invention proposes a multi-degree-of-freedom foldable slag scooping device and method for scooping slag in molten steel. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides a multi-degree-of-freedom foldable slag scooping device and method for scooping slag in molten steel, which scoops slag in a molten iron tank several meters above the ground and dumps the slag into a slag tank several meters away through a rotating pair composed of a rotating base unit and a horizontal telescopic arm unit, a rotating pair composed of a horizontal telescopic arm unit and a vertical telescopic arm unit, a relative rotating pair between two scooping claws, a moving pair for telescoping the horizontal telescopic arm unit, and a moving pair for telescoping the vertical telescopic arm unit, thereby realizing the slag scooping work, and has the advantages of high flexibility, wide working range and large bearing capacity.

[0006] The present invention provides a multi-degree-of-freedom foldable slag scooping device for scooping slag in molten steel, which comprises a vertical telescopic arm unit, a horizontal telescopic arm unit, a slewing base unit and a scooping claw unit. The vertical telescopic arm unit comprises a vertical arm telescopic seat, a vertical arm telescopic driving module, a vertical arm ball screw and a vertical arm linear guide rail, the output end of the vertical arm telescopic driving module is connected to the driving end of the vertical arm ball screw, the two ends of the vertical arm ball screw and the vertical arm linear guide rail are respectively connected to the first mounting end and the second mounting end of the vertical arm telescopic seat, and the mounting end of the vertical arm telescopic driving module is connected to the third mounting end of the vertical arm telescopic seat;

[0007] The horizontal telescopic arm unit includes an oblique support, a horizontal arm outer frame, an I-beam horizontal arm, an oblique ball screw, an oblique linear guide, an oblique support drive module, a horizontal arm telescopic rack, an I-beam guide wheel and a horizontal arm telescopic drive module. The first mounting end of the oblique support is connected to the fourth mounting end of the vertical arm telescopic seat, the first side and the second side of the second mounting end of the oblique support are respectively connected to the nut end of the oblique ball screw and the slider end of the oblique linear guide through an oblique support fixing block, the driving end of the oblique ball screw and the oblique support drive module The output end of the block is connected, the mounting end of the oblique ball screw and the mounting end of the oblique linear guide are respectively connected to the first fixed end and the second fixed end of the horizontal arm outer frame, the first mounting end of the I-beam horizontal arm is connected to the first mounting end of the turntable bearing, the second mounting end of the I-beam horizontal arm is connected to the connecting end of the horizontal arm outer frame through the I-beam guide wheel, the third mounting end of the I-beam horizontal arm is connected to the mounting end of the horizontal arm telescopic rack, and the movable end of the horizontal arm telescopic rack is connected to the output end of the horizontal arm telescopic drive module through a gear;

[0008] The claw unit comprises a vertical telescopic arm housing, a claw, a claw main driving rod, a claw slave driving rod, a claw main driving gear, a claw slave driving gear and a claw driving module. The claw comprises a first claw and a second claw. The mounting ends of the first claw and the second claw are respectively connected to the first ends of the claw main driving rod and the claw slave driving rod, the second ends of the claw main driving rod and the claw slave driving rod are respectively connected to the fixed ends of the claw main driving gear and the claw slave driving gear, the third end of the claw main driving rod is connected to the output end of the claw driving module, the fixed end of the claw driving module is connected to the first mounting end of the vertical telescopic arm housing, the second mounting end and the third mounting end of the vertical telescopic arm housing are respectively connected to the nut end of the vertical arm ball screw and the slider end of the vertical arm linear guide.

[0009] Preferably, the slewing base unit comprises an operating platform, a fixed flange cylinder, a slewing base drive module and a turntable bearing; the first mounting end of the fixed flange cylinder is connected to the operating platform, the second mounting end of the fixed flange cylinder is connected to the second mounting end of the turntable bearing, and the drive end of the turntable bearing is connected to the slewing base drive module.

[0010] Preferably, in the horizontal telescopic arm unit, the horizontal arm outer frame is a rectangular parallelepiped welded from rectangular tubes, and there are two I-beam guide wheels, which are respectively located in the middle of the upper end and the side of the lower end of the horizontal arm outer frame.

[0011] Preferably, in the claw unit, the fixed ends of the claw main driving rod and the claw slave driving rod are respectively connected to the first fixed end and the second fixed end of the vertical telescopic arm housing through the vertical arm rolling bearing.

[0012] The second fixed end is connected, and the fourth mounting end of the vertical telescopic arm housing is provided with a cover plate, and the cover plate is provided with a small cover plate.

[0013] Preferably, in the horizontal telescopic arm unit, a pin is provided at the connection between the vertical arm telescopic seat and the horizontal arm outer frame.

[0014] Preferably, the vertical arm telescopic seat and the vertical telescopic arm outer shell form a moving pair, the vertical arm telescopic seat and the horizontal arm outer frame form a rotating pair, the horizontal arm outer frame and the I-beam horizontal arm form a moving pair, and the I-beam horizontal arm and the fixed flange cylinder form a rotating pair.

[0015] Another aspect of the present invention provides a slag scavenging method of a multi-degree-of-freedom foldable slag scavenging device for slag scavenging in molten steel, which comprises the following steps:

[0016] S1, start the slag scooping device to transform it from a non-working state to a working state, and enter the slag scooping state. Through the inclined support connected to the inclined support driving module, the inclined linear guide rail and the inclined support driving module are used to rotate the vertical arm telescopic seat in the vertical telescopic arm unit around the pin shaft connected to the horizontal telescopic arm outer frame in the horizontal telescopic arm unit by 90° and unfold it. First, according to the center position of the molten iron ladle, start the horizontal arm telescopic driving module to make the I-beam horizontal arm connected to the horizontal arm telescopic rack move relative to the horizontal arm outer frame until the center of the scooping claw unit reaches the center position of the molten iron ladle. At this time, start the scooping claw driving module to make the first scooping claw and the second scooping claw change from a non-working state to a working state. After the first and second scooping claws are fitted together and reach the first working position, the vertical arm telescopic driving module is then started to make the scooping claw enter the molten iron tank. Finally, the scooping claw driving module is started to make the first and second scooping claws, which are respectively connected to the scooping claw main driving rod and the scooping claw slave driving rod, perform circular scooping. At this time, the first and second scooping claws are rotated counterclockwise from the fitting position to 180° and reach the second working position. Then, the first and second scooping claws continue to rotate around the scooping claw main driving rod and the scooping claw slave driving rod until they are fitted together and reach the third working position, thereby completing one slag scooping.

[0017] S2, enter the slag pouring state, start the vertical arm telescopic drive module, take the scoop claw out of the molten iron tank through the vertical arm ball screw and the vertical arm linear guide, start the slewing base drive module, make the horizontal telescopic arm unit rotate around the turntable bearing, and start the horizontal arm telescopic drive module to make the I-beam horizontal arm connected to the horizontal arm telescopic rack move relative to the horizontal arm outer frame until the center of the scoop claw unit reaches the center position of the slag tank, start the scoop claw drive module, and make the first scoop claw and the second scoop claw connected to the scoop claw main drive rod and the scoop claw slave drive rod respectively repeat the opening and closing action, so as to pour the slag into the slag tank.

[0018] Preferably, the non-working state of the slag scooping device is: the vertical arm telescopic seat in the vertical telescopic arm unit and the horizontal arm outer frame in the horizontal telescopic arm unit are parallel, the relative angle between the first scooping claw and the second scooping claw is 180°, and the relative distance between the horizontal arm outer frame and the I-beam horizontal arm in the horizontal telescopic arm unit is the shortest; the working state of the slag scooping device includes a slag scooping state and a slag pouring state.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] 1. The relatively rotating claws of the present invention enable the slag scooping machine to perform circular scooping. This method is suitable for cylindrical molten iron tanks. When the claw size is close to the radius of the inner wall of the molten iron tank, all the slag can be scooped out at one time, avoiding the loss of molten iron by multiple scooping. A pair of relatively rotating claws sweeps across the surface of the molten iron tank, scooping out all the slag within a circular area with the claw length as the radius, thereby improving the slag scooping efficiency.

[0021] 2. The claw driving device of the present invention is arranged on the upper part of the horizontal arm, and fragile components such as driving devices of other devices are also arranged at a position far away from the high-temperature electric furnace, so that the high temperature cannot cause damage to the electronic devices.

[0022] 3. The present invention is arranged as a whole on the platform above the ground in the factory building, and the long horizontal arm can be extended horizontally to adapt to the position of the tank with different rotation radius and the possible columns. The vertical arm that can be extended vertically controls the claw to enter and exit the molten iron tank, and the vertical arm is controlled by the inclined support to fold, so as to reduce the space occupied during non-working hours, and the vertical telescopic arm of the slag scoop can be folded, so that the slag scoop can further save space during non-working hours.

[0023] 4. The vertical telescopic arm unit and the horizontal telescopic arm unit of the present invention have a long movement stroke. At the same time, the overall rotation of the slag scooping device is controlled by the turntable bearing of the rotating base unit, thereby realizing a large range of operation of the slag scooping device and multi-free movement of the slag scooping device, so that the scooping claws in the slag scooping device are flexible in extension and retraction, and are suitable for harsh environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is an overall structural diagram of a multi-degree-of-freedom foldable slag scooping device for scooping slag in molten steel according to the present invention;

[0025] Figure 2a It is a structural diagram of a vertical telescopic arm unit in a multi-degree-of-freedom foldable slag scooping device for scooping slag in molten steel according to the present invention;

[0026] Figure 2b It is a partial enlarged view of a vertical telescopic arm unit in a multi-degree-of-freedom foldable slag scooping device for scooping slag in molten steel according to the present invention;

[0027] Figure 3a It is a structural diagram of a horizontal telescopic arm unit in a multi-degree-of-freedom foldable slag scooping device for scooping slag in molten steel according to the present invention;

[0028] Figure 3b A cross-sectional view of a horizontal telescopic arm unit in a multi-degree-of-freedom foldable slag scooping device for scooping slag in molten steel according to the present invention;

[0029] Figure 4 It is a structural diagram of a rotary chassis unit in a multi-degree-of-freedom foldable slag scooping device for scooping slag in molten steel according to the present invention;

[0030] Figure 5a The non-working state of the multi-degree-of-freedom foldable slag scooping device for scooping slag in molten steel according to the present invention;

[0031] Figure 5b It is the first working position of the slag scooping state of the multi-degree-of-freedom foldable slag scooping device for scooping slag in molten steel of the present invention;

[0032] Figure 5c It is the second working position of the slag scooping state of the multi-degree-of-freedom foldable slag scooping device for scooping slag in molten steel of the present invention;

[0033] Figure 5d It is the third working position of the slag scooping state of the multi-degree-of-freedom foldable slag scooping device for scooping slag in molten steel of the present invention;

[0034] Figure 5e The invention shows the slag pouring state of the multi-freedom foldable slag scooping device used for scooping slag in molten steel.

[0035] Main reference numerals:

[0036] Vertical telescopic arm unit 1, horizontal telescopic arm unit 2, slewing base unit 3, scoop claw 4, vertical arm rolling bearing 5, scoop claw main drive rod 6, scoop claw slave drive rod 7, scoop claw drive module 8, vertical arm telescopic seat 9, vertical arm telescopic drive module 10, vertical arm ball screw 11, vertical arm linear guide 12, scoop claw main drive gear 13, scoop claw slave drive gear 14, small cover plate 15, cover plate 16, vertical telescopic arm housing 17, oblique support 18, horizontal arm outer frame 19, I-beam horizontal arm 20, oblique ball screw 21, oblique linear guide 22, oblique support drive module 23, horizontal arm telescopic rack 24, I-beam guide wheel 25, horizontal arm telescopic drive module 26, turntable bearing 27, slewing base drive module 28, fixed flange cylinder 29, operating platform 30, molten iron tank 31, slag tank 32. DETAILED DESCRIPTION

[0037] In order to fully describe the technical content, structural features, objectives and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.

[0038] A multi-degree-of-freedom foldable slag scooping device for scooping slag in molten steel, such as Figure 1 As shown, it includes a vertical telescopic arm unit 1, a horizontal telescopic arm unit 2, a slewing base unit 3 and a scooping claw unit. In the device of the present invention, the vertical arm telescopic seat 9 and the vertical telescopic arm housing 17 form a moving pair, the vertical arm telescopic seat 9 and the horizontal arm outer frame 19 form a rotating pair, the horizontal arm outer frame 19 and the I-beam horizontal arm 20 form a moving pair, and the I-beam horizontal arm 20 and the fixed flange cylinder 29 form a rotating pair, so that the movement of the slag scooping device is more flexible.

[0039] The two degrees of freedom of the vertical telescopic arm unit 1, one rotation and one shift, are used to scoop up slag and control the height of the scooping claw 4. The two degrees of freedom of the horizontal telescopic arm unit 2, one rotation and one shift, are used to control the horizontal position of the scooping claw 4 and the recovery of the vertical telescopic arm unit 1. A rotating pair of the slewing base unit 3 controls the slewing angle of the I-beam horizontal arm 20, and finally cooperates with the horizontal telescopic arm unit 2 to control the horizontal position of the scooping claw 4. The scooping claw 4 adopts a circular scooping method, and scoops more slag at a time, basically covering the entire surface of the molten iron tank 31, avoiding multiple scooping. The scooping claw drive module 8 is arranged on the upper part of the horizontal telescopic arm unit 2 to avoid damage caused by high temperature. The slag scooping device is arranged as a whole on the platform above the ground of the factory building, saving ground space, and the vertical telescopic arm unit 1 of the slag scooping device can be folded through the inclined support 18, further saving space for the slag scooping device during non-working time. At the same time, the telescopic distance of the horizontal telescopic arm unit 2 and the vertical telescopic arm unit 1 is adjustable, covering a wide range, flexible telescopic, and suitable for narrow and harsh environments.

[0040] Vertical telescopic arm unit 1, such as Figure 2a and Figure 2b As shown, it includes a vertical arm telescopic seat 9, a vertical arm telescopic driving module 10, a vertical arm ball screw 11, a vertical arm rolling bearing 5 and a vertical arm linear guide 12. The output end of the vertical arm telescopic driving module 10 is connected to the driving end of the vertical arm ball screw 11, and the two ends of the vertical arm ball screw 11 and the vertical arm linear guide 12 are respectively connected to the first mounting end and the second mounting end of the vertical arm telescopic seat 9. The mounting end of the vertical arm telescopic driving module 10 is connected to the third mounting end of the vertical arm telescopic seat 9. The vertical arm telescopic driving module 10 drives the vertical arm ball screw 11 to move the vertical telescopic arm unit 1.

[0041] Horizontal telescopic arm unit 2, such as Figure 3a and Figure 3b As shown, it includes an oblique support 18, a horizontal arm outer frame 19, an I-beam horizontal arm 20, an oblique ball screw 21, an oblique linear guide 22, an oblique support drive module 23, a horizontal arm telescopic rack 24, an I-beam guide wheel 25 and a horizontal arm telescopic drive module 26; specifically, the horizontal arm outer frame 19 is a rectangular parallelepiped welded from a rectangular tube, and the number of I-beam guide wheels 25 is two, which are respectively located in the middle of the upper end and the side of the lower end of the horizontal arm outer frame 19. A pin is provided at the connection between the vertical arm telescopic seat 9 and the horizontal arm outer frame 19.

[0042] The first mounting end of the oblique support 18 is connected to the fourth mounting end of the vertical arm telescopic seat 9, the first side and the second side of the second mounting end of the oblique support 18 are respectively connected to the nut end of the oblique ball screw 21 and the slider end of the oblique linear guide 22 through the oblique support fixing block, the driving end of the oblique ball screw 21 is connected to the output end of the oblique support driving module 23, the mounting end of the oblique ball screw 21 and the mounting end of the oblique linear guide 22 are respectively connected to the first fixed end and the second fixed end of the horizontal arm outer frame 19 The first mounting end of the I-beam horizontal arm 20 is connected to the first mounting end of the turntable bearing 27, the second mounting end of the I-beam horizontal arm 20 is connected to the connecting end of the horizontal arm outer frame 19 through the I-beam guide wheel 25, the I-beam guide wheel 25 cooperates with the I-beam horizontal arm 20 to move the horizontal arm outer frame 19, the third mounting end of the I-beam horizontal arm 20 is connected to the mounting end of the horizontal arm telescopic rack 24, and the movable end of the horizontal arm telescopic rack 24 is connected to the output end of the horizontal arm telescopic driving module 26 through a gear.

[0043] Claw unit, such as Figure 2a As shown, it includes a vertical telescopic arm housing 17, a claw 4, a claw main driving rod 6, a claw slave driving rod 7, a claw main driving gear 13, a claw slave driving gear 14 and a claw driving module 8. The claw 4 includes a first claw and a second claw, the mounting ends of the first claw and the second claw are respectively connected to the first ends of the claw main driving rod 6 and the claw slave driving rod 7, the second ends of the claw main driving rod 6 and the claw slave driving rod 7 are respectively connected to the fixed ends of the claw main driving gear 13 and the claw slave driving gear 14, the fixed ends of the claw main driving rod 6 and the claw slave driving rod 7 are respectively connected to the first fixed end and the second fixed end of the vertical arm telescopic arm housing 17 through the vertical arm rolling bearing 5, the third end of the claw main driving rod 6 is connected to the output end of the claw driving module 8, and the fixed end of the claw driving module 8 is connected to the first mounting end of the vertical telescopic arm housing 17 The claw driving module 8 drives the claw main driving rod 6, which drives the claw slave driving rod 7 to make the claw 4 rotate relatively. The second mounting end and the third mounting end of the vertical telescopic arm housing 17 are respectively connected to the nut end of the vertical arm ball screw 11 and the slider end of the vertical arm linear guide 12. The vertical telescopic arm housing 17 telescopes on the vertical arm telescopic seat 9 through the vertical arm ball screw 11 and the vertical arm linear guide 12 located on both sides of the vertical arm ball screw 11. The second mounting end of the vertical telescopic arm housing 17 is provided with a cover plate 16, and a small cover plate 15 is provided on the cover plate 16. The small cover plate 15 is located at the position of the meshing gear to facilitate the installation and maintenance of internal parts.

[0044] Swivel base unit 3, such as Figure 4As shown, it includes an operating platform 30, a fixed flange cylinder 29, a slewing base driving module 28 and a turntable bearing 27. The first mounting end of the fixed flange cylinder 29 is connected to the operating platform 30, the second mounting end of the fixed flange cylinder 29 is connected to the second mounting end of the turntable bearing 27, and the driving end of the turntable bearing 27 is connected to the slewing base driving module 28.

[0045] The non-working state of the slag scooping device is: the vertical arm telescopic seat 9 in the vertical telescopic arm unit 1 and the horizontal arm outer frame 19 in the horizontal telescopic arm unit 2 are parallel, the relative angle between the first scooping claw and the second scooping claw is 180°, and the relative distance between the horizontal arm outer frame 19 and the I-beam horizontal arm 20 in the horizontal telescopic arm unit 2 is the shortest; the working state of the slag scooping device includes the slag scooping state and the slag pouring state.

[0046] Specifically, when the slag scooping device is not in working state, the diagonal support 18 will pull the vertical telescopic arm unit 1 to an inclined state, almost parallel to the horizontal telescopic arm unit 2, so as to minimize the space occupied; when the slag scooping device is in working state, the vertical telescopic arm unit 1 is in a vertical state, and the slag scooping work is carried out by extending and retracting the vertical telescopic arm unit 1 and the horizontal telescopic arm unit 2 and opening and closing the scooping claws 4.

[0047] The multi-degree-of-freedom foldable slag scooping method for scooping slag in molten steel comprises the following steps:

[0048] S1. Start the slag removal device, such as Figure 5a As shown, it is transformed from a non-working state to a working state, such as Figure 5b As shown, the slag scooping state is entered, and the vertical arm telescopic seat 9 in the vertical telescopic arm unit 1 is rotated 90° around the pin connected to the horizontal telescopic arm outer frame 19 in the horizontal telescopic arm unit 2 by using the oblique support 18 connected to the oblique support driving module 23, and the oblique linear guide rail 22 and the oblique support driving module 23 are used to unfold the vertical arm telescopic seat 9 in the vertical telescopic arm unit 1, and according to the center position of the molten iron tank 31, the horizontal arm telescopic driving module 26 is started to make the I-beam horizontal arm 20 connected to the horizontal arm telescopic rack 24 move relative to the horizontal arm outer frame 19 until the center of the scooping claw unit reaches the center position of the molten iron tank 31, and at this time, the scooping claw driving module 8 is started to make the first scooping claw and the second scooping claw respectively rotate 90° clockwise around the scooping claw main driving rod 6 and the scooping claw slave driving rod 7 from the non-working state at a position of 180° until the first scooping claw and the second scooping claw fit to reach the first working position, as shown in FIG. Figure 5cAs shown, the vertical arm telescopic driving module 10 is then started to make the claw 4 enter the molten iron tank 31, and finally the claw driving module 8 is started to make the first claw and the second claw connected to the claw main driving rod 6 and the claw slave driving rod 7 respectively perform circular scooping. At this time, the first claw and the second claw rotate counterclockwise from the fitting position to 180° to reach the second working position, and then the first claw and the second claw continue to rotate around the claw main driving rod 6 and the claw slave driving rod 7 until they fit together to reach the third working position. Figure 5d As shown, a slag removal is completed.

[0049] S2, such as Figure 5e As shown, the slag pouring state is entered, the vertical arm telescopic driving module 10 is started, and the scooping claw 4 is taken out from the molten iron tank 31 through the vertical arm ball screw 11 and the vertical arm linear guide 12, and the slewing base driving module 28 is started to rotate the horizontal telescopic arm unit 2 around the turntable bearing 27, and the horizontal arm telescopic driving module 26 is started to move the I-beam horizontal arm 20 connected to the horizontal arm telescopic rack 24 relative to the horizontal arm outer frame 19 until the center of the scooping claw unit reaches the center position of the slag tank 32, and the scooping claw driving module 8 is started to make the first scooping claw and the second scooping claw respectively connected to the scooping claw main driving rod 6 and the scooping claw slave driving rod 7 repeat the opening and closing action, so as to pour the slag into the slag tank 32.

[0050] The following is a further description of a multi-degree-of-freedom foldable slag scooping device and method for scooping slag in molten steel according to the present invention in conjunction with an embodiment:

[0051] In this specific embodiment, Figure 5a As shown, the slag scooping device is installed in the working position through the operating platform 30. When the slag scooping device is in the non-working state, the vertical telescopic arm unit 1 is retracted around the pin shaft to a state that is almost parallel to the horizontal arm outer frame 19 in the horizontal telescopic arm unit 2 through the inclined support 18 connected to the inclined support driving module 23. The claw 4 is driven by the claw driving module 8 to open the first claw and the second claw connected to the claw main driving rod 6 and the claw slave driving rod 7 to 180°. At the same time, the vertical telescopic arm unit 1 and the horizontal telescopic arm unit 2 are retracted to the shortest state, and the slag scooping device is rotated as a whole to a position that does not hinder other processes. The working state is divided into a slag scooping state and a dumping state. The working state can scoop up a large amount of slag at one time to prevent the loss of molten iron caused by multiple slag scooping. The slag scooping device can avoid the pillars during the slag transfer process and is suitable for narrow and harsh environments.

[0052] S1. Start the slag removal device, such as Figure 5a As shown, it is transformed from a non-working state to a working state, such as Figure 5bAs shown, the slag scooping state is entered, and the vertical arm telescopic seat 9 in the vertical telescopic arm unit 1 is rotated 90° around the pin connected to the horizontal telescopic arm outer frame 19 in the horizontal telescopic arm unit 2 by using the oblique support 18 connected to the oblique support driving module 23, and the oblique linear guide rail 22 and the oblique support driving module 23 are used to unfold the vertical arm telescopic seat 9 in the vertical telescopic arm unit 1, and according to the center position of the molten iron tank 31, the horizontal arm telescopic driving module 26 is started to make the I-beam horizontal arm 20 connected to the horizontal arm telescopic rack 24 move relative to the horizontal arm outer frame 19 until the center of the scooping claw unit reaches the center position of the molten iron tank 31, and at this time, the scooping claw driving module 8 is started to make the first scooping claw and the second scooping claw respectively rotate 90° clockwise around the scooping claw main driving rod 6 and the scooping claw slave driving rod 7 from the non-working state at a position of 180° until the first scooping claw and the second scooping claw fit to reach the first working position, as shown in FIG. Figure 5c As shown, the vertical arm telescopic driving module 10 is then started to make the claw 4 enter the molten iron tank 31, and finally the claw driving module 8 is started to make the first claw and the second claw connected to the claw main driving rod 6 and the claw slave driving rod 7 respectively perform circular scooping. At this time, the first claw and the second claw rotate counterclockwise from the fitting position to 180° to reach the second working position, and then the first claw and the second claw continue to rotate around the claw main driving rod 6 and the claw slave driving rod 7 until they fit together to reach the third working position. Figure 5d As shown, a slag removal is completed.

[0053] S2, such as Figure 5e As shown, the slag pouring state is entered, the vertical arm telescopic drive module 10 is started, the claw 4 is taken out from the molten iron tank 31 through the vertical arm ball screw 11 and the vertical arm linear guide 12, the slewing base drive module 28 is started, the horizontal telescopic arm unit 2 is rotated around the turntable bearing 27, and the horizontal arm telescopic drive module 26 is started, so that the I-beam horizontal arm 20 connected to the horizontal arm telescopic rack 24 moves relative to the horizontal arm outer frame 19 to avoid the column between the molten iron tank 31 and the slag tank 32, until the center of the claw unit reaches the center position of the slag tank 32, and the claw drive module 8 is started to open the first claw and the second claw connected to the claw main drive rod 6 and the claw slave drive rod 7, so as to pour the slag into the slag tank 32. Thereafter, the slag scooping device can enter a non-working state or move to the top of the molten iron tank 31 to wait for slag scooping.

[0054] The embodiments described above are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A multi-degree-of-freedom foldable slag scooping device for scooping slag in molten steel, comprising a vertical telescopic arm unit, a horizontal telescopic arm unit, a rotary base unit and a scooping claw unit, characterized in that: The vertical telescopic arm unit comprises a vertical arm telescopic seat, a vertical arm telescopic driving module, a vertical arm ball screw and a vertical arm linear guide rail, wherein the output end of the vertical arm telescopic driving module is connected to the driving end of the vertical arm ball screw, the two ends of the vertical arm ball screw and the vertical arm linear guide rail are respectively connected to the first mounting end and the second mounting end of the vertical arm telescopic seat, and the mounting end of the vertical arm telescopic driving module is connected to the third mounting end of the vertical arm telescopic seat; The horizontal telescopic arm unit includes an oblique support, a horizontal arm outer frame, an I-beam horizontal arm, an oblique ball screw, an oblique linear guide, an oblique support drive module, a horizontal arm telescopic rack, an I-beam guide wheel and a horizontal arm telescopic drive module. The first mounting end of the oblique support is connected to the fourth mounting end of the vertical arm telescopic seat, the first side and the second side of the second mounting end of the oblique support are respectively connected to the nut end of the oblique ball screw and the slider end of the oblique linear guide through an oblique support fixing block, the driving end of the oblique ball screw and the oblique support drive The output end of the module is connected, the mounting end of the oblique ball screw and the mounting end of the oblique linear guide are respectively connected to the first fixed end and the second fixed end of the horizontal arm outer frame, the first mounting end of the I-beam horizontal arm is connected to the first mounting end of the turntable bearing, the second mounting end of the I-beam horizontal arm is connected to the connecting end of the horizontal arm outer frame through the I-beam guide wheel, the third mounting end of the I-beam horizontal arm is connected to the mounting end of the horizontal arm telescopic rack, and the movable end of the horizontal arm telescopic rack is connected to the output end of the horizontal arm telescopic drive module through a gear; The claw unit comprises a vertical telescopic arm housing, a claw, a claw main driving rod, a claw slave driving rod, a claw main driving gear, a claw slave driving gear and a claw driving module. The claw comprises a first claw and a second claw. The mounting ends of the first claw and the second claw are respectively connected to the first ends of the claw main driving rod and the claw slave driving rod, the second ends of the claw main driving rod and the claw slave driving rod are respectively connected to the fixed ends of the claw main driving gear and the claw slave driving gear, the third end of the claw main driving rod is connected to the output end of the claw driving module, the fixed end of the claw driving module is connected to the first mounting end of the vertical telescopic arm housing, the second mounting end and the third mounting end of the vertical telescopic arm housing are respectively connected to the nut end of the vertical arm ball screw and the slider end of the vertical arm linear guide.

2. The multi-degree-of-freedom foldable slag scooping device for scooping slag in molten steel according to claim 1, characterized in that: The slewing base unit includes an operating platform, a fixed flange cylinder, a slewing base drive module and a turntable bearing. The first mounting end of the fixed flange cylinder is connected to the operating platform, the second mounting end of the fixed flange cylinder is connected to the second mounting end of the turntable bearing, and the drive end of the turntable bearing is connected to the slewing base drive module.

3. The multi-degree-of-freedom foldable slag scooping device for scooping slag in molten steel according to claim 1, characterized in that: In the horizontal telescopic arm unit, the horizontal arm outer frame is a rectangular parallelepiped welded from rectangular tubes, and the number of the I-beam guide wheels is two, which are respectively located in the middle of the upper end and the side of the lower end of the horizontal arm outer frame.

4. The multi-degree-of-freedom foldable slag scooping device for scooping slag in molten steel according to claim 1, characterized in that: In the claw unit, the fixed ends of the claw main driving rod and the claw slave driving rod are respectively connected to the first fixed end and the second fixed end of the vertical telescopic arm housing through vertical arm rolling bearings, and the fourth mounting end of the vertical telescopic arm housing is provided with a cover plate, and a small cover plate is provided on the cover plate.

5. The multi-degree-of-freedom foldable slag scooping device for scooping slag in molten steel according to claim 1, characterized in that: In the horizontal telescopic arm unit, a pin is provided at the connection between the vertical arm telescopic seat and the horizontal arm outer frame.

6. The multi-degree-of-freedom foldable slag scooping device for scooping slag in molten steel according to claim 1, characterized in that: The vertical arm telescopic seat and the vertical telescopic arm shell form a moving pair, the vertical arm telescopic seat and the horizontal arm outer frame form a rotating pair, the horizontal arm outer frame and the I-beam horizontal arm form a moving pair, and the I-beam horizontal arm and the fixed flange cylinder form a rotating pair.

7. A slag scavenging method using a multi-degree-of-freedom foldable slag scavenging device for slag scavenging in molten steel according to any one of claims 1 to 6, characterized in that: It includes the following steps: S1, start the slag scooping device to transform it from a non-working state to a working state, and enter the slag scooping state. Through the inclined support connected to the inclined support driving module, the inclined linear guide rail and the inclined support driving module are used to rotate the vertical arm telescopic seat in the vertical telescopic arm unit around the pin shaft connected to the horizontal telescopic arm outer frame in the horizontal telescopic arm unit by 90° and unfold it. First, according to the center position of the molten iron ladle, start the horizontal arm telescopic driving module to make the I-beam horizontal arm connected to the horizontal arm telescopic rack move relative to the horizontal arm outer frame until the center of the scooping claw unit reaches the center position of the molten iron ladle. At this time, start the scooping claw driving module to make the first scooping claw and the second scooping claw change from a non-working state to a working state. The first and second scooping claws are respectively rotated 90° clockwise around the scooping claw main driving rod and the scooping claw slave driving rod until the first scooping claw and the second scooping claw are fitted to reach the first working position at the 80° position, then the vertical arm telescopic driving module is started to make the scooping claw enter the molten iron tank, and finally the scooping claw driving module is started to make the first scooping claw and the second scooping claw connected to the scooping claw main driving rod and the scooping claw slave driving rod respectively perform circular scooping. At this time, the first scooping claw and the second scooping claw are rotated counterclockwise from the fitting position to 180° to reach the second working position, and then the first scooping claw and the second scooping claw continue to rotate around the scooping claw main driving rod and the scooping claw slave driving rod until they are fitted to reach the second working position, thereby completing one slag scooping; S2, enter the slag pouring state, start the vertical arm telescopic drive module, take the scoop claw out of the molten iron tank through the vertical arm ball screw and the vertical arm linear guide, start the slewing base drive module, make the horizontal telescopic arm unit rotate around the turntable bearing, and start the horizontal arm telescopic drive module to make the I-beam horizontal arm connected to the horizontal arm telescopic rack move relative to the horizontal arm outer frame until the center of the scoop claw unit reaches the center position of the slag tank, start the scoop claw drive module, and make the first scoop claw and the second scoop claw connected to the scoop claw main drive rod and the scoop claw slave drive rod respectively repeat the opening and closing action, so as to pour the slag into the slag tank.

8. The slag scavenging method of the multi-degree-of-freedom foldable slag scavenging device for slag scavenging in molten steel according to claim 7, characterized in that: The non-working state of the slag scooping device is: the vertical arm telescopic seat in the vertical telescopic arm unit and the horizontal arm outer frame in the horizontal telescopic arm unit are parallel, the relative angle between the first scooping claw and the second scooping claw is 180°, and the relative distance between the horizontal arm outer frame and the I-beam horizontal arm in the horizontal telescopic arm unit is the shortest; the working state of the slag scooping device includes a slag scooping state and a slag pouring state.

Images