Robot slagging-off device

Abstract

The robot slagging-off device comprises a refining furnace, a ground rail and a six-axis mechanical arm, a double-layer heat insulation plate for heat insulation protection is fastened to the front end of the refining furnace through bolts, a window allowing slagging-off to penetrate is formed in the middle of the double-layer heat insulation plate, and a linear sliding rail is welded to the upper end of the ground rail; a sliding block is slidably connected to the upper end of the linear sliding rail, and a servo motor is erected on one side of the upper end of the sliding block. When the robot slagging-off device is used, the slagging-off rod serves as a part directly making contact with molten steel, the surface of the slagging-off rod is designed through high-temperature-resistant coating, meanwhile, the slagging-off rod is further provided with a long slagging-off rod body and a short slagging-off rod body, rod bodies of different lengths are selected according to the depth of the slag position, and meanwhile the slagging-off rod is pulled through an electric push rod; the long rod of the slagging-off rod is driven to stretch out and draw back along the interior of the short rod through electric stretching out and drawing back of the electric push rod, so that steel slag on the surface of molten steel is scraped through the slagging-off head, and it is ensured that the slagging-off equipment can be effectively used.

Description

Technical Field

[0001] The invention relates to the technical field of steel material production equipment, in particular to a robot slag removal device. Background Art

[0002] The anode furnace is mainly used for the refining of crude copper melt. By oxidizing and reducing the crude copper melt, qualified molten copper liquid is finally produced. During the oxidation operation of the anode furnace, impurities in the crude copper melt of the Kaldo furnace and the added cold material can be removed. After the oxidation operation, the impurities in the copper liquid form slag on the surface of the copper liquid. In order to ensure that pure copper with less impurities can be produced when it is discharged from the furnace, the slag on the surface of the copper liquid in the furnace needs to be removed before the reduction operation, that is, the slag removal operation is performed.

[0003] The present invention discloses a slag removal device (CN219824265U), which relates to the technical field of steel smelting devices, including a bottom plate, a first hydraulic telescopic rod fixedly connected to the top of a fixed frame, a cross bar provided at the output end of the first hydraulic telescopic rod, a support frame sleeved on the outer surface of the cross bar, a mounting arm hinged to the left end of the cross bar, a slag removal head fixedly connected to the bottom end of the mounting arm, a mounting frame fixedly connected to the middle of the mounting arm, a circular ring rotatably connected to the outer side of the mounting frame, a plurality of nozzles hinged to the outer surface of the circular ring, a plurality of air delivery pipes fixedly connected to the outer surface of the connecting assembly, and a plurality of pneumatic telescopic rods fixedly connected to the top of the connecting assembly. In the present invention, a driving assembly drives the circular ring to rotate on the mounting frame, the nozzles make circular motion, and the pneumatic telescopic rod works to convert the air outlet end of the nozzles from an outwardly inclined state to an inwardly inclined state, thereby gathering the slag on the surface of the molten iron together, and the slag removal head can remove the slag with as few times as possible, thereby improving work efficiency. In the current production process, slag removal operations are mainly completed manually. When manually removing slag, the slag in the furnace is removed from the furnace by repeatedly pushing and pulling the slag rake through the furnace mouth. The labor intensity of the workers during the operation is relatively high, and they are seriously exposed to the heat radiation from the furnace mouth. The working process and working environment are very difficult. At the same time, during the slag removal operation, the slag removal workers are easily scalded by the splashing slag, and there are great safety hazards during the operation.

[0004] To this end, we propose a robotic slag removal device. Summary of the invention

[0005] The purpose of the present invention is to provide a robot slag removal device to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a robot slag removal device, comprising a refining furnace, a ground rail and a six-axis robot arm, the front end of the refining furnace is bolted with a double-layer insulation board for heat insulation protection, and a window for slag removal is opened in the middle of the double-layer insulation board, a linear slide is welded to the upper end of the ground rail, and a slider is slidably connected to the upper end of the linear slide, a servo motor is mounted on one side of the upper end of the slider, and the output end of the servo motor is keyed to a transmission gear, the outer wall of the transmission gear is meshed with a rack, and the rack is welded to the inner wall side of the linear slide, the slider forms a transmission structure with the linear slide through the servo motor, the transmission gear and the rack, and the six-axis robot arm is bolted to the side of the slider away from the servo motor.

[0007] Preferably, a slag scraper rod support frame is distributed on one side of the refining furnace, and a plurality of slag scraper rods are mounted on the surface of the slag scraper rod support frame.

[0008] Preferably, an electric push rod is installed at the short rod of the slag scraper rod, and a docking flange is welded on the top of the electric push rod.

[0009] Preferably, a scraping head is welded at the end of the long rod of the scraping rod, and the scraping rod forms a telescopic and adjustable structure through an electric push rod, and the scraping rod also includes a long scraping rod and a short scraping rod.

[0010] Preferably, a fixedly supported furnace frame is provided at the lower end of the refining furnace, and a furnace opening for slag outlet is provided in the middle of the refining furnace.

[0011] Preferably, mounting brackets are welded on both sides of the refining furnace, and the mounting brackets are fastened to the double-layer insulation board by bolts.

[0012] Preferably, an infrared camera for monitoring the slag temperature is mounted on the upper end of the six-axis robotic arm, and the six-axis robotic arm is aligned with the furnace mouth of the refining furnace.

[0013] Preferably, a gripper mounting flange is fixed to the end of the six-axis robot arm, and the gripper mounting flange is flange-connected to the docking flange.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: when the robot slag scraping device is in use, the slag scraping rod, as a component that directly contacts the molten steel, is designed with a high-temperature resistant coating on its surface. At the same time, the slag scraping rod is also provided with a long slag scraping rod and a short slag scraping rod. Rod bodies of different lengths are selected according to the depth of the slag position. At the same time, the slag scraping rod is pulled by an electric push rod. Through the electric extension and retraction of the electric push rod, the long rod of the slag scraping rod is driven to extend and retract along the inside of the short rod, so as to meet the need to scrape the slag on the surface of the molten steel through the scraping head, thereby ensuring that the slag scraping equipment can be used effectively.

[0015] As a monitoring device, the infrared camera observes the temperature inside the furnace mouth through visual detection, which facilitates the subsequent accurate cleaning of the slag by the six-axis robotic arm. This operation mode replaces manual slag removal. The slag removal process does not require manual intervention, reducing the labor intensity and production risks of workers.

[0016] The front end of the refining furnace is equipped with a high-temperature resistant double-layer insulation board. The double-layer insulation board is made of Kevlar high-silica fire-proof fiber composite material to reduce the high-temperature diffusion range of the refining furnace, reduce the surface temperature of the front-end six-axis robotic arm, and protect the six-axis robotic arm for long-term use. At the same time, the double-layer insulation board is connected to the mounting bracket by bolt fastening, which is convenient for users to regularly inspect the double-layer insulation board. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the structure of the refining furnace of the present invention;

[0019] Figure 3 This is a schematic diagram of the ground rail structure of the present invention;

[0020] Figure 4 For the present invention Figure 3 A schematic diagram of the partially enlarged structure at center A;

[0021] Figure 5 It is a schematic diagram of the structure of the slag scraper rod of the present invention.

[0022] In the figure: 1. Refining furnace; 11. Furnace frame; 12. Furnace mouth; 13. Mounting bracket; 2. Double-layer insulation board; 21. Opening window; 3. Slag removal rod support frame; 4. Slag removal rod; 41. Docking flange; 42. Electric push rod; 43. Slag removal head; 5. Ground rail; 51. Linear slide rail; 52. Connecting slider; 53. Servo motor; 54. Transmission gear; 55. Rack; 6. Six-axis robotic arm; 61. Gripper mounting flange; 7. Infrared camera. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Example 1

[0025] See also Figure 1-5The present invention provides a technical solution: a robot slag removal device, comprising a refining furnace 1, a ground rail 5 and a six-axis robot arm 6, the front end of the refining furnace 1 is bolted with a double-layer insulation board 2 for heat insulation protection, and the middle of the double-layer insulation board 2 is provided with an opening window 21 for the slag removal to penetrate, a linear slide rail 51 is welded to the upper end of the ground rail 5, and a slider 52 is slidably connected to the upper end of the linear slide rail 51, a servo motor 53 is mounted on one side of the upper end of the slider 52, and the output end of the servo motor 53 is keyed to a transmission gear 54, the outer wall of the transmission gear 54 is meshed with a rack 55, and the rack 55 is welded to the inner wall side of the linear slide rail 51, the slider 52 forms a transmission structure with the linear slide rail 51 through the servo motor 53, the transmission gear 54 and the rack 55, the slider 52 is bolted with the six-axis robot arm 6 on the side away from the servo motor 53, and a slag removal rod is distributed on one side of the refining furnace 1 The support frame 3, and a plurality of slag scraping rods 4 are arranged on the surface of the slag scraping rod support frame 3, an electric push rod 42 is installed at the short rod of the slag scraping rod 4, and a docking flange 41 is welded on the top of the electric push rod 42, a scraping head 43 is welded at the end of the long rod of the slag scraping rod 4, and the slag scraping rod 4 forms a telescopic adjustable structure through the electric push rod 42, and the slag scraping rod 4 also includes a long slag scraping rod and a short slag scraping rod. The slag scraping rod 4 is a component that directly contacts the molten steel, and its surface is designed with high-temperature resistant coating. At the same time, the slag scraping rod 4 is also provided with a long slag scraping rod and a short slag scraping rod. Rod bodies of different lengths are selected according to the depth of the slag position. At the same time, the slag scraping rod 4 is pulled by the electric push rod 42, and the electric extension and retraction of the electric push rod 42 drives the long rod of the slag scraping rod 4 to extend and retract along the inside of the short rod, so as to meet the needs of scraping the slag on the surface of the molten steel through the scraping head 43, thereby ensuring that the slag scraping equipment can be effectively used.

[0026] Example 2

[0027] See also Figure 1-5 The present invention provides a technical solution: a robot slag removal device, a fixed support furnace frame 11 is set at the lower end of the refining furnace 1, and a furnace mouth 12 for slag outlet is opened in the middle of the refining furnace 1, mounting brackets 13 are welded on both sides of the refining furnace 1, and the mounting brackets 13 and the double-layer heat insulation board 2 are bolted and connected, and a high-temperature resistant double-layer heat insulation board 2 is set at the front end of the refining furnace 1. The double-layer heat insulation board 2 adopts Kevlar high-silicon fireproof fiber composite material to reduce the high-temperature diffusion range of the refining furnace 1 and reduce the surface temperature of the front six-axis robot arm 6 to protect the six-axis robot arm 6 for long-term use. At the same time, the double-layer heat insulation board 2 is connected to the mounting bracket 13 by bolt fastening, which is convenient for users to regularly inspect the double-layer heat insulation board 2.

[0028] Example 3

[0029] See also Figure 1-5The present invention provides a technical solution: a robot slag removal device, wherein an infrared camera 7 for monitoring the slag temperature is mounted on the upper end of a six-axis robot arm 6, and the six-axis robot arm 6 is aimed at a furnace mouth 12 at a refining furnace 1. The infrared camera 7 is used as a monitoring device to observe the temperature in the furnace mouth 12 by visual detection, so as to facilitate the subsequent accurate cleaning of the slag by the six-axis robot arm 6. This operation mode replaces manual slag removal. The slag removal process does not require manual intervention, reducing the labor intensity and production risks of workers. A gripper mounting flange 61 is fixed at the end of the six-axis robot arm 6, and the gripper mounting flange 61 and the docking flange 41 are flange-connected. When the six-axis robot arm 6 moves left and right through the motor transmission structure, when the six-axis robot arm 6 needs to move to the front end of the furnace mouth 12, it is only necessary to start the servo motor 53, and the servo motor 53 drives the transmission gear 54 to rotate. The transmission gear 54 engages along the surface of the rack 55, and drives the connecting slider 52 to move linearly along the surface of the linear slide rail 51, meeting the requirement of the six-axis robot arm 6 to move to the front end of the furnace mouth 12, and the six-axis robot arm 6 is connected to the slag removal rod 4 through the gripper mounting flange 61 and the docking flange 41. This connection method has high connection strength and stable structure, ensuring the long-term use of the slag removal rod 4.

[0030] Working principle: For this type of robot slag removal device, first observe the depth of the refining furnace 1 through the furnace mouth 12, select a suitable slag removal rod 4, and connect the slag removal rod 4 with the slag removal rod 4 through the gripper mounting flange 61 and the docking flange 41. At this time, when the six-axis robot arm 6 needs to move to the front end of the furnace mouth 12, it is only necessary to start the servo motor 53, and the servo motor 53 drives the transmission gear 54 to rotate. The transmission gear 54 meshes along the surface of the rack 55, and drives the connecting slider 52 to move along the surface of the linear slide rail 51. Then, the infrared camera 7 is used as a monitoring device to observe the temperature in the furnace mouth 12 through visual detection. Subsequently, the slag is accurately cleaned by the six-axis robot arm 6. The slag removal rod 4 is pulled by the electric push rod 42. Through the electric extension and retraction of the electric push rod 42, the long rod of the slag removal rod 4 is driven to extend and retract along the inside of the short rod, and the slag on the surface of the molten steel is scraped by the scraping head 43. Finally, when the slag in the refining furnace 1 is scraped, the six-axis robot arm 6 can drive away from the front end of the refining furnace 1 through the transmission device.

[0031] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot slag removal device, comprising a refining furnace (1), a ground rail (5) and a six-axis robot arm (6), characterized in that: The front end of the refining furnace (1) is bolted with a double-layer insulation board (2) for heat insulation protection, and a window (21) is opened in the middle of the double-layer insulation board (2) for slag removal. A linear slide rail (51) is welded to the upper end of the ground rail (5), and a slider (52) is slidably connected to the upper end of the linear slide rail (51). A servo motor (53) is mounted on one side of the upper end of the slider (52), and the output end of the servo motor (53) is keyed to a transmission gear (54). The outer wall of the transmission gear (54) is meshed with a rack (55), and the rack (55) is welded to the inner wall of the linear slide rail (51). The slider (52) forms a transmission structure with the linear slide rail (51) through the servo motor (53), the transmission gear (54) and the rack (55). A six-axis robot arm (6) is bolted to the side of the slider (52) away from the servo motor (53).

2. A robot slag removal device according to claim 1, characterized in that: A slag scraper rod support frame (3) is distributed on one side of the refining furnace (1), and a plurality of slag scraper rods (4) are mounted on the surface of the slag scraper rod support frame (3).

3. A robot slag removal device according to claim 2, characterized in that: An electric push rod (42) is installed at the short rod of the scraper rod (4), and a docking flange (41) is welded to the top of the electric push rod (42).

4. A robot slag removal device according to claim 3, characterized in that: A scraping head (43) is welded to the end of the long rod of the scraping rod (4), and the scraping rod (4) forms a telescopic and adjustable structure through an electric push rod (42). The scraping rod (4) also includes a long scraping rod and a short scraping rod.

5. The robot slag removal device according to claim 1, characterized in that: A fixed supporting furnace frame (11) is provided at the lower end of the refining furnace (1), and a furnace opening (12) for slag outlet is provided in the middle of the refining furnace (1).

6. A robot slag removal device according to claim 5, characterized in that: Mounting brackets (13) are welded on both sides of the refining furnace (1), and the mounting brackets (13) are fastened to the double-layer heat insulation board (2) by bolts.

7. The robot slag removal device according to claim 1, characterized in that: An infrared camera (7) for monitoring the slag temperature is mounted on the upper end of the six-axis robot arm (6), and the six-axis robot arm (6) is aligned with the furnace opening (12) at the refining furnace (1).

8. The robot slag removal device according to claim 1, characterized in that: A gripper mounting flange (61) is fixed to the end of the six-axis robot arm (6), and the gripper mounting flange (61) is flange-connected to the docking flange (41).

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