Tail end driving device for silica smelting and discharging robot

Abstract

A tail end driving device for a silica smelting tapping robot belongs to the field of silica smelting and comprises a frame body used for supporting a linear impact mechanism, a chain transmission mechanism and a separable driving mechanism. The chain transmission mechanism provides power for the linear impact mechanism; the linear impact mechanism is arranged on the frame body in a sliding mode and can be driven by the chain transmission mechanism to do linear reciprocating motion. The separable driving mechanism is connected with the chain transmission mechanism and provides power for the chain transmission mechanism. The device is mainly used for discharging process operation of the silica smelting furnace.

Description

Technical Field

[0001] The invention relates to a robot, in particular to an end drive device for a silicon smelting furnace-out robot, and belongs to the technical field of silicon smelting furnace-out robots. Background Art

[0002] In the early smelting industry, temperature measurement and sampling analysis of molten iron, blast furnace maintenance, furnace tapping and furnace eye sealing were all done manually. In a high temperature and harsh environment, operators need to manually perform these repetitive tasks. Especially in traditional furnace tapping operations, multiple operators are required to wear safety protection equipment and use burners to burn furnace eyes, which is labor-intensive. Moreover, since operations such as furnace tapping, furnace eye opening and furnace eye blocking often fail to meet standardized operation requirements if they are done manually, the consumption of materials such as steel chisels is also higher; the furnace tapping area is in a high temperature, high current and high dust environment, and there are great safety hazards for personnel to work in it for a long time. Accidents such as scalding, mechanical injuries, and electric shock caused by manual furnace tapping occur from time to time, so furnace tapping operations have become a problem that plagues the industry's safe production and healthy development. In the field of smelting, robot technology has begun to be used to assist in completing production operations such as temperature measurement and sampling, maintenance, and furnace tapping. Intelligent production liberates labor, reduces labor intensity and eliminates safety hazards.

[0003] The current smelting furnace unloading robot, such as the Chinese patent "CN103307885B" discloses a "robot automatic opening and plugging furnace eye device", which realizes the posture adjustment of the end tool by clamping the pneumatic opening and plugging tool on the combined tool rack with a five-degree-of-freedom special robot and the end pneumatic gripper. The special robot base can make linear motion on the ground guide rail by using the gear rack to control the robot's working position, thereby completing the opening of the furnace eye, cleaning the furnace eye, unloading with a brazing rod, plugging the furnace eye and other operations in the calcium carbide furnace unloading process through manual remote control or automatic operation technology, reducing labor intensity and labor risks. CN218895663U relates to a silica furnace with continuous feeding automatic plugging device, in which the mud ball is pushed by the push cylinder 3.

[0004] Although the above-mentioned device can realize automated operations such as opening the furnace eye, cleaning the furnace eye, unloading the furnace with a brazing rod, and plugging the furnace eye in the process of opening the silica furnace, in the actual furnace eye opening operation, the end tool is driven by the cylinder to collide with the furnace wall to destroy the furnace wall material and complete the furnace eye opening process. During this process, the end tool is subjected to tens of tons of impact force. This impact load affects the entire robot structure through the end tool, causing damage to the robot structure. In addition, due to the large flexibility of the cylinder drive, the end drive device will cause the overall position of the robot to be instantly offset and continuously vibrate under the action of the impact load, which may cause adverse effects such as drive motor overload alarm. The above factors may cause the robot to be unable to complete the furnace eye opening process and pose a safety hazard.

[0005] In summary, the end drive of the existing silica smelting furnace robot has problems such as mechanical structure damage, severe joint vibration, and poor movement smoothness when the end tool is subjected to impact load. Summary of the invention

[0006] In order to overcome the shortcomings of the prior art, the present invention proposes an end drive device for a silicon smelting furnace-out robot.

[0007] An end drive device for a silicon smelting furnace robot comprises:

[0008] A frame body, used for supporting the linear impact mechanism, the chain transmission mechanism and the detachable driving mechanism;

[0009] The chain transmission mechanism provides power for the linear impact mechanism;

[0010] The linear impact mechanism is slidably arranged on the frame and can be driven by the chain transmission mechanism to perform linear reciprocating motion;

[0011] The detachable driving mechanism is used to cut off or transmit the power to the chain transmission mechanism.

[0012] Furthermore, the linear impact mechanism includes an end tool rod, a tool mounting frame, a force sensor, a guide rail module, a movable base connecting structure and a chain; the end tool rod and the force sensor are installed on the tool mounting frame, the end tool rod and the force sensor are abutted against each other, the tool mounting frame is installed on two pairs of sliders, the two pairs of sliders are symmetrically and slidably arranged on two guide rail modules, the guide rail modules are installed on the frame body, the movable base connecting structure is installed on the lower part of the tool mounting frame and is connected to two chains, and the chains are driven by a chain transmission mechanism.

[0013] Furthermore, the chain transmission mechanism includes a driving shaft system and a driven shaft system, the driving shaft system includes a driving shaft and a driving end sprocket; the driving shaft is rotatably arranged on a frame, a pair of driving end sprockets are installed on the driving shaft, and a detachable driving mechanism transmits power to the driving shaft through a chain drive; the driven shaft system includes a driven end sprocket, a sprocket tensioning mechanism and a driven bearing seat; the chain is installed on the driving end sprocket and the driven end sprocket, the tensioning mechanism is installed on the frame, and the driven bearing seat is movably installed on the frame and its position is adjusted by the tensioning mechanism to adjust the slackness of the chain.

[0014] Furthermore, the detachable driving mechanism includes a motor, an elastic coupling, a motor mounting frame and a clutch; the motor is mounted on the motor mounting frame, the motor mounting frame is mounted on the frame, the output end of the motor is connected to the clutch input end through the elastic coupling, and the clutch output end is connected to the chain transmission mechanism.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. In this application, a sprocket mechanism drives the linear impact mechanism to move, and the inertia of the end tool rod is used to realize the furnace opening process. Compared with the common cylinder-driven furnace opening scheme, it can provide a greater impact force by increasing the impact speed of the end rod, and the structure is simpler and more compact; the sprocket chain scheme is used for transmission, and the transmission system has high rigidity, and the crushing effect on the furnace wall is better than the cylinder scheme; the motor drive is used, and the position and speed of the end tool are more accurately controlled.

[0017] 2. A clutch is installed between the motor shaft and the sprocket driving shaft system of the present application. The clutch cuts off the connection between the motor and the chain transmission mechanism to protect the joint motor, avoid damage and alarm caused by overload impact on the motor, and improve the overall stability of the mechanism.

[0018] 3. The present application can measure the impact force exerted on the end rod each time the furnace is opened through the force sensor of the linear impact mechanism, so as to detect the generation of the impact force and evaluate whether the impact force causes damage to the mechanical structure. It also helps to adjust the appropriate end speed to control the impact force of the end tool.

[0019] 4. The bottom end of the support frame of the present application is provided with a threaded connection interface, which is easy to disassemble and replace so as to connect various types of robotic equipment. Therefore, it can be used for robotic furnace opening operations under various postures and workspace requirements, thereby improving the versatility of the mechanism and reducing the difficulty of maintenance of the mechanism.

[0020] The following is a further description of the scheme of the application in conjunction with the accompanying drawings and embodiments: BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A three-dimensional diagram of the final drive device of the present application;

[0022] Figure 2 This is a diagram of the linear impact mechanism of this application;

[0023] Figure 3 It is a cross-sectional view of the driving shaft structure of the chain mechanism;

[0024] Figure 4 It is a partial cross-sectional view of the driven shaft structure of the chain mechanism;

[0025] Figure 5 It is a schematic cross-sectional view of the structure of the detachable driving mechanism.

[0026] Figures: 100, frame; 200, linear impact mechanism; 2-1, end tool rod; 2-2, tool fixing frame; 2-3-force sensor; 2-4, guide rail module; 2-5, movable base connection structure; 2-6, chain; 2-60, interface chain; 2-7, mechanical interface; 300, chain transmission mechanism; 3-1, driving shaft; 3-2, driving end sprocket; 3-3, driving bearing seat; 3-4, input end sprocket; 3-5, input input chain; 3-6, driven end sprocket; 3-7, sprocket tensioning mechanism; 3-8, driven bearing seat; 400, detachable drive mechanism; 4-1, motor and reducer; 4-2, elastic coupling; 4-3, motor mounting frame; 4-4, active end of clutch; 4-5, driven end of clutch; 4-6, motor shaft sprocket. DETAILED DESCRIPTION

[0027] The embodiments of the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings. Unless otherwise specified, the technical terms or scientific terms used in this application are generally understood by those skilled in the art.

[0028] See also Figure 1 , the end drive device for a silicon smelting furnace robot provided in the embodiment of the present application comprises a frame 100, a linear impact mechanism 200, a chain transmission mechanism 300, and a detachable drive mechanism 400;

[0029] The frame 100 is a square frame, the linear impact mechanism 200 is installed on the top of the support frame 100; the chain transmission mechanism 300 is installed on the frame 100 and is located below the linear impact mechanism 200; the detachable drive mechanism 400 is installed on the upper back of the frame 100; the sensor assembly is installed on the top of the frame 100 and the detachable drive mechanism 400;

[0030] In this embodiment, the detachable driving mechanism 400 is mainly responsible for providing a power source for the whole, and realizing the controllable separation of the power source and the chain transmission mechanism 300, and has one rotational degree of freedom; the chain mechanism 300 is mainly responsible for driving the linear impact mechanism 200 to perform linear motion through one rotational degree of freedom; the linear impact mechanism 200 is mainly responsible for impacting the silica smelting furnace wall through the end tool rod in a high-speed moving state to realize the furnace opening process operation. The frame 100 is mainly responsible for providing installation interfaces for various components. In addition to installing the above-mentioned mechanisms, the bottom of the frame 100 is provided with threaded interfaces 1-7 to connect various types of robot equipment, so it can be used for robot furnace opening operations under various postures and workspace requirements, which improves the versatility of the mechanism and reduces the difficulty of maintenance of the mechanism.

[0031] See also Figure 2, the linear impact mechanism 200 includes an end tool rod 2-1, a tool mounting frame 2-2, a force sensor 2-3, a movable base connection structure 2-5, two guide rail modules 2-4 and two chain mechanisms 2-6;

[0032] The end tool rod 2-1 and the force sensor 2-3 are installed on the tool mounting frame 2-2, and the end tool rod 2-1 and the force sensor 2-3 are abutted against each other. The tool mounting frame 2-2 is installed on two pairs of sliders, and the two pairs of sliders are symmetrically and slidably arranged on two guide rail modules 2-4. The guide rail modules 2-4 are installed on the frame 100. The movable base connecting structure 2-5 is installed on the lower part of the tool mounting frame 2-2 and is connected to two chains 2-6. The chains 2-6 are driven by a chain transmission mechanism 300.

[0033] Optionally, the end tool rod 2-1 is mounted on the tool mounting frame 2-2 through a pair of graphite copper sleeves in a manner similar to a linear bearing, so that it can move in a micro-distance linear manner, thereby avoiding degree deviation of the force sensor 2-3 caused by installation stress; the force sensor 2-3 is mounted on the tool mounting frame 2-2 through a threaded connection, and the tool mounting frame 2-2 is mounted on two pairs of sliders through a threaded connection, and the above two pairs of sliders are symmetrically mounted on two guide rail modules 2-4; the movable base connection structure 2-5 includes four studs and a base plate, and the base plate is connected to the tool mounting frame 2-2 through the studs. At the same time, the movable base connection structure 2-5 is connected to the tool mounting frame 2-2 through three pairs of special interface chains 2-60 on the two pairs of chains 2-6, such as Figure 3 As shown, the special interface chain 2-60 in the figure is L-shaped and is connected by 6 pairs of bolts, so as to realize the function of the sprocket transmission mechanism 300 driving the linear impact mechanism 200 to perform linear motion.

[0034] Preferably, the movable base connection structure 2-5 of the chain mechanism is connected to the movable base by six pairs of bolts.

[0035] Furthermore, the linear impact mechanism 200 is located at Figure 2 The rightmost side of the middle rail. Photoelectric switches are installed at both ends of the sliding direction of each rail module 2-4 to limit the soft position of the tool mounting frame 2-2. A pair of limit blocks are installed at both ends of the sliding direction of each rail module 2-4 to limit the structure of the tool mounting frame 2-2; the above structure and sensor design prevent the linear impact mechanism 200 from rushing out of the rail under rapid acceleration and deceleration, ensuring the safety of the mechanism.

[0036] See also Figure 3The chain transmission mechanism 300 includes a driving shaft system and a driven shaft system, the driving shaft system includes a driving shaft 3-1 and a driving end sprocket 3-2; the driving shaft 3-1 is rotatably arranged on the frame 100, and a pair of driving end sprockets 3-2 are installed on the driving shaft 3-1, and the detachable driving mechanism 400 transmits power to the driving shaft 3-1 through chain transmission; the driven shaft system includes a driven end sprocket 3-6, a sprocket tensioning mechanism 3-7 and a driven bearing seat 3-8; the chain 2-6 is installed on the driving end sprocket 3-2 and the driven end sprocket 3-6, the sprocket tensioning mechanism 3-7 is installed on the frame 100, and the driven bearing seat 3-8 is movably installed on the frame 100 and its position is adjusted by the sprocket tensioning mechanism 3-7 to adjust the slackness of the chain 2-6.

[0037] A driving shaft 3-1 is supported by a driving bearing seat 3-3; a pair of driving end sprockets 3-2 are installed on the driving shaft 3-1 through a keyway connection and are responsible for driving the chain 2-6; the driving shaft 3-1 is connected to a detachable driving mechanism 400 to provide driving force for the chain transmission mechanism 300, thereby driving the entire transmission system to move.

[0038] See also Figure 4 The driven shaft system of the chain transmission mechanism 300 is similar in structure to the driving shaft system. Two driven bearing seats 3-8 are symmetrically installed on the frame 100 by bolts to support the driven shaft; two sprocket tensioning mechanisms 3-7 are symmetrically installed on the outside of the frame by bolts, and the driven bearing seats 3-8 are locked and tightened by bolts to tension the chain transmission mechanism 300.

[0039] See also Figure 5 The detachable drive mechanism 400 includes a motor 4-1, an elastic coupling 4-2, a motor mounting frame 4-3, a clutch and a motor shaft sprocket 4-6; the motor 4-1 is installed on the motor mounting frame 4-3 by bolts to provide source power for the entire mechanism; the elastic coupling 4-2 connects the active end 4-4 of the clutch and the motor 4-1, and at the same time provides a certain flexibility for the entire drive mechanism of the motor to avoid the motor being stuck due to installation coaxiality error; the motor mounting frame 4-3 is connected to the support frame body 100 by bolts, and is equipped with two pairs of deep groove ball bearings to provide support for the active end 4-4 and the driven end 4-5 of the clutch; the driven end 4-5 of the clutch is connected to the motor shaft sprocket 4-6 through a keyway and a shaft, and the motor shaft sprocket 4-6 is connected to the chain mechanism 300 through a chain drive to provide power for it.

[0040] The chain drive includes an input end sprocket 3-4 and an input-output chain 3-5; the input end sprocket 3-4 is installed on the driving shaft 3-1, and the motor shaft sprocket 4-6 is installed on the output part of the detachable driving mechanism 400, and the input end sprocket 3-4 is driven by the input-output chain 3-5 and the motor shaft sprocket 4-6.

[0041] During operation, the entire furnace opening process operation can be divided into four stages: acceleration, separation, deceleration, and return. In the acceleration stage, the electromagnetic clutch in the detachable drive mechanism 400 is in the on state, and the motor rotation drives the chain transmission mechanism 300 to rotate through the electromagnetic clutch, thereby driving the linear impact mechanism 200 to perform rapid acceleration movement; in the separation stage, the end tool rod first hits the silica smelting furnace wall, and uses its inertial impact force to achieve the effect of breaking the furnace wall. The force sensor 2-3 detects and sends the pressure data to the mechanism electronic controller in real time. When the impact force reaches the threshold, the mechanism electronic controller controls the voltage to release the clutch main The driven end is separated to achieve the protection effect on the motor and reducer; in the deceleration stage, the speed of the end tool rod is continuously reduced by the reaction force of the furnace wall, and at the same time, the encoder is used to measure the speed of the driven end of the clutch of the detachable drive mechanism 400, and the motor is synchronously adjusted according to the speed, providing favorable conditions for the subsequent clutch to engage at the same speed as much as possible; in the return stage, when the end tool rod 2-1 slows down to the threshold, the mechanism electronic controller controls the clutch engagement of the detachable drive mechanism 400 and controls the motor to rotate in the opposite direction, thereby driving the linear impact mechanism 200 back to the initial position and completing a working cycle. By analyzing the data of the force sensor 2-3, it is convenient to evaluate whether the impact force of this working cycle exceeds the safety limit, and it is also helpful to adjust the appropriate end speed to control the impact force of the end tool rod 2-1, thereby improving the overall safety of the mechanism.

[0042] Furthermore, the motor 4-1 is a three-phase AC servo motor with high precision and easy to achieve high-speed motion, which is easy to achieve rapid start and stop of the mechanism.

[0043] The present invention has been disclosed as above with preferred implementation cases, but it is not used to limit the present invention. Any technician familiar with the profession can make slight changes or modifications to equivalent implementation cases with equivalent changes by using the above-disclosed structures and technical contents without departing from the scope of the technical solution of the present invention, which still fall within the scope of the technical solution of the present invention.

Claims

1. An end drive device for a silicon smelting furnace robot, characterized in that: Include: A frame (100) is used to support the linear impact mechanism (200), the chain transmission mechanism (300) and the detachable driving mechanism (400); The chain transmission mechanism (300) provides power for the linear impact mechanism (200); The linear impact mechanism (200) is slidably disposed on the frame (100) and can be driven by the chain transmission mechanism (300) to perform linear reciprocating motion; The detachable driving mechanism (400) is used to cut off or transmit the power to the chain transmission mechanism (300).

2. The end drive device for a silicon smelting furnace robot according to claim 1, characterized in that: The linear impact mechanism 200 comprises an end tool rod (2-1), a tool mounting frame (2-2), a force sensor (2-3), a guide rail module (2-4), a movable base connection structure (2-5) and a chain (2-6); The end tool rod (2-1) and the force sensor (2-3) are installed on a tool mounting frame (2-2), the end tool rod (2-1) and the force sensor (2-3) are abutted against each other, the tool mounting frame (2-2) is installed on two pairs of sliders, the two pairs of sliders are symmetrically slidably arranged on two guide rail modules (2-4), the guide rail modules (2-4) are installed on a frame body (100), and a movable base connection structure (2-5) is installed on the lower part of the tool mounting frame (2-2) and is connected to two chains (2-6), and the chains (2-6) are driven by a chain transmission mechanism (300).

3. The end drive device for a silicon smelting furnace robot according to claim 2, characterized in that: The chain transmission mechanism (300) comprises a driving shaft system and a driven shaft system. The driving shaft system comprises a driving shaft (3-1) and a driving end sprocket (3-2); the driving shaft (3-1) is rotatably arranged on a frame (100), a pair of driving end sprockets (3-2) are mounted on the driving shaft (3-1), and a detachable driving mechanism (400) transmits power to the driving shaft (3-1) through a chain drive; The driven shaft system comprises a driven end sprocket (3-6), a sprocket tensioning mechanism (3-7) and a driven bearing seat (3-8); The chain (2-6) is mounted on a driving end sprocket (3-2) and a driven end sprocket (3-6), a tensioning mechanism (3-8) is mounted on a frame (100), and a driven bearing seat (3-9) is movably mounted on the frame (100) and its position is adjusted by the tensioning mechanism (3-8) to adjust the degree of slack of the chain (2-6).

4. The end drive device for a silicon smelting furnace robot according to claim 1, characterized in that: The detachable drive mechanism (400) comprises a motor (4-1), an elastic coupling (4-2), a motor mounting frame (4-3) and a clutch; the motor (4-1) is mounted on the motor mounting frame (4-3), the motor mounting frame (4-3) is mounted on a frame body (100), the output end of the motor (4-1) is connected to the clutch input end (4-4) via the elastic coupling (4-2), and the clutch output end (4-5) is connected to a chain transmission mechanism (300).

5. The end drive device for a silicon smelting furnace robot according to claim 2 is characterized in that: Photoelectric switches are respectively installed at both ends of the sliding direction of each guide rail module (2-4) to achieve soft limit of the tool mounting frame (2-2).

6. The end drive device for a silicon smelting furnace robot according to claim 2, characterized in that: Stop blocks are respectively installed at both ends of the sliding direction of each guide rail module (2-4) to achieve the position limitation of the tool mounting frame (2-2).

7. The end drive device for a silicon smelting furnace robot according to claim 1 is characterized in that: The bottom of the frame (100) is provided with a threaded interface (1-7).

8. The end drive device for a silicon smelting furnace robot according to claim 3 is characterized in that: The chain drive comprises an input end sprocket (3-4) and an input and output chain (3-5); The input end sprocket (3-4) is installed on the driving shaft (3-1), the motor shaft sprocket (4-6) is installed on the output part of the detachable driving mechanism (400), and the input end sprocket (3-4) is driven by the motor shaft sprocket (4-6) through the input and output chain (3-5).

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