Discharging robot equipment for submerged arc furnace

Abstract

The invention discloses submerged arc furnace discharging robot equipment, and relates to the field of discharging equipment. The furnace discharging robot equipment comprises a chassis, an operation arm, a hole pulling device and a drill rod feeding mechanism, the operation arm is movably arranged on the chassis, and the operation arm is suitable for moving on the chassis in the side direction; the hole pulling device is arranged on the operating arm and moves along with the operating arm so as to reciprocate between an initial position and a working position, and a first mounting part is arranged on the hole pulling device; the drill rod feeding mechanism is arranged on one side of the hole pulling device and provided with a movable transmission part, a second installation part is formed on the transmission part and suitable for carrying a drill rod, and the transmission part drives the drill rod carried by the second installation part to fall into the first installation part to achieve automatic drill rod feeding when the hole pulling device is located at the initial position. According to the submerged arc furnace discharging robot equipment, efficient and automatic replacement of the drill rod is achieved, the continuity and stability of discharging operation are remarkably improved, and meanwhile the labor intensity and the safety risk of operators are relieved.

Description

Technical Field

[0001] The invention relates to the field of furnace unloading equipment, in particular to a furnace unloading robot equipment for an ore-fired furnace. Background Art

[0002] In the process of tapping out of a ferroalloy ore furnace, the three key processes are eye opening, eye pulling and eye plugging. Among them, eye pulling is directly related to the smoothness of the tapping process and the efficiency of the tapping. At present, the eye pulling operation generally uses threaded steel or round steel with a diameter of 25 to 32 mm as the operating tool. However, due to the high temperature environment in the ferroalloy furnace, threaded steel or round steel is very easy to deform during use and is consumed at a high speed, so it needs to be replaced frequently.

[0003] In the related art, due to the extremely high temperature in the furnace, rebar or round steel is easily deformed under the action of high temperature, which reduces its service life and increases the frequency of replacement. Every time the rebar is replaced, it needs to be manually carried, including lifting the used rebar whose front end has been heated by high temperature from the furnace machine and replacing it with a new one. Workers face the risk of being burned by high-temperature rebar, which poses a serious safety hazard. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a submerged arc furnace unloading robot device. According to the submerged arc furnace unloading robot device of the present invention, the efficient automatic replacement of the drill rod is realized, the continuity and stability of the unloading operation are significantly improved, and the labor intensity of the operator is reduced.

[0005] The electric arc furnace unloading robot equipment according to the present invention comprises: a chassis; an operating arm, which is movably arranged on the chassis, and the operating arm is suitable for moving laterally on the chassis; an eye-pulling device, which is arranged on the operating arm and moves with the operating arm to reciprocate between an initial position and a working position, and the eye-pulling device is provided with a first mounting portion for clamping a drill rod; a drill-raising mechanism, which is arranged on one side of the eye-pulling device and is provided with a movable transmission component, and a second mounting portion is formed on the transmission component, and the second mounting portion is suitable for carrying a drill rod, and when the eye-pulling device is located at the initial position, the transmission component drives the drill rod carried by the second mounting portion to fall into the first mounting portion for automatic drill-raising.

[0006] According to the electric arc furnace unloading robot equipment of the present invention, the upper drill mechanism is responsible for automatically feeding the new drill rod into the first installation part of the eye-pulling device so as to carry out the subsequent unloading operation. The upper drill mechanism is arranged on one side of the eye-pulling device and is equipped with a movable transmission component, and the transmission component realizes the automatic conveying of the drill rod by moving. By arranging the second installation part on the transmission component, the second installation part can carry the drill rod, ensuring the stability and safety of the drill rod during the conveying process. When the eye-pulling device is located at the initial position, the transmission component begins to move according to the preset path. With the movement of the transmission component, the drill rod carried by the second installation part is also driven, gradually approaching the docking position of the first installation part. When the second installation part moves to the position corresponding to the first installation part, the drill rod carried by the second installation part can fall into the first installation part, thereby completing the automatic replacement of the drill rod. By arranging the upper drill mechanism, the electric arc furnace unloading robot equipment not only improves the efficiency of the drill rod replacement, but also reduces the labor intensity of the operator, making the entire unloading operation process more automated, intelligent, safe and reliable.

[0007] According to some embodiments of the present invention, the eye-pulling device includes: a supporting portion, which is arranged at one end of the operating arm and moves synchronously with the operating arm; a clamping portion, which is movably arranged on the operating arm and is arranged opposite to the supporting portion in a first direction, and the clamping portion can approach or move away from the supporting portion in the first direction, and the clamping portion and the supporting portion together constitute the first mounting portion; the electric arc furnace unloading robot equipment also includes: a drill unloading mechanism, which is arranged on the operating arm and located between the supporting portion and the clamping portion, and the drill unloading mechanism is suitable for ejecting the drill rod and guiding the drill rod to detach from the first mounting portion when the eye-pulling device is in the initial position.

[0008] According to some embodiments of the present invention, the clamping portion is suitable for driving the drill rod to reciprocate in a first direction, and the drill unloading mechanism has a guiding inclined surface for contacting the drill rod and causing the drill rod to roll along the guiding inclined surface.

[0009] According to some embodiments of the present invention, the brazing unloading mechanism comprises: a unloading portion, and the unloading portion is rotatably or translationally disposed on the operating arm.

[0010] According to some embodiments of the present invention, a rotating shaft is provided on one side edge of the discharge portion, and an inclined guide slope is provided on the other side of the discharge portion. The guide slope is constructed so that when the discharge portion rotates to abut against the drill rod, its height gradually decreases in the direction toward the upper drill mechanism.

[0011] According to some embodiments of the present invention, the discharge part is configured as a plurality of parts which are spaced apart on the eyelet device, and the rotation axes of each of the discharge parts are parallel to each other and orthogonal to the first direction.

[0012] According to some embodiments of the present invention, a plurality of the discharge parts rotate in the same direction to lift the drill rod; or at least two adjacent discharge parts rotate close to each other to lift the drill rod; or at least two adjacent discharge parts rotate away from each other to lift the drill rod.

[0013] According to some embodiments of the present invention, the drill unloading mechanism further comprises: a guide plate, the guide plate is arranged on the side of the operating arm, and the guide plate is inclined in the direction from the eye-pulling device toward the drill-loading mechanism.

[0014] According to some embodiments of the present invention, the guide plate is disposed between two adjacent discharge portions; or is located on a side of one of the discharge portions away from the other discharge portion.

[0015] According to some embodiments of the present invention, the guide plate is configured in multiple numbers, and at least one guide plate is disposed between two adjacent discharge parts.

[0016] According to some embodiments of the present invention, the drill unloading mechanism also includes a straightening structure, which is arranged on the side of the guide plate away from the operating arm, and a straightening gap for squeezing the drill rod is formed on the straightening structure, and a straightening outlet connected to the straightening gap and open to the recovery area is formed on the straightening structure.

[0017] According to some embodiments of the present invention, the straightening structure comprises: guide columns, wherein the guide columns are configured into a plurality of pairs, each pair of the guide columns are spaced apart from each other, and the plurality of pairs of the guide columns face each other in a first direction of the drill rod to define the straightening gap.

[0018] According to some embodiments of the present invention, at least one of the guide posts is rotatably arranged to drive the drill rod within the straightening gap to move.

[0019] According to some embodiments of the present invention, the transmission component includes: a first transmission structure and a second transmission structure, one end of the second transmission structure is hingedly connected to the first transmission structure and can selectively swing relative to the first transmission structure, the first transmission structure and the second transmission structure are respectively used to drive the drill rod to move; a driving structure, the driving structure is suitable for driving the second transmission structure to rotate relative to the first transmission structure to switch between an avoidance state and a feeding state, the driving structure is suitable for driving the second transmission structure to rotate to a feeding state when the eye-pulling device is in an initial position, and in the feeding state, the edge of the second transmission structure is aligned with the first mounting portion and the drill rod device is fed into the first mounting portion.

[0020] According to some embodiments of the present invention, in the avoidance state, the extension direction of the first transmission structure is consistent with that of the second transmission structure; in the feeding state, the second transmission structure rotates to a horizontal state, and the angle between the second transmission structure and the first transmission structure is α, and satisfies 90°≤α≤120°.

[0021] According to some embodiments of the present invention, a first bearing portion that can move along the circumference of the first transmission structure and is suitable for bearing a drill rod is provided on the outer periphery of the first transmission structure, and a second bearing portion that can move along the circumference of the second transmission structure and is suitable for bearing a drill rod is provided on the outer periphery of the second transmission structure, and the first bearing portion and the second bearing portion constitute the second mounting portion;

[0022] The drill biting mechanism further includes: a first power shaft, which is arranged in the first transmission structure and is used to transmit driving force and drive the first bearing part to move; a second power shaft, which is arranged in the second transmission structure and is used to transmit driving force and drive the second bearing part to move; and a driver, which is connected to at least one of the first power shaft and the second power shaft and is used to provide the power required to drive the first bearing part and the second bearing part to move.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0025] Figure 1 is a schematic diagram of a submerged arc furnace unloading robot device in an avoidance state according to an embodiment of the present invention;

[0026] Figure 2 is a schematic diagram of a submerged arc furnace unloading robot device in a feeding state according to an embodiment of the present invention;

[0027] Figure 3 2 is a schematic structural diagram of a chassis and an operating arm of a submerged arc furnace unloading robot device according to an embodiment of the present invention;

[0028] Figure 4 is a plan view of a submerged arc furnace unloading robot device according to an embodiment of the present invention;

[0029] Figure 5 It is a structural schematic diagram of the unloading part of the ore-fired furnace unloading robot equipment according to an embodiment of the present invention.

[0030] Reference numerals:

[0031] 1. Robotic equipment for unloading submerged arc furnace;

[0032] 11. Chassis;

[0033] 12. Operating arm;

[0034] 13. Eyelet device, 131. Supporting part, 132. Clamping part;

[0035] 14. drilling mechanism, 141. first transmission structure, 1411. first bearing part, 142. second transmission structure, 1421. second bearing part;

[0036] 151. Discharging part, 1511. Rotating shaft, 1512. Guide slope, 152. Guide plate, 153. Straightening structure, 1531. Guide column, 1532. Straightening gap. DETAILED DESCRIPTION

[0037] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0038] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0039] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In the related art, due to the extremely high temperature in the furnace, rebar or round steel is easily deformed under the action of high temperature, which reduces its service life and increases the frequency of replacement. Every time the rebar is replaced, it needs to be manually carried, including lifting the used rebar whose front end has been heated by high temperature from the furnace machine and replacing it with a new one. Workers face the risk of being burned by high-temperature rebar, which poses a serious safety hazard.

[0041] Reference below Figure 1-Figure 5 The submerged arc furnace unloading robot device 1 according to the embodiment of the present invention is described.

[0042] like Figure 1-Figure 4 As shown, the electric arc furnace unloading robot device 1 according to the present invention comprises a chassis 11, an operating arm 12 and an eye-pulling device 13. The operating arm 12 is movably arranged on the chassis 11, and the operating arm 12 is suitable for moving laterally on the chassis 11; the eye-pulling device 13 is arranged on the operating arm 12 and moves with the operating arm 12 to reciprocate between the initial position and the working position. The operating arm 12 moves laterally on the chassis 11, which means that the operating arm 12 can move left and right in the width direction along the chassis 11.

[0043] The lateral movement of the operating arm 12 on the chassis 11 can drive the movement of the eye pulling device 13, so that the eye pulling device 13 moves between the initial position and the working position. The initial position is the position of the eye pulling device 13 before preparing to perform the furnace-out operation, and the working position is the position of the eye pulling device 13 performing the furnace-out operation. In the initial position, the drill rod on the eye pulling device 13 can be safely replaced. The eye pulling device 13 is provided with a first mounting portion for clamping the drill rod. By installing the drill rod on the first mounting portion, the eye pulling device 13 can drive the flow of molten iron by controlling the reciprocating motion of the drill rod, thereby improving the furnace-out efficiency.

[0044] The ore-fired furnace unloading robot device 1 also includes a drill-up mechanism 14, which is responsible for automatically feeding a new drill rod into the first mounting portion of the eye-pulling device 13 for subsequent unloading operations. The drill-up mechanism 14 is arranged on one side of the eye-pulling device 13 and is equipped with a movable transmission component, which realizes automatic transportation of the drill rod by moving. By arranging a second mounting portion on the transmission component, the second mounting portion can carry the drill rod, thereby ensuring the stability and safety of the drill rod during transportation.

[0045] When the eyelet device 13 is located at the initial position, the transmission component starts to move according to the preset path. Along with the movement of the transmission component, the drill rod carried by the second mounting portion is also driven, gradually approaching the docking position of the first mounting portion.

[0046] When the second mounting portion moves to a position opposite to the first mounting portion, the drill rod carried by the second mounting portion can fall into the first mounting portion, thereby completing the automatic replacement of the drill rod.

[0047] By providing the drill rod mounting mechanism 14, the ore-forming furnace unloading robot device 1 not only improves the efficiency of replacing the drill rod, but also reduces the labor intensity of the operator, making the entire unloading operation process more automated, intelligent, safe and reliable.

[0048] Therefore, according to the ore-forming furnace unloading robot device 1 of the present invention, efficient and automatic replacement of the drill rod is achieved, which significantly improves the continuity and stability of the unloading operation, while reducing the labor intensity and safety risks of the operators.

[0049] According to some embodiments of the present invention, Figure 3 The eyelet pulling device 13 includes a supporting portion 131 and a clamping portion 132. The supporting portion 131 is arranged at one end of the operating arm 12 and moves synchronously with the operating arm 12, and is used to support the drill rod at one end of the operating arm 12. The clamping portion 132 is movably arranged on the operating arm 12 and is arranged relative to the supporting portion 131 in the first direction. The clamping portion 132 can be close to or away from the supporting portion 131 in the first direction. The clamping portion 132 and the supporting portion 131 together constitute a first mounting portion. Therefore, the drill rod is supported on the supporting portion 131 and the clamping portion 132 respectively to be installed on the first mounting portion. At this time, the first direction is the extension direction of the drill rod. The drill rod can move in the first direction driven by the clamping portion 132 to realize the reciprocating motion of the drill rod, thereby driving the molten iron to flow and improving the furnace discharge efficiency.

[0050] The arc furnace unloading robot device 1 also includes a drill unloading mechanism, which is arranged on the operating arm 12 and located between the supporting portion 131 and the clamping portion 132. The drill unloading mechanism is suitable for ejecting the drill rod and guiding the drill rod to separate from the first mounting portion when the eye-pulling device 13 is located at the initial position. By arranging the drill unloading mechanism between the supporting portion 131 and the clamping portion 132, when the eye-pulling device 13 returns from the working position to the initial position, the drill unloading mechanism can eject the drill rod, and through the guiding effect of the drill unloading mechanism, the drill rod can be smoothly and stably separated from the first mounting portion, which not only simplifies the replacement process of the drill rod, but also significantly improves the operating efficiency and safety, ensures the continuity and stability of the unloading process, and thus has a positive effect on the overall unloading efficiency.

[0051] According to some embodiments of the present invention, Figure 5As shown, the clamping portion 132 is suitable for driving the drill rod to move back and forth in the first direction, and the drill unloading mechanism has a guiding slope 1512, which is used to contact the drill rod and make the drill rod roll along the guiding slope 1512. The drill unloading mechanism contacts the drill rod through the guiding slope 1512 to eject the drill rod from the first mounting portion, and in the process gradually guides the drill rod to slide smoothly along a preset path, ensuring the stability and controllability of the drill rod when it is separated from the first mounting portion, so that the drill rod moves along a preset path after being ejected from the first mounting portion. At the same time, the setting of the guiding slope 1512 simplifies the drill unloading operation, and the drill unloading mechanism can automatically complete the ejection and guidance of the drill rod, thereby improving the working efficiency.

[0052] According to some embodiments of the present invention, Figure 1 , Figure 3 and Figure 5 As shown, the unloading mechanism includes a discharge part 151, which is rotatably or translatably arranged on the operating arm 12, so as to adjust its position according to actual needs to ensure effective contact with the drill rod. When the drill rod needs to be removed from the first mounting part, the discharge part 151 can be aligned with the position of the drill rod, and then contact the drill rod through a rotational or translational action to eject the drill rod from the first mounting part, which simplifies the operation process, reduces the need for manual intervention, and improves the operation efficiency and automation level.

[0053] According to some embodiments of the present invention, the unloading mechanism includes a lifting part, which can be lifted and lowered on the operating arm 12 so as to adjust its position according to actual needs to ensure effective contact with the drill rod. When the drill rod needs to be removed from the first mounting part, the unloading part 151 can be aligned with the position of the drill rod, and then contact the drill rod through a lifting action to eject the drill rod from the first mounting part, thereby simplifying the operation process, reducing the need for manual intervention, and improving the operation efficiency and automation level. After the lifting part completes the removal of the drill rod from the first mounting part, the lifting part avoids the space in the first mounting part through a lowering action, so that a new drill rod can be installed in the first mounting part.

[0054] According to some embodiments of the present invention, Figure 5As shown, a rotating shaft 1511 is provided on one side edge of the discharge portion 151. The discharge portion 151 rotates around the rotating shaft 1511. The position and installation method of the rotating shaft 1511 determine the motion trajectory of the discharge portion 151, ensuring that the discharge portion 151 can contact and abut against the drill rod during the rotation process, thereby realizing the effective removal of the drill rod. An inclined guide slope 1512 is provided on the other side of the discharge portion 151. The guide slope 1512 is responsible for guiding the drill rod to roll along a specific path when the discharge portion 151 rotates to abut against the drill rod. When the discharge portion 151 rotates to abut against the drill rod, the guide slope 1512 is constructed to gradually reduce in height in the direction toward the upper drill mechanism 14, so that the drill rod can gradually reduce in height during the rolling process, thereby rolling from the first mounting portion toward the upper drill mechanism 14, which is convenient for realizing the recovery and reuse of the drill rod. The inclined guiding slope 1512 reduces the friction and resistance of the drill rod during rolling, and improves the smoothness and efficiency of rolling. By adjusting the inclination angle and length of the guiding slope 1512, the rolling path of the drill rod can be controlled so that the drill rod can roll according to a preset path.

[0055] According to some embodiments of the present invention, Figure 3 As shown, the discharge part 151 is constructed as a plurality of parts arranged at intervals on the eyelet pulling device 13, and the rotating shaft 1511 of each discharge part 151 is parallel to each other and orthogonal to the first direction. By constructing the discharge part 151 as a plurality of parts, the plurality of discharge parts 151 can rotate at the same time and lift the drill rod together, so as to realize the smooth and efficient transfer of the drill rod from the working position to the unloading position. The coordinated work of the plurality of discharge parts 151 makes the drill rod evenly stressed during the transfer process, which not only improves the speed of unloading the drill rod, but also ensures the stability and safety of the unloading process. The rotating shaft 1511 of each discharge part 151 is parallel to each other, and when the plurality of discharge parts 151 rotate from the starting position to the ending position, the lifting of the drill rod can be completed in the same position state and consistent rotation angle, thereby realizing a smooth and continuous unloading process of the drill rod. The guiding inclined surfaces 1512 of the multiple discharge parts 151 can jointly guide the rolling of the drill rod, and the guiding inclined surfaces 1512 of the multiple discharge parts 151 all have specific shapes and angles, so that the drill rod can be subjected to uniform guiding force during the rolling process. In addition, the rotation axis 1511 of each discharge part 151 is also orthogonal to the first direction, which is used to ensure that the discharge part 151 will not interfere with other components in the first direction when rotating, and also facilitates the discharge part 151 to perform a smooth rotational movement in a direction perpendicular to the first direction.

[0056] According to some embodiments of the present invention, multiple discharge parts 151 rotate in the same direction to lift the drill rod. For example, multiple discharge parts 151 rotate toward the eyelet pulling device 13. When multiple discharge parts 151 rotate toward the eyelet pulling device 13 synchronously and coordinately, multiple discharge parts 151 gradually contact and act on the bottom of the drill rod, forming a combined force to smoothly lift the drill rod from the working position.

[0057] According to some embodiments of the present invention, at least two adjacent discharge parts 151 rotate close to each other to lift the drill rod. When at least two adjacent discharge parts 151 rotate in a manner close to each other, the two discharge parts 151 gradually approach and eventually contact the bottom of the drill rod. As the rotation continues, the two discharge parts 151 will act on the drill rod together to form a lifting effect.

[0058] According to some embodiments of the present invention, at least two adjacent discharge portions 151 rotate away from each other to lift the drill rod. When at least two adjacent discharge portions 151 rotate away from each other, the two discharge portions 151 gradually approach and eventually contact the bottom of the drill rod. As the rotation continues, the two discharge portions 151 will act on the drill rod together to form a lifting effect.

[0059] According to some embodiments of the present invention, Figure 3 As shown, the drill unloading mechanism also includes a guide plate 152, which is arranged on the side of the operating arm 12, and the guide plate 152 is inclined in the direction from the eye-pulling device 13 to the upper drill mechanism 14. By setting the guide plate 152, the process of transferring the drill rod can be optimized. The guide plate 152 is inclined in the direction from the eye-pulling device 13 to the upper drill mechanism 14, which not only promotes the natural flow of the drill rod during the transfer process, but also effectively guides the drill rod to smoothly transition from the eye-pulling device 13 to the side close to the upper drill mechanism 14. By reasonably setting the inclination angle of the guide plate 152, the continuity and stability of the drill rod on the transfer path are ensured, and the risk of the drill rod being stuck or scattered is reduced, thereby improving the overall operation efficiency and reliability of the furnace unloading device.

[0060] According to some embodiments of the present invention, Figure 3 As shown, the guide plate 152 is disposed between two adjacent discharge portions 151 ; or is located on a side of one of the discharge portions 151 away from the other discharge portion 151 .

[0061] On the one hand, when the guide plate 152 is disposed between two adjacent discharge portions 151, the guide plate 152 can effectively fill the space between the two discharge portions 151, ensuring that the drill rod will not slide due to excessive gap during the lifting and transfer process. By providing the guide plate 152, the stability and continuity of the drill rod transfer are improved.

[0062] On the other hand, when the guide plate 152 is located on the side of one discharge portion 151 away from the other discharge portion 151, the guide plate 152 can fill the space on the side of the discharge portion 151 to guide the transfer of the drill rod, thereby improving the stability and continuity of the transfer of the drill rod.

[0063] By properly setting the position and inclination angle of the guide plate 152, the process of transferring the drill rod can be further optimized, and the overall operating efficiency and reliability of the furnace discharge device can be improved.

[0064] According to some embodiments of the present invention, the guide plate 152 is configured as a plurality. By configuring the guide plate 152 as a plurality, more comprehensive guidance and support can be provided for the drill rod, so that the drill rod moves smoothly along a predetermined path. At least one guide plate 152 is provided between two adjacent discharge parts 151, thereby filling the space between the two discharge parts 151, effectively preventing the risk of the drill rod slipping or deviating from the track due to excessive gap during the transfer process.

[0065] According to some embodiments of the present invention, Figure 1 , Figure 2 and Figure 4 As shown, the drill unloading mechanism also includes a straightening structure 153, which is arranged on the side of the guide plate 152 away from the operating arm 12, so that the drill rod can fall into the straightening structure 153 under the guidance of the guide plate 152, so as to achieve the straightening of the drill rod, which is conducive to the reuse of the drill rod. A straightening gap 1532 for squeezing the drill rod is formed on the straightening structure 153, so that the drill rod can be subjected to a uniform squeezing force when passing through the straightening gap 1532, thereby achieving the purpose of straightening. A straightening outlet is formed on the straightening structure 153, which is connected to the straightening gap 1532 and is open to the recovery area, so that the straightened drill rod can be smoothly guided out of the straightening structure 153 and directly enter the recovery area for subsequent reuse.

[0066] According to some embodiments of the present invention, Figure 1 and Figure 2 As shown, the straightening structure 153 includes a guide column 1531, and the guide column 1531 is constructed into a plurality of pairs, each pair of guide columns 1531 is spaced apart from each other, and the plurality of pairs of guide columns 1531 face each other in the first direction of the drill rod to define a straightening gap 1532. The straightness correction of the drill rod is achieved through the guidance of the guide column 1531. The synergistic effect of the plurality of pairs of guide columns 1531 not only improves the accuracy of the drill rod straightening, but also ensures the stability and consistency of the straightening process. When the drill rod passes through the straightening gap 1532, it is deformed by the force transmitted from the guide column 1531, thereby achieving a straightening effect, so as to realize the reuse of the drill rod.

[0067] According to some embodiments of the present invention, at least one guide column 1531 can be rotatably arranged to drive the drill rod in the straightening gap 1532 to move. The rotation of the guide column 1531 can drive the drill rod in the straightening gap 1532 to move. Through the rotation of the guide column 1531, the position and movement trajectory of the drill rod in the straightening gap 1532 can be controlled, thereby achieving effective movement and straightening operations on the drill rod. By providing the guide column 1531, not only the flexibility and controllability of the straightening process are enhanced, but also the accuracy and efficiency of the drill rod straightening are further improved. Driven by the guide column 1531, the drill rod can pass through the straightening gap 1532 smoothly and orderly, and is subjected to the necessary straightening force, and finally achieves a high-quality straightening effect, which provides a strong guarantee for the reuse of the drill rod.

[0068] According to some embodiments of the present invention, Figure 1 and Figure 2 As shown, the transmission component includes a first transmission structure 141 and a second transmission structure 142, and one end of the second transmission structure 142 is hingedly connected to the first transmission structure 141. Therefore, the second transmission structure 142 can swing relative to the first transmission structure 141 as needed. The first transmission structure 141 and the second transmission structure 142 are respectively used to drive the drill rod to move, and the first transmission structure 141 and the second transmission structure 142 respectively interact with the drill rod to achieve the transfer and transportation of the drill rod.

[0069] The drill mechanism 14 further includes a driving structure, which is suitable for driving the second transmission structure 142 to rotate relative to the first transmission structure 141 to switch between the avoidance state and the feeding state. The avoidance state refers to a position where the position of the second transmission structure 142 does not hinder the disassembly and recovery of the drill rod, while the feeding state refers to a state where the second transmission structure 142 is capable of feeding the drill rod into a predetermined position. The driving structure is suitable for driving the second transmission structure 142 to rotate to the feeding state when the eye-pulling device 13 is in the initial position, and in the feeding state, the edge of the second transmission structure 142 is aligned with the first mounting portion and the drill rod device is fed into the first mounting portion. When the eye-pulling device 13 is in the initial position and the old drill rod has been removed from the first mounting portion, the driving structure drives the second transmission structure 142 to rotate to the feeding state. In the feeding state, the edge of the second transmission structure 142 is aligned with the first mounting portion to feed the drill rod device into the first mounting portion to complete the feeding process.

[0070] According to some embodiments of the present invention, Figure 1 and Figure 2As shown, in the avoidance state, the extension direction of the first transmission structure 141 and the second transmission structure 142 are consistent, and the first transmission structure 141 and the second transmission structure 142 are in a straight line or nearly in a straight line in space, so that the second transmission structure 142 does not occupy additional space and does not cause any hindrance to the disassembly and recovery process of the drill rod.

[0071] In the feeding state, the second transmission structure 142 rotates to a horizontal state, so that the second transmission structure 142 can provide sufficient stability and support force when feeding, so as to smoothly feed the drill rod into the first mounting portion. And the angle between the second transmission structure 142 and the first transmission structure 141 in the horizontal state is α, and satisfies 90°≤α≤120°, so that the first transmission structure 141 can support the second transmission structure 142 at a certain height, so that when the second transmission structure 142 rotates to a horizontal state relative to the first rotating structure, the edge of the second transmission structure 142 is aligned with the first mounting portion, so as to further complete the feeding process. In addition, the first rotating structure and the chassis 11 can be spaced apart from each other and define sufficient space, providing an area for disassembly and recovery of the drill rod.

[0072] According to some embodiments of the present invention, Figure 1 and Figure 2 As shown, a first bearing portion 1411 which can move along the circumference of the first transmission structure 141 and is suitable for carrying the drill rod is provided on the outer periphery of the first transmission structure 141, so that the drill rod can move in the circumferential direction of the first transmission structure 141 as the first bearing portion 1411 rotates, thereby transporting the drill rod from one end of the first transmission structure 141 to the other end, so as to transport the drill rod to the second transmission structure 142, and the first bearing portion 1411 can also continue to move in the circumferential direction of the first transmission structure 141 to return to the original position, so as to facilitate subsequent transportation operations. The outer periphery of the second transmission structure 142 is provided with a second bearing portion 1421 which can move along the circumference of the second transmission structure 142 and is suitable for bearing the drill rod, so that the drill rod can move along the circumference of the second transmission structure 142 with the rotation of the second bearing portion 1421, so as to transport the drill rod from one end of the second transmission structure 142 to the other end, so as to further transport the drill rod to the eyelet pulling device 13, and the second bearing portion 1421 can also continue to move along the circumference of the second transmission structure 142 to return to the original position, so as to facilitate subsequent transportation operations. The first bearing portion 1411 and the second bearing portion 1421 constitute a second mounting portion.

[0073] The drill rod upper mechanism 14 further includes a first power shaft and a second power shaft. The first power shaft is arranged on the first transmission structure 141, and is used to transmit the driving force and drive the first bearing part 1411 to move; the second power shaft is arranged on the second transmission structure 142, and is used to transmit the driving force and drive the second bearing part 1421 to move. Under the transmission of the first power shaft and the second power shaft, the first bearing part 1411 and the second bearing part 1421 can move separately or simultaneously, thereby realizing flexible control of the drill rod conveying process.

[0074] The drill mechanism 14 further includes a driver connected to at least one of the first power shaft and the second power shaft, and configured to provide power required for driving the first bearing part 1411 and the second bearing part 1421 to move.

[0075] On the one hand, the driver is connected to one of the first power shaft and the second power shaft, for example, the first power shaft. The driver transmits power to the first power shaft. When the driver is started, the driver drives the first power shaft to rotate, thereby driving the first bearing part 1411 to move, thereby realizing the conveying of the drill rod on the first transmission structure 141. In order to realize the movement of the second bearing part 1421, a linkage device can be provided to transmit the movement of the first power shaft to the second power shaft. Although only one driver is working, the first bearing part 1411 and the second bearing part 1421 can realize synchronous or asynchronous movement, thereby meeting the flexible control requirements for the conveying process of the drill rod.

[0076] On the other hand, the upper drilling mechanism 14 is provided with two drivers, and two drivers are connected to the first power shaft and the second power shaft respectively. The two drivers can be motors of the same type or different types, such as DC motor, AC motor or stepper motor etc., and are selected according to specific application requirements.

[0077] Each driver can independently control the movement of the first carrier 1411 or the second carrier 1421 connected thereto, so that the first carrier 1411 and the second carrier 1421 can move at different times, speeds or directions, respectively, thereby achieving more precise control over the drill rod conveying process.

[0078] According to some embodiments of the present invention, the drill mechanism 14 also includes a first sensor and a second sensor, the first sensor is arranged at the starting end of the second transmission structure 142 and is used to detect that the drill rod enters the second transmission structure 142, and the second sensor is arranged at the end of the second transmission structure 142 and is used to detect that the drill rod leaves the second transmission structure 142; the second driving member is respectively communicated with the first sensor and the second sensor to be suitable for moving after the drill rod enters the second transmission structure 142 and stopping after the drill rod leaves the second transmission structure 142.

[0079] During operation, the drill rod is transmitted to a specified height by the first transmission structure 141 and slides over the highest point of the first transmission structure 141 to the second transmission structure 142. When the drill rod passes the highest point of the first transmission structure 141, it can be detected by the first sensor. The first sensor transmits a signal to the control system, and the control system issues an instruction to stop the first bearing part 1411 provided on the first transmission structure 141, and at the same time controls and drives the second bearing part 1421 provided on the second transmission structure 142 to move. The second bearing part 1421 drives the drill rod to move toward the end of the second transmission structure 142. When the drill rod moves to the end of the second transmission structure 142, the drill rod slides to the specified operation position. Since the second sensor is installed at the end of the second transmission structure 142, the drill rod will be detected by the second sensor when it slides to the specified position. The second sensor transmits a signal to the control system, and the control system immediately issues an instruction to stop the second bearing part 1421, thereby realizing the intelligent automatic control of the first transmission structure 141.

[0080] According to some embodiments of the present invention, the first transmission structure 141 is constructed as a plurality of first transmission structures 141 spaced apart in the width direction, and the plurality of first transmission structures 141 can simultaneously and synchronously support and move the same drill rod, and the drill rod can evenly distribute the weight to each first transmission structure 141, thereby reducing the load of a single first transmission structure 141 and improving the stability of the transmission process. The second transmission structure 142 is constructed as at least two and is linked to each other to synchronously move relative to the first transmission structure 141. The linkage mechanism ensures that the second bearing parts 1421 provided on the plurality of second transmission structures 142 move at the same speed and direction at the same time. The linkage mechanism makes the transmission process smoother, reduces the vibration caused by excessive force on a single point, ensures the smoothness of the transmission of the drill rod, and can adjust the number and linkage mode of the second transmission structure 142 and the first transmission structure 141 according to actual needs to adapt to transmission tasks of different lengths and types, and has a wide range of applicability.

[0081] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0082] Although the 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 claims and their equivalents.

Claims

1. A submerged arc furnace unloading robot device, characterized in that: include: Chassis (11); an operating arm (12), the operating arm (12) being movably arranged on the chassis (11), the operating arm (12) being suitable for moving laterally on the chassis (11); An eye-pulling device (13), the eye-pulling device (13) being arranged on the operating arm (12) and moving with the operating arm (12) so as to reciprocate between an initial position and a working position, and the eye-pulling device (13) being provided with a first mounting portion for clamping a drill rod; A drill-up mechanism (14) is arranged on one side of the eye-pulling device (13) and is provided with a movable transmission component, a second mounting portion is formed on the transmission component, and the second mounting portion is suitable for carrying a drill rod. When the eye-pulling device (13) is located at an initial position, the transmission component drives the drill rod carried by the second mounting portion to fall into the first mounting portion for automatic drill-up.

2. The submerged arc furnace unloading robot equipment according to claim 1, characterized in that: The eyelet pulling device (13) comprises: A supporting portion (131), the supporting portion (131) being arranged at one end of the operating arm (12) and moving synchronously with the operating arm (12); a clamping portion (132), the clamping portion (132) being movably disposed on the operating arm (12) and being disposed opposite to the supporting portion (131) in a first direction, the clamping portion (132) being able to approach or move away from the supporting portion (131) in the first direction, and the clamping portion (132) and the supporting portion (131) together forming the first mounting portion; The electric arc furnace unloading robot equipment further comprises: a drill unloading mechanism, which is arranged on the operating arm (12) and located between the supporting portion (131) and the clamping portion (132), and is suitable for ejecting the drill rod and guiding the drill rod to separate from the first mounting portion when the eyelet pulling device (13) is located at the initial position.

3. The submerged arc furnace unloading robot equipment according to claim 2, characterized in that: The clamping portion (132) is suitable for driving the drill rod to move back and forth in a first direction, and the drill unloading mechanism has a guiding inclined surface (1512) for contacting the drill rod and causing the drill rod to roll along the guiding inclined surface (1512).

4. The submerged arc furnace unloading robot equipment according to claim 3 is characterized in that: The brazing unloading mechanism comprises a unloading portion (151), and the unloading portion (151) is rotatably or translationally arranged on the operating arm (12).

5. The submerged arc furnace unloading robot equipment according to claim 4, characterized in that: A rotating shaft (1511) is provided on one side edge of the discharge portion (151), and an inclined guiding slope (1512) is provided on the other side of the discharge portion (151). The guiding slope (1512) is configured to gradually decrease in height in a direction toward the upper drilling mechanism (14) when the discharge portion (151) is rotated to abut against the drill rod.

6. The submerged arc furnace unloading robot equipment according to claim 5, characterized in that: The discharge portion (151) is constructed as a plurality of portions which are arranged at intervals on the eyelet pulling device (13), and the rotation axis (1511) of each discharge portion (151) is parallel to each other and orthogonal to the first direction.

7. The submerged arc furnace unloading robot equipment according to claim 6, characterized in that: The plurality of discharge parts (151) rotate in the same direction to lift the drill rod; or At least two adjacent discharge parts (151) are rotated close to each other to lift the drill rod; or At least two adjacent discharge parts (151) rotate away from each other to lift the drill rod.

8. The submerged arc furnace unloading robot equipment according to claim 7, characterized in that: The drill unloading mechanism further comprises: a guide plate (152), wherein the guide plate (152) is arranged on the side of the operating arm (12), and the guide plate (152) is inclined in the direction from the eye-pulling device (13) toward the drill-loading mechanism (14).

9. The submerged arc furnace unloading robot equipment according to claim 8, characterized in that: The guide plate (152) is arranged between two adjacent discharge portions (151); or is located on a side of one of the discharge portions (151) away from the other discharge portion (151).

10. The submerged arc furnace unloading robot equipment according to claim 8, characterized in that: The guide plates (152) are constructed in multiple configurations, and at least one guide plate (152) is disposed between two adjacent discharge portions (151).

11. The submerged arc furnace unloading robot equipment according to claim 8, characterized in that: The drill unloading mechanism also includes a straightening structure (153), which is arranged on the side of the guide plate (152) away from the operating arm (12), and a straightening gap (1532) for squeezing the drill rod is formed on the straightening structure (153), and a straightening outlet is formed on the straightening structure (153) which is connected to the straightening gap (1532) and opens toward the recovery area.

12. The submerged arc furnace unloading robot equipment according to claim 11, characterized in that: The straightening structure (153) comprises: guide columns (1531), wherein the guide columns (1531) are constructed into a plurality of pairs, each pair of the guide columns (1531) are spaced apart from each other, and the plurality of pairs of the guide columns (1531) are opposite to each other in the first direction of the drill rod to define the straightening gap (1532).

13. The submerged arc furnace unloading robot equipment according to claim 12, characterized in that: At least one of the guide posts (1531) is rotatably arranged to drive the drill rod in the straightening gap (1532) to move.

14. The submerged arc furnace unloading robot equipment according to claim 1, characterized in that: The transmission components include: A first transmission structure (141) and a second transmission structure (142), one end of the second transmission structure (142) is hingedly connected to the first transmission structure (141) and can selectively swing relative to the first transmission structure (141), and the first transmission structure (141) and the second transmission structure (142) are respectively used to drive the drill rod to move; A driving structure, wherein the driving structure is suitable for driving the second transmission structure (142) to rotate relative to the first transmission structure (141) to switch between an avoidance state and a feeding state, and the driving structure is suitable for driving the second transmission structure (142) to rotate to a feeding state when the eyelet pulling device (13) is in an initial position, and in the feeding state, an edge of the second transmission structure (142) is aligned with the first mounting portion and the drill rod device is fed into the first mounting portion.

15. The submerged arc furnace unloading robot equipment according to claim 14, characterized in that: In the avoidance state, the first transmission structure (141) and the second transmission structure (142) extend in the same direction; In the feeding state, the second transmission structure (142) rotates to a horizontal state, and the angle between the second transmission structure (142) and the first transmission structure (141) is α, and satisfies 90°≤α≤120°.

16. The submerged arc furnace unloading robot equipment according to claim 14, characterized in that: A first bearing portion (1411) is provided on the outer periphery of the first transmission structure (141) and is movable along the circumference of the first transmission structure (141) and is suitable for bearing a drill rod; a second bearing portion (1421) is provided on the outer periphery of the second transmission structure (142) and is movable along the circumference of the second transmission structure (142) and is suitable for bearing a drill rod; the first bearing portion (1411) and the second bearing portion (1421) constitute the second mounting portion; The drill-up mechanism (14) further comprises: A first power shaft, the first power shaft being arranged on the first transmission structure (141) and being used for transmitting a driving force and driving the first bearing part (1411) to move; a second power shaft, the second power shaft being arranged on the second transmission structure (142) and being used for transmitting a driving force and driving the second bearing part (1421) to move; A driver connected to at least one of the first power shaft and the second power shaft, and used to provide power required to drive the first bearing part (1411) and the second bearing part (1421) to move.

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