Material surface treatment robot

Abstract

The invention discloses a charge level processing robot which is characterized in that the bottom of a moving mechanism is provided with walking wheels and a sensor, the walking wheels are used for being matched with a track to walk, and the sensor is used for detecting moving data of the moving mechanism; the executing mechanism is arranged on the moving mechanism and can rotate relative to the moving mechanism; the executing mechanism comprises a vehicle body structure and an operating arm, a hydraulic power device and an electric control device are arranged in the vehicle body structure, and one end of the operating arm is connected with the vehicle body structure; the connecting mechanism comprises an electric connector and an electro-hydraulic connector, the electric connector is arranged on the vehicle body structure, the electric control device is connected with the power supply through the electric connector, and the electric connector is used for enabling the vehicle body structure to rotate relative to the power supply; the electro-hydraulic connector is arranged between the vehicle body structure and the moving mechanism, and the hydraulic power device and the electric control device are correspondingly connected with the walking wheels and the sensor through the electro-hydraulic connector. Connection and layout of electric control and hydraulic control of the robot can be improved, and reliability and safety of charge level treatment are improved.

Description

Technical Field

[0001] The invention belongs to the field of intelligent robots, and in particular relates to a robot capable of automatically processing a submerged arc furnace charge surface. Background Art

[0002] At present, in the smelting industry, the surface treatment layer of the ore-fired furnace charge is also the combustion layer. During the combustion of raw materials in the furnace, they need to be processed by tamping, picking, pushing and adding to make the raw materials evenly distributed, expand the reaction zone, eliminate suspended materials, crush the slag, reduce crusting and surface fire, and increase the permeability of the charge to improve smelting efficiency and utilization rate.

[0003] The power supply and fluid supply structure of surface processing robots on the market are mostly wire-pulling type, and the structural layout design is mostly not ideal, with poor flexibility, long cables, and overall safety hazards. It cannot meet the requirements of some special working conditions. Therefore, it is particularly important to invent a power supply and fluid supply system for surface processing robots to meet the needs of various special working conditions.

[0004] Therefore, how to improve the connection and layout of the robot's electronic control and hydraulic control and improve the reliability and safety of surface processing is a technical problem that the industry urgently needs to solve. Summary of the invention

[0005] A main purpose of the present invention is to provide a material surface processing robot which can improve the connection and layout of the robot's electrical control and hydraulic control and enhance the reliability and safety of material surface processing.

[0006] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme:

[0007] As one aspect of the present invention, a material surface processing robot is provided, which is used to process the material surface of a submerged arc furnace, and comprises: a moving mechanism, an executing mechanism and a connecting mechanism;

[0008] A running wheel and a sensor are arranged at the bottom of the mobile mechanism, the running wheel is used to cooperate with the track for running, and the sensor is used to detect the movement data of the mobile mechanism;

[0009] The actuator is arranged on the mobile mechanism and can rotate relative to the mobile mechanism; the actuator includes a vehicle body structure and an operating arm, a hydraulic power device and an electric control device are arranged in the vehicle body structure, and one end of the operating arm is connected to the vehicle body structure;

[0010] The connecting mechanism includes an electrical connector and an electro-hydraulic connector. The electrical connector is arranged on the vehicle body structure. The electrical control device is connected to the power supply through the electrical connector. The electrical connector is used to rotate the vehicle body structure relative to the power supply. The electro-hydraulic connector is arranged between the vehicle body structure and the moving mechanism. The hydraulic power device and the electrical control device are respectively connected to the walking wheels and the sensors through the electro-hydraulic connector.

[0011] As shown in one embodiment of the present invention, the electrical connector includes a rotating part and a mounting part, the mounting part is fixedly mounted on the vehicle body structure, the rotating part rotates around the mounting part and they always maintain electrical connection with each other, the rotating part is connected to the power supply via a cable, and the mounting part is electrically connected to the electronic control device.

[0012] As in one embodiment of the present invention, the mounting portion includes a seat body, a terminal post and a brush, the seat body is mounted on the top of the vehicle body structure, the terminal post is mounted on the side of the seat body, is electrically connected to the electric control device, and is electrically connected to the brush through an internal wire;

[0013] The rotating part includes a frame, a lead post and a conductive ring. The frame is sleeved on the base. The lead post is installed on the upper part of the frame, electrically connected to the cable, and electrically connected to the conductive ring through an internal wire; the conductive ring is rotatably electrically connected to the brush.

[0014] As an embodiment of the present invention, the electrical connector further comprises a bearing, wherein the bearing is disposed between the seat body and the frame body, and there are two bearings, which are respectively located at two outer sides of the brush.

[0015] As in one embodiment of the present invention, the connecting mechanism also includes a cycloidal mechanism, which includes a mounting seat and a swing arm. The mounting seat is rotatably mounted on the vehicle body structure and corresponds to a cover buckle on the seat body. The swing arm is rotatably connected to the mounting seat. The cable passes through the seat body and is passed through the mounting seat cover buckle through the swing arm, and pulls the swing arm to swing when moving.

[0016] As shown in one embodiment of the present invention, the electro-hydraulic connector includes an electrical connection component and a liquid connection component. The electrical connection component is arranged on the liquid connection component and is electrically connected to the electronic control device. The electrical connection component is connected to the sensor through a signal line; the liquid connection component is fixedly arranged at one end of the electrical connection component and is provided with an accommodating channel inside for the signal line to pass through.

[0017] As in one embodiment of the present invention, the electrical connection component includes a rotating part, a fixed part and a shell, the fixed part is connected to the shell, the rotating part is rotatably sleeved in the fixed part, the shell is installed on the vehicle body structure and connected to the liquid connection component.

[0018] As shown in one embodiment of the present invention, a signal lead-out column and a signal conductive ring are provided on the rotating part, the signal lead-out column is connected to the signal lead-out line and is electrically connected to the signal conductive ring, a signal brush is provided on the fixed part, the signal conductive ring is rotationally electrically connected to the signal brush, and the signal brush is electrically connected to the signal lead-in line.

[0019] As shown in one embodiment of the present invention, the liquid connection assembly includes a follower part and a mating part, the mating part is connected to the shell, the follower part is buckled on the outside of the mating part, there is a hollow structure in the middle of the mating part, the signal introduction line passes through the hollow structure, and the follower part and the mating part rotate to match for oil supply.

[0020] As in one embodiment of the present invention, the matching part includes a ring tube and a through tube which are isolated from each other from the outside to the inside, the ring tube surrounds the through tube, the side wall is provided with an oil inlet, the lower part is provided with an oil outlet, the through tube is centrally arranged, and the signal lead-in line is passed through the inside, a hydraulic sleeve is arranged on the rotating part, the hydraulic sleeve is sleeved on the outside of the ring tube, an oil port is arranged on the outside of the hydraulic sleeve, an oil chamber connected to the oil port is arranged on the inside, and the oil chamber rotates correspondingly to the oil inlet on the through tube.

[0021] As in one embodiment of the present invention, the oil port, the oil chamber and the oil inlet are all multiple and correspond to each other one by one, and the multiple oil chambers are sealed.

[0022] As in one embodiment of the present invention, a rotating table is arranged between the vehicle body structure and the moving mechanism, and the rotating table includes a rotating outer ring and a fixed inner ring that cooperate with each other, the fixed inner ring is installed on the upper part of the moving mechanism, and the rotating outer ring is installed on the lower part of the vehicle body structure, and the fixed part of the electrical connection component passes through the fixed inner ring.

[0023] As an embodiment of the present invention, the moving mechanism includes two moving parts arranged in parallel, the running wheels are multiple pairs, which are respectively arranged on the two moving parts, and the vehicle body structure is installed above the middle position of the two moving parts.

[0024] It can be seen from the above technical solution that the advantages and positive effects of the material surface processing robot of the present invention are:

[0025] In the present invention, an electric connector is used to introduce electric power, and an electro-hydraulic connector is used to realize the reasonable layout of the robot's internal electric control and hydraulic control, which can improve the connection and layout of the robot's electric control and hydraulic control, and improve the reliability and safety of material surface processing, which has a very huge progressive significance. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained like these drawings without paying creative work.

[0027] Figure 1 It is a schematic diagram of the front structural view of a specific embodiment of the material surface processing robot of the present invention.

[0028] Figure 2 It is a schematic top view of the structure of a specific embodiment of the material surface processing robot of the present invention.

[0029] Figure 3 It is a schematic diagram of the AA cross-sectional structure.

[0030] Figure 4 It is a schematic diagram of the BB cross-sectional structure.

[0031] Figure 5 It is a schematic diagram of the CC cross-sectional structure.

[0032] Figure 6 It is a schematic diagram of the DD cross-sectional structure.

[0033] Figure 7 It is a schematic diagram of the working structure of the electrical connector in a specific embodiment of the material surface processing robot of the present invention.

[0034] Figure 8 This is a schematic diagram of the front structural view of an electrical connector in a specific embodiment of the material surface processing robot of the present invention.

[0035] Fig. 9 This is a schematic diagram of the top view of the electrical connector in a specific embodiment of the material surface processing robot of the present invention.

[0036] Fig.10 It is a schematic diagram of the cross-sectional structure of an electrical connector in a specific embodiment of the material surface processing robot of the present invention.

[0037] Fig.11 This is a schematic diagram of the working structure of the electro-hydraulic connector in a specific embodiment of the material surface processing robot of the present invention.

[0038] Fig.12This is a schematic diagram of the main structure of the electro-hydraulic connector in a specific embodiment of the material surface processing robot of the present invention.

[0039] Fig.13 This is a schematic diagram of the top view of the electro-hydraulic connector in a specific embodiment of the material surface processing robot of the present invention.

[0040] Fig.14 It is a schematic diagram of the cross-sectional structure of the electro-hydraulic connector in a specific embodiment of the material surface processing robot of the present invention.

[0041] Description of the figure number:

[0042] 1. Moving mechanism; 2. Actuator; 3. Electrical connector; 4. Electro-hydraulic connector; 5. Cycloid mechanism; 6. Collector; 7. Signal lead-in line; 31. Rotating part; 32. Mounting part; 33. Bearing; 40. Hollow structure; 41. Electrical connection component; 42. Liquid connection component; 51. Mounting seat; 52. Swing arm; 311. Frame; 312. Lead post; 313. Conductive ring; 321. Seat; 322. Lead post; 323. Brush; 411. Rotating part; 412. Fixed part; 413. Shell; 414. Signal lead-out post; 415. Signal conductive ring; 416. Signal brush; 421. Rotating part; 422. Fitting part; 423. Ring pipe; 424. Through pipe; 425. Oil inlet; 426. Oil outlet; 427. Hydraulic sleeve; 428. Oil port; 429. Oil chamber. DETAILED DESCRIPTION

[0043] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present invention will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted.

[0044] In the following description of different examples of the present invention, reference is made to the accompanying drawings, which form a part of the present invention and in which different exemplary structures, systems and steps that can implement multiple aspects of the present invention are shown by way of example. It should be understood that other specific schemes of components, structures, exemplary devices, systems and steps can be used, and structural and functional modifications can be made without departing from the scope of the present invention. Moreover, although the terms "top", "bottom", "front", "rear", "side", etc. may be used in this specification to describe different exemplary features and elements of the present invention, these terms are used herein only for convenience, such as the direction of the examples described in the accompanying drawings. Nothing in this specification should be construed as requiring a specific three-dimensional orientation of the structure to fall within the scope of the present invention.

[0045] Figure 1 It is a schematic diagram of the front structural view of a specific embodiment of the material surface processing robot of the present invention.

[0046] Figure 2 It is a schematic top view of the structure of a specific embodiment of the material surface processing robot of the present invention.

[0047] Figure 3 It is a schematic diagram of the AA cross-sectional structure.

[0048] Figure 4 It is a schematic diagram of the BB cross-sectional structure.

[0049] Figure 5 It is a schematic diagram of the CC cross-sectional structure.

[0050] Figure 6 It is a schematic diagram of the DD cross-sectional structure.

[0051] like Figures 1 to 6 As shown, a specific embodiment of the material surface processing robot of the present invention is used to process the material surface of an ore-heating furnace. An ore-heating furnace is also called an arc furnace or a resistance furnace, and is mainly used for reducing and smelting ores to produce various ferroalloys, industrial silicon, calcium carbide and other products. The ore-heating furnace includes a furnace body, an electrode system, a charging system and a smoke exhaust system. The ore-heating furnace uses the arc heat generated by the electrodes and the resistance heat of the charge to melt the charge and cause a reduction reaction. The current is introduced into the furnace through the electrodes, and an arc is generated between the electrodes and the charge, and the high temperature of the arc melts the charge. At the same time, the resistance of the charge itself also generates heat, which further promotes the melting and reaction of the charge. The ore-heating furnace is mainly used in ferroalloys, industrial silicon, calcium carbide and other industries. For example, in ferroalloy production, it can be used to produce ferrosilicon, ferromanganese, ferrochrome, etc.; in industrial silicon production, it is one of the main production equipment; in calcium carbide production, lime and coke are reacted in the ore-heating furnace to generate calcium carbide. Since a large amount of electrical energy is required to maintain high temperature, the energy consumption of the ore-heating furnace is relatively high. Submerged arc furnaces require professional operators to monitor and adjust to ensure the stability and safety of the production process.

[0052] The surface processing robot of this embodiment includes a moving mechanism 1, an executing mechanism 2 and a connecting mechanism.

[0053] in:

[0054] Travel wheels and sensors are provided at the bottom of the mobile mechanism 1. The travel wheels are used to cooperate with the track for travel, and the sensors are used to detect the movement data of the mobile mechanism. The actuator 2 is provided on the mobile mechanism 1, and can rotate relative to the mobile mechanism; the actuator 2 includes a body structure and an operating arm, a hydraulic power device and an electric control device are provided in the body structure, and one end of the operating arm is connected to the body structure. The material surface processing robot of this embodiment is an intelligent device specially used for processing material surfaces of ore-heating furnaces, which can process material surfaces of ore-heating furnaces quickly and accurately to improve production efficiency. By using a robotic arm and various tools, the material surface conditions and the position status of the robot are monitored in real time through sensors, and feedback is given to the control system to adjust the movement of the robot.

[0055] In this embodiment, a rotating platform is arranged between the vehicle body structure and the mobile mechanism 1, and the rotating platform includes a rotating outer ring and a fixed inner ring that cooperate with each other, the fixed inner ring is installed on the upper part of the mobile mechanism 1, and the rotating outer ring is installed on the lower part of the vehicle body structure. The mobile mechanism 1 includes two parallel mobile parts, and multiple pairs of running wheels are respectively arranged on the two mobile parts, and the vehicle body structure is installed above the middle position of the two mobile parts.

[0056] In this embodiment, the two moving parts in the moving mechanism 1 are symmetrical, and move under the control of the control console through the running wheels cooperating with the fixed track. The vehicle body structure is installed above the moving mechanism 1 through a rotating table, and can rotate relative to the moving mechanism 1. The operating arm is installed on the vehicle body structure, which is used to automatically process the material surface. The operating arm can be installed with different operating tools as needed to meet the established requirements. The operating arm can be extended and extended and pitched relative to the vehicle body structure. The movement of the moving mechanism 1, the rotation of the vehicle body structure, and the movement of the operating arm all rely on electronic control and hydraulic drive, and need to introduce power, signals and hydraulic connections through the connecting mechanism.

[0057] Figure 7 It is a schematic diagram of the working structure of the electrical connector in a specific embodiment of the material surface processing robot of the present invention.

[0058] Fig.11 This is a schematic diagram of the working structure of the electro-hydraulic connector in a specific embodiment of the material surface processing robot of the present invention.

[0059] like Figure 7 and Fig.11 As shown, in this embodiment, the connection mechanism includes an electric connector 3 and an electric-hydraulic connector 4. The electric connector 3 is arranged on the vehicle body structure, the electric control device is connected to the power supply through the electric connector, and the electric connector 3 is used to make the vehicle body structure rotate relative to the power supply. The electric-hydraulic connector 4 is arranged between the vehicle body structure and the moving mechanism 1, and the hydraulic power device and the electric control device are respectively connected to the running wheels and the sensors through the electric-hydraulic connector 4.

[0060] In this embodiment, the electric connector 3 is used to transmit electricity from the busbar to the electric control box of the vehicle body structure through the collector 6 to centrally power the robot. The electro-hydraulic connector 4 is used to simultaneously transmit the hydraulic power and proximity signals, walking coding signals and other sensor signals required by the lower part of the vehicle body structure in a mutually isolated composite channel. The structure of the electric connector 3 and the electro-hydraulic connector 4 has great flexibility, and the transmission of electro-hydraulic power and sensor signals can rotate 360 ​​degrees without dead angles, thereby preventing the surface processing robot from having an interruption in the electro-hydraulic supply when rotating, improving the safety of the overall structure, avoiding the tangling of cables during the dragging process, and adapting to various working conditions.

[0061] Figure 7 It is a schematic diagram of the working structure of the electrical connector in a specific embodiment of the material surface processing robot of the present invention.

[0062] Figure 8 This is a schematic diagram of the front structural view of an electrical connector in a specific embodiment of the material surface processing robot of the present invention.

[0063] Fig. 9 This is a schematic diagram of the top view of the electrical connector in a specific embodiment of the material surface processing robot of the present invention.

[0064] Fig.10 It is a schematic diagram of the cross-sectional structure of an electrical connector in a specific embodiment of the material surface processing robot of the present invention.

[0065] like Figures 7 to 10 As shown, in this embodiment, the electrical connector 3 includes a rotating portion 31 and a mounting portion 32. The mounting portion 32 is fixedly mounted on the vehicle body structure, the rotating portion 31 rotates around the mounting portion 32 and they always maintain electrical connection with each other, the rotating portion 31 is connected to the power supply through a cable, and the mounting portion 32 is electrically connected to the electric control device.

[0066] In this embodiment, the mounting portion 32 includes a seat body 321, a terminal post 322 and a brush 323. The seat body 321 is mounted on the top of the vehicle body structure, and the terminal post 322 is mounted on the side of the seat body 321, electrically connected to the electric control device, and electrically connected to the brush 323 through an internal wire. In this embodiment, there are multiple brushes 323, which are arranged along the axial direction and fixed on the seat body 321.

[0067] In this embodiment, the rotating part 31 includes a frame 311, a lead post 312 and a conductive ring 313. The frame 311 is sleeved with the seat body 321, and the lead post 312 is installed on the upper part of the frame 311, electrically connected to the cable, and electrically connected to the conductive ring 313 through the internal wire. In this embodiment, there are multiple conductive rings 313, arranged along the axial direction, and an insulating pad is provided between every two conductive rings 313 for separation. Each conductive ring 313 corresponds to each brush 323 one by one, and they are rotated and electrically connected to each other.

[0068] In this embodiment, the electrical connector 3 further includes a bearing 33, which is disposed between the seat 321 and the frame 311. There are two bearings 33, which are respectively located on the two outer sides of the brush 313. The arrangement of the two bearings 33 enables the rotating part 31 to rotate relative to the mounting part 32 more safely, reliably and conveniently, specifically, the frame 311 rotates relative to the seat 321. When the orientation of the cable access relative to the robot changes, the frame 311 rotates relative to the seat 321, and the seat 321 is always fixed on the vehicle body structure, thereby avoiding the problem of cable entanglement.

[0069] refer to Figure 7 As shown, in this embodiment, the connection mechanism also includes a cycloidal mechanism 5. The cycloidal mechanism 5 includes a mounting seat 51 and a swing arm 52. The mounting seat 51 is rotatably mounted on the vehicle body, corresponding to the cover buckle seat body 321. The swing arm 52 is rotatably connected to the mounting seat 51. The cable passes through the seat body 321 and passes through the swing arm 52 through the cover buckle of the mounting seat 51, and pulls the swing arm 52 to swing when moving. After passing through the swing arm 52, the cable is connected to the hub 6, and then the power is taken from the hub 6. The hub 6 takes power from the fixed busbar to form an upper power supply structure, and the rotatable follow-up power supply structure changes the traditional cable dragging type.

[0070] Fig.11 This is a schematic diagram of the working structure of the electro-hydraulic connector in a specific embodiment of the material surface processing robot of the present invention.

[0071] Fig.12 This is a schematic diagram of the main structure of the electro-hydraulic connector in a specific embodiment of the material surface processing robot of the present invention.

[0072] Fig.13 This is a schematic diagram of the top view of the electro-hydraulic connector in a specific embodiment of the material surface processing robot of the present invention.

[0073] Fig.14 It is a schematic diagram of the cross-sectional structure of the electro-hydraulic connector in a specific embodiment of the material surface processing robot of the present invention.

[0074] like Figures 11 to 14 As shown, in this embodiment, the electro-hydraulic connector 4 includes an electrical connection component 41 and a liquid connection component 42. Among them, the electrical connection component 41 is arranged on the liquid connection component 42, and is electrically connected to the electric control device, and the electrical connection component 41 is connected to the sensor through a signal line. The liquid connection component 42 is fixedly arranged at one end of the electrical connection component 41, and an accommodating channel is arranged inside for the signal line to pass through. The electrical connection component 41 and the liquid connection component 42 are combined with each other to realize the passage of electricity and liquid through the same channel, while being effectively isolated, and also realizing the central hole rotation function, so as to avoid the entanglement of cables and hydraulic pipes during the robot's movement, and each has its own way, which is very smooth and safe.

[0075] In this embodiment, the electrical connection assembly 41 includes a rotating portion 411, a fixed portion 412 and a housing 413. The fixed portion 412 is connected to the housing 413, the rotating portion 411 is rotatably sleeved in the fixed portion 412, and the housing 413 is installed on the vehicle body structure and connected to the liquid connection assembly 42.

[0076] In this embodiment, a signal lead-out column 414 and a signal conductive ring 415 are provided on the rotating part 411, the signal lead-out column 414 is connected to the signal lead-out line and is electrically connected to the signal conductive ring 415, and a signal brush 416 is provided on the fixed part 412, the signal conductive ring 415 is rotationally electrically connected to the signal brush 416, and the signal brush 416 is electrically connected to the signal lead-in line 7.

[0077] In this embodiment, there are multiple signal brushes 416, which are arranged along the axial direction and fixed on the fixing portion 412. There are multiple signal conductive rings 415, which are arranged along the axial direction, and an insulating pad is provided between every two signal conductive rings 415 for separation. Each signal conductive ring 415 corresponds to each signal brush 416 one by one, and they are rotatably electrically connected to each other.

[0078] In this embodiment, the electrical connection component 41 also includes a bearing, which is arranged between the rotating part 411 and the fixed part 412. There are two groups of bearings, which are respectively located on the two outer sides of the signal conductive ring 415, one in the upper group and two in the lower group arranged axially. The arrangement of the bearings enables the rotating part 411 to rotate relative to the fixed part 412 more safely, reliably and conveniently. During the process of introducing and leading out the signal line, when the body structure of the robot changes position relative to the mobile mechanism 1, the rotating part 411 rotates relative to the fixed part 412, and the fixed part 412 is always fixed on the mobile mechanism 1, thereby avoiding the problem of signal line entanglement.

[0079] In this embodiment, the liquid connection assembly 42 includes a rotating portion 421 and a matching portion 422. The matching portion 422 is connected to the housing 413, the rotating portion 421 is buckled on the outside of the matching portion 422, the matching portion 422 has a hollow structure 40 in the middle, the signal lead-in line 7 passes through the hollow structure 40, and the rotating portion 421 and the matching portion 422 rotate to match and supply oil.

[0080] In this embodiment, the matching part 422 includes an annular tube 423 and a through tube 424 which are isolated from each other from the outside to the inside. Among them, the annular tube 423 surrounds the through tube 424, and the side wall of the annular tube 423 is provided with an oil inlet 425, and the lower part is provided with an oil outlet 426. In addition, the through tube 424 is centrally arranged, and the internal hollow structure 40 is penetrated with a signal lead-in line 7, and the signal lead-in line 7 is used to access the mobile data information collected in the mobile mechanism 1. A hydraulic sleeve 427 is provided on the rotating part 421, and the hydraulic sleeve 427 is sleeved on the outside of the annular tube 423. An oil port 428 is provided on the outside of the hydraulic sleeve 427, and an oil chamber 429 connected to the oil port 428 is provided on the inside, and the oil chamber 429 corresponds to the oil inlet 425 on the annular tube 423. In this embodiment, the electrical properties and hydraulic channels of each ring channel are independent of each other and do not interfere with each other.

[0081] In this embodiment, there are multiple oil ports 428, oil chambers 429 and oil inlet 425, and they correspond to each other one by one, and multiple oil chambers 429 are sealed. A rotating table is arranged between the vehicle body structure and the mobile mechanism 1, and the rotating table includes a rotating outer ring and a fixed inner ring that cooperate with each other. The fixed inner ring is installed on the upper part of the mobile mechanism 1, and the rotating outer ring is installed on the lower part of the vehicle body structure. The fixed part 412 of the electrical connection component 41 passes through the fixed inner ring, and the liquid connection component 42 passes downward, and the signal line passes through it. The hydraulic pipeline is connected by rotating up and down through the liquid connection component 42 to avoid mutual entanglement. In this embodiment, the overall rotation of 360 degrees without dead angles realizes electro-hydraulic transmission and supply, which is flexible and safe, and can meet the use requirements of some special working conditions.

[0082] In this embodiment, the multi-channel electric sensing signals of the lower part of the vehicle body structure are respectively transmitted to the signal conductive ring 415 of the rotating part 411 through the electric signal lead-in line 7, and the signal conductive ring 415 is connected with the corresponding signal brush 416, and the electric sensing signal is then transmitted to the upper part of the vehicle body structure through the signal lead-out column 414 connected to the signal brush 416. The hydraulic power required by the working part of the lower chassis of the vehicle body structure enters the oil chamber 429 of the hydraulic sleeve 427 through the hydraulic oil inlet oil port 428 on the hydraulic sleeve 427, and the oil chamber 429 is connected to the oil inlet port 425 on the annular tube 423, enters the annular tube 423, and then passes through the oil outlet 426 at the bottom of the annular tube 423 as the hydraulic oil outlet, thereby transmitting the hydraulic power to the lower chassis of the vehicle body structure and the moving mechanism 1 when the upper part of the vehicle body structure is rotating.

[0083] The electrical connector 3 and the electro-hydraulic connector 4 enable the robot to have very strong flexibility when working in special harsh working conditions, avoid safety hazards, improve the reliability and working performance of the whole machine, and meet the application requirements of various working conditions. When the signal line and hydraulic oil pass through at the same time, it is necessary to ensure that the signal line has good insulation and protection to avoid being corroded by the hydraulic oil; it is best to have isolation measures between the two to prevent the signal line from being squeezed and damaged. In this embodiment, the electrical connection component 41 is used to rotate and cooperate to realize the transfer of the signal line, and then the electro-hydraulic connection component 42 is used to rotate and cooperate to realize the rotation connection and cooperation of the hydraulic pipeline at the same time, which is not affected by the rotation of the vehicle body structure, and can pass the signal lead-in line 7 through the hollow structure 40, and realize the isolation between the electrical signal transmission and the hydraulic connection, thereby improving reliability. The hollow structure 40 is located at the rotation center of the vehicle body, so when the vehicle body structure rotates relative to the moving mechanism 1, the position of the hollow structure 40 does not change, and the oil outlet 426 of the ring pipe 423 is also basically in the center position. The oil pipe connected to it is always in the center position and will not change its position relative to the vehicle body structure when the robot posture changes, thereby avoiding pipeline interference and entanglement caused by position changes. The signal lead-in wire 7 and the hydraulic pipeline will not be intertwined or entangled, thereby improving the safety of the robot.

[0084] It can be seen from the above technical solution that the advantages and positive effects of the material surface processing robot of the present invention are:

[0085] In the present invention, an electric connector 3 is used to introduce electric power, and an electric-hydraulic connector 4 is used to realize the reasonable layout of the electric control and hydraulic control inside the robot, which can improve the connection and layout of the electric control and hydraulic control of the robot, and improve the reliability and safety of material surface processing, which has a very huge progressive significance.

[0086] Those skilled in the art should understand that the specific structures and processes shown in the above specific embodiments are only exemplary and not restrictive. Moreover, those skilled in the art can combine the various technical features shown above in various possible ways to form new technical solutions, or make other changes, which are all within the scope of the present invention.

Claims

1. A material surface processing robot, used for processing the material surface of a submerged arc furnace, characterized in that: include: Moving mechanism, actuator and connecting mechanism; A running wheel and a sensor are arranged at the bottom of the mobile mechanism, the running wheel is used to cooperate with the track for running, and the sensor is used to detect the movement data of the mobile mechanism; The actuator is arranged on the mobile mechanism and can rotate relative to the mobile mechanism; the actuator includes a vehicle body structure and an operating arm, a hydraulic power device and an electric control device are arranged in the vehicle body structure, and one end of the operating arm is connected to the vehicle body structure; The connecting mechanism includes an electrical connector and an electro-hydraulic connector. The electrical connector is arranged on the vehicle body structure. The electrical control device is connected to the power supply through the electrical connector. The electrical connector is used to rotate the vehicle body structure relative to the power supply. The electro-hydraulic connector is arranged between the vehicle body structure and the moving mechanism. The hydraulic power device and the electrical control device are respectively connected to the walking wheels and the sensors through the electro-hydraulic connector.

2. The surface processing robot according to claim 1, characterized in that: The electrical connector includes a rotating part and a mounting part, wherein the mounting part is fixedly mounted on the vehicle body structure, the rotating part rotates around the mounting part and they always maintain electrical connection with each other, the rotating part is connected to the power supply via a cable, and the mounting part is electrically connected to the electronic control device.

3. The surface processing robot according to claim 2, characterized in that: The mounting part comprises a seat body, a wire outlet post and a brush, wherein the seat body is mounted on the top of the vehicle body structure, and the wire outlet post is mounted on the side of the seat body, electrically connected to the electric control device, and electrically connected to the brush through an internal wire; The rotating part includes a frame, a lead post and a conductive ring. The frame is sleeved on the base. The lead post is installed on the upper part of the frame, electrically connected to the cable, and electrically connected to the conductive ring through an internal wire; the conductive ring is rotatably electrically connected to the brush.

4. The surface processing robot according to claim 3, characterized in that: The electrical connector further comprises a bearing, and the bearing is arranged between the seat body and the frame body. There are two bearings, which are respectively located at two outer sides of the brush.

5. The surface processing robot according to claim 3, characterized in that: The connecting mechanism also includes a cycloidal mechanism, which includes a mounting seat and a swing arm. The mounting seat is rotatably mounted on the vehicle body structure and corresponds to the cover buckle of the seat body. The swing arm is rotatably connected to the mounting seat. The cable passes through the seat body and passes through the swing arm through the mounting seat cover buckle, and pulls the swing arm to swing when moving.

6. The surface processing robot according to claim 1, characterized in that: The electro-hydraulic connector includes an electrical connection component and a liquid connection component. The electrical connection component is arranged on the liquid connection component and is electrically connected to the electronic control device. The electrical connection component is connected to the sensor through a signal line. The liquid connection component is fixedly arranged at one end of the electrical connection component and is provided with an accommodating channel inside for the signal line to pass through.

7. The surface processing robot according to claim 6, characterized in that: The electrical connection component comprises a rotating part, a fixing part and a shell, the fixing part is connected to the shell, the rotating part is rotatably sleeved in the fixing part, the shell is installed on the vehicle body structure and connected to the liquid connection component.

8. The surface processing robot according to claim 7, characterized in that: The rotating part is provided with a signal lead-out column and a signal conductive ring, the signal lead-out column is connected to the signal lead-out line and is electrically connected to the signal conductive ring, the fixed part is provided with a signal brush, the signal conductive ring is rotationally electrically connected to the signal brush, and the signal brush is electrically connected to the signal lead-in line.

9. The surface processing robot according to claim 8, characterized in that: The liquid connection assembly includes a follower part and a mating part, the mating part is connected to the shell, the follower part is buckled on the outside of the mating part, the mating part has a hollow structure in the middle, the signal introduction line passes through the hollow structure, and the follower part and the mating part rotate to match and supply oil.

10. The surface processing robot according to claim 9, characterized in that: The matching part includes a ring tube and a through tube which are isolated from each other from the outside to the inside. The ring tube surrounds the through tube, and the side wall is provided with an oil inlet, and the lower part is provided with an oil outlet. The through tube is centrally arranged, and the signal lead-in line is passed through the inside. A hydraulic sleeve is arranged on the rotating part, and the hydraulic sleeve is sleeved on the outside of the ring tube. The outside of the hydraulic sleeve is provided with an oil port, and the inside is provided with an oil chamber connected to the oil port, and the oil chamber rotates correspondingly with the oil inlet on the through tube.

11. The surface processing robot according to claim 10, characterized in that: The oil port, the oil chamber and the oil inlet are all multiple and correspond to each other one by one, and the multiple oil chambers are sealed.

12. The material surface processing robot according to claim 7, characterized in that: A rotating table is arranged between the vehicle body structure and the moving mechanism, and the rotating table includes a rotating outer ring and a fixed inner ring which cooperate with each other. The fixed inner ring is installed on the upper part of the moving mechanism, and the rotating outer ring is installed on the lower part of the vehicle body structure. The fixed part of the electrical connection component passes through the fixed inner ring.

13. The material surface processing robot according to any one of claims 1 to 11, characterized in that: The moving mechanism comprises two moving parts arranged in parallel, the running wheels are in multiple pairs and are respectively arranged on the two moving parts, and the vehicle body structure is installed above the middle position of the two moving parts.

Images