A converter slide plate slag retaining mechanism maintenance full process automation equipment and method

Abstract

The present invention discloses a whole-process automated maintenance equipment and method for a converter slide slag retaining mechanism, including a debugging rack, a display rack, a manipulator, a disassembly and assembly gripper 1, a disassembly and assembly gripper 2, a disassembly and assembly gripper 3, and a disassembly and assembly gripper 4. Each disassembly and assembly gripper is placed on the display rack at a specified position and is connected to the manipulator through a quick-change adapter. The disassembly and assembly gripper 1 disassembles and assembles a top tightener and a heat insulation board bolt. The torque generated when disassembling and assembling the bolt forms a closed mechanical system between the mechanism and the disassembly and assembly gripper 1, so that the manipulator is not subject to torque in principle; the disassembly and assembly gripper 2 disassembles and assembles the top tightener and the outer water inlet; the disassembly and assembly gripper 3 is used to disassemble and assemble the inner slide and the outer slide; the disassembly and assembly gripper 4 disassembles and assembles the sliding frame and the top tightening sleeve. By using a manipulator to connect different gripper bodies to the arm through a quick-change adapter, operations of different processes are performed, such as the processes of disassembling and assembling the top tightener and the heat insulation board bolt, the outer water inlet and the top tightener, the slide, the sliding frame, and the top tightening sleeve, thereby realizing the whole-process maintenance operation of the mechanism.

Description

Technical Field

[0001] The invention relates to a converter slag retaining mechanism disassembly and assembly operation technology, in particular to a converter slide plate slag retaining mechanism maintenance whole process automation equipment and method. Background Art

[0002] CN201610713959.9 discloses a left-right door-type converter slag-blocking sliding nozzle device. When operating offline, the fixed frame is fixed to the adjustment frame with a movable bolt, the opening and closing frame is opened (to about 110°), the outer slide brick and the inner slide brick are placed in the fixed frame and the sliding frame 3 brick grooves respectively, the opening and closing frame is closed, the sliding frame is connected to the offline drive device with a pin shaft and the sliding frame is driven to make the outer slide and the inner slide aligned, the outer nozzle brick is installed in the outer nozzle seat and tightened with the outer nozzle tightener, and the refractory material replacement process is completed. However, the mechanism for replacing the slide and the sliding frame is not introduced. When the molten steel in the ladle is drained, the refractory material in the mechanism needs to be replaced because the number of continuous sliding times of the friction surface of the slide reaches the limit. In order to reduce energy consumption, avoid baking the ladle again, save time, and improve the turnover of the ladle, as long as the ladle as a whole can continue to be used, it is quickly replaced when the ladle is not cooled. If manual replacement is used, there will be safety risks and low efficiency. Secondly, the slag blocking mechanism is heavy, the workload is large and the labor intensity is high. In addition, the mechanism is a product that is currently in use on site, and the size and shape deformation errors are large; after being heated in the steelmaking furnace, there is an uncertain bonding force between the parts and refractory materials; the metal dust and background noise environment at the steelmaking plant maintenance site is relatively poor.

[0003] Therefore, continuing to develop full-process automation equipment for the maintenance of the converter slag retaining mechanism is a large-scale automation equipment developed and designed to meet the steel plant's intelligent operation "one-click steelmaking" needs, and also to reduce the number of operators, reduce the labor intensity of operators, and avoid safety accidents. Summary of the invention

[0004] In order to solve the above technical problems, the inventors have obtained the technical solution of the present invention through practice and summary. The present invention adopts the following technical solution:

[0005] A converter slide plate slag retaining mechanism maintenance full process automation equipment, comprising:

[0006] The debugging frame is used to install and fix the converter slag retaining mechanism and the converter slag retaining mechanism is perpendicular to the ground;

[0007] The display rack is independently arranged on one side of the debugging rack;

[0008] The manipulator is located on one side of the debugging rack, and its operating range covers the debugging rack and the display rack;

[0009] Disassembly and assembly gripper one, disassembly and assembly gripper two, disassembly and assembly gripper three, and disassembly and assembly gripper four are all placed on the display rack at specified positions, and the four disassembly and assembly grippers are connected to the manipulator through quick-change adapters. Disassembly and assembly gripper one is used for disassembling and assembling the top tightener and the insulation board bolts. The torque generated when disassembling and assembling the bolts forms a closed mechanical system between the mechanism and disassembly and assembly gripper one, so that the manipulator is not subjected to torque in principle; disassembly and assembly gripper two is used for disassembling and assembling the top tightener and the external water outlet; disassembly and assembly gripper three is used for disassembling and assembling the inner slide plate and the outer slide plate; disassembly and assembly gripper four is used for disassembling and assembling the sliding frame and the top tightening sleeve.

[0010] Preferably, the disassembly and assembly gripper includes a gripper body, which is installed on a quick-change plate. An extension plate is provided on the gripper body, an anti-torque bar is installed on the end of the extension plate, and the side wall of the anti-torque bar abuts against the side of the mechanism. A servo motor and a multi-stage reducer are installed on the gripper body, and a disassembly and assembly wrench is installed at the output end of the multi-stage reducer.

[0011] Preferably, the disassembly gripper 2 comprises a gripper body 2, the gripper body 2 is mounted on the quick-change receiving plate, a hydraulic chuck is mounted on the gripper body 2, and the hydraulic chuck is used to clamp the external water outlet;

[0012] A clamping body is installed on the side of the second gripper body, and the clamping body is used to remove the anti-dropping pin assembly.

[0013] Preferably, the disassembly and assembly gripper four includes a gripper body four, which is installed on a quick-change connecting plate. The gripper body four includes a hook, a cross bar and a connecting plate for connecting the hook and the cross bar. When disassembling the sliding frame and the tightening sleeve, a notch is provided on one side of the hook for socketing the cylinder pin installed on the sliding frame, and the cross bar is tightly attached to the bottom surface of the sliding frame.

[0014] Preferably, the disassembly and assembly gripper three includes a gripper body three, and the gripper body two is installed on the quick-change plate. A cylinder and a fixed block are installed on the gripper body two, and a movable hook body is rotatably installed on the fixed block. The movable hook body is an L-shaped structure, and the output end of the cylinder passes through the gripper body two and is connected to the movable hook body through a connecting rod.

[0015] Preferably, a pressure-bearing body and a crimping body are provided on the fixed block, and the pressure-bearing body is located on the outside of the crimping body. When the inner and outer slides are disassembled, the pressure-bearing body is pressed against the outside of the slide cavity, and the movable hook pries the slide upward onto the crimping body.

[0016] Preferably, a clamping structure is installed in the slide cavity of the converter slag blocking mechanism, the clamping structure includes a side pressure block, a slide pin 1 and a slide pin 2 are installed on the side pressure block, a slide groove 1 and a slide groove 2 are arranged on the side of the slide cavity, the slide groove 1 and the slide groove 2 are both arranged along the thickness direction of the slide cavity, and the slide pin 1 is slidably matched in the slide groove 1, and the slide pin 2 is slidably matched in the slide groove 2;

[0017] The side of the slide plate is provided with a rectangular groove;

[0018] A blocking block is arranged on the side of the slide cavity, the blocking block is installed horizontally, a pressure block and a transverse latch are arranged on the side pressure block, and the blocking block is used to squeeze the transverse latch to fit into the rectangular groove.

[0019] Preferably, the blocking block comprises a fixed body fixedly mounted on the side of the slide cavity, the bottom of the fixed body is connected to the blocking body via a spring body, and a slope surface gradually approaching the root of the slide cavity is arranged on one side of the blocking body close to the side pressure block.

[0020] Preferably, a pressing block is provided on the side of the movable hook body, and the pressing block is used to act on the slope surface to force the stuck body to separate from the side pressure block.

[0021] The method of using the full-process automation equipment for the maintenance of the converter slide slag retaining mechanism includes:

[0022] Step 1: Remove the bolts of the tensioner and heat shield

[0023] Under the program instruction, the robot connects the gripper body placed on the rack to its arm through the quick connection plate, aligns the disassembly wrench with one of the three bolts on the tensioner through theoretical positioning, and then measures the actual accurate position and hexagonal head of the bolt through the visual system;

[0024] The manipulator moves so that the center of the disassembly wrench is aligned with the center of the bolt;

[0025] The manipulator rotates so that the anti-torque blocking rod is close to the edge of the mechanism (no axial overlap);

[0026] The servo motor rotates to make the direction of the disassembly wrench consistent with the direction of the hexagonal head of the bolt;

[0027] The manipulator moves along the axial direction of the bolt to put the disassembly wrench into the hexagonal head of the bolt. The manipulator takes the disassembly wrench as the center and makes the anti-torque retaining rod close to the edge of the mechanism (the axial direction has overlapped);

[0028] The servo motor is started under program control, and the disassembly wrench connected to the output end of the multi-stage reducer slowly loosens and unscrews the bolts while the servo motor is rotating;

[0029] Finally, it is placed into the ground recovery frame by the robot;

[0030] Repeat the above process, unscrew the other two bolts, put them into the recycling frame, and the robot swings the gripper body back to the rack and disengages it from the rack, and the process is completed;

[0031] Step 2: Remove the outer nozzle and the tightener

[0032] Under the program instruction, the robot connects the gripper body 2 placed on the rack to its arm through the quick receiving plate, and aligns it with the center of the outer nozzle through theoretical positioning, and then measures the actual accurate position of the outer nozzle and the outer diameter of the front end through the visual system;

[0033] The three claws of the hydraulic chuck are driven by the hydraulic station so that the inner circle of the claws is slightly larger than the outer diameter of the front end of the external water outlet;

[0034] The manipulator moves along the axial direction of the outer water outlet until the three clamping claws are sleeved on the front end of the outer water outlet, and the clamping claws clamp the outer water outlet under the drive of the hydraulic station;

[0035] The manipulator moves backwards, overcomes the bonding force between the outer water outlet and the outer slide plate, removes the tightener on the outer water outlet from the mechanism, and puts it into the ground recovery frame;

[0036] The robot swings the second gripper body back to the placement frame and disengages it from the placement frame, and the process is completed;

[0037] Step 3: Dismantle the skateboard

[0038] When the mechanism is opened and positioned, the manipulator connects the gripper body placed on the rack to its arm through the quick-connect plate under the program instruction, and aligns it with the center of the cavity of the mounting plate slide or the cavity hole of the sliding frame slide through theoretical positioning, and then measures the actual accurate position of the cavity center hole, the plane position of the cavity bottom and the position of the slot hole on the cavity through the visual system;

[0039] The manipulator moves forward along the axial direction of the center hole of the cavity until the three upper pressure-bearing bodies of the gripper body are supported on the outer plane of the slide cavity. At this time, the movable hook body has extended into the slot hole reserved on the edge of the cavity. At the same time, the extrusion block acts on the slope surface of the side pressure block, forcing the jamming body to detach from the side of the side pressure block. The cylinder starts to work, pushing the front end of the movable hook body to turn to the bottom of the slide and pry upward to overcome the adhesion between the bottom of the slide and the slide cavity. Then the movable hook body continues to rotate so that the side surface clamps the slide inward, and the manipulator moves backward along the axial direction of the center hole of the cavity to remove the slide from the slide cavity and put it into the ground recovery frame;

[0040] The robot swings the gripper body back to the placement rack and disengages it from the rack, and the process is completed;

[0041] Step 4: Slide frame removal

[0042] Under the program instruction, the robot connects the gripper body 4 placed on the rack to its arm through the quick connection plate, and aligns its hook part with the cylinder latch on the sliding frame through theoretical positioning, and then measures the actual accurate position of the cylinder latch and the bottom surface position of the sliding frame through the visual system;

[0043] The manipulator rotates so that its cross bar is close to the bottom surface of the sliding frame, and at the same time, the manipulator moves so that its hook part coincides with the center of the cylinder pin on the sliding frame;

[0044] The manipulator moves upward, overcomes the gravity of the sliding frame and the top tightening sleeve connected thereto, removes them from the mechanism together, and puts them into the specified position of the sliding frame on the placement rack. The manipulator swings the gripper body back to the placement rack and disengages it from its position, and the process is completed.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] 1. The present invention adopts a manipulator to connect different gripper bodies to the arm via a quick-change connecting plate to perform operations of different processes, such as the processes of disassembling and assembling the tightener and the heat insulation board bolts, the external water outlet and the tightener, the slide plate, the sliding frame and the tightening sleeve, thereby realizing the full-process maintenance operation of the mechanism.

[0047] 2. The present invention adopts a disassembly and assembly body of a brand-new structure. The servo motor torque can generate a large torque after being decelerated and amplified by a multi-stage reducer. In the first moment of loosening the bolt, it can provide torque that overcomes not only the tightening torque during installation, but also the torque increased by deformation and bonding of the bolt after use. The anti-torque retaining rod is close to the edge of the mechanism because there is a gap along the axial movement of the bolt. Through the flexible connection at the front end of the manipulator, the large torque generated when disassembling and assembling the bolt forms a closed mechanical system between the mechanism equipment and the gripper body through the anti-torque retaining rod, so that the manipulator is not subject to torque in principle, but only bears the task of taking and taking, which greatly protects the main equipment.

[0048] 3. The bonding force between the bottom of the skateboard and the skateboard cavity of the present invention is uncertain and may be very large. Therefore, when the front end of the movable hook body pries the skateboard upward, the four pressure-bearing bodies on the second gripper body have been supported on the outer plane of the skateboard cavity, so that a closed mechanical system is formed between the movable hook body and the supporting point, so that the manipulator is not subject to tension in principle, and is only responsible for taking things, which greatly protects the main equipment.

[0049] 4. The present invention adds a clamping structure in the skateboard cavity for automatically fixing the skateboard, eliminating the clamping device in the skateboard cavity for pressing the skateboard from one side to the other side, and then cooperates with the movable hook body to realize the disassembly and assembly of the skateboard, and the problem of the skateboard falling will not occur after the blocking block and the side pressure block are separated. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is the overall layout diagram of the equipment of the present invention;

[0051] Figure 2 It is a schematic diagram of the overall structure of the disassembly and assembly gripper 1 of the present invention;

[0052] Figure 3It is a top view of the disassembly and assembly gripper 1 of the present invention under working condition;

[0053] Figure 4 It is a schematic diagram of the overall structure of the disassembly and assembly gripper 2 of the present invention;

[0054] Figure 5 It is a schematic diagram of the overall structure of the disassembly and assembly gripper three of the present invention;

[0055] Figure 6 It is a front view of the disassembly and assembly gripper three of the present invention;

[0056] Figure 7 It is a schematic diagram of the overall structure of the disassembly and assembly gripper 4 of the present invention;

[0057] Figure 8 It is a cross-sectional view of a mounting plate of a converter slag retaining mechanism of the present invention;

[0058] Fig. 9 It is a cross-sectional view of a sliding frame of a converter slag retaining mechanism of the present invention;

[0059] Fig.10 for Figure 8 A is a partial enlarged view of the middle;

[0060] Fig.11 for Fig.10 Position distribution diagram of middle slide pin 1, slide pin 2, slide slot 1 and slide slot 2;

[0061] Fig.12 for Figure 8 The state diagram when the slide plate is not installed. DETAILED DESCRIPTION

[0062] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0063] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the 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.

[0064] Embodiment 1, as Figures 1 to 7 As shown, a converter slide plate slag blocking mechanism maintenance full process automation equipment, including:

[0065] A debugging frame 10, the debugging frame 10 is used to install and fix the converter slag blocking mechanism and the converter slag blocking mechanism is perpendicular to the ground;

[0066] The display rack 20 is independently arranged on one side of the debugging rack 10.

[0067] A manipulator 30, which is located at one side of the debugging rack 10, and whose operating range covers the debugging rack 10 and the display rack 20;

[0068] The disassembly gripper 1 40, disassembly gripper 2 50, disassembly gripper 3 60, and disassembly gripper 4 70 are all placed on the display rack 20 at the specified position, and the four disassembly grippers are connected to the manipulator 30 through the quick-change adapter. The disassembly gripper 1 40 is used to disassemble and assemble the top tightener and the heat insulation board bolts. The torque generated when disassembling and assembling the bolts forms a closed mechanical system between the mechanism and the disassembly gripper 1 40, so that the manipulator 30 is not subjected to torque in principle; the disassembly gripper 2 50 is used to disassemble and assemble the top tightener and the outer water outlet; the disassembly gripper 3 60 is used to disassemble and assemble the inner slide plate and the outer slide plate; the disassembly gripper 4 70 is used to disassemble and assemble the sliding frame and the top tightening sleeve. The arm of the manipulator 30 is provided with a visual system.

[0069] Among them, Figure 2 and Figure 3 As shown, the disassembly and assembly gripper 40 includes a gripper body 41, which is mounted on a quick-change receiving plate. An extension plate 42 is provided on the gripper body 41, an anti-torque baffle 43 is installed at the end of the extension plate 42, and the side wall of the anti-torque baffle 43 abuts against the side of the mechanism. A servo motor 44 and a multi-stage reducer 45 are installed on the gripper body 41, and a disassembly and assembly wrench 46 is installed at the output end of the multi-stage reducer 45.

[0070] The torque of the servo motor 44 can generate a large torque after being decelerated and amplified by the multi-stage reducer 45. At the first moment of loosening the bolt, it can provide torque that overcomes not only the tightening torque during installation, but also the torque increased by deformation and adhesion of the bolt after use. The anti-torque baffle 43 is close to the edge of the mechanism because there is a gap along the axial movement of the bolt. Through the flexible connection at the front end of the manipulator 30, the large torque generated when disassembling the bolt forms a closed mechanical system between the mechanism equipment and the gripper body 41 through the anti-torque baffle 43, so that the manipulator 30 is not subject to torque in principle, but only bears the task of taking and taking, which greatly protects the main equipment.

[0071] Embodiment 2, in the device, as Figure 4 As shown, the disassembly and assembly gripper 50 comprises a gripper body 51 , which is mounted on a quick-change receiving plate. A hydraulic chuck 52 is mounted on the gripper body 51 , and three claws of the hydraulic chuck 52 are used to clamp the external water outlet.

[0072] Embodiment 3, in the device, as Figure 7As shown, the disassembly and assembly gripper four 70 includes a gripper body four 71, which is installed on the quick-change plate. The gripper body four 71 includes a hook portion 72, a cross bar 73 and a connecting plate 74 for connecting the hook portion 72 and the cross bar 73. When disassembling and assembling the sliding frame and the tightening sleeve, a notch is provided on one side of the hook portion 72 for socketing the cylinder latch installed on the sliding frame, and the cross bar 73 is close to the bottom surface of the sliding frame.

[0073] Embodiment 4, in the device, as Figure 5 , Figure 6 As shown, the disassembly and assembly gripper three 60 includes a gripper body three 61, and the gripper body two 51 is installed on the quick-change plate. A cylinder 62 and a fixed block 63 are installed on the gripper body two 51, and a movable hook body 64 is rotatably installed on the fixed block 63. The movable hook body 64 is an L-shaped structure, and the output end of the cylinder 62 passes through the gripper body two 51 and is connected to the movable hook body 64 through a connecting rod 65.

[0074] The fixed block 63 is provided with a pressure-bearing body 631 and a crimping body 632 . The pressure-bearing body 631 is located on the outside of the crimping body 632 . When the inner and outer slide plates are disassembled, the pressure-bearing body 631 is pressed against the outside of the slide plate cavity, and the movable hook body 64 pries the slide plate upward onto the crimping body 632 .

[0075] Embodiment 5, in the device, as Figures 8 to 12 As shown, a clamping structure is installed in the slide cavity of the converter slag blocking mechanism, the clamping structure includes a side pressure block 81, a slide pin 82 and a slide pin 83 are installed on the side pressure block 81, a slide groove 84 and a slide groove 85 are arranged on the side of the slide cavity, the slide groove 84 and the slide groove 85 are arranged along the thickness direction of the slide cavity, the slide pin 82 is slidably matched in the slide groove 84, and the slide pin 83 is slidably matched in the slide groove 85;

[0076] The side of the slide plate is provided with a rectangular groove 86;

[0077] A blocking block 87 is provided on the side of the slide cavity, and the blocking block 87 is installed horizontally. A pressure block 811 and a transverse latch 812 are provided on the side pressure block 81. The blocking block 87 is used to squeeze the transverse latch 812 to fit into the rectangular groove 86. The two ends of the transverse latch 812 are wedge-shaped structures respectively.

[0078] The blocking block 87 includes a fixed body 871 fixedly mounted on the side of the slide cavity, and the bottom of the fixed body 871 is connected to a blocking body 873 through a spring body 872. The side of the blocking body 873 close to the side pressure block 81 is provided with a slope surface gradually approaching the root of the slide cavity. The blocking body 873 is used to push the transverse latch 812 inserted into the rectangular groove 86 to lock and fix the side pressure block 81 and the slide. When the blocking body 873 is retracted, the transverse latch 812 moves outward and disengages from the rectangular groove 86 under the action of the spring, and the locking effect of the side pressure block 81 and the slide cavity is released.

[0079] The side of the movable hook body 64 is provided with an extrusion block 641, which is used to act on the slope surface to force the blocking body 873 to disengage from the side pressure block 81. When the movable hook body 64 enters the slide cavity, the blocking body 783 is moved outwards and disengaged from the side pressure block 81 through the extrusion block 641, so as to release the locking state and facilitate disengagement and replacement of the slide.

[0080] The method of using the full-process automation equipment for the maintenance of the converter slide slag retaining mechanism includes:

[0081] The converter slag retaining mechanism is removed from the converter outlet of the steelmaking plant and fixed to the debugging frame 10 by four movable bolts through manual lifting operation. At this time, the converter slag retaining mechanism is set vertically to the ground;

[0082] Step 1: Remove the bolts of the tensioner and heat shield

[0083] Under the program instruction, the manipulator 30 connects the gripper body 41 placed on the display rack 20 to its arm through the quick connection plate, aligns the disassembly wrench 46 with one of the three bolts on the tightener through theoretical positioning, and then measures the actual accurate position and hexagonal head of the bolt through the visual system;

[0084] The manipulator 30 moves so that the center of the disassembly wrench 46 is aligned with the center of the bolt;

[0085] The manipulator 30 rotates so that the anti-torque blocking rod 43 is close to the edge of the mechanism (no axial overlap);

[0086] The servo motor 44 rotates so that the direction of the disassembly wrench 46 is consistent with the direction of the hexagonal head of the bolt;

[0087] The manipulator 30 moves along the axial direction of the bolt to make the disassembly wrench 46 insert into the hexagonal head of the bolt. The manipulator 30 takes the disassembly wrench 46 as the center and makes the anti-torque blocking rod 43 close to the edge of the mechanism (the axial direction has overlapped);

[0088] The servo motor 44 is started under program control, and the disassembly wrench 46 connected to the output end of the multi-stage reducer 45 slowly loosens and unscrews the bolts under the rotation of the servo motor 44;

[0089] Finally, it is placed into the ground recovery frame by the robot;

[0090] Repeat the above process, unscrew the remaining two bolts, put them into the recovery frame, and the manipulator 30 swings the gripper body 41 back to the placement rack 20 and disengages it from the placement rack, and the process is completed;

[0091] If all the bolts on the tensioner are removed first, repeat the same action to remove all the bolts on the insulation board.

[0092] Step 2: Remove the outer nozzle and the tightener

[0093] Under the program instruction, the manipulator 30 connects the gripper body 2 51 placed on the placement rack 20 to its arm through the quick receiving plate, and aligns it with the center of the outer nozzle through theoretical positioning, and then measures the actual accurate position of the outer nozzle and the outer diameter of the front end through the visual system;

[0094] The three claws of the hydraulic chuck 52 are driven by the hydraulic station so that the inner circle of the claws is slightly larger than the outer diameter of the front end of the outer water outlet;

[0095] The manipulator 30 moves along the axial direction of the outer water outlet until the three clamping claws are sleeved on the front end of the outer water outlet, and the clamping claws clamp the outer water outlet under the drive of the hydraulic station;

[0096] The manipulator 30 moves backwards, overcomes the bonding force between the outer water outlet and the outer slide plate, removes the tightener on the outer water outlet from the mechanism, and puts it into the ground recovery frame;

[0097] After the outer water inlet and the tensioner are removed, the internal process of the opening mechanism is followed, specifically: the door closing cylinder pulls the door frame to one side of the mounting plate, the second gripper body 51 opens the surface pressure hook, aligns it with the center of the anti-dropout pin assembly through theoretical positioning, and then measures the actual accurate position of the anti-dropout pin assembly through the visual system, and removes the anti-dropout pin assembly through the clamping body 53;

[0098] The door closing cylinder releases the pulling force, and the second gripper body 51 opens the door frame outwards;

[0099] The robot 30 swings the gripper body 2 51 back onto the placement rack 20 and disengages from it, and the process is completed;

[0100] Step 3: Dismantle the skateboard

[0101] When the mechanism is opened and positioned, the manipulator 30 connects the gripper body 3 61 placed on the placement rack 20 to its arm through the quick connection plate under the program instruction, and aligns it with the center of the cavity of the mounting plate slide or the cavity hole of the sliding frame slide through theoretical positioning, and then measures the actual accurate position of the cavity center hole, the plane position of the cavity bottom and the position of the slot hole on the cavity through the visual system;

[0102] The manipulator 30 moves forward along the axial direction of the center hole of the cavity until the pressure-bearing body 631 on the gripper body 3 61 is supported on the outer plane of the slide cavity. At this time, the movable hook body 64 has extended into the slot hole reserved at the edge of the cavity. At the same time, the extrusion block 641 acts on the slope surface of the side pressure block 81, forcing the blocking body 873 to detach from the side of the side pressure block 81. The cylinder 62 starts to work, pushing the front end of the movable hook body 64 to turn to the bottom of the slide and pry upward to overcome the adhesion between the bottom of the slide and the slide cavity. Then the movable hook body 64 continues to rotate so that the side surface clamps the slide inward, and the manipulator moves backward along the axial direction of the center hole of the cavity to remove the slide from the slide cavity and put it into the ground recovery frame.

[0103] The manipulator 30 swings the gripper body 3 61 back onto the placement rack 20 and disengages from it, and the process is completed;

[0104] Step 4: Slide frame removal

[0105] Under the program instruction, the manipulator 30 connects the gripper body 71 placed on the display rack 20 to its arm through the quick connection plate, and aligns its hook 72 with the cylinder latch on the sliding frame through theoretical positioning, and then measures the actual accurate position of the cylinder latch and the bottom surface position of the sliding frame through the visual system;

[0106] The manipulator 30 rotates so that its cross bar 73 is close to the bottom surface of the sliding frame, and the manipulator 30 moves so that its hook 72 coincides with the center of the oil cylinder latch on the sliding frame;

[0107] The manipulator 30 moves upward, overcomes the gravity of the sliding frame and the top tightening sleeve connected thereto, removes them from the mechanism together, and puts them into the specified position of the sliding frame on the display rack 20. The manipulator 30 swings the gripper body 71 back to the display rack 20 and disengages it from the gripper body 71, and the process is completed.

[0108] When reassembling, perform the reverse operations in sequence to complete the assembly process of the mechanism.

[0109] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. The replacement may be a replacement of a part of the structure, device, method step, or a complete technical solution. Any equivalent replacement or change according to the technical solution and the inventive concept of the present invention shall be covered within the protection scope of the present invention.

Claims

1. A full-process automated equipment for the maintenance of a converter slide slag retaining mechanism, characterized in that: include: A debugging frame (10), the debugging frame (10) is used to install and fix the converter slag blocking mechanism and the converter slag blocking mechanism is perpendicular to the ground; A display rack (20), the display rack (20) is independently arranged on one side of the debugging rack (10); A manipulator (30), the manipulator (30) is located on one side of the debugging rack (10), and the operating range of the manipulator (30) covers the debugging rack (10) and the display rack (20); The disassembly and assembly gripper 1 (40), the disassembly and assembly gripper 2 (50), the disassembly and assembly gripper 3 (60), and the disassembly and assembly gripper 4 (70) are all placed on the display rack (20) at specified positions, and the four disassembly and assembly grippers are connected to the manipulator (30) through a quick-change adapter. The disassembly and assembly gripper 1 (40) is used for disassembling and assembling the top tightener and the heat insulation board bolts. The torque generated when disassembling and assembling the bolts forms a closed mechanical system between the mechanism and the disassembly and assembly gripper 1 (40), so that the manipulator (30) is not subjected to torque in principle; the disassembly and assembly gripper 2 (50) is used for disassembling and assembling the top tightener and the external water outlet; the disassembly and assembly gripper 3 (60) is used for disassembling and assembling the inner slide plate and the outer slide plate; the disassembly and assembly gripper 4 (70) is used for disassembling and assembling the sliding frame and the top tightening sleeve.

2. The whole process automation equipment for maintenance of converter slide plate slag blocking mechanism according to claim 1 is characterized in that: The disassembly and assembly gripper (40) comprises a gripper body (41), which is mounted on a quick-change receiving plate; an extension plate (42) is arranged on the gripper body (41); an anti-torque retaining rod (43) is mounted on the end of the extension plate (42); a side wall of the anti-torque retaining rod (43) abuts against a side edge of the mechanism; a servo motor (44) and a multi-stage reducer (45) are mounted on the gripper body (41); and a disassembly and assembly wrench (46) is mounted on the output end of the multi-stage reducer (45).

3. The whole process automation equipment for maintenance of converter slide plate slag blocking mechanism according to claim 1 is characterized in that: The disassembly and assembly gripper 2 (50) comprises a gripper body 2 (51), which is mounted on a quick-change receiving plate, and a hydraulic chuck (52) is mounted on the gripper body 2 (51), which is used to clamp the external water outlet.

4. The whole process automation equipment for maintenance of converter slide plate slag blocking mechanism according to claim 1 is characterized in that: The disassembly and assembly gripper four (70) includes a gripper body four (71), which is installed on the quick-change plate. The gripper body four (71) includes a hook portion (72), a cross bar (73) and a connecting plate (74) for connecting the hook portion (72) and the cross bar (73). When disassembling the sliding frame and the top tightening sleeve, a notch is provided on one side of the hook portion (72) for receiving and inserting the cylinder latch installed on the sliding frame, and the cross bar (73) is tightly attached to the bottom surface of the sliding frame.

5. The whole process automation equipment for maintenance of converter slide plate slag blocking mechanism according to claim 1 is characterized in that: The disassembly and assembly gripper three (60) comprises a gripper body three (61). The gripper body two (51) is mounted on a quick-change receiving plate. A cylinder (62) and a fixed block (63) are mounted on the gripper body two (51). A movable hook body (64) is rotatably mounted on the fixed block (63). The movable hook body (64) is an L-shaped structure. The output end of the cylinder (62) passes through the gripper body two (51) and is connected to the movable hook body (64) through a connecting rod (65).

6. The whole process automation equipment for maintenance of converter slide plate slag blocking mechanism according to claim 5 is characterized in that: The fixed block (63) is provided with a pressure-bearing body (631) and a crimping body (632). The pressure-bearing body (631) is located outside the crimping body (632). When the inner slide plate and the outer slide plate are disassembled, the pressure-bearing body (631) is pressed against the outside of the slide plate cavity, and the movable hook body (64) pries the slide plate upward onto the crimping body (632).

7. The whole process automation equipment for maintenance of converter slide plate slag blocking mechanism according to claim 5 is characterized in that: A clamping structure is installed in the slide cavity of the converter slag blocking mechanism, the clamping structure includes a side pressure block (81), a slide pin 1 (82) and a slide pin 2 (83) are installed on the side pressure block (81), a slide groove 1 (84) and a slide groove 2 (85) are arranged on the side of the slide cavity, the slide groove 1 (84) and the slide groove 2 (85) are arranged along the thickness direction of the slide cavity, and the slide pin 1 (82) is slidably matched in the slide groove 1 (84), and the slide pin 2 (83) is slidably matched in the slide groove 2 (85); The side of the slide plate is provided with a rectangular groove (86); A blocking block (87) is arranged on the side of the slide cavity. The blocking block (87) is installed horizontally. A pressure block (811) and a transverse latch (812) are arranged on the side pressure block (81). The blocking block (87) is used to squeeze the transverse latch (812) to fit into the rectangular groove (86).

8. The whole process automation equipment for maintenance of converter slide plate slag blocking mechanism according to claim 7 is characterized in that: The blocking block (87) comprises a fixed body (871) fixedly mounted on the side of the slide cavity, the bottom of the fixed body (871) is connected to a blocking body (873) via a spring body (872), and a slope surface gradually approaching the root of the slide cavity is provided on the side of the blocking body (873) close to the side pressure block (81).

9. The whole process automation equipment for maintenance of converter slide plate slag blocking mechanism according to claim 8 is characterized in that: The side of the movable hook body (64) is provided with a pressing block (641), and the pressing block (641) is used to act on the slope surface to force the blocking body (873) to separate from the side pressure block (81).

10. The method for using the converter slide slag retaining mechanism maintenance full process automation equipment according to claims 1 to 9, characterized in that: include: Step 1: Remove the bolts of the tensioner and heat shield The manipulator (30) connects the gripper body (41) placed on the placement frame (20) to its arm through a quick connection plate under program instructions, aligns the disassembly wrench (46) with one of the three bolts on the tensioner and the heat insulation board through theoretical positioning, and then measures the actual accurate position of the bolt and the hexagonal head position through a visual system; The manipulator (30) moves so that the center of the disassembly wrench (46) is aligned with the center of the bolt; The manipulator (30) rotates so that the anti-torque blocking rod (43) is close to the edge of the mechanism (without axial overlap); The servo motor (44) rotates so that the direction of the disassembly wrench (46) is consistent with the direction of the hexagonal head of the bolt; The manipulator (30) moves along the axial direction of the bolt to make the disassembly wrench (46) insert into the hexagonal head of the bolt, and the manipulator (30) takes the disassembly wrench (46) as the center to make the anti-torque blocking rod (43) close to the edge of the mechanism (the axial direction has overlapped); The servo motor (44) is started under program control, and the disassembly wrench (46) connected to the output end of the multi-stage reducer (45) slowly loosens and unscrews the bolts under the rotation of the servo motor (44); Finally, the robot (30) places the waste into a ground recovery frame; Repeat the above process, unscrew the remaining two bolts, put them into the recovery frame, and the robot (30) swings the gripper body 1 (41) back onto the placement frame (20) and disengages it from the gripper body 1, and the process is completed; Step 2: Remove the outer nozzle and the tightener The robot (30) connects the second gripper body (51) placed on the placement frame (20) to its arm through a quick receiving plate under program instructions, and aligns it with the center of the outer water outlet through theoretical positioning, and then measures the actual accurate position of the outer water outlet and the size of the front end outer diameter through a visual system; The three clamping claws of the hydraulic chuck (52) are driven by the hydraulic station so that the inner circle of the clamping claws is slightly larger than the outer diameter of the front end of the outer water outlet; The manipulator (30) moves along the axial direction of the outer water outlet until three clamping claws are sleeved on the front end of the outer water outlet, and the clamping claws clamp the outer water outlet under the drive of the hydraulic station; The manipulator (30) moves backwards to overcome the bonding force between the outer water outlet and the outer slide plate, and removes the tightening device on the outer water outlet from the mechanism together with the tightening device, and puts the tightening device into a ground recovery frame; The manipulator (30) swings the second gripper body (51) back onto the placement rack (20) and disengages from it to return to its original position, and the process is completed; Step 3: Dismantle the skateboard When the mechanism is opened and positioned, the manipulator (30) connects the gripper body 3 (61) placed on the placement frame (20) to its arm through the quick connection plate under the program instruction, and aligns it with the center of the cavity of the mounting plate slide or the cavity hole of the sliding frame slide through theoretical positioning, and then measures the actual accurate position of the cavity center hole, the plane position of the cavity bottom and the position of the slot hole on the cavity through the visual system; The manipulator (30) moves forward along the axial direction of the center hole of the cavity until the pressure-bearing body (631) on the third gripper body (61) supports the outer plane of the slide cavity. At this time, the movable hook body (64) has extended into the slot hole reserved at the edge of the cavity. At the same time, the extrusion block (641) acts on the slope surface of the side pressure block (81), forcing the blocking body (873) to detach from the side of the side pressure block (81). The cylinder (62) starts to work, pushing the front end of the movable hook body (64) to turn into the bottom of the slide and pry upward to overcome the adhesion between the bottom of the slide and the slide cavity. Then the movable hook body (64) continues to rotate so that the side surface clamps the slide inward. The manipulator (30) moves backward along the axial direction of the center hole of the cavity, so that the slide is removed from the slide cavity and placed in the ground recovery frame; The manipulator (30) swings the gripper body (61) back onto the placement rack (20) and disengages from it to return to its original position, and the process is completed; Step 4: Slide frame removal The manipulator (30) connects the gripper body (71) placed on the placement frame (20) to its arm through a quick connection plate under program instructions, and aligns its hook (72) with the cylinder latch on the sliding frame through theoretical positioning, and then measures the actual accurate position of the cylinder latch and the bottom surface of the sliding frame through a visual system; The manipulator (30) rotates so that the horizontal block (73) is close to the bottom surface of the sliding frame, and the manipulator (30) moves so that the hook portion (72) and the center of the oil cylinder latch on the sliding frame coincide with each other; The manipulator (30) moves upward, overcomes the gravity of the sliding frame and the top tightening sleeve connected thereto, removes them from the mechanism together, and puts them into the specified position of the sliding frame on the placement rack (20). The manipulator (30) swings the gripper body 4 (71) back onto the placement rack (20) and disengages it from the placement rack, and the process is completed.

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