Manipulator of submerged arc furnace discharging robot

Abstract

The embodiment of the invention discloses a manipulator of a submerged arc furnace discharging robot. The manipulator comprises a gripper mechanism, a transmission mechanism and a driving mechanism, the gripper mechanism comprises a gripper sleeve and a gripper assembly, the gripper assembly is arranged on the gripper sleeve and partially located at the head end of the gripper sleeve, and the tail end of the gripper sleeve is movably connected with the end of the transmission mechanism and can rotate relative to the transmission mechanism. The transmission mechanism comprises a connecting sleeve and a transmission shaft; two ends of the connecting sleeve are respectively connected with the gripper sleeve and the driving mechanism; two ends of the transmission shaft are respectively in transmission connection with the gripper mechanism and the driving mechanism; the driving mechanism drives the gripper mechanism to rotate through the transmission shaft and drives the gripper assembly to open and close so as to grab and loosen the operation tool. According to the embodiment of the invention, the driving mechanism is far away from the heat source, so that the driving mechanism is prevented from being damaged by a high-temperature environment, transmission clamping stagnation caused by dust is avoided, and the fault rate of the embodiment of the invention is greatly reduced.

Description

Technical Field

[0001] The present application relates to the technical field of tapping an ore-fired furnace, and in particular to a manipulator of an ore-fired furnace tapping robot. Background Art

[0002] Currently, the furnace operations in submerged arc furnaces (SAFs) are characterized by high temperatures, large amounts of dust, and noise, making them the most labor-intensive and dangerous processes in the smelting process. In my country, SAF furnace operations are still primarily manual. However, with the advancement of technology, companies are gradually reducing manual operations and automating them by adopting furnace unloading robots.

[0003] In the existing technology, the furnace-outlet robot needs to perform processes such as burning eyes, opening eyes, pulling eyes and blocking eyes. Therefore, the furnace-outlet machine is required to grasp a variety of operating tools to complete each process, and after grasping the tools, the tools need to be aligned with the furnace eyes to complete the operation. However, due to the complex structure of the grasping device of the existing furnace-outlet robot and the high temperature and high dust environment of the furnace-outlet working conditions, it is easy for the transmission to jam during operation, resulting in grasping failure and power system damage. Due to the high failure rate, the production progress is seriously affected. Therefore, a more reliable grasping device is urgently needed. Summary of the Invention

[0004] Aiming at the shortcomings of the existing methods, the present application proposes a manipulator for an electric arc furnace unloading robot to solve the technical problem of a high failure rate in the existing technology.

[0005] In the first aspect, an embodiment of the present application provides a manipulator of an electric arc furnace unloading robot, which is used to grasp operating tools to perform unloading operations on the electric arc furnace, including: a gripping mechanism, a transmission mechanism and a driving mechanism; the gripping mechanism includes a gripping sleeve and a gripping assembly, the gripping assembly is arranged on the gripping sleeve, and is partially located at the head end of the gripping sleeve, the tail end of the gripping sleeve is movably connected to the end of the transmission mechanism, and can rotate relative to the transmission mechanism; the transmission mechanism includes a connecting sleeve and a transmission shaft, the two ends of the connecting sleeve are respectively connected to the gripping sleeve and the driving mechanism; the two ends of the transmission shaft are respectively connected to the gripping mechanism and the driving mechanism; the driving mechanism drives the gripping mechanism to rotate by itself through the transmission shaft, and drives the gripping assembly to open and close, so as to grasp and release the operating tool.

[0006] In one embodiment of the present application, the gripper mechanism also includes a connecting shaft located in the gripper sleeve, and the two ends of the connecting shaft are respectively connected to the gripper assembly and the transmission shaft, and are used to drive the gripper assembly to open and close through a telescopic action; the outer peripheral wall of the connecting shaft is connected to the inner peripheral wall of the gripper sleeve, and is used to drive the gripper sleeve to rotate through a rotational action.

[0007] In one embodiment of the present application, the gripper assembly includes a slider, a connecting rod and a pressure rod. The slider is slidably arranged in the gripper sleeve, and the connecting shaft and the slider are insulated and hinged. One end of two or more connecting rods is hinged to the slider, and the other end is connected to one end of the pressure rod. The pressure rod and the connecting rod are arranged in a one-to-one correspondence, and the middle position is hinged to the gripper sleeve, and the other end is used to clamp the operating tool.

[0008] In one embodiment of the present application, the gripping mechanism further includes a hinge assembly, which includes a hinge seat and an insulating member. One side of the hinge seat is connected to the slider, and the insulating member is arranged between the hinge seat and the slider; the other side of the hinge seat is hinged to the end of the connecting shaft.

[0009] In one embodiment of the present application, the connecting shaft and the grip sleeve are connected to each other through a spline structure, wherein the spline structure includes a spline sleeve fixedly disposed in the grip sleeve and a spline formed on the outer peripheral surface of the connecting shaft.

[0010] In one embodiment of the present application, the gripper sleeve includes a load-bearing section, a transmission section and a connecting section, the load-bearing section is used to install the gripper assembly; the two ends of the transmission section are respectively connected to the load-bearing section and the connecting section, the transmission section and the load-bearing section are insulated, and the spline sleeve is provided in the transmission section; the connecting section is movably connected to the connecting sleeve.

[0011] In one embodiment of the present application, a bearing seat and a bearing are provided between the connecting section and the connecting sleeve, the bearing seat is fixedly connected to the connecting sleeve, the bearing is located between the connecting section and the bearing seat, and a labyrinth sealing structure is provided between the connecting section and the bearing seat for protecting the bearing.

[0012] In one embodiment of the present application, the transmission section includes a first connection portion and a second connection portion with an insulated connection, the first connection portion is connected to the load-bearing section, the second connection portion is connected to the connection section, and the spline sleeve is arranged on the second connection portion and is located between the first connection portion and the second connection portion.

[0013] In one embodiment of the present application, the driving mechanism includes a driving shaft, a telescopic assembly and a driving assembly. The two ends of the driving shaft are respectively hinged to the transmission shaft and the telescopic assembly. The telescopic assembly drives the transmission shaft to perform a telescopic action through the driving shaft; the driving assembly is connected to the middle part of the driving shaft for driving the driving shaft to rotate.

[0014] In one embodiment of the present application, the end position of the drive shaft has a limit groove; the drive mechanism includes a connecting component, one side of the connecting component is hinged to the telescopic part of the telescopic component, and the other side of the connecting component is sleeved in the limit groove and rollingly engaged with the limit groove through a self-lubricating bearing.

[0015] In one embodiment of the present application, the driving mechanism also includes a connecting seat, a shell and a shielding seat connected in sequence, and the connecting seat, the shell and the shielding seat are all hollow structures and are coaxially arranged. One side of the connecting seat is connected to the connecting sleeve, the driving assembly is fixed to the other side of the connecting seat, and the slewing bearing of the driving assembly is coaxially arranged in the shell, the fixed part of the telescopic assembly is located at the end of the shielding seat, and the telescopic part of the telescopic assembly extends into the shielding seat for connection with the drive shaft.

[0016] The beneficial technical effects brought about by the technical solutions provided by the embodiments of the present application are:

[0017] In this embodiment, the ends of the connecting sleeve are connected to a gripper mechanism and a drive mechanism, respectively. Power is transmitted via a drive shaft, enabling the gripper mechanism to grasp and rotate the operating tool, thereby performing the furnace unloading operation. The transmission mechanism keeps the drive mechanism away from heat sources, thus preventing damage from high temperatures. Furthermore, the placement of the drive shaft within the connecting sleeve effectively prevents transmission jams caused by dust, significantly reducing the failure rate of this embodiment and improving the reliability and stability of the device.

[0018] Additional aspects and advantages of the present application will be given in part in the following description, which will become apparent from the following description, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic structural diagram of a manipulator of a submerged arc furnace unloading robot provided in an embodiment of the present application;

[0020] Figure 2 A schematic cross-sectional view of a manipulator of a submerged arc furnace unloading robot provided in an embodiment of the present application;

[0021] Figure 3 A schematic cross-sectional view of the structure of a gripping mechanism and a transmission mechanism provided in an embodiment of the present application;

[0022] Figure 4 A schematic cross-sectional view of a driving mechanism provided in an embodiment of the present application;

[0023] Figure 5 A schematic diagram of the three-dimensional structure of a driving mechanism provided in an embodiment of the present application.

[0024] 1. Gripper mechanism; 11. Gripper sleeve; 12. Gripper assembly; 13. Connecting shaft; 111. Load-bearing section; 112. Transmission section; 113. Connecting section; 121. Slider; 122. Connecting rod; 123. Press rod; 14. Articulated assembly; 141. Articulated seat; 142. Insulator; 15. Spline sleeve;

[0025] 2. Transmission mechanism; 21. Connecting sleeve; 22. Transmission shaft;

[0026] 3. Driving mechanism; 31. Driving shaft; 32. Telescopic assembly; 33. Driving assembly; 321. Telescopic part; 34. Connecting assembly; 341. Fixing seat; 342. Snap ring; 35. Connecting seat; 36. Housing; 37. Shielding seat; 38. Locking pin. DETAILED DESCRIPTION

[0027] The present application is described in detail below. Examples of embodiments of the present application are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar components or components having the same or similar functions. In addition, if the detailed description of the known technology is not necessary for the features of the present application shown, 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 are not to be construed as limiting the present application.

[0028] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0029] The following describes in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems with specific embodiments.

[0030] Example 1

[0031] See Figure 1-5 The embodiment of the present invention provides a manipulator for a furnace unloading robot, which is used to grab an operating tool to perform unloading operations on the furnace. The structural diagram of the manipulator device is shown in FIG. Figure 1 and Figure 2As shown, it includes: a gripper mechanism 1, a transmission mechanism 2 and a driving mechanism 3; the gripper mechanism 1 includes a gripper sleeve 11 and a gripper assembly 12, the gripper assembly 12 is arranged on the gripper sleeve 11, and is partially located at the head end of the gripper sleeve 11, the tail end of the gripper sleeve 11 is movably connected to the end of the transmission mechanism 2, and can rotate relative to the transmission mechanism 2; the transmission mechanism 2 includes a connecting sleeve 21 and a transmission shaft 22, the two ends of the connecting sleeve 21 are respectively connected to the gripper sleeve 11 and the driving mechanism 3; the two ends of the transmission shaft 22 are respectively connected to the gripper mechanism 1 and the driving mechanism 3; the driving mechanism 3 drives the gripper mechanism 1 to rotate by itself through the transmission shaft 22, and drives the gripper assembly 12 to open and close, so as to grasp and release the operating tool.

[0032] like Figure 1 and Figure 2 As shown, the manipulator provided by the embodiment of the present application can be specifically applied to various types of furnace unloading robots. For example, in the application of industrial silicon furnace unloading robots and ferroalloy furnace unloading robots, the manipulator can be set on the operating arm of the furnace unloading robot, and the operating arm drives the manipulator to move. In the application of calcium carbide furnace unloading robots, the embodiment of the present application can directly serve as the operating arm, and the bottom car part of the calcium carbide furnace unloading robot directly drives the manipulator to move, so as to grasp various operating tools to perform the unloading operation of the submerged arc furnace. The gripper mechanism 1 includes a gripper sleeve 11 and a gripper assembly 12. The gripper sleeve 11 can be an integral sleeve structure, and the outer diameter of its front end can be relatively small to accommodate the gripper assembly 12. The rear end of the gripper sleeve 11 is movably connected to the connecting sleeve 21 of the transmission mechanism 2. It should be noted that the front end of the gripper sleeve 11 is generally the end close to the submerged arc furnace, used to cooperate with the gripper assembly 12 to grasp the operating tools, while the rear end of the gripper sleeve 11 is the end away from the submerged arc furnace. The gripper assembly 12 is provided on the gripper sleeve 11 and partially protrudes outside the head end of the gripper sleeve 11 for clamping the tail end of the operating tool and cooperating with the head end of the gripper sleeve 11 to grasp the operating tool.

[0033] The transmission mechanism 2 comprises a connecting sleeve 21 and a drive shaft 22. The connecting sleeve 21 is cylindrical or rectangular in shape and can be set to a length of at least 2.5 meters. This design not only allows the embodiment of the present application to be applied to a calcium carbide furnace-discharging robot but also allows the drive mechanism 3 to be positioned away from the submerged arc furnace, thereby preventing damage from high temperatures and dust. One end of the connecting sleeve 21 is movably connected to the rear end of the submerged arc furnace 1, while the other end is fixedly connected to the drive mechanism 3. The drive shaft 22 is movably disposed within the connecting sleeve 21 and is connected to the submerged arc furnace 1 and the drive mechanism 3 at both ends. The drive mechanism 3 drives the drive shaft 22 to extend and retract, thereby opening and closing the gripper assembly 12 to grasp various operating tools. The drive mechanism 3 also drives the drive shaft 22 to rotate, causing the gripper mechanism 1 to rotate, thereby rotating the operating tools to perform submerged arc furnace discharging operations.

[0034] In this embodiment, the ends of the connecting sleeve are connected to a gripper mechanism and a drive mechanism, respectively. Power is transmitted via a drive shaft, enabling the gripper mechanism to grasp and rotate the operating tool, thereby performing the furnace unloading operation. The transmission mechanism keeps the drive mechanism away from heat sources, thus preventing damage from high temperatures. Furthermore, the placement of the drive shaft within the connecting sleeve effectively prevents transmission jams caused by dust, significantly reducing the failure rate of this embodiment and improving the reliability and stability of the device.

[0035] It should be noted that the embodiment of the present application does not limit the specific length of the connecting sleeve 21, and the length can be adjusted according to different types of submerged arc furnace unloading robots. Therefore, the embodiment of the present application is not limited to this, and those skilled in the art can adjust the setting according to actual conditions.

[0036] In one embodiment of the present application, Figure 1 and Figure 2 As shown, the gripper mechanism 1 also includes a connecting shaft 13 located within the gripper sleeve 11. The connecting shaft 13's ends are connected to the gripper assembly 12 and the transmission shaft 22, respectively, for driving the gripper assembly 12 to open and close via a telescopic motion. The outer circumferential wall of the connecting shaft 13 is connected to the inner circumferential wall of the gripper sleeve 11, for driving the gripper sleeve 11 to rotate via a rotational motion. Specifically, the connecting shaft 13 is disposed within the gripper sleeve 11, with one end connected to the gripper assembly 12 and the other end connected to the end of the transmission shaft 22. The transmission shaft 22 can drive the connecting shaft 13 to telescope, thereby driving the gripper assembly 12 to open and close.

[0037] Furthermore, the outer wall of the connecting shaft 13 is connected to the inner wall of the grip sleeve 11 by transmission. When the transmission shaft 22 rotates, the connecting shaft 13 is synchronously driven to rotate, thereby driving the grip sleeve 11 to rotate. The above design makes the embodiment of the present application simple in structure, that is, the opening and closing and self-rotation of the gripping mechanism 1 can be realized, and the two do not interfere with each other, thereby greatly improving the stability and reliability of the embodiment of the present application, and it is also easy to disassemble and maintain, thereby improving work efficiency. It should be noted that the embodiment of the present application does not limit the connection method between the connecting shaft 13 and the gripping assembly 12, as long as it can achieve the above functions. Therefore, the embodiment of the present application is not limited to this, and those skilled in the art can adjust the settings according to actual conditions.

[0038] In one embodiment of the present application, Figure 1 and Figure 2 As shown, the gripper assembly 12 includes a slider 121, a connecting rod 122, and a pressure rod 123. The slider 121 is slidably disposed in the gripper sleeve 11, and the connecting shaft 13 and the slider 121 are insulated and hinged. One end of two or more connecting rods 122 is hinged to the slider 121, and the other end is connected to one end of the pressure rod 123. The pressure rod 123 is arranged in a one-to-one correspondence with the connecting rod 122, and the middle position is hinged to the gripper sleeve 11, and the other end is used to clamp the operating tool. Specifically, the slider 121 is slidably disposed in the gripper sleeve 11, and the shape of the slider 121 is set to correspond to the internal shape of the gripper sleeve 11. For example, the slider 121 adopts a cylindrical structure, and one end of the slider 121 can be connected to the connecting shaft 13 by a hinged connection, so that the transmission of each component is flexible and smooth, avoiding the occurrence of stagnation or jamming of the transmission system. The two connecting rods 122 are relatively arranged on both sides of the slider 121 in the axial direction, and one end is hingedly extended into the slider 121, and the other end is hinged to the end of the pressure rod 123. The pressure rod 123 and the connecting rod 122 are arranged in a one-to-one correspondence. The middle position of the pressure rod 123 is hingedly arranged with the outer wall of the grip sleeve 11, and the other end protrudes from the head end of the connecting sleeve 21 to be used for clamping with the operating clamp. It should be noted that the embodiment of the present application does not limit the specific implementation of the gripper assembly 12. For example, the number of connecting rods 122 and pressure rods 123 can be set to three or more, and they can be evenly and spaced along the circumference of the grip sleeve 11. Therefore, the embodiment of the present application is not limited to this, and those skilled in the art can adjust the settings according to actual conditions.

[0039] In one embodiment of the present application, Figures 1 to 3As shown, the gripping mechanism 1 also includes an articulated assembly 14, which includes an articulated seat 141 and an insulating member 142. One side of the articulated seat 141 is connected to the slider 121, and the insulating member 142 is provided between the articulated seat 141 and the slider 121; the other side of the articulated seat 141 is hingedly connected to the end of the connecting shaft 13. Specifically, the articulated seat 141 is a disc-shaped structure that can be connected to the slider 121 by bolts. The slider 121 can be provided with a corresponding flange. The insulating member 142 can be provided between the articulated seat 141 and the flange to achieve an insulated connection between the two. The other side of the articulated seat 141 can be provided with a C-shaped groove, into which the end of the connecting shaft 13 extends. A pin is used to achieve the articulated connection between the articulated seat 141 and the connecting shaft 13, so that the connecting shaft 13 can swing left and right relative to the articulated seat 141. The above design not only realizes a movable connection between the connecting shaft 13 and the slider 121, thereby improving the flexibility of the transmission system, but also realizes an insulating connection between the two, thereby improving the safety and reliability of the embodiment of the present application.

[0040] In one embodiment of the present application, Figures 1 to 3 As shown, a spline structure is used to connect the connecting shaft 13 and the gripper sleeve 11. The spline structure includes a spline sleeve 15 fixedly disposed within the gripper sleeve 11 and splines formed on the outer circumference of the connecting shaft 13. Specifically, the spline structure can be used to achieve transmission between the connecting shaft 13 and the gripper sleeve 11 without interfering with the telescopic movement of the connecting shaft 13. Specifically, a spline sleeve 15 can be separately disposed within the connecting sleeve 21 and fixedly connected to the connecting sleeve 21. The spline sleeve 15 has internal splines on its inner circumferential wall, while the connecting shaft 13 has external splines formed on its outer circumferential wall. The two splines nest together to enable the self-rotation of the connecting sleeve 21.

[0041] Furthermore, a copper sleeve is provided between the spline sleeve 15 and the connecting shaft 13, making the axial movement between the connecting shaft 13 and the spline sleeve 15 smoother and effectively improving the reliability and stability of the implementation of this application. It should be noted that the embodiments of this application are not limited to the specific implementation of the spline structure. For example, other types of self-lubricating bearings can also be provided between the spline sleeve 15 and the connecting shaft 13. Therefore, the embodiments of this application are not limited to this, and those skilled in the art can adjust the configuration according to their actual situation.

[0042] In one embodiment of the present application, Figures 1 to 3As shown, the gripper sleeve 11 includes a load-bearing section 111, a transmission section 112, and a connecting section 113. The load-bearing section 111 is used to mount the gripper assembly 12. The transmission section 112 is connected to the load-bearing section 111 and the connecting section 113 at both ends, respectively. The transmission section 112 and the load-bearing section 111 are insulated from each other, and a spline sleeve 15 is provided within the transmission section 112. The connecting section 113 is movably connected to the connecting sleeve 21. Specifically, the gripper sleeve 11 can adopt a split structure, that is, the gripper sleeve 11 specifically includes the load-bearing section 111, the transmission section 112, and the connecting section 113. The load-bearing section 111 is used to mount the gripper assembly 12. The load-bearing section 111 and the transmission section 112 are connected by bolts, and an insulating component is provided between the two to achieve insulation between them, thereby improving the reliability and stability of the embodiment of the present application. The two sections of the transmission section 112 are provided with spline sleeves 15, and the two ends of the transmission section 112 are respectively connected to the load-bearing section 111 and the connecting section 113, and the connecting section 113 is connected to the connecting sleeve 21, and the various components are connected by bolts, but the embodiment of the present application does not limit the specific connection method. The above design not only facilitates the disassembly and maintenance of the spline sleeve 15, but also facilitates the disassembly and maintenance of the gripping mechanism 1, thereby greatly improving the maintenance efficiency of the present application. It should be noted that the embodiment of the present application does not limit the specific implementation of the gripping sleeve 11. For example, the spline sleeve 15 can be integrally formed inside the connecting section 113 to facilitate replacement and maintenance. Therefore, the embodiment of the present application is not limited to this, and those skilled in the art can adjust the settings according to actual conditions.

[0043] In one embodiment of the present application, Figures 1 to 3 As shown, a bearing seat and a bearing are disposed between the connecting section 113 and the connecting sleeve 21. The bearing seat is fixedly connected to the connecting sleeve 21, and the bearing is located between the connecting section 113 and the bearing seat. A labyrinth seal structure is provided between the connecting section 113 and the bearing seat to protect the bearing. Specifically, the bearing seat can be fixedly connected to the end of the connecting sleeve 21 by welding to increase the strength between the two. The bearing is disposed on the bearing seat, and the connecting section 113 is sleeved on the bearing. A labyrinth seal structure is provided between the connecting section 113 and the bearing seat to prevent dust from entering the bearing, thereby increasing the bearing's service life and extending the maintenance cycle of the embodiment of the present application. The labyrinth seal structure, for example, comprises multiple raised rings on the end face of the connecting section 113 and multiple grooves on the end face of the bearing seat. The two grooves nest together to achieve a sealing effect. This structure is not only simple and practical, but also effectively reduces application and manufacturing costs. However, the embodiment of the present application is not limited to the specific implementation of the labyrinth seal structure.

[0044] In one embodiment of the present application, Figures 1 to 3As shown, the transmission section 112 includes a first connecting portion and a second connecting portion, both of which are insulated. The first connecting portion is connected to the load-bearing section 111, and the second connecting portion is connected to the connecting section 113. The splined sleeve 15 is disposed on the second connecting portion and located between the first and second connecting portions. Specifically, the first and second connecting portions are both sleeve structures, and an insulating component is disposed between them to achieve an insulated connection. That is, the first connecting portion is insulated from both the load-bearing section 111 and the second connecting portion, achieving double insulation of the gripper sleeve 11, thereby further improving the safety performance of the embodiment of the present application, thereby increasing stability and service life.

[0045] Furthermore, a spline sleeve 15 is provided on the end face adjacent to the second connecting part and the first connecting part, and the second connecting part and the first connecting part are connected by a flange and bolts to achieve a detachable connection between the two, thereby facilitating maintenance and replacement of the spline sleeve 15, thereby improving work efficiency.

[0046] In one embodiment of the present application, Figures 1 to 5 As shown, the drive mechanism 3 includes a drive shaft 31, a telescopic assembly 32 and a drive assembly 33. The two ends of the drive shaft 31 are respectively hinged to the transmission shaft 22 and the telescopic assembly 32. The telescopic assembly 32 drives the transmission shaft 22 to perform a telescopic movement through the drive shaft 31; the drive assembly 33 is connected to the middle part of the drive shaft 31 for driving the drive shaft 31 to perform a rotational movement. Specifically, the two ends of the drive shaft 31 are respectively hinged to the transmission shaft 22 and the telescopic assembly 32, thereby achieving an active connection of the entire transmission system, avoiding the occurrence of jamming, greatly reducing the occurrence rate of failures, and effectively avoiding equipment shutdowns caused by failures, thereby improving economic benefits. The drive assembly 33 is arranged near the connecting sleeve 21, and is used to cooperate with the middle part of the drive shaft 31 for transmission. For example, the drive assembly 33 can also adopt a spline structure to drive the drive shaft 31. The specific implementation method can refer to the setting method of the connecting shaft 13, and will not be repeated here. This design allows drive assembly 33 to be kept away from heat and dust while avoiding mechanical interference with the drive of telescopic assembly 32, thereby improving the safety and stability of drive assembly 33. Telescopic assembly 32 is fixedly connected to drive assembly 33. This embodiment of the present application utilizes a three-stage transmission system, with each stage being articulated. This simplifies the structure, facilitates assembly and maintenance, and effectively improves transmission efficiency.

[0047] Usage: The telescopic portion 321 of the telescopic assembly 32 drives the drive shaft 31 to telescope, and then the drive shaft 31 drives the transmission shaft 22 to telescope, and then the connecting shaft 13 drives the gripper assembly 12 to open and close.

[0048] In one embodiment of the present application, Figures 1 to 5As shown, the end position of the drive shaft 31 has a limit groove; the drive mechanism 3 includes a connecting component 34, one side of the connecting component 34 is hinged to the telescopic part 321 of the telescopic component 32, and the other side of the connecting component 34 is sleeved in the limit groove and rollingly engaged with the limit groove through a self-lubricating bearing. Specifically, a limit groove is provided at the end position of the drive shaft 31 close to the telescopic component 32, and the limit groove extends along the circumference of the drive shaft 31, so that a boss is formed at the end of the drive shaft 31 to facilitate engagement and transmission with the connecting component 34. The connecting component 34 includes a disc-shaped fixed seat 341 and two semi-annular retaining rings 342, wherein the fixed and telescopic components 32 are connected in an articulated manner, and the two retaining rings 342 are engaged with the outer periphery of the limit groove and fixedly connected to the fixed seat 341, and are used to drive the drive shaft 31 to perform telescopic movements.

[0049] Furthermore, to prevent the retaining ring 342 from interfering with the rotation of the drive shaft 31, a self-lubricating bearing can be provided between the retaining ring 342 and the limiting groove. The self-lubricating bearing can be implemented, for example, using two semi-annular copper sleeves. The above design allows the present application to utilize a relatively simple structure, achieving the telescopic movement of the drive shaft 31 without interfering with the self-rotation movement of the gripper mechanism 1. Furthermore, the design facilitates disassembly and maintenance, thereby effectively reducing the application and maintenance costs of the present application.

[0050] In one embodiment of the present application, Figures 1 to 5 As shown, the drive mechanism 3 further includes a connecting base 35, a housing 36, and a shielding base 37, which are connected in sequence. The connecting base 35, housing 36, and shielding base 37 are all hollow structures and coaxially arranged. One side of the connecting base 35 is connected to the connecting sleeve 21, and the drive assembly 33 is fixed to the other side of the connecting base 35. The slewing bearing of the drive assembly 33 is coaxially arranged within the housing 36. The fixed portion of the telescopic assembly 32 is located at the end of the shielding base 37, and the telescopic portion 321 of the telescopic assembly 32 extends into the shielding base 37 for connection with the drive shaft 31. Specifically, the connecting base 35, housing 36, and shielding base 37 are all circular sleeve structures. One end of the connecting base 35 is fixedly connected to the end of the connecting sleeve 21, and the other end is connected to the drive assembly 33. The housing 36 is disposed outside the drive assembly 33. For example, if the drive assembly 33 utilizes a hydraulic motor in conjunction with a slewing bearing, the housing 36 can be disposed around the outer periphery of the slewing bearing. The open end of the shielding seat 37 is connected to the shell 36 to cover the telescopic part 321 of the telescopic assembly 32, the connecting assembly 34 and part of the drive shaft 31 to prevent dust from damaging the transmission system, thereby further improving stability and reliability.

[0051] Furthermore, in order to prevent the connecting component 34 from rotating with the drive shaft 31, a locking pin 38 can be used to fix the connection between the connecting component 34 and the shielding seat 37. Due to the presence of the copper sleeve, the drive shaft 31 can rotate freely without driving the telescopic component 32 to rotate together, thereby avoiding damage to the telescopic component 32.

[0052] By applying the embodiments of the present application, at least the following beneficial effects can be achieved:

[0053] In this embodiment, the ends of the connecting sleeve are connected to a gripper mechanism and a drive mechanism, respectively. Power is transmitted via a drive shaft, enabling the gripper mechanism to grasp and rotate the operating tool, thereby performing the furnace unloading operation. The transmission mechanism keeps the drive mechanism away from heat sources, thus preventing damage from high temperatures. Furthermore, the placement of the drive shaft within the connecting sleeve effectively prevents transmission jams caused by dust, significantly reducing the failure rate of this embodiment and improving the reliability and stability of the device.

[0054] It will be understood that the above embodiments are merely exemplary embodiments for illustrating the principles of the present invention, and the present invention is not limited thereto. Those skilled in the art will appreciate that various modifications and improvements can be made without departing from the spirit and substance of the present invention, and such modifications and improvements are also considered to be within the scope of protection of the present invention.

[0055] In the description of this application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are 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 cannot be understood as a limitation on the present invention.

[0056] 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 technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0057] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0058] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0059] The above description is only part of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A manipulator of a submerged arc furnace unloading robot, used to grab an operating tool to perform unloading operations on the submerged arc furnace; characterized in that: include: A gripping mechanism (1), a transmission mechanism (2) and a driving mechanism (3); The gripping mechanism (1) comprises a gripping sleeve (11) and a gripping assembly (12); the gripping assembly (12) is mounted on the gripping sleeve (11) and is partially located at one end of the gripping sleeve (11) facing the ore-heating furnace; the other end of the gripping sleeve (11) is movably connected to the end of the transmission mechanism (2) and is self-rotatable relative to the transmission mechanism (2); The transmission mechanism (2) comprises a connecting sleeve (21) and a transmission shaft (22), wherein the transmission shaft (22) is mounted in the connecting sleeve (21); the two ends of the connecting sleeve (21) are respectively connected to the gripping sleeve (11) and the driving mechanism (3); the two ends of the transmission shaft (22) are respectively transmitted to the gripping mechanism (1) and the driving mechanism (3); The driving mechanism (3) is suitable for driving the transmission shaft (22) to drive the gripping mechanism (1) to extend and rotate, so that the gripping assembly (12) is closed or opened for grasping and releasing the operating tool.

2. The manipulator of the submerged arc furnace unloading robot according to claim 1, characterized in that: The gripping mechanism (1) further comprises a connecting shaft (13) located in the gripping sleeve (11), wherein both ends of the connecting shaft (13) are respectively connected to the gripping assembly (12) and the transmission shaft (22), and are used for driving the gripping assembly (12) to open and close through telescopic action; The connecting shaft (13) is suitable for moving along the axis of the grip sleeve (11), and the outer peripheral wall of the connecting shaft (13) is connected to the inner peripheral wall of the grip sleeve (11) and is used to drive the grip sleeve (11) to rotate by rotating.

3. The manipulator of the submerged arc furnace unloading robot according to claim 2, characterized in that: The gripper assembly (12) comprises a slider (121), a connecting rod (122) and a pressure rod (123); the slider (121) is slidably mounted in the gripper sleeve (11); the outer diameter of the slider (121) is adapted to the inner diameter of the gripper sleeve (11); The connecting shaft (13) and the slider (121) are insulated and hingedly installed; The connecting rods (122) are provided in multiple groups, and the number of the pressure rods (123) is provided in a one-to-one correspondence with the number of the connecting rods (122); One end of the connecting rod (122) is hinged to the slider (121), and the other end is hinged to the end of the pressure rod (123) away from the submerged arc furnace; Multiple groups of pressure rods (123) are circumferentially distributed along the axis of the gripping sleeve (11); the middle portion of the rod body of the pressure rod (123) is hinged to the gripping sleeve (11), and the end away from the driving mechanism (3) is used to clamp the operating tool.

4. The manipulator of the submerged arc furnace unloading robot according to claim 3, characterized in that: The gripping mechanism (1) further comprises an articulated assembly (14), the articulated assembly (14) comprising an articulated seat (141) and an insulating member (142), and an insulating member (142) is provided between the articulated seat (141) and the slider (121), the articulated seat (141), the insulating member (142) and the slider (121) being connected by bolts; the side of the articulated seat (141) facing away from the slider (121) is articulated to the end of the connecting shaft (13).

5. The manipulator of the submerged arc furnace unloading robot according to claim 2, characterized in that: The connecting shaft (13) and the gripping sleeve (11) are connected to each other by a spline structure. The spline structure comprises a spline sleeve (15) fixedly arranged in the grip sleeve (11), and a spline formed on the outer peripheral surface of the connecting shaft (13); A spline sleeve (15) is provided in the connecting sleeve (21), and the spline sleeve (15) is fixedly connected to the connecting sleeve (21); an internal spline is provided on the inner peripheral wall of the spline sleeve (15), and an external spline is provided on the outer peripheral wall of the connecting shaft (13), and the internal spline and the external spline are nested and matched.

6. The manipulator of the submerged arc furnace unloading robot according to claim 5, characterized in that: The grip sleeve (11) comprises a bearing section (111), a transmission section (112) and a connecting section (113); the bearing section (111) is used to install the grip assembly (12); the two ends of the transmission section (112) are respectively connected to the bearing section (111) and the connecting section (113) by mounting bolts; the transmission section (112) and the bearing section (111) are insulated and connected by bolts; a spline sleeve (15) is provided in the transmission section (112); the connecting section (113) is movably connected to the connecting sleeve (21); A bearing seat and a bearing are installed between the connecting section (113) and the connecting sleeve (21); the bearing seat is fixedly connected to the connecting sleeve (21), and the bearing is arranged on the bearing seat; the bearing is located between the connecting section (113) and the bearing seat, and a labyrinth seal is installed between the connecting section (113) and the bearing seat.

7. The manipulator of the submerged arc furnace unloading robot according to claim 6, characterized in that: The transmission section (112) comprises a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion are insulated and connected by bolts, the first connecting portion is connected to the bearing section (111), and an end of the second connecting portion away from the first connecting portion is connected to the connecting section (113); The spline sleeve (15) is installed in the first connecting part.

8. The manipulator of the submerged arc furnace unloading robot according to claim 1, characterized in that: The driving mechanism (3) comprises a driving shaft (31), a telescopic assembly (32), a driving assembly (33) and a connecting assembly (34); one end of the driving shaft (31) is hinged to the transmission shaft (22), and the other end is in transmission with the telescopic assembly (32); the telescopic assembly (32) drives the transmission shaft (22) to perform a telescopic action through the driving shaft (31); the driving assembly (33) is in transmission connection with the middle part of the driving shaft (31) and is used to drive the driving shaft (31) to perform a rotational action; The end of the drive shaft (31) is provided with a limiting groove; one side of the connecting component (34) is hingedly connected to the telescopic portion (321) of the telescopic component (32); the other side of the connecting component (34) is sleeved in the limiting groove and is rollingly matched with the limiting groove by installing a self-lubricating bearing.

9. The manipulator of the submerged arc furnace unloading robot according to claim 8, characterized in that: The connecting assembly (34) includes a disc-shaped fixing seat (341) and two semi-annular snap rings (342), and the fixing seat (341) and the telescopic assembly 32 are hingedly connected; The two snap rings (342) are engaged with the outer periphery of the limiting groove and are fixedly connected to the fixing seat (341) to drive the driving shaft (31) to extend and retract.

10. The manipulator of the submerged arc furnace unloading robot according to claim 9, characterized in that: The driving mechanism (3) further comprises a connecting seat (35), a shell (36) and a shielding seat (37) connected in sequence, wherein the connecting seat (35), the shell (36) and the shielding seat (37) are all hollow structures and are coaxially mounted; One side of the connecting seat (35) is connected to the connecting sleeve (21), and the driving assembly (33) is fixed to the other side of the connecting seat (35); the housing (36) is arranged outside the driving assembly (33); the output end of the driving assembly (33) is suitable for driving the driving shaft (31) to rotate; The telescopic assembly (32) is provided with a fixed portion and a telescopic portion (321), the fixed portion is located at the end of the shielding seat (37), and the telescopic portion (321) of the telescopic assembly (32) extends into the shielding seat (37) for connection with the drive shaft (31); A locking pin (38) is also installed between the connecting assembly (34) and the shielding seat (37), and the locking pin (38) extends out of the shielding seat (37).

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