Intelligent slagging-off manipulator

Abstract

The intelligent slagging-off manipulator comprises a slagging-off beam frame, a mounting seat is mounted at the front end of the slagging-off beam frame, a rotary swing frame capable of horizontally swinging left and right is rotatably mounted at the front end of the mounting seat, and a slagging-off rake capable of vertically swinging is rotatably mounted below the front end of the rotary swing frame; a swing power device and a lifting power device are arranged at the rear end of the slagging-off beam frame, the swing power device is used for driving the rotary swing frame to rotate left and right so as to drive the slagging-off rakes to rotate left and right, and the lifting power device is used for driving the slagging-off rakes to rotate up and down. Lifting adjustment and left-right swing adjustment are both automatic adjustment modes, automatic operation of the slagging-off device is conveniently achieved, power arrangement is reasonable, it is guaranteed that when the slagging-off rake and part of the slagging-off beam frame stretch into the heat preservation furnace to conduct slagging-off operation, the power assembly is located outside the heat preservation furnace, normal use of the power assembly is not affected, and the service life of the power assembly is prolonged. And the service life of the equipment is prolonged, so that the slagging-off manipulator is better suitable for high-temperature slagging-off operation in the holding furnace.

Description

Technical Field

[0001] The invention relates to the field of slag removal, and in particular to an intelligent slag removal manipulator. Background Art

[0002] At present, the slag removal on the surface of aluminum liquid in the holding furnace needs to be arranged at a slag removal station, with a dedicated person in charge, and the aluminum liquid needs to be removed manually with a slag rake. The working environment of manual slag removal is bad, and workers are in a bad working environment of high temperature, heat radiation, smoke and dust for a long time, and the labor intensity is high. If the furnace explodes and the aluminum liquid splashes, the operator will face greater danger. More and more people refuse to do this job. It makes it difficult to recruit workers, the turnover of personnel is large, and the labor cost continues to increase. In addition, the efficiency of manual slag removal is low, and the quality of slag removal is greatly affected by human factors, resulting in uneven product quality, waste products, and economic losses. Fully considering the environmental factors of slag removal operations, developing suitable automation equipment that can replace manual slag removal operations, and replacing manual labor with machines are the problems that the industry urgently needs to solve.

[0003] At present, the intelligent slag removal device for insulation furnaces disclosed in the prior art is mainly used for slag removal of small insulation furnaces, and is not applicable to insulation furnaces with an internal width of 5m and a depth of more than 4m. The intelligent slag removal device for insulation furnaces cannot be fully extended into the interior, especially when the temperature inside the insulation furnace is above 750°C, and power devices such as motors for adjusting the height and angle cannot be extended into the furnace, otherwise the service life will be short and they cannot be used normally. Therefore, reasonable arrangement of power and selection of more suitable transmission methods have become key issues that need to be solved in this field. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an intelligent slag removal robot with reasonable power arrangement, convenient control and good applicability in a furnace.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: an intelligent slag scraping manipulator comprises a slag scraping beam frame, a mounting seat is installed at the front end of the slag scraping beam frame, a rotating swing frame that can swing horizontally left and right is rotatably installed at the front end of the mounting seat, a slag scraping rake that can swing up and down is rotatably installed below the front end of the rotating swing frame, and a swinging power device is provided at the rear end of the slag scraping beam frame, and the swinging power device comprises a reduction motor 1 that is slidably installed along the length direction of the slag scraping beam frame, and the reduction motor 1 drives the rotating swing frame to rotate left and right through a chain transmission, and an elastic tensioning structure is provided between the reduction motor 1 and the slag scraping beam frame; A lifting power device is installed at the rear end of the slag scraper beam, and a lifting wire rope is connected to the output end of the lifting power device. A wire rope guide is installed above the slag scraper rake, and the rear end of the wire rope guide is fixedly connected to the rotating swing frame, and a reversing guide is also fixed on the rotating swing frame. The reversing guide corresponds to the rotation axis of the rotating swing frame. The free end of the lifting wire rope extends forward along the slag scraper beam, passes through the reversing guide and the wire rope guide in sequence, and then extends downward from the front end of the wire rope guide to be connected to the front part of the slag scraper rake.

[0006] As a preferred technical solution, the reversing guide member includes two guide pulleys, the two guide pulleys are connected to the rotating swing frame through a pulley shaft, a wire rope channel for limiting the lifting wire rope is formed between the two guide pulleys, and the two guide pulleys are located on the left and right sides of the rotating axis of the rotating swing frame; Or the reversing guide member is a reversing guide ring fixed on the rotating shaft of the rotating swing frame, and the middle part of the reversing guide ring has a wire rope channel for limiting the lifting wire rope.

[0007] As a preferred technical solution, a reversing guide wheel is provided at the front end outlet of the wire rope guide, and the lifting wire rope passes around the reversing guide wheel and is downwardly connected to the scraper rake.

[0008] As a preferred technical solution, the lifting power device includes a linear drive motor installed at the rear end of the slag removal beam frame, a linear slider on the linear drive motor reciprocates along the length direction of the slag removal beam frame, and the rear end of the lifting wire rope is connected to the linear slider; Or the lifting power device includes a second reduction motor, the output end of the second reduction motor is connected to a reel, and one end of the lifting wire rope is wound around the reel.

[0009] As a preferred technical solution, the swing power device includes a worm wheel and a worm gear that cooperate with each other in transmission. The worm wheel is fixedly mounted on the rotating swing frame, and the worm gear is rotatably mounted on the slag removal beam frame. The output shaft of the reduction motor 1 is installed with sprocket 1, and the worm gear is installed with sprocket 2. The chain transmission is connected between sprocket 1 and sprocket 2.

[0010] As a preferred technical solution, the output shaft of the reduction motor 1 is located on the outer surface of the sprocket 1 and is equipped with an external hexagonal pressure cover.

[0011] As a preferred technical solution, the elastic tensioning structure includes a tensioning spring, one end of which is fixedly connected to the slag scraping beam, and the other end of which is connected to the reduction motor.

[0012] As a preferred technical solution, a guide rail is fixed on the slag removal beam frame, the reduction motor is fixed on the guide slider, the guide slider is slidably installed on the guide rail along the length direction of the chain, and one end of the elastic tensioning structure is connected to the guide slider.

[0013] As a preferred technical solution, a chain guard tube or a wire rope guard is provided on the slag removal beam frame to facilitate the chain to pass through.

[0014] As a preferred technical solution, the slag removal beam frame is provided with a wire rope protection pipe or a chain guard for guiding the lifting wire rope to pass through.

[0015] Due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. The lifting power device is used to realize automatic up and down lifting and adjustment of the scraper rake, and the swing power assembly is used to realize automatic left and right swing adjustment of the scraper rake. Both the lifting adjustment and the left and right swing adjustment are automatic adjustment methods, which is convenient for realizing the automated operation of the scraper device; and the power assemblies are arranged at the end of the scraper beam frame away from the side of the scraper rake to ensure that when the scraper rake and part of the scraper beam frame are extended into the insulation furnace for scraping operation, the power assemblies are outside the insulation furnace, which does not affect the normal use of the power assemblies and improves the service life of the equipment.

[0016] 2. The slag scraping robot of the present invention utilizes a chain to realize the left and right power transmission of the slag scraping rake, and utilizes a wire rope to realize the up and down power transmission of the slag scraping rake. Since the chain and the wire rope are both mechanical structures, they will not be affected by the high temperature when entering the insulation furnace, which can extend the service life of the equipment and is well applicable to the slag scraping field of high-temperature insulation furnaces.

[0017] 3. The slag scraper robot of the present invention makes use of the wire rope guide and the reversing guide, and cooperates the two with the rotating shaft of the rotating swing frame, so that the lifting wire rope can stably follow the left and right swing, ensuring that the lifting adjustment of the slag scraper rake and the left and right angle adjustment do not interfere with each other and do not affect each other, thereby improving the slag scraping effect of the slag scraper rake. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The following drawings are intended only to illustrate and explain the present invention, and do not limit the scope of the present invention. Figure 1 is a schematic structural diagram of an embodiment of the present invention; Figure 2 It is a schematic diagram of the structure of the swing power device and the lifting power device of the embodiment of the present invention; Figure 3 It is a schematic structural diagram of a swing power device according to an embodiment of the present invention; Figure 4 It is a partial structural schematic diagram of an embodiment of the present invention; Figure 5 yes Figure 4 The enlarged schematic diagram of point A in the middle; Figure 6 is a reference diagram of the use status of an embodiment of the present invention; Figure 7 Schematic diagram of the lifting and lowering adjustment of the slag rake according to the embodiment of the present invention; Figure 8 Schematic diagram of the rotation adjustment of the scraping rake according to the embodiment of the present invention; Fig. 9 It is a partial structural diagram of the second embodiment of the present invention; In the figure: 1-slag skimming beam frame; 2-mounting seat; 3-rotating swing frame; 4-slag skimming rake; 5-rotating shaft; 6-reduction motor 1; 7-chain; 8-worm wheel; 9-worm; 10-sprocket 1; 11-sprocket 2; 12-external hexagonal gland; 13-chain guard tube; 14-guide rail; 15-guide slider; 16-tensioning spring; 17-lifting wire rope; 18-wire rope guide; 19-reversing guide; 19a-guide pulley; 19b-pulley shaft; 20-wire rope guard tube; 21-reversing guide wheel; 22-linear drive motor; 23-linear slider; 24-insulation furnace. DETAILED DESCRIPTION

[0019] The present invention is further described below in conjunction with the accompanying drawings and examples. In the following detailed description, certain exemplary embodiments of the present invention are described only by way of illustration. Needless to say, those of ordinary skill in the art will recognize that the described embodiments may be modified in various ways without departing from the spirit and scope of the present invention. Therefore, the drawings and description are illustrative in nature and are not intended to limit the scope of protection of the claims.

[0020] Embodiment 1: like Figures 1 to 5 As shown, the intelligent slag removal manipulator includes a slag removal beam frame 1, a mounting seat 2 is installed at the front end of the slag removal beam frame 1, a rotating swing frame 3 that can swing horizontally left and right is rotatably installed at the front end of the mounting seat 2, a slag removal rake 4 that can swing up and down is rotatably installed below the front end of the rotating swing frame 3, and a swinging power device and a lifting power device are provided at the rear end of the slag removal beam frame 1. The swinging power device is used to drive the rotating swing frame 3 to rotate left and right, thereby driving the slag removal rake 4 to rotate left and right, and the lifting power device is used to drive the slag removal rake 4 to rotate up and down. The slag removal beam frame 1 can be installed on a walking trolley or a forklift to drive it away from or close to the holding furnace 24. The slag removal beam frame 1 can also be rotatably installed on a walking trolley or a forklift through a rotating module, and the slag removal manipulator can be rotated to adapt to the slag removal angle requirements in the furnace.

[0021] In this embodiment, the slag removal beam frame 1 is welded by a plurality of long supporting rods to form a long light beam frame, which is used to meet the requirements of lightweight and high-strength design, and can also be extended into the interior of the large insulation furnace 24, and a reinforcing beam or steel bar structure is also provided above the slag removal beam frame 1 to improve the strength of the slag removal beam frame 1. Of course, the length of the slag removal beam frame 1 can be designed according to the actual depth of the insulation furnace 24.

[0022] A mounting seat 2 is fixed to the front end of the slag scraping beam frame 1, and the mounting seat 2 serves as a connecting base. The rotating pendulum frame 3 is rotatably connected to the mounting seat 2 via a rotating shaft 5. The rotating pendulum frame 3 is fixed to the rotating shaft 5, and the rotating shaft 5 is rotatably connected to the mounting seat 2 via a bearing. The swing transmission device is arranged on the mounting seat 2 to drive the rotating shaft 5 to rotate. After driving the rotating shaft 5 to rotate, the rotation of the rotating pendulum frame 3 is realized.

[0023] The swing power device includes a reduction motor 6 slidably installed along the length direction of the slag removal beam frame 1. The reduction motor 6 drives the rotating swing frame 3 to rotate left and right through a chain 7. An elastic tensioning structure is provided between the reduction motor 6 and the slag removal beam frame 1. The elastic tensioning structure is used to adapt to the deformation of the chain 7 caused by the lengthening due to heat.

[0024] The swing transmission device includes a worm wheel 8 and a worm 9 in transmission cooperation, the worm wheel 8 is fixedly connected to the rotating shaft 5, the worm 9 is rotatably mounted on the mounting seat 2 of the slag removal beam frame 1, the output shaft of the reduction motor 1 6 is mounted with a sprocket 10, the worm 9 is mounted with a sprocket 2 11, and the chain 7 is transmission-connected between the sprocket 10 and the sprocket 2 11. The cooperation mode of the worm wheel 8 and the worm 9 has a self-locking function to ensure the stability of the left and right angles, and the worm wheel 8 and the worm 9 belong to a mechanical transmission mode, and they will not be affected when entering the holding furnace 24. The reduction motor 6 is fixed on the fixed plate at the rear end of the slag removal beam frame 1. During the slag removal operation, the reduction motor 6 is located outside the insulation furnace 24, and transmits power to the worm 9 and the worm wheel 8 through the sprocket and the chain 7 to realize the left and right swing of the rotating swing frame 3 and the slag removal rake 4. The transmission mode of the sprocket and the chain 7 is more stable, and the mechanical matching mode can be better applied to the high-temperature insulation furnace 24, thereby extending the service life of the equipment.

[0025] During the use of the equipment, when the power is off or the reduction motor 6 fails and stops, if the slag rake 4 is located in the furnace and swings to one side, it is difficult for the slag rake 4 to withdraw directly from the furnace mouth. To solve this problem, an external hexagonal pressure cover 12 is installed on the outer surface of the sprocket 10 on the output shaft of the reduction motor 6. When the equipment stops unexpectedly, the external hexagonal pressure cover 12 on the sprocket 10 can be used to rotate the sprocket 10 by extending the socket wrench, and the left and right angles of the slag rake 4 can be manually adjusted through the chain 7 transmission. At the same time, the wire rope is manually pulled to manually adjust the lifting position of the slag rake 4, so that the slag rake 4 is reset to the middle to facilitate smooth withdrawal from the furnace mouth.

[0026] The scraping beam frame 1 is provided with a chain protection tube 13 or a chain protection cover which is convenient for the chain 7 to pass through and is used to protect the chain 7 .

[0027] Due to the high temperature in the high-temperature furnace, the chain 7 expands after being heated, and the chain 7 becomes loose, affecting the power transmission. To solve this problem, this embodiment has made further design. The reduction motor 16 is slidably installed on the slag removal beam frame 1 along the length direction of the chain 7. A guide slide rail 14 is fixed on the slag removal beam frame 1. The reduction motor 16 is fixed on the guide slide 15. The guide slide 15 is slidably installed on the guide slide rail 14 along the length direction of the chain 7. The elastic tensioning structure is provided between the reduction motor 16 and the slag removal beam frame 1.

[0028] The elastic tensioning structure includes a tensioning spring 16, one end of which is fixedly connected to the threaded hole on the slag-scraping beam frame 1 by a ring bolt, and the other end of the tensioning spring 16 is connected to the guide rail 14. The device uses the elastic deformation force of the spring to adapt to the change of the tightness of the chain 7, and pulls the chain 7 to keep it in a taut state through the tensioning spring 16. In addition, the elastic tensioning structure is arranged at the rear end of the slag-scraping beam frame 1, and a plurality of threaded holes at different positions can be arranged on the mounting seat 2, and the other end of the tensioning spring 16 is fixed to the threaded hole by a ring bolt, and threaded holes at different positions can be selected according to the tensioning requirements of the chain 7.

[0029] A lifting power device is installed at the rear end of the slag scraping beam frame 1, and a lifting wire rope 17 is connected to the output end of the lifting power device. A wire rope guide 18 is installed above the slag scraping rake 4, and the rear end of the wire rope guide 18 is fixedly connected to the rotating swing frame 3. A reversing guide 19 is also fixed on the rotating swing frame 3. The reversing guide 19 corresponds to the position of the rotating axis 5 of the rotating swing frame 3. The free end of the lifting wire rope 17 extends forward along the slag scraping beam frame 1, passes through the reversing guide 19 and the wire rope guide 18 in sequence, and then extends downward from the front end of the wire rope guide 18 to be connected to the front part of the slag scraping rake 4.

[0030] The slag scraping beam frame 1 is provided with a wire rope guard tube 20 or a wire rope guard cover for guiding the lifting wire rope 17 to pass through. The wire rope guard tube 20 is located behind the rotating swing frame 3. On the one hand, it protects the wire rope, and on the other hand, it guides the wire rope to ensure that the lifting wire rope 17 extends forward along the length direction of the slag scraping beam frame 1.

[0031] In this embodiment, the wire rope guide 18 is a hollow wire rope conduit, the rear end of which is indirectly fixed to the rotating swing frame 3 and close to the rotating axis 5 of the rotating swing frame 3, the front end of which extends forward to the front of the slag rake 4, the front end of the lifting wire rope 17 passes through the interior of the wire rope conduit, and then extends out from the front end of the wire rope conduit and is connected downward to the top front of the slag rake 4.

[0032] The wire rope guide 18 extends forward along the length direction of the slag scraper beam frame 1 and is indirectly fixed on the rotating swing frame 3. The wire rope guide 18 has two advantages: First, the wire rope guide 18 can guide the lifting wire rope 17 and support the lifting wire rope 17, so that the front end of the lifting wire rope 17 can smoothly extend forward. Compared with the connection method in which the wire rope is directly connected to the front part of the slag scraper rake 4, the use of the wire rope guide 18 for extension and guidance can ensure that the angle adjustment range of the slag scraper rake 4 is larger; Second, the wire rope guide 18 is fixedly connected to the rotating swing frame 3, so when the rotating swing frame 3 rotates, the wire rope guide 18 will make the lifting wire rope 17 rotate left and right. When the lifting wire rope 17 bends and swings left and right, the length of the wire rope remains basically unchanged, does not affect the lifting height of the slag scraper rake 4, and has a better use effect. Of course, a wire rope guide rod can be used to replace the wire rope conduit. A plurality of wire rope rings are provided on the surface of the wire rope guide rod. The lifting wire rope 17 passes through the plurality of wire rope rings in sequence. The plurality of wire rope rings cooperate to guide and limit the lifting wire rope 17.

[0033] In order to ensure the strength of the wire rope guide 18, a reinforcing rod is provided between the wire rope guide and the rotating swing frame.

[0034] In order to ensure that the lifting wire rope 17 can better follow the turning when the rotating swing frame 3 rotates, a reversing guide 19 for the lifting wire rope 17 to pass through is installed on the rotating swing frame 3. The reversing guide 19 is located behind the wire rope guide 18, and the reversing guide 19 corresponds to the rotating axis 5 of the rotating swing frame 3.

[0035] The reversing guide 19 includes two guide pulleys 19a, and the two guide pulleys 19a are connected to the top of the rotating swing frame 3 through a pulley shaft 19b. The pulley shaft 19b is vertically fixed directly or indirectly on the rotating swing frame 3. A wire rope channel for limiting the lifting wire rope 17 is formed between the two guide pulleys 19a. The two guide pulleys 19a cooperate to clamp the lifting wire rope 17. The two guide pulleys 19a are located on the left and right sides of the top of the rotating shaft 5 of the rotating swing frame 3 to ensure that the lifting wire rope 17 can be turned and bent at the rotating shaft 5 of the rotating swing frame 3. When the rotating swing frame 3 rotates, the lifting wire rope 17 is limited by the two guide pulleys 19a, so the lifting wire rope 17 will bend and change direction after bypassing the guide pulleys 19a, which is equivalent to the lifting wire rope 17 rotating around the rotating shaft 5 of the rotating swing frame 3. It can ensure that when the rotating swing frame 3 rotates, the lifting wire rope 17 can bend and follow the left and right swings, and the length remains basically unchanged, which does not affect the lifting height of the scraper rake 4, and the use effect is better. In addition, the bending of the wire rope is supported by the guide pulley 19a, which can reduce the friction of the guide pulley 19a on the wire rope when the guide pulley 19a changes direction. Of course, the reversing guide 19 can be two guide columns, and the lifting wire rope 17 passes between the two guide columns to ensure that the lifting wire rope 17 can follow the bending at the rotating shaft 5 line.

[0036] In order to further reduce the reversing friction of the wire rope, a reversing guide wheel 21 is provided at the front end outlet of the wire rope guide 18 , and the lifting wire rope 17 passes around the reversing guide wheel 21 and is downwardly connected to the scraper rake 4 .

[0037] The lifting power device includes a linear drive motor 22 installed at the rear end of the slag removal beam frame 1, and a linear slider 23 on the linear drive motor 22 reciprocates along the length direction of the slag removal beam frame 1. The linear slider 23 is connected to a lifting wire rope 17, and the front end of the lifting wire rope 17 extends forward and is connected to the front part of the slag removal rake 4. The linear drive motor 22 is fixed to a fixed plate at the rear end of the slag removal beam frame 1. When in use, the linear slider 23 reciprocates along the linear drive motor 22, thereby driving the rear end of the lifting wire rope 17 forward or backward, and pulling the rear end of the slag removal rake 4 to rotate up and down around the rotating swing frame 3, that is, realizing the rise and fall of the front end of the slag removal rake 4, meeting the slag removal height adjustment requirements. Of course, the lifting power device can also be other structures, for example, the lifting power device includes a reduction motor 2, and the output end of the reduction motor 2 is connected to a reel, and the rear end of the lifting wire rope 17 is wound around the reel, and the reeling and unreeling of the wire rope is realized by the rotation of the reel.

[0038] The scraping rake 4 comprises a rake rod which is rotatably mounted on the rotating swing frame 3, and a scraping plate is fixed to the front end of the rake rod.

[0039] The working principle of this embodiment is: Before the slag removal operation, the slag removal rake 4 does not swing and is lifted up to the same height as the slag removal beam frame 1, so as to be easily inserted into the interior of the insulation furnace 24 through the furnace opening. The linear drive motor 22 and the reduction motor 6 are both located outside the insulation furnace 24. Figure 6 ; When adjusting the height, the linear drive motor 22 drives the linear slider 23 to slide, so that the rear end of the slag rake 4 is pulled by the lifting wire rope 17 to rotate up and down around the rotating swing frame 3, that is, the front end of the slag rake 4 is raised and lowered to meet the height adjustment requirements of the slag rake. For the height adjustment diagram, see Figure 7 When adjusting the angle, the reduction motor 6 is actuated, and the worm 9 is rotated through the sprocket and chain 7, thereby driving the worm wheel 8 and the rotating swing frame 3, wire rope guide 18, reversing guide 19, slag rake 4 and other structures fixed to the worm wheel 8 to swing left and right. At this time, the reversing guide 19 and the wire rope guide 18 cooperate to limit the lifting wire rope 17, ensuring that the lifting wire rope 17 swings left and right at the rotating shaft 5, without affecting the up and down height of the slag rake 4. See the angle adjustment diagram for details. Figure 8; This device uses the wire rope guide 18 and the reversing guide 19, and the two are designed to cooperate with the rotating shaft 5 of the rotating swing frame 3, so that the lifting wire rope 17 can stably follow the left and right swing, ensuring that the lifting adjustment and left and right angle adjustment of the slag rake 4 do not interfere with each other and do not affect each other, thereby improving the slag removal effect of the slag rake 4.

[0040] Embodiment 2: The difference between the second embodiment and the first embodiment mainly lies in the different structure of the reversing guide 19. Fig. 9 The reversing guide 19 is a reversing guide ring fixed on the rotating shaft 5 of the rotating swing frame 3, and the middle part of the reversing guide ring has a wire rope channel for limiting the lifting wire rope 17.

[0041] The lifting wire rope 17 is sleeved in the reversing guide ring; when the rotating swing frame 3 rotates, the lifting wire rope 17 is limited by the reversing guide ring, so the lifting wire rope 17 will bend and change direction through the reversing guide ring, which is equivalent to the lifting wire rope 17 rotating with the rotating axis 5 of the rotating swing frame 3 as the center. It can ensure that when the rotating swing frame 3 rotates, the lifting wire rope 17 can bend and follow the left and right swing, and the length remains basically unchanged, which does not affect the lifting height of the slag rake 4 and has a better use effect.

[0042] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. Intelligent slag removal robot, characterized by: It comprises a slag-scraping beam frame, a mounting seat is installed at the front end of the slag-scraping beam frame, a rotating swing frame that can swing horizontally left and right is rotatably installed at the front end of the mounting seat, a slag-scraping rake that can swing up and down is rotatably installed below the front end of the rotating swing frame, and a swinging power device is provided at the rear end of the slag-scraping beam frame, and the swinging power device comprises a reduction motor 1 that is slidably installed along the length direction of the slag-scraping beam frame, and the reduction motor 1 drives the rotating swing frame to rotate left and right through chain transmission, and an elastic tensioning structure is provided between the reduction motor 1 and the slag-scraping beam frame; A lifting power device is installed at the rear end of the slag scraper beam, and a lifting wire rope is connected to the output end of the lifting power device. A wire rope guide is installed above the slag scraper rake, and the rear end of the wire rope guide is fixedly connected to the rotating swing frame, and a reversing guide is also fixed on the rotating swing frame. The reversing guide corresponds to the rotation axis of the rotating swing frame. The free end of the lifting wire rope extends forward along the slag scraper beam, passes through the reversing guide and the wire rope guide in sequence, and then extends downward from the front end of the wire rope guide to be connected to the front part of the slag scraper rake.

2. The intelligent slag removal robot according to claim 1, characterized in that: The reversing guide member includes two guide pulleys, the two guide pulleys are connected to the rotating swing frame through a pulley shaft, a wire rope channel for limiting the lifting wire rope is formed between the two guide pulleys, and the two guide pulleys are located on the left and right sides of the rotating axis of the rotating swing frame; Or the reversing guide member is a reversing guide ring fixed on the rotating shaft of the rotating swing frame, and the middle part of the reversing guide ring has a wire rope channel for limiting the lifting wire rope.

3. The intelligent slag removal robot according to claim 1, characterized in that: A reversing guide wheel is provided at the front end outlet of the wire rope guide, and the lifting wire rope passes around the reversing guide wheel and is downwardly connected to the scraper rake.

4. The intelligent slag removal robot according to claim 1, characterized in that: The lifting power device comprises a linear drive motor installed at the rear end of the slag removal beam frame, a linear slider on the linear drive motor reciprocates along the length direction of the slag removal beam frame, and the rear end of the lifting wire rope is connected to the linear slider; Or the lifting power device includes a second reduction motor, the output end of the second reduction motor is connected to a reel, and one end of the lifting wire rope is wound around the reel.

5. The intelligent slag removal robot according to claim 1, characterized in that: The swing power device includes a worm wheel and a worm gear that cooperate with each other in transmission. The worm wheel is fixedly installed on the rotating swing frame, and the worm gear is rotatably installed on the slag removal beam frame. The output shaft of the reduction motor 1 is installed with sprocket 1, and the worm gear is installed with sprocket 2. The chain transmission is connected between sprocket 1 and sprocket 2.

6. The intelligent slag removal robot according to claim 5, characterized in that: The output shaft of the reduction motor 1 is located on the outer surface of the sprocket 1 and is equipped with an external hexagonal pressure cover.

7. The intelligent slag removal robot according to claim 1, characterized in that: The elastic tensioning structure comprises a tensioning spring, one end of which is fixedly connected to the slag-scraping beam frame, and the other end of which is connected to the first reduction motor.

8. The intelligent slag removal robot according to claim 1, characterized in that: A guide rail is fixed on the slag removal beam frame, the reduction motor is fixed on the guide slider, the guide slider is slidably installed on the guide rail along the length direction of the chain, and one end of the elastic tensioning structure is connected to the guide slider.

9. The intelligent slag removal robot according to claim 1, characterized in that: The slag-removing beam frame is provided with a chain protection pipe or a chain protection cover which is convenient for the chain to pass through.

10. The intelligent slag removal robot according to claim 1, characterized in that: The slag-scraping beam frame is provided with a wire rope protection pipe or a wire rope protection cover for guiding the lifting wire rope to pass through.

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