Large operation arm of submerged arc furnace slagging-off robot

Abstract

The invention relates to the technical field of ladle slagging-off, in particular to an operation big arm of a submerged arc furnace slagging-off robot. The large operation arm of the submerged arc furnace slagging-off robot comprises a removing mechanism and a chiseling mechanism. The clearing mechanism comprises a clearing working arm and a clearing driver, the clearing working arm can rotate and pitch, and the clearing driver is connected to the clearing working arm and can drive the clearing working arm to reciprocate in the length direction of the clearing working arm; the chiseling mechanism comprises a chiseling device body, a chiseling guide rail and a traction mechanism, the chiseling device body is movably mounted on the chiseling guide rail, and the traction mechanism is mounted on the chiseling guide rail and can pull the chiseling device body to reciprocate along the chiseling guide rail; the chiseling guide rail can drive the chiseling device body and the traction mechanism to rotate and pitch. The large operation arm of the submerged arc furnace slagging-off robot has the functions of crushing impurities and hard shells and removing slag at the same time, and the problems that the pouring speed is reduced and the follow-up ladle cleaning procedure is not smooth can be solved.

Description

Technical Field

[0001] The invention relates to the technical field of ladle slag removal, and in particular to an operating arm of a slag removal robot for an electric arc furnace. Background Art

[0002] In the prior art, a crane hoists a ladle containing molten iron to a target location, and then a slag removal device removes slag (such as floating dross or bottom dross) from the ladle; after the slag removal is completed, the crane hoists the ladle to another location.

[0003] However, sometimes a hard crust of impurities with high hardness will form on the surface of the ladle and its ladle mouth, but the force of the slag removal equipment is small, so it is difficult for the slag removal equipment to break up the impurity crust and remove it, which has an adverse effect on the pouring speed and the subsequent ladle cleaning process. Summary of the invention

[0004] The purpose of the invention is to overcome the problem in the prior art that the existing slag removal equipment is difficult to break and remove the impurity crust.

[0005] In order to achieve the above-mentioned purpose, the present invention provides an operating arm of a slag removal robot for an electric arc furnace, the operating arm of the slag removal robot for an electric arc furnace comprises a cleaning mechanism and a chiseling mechanism, the cleaning mechanism and the chiseling mechanism are arranged to be distributed at intervals; the cleaning mechanism comprises a cleaning working arm and a cleaning driver, the cleaning working arm is arranged to be able to perform rotation and pitching movements, the cleaning driver is connected to the cleaning working arm and can drive the cleaning working arm to reciprocate along its length direction, so that the cleaning working arm can remove slag and impurity crusts; the chiseling mechanism comprises a chiseling device body, a chiseling guide rail and a traction mechanism, the chiseling device body is movably mounted on the chiseling guide rail and can chisel the impurity crust, the traction mechanism is mounted on the chiseling guide rail and can pull the chiseling device body to reciprocate along the chiseling guide rail; the chiseling guide rail can drive the chiseling device body and the traction mechanism to perform rotation and pitching movements.

[0006] In some embodiments, the chiseling tool body includes a chiseling working arm and a chiseling driver, which are movably mounted on the top of the chiseling guide rail; the length direction of the chiseling working arm is parallel to the length direction of the chiseling guide rail; the chiseling driver is connected to the chiseling working arm and can drive the chiseling working arm to reciprocate along its length direction so that the chiseling working arm can chisel the hard shell of impurities.

[0007] In some embodiments, the chiseling mechanism also includes a base, which is movably mounted on the top of the chiseling guide rail, and the chiseling driver is fixedly mounted on the top of the base; the traction mechanism can pull the base to move along the length direction of the chiseling guide rail so that the chiseling working arm and the chiseling driver move accordingly.

[0008] In some embodiments, the traction mechanism includes a traction drive, a traction chain and two traction sprockets; the two traction sprockets are rotatably mounted on the chiseling guide rail, and the two traction sprockets are spaced apart in the length direction of the chiseling guide rail; the traction chain passes around the two traction sprockets and is tensioned by the two traction sprockets, and the base is fixedly connected to the traction chain; the traction drive is fixedly mounted on the chiseling guide rail, and the traction drive is connected to one of the traction sprockets so as to be able to drive it to rotate.

[0009] In some embodiments, two limit plates are respectively provided on both sides of the base, and the two limit plates on each side are respectively arranged close to the front and rear ends of the base, and walking wheels that can move along the sides of the chiseling guide rail are installed on the limit plates.

[0010] In some embodiments, a plurality of first guide mechanisms are provided at the top of the striking guide rail and are spaced apart along the length direction thereof, and the striking working arm moves through the first guide mechanisms.

[0011] In some embodiments, the first guide mechanism includes a limit frame and two first guide rollers. The limit frame is fixedly mounted on the top of the chiseling guide rail. The chiseling working arm moves through the hollow area in the middle of the limit frame. The two first guide rollers are rotatably mounted on the limit frame and respectively contact the top and bottom surfaces of the chiseling working arm.

[0012] In some embodiments, the cleaning working arm includes a guide sleeve and an actuator arm, the cleaning driver is installed on the top of the guide sleeve, the actuator arm moves through the guide sleeve, and the cleaning driver can drive the actuator arm to reciprocate along the axis of the guide sleeve.

[0013] In some embodiments, a transmission chain extending along its length direction is fixedly installed on the top of the actuator arm, and the transmission chain is embedded in the top of the actuator arm to be lower than the top surface of the actuator arm; the power output part of the cleaning drive is fixedly installed with a transmission sprocket that forms a transmission match with the transmission chain.

[0014] In some embodiments, one end of the transmission chain is connected to the top of the actuator arm through a connector, and the other end of the transmission chain is connected to the top of the actuator arm through a tensioning mechanism, and the tensioning mechanism can tension the transmission chain.

[0015] In some embodiments, two second guide mechanisms capable of guiding the actuator arm are disposed on the guide sleeve, and the cleaning drive is located between the two second guide mechanisms.

[0016] In some embodiments, the second guide mechanism includes a positioning frame and four second guide rollers, the positioning frame is fixedly mounted on the guide sleeve, and the second guide rollers are rotatably mounted on the positioning frame; and the outer circumferential surfaces of the four second guide rollers are respectively in contact with the top surface, bottom surface and two side surfaces of the actuator arm.

[0017] In some embodiments, the operating arm of the electric arc furnace slag removal robot also includes a rotating mechanism and two pitch mechanisms. The cleaning mechanism and the chiseling mechanism are respectively installed on the rotating mechanism through a pitch mechanism, and the cleaning mechanism and the chiseling mechanism respectively realize pitch movements through corresponding pitch mechanisms; the cleaning mechanism and the chiseling mechanism can realize synchronous rotating movements through the rotating mechanism.

[0018] The above technical solution of the present invention has the following beneficial effects:

[0019] When performing slag removal operations, the cleaning arm and the chiseling guide rail can move to the optimal operating position through rotation and pitching movements; then the cleaning driver drives the cleaning arm to reciprocate along its length direction so that the cleaning arm can remove the slag and impurity crust in the ladle. However, for some impurity crusts that are difficult to remove, the cleaning arm may find it difficult to remove them. At this time, the traction mechanism can pull the chisel body to move along the chisel guide rail, so that the chisel body moves to a position convenient for performing the knocking action; then the chisel body knocks the impurity crust so that the impurity crust is crushed to form slag; and after the impurity crust is completely crushed, the traction mechanism can pull the chisel body to move along the chisel guide rail so that the chisel body returns to the initial position. Finally, the cleaning driver drives the cleaning arm to reciprocate along its length direction again so that the cleaning arm can remove the slag generated by crushing the impurity crust. Therefore, the operating arm of the slag removal robot for an electric arc furnace of the present invention has the functions of breaking the impurity crust and removing the slag, which can avoid the problems of reduced pouring speed and poor subsequent bag cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 2 is a three-dimensional schematic diagram of an operating arm of a slag removal robot for an electric arc furnace according to an embodiment of the present invention;

[0021] Figure 2 is a three-dimensional schematic diagram of a chiseling mechanism in one embodiment of the present invention;

[0022] Figure 3 is a three-dimensional schematic diagram of a cleaning mechanism in one embodiment of the present invention;

[0023] Figure 4 yes Figure 3 A partial schematic diagram of part A;

[0024] Figure 5 yes Figure 3 A partial schematic diagram of part B in the middle;

[0025] Figure 6 It is a schematic diagram of the connection between the support seat and the bearing box in one embodiment of the present invention.

[0026] Description of Reference Numerals

[0027] 1. Chassis; 11. Heat insulation cover; 12. Electrical system accommodation area; 13. Installation box;

[0028] 2. cleaning mechanism; 21. cleaning working arm; 211. guide sleeve; 212. actuator arm; 213. transmission chain; 214. tensioning mechanism; 2141. connecting plate; 2142. positioning plate; 2143. tensioning spring; 2144. nut; 22. cleaning driver; 23. second guide mechanism; 231. positioning frame; 232. second guide roller;

[0029] 3. Chiseling mechanism; 31. Chiseling working arm; 32. Chiseling driver; 33. Chiseling guide rail; 34. Base; 35. Limiting plate; 36. Traction chain; 37. Traction driver; 38. First guide mechanism; 381. Limiting frame;

[0030] 4. Rotation mechanism; 41. Support body; 42. Mounting ring; 43. Top plate; 44. Rotation motor;

[0031] 5. Pitch mechanism; 51. Support seat; 52. Pitch drive cylinder; 53. Bearing box. DETAILED DESCRIPTION

[0032] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present invention, rather than to limit the present invention. For those skilled in the art, the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by illustrating examples of the present invention.

[0033] like Figure 1 As shown, the present invention provides an operating arm of a slag removal robot for an electric arc furnace, and the operating arm of the slag removal robot for an electric arc furnace includes a cleaning mechanism 2 and a chiseling mechanism 3, and the cleaning mechanism 2 and the chiseling mechanism 3 are arranged to be spaced apart. The cleaning mechanism 2 includes a cleaning working arm 21 and a cleaning driver 22, and the cleaning working arm 21 is arranged to be able to perform rotation and pitching movements, and the cleaning driver 22 is connected to the cleaning working arm 21 and can drive the cleaning working arm 21 to reciprocate along its length direction, so that the cleaning working arm 21 can remove slag and impurity crusts. The chiseling mechanism 3 includes a chiseling device body, a chiseling guide rail 33 and a traction mechanism, and the chiseling device body is movably mounted on the chiseling guide rail 33 and can chisel the impurity crust, and the traction mechanism is mounted on the chiseling guide rail 33 and can pull the chiseling device body to reciprocate along the chiseling guide rail 33; the chiseling guide rail 33 can drive the chiseling device body and the traction mechanism to perform rotation and pitching movements.

[0034] Specifically, when performing slag removal operations, the cleaning arm 21 and the chiseling guide rail 33 can move to the optimal operating position through rotation and pitching movements; then the cleaning driver 22 drives the cleaning arm 21 to reciprocate along its length direction, so that the cleaning arm 21 can remove the slag and impurity crust in the ladle. However, for some impurity crusts that are difficult to remove, the cleaning arm 21 may be difficult to remove. At this time, the traction mechanism can pull the chisel body to move along the chiseling guide rail 33, so that the chisel body moves to a position convenient for performing the knocking action; then the chisel body knocks the impurity crust, so that the impurity crust is crushed to form slag; and after the impurity crust is completely crushed, the traction mechanism can pull the chisel body to move along the chiseling guide rail 33, so that the chisel body returns to the initial position. Finally, the cleaning driver 22 drives the cleaning arm 21 to reciprocate along its length direction again, so that the cleaning arm 21 can remove the slag generated by crushing the impurity crust. Therefore, the operating arm of the slag removal robot for an electric arc furnace of the present invention has the functions of breaking the impurity crust and removing the slag, which can avoid the problems of reduced pouring speed and poor subsequent bag cleaning process.

[0035] like Figure 1 and Figure 2 As shown, in some embodiments of the present invention, the chiseling device body includes a chiseling working arm 31 and a chiseling driver 32. The chiseling working arm 31 and the chiseling driver 32 are movably mounted on the top of the chiseling guide rail 33; the length direction of the chiseling working arm 31 is parallel to the length direction of the chiseling guide rail 33. The chiseling driver 32 is connected to the chiseling working arm 31 and can drive the chiseling working arm 31 to reciprocate along its length direction, so that the chiseling working arm 31 can chisel the impurity crust. The chiseling device body adopting this structural form has a simple structure and a large striking force. In addition, in order to facilitate the traction movement of the chiseling device body, at least one of the chiseling driver 32 and the chiseling working arm 31 can be connected to a traction mechanism.

[0036] Of course, the hammer body may also be any other structural form that can achieve the above technical effects, and the present invention is not limited thereto.

[0037] In some embodiments, the chiseling working arm 31 includes a first connecting arm and a striking chisel rod extending along the length direction of the chiseling guide rail 33. The first connecting arm is connected to the chiseling driver 32. The first connecting arm moves through the first guide mechanism 38. The striking chisel rod is connected to the first connecting arm. The end of the striking chisel rod facing away from the first connecting arm is set to a sharp structure to facilitate striking the hard shell of impurities.

[0038] like Figure 1 and Figure 2As shown, in some embodiments of the present invention, the chiseling mechanism 3 also includes a base 34, which is movably mounted on the top of the chiseling guide rail 33, and the chiseling driver 32 is fixedly mounted on the top of the base 34; the traction mechanism can pull the base 34 to move along the length direction of the chiseling guide rail 33 so that the chiseling working arm 31 and the chiseling driver 32 move accordingly.

[0039] Specifically, the striking driver 32 is movably mounted on the top of the striking guide rail 33 through the base 34. On the one hand, the base 34 can support the striking driver 32 to a certain height, so that the striking driver 32 can be kept flush with the striking working arm 31 that moves through the first guide mechanism 38; on the other hand, the base 34 facilitates the installation of the striking driver 32, which helps the striking driver 32 to move stably on the striking guide rail 33; on the other hand, the base 34 is convenient for connection with the traction mechanism, so that the striking device body can be easily towed and moved. Preferably, a plurality of rollers can be arranged at intervals at the bottom of the base 34 to facilitate the movement of the base 34.

[0040] like Figure 1 and Figure 2 As shown, in some embodiments of the present invention, the traction mechanism includes a traction drive 37, a traction chain 36 and two traction sprockets; the two traction sprockets are rotatably mounted on the chiseling guide rail 33, and the two traction sprockets are spaced apart in the length direction of the chiseling guide rail 33; the traction chain 36 passes around the two traction sprockets and is tensioned by the two traction sprockets, and the base 34 is fixedly connected to the traction chain 36; the traction drive 37 is fixedly mounted on the chiseling guide rail 33, and the traction drive 37 is connected to one of the traction sprockets so as to be able to drive it to rotate.

[0041] Specifically, two traction sprockets are spaced apart in the length direction of the striking guide rail 33, one of the traction sprockets can be located at the end of the striking guide rail 33, and the other traction sprocket can be located at the middle or front end of the striking guide rail 33, so that the traction chain 36 changes its extension direction and is connected to the base 34. Moreover, the common plane of the axes of the two traction sprockets is parallel to the top surface of the striking guide rail 33, so that the traction base 34 can move back and forth stably.

[0042] like Figure 1 and Figure 2 As shown, in some embodiments of the present invention, two limit plates 35 are respectively provided on both sides of the base 34, and the two limit plates 35 on each side are respectively arranged close to the front and rear ends of the base 34, and the limit plates 35 are installed with walking wheels that can move along the side of the chiseling guide rail 33.

[0043] Specifically, the limiting plate 35 and the running wheels installed on the limiting plate 35 can prevent the base 34 from deflecting, and only allow the base 34 to move along the length direction of the chiseling guide rail 33. In addition, the running wheels can reduce the friction force when the base 34 moves.

[0044] like Figure 1 and Figure 2 As shown, in some embodiments of the present invention, a plurality of first guide mechanisms 38 spaced apart along the length direction of the chiseling guide rail 33 are provided on the top thereof, and the chiseling working arm 31 moves through the first guide mechanisms 38 .

[0045] Specifically, the first guide mechanism 38 can guide the striking working arm 31 to move along the length direction of the striking guide rail 33 and prevent the striking working arm 31 from tilting upward or deviating leftward or rightward.

[0046] like Figure 1 and Figure 2 As shown, in some embodiments of the present invention, the first guide mechanism 38 includes a limit frame 381 and two first guide rollers. The limit frame 381 is fixedly installed on the top of the chiseling guide rail 33. The chiseling working arm 31 moves through the hollow area in the middle of the limit frame 381. The two first guide rollers are rotatably installed on the limit frame 381 and are in contact with the top and bottom surfaces of the chiseling working arm 31, respectively.

[0047] Specifically, the outer circumference of one of the first guide rollers contacts the bottom surface of the striking working arm 31 to reduce the friction when the striking working arm 31 moves; the outer circumference of the other first guide roller contacts the top surface of the striking working arm 31, and the first guide roller presses the striking working arm 31 to prevent the striking working arm 31 from tilting upward, and can also reduce the friction when the striking working arm 31 moves. Of course, the limiting frame 381 can also prevent the striking working arm 31 from deviating left and right.

[0048] like Figure 1 and Figure 3 As shown, in some embodiments of the present invention, the cleaning working arm 21 includes a guide sleeve 211 and an execution arm 212, the cleaning driver 22 is installed on the top of the guide sleeve 211, the execution arm 212 moves through the guide sleeve 211, and the cleaning driver 22 can drive the execution arm 212 to reciprocate along the axis of the guide sleeve 211 to perform a slag or impurity hard shell cleaning action.

[0049] Of course, the cleaning working arm 21 may also be any other structural form that can achieve the above technical effects, and the present invention is not limited thereto.

[0050] like Figure 3 and Figure 4As shown, in some embodiments of the present invention, a transmission chain 213 extending along the length direction of the actuator arm 212 is fixedly installed on the top of the actuator arm 212, and the transmission chain 213 is embedded in the top of the actuator arm 212 to be lower than the top surface of the actuator arm 212; a transmission sprocket that forms a transmission match with the transmission chain 213 is fixedly installed on the power output part of the cleaning driver 22. The cleaning driver 22 drives the actuator arm 212 to stably reciprocate in a straight line through the cooperation between the transmission chain 213 and the transmission sprocket.

[0051] In some embodiments, the execution arm 212 includes a second connecting arm, an extension arm and a slag plate, the second connecting arm movably passes through the guide sleeve 211, the extension arm is located outside the guide sleeve 211, one end of the extension arm is connected to one end of the second connecting arm, the slag plate is connected to the other end of the extension arm, the slag plate is used to remove slag and impurity crust, and the transmission chain 213 is arranged on the top of the second connecting arm. Of course, the execution arm 212 can also be any other structural form that can achieve the above technical effects, and the present invention is not limited.

[0052] like Figure 3 and Figure 5 As shown, in some embodiments of the present invention, one end of the transmission chain 213 is connected to the top of the actuator arm 212 through a connector, and the other end of the transmission chain 213 is connected to the top of the actuator arm 212 through a tensioning mechanism 214. The tensioning mechanism 214 can tension the transmission chain 213 to ensure a good fit between the transmission chain 213 and the transmission sprocket.

[0053] Furthermore, the transmission chain 213 is located at the top of the second connecting arm, and the two ends of the transmission chain 213 are respectively connected to the two ends of the second connecting arm, one end is connected to the end close to the extension arm through a connecting head, and the other end is connected to the end far away from the extension arm, and a tensioning mechanism 214 is set to keep the transmission chain 213 tensioned.

[0054] In some embodiments, Figure 5As shown, the tensioning mechanism 214 includes a connecting plate 2141, a positioning plate 2142, a connecting rod, a tensioning spring 2143 and a nut 2144. One side of the connecting plate 2141 is fixedly connected to the other end of the transmission chain 213, and the other side of the connecting plate 2141 is connected to the connecting rod. The positioning plate 2142 is fixedly connected to the top of the actuator arm 212. The connecting rod movably passes through the positioning plate 2142. A nut 2144 is threadedly installed on the connecting rod. The nut 2144 is located on the side of the positioning plate 2142 that faces away from the connecting plate 2141. The tensioning spring 2143 is sleeved on the connecting rod, and the two ends of the tensioning spring 2143 are respectively connected to the connecting plate 2141 and the positioning plate 2142. The tensioning spring 2143 can apply tension to the transmission chain 213 through the connecting plate 2141 to tension the transmission chain 213. Of course, the tensioning mechanism 214 can also be any other structural form that can achieve the above technical effects, and the present invention is not limited thereto.

[0055] like Figure 1 and Figure 3 As shown, in some embodiments of the present invention, two second guide mechanisms 23 capable of guiding the actuator arm 212 are provided on the guide sleeve 211, and the cleaning drive 22 is located between the two second guide mechanisms 23. The second guide mechanism 23 guides the actuator arm 212 so that the actuator arm 212 can move stably.

[0056] like Figure 4 As shown, in some embodiments of the present invention, the second guide mechanism 23 includes a positioning frame 231 and four second guide rollers 232, the positioning frame 231 is fixedly mounted on the guide sleeve 211, and the second guide rollers 232 are rotatably mounted on the positioning frame 231; and the outer peripheral surfaces of the four second guide rollers 232 are respectively in contact with the top surface, bottom surface and two side surfaces of the actuator arm 212.

[0057] Specifically, the guide sleeve 211 is provided with a plurality of notches that can expose the top surface, the bottom surface and the two side surfaces of the actuator arm 212. The second guide rollers 232 correspond to the notches one by one so as to contact the actuator arm 212. These second guide rollers 232 can keep the actuator arm 212 in linear motion and reduce the movement resistance of the second guide rollers 232.

[0058] like Figure 1 and Figure 6 As shown, in some embodiments of the present invention, the operating arm of the electric arc furnace slag removal robot also includes a rotating mechanism 4 and two pitch mechanisms 5, the cleaning mechanism 2 and the chiseling mechanism 3 are respectively installed on the rotating mechanism 4 through a pitch mechanism 5, and the cleaning mechanism 2 and the chiseling mechanism 3 respectively realize pitching movements through the corresponding pitch mechanisms 5; the cleaning mechanism 2 and the chiseling mechanism 3 can realize synchronous rotating movements through the rotating mechanism 4.

[0059] Specifically, the rotary mechanism 4 can drive the cleaning mechanism 2 and the chiseling mechanism 3 to perform a rotary action to adjust the positions of the cleaning mechanism 2 and the chiseling mechanism 3 so that the cleaning mechanism 2 and the chiseling mechanism 3 can operate at the optimal position. The rotary mechanism 4 can expand the range of activities of the cleaning mechanism 2 and the chiseling mechanism 3 and improve the applicability of the two. The cleaning mechanism 2 and the chiseling mechanism 3 share a rotary mechanism 4, which makes the structure of the entire device compact. The chiseling mechanism 3 can perform a pitching action through the pitching mechanism 5 to adjust the pitching angle or position so that the chiseling mechanism 3 can chisel the impurity crust at the optimal angle or position. And the pitching mechanism 5 can also expand the range of activities of the chiseling mechanism 3 and improve the applicability of the chiseling mechanism 3. The cleaning mechanism 2 can perform a pitching action through the pitching mechanism 5 to adjust the pitching angle or position of the cleaning mechanism 2 so that the cleaning mechanism 2 can easily perform a cleaning action at the optimal angle or position. And the pitching mechanism 5 can also expand the range of activities of the cleaning mechanism 2 and improve the applicability of the cleaning mechanism 2.

[0060] In some embodiments, the slewing mechanism 4 includes a support body 41, an inner gear ring, a mounting ring 42, a top plate 43 and a slewing motor 44. The inner gear ring is fixedly mounted on the top of the support body 41, the mounting ring 42 surrounds the inner gear ring and can rotate around the inner gear ring, the top plate 43 is mounted on the top of the mounting ring 42, the slewing motor 44 is mounted on the top plate 43, and the cleaning mechanism 2 and the chiseling mechanism 3 are mounted on the top plate 43. The power output part of the slewing motor 44 is equipped with a gear, and the gear is meshed with the teeth of the inner gear ring. The slewing motor 44 can drive the mounting ring 42 to drive the top plate 43 to rotate, thereby rotating the cleaning mechanism 2 and the chiseling mechanism 3. The mounting ring 42 and the top plate 43 constitute the rotating part of the slewing mechanism 4. Of course, the slewing mechanism 4 can also be any other structural form that can achieve the above-mentioned technical effects, and the present invention is not limited thereto.

[0061] In some embodiments, the pitch mechanism 5 includes a support seat 51, a pitch drive cylinder 52 and two bearing boxes 53. The support seat 51 is mounted on the top plate of the slewing mechanism 4, the two bearing boxes 53 are mounted on the support seat 51 and are spaced apart, the two sides of the chiseling working arm 31 are rotatably mounted on the two support seats 51 through the first connecting shaft, the two sides of the guide sleeve 211 are rotatably mounted on the two support seats 51 through the second connecting shaft, the fixed parts of all the pitch drive cylinders 52 are hinged to the side of the support seat 51, the driving parts of one pair of pitch drive cylinders 52 are hinged to the chiseling guide rail 33 to drive the chiseling guide rail 33 to perform a pitching action, and the other pair of pitch drive cylinders 52 are hinged to the guide sleeve 211 to drive the guide sleeve 211 to perform a pitching action. Of course, in order to make the structure more compact, the pitch mechanism 5 driving the cleaning mechanism 2 and the pitch mechanism 5 driving the chiseling mechanism 3 can share a bearing box 53, that is, only three bearing boxes 53 are configured. Of course, the pitch mechanism 5 may also be any other structural form that can achieve the above technical effects, and the present invention does not limit this.

[0062] In some embodiments, the operating arm of the slag removal robot for an electric arc furnace includes a chassis 1, and a cleaning mechanism 2 and a chiseling mechanism 3 are arranged on the chassis 1. A heat insulation shield 11 is also provided on one side of the chassis 1. An electrical system accommodation area 12 for installing electrical components is provided inside the chassis 1. An installation box 13 for installing the hydraulic system of the entire device is also provided on the chassis 1, and the installation box 13 can protect the hydraulic system. Of course, the cleaning mechanism 2 and the chiseling mechanism 3 can also be arranged on a movable platform, and the present invention does not limit this.

[0063] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. The above are only preferred implementation methods of the present invention. It should be pointed out that due to the limitations of textual expression, there are objectively infinite specific structures. For ordinary technicians in this technical field, without departing from the principles of the present invention, they can make several improvements, modifications or changes, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the concept and technical solution of the present invention to other occasions without improvement, should be regarded as the protection scope of the present invention.

Claims

1. An operating arm of a slag removal robot for an electric arc furnace, characterized in that: It comprises a cleaning mechanism (2) and a striking mechanism (3), wherein the cleaning mechanism (2) and the striking mechanism (3) are arranged to be spaced apart; The cleaning mechanism (2) comprises a cleaning working arm (21) and a cleaning driver (22), wherein the cleaning working arm (21) is configured to be capable of rotating and pitching, and the cleaning driver (22) is connected to the cleaning working arm (21) and is capable of driving the cleaning working arm (21) to reciprocate along its length direction, so that the cleaning working arm (21) can clean dregs and impurity crusts; The striking mechanism (3) comprises a striker body, a striking guide rail (33) and a traction mechanism; the striker body is movably mounted on the striking guide rail (33) and is capable of striking a hard crust of foreign matter; the traction mechanism is mounted on the striking guide rail (33) and is capable of traction of the striker body to reciprocate along the striking guide rail (33); the striking guide rail (33) is capable of driving the striker body and the traction mechanism to perform rotation and pitch movements.

2. The operating arm of the slag removal robot for an electric arc furnace according to claim 1, characterized in that: The chiseling machine body comprises a chiseling working arm (31) and a chiseling driver (32), wherein the chiseling working arm (31) and the chiseling driver (32) are movably mounted on the top of the chiseling guide rail (33); the length direction of the chiseling working arm (31) is parallel to the length direction of the chiseling guide rail (33); the chiseling driver (32) is connected to the chiseling working arm (31) and can drive the chiseling working arm (31) to reciprocate along its length direction, so that the chiseling working arm (31) can chisel the impurity crust.

3. The operating arm of the slag removal robot for an electric arc furnace according to claim 2, characterized in that: The striking mechanism (3) further comprises a base (34), the base (34) being movably mounted on the top of the striking guide rail (33), and the striking driver (32) being fixedly mounted on the top of the base (34); the traction mechanism is capable of traction of the base (34) to move along the length direction of the striking guide rail (33) so that the striking working arm (31) and the striking driver (32) move accordingly.

4. The operating arm of the slag removal robot for an electric arc furnace according to claim 3, characterized in that: The traction mechanism comprises a traction drive (37), a traction chain (36) and two traction sprockets; The two traction sprockets are rotatably mounted on the chiseling guide rail (33), and the two traction sprockets are spaced apart in the length direction of the chiseling guide rail (33); the traction chain (36) passes around the two traction sprockets and is tensioned by the two traction sprockets, and the base (34) is fixedly connected to the traction chain (36); the traction drive (37) is fixedly mounted on the chiseling guide rail (33), and the traction drive (37) is connected to one of the traction sprockets so as to drive it to rotate.

5. The operating arm of the slag removal robot for an electric arc furnace according to claim 4, characterized in that: Two limiting plates (35) are respectively provided on both sides of the base (34), and the two limiting plates (35) on each side are respectively arranged close to the front and rear ends of the base (34), and the limiting plates (35) are equipped with walking wheels that can move along the sides of the chiseling guide rail (33).

6. The operating arm of the slag removal robot for an electric arc furnace according to claim 2, characterized in that: The top of the chiseling guide rail (33) is provided with a plurality of first guide mechanisms (38) spaced apart along the length direction thereof, and the chiseling working arm (31) moves through the first guide mechanisms (38).

7. The operating arm of the slag removal robot for an ore-fired furnace according to claim 6, characterized in that: The first guide mechanism (38) comprises a limit frame (381) and two first guide rollers, wherein the limit frame (381) is fixedly mounted on the top of the chiseling guide rail (33), and the chiseling working arm (31) moves through a hollow area in the middle of the limit frame (381), and the two first guide rollers are rotatably mounted on the limit frame (381) and are in contact with the top surface and the bottom surface of the chiseling working arm (31) respectively.

8. The operating arm of the slag removal robot for an electric arc furnace according to claim 1, characterized in that: The cleaning working arm (21) comprises a guide sleeve (211) and an actuator arm (212); the cleaning driver (22) is mounted on the top of the guide sleeve (211); the actuator arm (212) moves through the guide sleeve (211); and the cleaning driver (22) can drive the actuator arm (212) to reciprocate along the axis of the guide sleeve (211).

9. The operating arm of the slag removal robot for an electric arc furnace according to claim 8, characterized in that: A transmission chain (213) extending along the length direction is fixedly mounted on the top of the execution arm (212), and the transmission chain (213) is embedded in the top of the execution arm (212) so as to be lower than the top surface of the execution arm (212); a transmission sprocket that forms a transmission match with the transmission chain (213) is fixedly mounted on the power output part of the cleaning driver (22).

10. The operating arm of the slag removal robot for an electric arc furnace according to claim 9, characterized in that: One end of the transmission chain (213) is connected to the top of the actuator arm (212) via a connector, and the other end of the transmission chain (213) is connected to the top of the actuator arm (212) via a tensioning mechanism (214), and the tensioning mechanism (214) is capable of tensioning the transmission chain (213).

11. The operating arm of the slag removal robot for an electric arc furnace according to claim 8, characterized in that: The guide sleeve (211) is provided with two second guide mechanisms (23) capable of guiding the actuator arm (212), and the cleaning drive (22) is located between the two second guide mechanisms (23).

12. The operating arm of the slagging robot for an ore-fired furnace according to claim 11, characterized in that: The second guide mechanism (23) comprises a positioning frame (231) and four second guide rollers (232); the positioning frame (231) is fixedly mounted on the guide sleeve (211); the second guide rollers (232) are rotatably mounted on the positioning frame (231); and the outer peripheral surfaces of the four second guide rollers (232) are respectively in contact with the top surface, the bottom surface and two side surfaces of the actuator arm (212).

13. The operating arm of the slag removal robot for an electric arc furnace according to claim 1, characterized in that: The operating arm of the slag removal robot for an electric arc furnace further comprises a swivel mechanism (4) and two pitch mechanisms (5); the cleaning mechanism (2) and the striking mechanism (3) are respectively mounted on the swivel mechanism (4) via one of the pitch mechanisms (5); the cleaning mechanism (2) and the striking mechanism (3) respectively achieve pitching motion via the corresponding pitch mechanisms (5); and the cleaning mechanism (2) and the striking mechanism (3) can achieve synchronous swivel motion via the swivel mechanism (4).

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