Automatic brick stacking device for side wall refractory bricks in steel ladle building process and using method

Abstract

The invention relates to an automatic brick stacking device for side wall refractory bricks in the steel ladle building process and a using method. The automatic brick stacking device comprises a steel ladle, a truss mechanical arm, a material stack, a feeding mechanical arm, a vertical continuous brick supply device, a vibration flapping mechanism and a four-axis robot. The feeding mechanical arm comprises a longitudinal beam, a gear and a rack are arranged at the bottom of the longitudinal beam, a first guide rail and a sliding block are arranged at the bottoms of the gear and the rack, a first motor and a speed reducer are arranged at the bottoms of the first guide rail and the sliding block, a mounting plate is arranged on one side of the first motor and the speed reducer, and a second guide rail and a sliding block are arranged at the bottom of the mounting plate. A second motor and a speed reducer are arranged at the bottom of the second guide rail and the sliding block, a third motor and a speed reducer are arranged at the bottom of the second motor and the speed reducer, and in the steel ladle building process, the functions of automatic recognition, conveying and position adjustment of refractory bricks from a material stack to a code placing area can be achieved through the feeding mechanical arm.

Description

Technical Field

[0001] The invention relates to the technical field of ladle masonry, and in particular to an automatic brick stacking device for side wall refractory bricks during the ladle masonry process and a use method thereof. Background Art

[0002] The ladle is an important container in the metallurgical industry, mainly used in steel mills to receive molten steel and perform pouring operations in front of electric furnaces and converters. It plays a pivotal role in enterprises. However, the working layer of the ladle is generally made of aluminum-magnesium refractory bricks. Under the mechanical stress, thermal stress and chemical erosion of 1500 degrees Celsius molten steel, the working layer of the ladle is easy to cause the refractory material to fall off, resulting in a short life of the ladle. The working layer of the ladle needs to be constantly rebuilt and repaired to meet the use requirements of the ladle.

[0003] At present, the existing ladle masonry work mainly adopts manual masonry. Taking the masonry of 90-ton ladle as an example, there are multiple people working at the same time, who are used to stack bricks inside the ladle and transport them outside the ladle respectively. The labor cost is high. The ladle masonry operation area is under the overhead crane hoisting. The overhead crane hoisting and ladle masonry are cross-operated, with a low safety factor. There is a lot of dust on site and the working environment is poor. There are 2403 refractory bricks in the ladle body. The heaviest brick is 14KG and the lightest is 5KG. Each person has to carry 5-6 tons of bricks every day, which is labor-intensive. The brick masonry requires high-precision control of brick seams. Summary of the invention

[0004] The object of the present invention is to provide an automatic brick stacking device and a method for using side wall refractory bricks during ladle masonry, so as to solve the problems mentioned in the above background technology.

[0005] The technical solution of the present invention is an automatic brick stacking device for side wall refractory bricks during the ladle masonry process, comprising a ladle, a truss manipulator, a material stack, a loading manipulator, a vertical continuous brick supply device, a vibration slapping mechanism, and a four-axis robot;

[0006] The loading robot includes a longitudinal beam, a gear and a rack are provided at the bottom of the longitudinal beam, a first guide rail and a slider are provided at the bottom of the gear and the rack, a first motor and a reducer are provided at the bottom of the first guide rail and the slider, a mounting plate is provided on one side of the first motor and the reducer, a second guide rail and a slider are provided at the bottom of the mounting plate, a second motor and a reducer are provided at the bottom of the second guide rail and the slider, and a third motor and a reducer are provided at the bottom of the second motor and the reducer.

[0007] In one embodiment, a belt and a pressure plate are provided on the front side of the third motor and reducer, a first guide rail slider is provided at the bottom of the belt and the pressure plate, a visual system is provided on the front side of the first guide rail slider, a motor reducer drive module is provided on the front side of the visual system, a transmission belt and a pulley are provided on the front side of the motor reducer drive module, a pneumatic suction cup is provided on the front side of the transmission belt and pulley, and a crossbeam is provided on the front side of the pneumatic suction cup.

[0008] In one embodiment, the vertical continuous brick supply device includes a fourth motor and a reducer, a lead screw and a nut are provided at the bottom of the fourth motor and the reducer, a second guide rail slider is provided at the bottom of the lead screw and the nut, a first slewing bearing is provided at the bottom of the second guide rail slider, a support beam is provided at the bottom of the first slewing bearing, a second slewing bearing is provided at the bottom of the support beam, a motor reducer is provided on the front side of the fourth motor and the reducer, a transmission shaft is provided at the bottom of the motor reducer, a bearing seat is provided at the bottom of the transmission shaft, a support plate is provided at the bottom of the bearing seat, a transmission chain is provided at the bottom of the support plate, a steel frame is provided at the bottom of the transmission chain, a first gear is provided at the bottom of the steel frame, and a fifth motor and a reducer are provided at the bottom of the first gear.

[0009] In one embodiment, a sixth motor and a reducer are provided at the bottom of the fifth motor and the reducer, a second gear is provided at the bottom of the sixth motor and the reducer, a first rodless cylinder is provided at the bottom of the second gear, a first push plate is provided at the bottom of the first rodless cylinder, a supporting plate is provided at the bottom of the support beam, a second push plate is provided at the top of the supporting plate, a second rodless cylinder is provided at the top of the second push plate, and a connecting plate is provided on one side of the rear side of the supporting plate.

[0010] A method for using an automatic brick stacking device for side wall refractory bricks during ladle masonry, comprising the following steps:

[0011] S1: First, the refractory bricks are stacked on the side of the whole set of equipment. The loading robot picks up the refractory bricks from the material pile, adjusts the position after visual recognition, and then transfers them to the vertical continuous brick feeding device. The vertical continuous brick feeding device transfers the refractory bricks from top to bottom and finally transports the refractory bricks to the corresponding masonry layer;

[0012] S2: Then the vertical continuous brick supply device can rotate at different positions within 360°, and can transport the refractory bricks to any position to be stacked on the side wall of the ladle. The four-axis robot fixed at the end of the vertical continuous brick supply drives the pneumatic suction cup to transfer the refractory bricks from the position to be stacked to the final stacking position;

[0013] S3: Then the rotary device on the vertical continuous brick supply device rotates, and the four-axis robot is transferred to the next stacking position to stack the next refractory brick. While rotating, it drives the vibration and beating mechanism installed at the end of the vertical continuous brick supply device. The mechanism rotates to the top of the refractory brick that has just been stacked, and starts the pneumatic vibrator to beat and vibrate. The vibration and beating mechanism mainly consists of a small rectangular coordinate manipulator driving a pneumatic vibrator. After beating, the refractory bricks are stacked more firmly and firmly. Due to the deep depth of the ladle, the entire ladle is sunk to a certain depth under the ground. In order to facilitate the lifting and transportation of the ladle, the vertical continuous brick supply device is placed on the truss manipulator as a whole.

[0014] The beneficial effects provided by the present invention are:

[0015] 1. During the ladle laying process, the loading robot can complete the automatic identification, transportation and position adjustment of refractory bricks from the material stack to the code placement area;

[0016] 2. During the ladle laying process, the vertical continuous brick supply device can complete the continuous brick supply function while stacking the refractory bricks;

[0017] 3. The whole set of equipment can be used to stack refractory bricks from the material stack to the inner side wall of the ladle. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of the component loading robot of the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of the vertical continuous brick supply device of the present invention;

[0020] Figure 3 It is a stereogram of the present invention.

[0021] In the attached figure, 1, longitudinal beam; 2, gear and rack; 3, first guide rail and slider; 4, first motor and reducer; 5, mounting plate; 6, second guide rail and slider; 7, second motor and reducer; 8, third motor and reducer; 9, belt and pressure plate; 10, first guide rail slider; 11, visual system; 12, motor reducer drive module; 13, transmission belt and pulley; 14, pneumatic suction cup; 15, cross beam; 16, fourth motor and reducer; 17, lead screw nut; 18, second guide rail slider; 19, first slewing bearing; 20, support beam; 21, second slewing bearing ; 22. Motor reducer; 23. Drive shaft; 24. Bearing seat; 25. Support plate; 26. Drive chain; 27. Steel frame; 28. First gear; 29. ​​Fifth motor and reducer; 30. Sixth motor and reducer; 31. Second gear; 32. First rodless cylinder; 33. First push plate; 34. Second rodless cylinder; 35. Second push plate; 36. Support plate; 37. Connecting plate; 38. Ladle; 39. Truss manipulator; 40. Material stamping; 41. Loading manipulator; 42. Vertical continuous brick supply device; 43. Vibration and beating mechanism; 44. Four-axis robot. DETAILED DESCRIPTION

[0022] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present invention can be combined with each other. The technical solution of the present invention will be further described below in conjunction with the drawings of the embodiments of the present invention, and the present invention is not limited to the following specific implementation methods.

[0023] It should be understood that the same or similar reference numerals in the drawings of the embodiments correspond to the same or similar components. In the description of the present invention, it should be understood that if the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom" and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0024] In one embodiment, Figure 1 , Figure 2 , Figure 3 As shown, an automatic brick stacking device for side wall refractory bricks during ladle masonry process includes a ladle 38, a truss manipulator 39, a material stamping 40, a loading manipulator 41, a vertical continuous brick supply device 42, a vibrating and beating mechanism 43, and a four-axis robot 44;

[0025] The feeding robot 41 includes a longitudinal beam 1, a gear and a rack 2 are provided at the bottom of the longitudinal beam 1, a first guide rail and a slider 3 are provided at the bottom of the gear and the rack 2, a first motor and a reducer 4 are provided at the bottom of the first guide rail and the slider 3, a mounting plate 5 is provided on one side of the first motor and the reducer 4, a second guide rail and a slider 6 are provided at the bottom of the mounting plate 5, a second motor and a reducer 7 are provided at the bottom of the second guide rail and the slider 6, a third motor and a reducer 8 are provided at the bottom of the second motor and the reducer 7, a belt and a pressure plate 9 are provided on the front side of the third motor and the reducer 8, and a belt and a pressure plate 9 are provided on the front side of the belt and the pressure plate 9 is provided with a first guide rail slider 10 at the bottom, a visual system 11 is provided at the front side of the first guide rail slider 10, a motor reducer drive module 12 is provided at the front side of the visual system 11, a transmission belt and a pulley 13 are provided at the front side of the motor reducer drive module 12, a pneumatic suction cup 14 is provided at the front side of the transmission belt and the pulley 13, a crossbeam 15 is provided at the front side of the pneumatic suction cup 14, a vertical continuous brick supply device 42 includes a fourth motor and a reducer 16, a screw nut 17 is provided at the bottom of the fourth motor and the reducer 16, and a second guide rail slider is provided at the bottom of the screw nut 17 The second guide rail slider 18 is provided with a first slewing bearing 19 at the bottom, a support beam 20 is provided at the bottom of the first slewing bearing 19, a second slewing bearing 21 is provided at the bottom of the support beam 20, a motor reducer 22 is provided at the front side of the fourth motor and reducer 16, a transmission shaft 23 is provided at the bottom of the motor reducer 22, a bearing seat 24 is provided at the bottom of the transmission shaft 23, a support plate 25 is provided at the bottom of the bearing seat 24, a transmission chain 26 is provided at the bottom of the support plate 25, a steel frame 27 is provided at the bottom of the transmission chain 26, and a first gear 2 is provided at the bottom of the steel frame 27 8. A fifth motor and a reducer 29 are provided at the bottom of the first gear 28, a sixth motor and a reducer 30 are provided at the bottom of the fifth motor and the reducer 29, a second gear 31 is provided at the bottom of the sixth motor and the reducer 30, a first rodless cylinder 32 is provided at the bottom of the second gear 31, a first push plate 33 is provided at the bottom of the first rodless cylinder 32, a support plate 36 is provided at the bottom of the support beam 20, a second push plate 35 is provided at the top of the support plate 36, a second rodless cylinder 34 is provided at the top of the second push plate 35, and a connecting plate 37 is provided at one side of the rear side of the support plate 36;

[0026] The entire mechanism of the feeding manipulator 41 is fixed on the truss manipulator 39 component through the mounting plate 5, and the X-axis is driven by the first motor and the gear rack of the reducer 4, and the guiding positioning is completed by the second guide rail and the slider 6. The first guide rail and the slider 3 are installed on the longitudinal beam 1, and the Z-axis drive is completed by the second motor and the reducer 7 and the gear and the rack 2. The Y-axis drive is completed by the belt and the pressure plate 9 and the third motor and the reducer 8 under the longitudinal beam 1. The first guide rail slider 10 with a guiding function is installed on both sides of the crossbeam 15, so that the entire mechanism can move in the X, Y, and Z axes, so that the feeding mechanism can pick up the materials from the refractory brick material pile on the side. A visual system 11 is installed under the entire feeding manipulator 41. The position of the workpiece is adjusted by visual positioning before picking up the material. The angle of the material can be adjusted by the transmission of the motor reducer drive module 12 and the transmission belt and pulley 13 at the front end of the pneumatic suction cup 14;

[0027] The vertical continuous brick supply device 42 is fixed on the truss manipulator 39 component as a whole through the support beam 20. A steel frame 27 is installed at the center of the mechanism, which is connected to the support beam 20 through the first slewing bearing 19. Driven by the fifth motor and reducer 29 and the first gear 28, the whole can rotate 360 ​​degrees. At the same time, a fourth motor and reducer 16 are installed on the side of the steel frame 27. The lead screw nut 17 and the second guide rail slider 18 complete the movement in the Z-axis direction. The bearing seat 24 is installed on the upper and lower sides of the steel frame 27. The rotation movement of the transmission chain 26 can be completed through the motor reducer 22 and the transmission shaft 23 in the middle. The transmission chain 26 is evenly arranged with support plates 25. The plate 25 can buffer multiple refractory bricks to ensure the supply of refractory bricks during the work of stacking refractory bricks below. A second slewing bearing 21 is also installed on the steel frame 27. The rotation of the connecting plate 37 is driven by the sixth motor, the reducer 30 and the second gear 31. The loading robot 41 takes the refractory bricks from the material pile 40 and places them on the support plate 36. Then it is rotated to the top of the support plate 36, and the refractory bricks are pushed onto the support plate 25 by the second rodless cylinder 34 and the second push plate 35. When the support plate 25 is transferred to the bottom through the transmission chain 26, the refractory bricks are pushed from the support plate 25 to the final stacking position by the first rodless cylinder 32 and the first push plate 33.

[0028] A method for using an automatic brick stacking device for side wall refractory bricks during ladle masonry, comprising the following steps:

[0029] S1: First, the refractory bricks are stacked on the side of the whole set of equipment, and the loading robot 41 picks up the refractory bricks from the material pile 40, adjusts the position after visual recognition, and then transfers them to the vertical continuous brick feeding device 42, which transfers the refractory bricks from top to bottom and finally transports the refractory bricks to the corresponding masonry layer;

[0030] S2: Then the vertical continuous brick supply device 42 can rotate at different positions within 360°, and can transport the refractory bricks to any position to be stacked on the side wall of the ladle 38. The four-axis robot 44 fixed at the end of the vertical continuous brick supply drives the pneumatic suction cup 14 to transfer the refractory bricks from the position to be stacked to the final stacking position;

[0031] S3: Then the rotary device on the vertical continuous brick supply device 42 rotates, and the four-axis robot 44 is transferred to the next stacking position to stack the next refractory brick. While rotating, it drives the vibration and beating mechanism 43 installed at the end of the vertical continuous brick supply device 42. The mechanism rotates to the top of the refractory brick that has just been stacked, and starts the pneumatic vibrator to beat and vibrate. The vibration and beating mechanism 43 mainly consists of a small rectangular coordinate manipulator driving a pneumatic vibrator. After beating, the refractory bricks are stacked more firmly. Since the ladle 38 is deep, the entire ladle 38 is sunk to a certain depth below the ground. In order to facilitate the lifting and transportation of the ladle 38, the vertical continuous brick supply device 42 is placed on the truss manipulator 39 as a whole.

[0032] Working principle: Refractory bricks are stacked on the side of the whole set of equipment. The loading robot 41 picks up the refractory bricks from the material pile 40, adjusts the position after visual recognition, and then transfers them to the vertical continuous brick supply device 42. The vertical continuous brick supply device 42 transfers the refractory bricks from top to bottom, and finally transports the refractory bricks to the corresponding masonry layer. At the same time, the vertical continuous brick supply device 42 can rotate at different positions within 360°, and can transport the refractory bricks to any waiting stacking position on the side wall of the ladle 38. The four-axis robot 44 fixed at the end of the vertical continuous brick supply drives the pneumatic suction cup 14 to transfer the refractory bricks from the waiting stacking position to the final stacking position, and then the vertical continuous brick supply device 42 The rotating device rotates to transfer the four-axis robot 44 to the next stacking position for stacking the next refractory brick. While rotating, it drives the vibrating and beating mechanism 43 installed at the end of the vertical continuous brick supply device 42. The mechanism rotates to the top of the refractory brick that has just been stacked, and starts the pneumatic vibrator to beat and vibrate. The vibrating and beating mechanism 43 mainly consists of a small rectangular coordinate manipulator driving a pneumatic vibrator. After beating, the refractory bricks are stacked more firmly and firmly. Due to the deep depth of the ladle 38, the entire ladle 38 is sunk to a certain depth under the ground. In order to facilitate the lifting and transportation of the ladle 38, the vertical continuous brick supply device 42 is placed on the truss manipulator 39 as a whole.

[0033] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0034] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An automatic brick stacking device for side wall refractory bricks during ladle masonry, characterized in that: It includes a ladle (38), a truss manipulator (39), a material stamping machine (40), a loading manipulator (41), a vertical continuous brick supply device (42), a vibration beating mechanism (43), and a four-axis robot (44); The loading robot (41) comprises a longitudinal beam (1), a gear and a rack (2) are provided at the bottom of the longitudinal beam (1), a first guide rail and a slider (3) are provided at the bottom of the gear and the rack (2), a first motor and a reducer (4) are provided at the bottom of the first guide rail and the slider (3), a mounting plate (5) is provided on one side of the first motor and the reducer (4), a second guide rail and a slider (6) are provided at the bottom of the mounting plate (5), a second motor and a reducer (7) are provided at the bottom of the second guide rail and the slider (6), and a third motor and a reducer (8) are provided at the bottom of the second motor and the reducer (7).

2. The automatic brick stacking device for side wall refractory bricks during ladle masonry according to claim 1 is characterized in that: The front side of the third motor and reducer (8) is provided with a belt and a pressure plate (9), the bottom of the belt and the pressure plate (9) is provided with a first guide rail slider (10), the front side of the first guide rail slider (10) is provided with a visual system (11), the front side of the visual system (11) is provided with a motor reducer drive module (12), the front side of the motor reducer drive module (12) is provided with a transmission belt and a pulley (13), the front side of the transmission belt and the pulley (13) is provided with a pneumatic suction cup (14), and the front side of the pneumatic suction cup (14) is provided with a crossbeam (15).

3. The automatic brick stacking device for side wall refractory bricks during ladle masonry according to claim 1 is characterized in that: The vertical continuous brick supply device (42) comprises a fourth motor and a reducer (16), a lead screw and a nut (17) are provided at the bottom of the fourth motor and the reducer (16), a second guide rail slider (18) is provided at the bottom of the lead screw and a nut (17), a first slewing bearing (19) is provided at the bottom of the second guide rail slider (18), a support beam (20) is provided at the bottom of the first slewing bearing (19), a second slewing bearing (21) is provided at the bottom of the support beam (20), and the fourth motor and the reducer (16) are provided at the bottom of the fourth motor and the reducer (16). A motor reducer (22) is provided at the front side, a transmission shaft (23) is provided at the bottom of the motor reducer (22), a bearing seat (24) is provided at the bottom of the transmission shaft (23), a support plate (25) is provided at the bottom of the bearing seat (24), a transmission chain (26) is provided at the bottom of the support plate (25), a steel structure frame (27) is provided at the bottom of the transmission chain (26), a first gear (28) is provided at the bottom of the steel structure frame (27), and a fifth motor and reducer (29) are provided at the bottom of the first gear (28).

4. The automatic brick stacking device for side wall refractory bricks during ladle construction according to claim 3 is characterized in that: A sixth motor and a reducer (30) are provided at the bottom of the fifth motor and a reducer (29); a second gear (31) is provided at the bottom of the sixth motor and a reducer (30); a first rodless cylinder (32) is provided at the bottom of the second gear (31); a first push plate (33) is provided at the bottom of the first rodless cylinder (32); a support plate (36) is provided at the bottom of the support beam (20); a second push plate (35) is provided at the top of the support plate (36); a second rodless cylinder (34) is provided at the top of the second push plate (35); a connecting plate (37) is provided at one side of the rear side of the support plate (36).

5. The method for using the automatic brick stacking device for side wall refractory bricks during ladle masonry according to claims 1-4, characterized in that: The following steps are involved: S1: First, the refractory bricks are stacked on the side of the whole set of equipment, and the refractory bricks are picked up from the material pile (40) by the loading robot (41), and the position is adjusted after visual recognition, and then transferred to the vertical continuous brick supply device (42). The vertical continuous brick supply device (42) transfers the refractory bricks from top to bottom and finally transports the refractory bricks to the corresponding masonry layer; S2: Then the vertical continuous brick supply device (42) can be rotated at different positions within 360°, and the refractory bricks can be transported to any position to be stacked on the side wall of the ladle (38). The four-axis robot (44) fixed at the end of the vertical continuous brick supply drives the pneumatic suction cup (14) to transfer the refractory bricks from the position to be stacked to the final stacking position; S3: Then the rotary device on the vertical continuous brick supply device (42) rotates to transfer the four-axis robot (44) to the next stacking position, so as to stack the next refractory brick. While rotating, it drives the vibration and beating mechanism (43) installed at the end of the vertical continuous brick supply device (42). The mechanism rotates to the top of the refractory brick that has just been stacked, and starts the pneumatic vibrator to beat and vibrate. The vibration and beating mechanism (43) mainly consists of a small rectangular coordinate manipulator driving a pneumatic vibrator. After beating, the refractory bricks are stacked more firmly. Since the depth of the ladle (38) is relatively deep, the entire ladle (38) is sunk to a certain depth below the ground. In order to facilitate the lifting and transportation of the ladle (38), the vertical continuous brick supply device (42) is placed on the truss manipulator (39) as a whole.

Images