Automatic bolt dismounting and mounting equipment and method for converter sliding plate slag stopping device

Abstract

The invention discloses automatic bolt dismounting and mounting equipment and method for a converter sliding plate slag stopping device, and the equipment comprises a debugging frame which is independently arranged and is used for installing a converter sliding plate slag stopping mechanism; the manipulator is independently arranged on one side of the debugging frame, and a visual system is arranged on the manipulator; the dismounting and mounting assembly comprises a dismounting and mounting body, the dismounting and mounting body is mounted on an arm of the manipulator through a quick-change connecting disc, an extension plate, a servo motor and a multi-stage speed reducer are mounted on the dismounting and mounting body, an anti-torque part is mounted at one end, far away from the dismounting and mounting body, of the extension plate, and the servo motor is connected with a dismounting and mounting wrench through the multi-stage speed reducer; when the bolt is disassembled and assembled, the anti-torque piece abuts against the edge of the mechanism or is assembled in the outer water gap, and torque generated when the disassembling and assembling spanner is used for disassembling the bolt forms a closed mechanical system between the mechanism and the disassembling and assembling body, so that a mechanical arm is not subjected to the torque. The device is used for completing automatic bolt dismounting operation and reducing labor intensity and workload.

Description

Technical Field

[0001] The invention relates to a converter slag retaining mechanism disassembly and assembly technology, and in particular to an automatic disassembly and assembly bolt device and method for a converter slide plate slag retaining device. Background Art

[0002] The converter slide slag blocking mechanism is an efficient slag blocking device, which is widely used in the steel smelting industry. It mainly uses the sliding nozzle refractory element to control the opening and closing of the steel outlet by mechanical or hydraulic means to achieve the purpose of blocking slag. During the steelmaking process, when steel is required to be tapped, the operator will start the corresponding device to open the slide; and when the tapping is nearing the end and slag is detected, the slide will quickly close to prevent slag from flowing into the ladle.

[0003] When the converter slide slag blocking mechanism has worked for a certain number of times, that is, when the number of consecutive slidings on the friction surface of the upper and lower slides reaches the limit, the slide in the mechanism needs to be replaced. Currently, most replacements are done manually with a crane or a lifting frame. In the past, the torque of some bolts was about tens of Nm, while the torque of the bolts on the tightener on the slag blocking mechanism is about 30,000 Nm, which far exceeds the requirements of existing disassembly and assembly equipment. At the same time, the poor on-site environment is not conducive to personnel construction work.

[0004] Therefore, the inventor proposes a device for disassembling and assembling the tensioner bolts on the slag retaining mechanism of the converter slide plate to efficiently replace manual work. Summary of the invention

[0005] 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:

[0006] An automatic bolt disassembly and assembly device for a converter slide plate slag retaining device, comprising:

[0007] The debugging frame is independently set up and used to install the converter slide slag blocking mechanism;

[0008] A manipulator, which is independently arranged on one side of the debugging frame and is provided with a visual system;

[0009] The disassembly assembly includes a disassembly body, which is installed on the arm of the manipulator via a quick-change adapter. An extension plate, a servo motor and a multi-stage reducer are installed on the disassembly body. An anti-torque part is installed at one end of the extension plate away from the disassembly body. The servo motor is connected to a disassembly wrench via a multi-stage reducer.

[0010] When disassembling and assembling bolts, the anti-torque member abuts against the edge of the mechanism or is assembled in the outer water outlet. The torque generated by the disassembly wrench when removing the bolts forms a closed mechanical system between the mechanism and the disassembly body so that the manipulator is not subjected to torque.

[0011] In the above-mentioned device, the anti-torque member comprises a blocking rod mounted on the extension plate, and a matching body is arranged on the blocking rod, and the matching body is used to abut against the edge of the mechanism.

[0012] In the above-mentioned device, the matching body includes an eccentric convex shaft arranged on the blocking rod, and a one-way elastic stop pin is installed on the eccentric convex shaft, and the one-way elastic stop pin is used to match the process hole on the installation frame or the door frame.

[0013] In the above-mentioned device, a driving motor is arranged on the extension plate, and the driving motor forms a transmission fit with the baffle rod through gear rotation, and the baffle rod and the extension plate are installed for rotation fit.

[0014] In the above-mentioned device, the anti-torque member includes a hollow rod and a telescope mounted on the extension plate, a pulling rod is slidably matched inside the hollow rod, the pulling rod and the output end of the telescope are connected, a connecting seat is arranged at the bottom of the pulling rod, a connecting rod 1 is hinged on the connecting seat, an outward expansion block 1 is hinged on the connecting seat via the connecting rod 1, a slider is connected to the top of the outward expansion block 1 via the connecting rod 2, both ends of the connecting rod 2 are rotatably arranged, the slider is slidably matched to the outside of the hollow rod, a spring body and a sliding sleeve are sleeved on the outside of the pulling rod, the spring body and the sliding sleeve are located between the bottom of the hollow rod and the connecting seat, an outward expansion block 2 is connected to the sliding sleeve via the connecting rod 3, and the top of the outward expansion block 2 is connected to the outside of the hollow rod via the connecting rod 4;

[0015] Among them, both ends of the connecting rod 1, the connecting rod 2, the connecting rod 3, and the connecting rod 4 are rotation nodes;

[0016] Among them, the abduction block 1 and the abduction block 2 are both symmetrically distributed in two groups, and the abduction block 1 and the abduction block 2 are staggered in the circumferential direction.

[0017] In the above-mentioned device, side strips 1 are arranged on both circumferential sides of the outward extension block 1, and side strips 2 are arranged on the side of the outward extension block 2. Both side strips 1 and 2 are arranged parallel to the movement direction of the outward extension block 1.

[0018] In the above-mentioned device, an embracing piece is provided at one end of the side strip one away from the outward expansion block one, and the embracing piece is used to tightly embrace the side strip two.

[0019] In the above-mentioned device, the embracing member includes an L-shaped plate, which is arranged on the outer side of the side strip 2, and a groove is arranged on the inner side of the L-shaped plate. An embracing body is arranged inside the groove, and the embracing body is used to connect and fix the side strip 2. A sliding pin 1 and a sliding pin 2 are arranged on the embracing body, and a sliding groove 1 adapted to the sliding pin 1 and a sliding groove 2 adapted to the sliding pin 2 are arranged in the groove. A spring member is connected between the embracing body and the groove, and the spring member is used to pull the embracing body toward the root of the groove. A limiting boss and a receiving boss are arranged on the embracing body, and an adapting groove adapted to the limiting boss is arranged on the side strip 2.

[0020] In the above-mentioned device, the disassembly wrench includes an outer sleeve fixedly installed at the output end of the multi-stage reducer, a spring body and a screw head sleeve are installed in the outer sleeve, and the screw head sleeve is installed in the outer sleeve through the axial cooperation of the spring body.

[0021] The method for using the automatic bolt disassembly and assembly equipment for the converter slide plate slag retaining device includes:

[0022] Step 1: Disassemble the assembly and assemble the robot

[0023] The disassembly assembly is placed on the assembly table in advance, and the system sends an execution command. After the robot receives the command, it connects the disassembly assembly body placed on the assembly table to its arm through the quick-change adapter;

[0024] Step 2, remove the bolts

[0025] 21) Use theoretical positioning to align the disassembly wrench with one of the three bolts on the tensioner, and then use the visual system to measure the actual accurate position of the bolt and the hexagonal head position;

[0026] 21) The manipulator moves so that the center of the disassembly wrench is aligned with the center of the bolt;

[0027] 22) The manipulator rotates around the disassembly wrench so that the stopper is close to the edge of the mechanism, and the axial direction does not overlap, and there is a certain gap;

[0028] or,

[0029] The manipulator rotates around the disassembly wrench to make the axis of the hollow rod coincide with the axis of the external water outlet;

[0030] 23) The manipulator moves the disassembly wrench axially until it moves to a predetermined position. During the axial movement, there is an angle deviation between the hexagonal structure of the disassembly wrench and the hexagonal head of the bolt, and the screw head sleeve will be squeezed inward;

[0031] 24) The driving motor drives the stopper rod to rotate a certain angle through the gear transmission, so that the eccentric convex shaft abuts against the edge of the mechanism, and the one-way elastic stop pin cooperates with the process hole on the edge of the mechanism;

[0032] or,

[0033] The telescopic device drives the pulling rod to lift up along the hollow rod, and the pulling rod lifts the expansion block 1 through the connecting seat. At the same time, the expansion block 2 is expanded outward under the action of the connecting rods 3 and 4 until it fits in the outer water outlet. At this time, the sliding sleeve fits in the bottom of the hollow rod, and the slider slides to the top side of the side of the hollow rod and will not continue to move. The pulling rod continues to drive the connecting seat to lift up, and the spring body is gradually compressed. The expansion block 1 is moved outward through the connecting rods 1 and 2 and installed between the side strips 2 on both sides of the two expansion blocks 2. When installed, the side strip 2 will act on the pressure-bearing boss to rotate the clasping body inward, and adapt the limiting boss and the adapting groove. When the pulling rod moves to the end position, the side strips 1 and 2 cooperate to form a whole in the circumferential direction;

[0034] 25) The servo motor rotates slowly to make the hexagonal head of the bolt fit into the screw head sleeve. The disassembly wrench connected to the output end of the multi-stage reducer slowly loosens the bolt and screws it down while the servo motor rotates;

[0035] 26) The driving motor drives the stop rod to rotate in the opposite direction through the gear transmission, and the one-way elastic stop pin and the process hole separate in the opposite direction;

[0036] or,

[0037] The telescopic device drives the pulling rod to move in the opposite direction until all components are reset;

[0038] 27) Finally, the robot puts it into the ground recovery box;

[0039] Repeat the process from 21) to 27), unscrew the remaining bolts, put them into the recovery frame, and the robot will put the disassembled body back on the display rack and disengage it from the rack, and the process is completed.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] 1. After the present invention moves the disassembly body to the target position through the manipulator, the servo motor torque can generate a large torque after being decelerated and amplified by the multi-stage reducer. 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 bonding of the bolt after use. The anti-torque part 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 the bolt forms a closed mechanical system between the mechanism equipment and the disassembly body through the anti-torque part, 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.

[0042] 2. In actual operation, the present invention is often unable to achieve precise matching between the screw head and the disassembly wrench. By adopting the structural form of the outer sleeve, the spring body and the screw head sleeve, in actual operation, the outer sleeve is axially squeezed. When the screw head sleeve and the screw head are not matched, the screw head sleeve will be squeezed inward, and then the servo motor and the multi-stage reducer drive the outer sleeve to rotate slowly, thereby achieving precise matching between the screw head and the screw head sleeve.

[0043] 3. The anti-torque part of the present invention can be in the form of a fitting body or a structure fixed in the outer water outlet by a socket. The fitting body can be installed on the outer side of the edge of the mechanism and eliminate the structural gap through the eccentric convex shaft, thereby eliminating the counter-torque when disassembling and assembling the bolts. The internal expansion and fixing structure composed of a hollow rod and a telescope only needs to ensure that the manipulator performs a counter-torque elimination benchmark every time when disassembling bolts at different positions. Compared with the fitting body method, 11 counter-torque elimination benchmarks can be saved, greatly simplifying the complexity of the system. Secondly, a one-way elastic stop pin is provided on the fitting body to match the process hole on the side of the mechanism, thereby eliminating the reaction force in the axial direction of the bolt; of course, the axial reaction force can also be overcome by assembling the extension block 1 and the extension block 2 in the outer water outlet, so that a closed mechanical system is formed between the entire mechanism equipment and the disassembly body. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0045] Figure 2 A schematic structural diagram of an embodiment of the present invention;

[0046] Figure 3 For disassembling and assembling the main body and the structural distribution diagram of the multi-stage reduction motor and servo motor;

[0047] Figure 4 This is the internal structure diagram of the disassembly wrench;

[0048] Figure 5 It is a cross-sectional view of the screw head sleeve and the outer sleeve;

[0049] Figure 6 It is a structural schematic diagram of another embodiment of the present invention;

[0050] Figure 7 for Figure 6 Axial cross-sectional view of the disassembly and assembly of the main body and the anti-torque member;

[0051] Figure 8 for Figure 7 A partial enlarged view of the middle A;

[0052] Fig. 9 for Figure 7 A radial cross-sectional view of the adapting process hole of the one-way elastic stop pin;

[0053] Fig.10 It is a structural schematic diagram of another embodiment of the present invention;

[0054] Fig.11 This is a cross-sectional view of the abduction block 2;

[0055] Fig.12 This is a cross-sectional view of the abduction block 1;

[0056] Fig.13 A cross-sectional view of an anti-torque member;

[0057] Fig.14 It is a schematic diagram of the structure of the embracing piece.

[0058] Reference numerals:

[0059] 10. Debugging frame; 20. Manipulator; 30. Disassembly and assembly assembly; 31. Disassembly and assembly body; 32. Extension plate; 33. Servo motor; 34. Multi-stage reducer; 35. Anti-torque member; 351. Block body; 352. Matching body; 3521. Eccentric convex shaft; 3522. One-way elastic stop pin; 3523. Drive motor; 353. Telescopic device; 354. Hollow rod; 356. Pull rod; 357. Connecting seat; 358. Connecting rod 1; 359. Extension block 1; 3510. Connecting rod 2 ; 3511, slider; 3512, spring body; 3513, sleeve; 3514, connecting rod three; 3515, extension block two; 3516, connecting rod four; 3517, side strip one; 3518, side strip two; 3519, embracing piece; 35191, L-shaped plate; 35192, embracing body; 35193, sliding pin one; 35194, sliding pin two; 35195, spring piece; 36, disassembly wrench; 361, outer sleeve; 362, screw head sleeve; 363, elastomer. DETAILED DESCRIPTION

[0060] 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.

[0061] 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.

[0062] like Figure 1 , Figure 2As shown, an automatic bolt disassembly and assembly device for a converter slide plate slag retaining device comprises:

[0063] A debugging frame 10, which is independently provided and used for installing a converter slide slag blocking mechanism;

[0064] A manipulator 20, the manipulator 20 is independently arranged at one side of the debugging frame 10, and a visual system is arranged on the manipulator 20;

[0065] The disassembly assembly 30 includes a disassembly body 31, which is mounted on the arm of the manipulator 20 via a quick-change adapter. An extension plate 32, a servo motor 33 and a multi-stage reducer 34 are mounted on the disassembly body 31. An anti-torque member 35 is mounted on the end of the extension plate 32 away from the disassembly body 31. The servo motor 33 is connected to a disassembly wrench 36 via the multi-stage reducer 34.

[0066] When disassembling the bolts, the anti-torque member 35 abuts against the edge of the mechanism or is installed in the outer water port, and the torque generated by the disassembly wrench 36 when removing the bolts forms a closed mechanical system between the mechanism and the disassembly body 31 so that the manipulator 20 is not subjected to torque. The anti-torque member 35 of this embodiment is a stopper.

[0067] During use, since the initial torque of the bolt is very large, about 30,000 Nm, of course, the bolt will deform and stick after the mechanism is used, and the torque will continue to increase, making the torque larger than the theoretical value. The servo motor 33 amplifies the torque through the multi-stage reducer 34 to meet the torque requirements. Secondly, since the starting torque for removing the bolts and the final torque for installing the bolts are both very large, the arm of the traditional manipulator 20 and the connecting substrate of the disassembly assembly 30 are rigidly connected, which can easily cause the arm of the manipulator 20 to be unable to withstand the strength and cause irreparable structural damage. After research, the inventor adopted a closed mechanical system formed between the disassembly assembly 30 and the converter slide slag retaining mechanism to eliminate the influence of torque on the manipulator 20, so that the arm of the manipulator 20 is not subject to torque in principle.

[0068] In the above-mentioned device, Figures 6 to 9 As shown, the anti-torque member 35 includes a blocking rod 351 installed on the extension plate 32, and a matching body 352 is provided on the blocking rod 351. The matching body 352 is used to abut against the edge of the mechanism.

[0069] The matching body 352 includes an eccentric convex shaft 3521 arranged on the blocking rod 351, and a one-way elastic stop pin 3522 is installed on the eccentric convex shaft 3521. The one-way elastic stop pin 3522 is used to match the process hole on the installation frame or the door frame.

[0070] The extension plate 32 is provided with a driving motor 3523 , which forms a transmission fit with the blocking rod 351 through gear rotation, and the blocking rod 351 and the extension plate 32 are installed in a rotationally matched manner.

[0071] In actual use, since it is necessary to first match the disassembly wrench 36 with the bolt head and axially adapt, during axial adaptation, the stopper 251 cannot be directly attached to the edge of the mechanism, otherwise the axial adaptation cannot be achieved, and a certain gap needs to be maintained. Due to the existence of the gap, a certain rotation action will occur when disassembling the bolt, thereby causing the manipulator 20 to bear a certain amount of torque, and the torque is greater than 30,000 Nm, thereby causing a crushing problem in the structure. Therefore, the eccentric cam 3521 is rotated by a certain angle by driving the gear 3523, so that the eccentric cam 3521 is attached to the side wall of the mechanism. At the same time, since the one-way elastic stop pin 3522 will fit in the process hole on the side of the mechanism, the disassembly assembly 20 can also bear a certain torque in the axial and circumferential directions, thereby eliminating the counter torque of the disassembly assembly 20 on the arm of the manipulator 20 when the bolt is disassembled. When the bolt is removed after dismantling, the eccentric cam 3521 moves in the reverse direction to disengage the side wall of the mechanism and the one-way elastic stop pin 3522 disengages from the process hole, and the disassembly assembly 20 can be removed.

[0072] In the above-mentioned device, if Figures 10 to 14 As shown, the anti-torque member 35 may also include a hollow rod 354 and a telescoping device 353 mounted on the extension plate 32, the interior of the hollow rod 354 is slidably matched with a pulling rod 356, the pulling rod 356 is connected to the output end of the telescoping device 353, a connecting seat 357 is provided at the bottom of the pulling rod 356, a connecting rod 1 358 is hinged on the connecting seat 357, the connecting seat 357 is hinged with an extension block 1 359 via the connecting rod 1 358, and the top of the extension block 1 359 is connected to a sliding member via a connecting rod 2 3510. Block 3511, both ends of the connecting rod 2 3510 are rotatably arranged, the slider 3511 is slidably matched with the outer side of the hollow rod 354, the outer side of the pulling rod 356 is sleeved with a spring body 3512 and a sliding sleeve 3513, the spring body 3512 and the sliding sleeve 3513 are located between the bottom of the hollow rod 354 and the connecting seat 357, the sliding sleeve 3513 is connected to the extension block 2 3515 via the connecting rod 3 3514, and the top of the extension block 2 3515 is connected to the outer side of the hollow rod 354 via the connecting rod 4 3516;

[0073] Among them, both ends of the connecting rod 1 358, the connecting rod 2 3510, the connecting rod 3 3514, and the connecting rod 4 3516 are rotation nodes;

[0074] Among them, the outward extension block 1 359 and the outward extension block 2 3515 are symmetrically distributed in two groups, and the outward extension block 1 359 and the outward extension block 2 3515 are staggered in the circumferential direction.

[0075] Among them, side strips 1 3517 are provided on both sides of the circumference of the outward extension block 1 359 , and side strips 2 3518 are provided on the sides of the outward extension block 2 3515 . Both side strips 1 3517 and side strips 2 3518 are provided parallel to the movement direction of the outward extension block 1 359 .

[0076] Among them, the end of the side strip 1 3517 away from the outward extension block 1 359 is provided with an embracing piece 3519, and the embracing piece 3519 is used to tightly embrace the side strip 2 3518.

[0077] The embracing member 3519 comprises an L-shaped plate 35191, which is arranged on the outer side of the second side strip 3518, and a groove is arranged on the inner side of the L-shaped plate 35191, and an embracing body 35192 is arranged inside the groove, and the embracing body 35192 is used to connect and fix the second side strip 3518, and a sliding pin 1 35193 and a sliding pin 2 35194 are arranged on the embracing body 35192, and a sliding groove 1 adapted to the sliding pin 1 35193 and a sliding groove 2 adapted to the sliding pin 2 35194 are arranged in the groove. Slot 2, sliding slot 1 includes a rotating part and a vertical part, sliding slot 2 is the vertical part, and the rotating part is an arc segment with a radius of one end of two sliding slots 2 close to sliding slot 1 and the distance from the rotating part. A spring member 35195 is connected between the embracing body 35192 and the groove, and the spring member 35195 is used to pull the embracing body 35192 toward the root of the groove. A limiting boss and a receiving boss are provided on the embracing body 35192, and an adapting groove adapted to the limiting boss is provided on the side strip 2 3518, and the adapting groove is provided along the length direction of the side strip 2 3518.

[0078] During implementation, the telescopic device 353 drives the pulling rod 356 to be lifted up along the hollow rod 354, and the pulling rod 356 lifts the expansion block 1 359 through the connecting seat 357. At the same time, the expansion block 2 3515 is expanded outwardly under the action of the connecting rod 3514 and the connecting rod 4 3516 until it fits in the outer water outlet. At this time, the sliding sleeve 3513 fits the bottom of the hollow rod 354, and the slider 3511 slides to the top side of the side of the hollow rod 354 and will not move further. The pulling rod 356 continues to drive the connecting seat 357 to be lifted, and the elastic The spring body 3512 is gradually compressed, and the extension block 1 359 is moved outward through the connecting rod 1 358 and the connecting rod 2 3510 to be installed between the side strips 2 3518 on both sides of the two extension blocks 2 3515. When installed, the side strips 2 3518 will act on the pressure-bearing boss to rotate the embracing body 35192 inward, and adapt the limiting boss and the adapting groove. When the pulling rod 356 moves to the terminal position, the side strips 1 3517 and the side strips 2 3518 cooperate to form a whole in the circumferential direction, and the anti-torque member 35 is restricted from axial movement. When the restriction is released, the pulling rod 356 only needs to be reset under the action of the telescopic device 353, and the telescopic device 353 is a cylinder.

[0079] In the above-mentioned device, if Figures 3 to 5 As shown, the disassembly wrench 36 includes an outer sleeve 361 fixedly mounted on the output end of the multi-stage reducer 34, an elastic body 363 and a screw head sleeve 362 are installed in the outer sleeve 361, and the screw head sleeve 362 is axially fitted in the outer sleeve 361 through the elastic body 363.

[0080] The outer sleeve 361 includes a main body and a threaded limiting sleeve. An axial groove 364 is arranged inside the main body. A sliding body which fits in the axial groove 364 is arranged on the screw head sleeve 362. The threaded limiting sleeve is threadedly connected to the main body and limits the screw head sleeve 362 inside.

[0081] When the outer sleeve 361 and the bolt axis coincide with each other, they are axially approached, and the hexagonal structure of the screw head sleeve 362 and the bolt head position may not match each other. Then, the spring body 363 performs flexible compensation and applies an axial pressure. When the outer sleeve 361 rotates a certain angle, the screw head sleeve 362 and the bolt head position are socket-fitted under the action of the spring body 363 to complete the structural adaptation, ensuring that the subsequent servo motor 33 drives the bolt disassembly and assembly operations.

[0082] A method for using an automatic bolt disassembly and assembly device for a converter slide plate slag retaining device, comprising:

[0083] Step 1: Disassemble the assembly 30 and the manipulator 20

[0084] The disassembly assembly 30 is placed on the assembly table in advance, and the system sends an execution command. After receiving the command, the robot 20 connects the disassembly assembly body 31 placed on the assembly table to its arm via the quick-change adapter;

[0085] Step 2, remove the bolts

[0086] 21 Align the disassembly wrench 36 with one of the three bolts on the tensioner through theoretical positioning, and then measure the actual accurate position of the bolt and the hexagonal head position through the visual system;

[0087] 21 The manipulator 20 moves so that the center of the disassembly wrench 36 is aligned with the center of the bolt;

[0088] The manipulator 20 rotates around the disassembly wrench 36 so that the stopper 351 is close to the edge of the mechanism, and there is no axial overlap, and there is a certain gap;

[0089] or,

[0090] The manipulator 20 rotates around the disassembly wrench 36 so that the axis of the hollow rod 354 coincides with the axis of the outer water outlet;

[0091] The manipulator 23 moves the disassembly wrench 36 axially until it moves to a predetermined position. During the axial movement, there is an angle deviation between the inner hexagonal structure of the disassembly wrench 36 and the hexagonal head of the bolt, and the screw head sleeve 362 squeezes inward and compresses the elastic body 363.

[0092] The driving motor 3523 drives the blocking rod 351 to rotate a certain angle through gear transmission, so that the eccentric convex shaft 3521 abuts against the edge of the mechanism, and the one-way elastic stop pin 3522 cooperates with the process hole on the edge of the mechanism;

[0093] or,

[0094] The telescopic device 353 drives the pulling rod 356 to be lifted up along the hollow rod 354, and the pulling rod 356 lifts the extension block 1 359 through the connecting seat 357. At the same time, the extension block 2 3515 is expanded outwardly under the action of the connecting rod 3 3514 and the connecting rod 4 3516 until it fits in the outer water outlet. At this time, the sliding sleeve 3513 fits the bottom of the hollow rod 354, and the slider 3511 slides to the top side of the side of the hollow rod 354 and will not move further. The pulling rod 356 continues to drive the connecting seat 35 7 is lifted up, the spring body 3512 is gradually compressed, and the extension block 1 359 is moved outward through the connecting rod 1 358 and the connecting rod 2 3510 to be installed between the side strips 2 3518 on both sides of the two extension blocks 2 3515. When installed, the side strips 2 3518 will act on the pressure-bearing boss to rotate the embracing body 35192 inward, so that the limiting boss and the adapting groove are adapted. When the pulling rod 356 moves to the end position, the side strips 1 3517 and the side strips 2 3518 cooperate in the circumferential direction to form a whole.

[0095] The servo motor 33 rotates slowly to make the hexagonal head of the bolt fit into the screw head sleeve 362, and the disassembly wrench 36 connected to the output end of the multi-stage reducer 34 slowly loosens the bolt and screws it down under the rotation of the servo motor 33;

[0096] 26 The driving motor 3523 drives the blocking rod 351 to rotate in the opposite direction through the gear transmission, and the one-way elastic stop pin 3522 and the process hole are separated in the opposite direction;

[0097] or,

[0098] The retractor 353 drives the pulling rod 356 to move in the opposite direction until all components are reset;

[0099] 27 is finally placed into the ground recovery frame by the manipulator 20;

[0100] Repeat the process from 21 to 27, unscrew the remaining bolts, put them into the recovery frame, and the robot 20 puts the disassembled body 31 back on the display rack and disengages it from the display rack, and the process is completed.

[0101] 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. An automatic bolt disassembly and assembly device for a converter slide slag retaining device, characterized in that: include: A debugging frame (10), the debugging frame (10) is independently provided and used for installing a converter slide plate slag blocking mechanism; A manipulator (20), the manipulator (20) is independently arranged on one side of the debugging frame (10), and a visual system is arranged on the manipulator (20); The disassembly assembly (30) comprises a disassembly body (31), the disassembly body (31) is mounted on the arm of the manipulator (20) via a quick-change adapter, an extension plate (32), a servo motor (33) and a multi-stage reducer (34) are mounted on the disassembly body (31), an anti-torque member (35) is mounted on one end of the extension plate (32) away from the disassembly body (31), and the servo motor (33) is connected to a disassembly wrench (36) via the multi-stage reducer (34); When disassembling and assembling the bolts, the anti-torque member (35) abuts against the edge of the mechanism or is assembled in the outer water outlet, and the torque generated by the disassembly wrench (36) when removing the bolts forms a closed mechanical system between the mechanism and the disassembly body (31), so that the manipulator (20) is not subjected to torque.

2. The automatic bolt disassembly and assembly equipment for the converter slide plate slag retaining device according to claim 1 is characterized in that: The anti-torque component (35) comprises a blocking rod (351) mounted on the extension plate (32), a matching body (352) being arranged on the blocking rod (351), and the matching body (352) being used for abutting against the edge of the mechanism.

3. The automatic bolt disassembly and assembly equipment for the converter slide plate slag retaining device according to claim 2 is characterized in that: The matching body (352) comprises an eccentric convex shaft (3521) arranged on the blocking rod (351), and a one-way elastic stop pin (3522) is installed on the eccentric convex shaft (3521), and the one-way elastic stop pin (3522) is used to match the process hole on the installation frame or the door frame.

4. The automatic bolt disassembly and assembly equipment for the converter slide plate slag retaining device according to claim 3 is characterized in that: The extension plate (32) is provided with a driving motor (3523), and the driving motor (3523) forms a transmission match with the blocking rod (351) through gear rotation, and the blocking rod (351) and the extension plate (32) are installed in a rotationally matched manner.

5. The automatic bolt disassembly and assembly equipment for the converter slide plate slag retaining device according to claim 1 is characterized in that: The anti-torque member (35) comprises a hollow rod (354) and a telescoping device (353) mounted on the extension plate (32); a pulling rod (356) is slidably matched inside the hollow rod (354); the pulling rod (356) and the output end of the telescoping device (353) are connected; a connecting seat (357) is provided at the bottom of the pulling rod (356); a connecting rod 1 (358) is hingedly connected to the connecting seat (357); an extension block 1 (359) is hingedly connected to the connecting seat (357) via the connecting rod 1 (358); the top of the extension block 1 (359) is connected to the slider (3510) via the connecting rod 2 (3511). 511), both ends of the second connecting rod (3510) are rotatably arranged, the slider (3511) is slidably matched with the outer side of the hollow rod (354), the outer side of the pulling rod (356) is sleeved with a spring body (3512) and a sliding sleeve (3513), the spring body (3512) and the sliding sleeve (3513) are located between the bottom of the hollow rod (354) and the connecting seat (357), the sliding sleeve (3513) is connected to the second extension block (3515) via the third connecting rod (3514), and the top of the second extension block (3515) is connected to the outer side of the hollow rod (354) via the fourth connecting rod (3516); Wherein, both ends of the connecting rod 1 (358), the connecting rod 2 (3510), the connecting rod 3 (3514), and the connecting rod 4 (3516) are rotation nodes; Among them, the outward extension block 1 (359) and the outward extension block 2 (3515) are symmetrically distributed in two groups, and the outward extension block 1 (359) and the outward extension block 2 (3515) are staggered in the circumferential direction.

6. The automatic bolt disassembly and assembly equipment for the converter slide plate slag retaining device according to claim 5 is characterized in that: The outward extension block one (359) is provided with side strips one (3517) on both sides of the circumference, and the side of the outward extension block two (3515) is provided with side strips two (3518), and the side strips one (3517) and two (3518) are both provided parallel to the movement direction of the outward extension block one (359).

7. The automatic bolt disassembly and assembly equipment for the converter slide plate slag retaining device according to claim 6 is characterized in that: An embracing piece (3519) is provided at one end of the side strip one (3517) away from the outward extension block one (359), and the embracing piece (3519) is used to tightly embrace the side strip two (3518).

8. The automatic bolt disassembly and assembly equipment for the converter slide plate slag retaining device according to claim 7 is characterized in that: The embracing member (3519) comprises an L-shaped plate (35191), which is arranged on the outer side of the second side strip (3518), and a groove is arranged on the inner side of the L-shaped plate (35191), and an embracing body (35192) is arranged inside the groove, and the embracing body (35192) is used to connect and fix the second side strip (3518), and a sliding pin 1 (35193) and a sliding pin 2 (35194) are arranged on the embracing body (35192), and the groove is provided on the inner side of the L-shaped plate (35191). The groove is provided with a sliding groove 1 adapted to the sliding pin 1 (35193) and a sliding groove 2 adapted to the sliding pin 2 (35194); a spring member (35195) is connected between the embracing body (35192) and the groove; the spring member (35195) is used to pull the embracing body (35192) toward the root of the groove; a limiting boss and a receiving boss are provided on the embracing body (35192); and an adapting groove adapted to the limiting boss is provided on the side strip 2 (3518).

9. The automatic bolt disassembly and assembly equipment for the converter slide plate slag retaining device according to any one of claims 1 to 8, characterized in that: The disassembly wrench (36) comprises an outer sleeve (361) fixedly mounted on the output end of the multi-stage reducer (34), an elastic body (363) and a screw head sleeve (362) are mounted in the outer sleeve (361), and the screw head sleeve (362) is axially mounted in the outer sleeve (361) via the elastic body (363).

10. A method for using an automated bolt disassembly and assembly device for a converter slide slag retaining device, characterized in that: include: Step 1: Disassembly and assembly of the assembly (30) and the manipulator (20) The disassembly assembly (30) is placed on the assembly table in advance, and the system sends an execution instruction. After the robot (20) receives the instruction, it connects the disassembly assembly body (31) placed on the assembly table to its arm via a quick-change receiving plate; Step 2, remove the bolts 21) Align the disassembly wrench (36) with one of the three bolts on the tensioner through theoretical positioning, and then measure the actual accurate position of the bolt and the hexagonal head position through the visual system; 21) The manipulator (20) moves so that the center of the disassembly wrench (36) is aligned with the center of the bolt; 22) The manipulator (20) rotates around the disassembly wrench (36) so that the stopper (351) is close to the edge of the mechanism, and there is no axial overlap, but a certain gap exists; or, The manipulator (20) rotates around the disassembly wrench (36) so that the axis of the hollow rod (354) coincides with the axis of the external water outlet; 23) The manipulator (20) moves the disassembly wrench (36) axially until it moves to a predetermined position. During the axial movement, there is an angle deviation between the hexagonal structure of the disassembly wrench (36) and the hexagonal head of the bolt, and the screw head sleeve (362) squeezes inward and compresses the elastic body (363); 24) The driving motor (3523) drives the blocking rod (351) to rotate a certain angle through gear transmission, so that the eccentric convex shaft (3521) abuts against the edge of the mechanism, and the one-way elastic stop pin (3522) cooperates with the process hole on the edge of the mechanism; or, The telescopic device (353) drives the pulling rod (356) to be lifted up along the hollow rod (354), and the pulling rod (356) lifts the extension block 1 (359) via the connecting seat (357). At the same time, the extension block 2 (3515) is expanded outward under the action of the connecting rod 3 (3514) and the connecting rod 4 (3516) until it fits in the outer water outlet. At this time, the sliding sleeve (3513) fits in the bottom of the hollow rod (354), and the slider (3511) slides to the top side of the side of the hollow rod (354) and will not continue to move. The pulling rod (356) continues to drive the connecting seat (357) is lifted up, the spring body (3512) is gradually compressed, and the extension block 1 (359) is moved outward through the connecting rod 1 (358) and the connecting rod 2 (3510) to be installed between the side strips 2 (3518) on both sides of the two extension blocks 2 (3515). When installed, the side strips 2 (3518) will act on the pressure-bearing boss to rotate the embracing body (35192) inward, so that the limiting boss and the adapting groove are adapted. When the pulling rod (356) moves to the end position, the side strips 1 (3517) and the side strips 2 (3518) cooperate in the circumferential direction to form a whole; 25) The servo motor (33) rotates slowly so that the hexagonal head of the bolt fits into the screw head sleeve (362), and the disassembly wrench (36) connected to the output end of the multi-stage reducer (34) slowly loosens the bolt and screws it down while the servo motor (33) rotates; 26) The driving motor (3523) drives the stop rod (351) to rotate in the opposite direction through gear transmission, and the one-way elastic stop pin (3522) and the process hole are separated in the opposite direction; or, The telescopic device (353) drives the pulling rod (356) to move in the opposite direction until all components are reset; 27) Finally, the robot (20) places the product into a ground recovery frame; Repeat the process from 21) to 27), unscrew the remaining bolts, put them into the recovery frame, and the robot (20) puts the disassembled body (31) back on the display rack and disengages it from the display rack, and the process is completed.

Images