Slagging-off robot for submerged arc furnace

Abstract

The invention relates to the field of slagging-off machinery equipment, and discloses a slagging-off robot for a submerged arc furnace. The submerged arc furnace slagging-off robot comprises a machine body, a rotary support, a functional arm and a moving assembly, wherein the functional arm comprises a slagging-off arm and a shell breaking arm; the slagging-off arm comprises a first supporting arm and a slagging-off arm body; the shell breaking arm comprises a second supporting arm and a shell breaking arm body, and the shell breaking arm body can move at a preset frequency. According to the submerged arc furnace slagging-off robot, the double-arm structural design is adopted, the machine body can be driven by the walking assembly to move to the target position for slagging-off operation, when a hard shell which cannot be cleaned by the slagging-off arm is encountered in the process of a slagging-off machine, crushing can be conducted through the shell breaking arm, the working efficiency is improved, the difficulty of the subsequent bag cleaning procedure is reduced, and the labor intensity of workers is reduced. Other equipment is not needed, the cost is reduced, the moving range of the slagging-off arm body and the shell breaking arm body is large, the applicability of the submerged arc furnace slagging-off robot is improved, the robot body does not need to be moved repeatedly in the construction process, and the production efficiency is further improved.

Description

Technical Field

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

[0002] The molten iron in the ladle contains a lot of slag, which will have an adverse effect on converter smelting, so slag removal is an important process before the converter. Slag removal is an operation that uses the difference in density between slag and iron to remove impurities floating on the surface of the molten iron to improve the purity of the molten iron. Due to the extremely high temperature of the molten iron, manual slag removal requires careful operation, and if there is a slight mistake in the operation, the slag and iron will scatter, causing serious injuries to personnel. For this reason, slag removal operations are usually carried out with the help of slag removal robots.

[0003] In the related technology, the slag removal robot has only one slag removal arm. When working, the molten iron ladle is lifted by a crane, and then lifted away after the slag is removed, which affects the working effect. In addition, once there are knots or hard crusts on the surface and mouth of the molten iron ladle, the slag removal arm will not be able to crush or remove the hard crust, and other equipment needs to be used, which increases equipment costs and affects the construction speed. Summary of the invention

[0004] In order to solve the above technical problem or at least partially solve the above technical problem, the present invention provides a slag removal robot for an electric arc furnace.

[0005] The present invention provides a slag-scraping robot for an electric arc furnace, comprising a body, a slewing support, and a moving assembly arranged at the bottom of the body, the body can move through the moving assembly, the slewing support is arranged on the body, and the functional arm comprises a slag-scraping arm and a shell-breaking arm arranged on the slewing support;

[0006] Wherein, the slag scraping arm comprises a first support arm connected to the slewing support and a slag scraping arm body slidably arranged on the first support arm along the length direction of the first support arm, and the slag scraping arm body is used for performing slag scraping operations;

[0007] The shell breaking arm comprises a second support arm connected to the slewing support and a shell breaking arm body slidably arranged on the second support arm along the length direction of the second support arm, and the rock drilling end of the shell breaking arm body can move at a preset frequency so that the shell breaking arm body can perform a crushing operation.

[0008] Optionally, the slag scraping arm and the shell breaking arm are arranged in parallel, and the slag scraping arm and the shell breaking arm can independently perform pitching movements.

[0009] Optionally, the slewing support includes a support plate rotatably matched with the machine body, a support seat arranged on the top of the support plate, and a third driving member for driving the support plate to rotate;

[0010] Wherein, the slag scraping arm and the shell breaking arm are arranged in parallel on the support seat, and the third driving member is located on the side of the support seat.

[0011] Optionally, the slag scraping arm and the shell breaking arm are both hingedly arranged on the support seat, and the electric arc furnace slag scraping robot also includes two telescopic parts, one end of the two telescopic parts is hinged to the top of the support seat, and the other end of the two telescopic parts is respectively hinged to the bottom of the slag scraping arm and the shell breaking arm.

[0012] Optionally, the first support arm is hinged to the swivel support, the slag scraper arm body is slidably sleeved in the first support arm, and the first support arm is provided with a first driving member for driving the slag scraper arm body to move;

[0013] The rear end of the slag scraper arm body is provided with a first chain along its length direction, the output shaft of the first driving member is provided with a first sprocket engaged with the first chain, and the non-slag scraper arm body is provided with a tension spring for tensioning the first chain.

[0014] Optionally, the scraper arm body includes an operating arm and a sliding arm, the sliding arm passes through the first supporting arm and is connected to the operating arm, and the connection between the sliding arm and the operating arm can be supported on the end of the first supporting arm to limit the moving distance of the operating arm.

[0015] Optionally, the slag scraper arm further includes a clamping structure, which includes two clamping guide members respectively arranged close to two ends of the first support arm, and the clamping guide members pass through the first support arm to clamp and guide the slag scraper arm body.

[0016] Optionally, the clamping guide member includes a support provided on the first support arm and a top clamping wheel rotatably provided on the support, and a portion of the top clamping wheel passes through the first support arm and is clamped on the top of the slag scraper arm body.

[0017] Optionally, the clamping guide also includes a side clamping wheel rotatably disposed on the support, and part of the side clamping wheel passes through the first support arm and is pressed against the side surface of the slag scraper arm body.

[0018] Optionally, a driving trolley is provided on the second supporting arm, and a second driving member for driving the driving trolley to move is provided on the second supporting arm;

[0019] The driving trolley is provided with a reciprocating driving mechanism, the shell breaking arm body comprises a rock drilling rod, and the rock drilling rod is connected to the output end of the reciprocating driving mechanism through the driving arm;

[0020] The second supporting arm is provided with a guide frame for guiding the movement of the shell breaking arm body.

[0021] Optionally, the hydraulic system of the slag removal robot of the submerged arc furnace is arranged on the machine body, and a protective cover is provided at a position of the machine body corresponding to the hydraulic system, and the protective cover is provided with heat dissipation holes.

[0022] The technical solution provided by the embodiment of the present invention has the following advantages compared with the prior art:

[0023] The slag-removing robot for an electric furnace provided by the present invention adopts a double-arm structure design. When working, it can drive the body to move to the target position through the walking component, and then perform the slag-removing operation through the slag-removing arm. When encountering a hard shell that the slag-removing arm cannot clean during the slag-removing process, it can be crushed by the shell-breaking arm that moves at a preset frequency. The large hard shell is broken into small pieces and then pushed out by the slag-removing arm, thereby successfully completing the slag-removing work, improving work efficiency, reducing the difficulty of the subsequent bag cleaning process, and no other equipment is required, thereby reducing costs. In addition, the slag-removing arm body can move along the length direction of the first support arm, and the shell-breaking arm body can move along the length direction of the second support arm, and the slag-removing arm and the shell-breaking arm are installed on the body through a slewing support, thereby increasing the range of movement of the slag-removing arm body and the shell-breaking arm body, increasing the applicability of the electric furnace slag-removing robot, and there is no need to repeatedly move the body during construction, thereby further improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0025] In order to more clearly illustrate the implementation mode of the present invention or the technical solution in the prior art, the drawings required for use in the implementation mode or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 This is a schematic structural diagram of a slag removal robot for an electric arc furnace according to an embodiment of the present invention;

[0027] Figure 2 It is a structural schematic diagram of the slag scraper arm according to an embodiment of the present invention;

[0028] Figure 3 for Figure 2 A partial enlarged view of the middle A;

[0029] Figure 4 for Figure 2 A partial enlarged view of point B in the middle;

[0030] Figure 5 This is a schematic structural diagram of the shell breaking arm according to an embodiment of the present invention;

[0031] Figure 6 It is a schematic structural diagram of the slewing support described in an embodiment of the present invention.

[0032] Description of Reference Numerals

[0033] 1. Machine body; 2. Rotary support; 21. Support plate; 22. Support seat; 221. Support plate; 2211. Bearing seat; 222. Connecting plate; 23. Third driving member; 3. Functional arm; 31. Slag scraping arm; 311. First support arm; 312. Slag scraping arm body; 3121. First chain; 3122. Tension spring; 31221. Guide column; 31222. End plate; 31223. Guide rod; 3123. Operating arm; 3124. Sliding arm; 313. First driving member; 314. Support; 3141, rotating shaft; 3142, top clamping wheel; 3143, clamping shaft; 3144, pressure block; 3145, disc spring; 315, side clamping wheel; 32, shell breaking arm; 321, second support arm; 3211, second chain; 3212, second driving member; 3213, guide frame; 3214, encoder; 3215, drag chain; 322, shell breaking arm body; 3221, rock drill rod; 3222, driving arm; 3223, reciprocating driving mechanism; 4, telescopic member; 5, protective cover; 51, heat dissipation hole. DETAILED DESCRIPTION

[0034] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the scheme of the present invention will be further described below. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0035] The following description sets forth many specific details to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; obviously, the implementation methods in the specification are only part of the implementation methods of the present invention, rather than all of the implementation methods.

[0036] Combination Figures 1 to 6As shown, the slag-scraping robot for an electric arc furnace provided in an embodiment of the present invention comprises a body 1, a slewing support 2, a functional arm 3, and a moving assembly arranged at the bottom of the body 1. The body 1 can move through the moving assembly. The slewing support 2 is arranged on the body 1, wherein the rotating shaft of the slewing support 2 extends in the vertical direction, and the slewing support 2 can drive the functional arm 3 to rotate relative to the body 1. The functional arm 3 comprises a slag-scraping arm 31 and a shell-breaking arm 32 arranged on the slewing support 2. The manner in which the slag-scraping arm 31 and the shell-breaking arm 32 are arranged on the slewing support 2 is not limited, for example, they can be hingedly arranged on the slewing support 2, etc., and can be designed according to actual needs. Among them, the slag-scraping arm 31 comprises a first support arm 311 connected to the slewing support 2 and a slag-scraping arm body 312 slidably arranged on the first support arm 311 along the length direction of the first support arm 311. The slag-scraping arm body 312 is used for slag-scraping operation. Specifically, the slag-scraping arm body 312 moves along its own length direction to perform slag-scraping operation through the slag-scraping plate at the end of the slag-scraping arm body 312. The first support arm 311 extends in the horizontal direction, the slag scraping arm body 312 extends in the horizontal direction, the slag scraping arm body 312 is slidably arranged on the first support arm 311, and one end of the slag scraping arm body 312 extends out of the first support arm 311 to increase the range of motion of the slag scraping arm body 312. The shell breaking arm 32 includes a second support arm 321 connected to the slewing support 2 and a shell breaking arm body 322 slidably arranged on the second support arm 321 along the length direction of the second support arm 321, the second support arm 321 extends in the horizontal direction, the shell breaking arm body 322 extends in the horizontal direction, the shell breaking arm body 322 is slidably arranged on the second support arm 321, and one end of the shell breaking arm body 322 extends out of the second support arm 321 to increase the range of motion of the shell breaking arm body 322. The slag scraping arm body 312 and the shell breaking arm body 322 can be retracted independently to increase the diversity of use. The rock drilling end of the shell breaking arm body 322 can move at a preset frequency, so that the shell breaking arm body 322 can perform a crushing operation, so that the slag removal robot of the ore-fired furnace has a rock drilling function, and has the ability to crush hard shells and clean the bag mouth. The movement of the shell breaking arm body 322 along the preset frequency can be achieved by the reciprocating drive mechanism 3223 of the shell breaking arm body 322, which is described in detail below.

[0037] The slag-removing robot for an electric arc furnace provided by the present invention adopts a double-arm structure design. When working, it can drive the body 1 to move to the target position through the walking component, and then perform slag removal operations through the slag-removing arm 31. When encountering a hard shell that the slag-removing arm 31 cannot clean, it can be crushed by the shell-breaking arm 32 that moves at a preset frequency. The large hard shell is broken into small pieces and then pushed out by the slag-removing arm 31, thereby successfully completing the slag removal work, improving work efficiency, reducing the difficulty of the subsequent bag cleaning process, and no other equipment is required, thereby reducing costs; in addition, the slag-removing arm body 312 can move along the length direction of the first support arm 311, and the shell-breaking arm body 322 can move along the length direction of the second support arm 321, and the slag-removing arm 31 and the shell-breaking arm 32 are installed on the body 1 through the slewing support 2, thereby increasing the range of activities of the slag-removing arm body 312 and the shell-breaking arm body 322, increasing the applicability of the electric arc furnace slag-removing robot, and there is no need to repeatedly move the body 1 during construction, further improving production efficiency.

[0038] In some embodiments, the slag scraping arm 31 and the shell breaking arm 32 are arranged in parallel to reduce space occupation and reduce the distance between the slag scraping arm 31 and the shell breaking arm 32, so that the slewing support 2 drives the slag scraping arm 31 and the shell breaking arm 32 to rotate in a small range, so as to realize the alternating crushing and slag scraping operation of the hard shell at the target position, thereby increasing work efficiency. The slag scraping arm 31 and the shell breaking arm 32 can independently perform pitching movements. The slag scraping arm 31 and the shell breaking arm 32 can respectively complete the functions of telescoping, rotating, pitching, etc., so as to realize the hard shell crushing and slag scraping work, and the operation is convenient.

[0039] In some embodiments, Figure 6 As shown, the rotary support 2 includes a support plate 21 that rotates with the machine body 1, a support seat 22 disposed on the top of the support plate 21, and a third driving member 23 for driving the support plate 21 to rotate. Among them, the slag scraping arm 31 and the shell breaking arm 32 are arranged side by side on the support seat 22, and the third driving member 23 is located on the side of the support seat 22.

[0040] In this design, the slag scraping arm 31 and the shell breaking arm 32 share a slewing support 2, which can drive the slag scraping arm 31 and the shell breaking arm 32 to rotate synchronously, making the driving convenient, and the eccentric arrangement of the third driving member 23 makes the structure more compact and reduces space occupancy.

[0041] In some embodiments, the third driving member 23 includes a driving motor, which is arranged on the top of the support plate 21, and the output shaft of the driving motor extends downward from the support plate 21, and the output end of the driving motor is connected to the rotating shaft 3141 of the support plate 21 through a transmission gear to drive the support plate 21 to rotate through the driving motor.

[0042] In some embodiments, the slag scraping arm 31 and the shell breaking arm 32 are both hingedly arranged on the support seat 22, so that the slag scraping arm 31 and the shell breaking arm 32 can perform pitching movements on the support seat 22. The slag scraping robot for an electric arc furnace also includes two telescopic parts 4, one end of the two telescopic parts 4 is hinged to the top of the support seat 22, and the other end of the two telescopic parts 4 is respectively hinged to the bottom of the slag scraping arm 31 and the shell breaking arm 32. Among them, the telescopic part 4 can be a hydraulic cylinder, a cylinder or an electric push rod, etc., and can be designed according to actual needs. Preferably, the telescopic part 4 is a hydraulic cylinder, which can ensure that sufficient driving force is provided.

[0043] Under this design, the two telescopic parts 4 can be extended and retracted to drive the slag scraping arm 31 and the shell breaking arm 32 to perform pitching movements, so that the slag scraping arm 31 and the shell breaking arm 32 can respectively complete the functions of extension, rotation, pitching and the like, so as to realize the work of breaking hard shells and scraping slag, and the operation is convenient.

[0044] In some embodiments, the support seat 22 includes a plurality of support plates 221 disposed on the support plate 21, and a clamping space for accommodating the slag scraping arm body 312 or the shell breaking arm body 322 is formed between two adjacent support plates 221. That is, there are two clamping spaces, and the two clamping spaces are arranged in parallel, a part of the slag scraping arm body 312 is located in one of the clamping spaces, and is hingedly matched with two adjacent support plates 221, and a part of the shell breaking arm body 322 is located in the other clamping space, and is hingedly matched with two adjacent support plates 221. Specifically, a bearing seat 2211 is provided on the support plate 221, and the hinge shafts of the slag scraping arm body 312 and the shell breaking arm body 322 are connected to the bearings on the bearing seat 2211.

[0045] In this design, the slag scraping arm body 312 and the shell breaking arm body 322 are pitched on a central line and can be manipulated by a remote controller or a handle on a console. The slag scraping arm body 312 and the shell breaking arm body 322 can be pitched separately, so that the slag scraping arm body 312 and the shell breaking arm body 322 can be misaligned in the vertical direction to avoid mutual influence during use.

[0046] In some embodiments, the support seat 22 also includes a connecting plate 222, which is used to connect to the end of the multiple support plates 221 that is away from the third driving member 23 to ensure the structural strength of the support seat 22. A hinge seat is provided on the connecting plate 222, and the telescopic member 4 is hingedly connected to the hinge seat.

[0047] In some embodiments, Figure 2As shown, the first support arm 311 is hinged with the slewing support 2, and the slag scraper arm body 312 is slidably sleeved in the first support arm 311. Specifically, a sliding hole is penetrated through the first support arm 311, and the sliding hole penetrates the first support arm 311 along the length direction of the first support arm 311. The slag scraper arm body 312 is penetrated through the sliding hole, and the slag scraper arm body 312 can move along the length direction of the first support arm 311 relative to the sliding hole, and the first support arm 311 is provided with a first driving member 313 for driving the slag scraper arm body 312 to move. Under this design mode, the slag scraper arm body 312 can be driven to move by the first driving member 313, and the first support arm 311 is sleeved on the outer periphery of the slag scraper arm body 312 to increase the support effect on the slag scraper arm body 312, and can increase the range of motion of the slag scraper arm body 312.

[0048] The rear end of the slag scraping arm body 312 is provided with a first chain 3121 along its length direction, wherein the rear end of the slag scraping arm body 312 refers to the non-slag scraping end of the slag scraping arm body 312, and the first chain 3121 is provided at the top of the slag scraping arm body 312. The slag scraping arm body 312 includes the following operating arm 3123 and sliding arm 3124, at this time, the two ends of the first chain 3121 are respectively connected to the two ends of the sliding arm 3124, so that the first chain 3121 and the slag scraping arm body 312 can move synchronously along the length direction of the slag scraping arm body 312, and the output shaft of the first driving member 313 is provided with a first sprocket meshed with the first chain 3121. The first driving member 313 can be a driving motor, or a combination of a driving motor and a gearbox, and can be designed according to actual needs. In this design, the first driving member 313 can drive the first sprocket to rotate, and then drive the slag scraper arm body 312 to move along its length direction through the engagement of the first sprocket and the first chain 3121, which is convenient for adjustment and can ensure the accuracy of adjustment and positioning.

[0049] Combination Figure 2 and Figure 4As shown, the non-slag-scraping end of the slag-scraping arm body 312 is provided with a tension spring 3122 for tensioning the first chain 3121, that is, the tension spring 3122 is arranged at one end of the sliding arm 3124 away from the operating arm 3123. Specifically, the slag-scraping arm body 312 includes a slag-scraping end and a non-slag-scraping end, the slag-scraping end is one end of the slag-scraping arm body 312 that contacts the impurities to be cleaned, and the non-slag-scraping end of the slag-scraping arm body 312 is the other end of the slag-scraping arm body 312 that contacts the impurities to be cleaned. The non-slag-scraping end of the slag-scraping arm body 312 is provided with a guide column 31221, the guide column 31221 extends along the length direction of the slag-scraping arm body 312, and the tension spring 3122 is sleeved on the outer periphery of the guide column 31221. An end plate 31222 is provided at the end of the first chain 3121, one end of the tension spring 3122 is connected to the end plate 31222, and the other end is connected to the non-slag scraping end of the slag scraping arm body 312, and a force is applied to the first chain 3121 toward the non-slag scraping end of the slag scraping arm body 312 through the tension spring 3122 to tension the first chain 3121 and ensure the transmission effect of the first sprocket and the chain.

[0050] In some embodiments, Figure 4 As shown, a guide rod 31223 is provided at the non-slag scraping end of the slag scraping arm body 312, and the guide rod 31223 extends along the length direction of the slag scraping arm body 312, and the guide rod 31223 is slidably matched with the non-slag scraping end of the slag scraping arm body 312, so that the direction in which the tension spring 3122 applies the force to the first chain 3121 is consistent with the extension direction of the first chain 3121.

[0051] In some embodiments, in combination Figure 1 and Figure 2 As shown, the slag scraper arm body 312 includes an operating arm 3123 and a sliding arm 3124. The sliding arm 3124 passes through the first support arm 311 and is connected to the operating arm 3123. Specifically, the sliding arm 3124 passes through the sliding hole of the first support arm 311 and is connected to the operating arm 3123. The connection between the sliding arm 3124 and the operating arm 3123 can be supported at the end of the first support arm 311 to limit the moving distance of the operating arm 3123. Specifically, the cross-sectional size of the connection position between the sliding arm 3124 and the operating arm 3123 is greater than the cross-sectional size of the sliding hole. The above-mentioned first chain 3121 is set on the sliding arm 3124, that is, the two ends of the first chain 3121 are respectively connected to the two ends of the sliding arm 3124.

[0052] In this design, the slag scraper arm body 312 adopts a split structural design, which is easy to produce and transport, and the design of the connection between the sliding arm 3124 and the operating arm 3123 can limit the movement range of the slag scraper arm body 312, meeting the design requirements.

[0053] In some embodiments, in combination Figure 2and Figure 3 As shown, the slag scraper arm 31 also includes a clamping structure, which includes two clamping guides respectively arranged near the two ends of the first support arm 311 , and the clamping guides pass through the first support arm 311 to compress and guide the slag scraper arm body 312 .

[0054] In this design, by providing a pressing guide member, the slag scraper arm body 312 penetrating the first support arm 311 can be pressed and guided to avoid the slag scraper arm body 312 shaking.

[0055] In some embodiments, continue to refer to Figure 2 and Figure 3 The pressing guide member includes a support 314 disposed on the first support arm 311 and a top pressing wheel 3142 rotatably disposed on the support 314. Part of the top pressing wheel 3142 passes through the first support arm 311 and is pressed against the top of the slag scraping arm body 312, that is, it is pressed against the side of the slag scraping arm body 312 where the first chain 3121 is disposed. Specifically, the top pressing wheel 3142 is disposed above the first support arm 311. An opening is disposed at the top of the first support arm 311 at a position corresponding to the top pressing wheel 3142. The bottom of the top pressing wheel 3142 passes through the opening and extends into the sliding hole of the first support arm 311 to press against the top surface of the slag scraping arm body 312, thereby avoiding the phenomenon of the slag scraping arm body 312 shaking in the sliding hole, ensuring the transmission effect of the slag scraping arm body 312, and the top pressing wheel 3142 can rotate during the movement of the slag scraping arm body 312 to avoid affecting the movement of the slag scraping arm body 312.

[0056] In some embodiments, Figure 3As shown, the support 314 is located on the side of the first support arm 311. A rotating shaft 3141 is provided on the support 314, and the rotating shaft 3141 extends in the horizontal direction. The top pressure wheel 3142 is rotatably arranged on the rotating shaft 3141; wherein, a pressing shaft 3143 is provided on the support 314, and the pressing shaft 3143 extends in the vertical direction. There are two pressing shafts 3143, and the two pressing shafts 3143 are relatively arranged on both sides of the top pressure wheel 3142, and the pressing shaft 3143 is located above the end of the rotating shaft 3141. A pressing block 3144 is sleeved on the pressing shaft 3143, and the pressing block 3144 can move in the vertical direction relative to the pressing shaft 3143. One side of the pressing block 3144 abuts against the rotating shaft 3141, and a plurality of disc springs 3145 are stacked on the side of the pressing block 3144 away from the slag scraper arm body 312. Specifically, the bottom surface of the pressing block 3144 abuts against the top of the rotating shaft 3141, and a plurality of disc springs 3145 are stacked on the top of the pressing block 3144, and the disc spring 3145 located at the top contacts the inner wall of the support 314, so that the rotating shaft 3141 is pressed by the disc spring 3145 and the pressure ring, thereby limiting the vertical position of the top pressure wheel 3142. In addition, the magnitude of the force applied by the pressing block 3144 to the rotating shaft 3141 can be changed by changing the number of disc springs 3145, so as to facilitate the adjustment of the force applied by the top pressure wheel 3142 to the slag scraper arm body 312.

[0057] In some embodiments, continue to refer to Figure 3 The pressing guide also includes a side pressing wheel 315 rotatably arranged on the support 314, and part of the side pressing wheel 315 passes through the first support arm 311 and is pressed against the side of the slag scraper arm body 312. Specifically, there are two side pressing wheels 315, and the two side pressing wheels 315 are respectively arranged on the corresponding two sides of the first support arm 311. The side pressing wheel 315 is arranged along the vertical direction, that is, the axis of the side pressing wheel 315 extends along the vertical direction, and the side of the slag scraper arm body 312 is provided with an opening. The side pressing wheel 315 passes through the opening and extends into the sliding hole of the first support arm 311 to press against the side of the slag scraper arm body 312, and plays a guiding role in the movement of the slag scraper arm body 312. The side pressing wheel 315 can rotate during the movement of the slag scraper arm body 312 to avoid affecting the movement of the slag scraper arm body 312.

[0058] In some embodiments, in combination Figure 1 and Figure 5As shown, a driving trolley is provided on the second support arm 321, and a second driving member 3212 for driving the driving trolley to move is provided on the second support arm 321. A reciprocating driving mechanism 3223 is provided on the driving trolley, and the shell breaking arm body 322 includes a rock drilling rod 3221, and the rock drilling rod 3221 is connected to the output end of the reciprocating driving mechanism 3223 through the driving arm 3222. Among them, the rock drilling rod 3221 can be a drill rod. The driving arm 3222 is slidably arranged on the second support arm 321 so that the driving arm 3222 can move on the second support arm 321 along the extension direction of the second support arm 321. The reciprocating driving mechanism 3223 can drive the driving arm 3222 to reciprocate along the length direction of the second support arm 321 to drive the rock drilling rod 3221 to reciprocate or vibrate.

[0059] It can be understood that, in a feasible embodiment, the end of the driving arm 3222 is fixedly connected to the end of the rock drilling rod 3221, and at this time, the reciprocating driving mechanism 3223 drives the rock drilling rod 3221 to move back and forth along the length direction of the second support arm 321 through the driving arm 3222 to perform the chiseling operation. In another feasible embodiment, there is a certain distance between the end of the driving arm 3222 and the end of the rock drilling rod 3221, and the reciprocating driving mechanism 3223 drives the driving arm 3222 to move back and forth along the length direction of the second support arm 321 to strike the end of the rock drilling rod 3221, so as to drive the rock drilling rod 3221 to move back and forth or vibrate, thereby performing the chiseling operation.

[0060] The reciprocating drive mechanism 3223, the drive arm 3222 and the rock drill rod 3221 form a rock drill, which is a conventional device in the rock drilling field, and its structure and working principle are not described in detail here. Rock drills include pneumatic rock drills, electric rock drills, hydraulic rock drills and internal combustion rock drills, among which pneumatic, electric, hydraulic and internal combustion refer to the driving modes of the reciprocating drive mechanism 3223. The type of rock drill selected in this application is not limited and can be selected according to actual needs.

[0061] The second support arm 321 is provided with a guide frame 3213 for guiding the movement of the shell breaking arm body 322. The guide frame 3213 adopts a rectangular frame structure, and a guide hole matching the shape of the shell breaking arm body 322 is formed inside the guide frame 3213.

[0062] In this design, the guide frame 3213 can be provided to limit and guide the movement of the shell breaking arm body 322 , thereby ensuring that the shell breaking arm body 322 can be transported along the length direction of the second support arm 321 .

[0063] In some embodiments, the second support arm 321 is provided with a second chain 3211, and the second driving member 3212 is used to drive the second chain 3211 to be transmitted along the length direction of the second support arm 321, and the driving trolley is connected to the second chain 3211. The second driving member 3212 can be a driving motor, or a combination of a driving motor and a gearbox, and can be designed according to actual needs.

[0064] Specifically, second sprockets are rotatably provided at both ends of the second support arm 321, the second chain 3211 is arranged to bypass the two second sprockets, and the second chain 3211 extends along the length direction of the second support arm 321, and the output end of the second driving member 3212 is connected to the third sprocket, and the third sprocket is matched with the second chain 3211 to drive the second chain 3211 to rotate through the second driving member 3212. A slide plate is provided on the second chain 3211, and the bottom of the driving trolley is connected to the slide plate. The second chain 3211 drives the driving trolley to move through the slide plate, and the driving is convenient.

[0065] In some embodiments, an encoder 3214 is further provided on the second support arm 321 , and the encoder 3214 is signal-connected to the second driving member 3212 to implement closed-loop control.

[0066] In some embodiments, the second support arm 321 is connected to the shell breaking arm body 322 via a drag chain 3215 to increase the smoothness of movement of the shell breaking arm body 322 .

[0067] In some embodiments, Figure 1 As shown, the hydraulic system of the slag removal robot for an electric arc furnace is arranged on the machine body 1, and a protective cover 5 is arranged at a position of the machine body 1 corresponding to the hydraulic system, and a heat dissipation hole 51 is arranged on the protective cover 5. When the telescopic member 4 adopts a hydraulic cylinder, the hydraulic system provides hydraulic oil for the hydraulic cylinder, and when the reciprocating drive mechanism 3223 adopts a hydraulic reciprocating drive mechanism 3223, the hydraulic system provides hydraulic oil for the hydraulic reciprocating drive mechanism 3223. In this design, the protective cover 5 can protect the hydraulic system, and the heat dissipation hole 51 is convenient for heat dissipation, thereby increasing the service life of the equipment.

[0068] It can be understood that when the slag removal robot for an electric arc furnace has a gas-using device, the slag removal robot for an electric arc furnace also includes an electrical system, and the electrical system is arranged on the body 1 .

[0069] In some embodiments, the moving assembly includes a running wheel disposed at the bottom of the body 1 and a fourth driving member for driving the running wheel, wherein the manner in which the fourth driving member drives the running wheel to rotate is conventional technology and is not described in detail herein.

[0070] It is understandable that the running wheels in the present application can run on the track, that is, the running wheels cooperate with the track so that the machine body 1 moves along the extension direction of the track. Alternatively, the running wheels can move freely on a supporting surface such as the ground, which is not restrictive.

[0071] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0072] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments described herein, but should conform to the widest scope consistent with the principles and novel features of the invention described herein.

Claims

1. A slag removal robot for an electric arc furnace, characterized in that: The machine comprises a body (1), a slewing support (2), a functional arm (3), and a moving assembly arranged at the bottom of the body (1), the body (1) can move via the moving assembly, the slewing support (2) is arranged on the body (1), and the functional arm (3) comprises a slag scraping arm (31) and a shell breaking arm (32) arranged on the slewing support (2); The slag scraping arm (31) comprises a first support arm (311) connected to the slewing support (2) and a slag scraping arm body (312) slidably arranged on the first support arm (311) along the length direction of the first support arm (311), and the slag scraping arm body (312) is used for performing slag scraping operations; The shell breaking arm (32) comprises a second support arm (321) connected to the slewing support (2) and a shell breaking arm body (322) slidably arranged on the second support arm (321) along the length direction of the second support arm (321); the rock drilling end of the shell breaking arm body (322) can move at a preset frequency so that the shell breaking arm body (322) can perform a crushing operation.

2. The slag removal robot for an electric arc furnace according to claim 1, characterized in that: The slag scraping arm (31) and the shell breaking arm (32) are arranged in parallel, and the slag scraping arm (31) and the shell breaking arm (32) can independently perform pitching movements.

3. The slag removal robot for an electric arc furnace according to claim 2, characterized in that: The rotary support (2) comprises a support plate (21) rotatably matched with the machine body (1), a support seat (22) arranged on the top of the support plate (21), and a third driving member (23) for driving the support plate (21) to rotate; The slag scraping arm (31) and the shell breaking arm (32) are arranged in parallel on the support seat (22), and the third driving member (23) is located on the side of the support seat (22).

4. The slag removal robot for an electric arc furnace according to claim 3, characterized in that: The slag scraping arm (31) and the shell breaking arm (32) are both hingedly arranged on the support seat (22), and the electric arc furnace slag scraping robot also includes two telescopic parts (4), one end of the two telescopic parts (4) is hinged to the top of the support seat (22), and the other end of the two telescopic parts (4) is respectively hinged to the bottom of the slag scraping arm (31) and the shell breaking arm (32).

5. The slagging robot for an electric arc furnace according to claim 1, characterized in that: The first support arm (311) is hinged to the slewing support (2), the slag scraper arm body (312) is slidably sleeved in the first support arm (311), and the first support arm (311) is provided with a first driving member (313) for driving the slag scraper arm body (312) to move; The rear end of the slag scraper arm body (312) is provided with a first chain (3121) along its length direction, the output shaft of the first driving member (313) is provided with a first sprocket wheel meshing with the first chain (3121), and the non-slag scraper arm body (312) is provided with a tension spring (3122) for tensioning the first chain (3121).

6. The slagging robot for an electric arc furnace according to claim 5, characterized in that: The scraper arm body (312) includes an operating arm (3123) and a sliding arm (3124), wherein the sliding arm (3124) passes through the first support arm (311) and is connected to the operating arm (3123), and the connection between the sliding arm (3124) and the operating arm (3123) can be supported on the end of the first support arm (311) to limit the moving distance of the operating arm (3123).

7. The slagging robot for an electric arc furnace according to claim 6, characterized in that: The scraper arm (31) further comprises a clamping structure, which comprises two clamping guide members respectively arranged near the two ends of the first support arm (311), and the clamping guide members pass through the first support arm (311) to clamp and guide the scraper arm body (312).

8. The slagging robot for an electric arc furnace according to claim 7, characterized in that: The clamping guide member includes a support (314) arranged on the first support arm (311) and a top clamping wheel (3142) rotatably arranged on the support (314), and a portion of the top clamping wheel (3142) passes through the first support arm (311) and is clamped on the top of the scraper arm body (312).

9. The slagging robot for an electric arc furnace according to claim 8, characterized in that: The clamping guide also includes a side clamping wheel (315) rotatably arranged on the support (314), and part of the side clamping wheel (315) passes through the first support arm (311) and is pressed against the side of the scraper arm body (312).

10. The slagging robot for an electric arc furnace according to claim 1, characterized in that: The second support arm (321) is provided with a driving trolley, and the second support arm (321) is provided with a second driving member (3212) for driving the driving trolley to move; The driving trolley is provided with a reciprocating driving mechanism (3223), the shell breaking arm body (322) comprises a rock drilling rod (3221), and the rock drilling rod (3221) is connected to the output end of the reciprocating driving mechanism (3223) through the driving arm (3222); The second supporting arm (321) is provided with a guide frame (3213) for guiding the movement of the shell breaking arm body (322).

11. The slagging robot for an electric arc furnace according to claim 1, characterized in that: The hydraulic system of the slag removal robot for an electric arc furnace is arranged on the machine body (1); a protective cover (5) is provided at a position of the machine body (1) corresponding to the hydraulic system; and a heat dissipation hole (51) is provided on the protective cover (5).

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