Discharging robot and hole pulling device for submerged arc furnace

Abstract

The embodiment of the invention provides a submerged arc furnace discharging robot and a hole pulling device. The hole pulling device comprises a support structure, a conveying mechanism and a pressing mechanism. The support structure is arranged on an operation big arm of the submerged arc furnace discharging robot and used for moving in the extending direction of the operation big arm under driving of the operation big arm. The conveying mechanism is arranged on the support structure and comprises a driver and a conveying wheel, and the driver is used for driving the conveying wheel to rotate; the pressing mechanism is arranged on the support structure and comprises an expansion piece and a pressing wheel, and the expansion piece is used for driving the pressing wheel to be close to the conveying wheel and used for being matched with the conveying wheel to convey or clamp the operation tool. According to the embodiment of the invention, operation tools made of different materials can be compatible, and operation tools with different diameters can be compatible by adjusting the distance between the pressing wheel and the conveying wheel, so that manual operation can be completely replaced by the embodiment of the invention, and the applicability and the application range of the device are greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of smelting with an electric arc furnace, and in particular to an electric arc furnace unloading robot and an eye-pulling device. Background Art

[0002] At present, submerged arc furnaces are mainly used for the smelting of ferroalloys such as ferrosilicon, silicomanganese, ferromanganese and ferrochrome, as well as the smelting of industrial raw materials such as calcium carbide and industrial silicon. The operation process in front of the submerged arc furnace smelting production is not only high in temperature, but also accompanied by a large amount of dust and noise. It is the most labor-intensive and dangerous process in the smelting production process, and is prone to safety risks such as burns and mechanical injuries.

[0003] In the prior art, when performing eyelet pulling operations on an electric arc furnace, although some furnace-exiting robots can use eyelet pulling tools to perform eyelet pulling operations to replace manual operations, which can avoid the personal safety issues of operators to a certain extent, they are not compatible with drill rods and cannot completely replace manual operations. Summary of the invention

[0004] In view of the shortcomings of the existing methods, the present application proposes a furnace unloading robot and an eye-pulling device for an electric arc furnace, so as to solve the technical problems of the existing technology that are likely to cause personal safety hazards to operators and are not compatible with different drill rods.

[0005] In the first aspect, an embodiment of the present application provides an eye-pulling device of an electric arc furnace unloading robot, which is used for conveying and clamping operating tools to perform eye-pulling operations on the furnace eye of the electric arc furnace, and includes: a support structure, a conveying mechanism and a clamping mechanism; the support structure is arranged on the operating arm of the electric arc furnace unloading robot, and is used to move along the extension direction of the operating arm under the drive of the operating arm; the conveying mechanism is arranged on the support structure, and the conveying mechanism includes a driver and a conveying wheel, and the driver is used to drive the conveying wheel to rotate; the clamping mechanism is arranged on the support structure, and the clamping mechanism includes a telescope and a clamping wheel, and the telescope is used to drive the clamping wheel to approach the conveying wheel, and is used to cooperate with the conveying wheel to convey or clamp the operating tool.

[0006] In one embodiment of the present application, the two conveying wheels are arranged in sequence along the extension direction of the operating arm, and the driver is transmission connected to one of the conveying wheels; the two clamping wheels are arranged corresponding to the conveying wheels, and the telescoping device is transmission connected to the two clamping wheels.

[0007] In an embodiment of the present application, the conveying mechanism includes a driving wheel and a transmission member. The two driving wheels are respectively arranged corresponding to the two conveying wheels, and the driving wheel and the conveying wheel are coaxially arranged. The transmission member is looped around the outer circumferences of the two driving wheels and is used to synchronously rotate the two conveying wheels.

[0008] In an embodiment of the present application, the conveying mechanism further includes a supporting wheel. The supporting wheel is located between the two conveying wheels and is used to cooperate with the conveying wheels to jointly support the operating tool.

[0009] In an embodiment of the present application, the bracket structure includes a vertical plate; the pressing mechanism further includes two pivoting frames. The pressing wheel is installed at the bottom of the pivoting frame. One side of the pivoting frame is pivotally connected to the vertical plate, and both ends of the telescopic device are respectively pivotally connected to the tops of the two pivoting frames.

[0010] In an embodiment of the present application, the telescopic device includes a fixed part and a telescopic part. The telescopic part is completely located inside the fixed part. A receiving space is formed between the pressing wheel and the conveying wheel for placing the operating tool; when a preset part of the telescopic part extends out of the fixed part, the pressing wheel and the conveying wheel cooperate to press the operating tool for conveying the operating tool; when the telescopic part completely extends out of the fixed part, the pressing wheel and the conveying wheel cooperate to clamp the operating tool for clamping the operating tool.

[0011] In an embodiment of the present application, the pressing mechanism further includes an elastic component, a mounting seat and a rotating shaft. The elastic component is telescopically arranged at the bottom of the pivoting frame, and the mounting seat is arranged at the bottom end of the elastic component; one end of the rotating shaft is installed inside the mounting seat and can rotate relative to the mounting seat, and the other end is installed with the pressing wheel. The elastic component can provide an elastic pre-tightening force for the pressing wheel to press the operating tool.

[0012] In an embodiment of the present application, the pressing mechanism further includes a stop plate. The stop plate is fixedly connected to the pivoting frame and is located between the mounting seat and the pressing wheel. When the elastic component contracts to a preset length, the stop plate cooperates with the rotating shaft through a friction structure to stop, so that the pressing wheel and the conveying wheel cooperate to clamp the operating tool.

[0013] In an embodiment of the present application, the bottom end of the stop plate has a stop groove for cooperating with the rotating shaft. The stop groove includes an integral arc part and a straight part; the friction structure includes anti-slip teeth on the inner circumferential surface of the arc part and anti-slip teeth provided on the outer circumferential surface of the rotating shaft.

[0014] In one embodiment of the present application, accommodation grooves are formed on the outer peripheral surfaces of the conveying wheel and the pressing wheel. The accommodation grooves are of an arc structure, and anti-slip tooth structures are provided on the inner peripheral surfaces of the accommodation grooves.

[0015] In one embodiment of the present application, the anti-slip tooth structure includes a plurality of tooth rings. The plurality of tooth rings are arranged side by side along the axial direction of the conveying wheel and the pressing wheel, and the inner diameters of the plurality of tooth rings match the accommodation grooves.

[0016] In one embodiment of the present application, the eyelet pulling device further includes a clamping mechanism. The clamping mechanism is arranged on the support structure and is used for clamping the operating tool in a first direction; the pressing mechanism and the conveying mechanism clamp the operating tool in a second direction, and the first direction and the second direction form a preset angle.

[0017] In a second aspect, an embodiment of the present application provides a submerged arc furnace tapping robot, including an operating boom, a multi-axis motion device, a traveling device, and an eyelet pulling device as provided in the first aspect. The operating boom is arranged on the traveling device through the multi-axis motion device.

[0018] The beneficial technical effects brought by the technical solution provided by the embodiment of the present application are:

[0019] In the present application, the conveying mechanism is arranged on the support structure, and the driving device drives the conveying wheel to rotate by itself to drive the operating tool to move, and the telescopic device drives the pressing wheel to approach the conveying wheel to press the operating tool, and then cooperates with the self-rotation of the conveying wheel to drive the operating tool to move, so as to realize the conveying of the operating tool. The pressing wheel further approaches the conveying wheel to realize the clamping of the operating tool, and then cooperates with the movement of the operating boom, so as to realize the eyelet pulling operation on the submerged arc furnace. With the above design, the embodiment of the present application can be compatible with operating tools of different materials, and by adjusting the distance between the pressing wheel and the conveying wheel, it can also be compatible with operating tools of different diameters, so that the embodiment of the present application can not only completely replace manual operation, but also greatly improve the applicability and application range of the present application.

[0020] The additional aspects and advantages of the present application will be partially given in the following description, and these will become obvious from the following description, or can be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become obvious and easy to understand from the following description of the embodiments in conjunction with the drawings, where:

[0022] Figure 1 is a schematic structural diagram of an eyelet pulling device provided by an embodiment of the present application;

[0023] Figure 2Schematic structural diagram of the cooperation between a conveying mechanism and a bracket structure provided by an embodiment of the present application;

[0024] Figure 3 Schematic structural diagram of the cooperation between a pressing mechanism and a bracket structure provided by an embodiment of the present application;

[0025] Figure 4 Schematic structural diagram of the cooperation between a pivot frame and a pressing wheel provided by an embodiment of the present application;

[0026] Figure 5 Schematic cross-sectional structural diagram of a clamping mechanism provided by an embodiment of the present application;

[0027] Figure 6 Schematic structural diagram of a submerged arc furnace tapping robot provided by an embodiment of the present application. Detailed implementation manners

[0028] The present application will be described in detail below. Examples of embodiments of the present application are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. In addition, if the detailed description of the known technology is unnecessary for showing the features of the present application, it will be omitted. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and should not be construed as limiting the present application.

[0029] Those skilled in the art of the present technology can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of those of ordinary skill in the art to which the present application belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless specifically defined as here.

[0030] The technical solution of the present application and how the technical solution of the present application solves the above technical problems will be described in detail below with specific embodiments.

[0031] An embodiment of the present application provides a tapping device for a submerged arc furnace tapping robot, which is used to convey and clamp an operating tool to perform a tapping operation on the taphole of the submerged arc furnace. The structural schematic diagram of the tapping device is as Figure 1As shown in the figure, it includes: a support structure 1, a conveying mechanism 2 and a pressing mechanism 3; the support structure 1 is arranged on the operating boom of the submerged arc furnace tapping robot and is used to move along the extension direction of the operating boom under the drive of the operating boom; the conveying mechanism 2 is arranged on the support structure 1, and the conveying mechanism 2 includes a driver 21 and a conveying wheel 22, and the driver 21 is used to drive the conveying wheel 22 to rotate; the pressing mechanism 3 is arranged on the support structure 1, and the pressing mechanism 3 includes an expander 31 and a pressing wheel 32, and the expander 31 is used to drive the pressing wheel 32 to approach the conveying wheel 22 and is used to cooperate with the conveying wheel 22 to convey or clamp the operating tool 10.

[0032] As Figure 1 shown, the submerged arc furnace tapping robot is mainly used to perform the tapping operation of the industrial silicon submerged arc furnace. However, the specific type of the submerged arc furnace is not limited in the embodiments of the present application, and the present application can also be applied to other types of submerged arc furnaces. The eye-opening device can be specifically arranged on the operating boom 101 of the submerged arc furnace tapping robot. Referring to Figure 6 as shown. The eye-opening device is used to convey and clamp the operating tool 10 for performing the eye-opening operation on the furnace eye of the submerged arc furnace. The operating tool 10 can be a wooden, bamboo or steel drill rod, but the specific material of the operating tool 10 is not limited in the embodiments of the present application. The support structure 1 includes a bottom plate 11, and the bottom plate 11 is fixedly arranged on the operating boom 101 or the bottom plate 11 is slidably arranged on the operating boom 101. The conveying mechanism 2 is arranged on the bottom plate 11, and the conveying mechanism 2 includes a driver 21 and a conveying wheel 22. The driver 21 is realized by, for example, a hydraulic motor or an electric motor. The driver 21 is connected to the conveying wheel 22 and is used to drive the conveying wheel 22 to rotate by itself. The pressing mechanism 3 is arranged on the bottom plate 11 of the support structure 1. The pressing mechanism 3 includes an expander 31 and a pressing wheel 32. The expander 31 can be realized by a hydraulic cylinder, an electric cylinder or a pneumatic cylinder. The pressing wheel 32 is, for example, arranged above the conveying structure 2. The expander 31 drives the pressing wheel 32 to approach the conveying wheel 22 to cooperate with the conveying wheel 22 to press the operating tool 10, and then the self-rotation of the conveying wheel 22 is used to realize the conveying of the operating tool 10, so that the operating tool 10 approaches the furnace eye; and the expander 31 drives the pressing wheel 32 to further approach the conveying wheel 22 to clamp the operating tool 10, realizing the clamping of the operating tool 10, and moving the operating tool 10 under the drive of the operating boom 101, thereby realizing the eye-opening operation on the furnace eye of the submerged arc furnace.

[0033] In this application, the conveying mechanism is arranged on the bracket structure. The driving wheel is driven to rotate by itself through the driver to drive the operating tool to move, and the telescopic device drives the pressing wheel to approach the conveying wheel to press the operating tool. Then, with the self-rotation of the conveying wheel driving the operating tool to move, the conveying of the operating tool is realized. The pressing wheel further approaches the conveying wheel to clamp the operating tool, and then, in cooperation with the movement of the operating boom, the operation of drilling the ore furnace is realized. With the above design, the embodiments of this application can be compatible with operating tools of different materials, and by adjusting the distance between the pressing wheel and the conveying wheel, operating tools of different diameters can also be compatible. The embodiments of this application can not only completely replace manual operation, but also greatly improve the applicability and scope of application of this application.

[0034] In an embodiment of this application, as Figure 1 and Figure 6 shown, two conveying wheels 22 are arranged in sequence along the extending direction of the operating boom 101, and the driver 21 is in transmission connection with one of the conveying wheels 22; two pressing wheels 32 are arranged corresponding to the conveying wheels 22, and the telescopic device 31 is in transmission connection with the two pressing wheels 32. Specifically, the conveying mechanism 2 includes two conveying wheels 22, and the two conveying wheels 22 are arranged in parallel along the extending direction of the operating boom 101, and there is a certain distance between the two conveying wheels 22 for supporting two points of the operating tool 10. However, the specific size of the above distance is not limited in the embodiments of this application, and the operators in this field can set it according to the specific length of the operating tool 10. The driver 21 can be in transmission connection with one of the conveying wheels 22, so as to save manufacturing and application costs. The two pressing wheels 32 are arranged corresponding to the two conveying wheels 22 one by one, which can prevent the operating tool 10 from tilting due to the transfer of the center of gravity during the conveying process, ensure the effective conveying of the operating tool 10, and the above design can also increase the clamping force of the operating tool 10 and prevent clamping failure, thereby greatly improving the working efficiency of the drilling operation. It should be noted that the specific number of the conveying wheels 22 and the pressing wheels 32 is not limited in the embodiments of this application. For example, both of them can be set to more than two. Therefore, the embodiments of this application are not limited thereto, and those skilled in the art can adjust the settings according to the actual situation.

[0035] In an embodiment of this application, as Figure 1 and Figure 2As shown, the conveying mechanism 2 includes a driving wheel 23 and a transmission member 24. The two driving wheels 23 are respectively arranged corresponding to the two conveying wheels 22, and the driving wheel 23 is coaxially arranged with the conveying wheel 22. The transmission member 24 is looped around the outer periphery of the two driving wheels 23 for synchronously rotating the two conveying wheels 22. Specifically, the driving wheel 23 is specifically a sprocket. The two driving wheels 23 are arranged corresponding to the two conveying wheels 22. For example, the driving wheel 23 is arranged on the side close to the driver 21 and is coaxially arranged with the conveying wheel 22. The transmission member 24 can be a chain. The transmission member 24 is wound around the outer periphery of the two driving wheels 23 to synchronously rotate the two driving wheels 23, thereby realizing the synchronous rotation of the two conveying wheels 22. With the above design, due to the synchronous rotation of the two conveying wheels 22, the efficiency of the conveying operation tool 10 can be further improved, and the problem of the operation tool tipping up and resulting in poor conveying effect can be avoided. In addition, by adopting the cooperation mode of the driving wheel 23 and the transmission member 24, not only can the application and manufacturing costs be reduced, but also the transmission stability can be improved. However, the specific implementation manners of the driving wheel 23 and the transmission member 24 are not limited in the embodiments of the present application. For example, gears and high-temperature belts can also be used. Therefore, the embodiments of the present application are not limited thereto, and those skilled in the art can adjust the settings according to the actual situation.

[0036] In an embodiment of the present application, as Figure 1 and Figure 2 shown, the conveying mechanism 2 further includes a supporting wheel 25. The supporting wheel 25 is located between the two conveying wheels 22 and is used to cooperate with the conveying wheels 22 to jointly support the operation tool 10. Specifically, the supporting wheel 25 is located between the two conveying wheels 22 and is arranged close to the conveying wheel 22 at the front end. The front end is the left side position in the attached drawing. When the center of gravity of the front end of the operation tool 10 is relatively large and it has separated from the conveying wheel 22 at the rear end, the pressing wheel 32 above and the conveying wheel 22 below support and cooperate to realize the conveying or clamping of the operation tool 10. With the above design, the problem of the operation tool 10 tipping up and causing the failure of conveying or clamping can be further avoided, thereby further improving the working efficiency and stability of the present application. In addition, with the above design, the structure of the present application is simple, and the application and manufacturing costs can be effectively reduced. However, the specific implementation manner of the supporting wheel 25 is not limited in the embodiments of the present application. For example, the two supporting wheels 25 are respectively arranged close to the two conveying wheels 22. Therefore, the embodiments of the present application are not limited thereto, and those skilled in the art can adjust the settings according to the actual situation.

[0037] In an embodiment of the present application, as Figure 1 and Figure 3As shown, the bracket structure 1 includes a vertical plate 12; the pressing mechanism 3 further includes two pivot frames 33. A pressing wheel 32 is installed at the bottom of the pivot frame 33. One side of the pivot frame 33 is pivotally connected to the vertical plate 12, and both ends of the telescopic device 31 are pivotally connected to the tops of the two pivot frames 33 respectively. Specifically, the bracket structure 1 further includes a vertical plate 12. Both vertical plates 12 are arranged on the bottom plate 11, and are located on one side of the conveying structure 2, and are arranged on the same side as the driver 21, so that the pressing wheel 32 and the conveying wheel 22 are arranged on the same side. Both pivot frames 33 are arranged between the two vertical plates 12, and one side of the pivot frame 33 is hinged to the vertical plate 12. A pressing wheel 32 is arranged at the bottom of the pivot frame 33. The telescopic device 31 is located at the tops of the two pivot frames 33, and both ends are respectively connected to the tops of the two pivot frames 33. The telescopic device 31 drives the two pivot frames 33 to swing through telescopic movement, so as to drive the pressing wheel 32 to approach or move away from the conveying wheel 22. With the above design, only one telescopic device 31 is used in the embodiment of the present application to realize the synchronous movement of the two pressing wheels 32, which can not only improve work efficiency, but also reduce application and maintenance costs. However, the specific implementation manner of the pressing mechanism 3 is not limited in the embodiment of the present application. For example, the telescopic device 31 drives the two pressing wheels 32 to lift synchronously through a connecting rod, and the same technical effect can be achieved. Therefore, the embodiment of the present application is not limited thereto, and those skilled in the art can adjust the setting according to the actual situation.

[0038] In an embodiment of the present application, as Figures 1 to 3As shown, the expander 31 includes a fixed part and a telescopic part. The telescopic part is completely located within the fixed part. A receiving space is formed between the pressing wheel 32 and the conveying wheel 22 for placing the operating tool 10. When the telescopic part extends out of the fixed part by a preset portion, the pressing wheel 32 and the conveying wheel 22 cooperate to press the operating tool 10 for conveying the operating tool 10. When the telescopic part completely extends out of the fixed part, the pressing wheel 32 and the conveying wheel 22 cooperate to clamp the operating tool 10 for gripping the operating tool 10. Specifically, for example, the expander 31 is implemented by a hydraulic cylinder. The fixed part is the cylinder body and the telescopic part is the telescopic rod. When the telescopic part is completely located within the fixed part, a receiving space is formed between the pressing wheel 32 and the conveying wheel 22 for placing the operating tool 10. At this time, the operator can place or remove the operating tool 10. When the telescopic part extends out of the fixed part by a preset portion, for example, when it extends out halfway, the pressing wheel 32 and the conveying wheel 22 cooperate to press the operating tool 10, and the operating tool 10 is conveyed by the rotation of the conveying wheel 22. When the telescopic part completely extends out of the fixed part, the pressing wheel 32 and the conveying wheel 22 cooperate to clamp the operating tool 10. The conveying wheel 22 stops rotating and cooperates with the pressing wheel 32 to grip the operating tool 10. With the above design, the control logic of the embodiment of the present application is simple, and the telescopic length of the telescopic part can also be set according to the different diameters of the operating tool 10, thereby greatly improving the applicability and scope of application of the present application. It should be noted that the present application does not limit the specific length or ratio of the extension of the telescopic part. In theory, as long as the telescopic length of the telescopic part is set to three gears, the above functions can be achieved. Therefore, the embodiment of the present application is not limited thereto, and those skilled in the art can adjust the setting according to the actual situation.

[0039] In an embodiment of the present application, as Figure 1 , Figure 3 and Figure 4As shown, the pressing mechanism 3 further includes an elastic component 34, a mounting base 35 and a rotating shaft 36. The elastic component 34 is telescopically arranged at the bottom of the pivot frame 33, and a mounting base 35 is arranged at the bottom end of the elastic component 34. One end of the rotating shaft 36 is installed in the mounting base 35 and can rotate relative to the mounting base 35, and a pressing wheel 32 is installed at the other end. The elastic component 34 can provide an elastic pre-tightening force for the pressing wheel 32 to press the operating tool 10. Specifically, the elastic component 34 includes a telescopic shaft and a spring. The top end of the telescopic shaft is clamped with the bottom of the pivot frame 33, and the bottom end is connected to the mounting base 35. The spring is sleeved outside the telescopic shaft and is located between the pivot frame 33 and the mounting base 35. The pressing wheel 32 can be connected to the mounting base 35 through a rotating shaft 36, that is, one end of the rotating shaft 36 is installed in the mounting base 35 and can rotate relative to the mounting base 35, and a pressing wheel 32 is installed at the other end. When the pressing wheel 32 approaches the conveying wheel 22 to clamp the operating tool 10, the elastic component 34 can provide an elastic pre-tightening force for the pressing wheel 32, so that the pressing wheel 32 and the operating tool 10 are elastically pressed, avoiding jamming between the pressing wheel 32 and the operating tool 10, thereby improving the efficiency of conveying the operating tool 10. Further, the adoption of the elastic component 34 can also make the present application directly applicable to operating tools 10 with little difference in diameter, thereby improving the simplicity of operation and further improving the working efficiency. However, the specific implementation manner of the elastic component 34 is not limited in the embodiments of the present application. For example, the elastic component 34 can also be implemented by a spring damper. Therefore, the embodiments of the present application are not limited thereto, and those skilled in the art can adjust the settings according to the actual situation.

[0040] In an embodiment of the present application, as Figure 1 、 Figure 3 and Figure 4As shown, the pressing mechanism 3 further includes a stop plate 37. The stop plate 37 is fixedly connected to the pivot frame 33 and is located between the mounting seat 35 and the pressing wheel 32. When the elastic component 34 contracts to a preset length, the stop plate 37 cooperates with the rotating shaft 36 through a friction structure to stop, so that the pressing wheel 32 and the conveying wheel 22 cooperate to clamp the operating tool 10. Specifically, the top end of the stop plate 37 is fixedly connected to the pivot frame 33, the bottom end of the stop plate 37 is located between the mounting seat 35 and the pressing wheel 32, and a friction structure is provided on the outer periphery of the bottom end of the stop plate 37 and the rotating shaft 36, and the two can cooperate with each other to realize the stopping of the pressing wheel 32, that is, to brake the pressing wheel 32 to stop rotating. There is a certain distance between the bottom end of the stop plate 37 and the rotating shaft 36 under normal conditions to avoid affecting the rotation of the pressing wheel 32, so that the operating tool 10 can be normally conveyed. When it is necessary to clamp the operating tool 10, the expander 31 drives the pressing wheel 32 to further approach the conveying wheel 22. When the elastic component 34 contracts to the preset length, the bottom end of the stop plate 37 will contact the rotating shaft 36, and the two realize the braking stop of the pressing wheel 32 through the friction structure, that is, prevent the pressing wheel 32 from rotating so as to clamp the operating tool 10. With the above design, since the stop plate 37 can realize the stopping of the pressing wheel 32, the stability of clamping the operating tool 10 is improved, thereby further improving the operation efficiency of the present application. Moreover, the structure of the embodiment of the present application is simple and easy to implement, thereby further reducing the application and manufacturing costs. However, the embodiment of the present application does not limit the specific implementation manner of the stop plate 37. For example, the stop plate 37 can also be replaced by a ratchet to realize the stopping of the pressing wheel 32. Therefore, the embodiment of the present application is not limited thereto, and those skilled in the art can adjust the setting according to the actual situation.

[0041] In an embodiment of the present application, as Figure 1 、 Figure 3 and Figure 4As shown, the bottom end of the stop plate 37 has a stop groove that mates with the rotating shaft 36. The stop groove includes an integral arc portion and a straight portion; the friction structure includes anti-slip teeth on the inner peripheral surface of the arc portion and anti-slip teeth provided on the outer peripheral surface of the rotating shaft 36. Specifically, the stop groove is located at the bottom end of the stop plate 37, and the top of the stop groove is provided with a circular arc structure, and the bottom is linear, that is, the stop groove includes an integral arc portion and a straight portion. With the above design, the stop groove can cooperate with the outer peripheral shape of the rotating shaft 36 to increase the contact area between the two, thereby further improving the stopping effect. Further, anti-slip teeth are provided on the inner peripheral surface of the stop groove and the outer peripheral surface of the rotating shaft 36. The anti-slip teeth are grooves opened on the surfaces of the two, and the extending direction of the anti-slip teeth is parallel to the axis of the rotating shaft 36, thereby further increasing the contact area and friction force between the two, and further improving the stopping effect of the pressing wheel 32. It should be noted that in order to facilitate the rotating shaft 36 to enter the stop groove, the straight portion of the stop groove may not be provided with anti-slip teeth to avoid mechanical interference between the two.

[0042] In an embodiment of the present application, as Figure 1 , Figure 2 and Figure 4 shown, accommodation grooves are formed on the outer peripheral surfaces of the conveying wheel 22 and the pressing wheel 32. The accommodation grooves are arc-shaped structures, and anti-slip tooth structures 4 are provided on the inner peripheral surfaces of the accommodation grooves. Specifically, the outer peripheral surface of the conveying wheel 22 is recessed with an accommodation groove. The cross-section of the accommodation groove is an arc-shaped structure, which is used to cooperate with the outer peripheral shape of the operating tool 10 to increase the contact area with the operating tool 10, thereby improving the conveying and clamping effects. Further, anti-slip tooth structures 4 are also provided in the accommodation grooves to further improve the conveying and clamping effects. However, the specific shape of the accommodation groove in the embodiments of the present application is not limited, as long as it can be matched with the outer peripheral shape of the operating tool 10. The accommodation grooves and the anti-slip tooth structures 4 of the pressing wheel 32 and the conveying wheel 22 adopt the same structure, which will not be elaborated here. Optionally, the outer peripheral surface of the support wheel 25 is also provided with an accommodation groove for matching the outer peripheral shape of the operating tool 10, thereby increasing the contact area with the operating tool 10. Since the support wheel 25 is only used to support the operating tool 10, the accommodation groove of the support wheel 25 may not be provided with anti-slip tooth structures 4, thereby saving application and manufacturing costs.

[0043] In an embodiment of the present application, as Figure 1 , Figure 2 and Figure 4As shown, the anti-skid tooth structure 4 includes a plurality of tooth rings, which are arranged in parallel along the axial direction of the conveying wheel 22 and the pressure wheel 32, and the inner diameters of the plurality of tooth rings match the receiving grooves. Specifically, the anti-skid tooth structure 4 may include a plurality of tooth rings, which are arranged in parallel along the axial direction of the pressure wheel 32, and any two tooth rings have a certain interval. The diameters of the plurality of tooth rings are different, and they are used to cooperate with the receiving groove of the pressure wheel 32 to achieve the purpose of matching the shape of the operating tool 10. The above design not only makes the structure of the present application simple and easy to implement, but also can greatly increase the friction between the operating tool 10, thereby improving the working efficiency and stability of the present application. Furthermore, the tooth ring can adopt a split structure, that is, two semi-annular tooth rings are matched with the outer periphery of the pressure wheel 32, so that the tooth ring is easy to replace when it is worn, thereby greatly improving the maintenance efficiency, and the above design can also effectively reduce the production and maintenance costs.

[0044] In one embodiment of the present application, Figure 1 and Figure 5 As shown, the eyelet pulling device also includes a clamping mechanism 5, which is arranged on the support structure 1 and is used to clamp the operating tool 10 in the first direction; the pressing mechanism 3 and the conveying mechanism 2 clamp the operating tool 10 in the second direction, and the first direction and the second direction are at a preset angle. Specifically, the clamping mechanism 5 is arranged on the bottom plate 11 of the support structure 1, and the clamping mechanism 5 includes a driving part 51 and a clamping part 52. The two clamping parts 52 are arranged side by side and spaced in the horizontal direction. The two clamping parts 52 are driven by the driving part 51 to approach or move away from each other to achieve the clamping of the operating tool 10 in the horizontal direction, that is, the clamping mechanism 5 clamps the operating tool 10 in the first direction. Specifically, the driving part 51 is connected to the two clamping parts 52 through a screw structure, for example, and the screw of the screw structure has positive and negative threads to achieve the two clamping parts 52 approaching or moving away from each other. With the above design, the embodiment of the present application can accurately clamp the operating tool 10, avoid damage to the wooden or bamboo operating tool 10, and thus extend the service life of the operating tool 10. Optionally, the clamping mechanism 3 is arranged directly above the conveying structure 2, so that the two can clamp the operating tool 10 from the vertical direction, that is, the clamping mechanism 3 and the conveying mechanism 2 clamp the operating tool 10 in the second direction, and the first direction and the second direction are at a preset angle. With the above design, the embodiment of the present application clamps the operating tool 10 from two directions, which increases the clamping force on the operating tool 10 and prevents the operating tool 10 from falling off during operation, thereby further improving the stability and work efficiency of the embodiment of the present application. However, the embodiment of the present application does not limit the specific directions of the first direction and the second direction. The above embodiment is only used to illustrate the working principle of the embodiment of the present application. Those skilled in the art can adjust the settings according to actual conditions.

[0045] Based on the same inventive concept, an embodiment of the present application provides a submerged arc furnace tapping robot, as Figure 1 and Figure 6 shown, which includes an operating boom 101, a multi-axis motion device (not shown in the figure), a traveling device 102, and the eye-pulling device 100 described above. The operating boom 101 is arranged on the traveling device 102 through the multi-axis motion device. Specifically, the operating boom 101 is arranged on the traveling device 102 through the multi-axis motion device, so that the operating boom 101 can perform pitching and slewing motions relative to the traveling device 102. The eye-pulling device 100 is arranged on the traveling vehicle 103 of the operating boom 101, and the traveling vehicle 103 can drive the eye-pulling device 100 to move along the extension direction of the operating boom 101 to approach or move away from the furnace eye of the submerged arc furnace, so as to complete the eye-pulling operation of the submerged arc furnace.

[0046] Applying the embodiment of the present application can at least achieve the following beneficial effects:

[0047] In the present application, the conveying mechanism is arranged on the support structure, and the driving wheel is driven to rotate by itself through the driver to drive the operating tool to move, and the pressing wheel is driven by the telescopic device to approach the driving wheel to press the operating tool. Then, in cooperation with the self-rotation of the driving wheel to drive the operating tool to move, the conveying of the operating tool is realized. The pressing wheel further approaches the driving wheel to clamp the operating tool, and then in cooperation with the movement of the operating boom, the eye-pulling operation of the submerged arc furnace is realized. With the above design, the embodiment of the present application can be compatible with operating tools of different materials, and by adjusting the distance between the pressing wheel and the driving wheel, operating tools of different diameters can also be compatible, so that the embodiment of the present application can not only completely replace manual operation, but also greatly improve the applicability and application range of the present application.

[0048] It can be understood that the above embodiments are only exemplary embodiments adopted to illustrate the principle of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also regarded as the protection scope of the present invention.

[0049] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0050] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0051] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0052] In the description of this specification, specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0053] The above are only some embodiments of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present application.

Claims

1. A pulling eye device for a furnace unloading robot of a submerged arc furnace, used for conveying and clamping operating tools to pull the eye of the furnace of the submerged arc furnace, characterized in that: include: Support structure, conveying mechanism and clamping mechanism; The support structure is arranged on the operating arm of the submerged arc furnace unloading robot, and is used to move along the extension direction of the operating arm under the drive of the operating arm; The conveying mechanism is arranged on the support structure, and the conveying mechanism comprises a driver and a conveying wheel, and the driver is used to drive the conveying wheel to rotate; The clamping mechanism is arranged on the support structure, and the clamping mechanism comprises a telescope and a clamping wheel. The telescope is used to drive the clamping wheel to approach the conveying wheel, and is used to cooperate with the conveying wheel to convey or clamp the operating tool.

2. The eyelet device according to claim 1, characterized in that: The two conveying wheels are arranged in sequence along the extension direction of the operating arm, and the driver is transmission-connected to one of the conveying wheels; the two clamping wheels are arranged corresponding to the conveying wheels, and the telescoping device is transmission-connected to the two clamping wheels.

3. The eyelet device according to claim 2, characterized in that: The conveying mechanism includes a transmission wheel and a transmission member. The two transmission wheels are respectively arranged corresponding to the two conveying wheels, and the transmission wheel and the conveying wheel are arranged coaxially. The transmission member is arranged around the outer circumference of the two transmission wheels to make the two conveying wheels rotate synchronously.

4. The eyelet device according to claim 2, characterized in that: The conveying mechanism also includes a supporting wheel, which is located between the two conveying wheels and is used to cooperate with the conveying wheels to jointly support the operating tool.

5. The eyelet device according to claim 2, characterized in that: The support structure includes a vertical plate; the clamping mechanism also includes two pivot frames, the clamping wheel is installed at the bottom of the pivot frame, one side of the pivot frame is pivotally connected to the vertical plate, and the two ends of the telescope are respectively pivotally connected to the top of the two pivot frames.

6. The eyelet device according to claim 5, characterized in that: The telescopic device includes a fixed part and a telescopic part, the telescopic part is completely located in the fixed part, and an accommodating space is formed between the clamping wheel and the conveying wheel for placing the operating tool; when the telescopic part extends out of a preset part of the fixed part, the clamping wheel cooperates with the conveying wheel to clamp the operating tool for conveying the operating tool; when the telescopic part completely extends out of the fixed part, the clamping wheel cooperates with the conveying wheel to clamp the operating tool for clamping the operating tool.

7. The eyelet device according to claim 5, characterized in that: The clamping mechanism also includes an elastic component, a mounting seat and a rotating shaft. The elastic component is telescopically arranged at the bottom of the pivot frame, and the mounting seat is arranged at the bottom end of the elastic component. One end of the rotating shaft is installed in the mounting seat and can rotate relative to the mounting seat, and the clamping wheel is installed at the other end. The elastic component can provide an elastic pre-tightening force for the clamping wheel to clamp the operating tool.

8. The eyelet device according to claim 7, characterized in that: The clamping mechanism also includes a stop plate, which is fixedly connected to the pivot frame and is located between the mounting seat and the clamping wheel. When the elastic component contracts to a preset length, the stop plate cooperates with the rotating shaft through a friction structure to stop the clamping wheel and the conveying wheel to clamp the operating tool.

9. The eyelet device according to claim 8, characterized in that: The bottom end of the stop plate has a stop groove that cooperates with the rotating shaft, and the stop groove includes an integrated arc portion and a straight portion; the friction structure includes anti-slip teeth located on the inner circumference of the arc portion, and anti-slip teeth arranged on the outer circumference of the rotating shaft.

10. The eyelet device according to claim 1, characterized in that: The outer circumferences of the conveying wheel and the pressing wheel are both formed with a receiving groove, the receiving groove is an arc-shaped structure, and the inner circumference of the receiving groove is provided with an anti-slip tooth structure.

11. The eyelet device according to claim 10, characterized in that: The anti-slip tooth structure includes a plurality of tooth rings, which are arranged in parallel along the axial direction of the conveying wheel and the pressing wheel, and the inner diameters of the plurality of tooth rings match the accommodating grooves.

12. The eyelet device according to any one of claims 1 to 11, characterized in that: The eyelet pulling device also includes a clamping mechanism, which is arranged on the support structure and is used to clamp the operating tool in a first direction; the clamping mechanism and the conveying mechanism clamp the operating tool in a second direction, and the first direction and the second direction form a preset angle.

13. A robot for discharging an electric arc furnace, characterized in that: It comprises an operating arm, a multi-axis motion device, a walking device and the eye-pulling device as described in any one of claims 1 to 12, wherein the operating arm is arranged on the walking device through the multi-axis motion device.

Images