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

Abstract

This invention discloses an automated bolt removal and installation device and method for a converter slide plate slag-blocking device, comprising: a commissioning frame, independently set up and used to install the converter slide plate slag-blocking mechanism; a robotic arm, independently set on one side of the commissioning frame, equipped with a vision system; and a removal and installation assembly, including a removal and installation body, which is mounted on the arm of the robotic arm via a quick-change plate. The removal and installation body is equipped with an extension plate, a servo motor, and a multi-stage reducer. An anti-torque component is installed at the end of the extension plate away from the removal and installation body. The servo motor is connected to a removal and installation wrench via the multi-stage reducer. During bolt removal and installation, the anti-torque component abuts against the edge of the mechanism or is assembled inside the outer nozzle. The torque generated by the removal and installation wrench during bolt removal forms a closed mechanical system between the mechanism and the removal and installation body, preventing torque on the robotic arm. This method is used to automate bolt removal and installation operations, reducing labor intensity and workload.

Description

Technical Field

[0001] This invention relates to the disassembly and assembly technology of converter slag-blocking mechanism, and more particularly to an automated disassembly and assembly bolt device and method for converter sliding plate slag-blocking device. Background Technology

[0002] The converter sliding gate slag-blocking mechanism is a highly efficient slag-blocking device widely used in the iron and steel smelting industry. It primarily utilizes the refractory elements of the sliding gate nozzle, controlling the opening and closing of the tapping spout mechanically or hydraulically to prevent slag from flowing into the ladle. During the steelmaking process, when tapping is required, the operator activates the corresponding device to open the sliding gate; as tapping nears completion and slag is detected, the sliding gate quickly closes, preventing slag from flowing into the ladle.

[0003] After the converter sliding plate slag-blocking mechanism has been used a certain number of times, that is, after the friction surfaces of the upper and lower sliding plates have reached their limit, the sliding plates in the mechanism need to be replaced. Currently, replacement is mostly done manually in conjunction with overhead cranes or hoists. In the past, the torque of some bolts was about tens of Newtons, while the torque of the bolts on the slag-blocking mechanism's tightening device is about 30,000 Newtons, far exceeding the requirements of existing disassembly and assembly equipment. At the same time, the poor on-site environment is not conducive to personnel operation.

[0004] Therefore, the inventors proposed a device for disassembling and assembling the bolts of the top clamp on the converter slide plate slag-blocking mechanism, in order to efficiently replace manual labor. Summary of the Invention

[0005] To solve the above-mentioned technical problems, the inventors, through practice and summarization, derived the technical solution of this invention, which adopts the following technical solution:

[0006] An automated bolt removal and installation device for a converter slide plate slag-blocking device includes:

[0007] A commissioning frame, which is independently set up and used to install the converter slide plate slag-blocking mechanism;

[0008] The robotic arm is independently mounted on one side of the debugging frame and is equipped with a vision system.

[0009] The assembly includes a disassembly body, which is mounted on the arm of the robotic arm via a quick-change connector. The disassembly body is equipped with an extension plate, a servo motor, and a multi-stage reducer. An anti-torque component is installed on the end of the extension plate away from the disassembly body. The servo motor is connected to a disassembly wrench via the multi-stage reducer.

[0010] When removing or installing bolts, the anti-torque component abuts against the edge of the mechanism or is assembled inside the outer sprue. The torque generated by the removal wrench when removing the bolts forms a closed mechanical system between the mechanism and the removal / installation body, so that the robot arm is not subjected to torque.

[0011] In the aforementioned device, the anti-torque component includes a stop bar mounted on an extension plate, and a mating body is provided on the stop bar for abutting against the edge of the mechanism.

[0012] In the aforementioned equipment, the mating body includes an eccentric convex shaft disposed on a stop bar, and a one-way elastic stop pin is installed on the eccentric convex shaft. The one-way elastic stop pin is used to mate with the process hole on the mounting frame or door frame.

[0013] In the aforementioned device, a drive motor is provided on the extension plate. The drive motor forms a transmission connection with the stop rod through gear rotation. The stop rod and the extension plate are rotatably mounted.

[0014] In the aforementioned device, the anti-torque component includes a hollow rod and a telescopic device mounted on an extension plate. A traction rod is slidably fitted inside the hollow rod. The output end of the traction rod and the telescopic device are connected. A connecting seat is provided at the bottom of the traction rod. A connecting rod one is hinged to the connecting seat. An outward block one is hinged to the connecting seat via the connecting rod one. A slider is connected to the top of the outward block one via the connecting rod two. Both ends of the connecting rod two are rotatably set. The slider is slidably fitted to the outside of the hollow rod. A spring body and a sliding sleeve are fitted on the outside of the traction rod. The spring body and the sliding sleeve are located between the bottom of the hollow rod and the connecting seat. An outward block two is connected to the sliding sleeve via the connecting rod three. The top of the outward block two is connected to the outside of the hollow rod via the connecting rod four.

[0015] Among them, the two ends of connecting rod one, connecting rod two, connecting rod three, and connecting rod four are all rotation nodes;

[0016] Among them, there are two sets of symmetrically distributed outward blocks one and two outward blocks two, which are staggered in the circumferential direction.

[0017] In the aforementioned device, side strips are provided on both circumferential sides of the first outward-extending block and side strips are provided on the side of the second outward-extending block. Both side strips are parallel to the direction of movement of the first outward-extending block.

[0018] In the device described above, a clamping member is provided at the end of the side strip one that is away from the outward block one, and the clamping member is used to clamp the side strip two tightly.

[0019] In the aforementioned device, the clamping component includes an L-shaped plate, which is disposed on the outer side of the second side strip. A groove is provided on the inner side of the L-shaped plate, and a clamping body is disposed inside the groove. The clamping body is used to connect and fix the second side strip. A sliding pin 1 and a sliding pin 2 are provided on the clamping body. A sliding groove 1 that matches the sliding pin 1 and a sliding groove 2 that matches the sliding pin 2 are provided inside the groove. A spring is connected between the clamping body and the groove. The spring is used to pull the clamping body towards the root of the groove. A limiting boss and a receiving boss are provided on the clamping body. An adapter groove that matches the limiting boss is provided on the second side strip.

[0020] In the aforementioned device, the disassembly and assembly wrench includes an outer sleeve fixedly installed at the output end of a multi-stage reducer. A spring body and a screw head sleeve are installed inside the outer sleeve, and the screw head sleeve is axially fitted inside the outer sleeve via the spring body.

[0021] The operating method of the automated bolt removal and installation equipment for the converter slide plate slag-blocking device includes:

[0022] Step 1: Disassemble and assemble the assembly and robotic arm.

[0023] The assembly is placed on the assembly table beforehand. The system sends an execution command, and after receiving the command, the robot arm connects the assembly body placed on the assembly table to its arm via a quick-change plate.

[0024] Step 2, remove the bolts

[0025] 21) Align the disassembly wrench with one of the three bolts on the tightener using theoretical positioning, and then measure the actual accurate position of the bolt and the position of the hexagonal head using a vision system;

[0026] 21) The robotic arm moves to align the center of the disassembly and assembly wrench with the center of the bolt;

[0027] 22) The robotic arm rotates around the disassembly wrench to bring the stop bar close to the edge of the mechanism. The axes do not overlap, and there is a certain gap.

[0028] or,

[0029] The robotic arm rotates around the disassembly wrench to make the axis of the hollow rod coincide with the axis of the outer sprue;

[0030] 23) The robotic arm moves the disassembly and assembly wrench axially until it reaches the predetermined position. During the axial movement, there is an angular deviation between the internal hexagonal structure of the disassembly and assembly wrench and the hexagonal head of the bolt, and the bolt head sleeve will be squeezed inward.

[0031] 24) The drive motor drives the stop lever to rotate a certain angle through gear transmission, so that the eccentric cam abuts against the edge of the mechanism, and at the same time 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 pull rod to lift along the hollow rod. The pull rod lifts the first outward block through the connecting seat. At the same time, the second outward block unfolds outward under the action of the third and fourth connecting rods until it fits inside the outer sprue. At this time, the sliding sleeve fits into the bottom of the hollow rod, and the slider slides to the top side of the hollow rod and will not continue to move. The pull rod continues to drive the connecting seat to lift, and the spring body is gradually compressed. The first outward block is moved outward through the first and second connecting rods and inserted between the side strips 2 on both sides of the second outward block. When inserted, the side strips 2 will act as a pressure-bearing boss to rotate the inner body of the clamping body, and fit the limiting boss and the matching groove. When the pull rod moves to the end position, the side strips 1 and 2 cooperate in the circumferential direction to form a whole.

[0034] 25) The servo motor slowly rotates so that the hexagonal head of the bolt fits into the screw head sleeve. The wrench connected to the output end of the multi-stage reducer slowly loosens and eventually unscrews the bolt as the servo motor rotates.

[0035] 26) The drive motor drives the stop lever to rotate in the opposite direction via 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 traction rod to move in the opposite direction until all components are reset.

[0038] 27) Finally, the robotic arm places it into the ground recycling bin;

[0039] Repeat steps 21) to 27) to unscrew the remaining bolts and place them in the recycling box. The robotic arm will then place the disassembled body back onto the placement rack and detach it from its original position. This process is now complete.

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

[0041] 1. This invention uses a robotic arm to move the assembly / disassembly body to the target location. The servo motor torque, after being amplified and reduced by a multi-stage reducer, generates a large torque. At the initial moment of loosening the bolts, this torque not only overcomes the tightening torque during installation but also the increased torque due to bolt deformation and adhesion after use. The anti-torque component near the edge of the mechanism has a gap due to its axial movement along the bolts. Through the flexible connection at the front end of the robotic arm, the large torque generated during bolt assembly / disassembly is channeled through the anti-torque component to form a closed mechanical system between the mechanism and the assembly / disassembly body. This ensures that the robotic arm is essentially unaffected by torque, only performing the retrieving function, thus greatly protecting the main equipment.

[0042] 2. In actual operation, this invention often cannot achieve precise matching between the screw head and the wrench. By adopting the structure of an outer sleeve, a spring body, and a screw head sleeve, in actual operation, the outer sleeve is axially compressed. When the screw head sleeve and the screw head are not matched, the screw head sleeve will be compressed inward. Then, the servo motor and the multi-stage reducer drive the outer sleeve to rotate slowly, thus achieving precise matching between the screw head and the screw head sleeve.

[0043] 3. The anti-torque component of this invention can be in the form of a mating body or a structure fixed inside the outer sprue. In the mating body form, it is installed on the outer edge of the mechanism and the structural gap is eliminated through an eccentric convex shaft, thereby eliminating the counter-torque during bolt assembly and disassembly. The internally tightened structure composed of a hollow rod and a telescopic device only requires one anti-torque elimination reference point each time the robot arm disassembles bolts at different positions, saving 11 anti-torque elimination reference points compared to the mating body method, greatly simplifying the system complexity. Secondly, the mating body is provided with a one-way elastic stop pin for mating with the process holes on the side of the mechanism, thereby eliminating the axial reaction force on the bolt. Of course, the axial reaction force can also be overcome by assembling outward expansion blocks one and two inside the outer sprue, forming a closed mechanical system between the entire mechanism and the assembly / disassembly body. Attached Figure Description

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

[0045] Figure 2 This is a schematic diagram of one embodiment of the present invention;

[0046] Figure 3 A structural distribution diagram for disassembling and assembling the main body, multi-stage geared motor, and servo motor;

[0047] Figure 4 This is a diagram showing the internal structure of a rotary wrench.

[0048] Figure 5 Here are cross-sectional views of the threaded sleeve and the outer sleeve;

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

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

[0051] Figure 8 for Figure 7 A magnified view of a section at point A in the middle;

[0052] Figure 9 for Figure 7 Radial cross-sectional view of the adapter hole for the unidirectional elastic stop pin;

[0053] Figure 10 This is a schematic diagram of another embodiment of the present invention;

[0054] Figure 11 This is a cross-sectional view of the second outward-extending block;

[0055] Figure 12 This is a cross-sectional view of the first outward-extending block;

[0056] Figure 13 Cross-sectional view of the component to prevent torque;

[0057] Figure 14 This is a schematic diagram of the structure of the connecting component.

[0058] Figure label:

[0059] 10. Debugging frame; 20. Robotic arm; 30. Assembly / disassembly assembly; 31. Assembly / disassembly body; 32. Extension plate; 33. Servo motor; 34. Multi-stage reducer; 35. Anti-torque component; 351. Stop body; 352. Mating body; 3521. Eccentric cam 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 one; 359. Outer extension block one; 3510. Connecting rod two 3511, slider; 3512, spring body; 3513, sliding sleeve; 3514, connecting rod three; 3515, outward block two; 3516, connecting rod four; 3517, side strip one; 3518, side strip two; 3519, clamping component; 35191, L-shaped plate; 35192, clamping body; 35193, sliding pin one; 35194, sliding pin two; 35195, spring component; 36, disassembly and assembly wrench; 361, outer sleeve; 362, screw head sleeve; 363, elastic body. Detailed Implementation

[0060] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0061] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0062] like Figure 1 , Figure 2As shown, an automated bolt removal and installation device for a converter slide plate slag-blocking device includes:

[0063] Debugging frame 10 is independently set up and used to install the converter slide plate slag-blocking mechanism;

[0064] Robotic arm 20 is independently set on one side of the debugging frame 10, and a vision system is installed on the robotic arm 20;

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

[0066] When removing or installing bolts, the anti-torque component 35 abuts against the edge of the mechanism or is assembled inside the outer sprue. The torque generated by the removal wrench 36 when removing the bolts forms a closed mechanical system between the mechanism and the removal / installation body 31, preventing the manipulator 20 from being subjected to torque. In this embodiment, the anti-torque component 35 is a stop bar.

[0067] During use, the initial torque of the bolts is very high, approximately 30,000 Nm. However, after use, the bolts may deform and stick, further increasing the torque, making it even greater than the theoretical value. The servo motor 33 amplifies the torque via a multi-stage reducer 34 to meet the torque requirements. Secondly, because both the initial torque for removing the bolts and the final torque for installing them are very high, the traditional robotic arm 20 and the connecting base plate of the disassembly / assembly assembly 30 are rigidly connected. This can easily cause the robotic arm 20 to be unable to withstand the required strength, resulting in irreparable structural damage. Therefore, the inventors, through research, adopted a closed mechanical system formed between the disassembly / assembly assembly 30 and the converter slide plate slag-blocking mechanism to eliminate the influence of torque on the robotic arm 20, ensuring that the robotic arm 20 is, in principle, not subjected to torque.

[0068] In the aforementioned equipment, Figures 6 to 9 As shown, the anti-torque component 35 includes a stop bar 351 mounted on the extension plate 32, and a mating body 352 is provided on the stop bar 351. The mating body 352 is used to abut against the edge of the mechanism.

[0069] The mating body 352 includes an eccentric convex shaft 3521 disposed on the stop bar 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 fit the process hole on the mounting frame or door frame.

[0070] The extension plate 32 is provided with a drive motor 3523. The drive motor 3523 forms a transmission cooperation with the stop rod 351 through gear rotation, and the stop rod 351 and the extension plate 32 are rotatably installed.

[0071] In practical use, the disassembly and assembly wrench 36 needs to be aligned with the bolt head and axially adapted. During axial adaptation, the stop bar 251 cannot be directly attached to the edge of the mechanism; otherwise, axial adaptation cannot be achieved. A certain gap needs to be maintained. Due to this gap, a certain rotational movement will occur when disassembling and assembling the bolt, causing the robot arm 20 to bear a certain amount of torque, which is greater than 30,000 Nm, leading to structural crushing problems. Therefore, the drive motor 3523 drives the gear to rotate, causing the eccentric cam shaft 3521 to rotate at a certain angle, 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 and assembly assembly 20 can also bear a certain torque in the axial and circumferential directions, thereby eliminating the counter-torque on the robot arm 20 by the disassembly and assembly assembly 20 when disassembling and assembling the bolt. When the bolts are removed, the eccentric cam 3521 moves in the opposite direction to disengage from the side wall of the disengagement 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 aforementioned devices, such as Figures 10 to 14 As shown, the anti-torque component 35 can also include a hollow rod 354 and a telescopic device 353 mounted on the extension plate 32. A pull rod 356 is slidably fitted inside the hollow rod 354. The pull rod 356 is connected to the output end of the telescopic device 353. A connecting seat 357 is provided at the bottom of the pull rod 356. A connecting rod 358 is hinged to the connecting seat 357. An outwardly extending block 359 is hinged to the connecting seat 357 via the connecting rod 358. The top of the outwardly extending block 359 is connected to a sliding... Both ends of block 3511 and connecting rod 2 3510 are rotatable. Slider 3511 is slidably fitted on the outside of hollow rod 354. Spring body 3512 and sliding sleeve 3513 are fitted on the outside of pull rod 356. Spring body 3512 and sliding sleeve 3513 are located between the bottom of hollow rod 354 and connecting seat 357. Extended block 2 3515 is connected to sliding sleeve 3513 via connecting rod 3 3514. The top of extended block 2 3515 is connected to the outside of hollow rod 354 via connecting rod 4 3516.

[0073] Among them, the two ends of connecting rod 1 (358), connecting rod 2 (3510), connecting rod 3 (3514), and connecting rod 4 (3516) are all rotating nodes;

[0074] Among them, there are two sets of symmetrically distributed outward blocks 1 359 and outward blocks 2 3515, and outward blocks 1 359 and outward blocks 2 3515 are staggered in the circumferential direction.

[0075] The first extension block 359 has side strips 3517 on both sides of its circumference, and the second extension block 3515 has side strips 3518 on its side. Both side strips 3517 and 3518 are arranged parallel to the movement direction of the first extension block 359.

[0076] Among them, the end of the side strip 3517 away from the outward block 359 is provided with a clamping member 3519, which is used to clamp the side strip 3518.

[0077] The clamping member 3519 includes an L-shaped plate 35191, which is disposed on the outer side of the second side strip 3518. A groove is provided on the inner side of the L-shaped plate 35191, and a clamping body 35192 is disposed inside the groove. The clamping body 35192 is used to connect and fix the second side strip 3518. A sliding pin 35193 and a sliding pin 35194 are provided on the clamping body 35192. A sliding groove adapted to the sliding pin 35193 and a sliding groove adapted to the sliding pin 35194 are provided inside the groove. The second groove and the first sliding groove include a rotating part and a vertical part. The second sliding groove is the vertical part. The rotating part is an arc segment with a radius equal to the distance from the end of the second sliding groove near the first sliding groove. A spring 35195 is connected between the clasping body 35192 and the groove. The spring 35195 is used to pull the clasping body 35192 towards the root of the groove. The clasping body 35192 is provided with a limiting boss and a receiving boss. The second side strip 3518 is provided with an adapter groove that matches the limiting boss. The adapter groove is provided along the length direction of the second side strip 3518.

[0078] During implementation, the telescopic device 353 drives the pull rod 356 to lift along the hollow rod 354. The pull rod 356, via the connecting seat 357, lifts the first outward block 359. Simultaneously, the second outward block 3515 expands outward under the action of the third connecting rod 3514 and the fourth connecting rod 3516 until it fits inside the outer sprue. At this point, the sliding sleeve 3513 fits against the bottom of the hollow rod 354, and the slider 3511 slides to the top side of the hollow rod 354 and will not continue to move. The pull rod 356 continues to drive the connecting seat 357 to lift, and the spring... The spring body 3512 is gradually compressed, and the connecting rod 358 and the connecting rod 3510 move the outward extension block 359 outward, inserting it between the side strips 3518 on both sides of the two outward extension blocks 3515. When inserted, the side strips 3518 will act as pressure-bearing bosses to rotate the clamping body 35192 inward, fitting the limiting boss and the adapter groove. When the pull rod 356 moves to the end position, the side strips 3517 and 3518 cooperate in the circumferential direction to form a whole, preventing the anti-torque component 35 from moving axially. To release the restriction, simply reset the pull rod 356 under the action of the telescopic device 353, which is a cylinder.

[0079] In the aforementioned devices, such as Figures 3 to 5 As shown, the disassembly and assembly wrench 36 includes an outer sleeve 361 fixedly installed at the output end of the multi-stage reducer 34. An elastic body 363 and a screw head sleeve 362 are installed inside the outer sleeve 361. The screw head sleeve 362 is axially fitted inside the outer sleeve 361 through the elastic body 363.

[0080] The outer sleeve 361 includes a body and a threaded limiting sleeve. The body has an axial groove 364 inside. The threaded sleeve 362 has a sliding body that fits in the axial groove 364. The threaded limiting sleeve is threadedly connected to the body and restricts the threaded sleeve 362 inside.

[0081] When the outer sleeve 361 and the bolt axis coincide, after axial approach, the internal hexagonal structure of the screw head sleeve 362 and the bolt head position may not be able to match. Therefore, the spring body 363 provides flexible compensation and applies a force in the axial direction. After the outer sleeve 361 rotates a certain angle, the spring body 363 will fit the screw head sleeve 362 and the bolt head position into place, completing the structural adaptation and ensuring that the subsequent servo motor 33 drives the bolt disassembly and assembly operations.

[0082] A method for using an automated bolt removal and installation device for a converter slide plate slag-blocking device includes:

[0083] Step 1: Disassemble and assemble assembly 30 and robotic arm 20.

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

[0085] Step 2, remove the bolts

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

[0087] 21. The robotic arm 20 moves to align the center of the disassembly and assembly wrench 36 with the center of the bolt;

[0088] 22. The robotic arm 20 rotates around the disassembly wrench 36 to bring the stop bar 351 close to the edge of the mechanism. The axial direction does not overlap, and there is a certain gap.

[0089] or,

[0090] The robotic arm 20 rotates around the disassembly wrench 36 to make the axis of the hollow rod 354 coincide with the axis of the outer water inlet;

[0091] 23 The robotic arm 20 moves the disassembly and assembly wrench 36 axially until it reaches the predetermined position. During the axial movement, there is an angular deviation between the internal hexagonal structure of the disassembly and assembly wrench 36 and the hexagonal head of the bolt. The screw head sleeve 362 will squeeze inward and compress the elastomer 363.

[0092] 24 The drive motor 3523 drives the stop bar 351 to rotate a certain angle through gear transmission, so that the eccentric cam shaft 3521 abuts against the edge of the mechanism, and at the same time the one-way elastic stop pin 3522 cooperates with the process hole on the edge of the mechanism.

[0093] or,

[0094] The expansion joint 353 drives the pull rod 356 to lift along the hollow rod 354. The pull rod 356, via the connecting seat 357, lifts the first outward block 359. At the same time, the second outward block 3515 unfolds outward under the action of the third connecting rod 3514 and the fourth connecting rod 3516 until it fits inside the outer sprue. At this time, the sliding sleeve 3513 fits against the bottom of the hollow rod 354, and the slider 3511 slides to the top side of the hollow rod 354 and will not continue to move. The pull rod 356 continues to drive the connecting seat 359. 7. As the spring body 3512 is lifted, it is gradually compressed. The connecting rod 1 358 and the connecting rod 2 3510 move the outward expansion block 1 359 outward and insert it between the side strips 2 3518 on both sides of the two outward expansion blocks 2 3515. When inserted, the side strip 2 3518 will act as a pressure-bearing boss to rotate the clamping body 35192 inward, and fit the limiting boss and the adapter groove. When the pulling rod 356 moves to the end position, the side strip 1 3517 and the side strip 2 3518 cooperate in the circumferential direction to form a whole.

[0095] 25 The servo motor 33 slowly rotates so that the hexagonal head of the bolt fits into the screw head sleeve 362. The removal wrench 36 connected to the output end of the multi-stage reducer 34 slowly loosens and eventually unscrews the bolt under the rotation of the servo motor 33.

[0096] 26 The drive motor 3523 drives the stop bar 351 to rotate in the opposite direction via gear transmission, and the one-way elastic stop pin 3522 and the process hole separate in the opposite direction;

[0097] or,

[0098] The telescopic device 353 drives the pull rod 356 to move in the opposite direction until all components are reset.

[0099] 27 is finally placed into the ground recycling bin by robotic arm 20;

[0100] Repeat steps 21 to 27 to unscrew the remaining bolts and place them in the recycling box. The robotic arm 20 then moves the disassembled body 31 back onto the placement rack and detaches it from its original position, thus completing the process.

[0101] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. The substitutions may be replacements of some structures, devices, or method steps, or they may be complete technical solutions. Equivalent substitutions or modifications made to the technical solutions and inventive concepts of the present invention should all be covered within the scope of protection of the present invention.

Claims

1. An automatic bolt dismounting equipment for a converter slide gate device, characterized in that, include: The commissioning frame (10) is independently set up and used to install the converter slide plate slag blocking mechanism; The robotic arm (20) is independently set on one side of the debugging frame (10), and a vision system is installed on the robotic arm (20); The disassembly assembly (30) includes a disassembly body (31), which is mounted on the arm of the robot (20) via a quick-change connector. An extension plate (32), a servo motor (33), and a multi-stage reducer (34) are mounted on the disassembly body (31). An anti-torque component (35) is mounted on the end of the extension plate (32) away from the disassembly body (31). A disassembly wrench (36) is connected to the servo motor (33) via the multi-stage reducer (34). When removing or installing bolts, the anti-torque component (35) abuts against the edge of the mechanism or is assembled inside the outer nozzle. The torque generated by the removal wrench (36) when removing the bolts forms a closed mechanical system between the mechanism and the removal / installation body (31), so that the manipulator (20) is not subjected to torque. The anti-torque component (35) includes a stop bar (351) mounted on the extension plate (32), a mating body (352) provided on the stop bar (351), the mating body (352) being used to abut against the edge of the mechanism, the mating body (352) including an eccentric convex shaft (3521) provided on the stop bar (351), and a one-way elastic stop pin (3522) mounted on the eccentric convex shaft (3521), the one-way elastic stop pin (3522) being used to cooperate with the process hole on the mounting frame or door frame, the extension plate (32) being provided with a drive motor (3523), the drive motor (3523) forming a transmission cooperation with the stop bar (351) through gear rotation, and the stop bar (351) and the extension plate (32) being rotatedly fitted together; Alternatively, the anti-torque component (35) includes a hollow rod (354) and a telescopic device (353) mounted on the extension plate (32). A traction rod (356) is slidably fitted inside the hollow rod (354). The traction rod (356) and the output end of the telescopic device (353) are connected. A connecting seat (357) is provided at the bottom of the traction rod (356). A connecting rod (358) is hinged to the connecting seat (357). An outward block (359) is hinged to the connecting seat (357) via the connecting rod (358). A slider (3511) is connected to the top of the outward block (359) via a connecting rod (3510). Both ends of the connecting rod (3510) are rotatably mounted. The slider (3511) is slidably fitted to the outside of the hollow rod (354). The traction rod (356) The outer side of the hollow rod (354) is fitted 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 outer side of the hollow rod (354) via the connecting rod three (3514). The top of the outer side of the outer side of the hollow rod (354) is connected to the outer side of the hollow rod (354) via the connecting rod four (3516). The two ends of the connecting rod one (358), connecting rod two (3510), connecting rod three (3514), and connecting rod four (3516) are all rotating nodes. The outer side of the outer side of the hollow rod (354) and the outer side of the outer side of the hollow rod (359) and the outer side of the outer side of the hollow rod (3515) are symmetrically distributed in two sets. The outer side of the hollow rod (359) and the outer side of the outer side of the hollow rod (3515) are staggered in the circumferential direction.

2. The automatic bolt dismounting equipment for the slide gate device of a converter according to claim 1, characterized in that, Side strips 1 (3517) are provided on both sides of the circumference of the first outward block (359), and side strips 2 (3518) are provided on the side of the second outward block (3515). Both side strips 1 (3517) and side strips 2 (3518) are arranged parallel to the movement direction of the first outward block (359).

3. The automatic bolt dismounting equipment for the slide gate device of a converter according to claim 2, characterized in that, The side strip one (3517) is provided with a clamping member (3519) at the end away from the outward block one (359), and the clamping member (3519) is used to clamp the side strip two (3518).

4. The automated bolt disassembly and assembly equipment for a converter slide plate slag-blocking device according to claim 3, characterized in that, The clamping component (3519) includes an L-shaped plate (35191), which is disposed on the outer side of the second side strip (3518). A groove is provided on the inner side of the L-shaped plate (35191), and a clamping body (35192) is disposed inside the groove. The clamping body (35192) is used to connect and fix the second side strip (3518). A sliding pin (35193) and a sliding pin (35194) are provided on the clamping body (35192). The groove is provided with a sliding groove 1 that is compatible with sliding pin 1 (35193) and a sliding groove 2 that is compatible with sliding pin 2 (35194). A spring member (35195) is connected between the retaining body (35192) and the groove. The spring member (35195) is used to pull the retaining body (35192) towards the root of the groove. A limiting boss and a receiving boss are provided on the retaining body (35192). A matching groove that is compatible with the limiting boss is provided on the side strip 2 (3518).

5. An automated bolt disassembly and assembly device for a converter slide plate slag-blocking device according to any one of claims 1 to 4, characterized in that, The disassembly and assembly wrench (36) includes an outer sleeve (361) fixedly installed at the output end of the multi-stage reducer (34). An elastomer (363) and a screw head sleeve (362) are installed inside the outer sleeve (361). The screw head sleeve (362) is axially fitted inside the outer sleeve (361) through the elastomer (363).

6. A method of using the automated bolt disassembly apparatus for a slide gate device of a converter as claimed in claim 4, characterized in that, include: Step 1: Disassemble and assemble the assembly (30) and the robotic arm (20). The disassembly and assembly assembly (30) is placed on the assembly table in advance. The system sends an execution command. After receiving the command, the robot arm (20) connects the disassembly and assembly body (31) placed on the assembly table to its arm via the quick-change connector. Step 2, remove the bolts 21) Align the disassembly wrench (36) with one of the three bolts on the tightener by theoretical positioning, and then measure the actual accurate position of the bolt and the position of the hexagonal head by vision system; The robotic arm (20) moves to align the center of the disassembly wrench (36) with the center of the bolt; 22) The robotic arm (20) rotates around the disassembly wrench (36) to bring the stop bar (351) close to the edge of the mechanism. The axes do not overlap and there is a certain gap. or, The robotic arm (20) rotates around the disassembly wrench (36) to make the axis of the hollow rod (354) coincide with the axis of the outer water inlet; 23) The robot (20) moves the disassembly wrench (36) axially until it moves to the predetermined position. During the axial movement, there is an angular deviation between the internal hexagonal structure of the disassembly wrench (36) and the hexagonal head of the bolt. The screw head sleeve (362) will squeeze inward and compress the elastomer (363). 24) The drive motor (3523) drives the stop bar (351) to rotate a certain angle through gear transmission, so that the eccentric cam shaft (3521) abuts against the edge of the mechanism, and at the same time the one-way elastic stop pin (3522) cooperates with the process hole on the edge of the mechanism. or, The expansion joint (353) drives the pull rod (356) to lift along the hollow rod (354). The pull rod (356) lifts the first outward block (359) through the connecting seat (357). At the same time, the second outward block (3515) unfolds outward under the action of the connecting rods three (3514) and four (3516) until it fits inside the outer nozzle. At this time, the sliding sleeve (3513) fits against the bottom of the hollow rod (354), and the slider (3511) slides to the top side of the hollow rod (354) and will not continue to move. The pull rod (356) continues to drive the connecting... When the seat (357) is lifted, the spring body (3512) is gradually compressed. The first extension block (359) is moved outward through the first connecting rod (358) and the second connecting rod (3510) and inserted between the side strips (3518) on both sides of the two extension blocks (3515). When inserted, the side strips (3518) will act as a pressure-bearing boss to rotate the clasping body (35192) inward, and fit the limiting boss and the matching groove. When the pulling rod (356) moves to the end position, the side strips (3517) and the side strips (3518) cooperate in the circumferential direction to form a whole. 25) The servo motor (33) slowly rotates so that the hexagonal head of the bolt fits into the screw head sleeve (362). The disassembly and assembly wrench (36) connected to the output end of the multi-stage reducer (34) slowly loosens the bolt and continues to unscrew it under the rotation of the servo motor (33). 26) The drive motor (3523) drives the stop bar (351) to rotate in the opposite direction via gear transmission, and the one-way elastic stop pin (3522) and the process hole separate in the opposite direction; or, The telescopic device (353) drives the traction rod (356) to move in the opposite direction until all components are reset; 27) Finally, the robotic arm (20) places it into the ground recycling bin; Repeat steps 21) to 27) to unscrew the remaining bolts and place them in the recycling box. The robot (20) will then place the disassembled body (31) back onto the rack and detach it from the rack. This completes the process.

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