AGV (Automatic Guided Vehicle) slagging-off vehicle

Abstract

The invention relates to an AGV (Automatic Guided Vehicle) slagging-off vehicle, which belongs to the technical field of slagging-off devices, and comprises an AGV trolley, a slagging-off rod, a slagging-off shovel, two groups of four-bar mechanisms and two groups of pushing mechanisms, and the slagging-off rod is arranged above the AGV trolley; the slagging-off shovel is connected to the slagging-off rod; the two groups of four-bar mechanisms are respectively fixed on two sides of the slagging-off rod in parallel; each pushing mechanism comprises an angle oil cylinder and a lifting oil cylinder, the angle oil cylinders are located behind the lifting oil cylinders, cylinder bodies of the angle oil cylinders are hinged to the AGV, and the telescopic ends of the angle oil cylinders are hinged to hinge points of the upper portions of the rear ends of the four corresponding rod bodies. A cylinder body of the lifting oil cylinder is hinged to the AGV trolley, and the telescopic end of the lifting oil cylinder is hinged to hinge points of the lower portions of the front ends of the four corresponding rod bodies. According to the automatic slagging-off device, the slagging-off rod and the slagging-off shovel are arranged on the AGV firstly, then the rod bodies on the two opposite sides of the two sets of four-connecting-rod mechanisms are fixed to the two opposite sides of the slagging-off rod correspondingly, automatic displacement and automatic slagging-off can be achieved, human intervention is reduced, the labor intensity is lowered, and the slagging-off efficiency and the slagging-off effect are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of slag scraping devices, in particular to an AGV slag scraping vehicle. Background Art

[0002] At present, slag cleaning mainly relies on manual or semi-automated equipment, which is not only inefficient and labor-intensive, but also has a low safety factor and is prone to scratching accidents. In addition, the existing slag removal equipment lacks adaptive control capabilities, and is prone to positioning deviations or mechanical failures, especially in complex high-temperature environments.

[0003] Therefore, how to design an AGV slag removal vehicle with a simple structure, high degree of automation, low labor intensity and high slag cleaning efficiency is a problem that technical personnel in this field urgently need to solve. Summary of the Invention

[0004] The present invention provides an AGV slag scraper vehicle, which solves the technical problems of existing slag scraping equipment being complex, having a low degree of automation, having a low slag scraping efficiency, having a high labor intensity and having a low slag cleaning efficiency.

[0005] The technical solution of the present invention to solve the above technical problems is as follows: an AGV scraper vehicle, comprising: an AGV trolley, a scraper rod, a scraper shovel, two sets of four-bar linkage mechanisms and three sets of pushing mechanisms.

[0006] The slag scraper rod is arranged above the AGV trolley in the front-to-back direction, and the front end of the slag scraper rod extends out of the AGV trolley; the slag scraper shovel is detachably connected to the front end of the slag scraper rod; two groups of four-bar linkages are respectively distributed in parallel on both sides of the slag scraper rod and each group of four-bar linkages is composed of four rods hinged in sequence in a "mouth" shape, and the rear end lower hinge points of the four rods of the two groups of four-bar linkages are all hinged on the AGV trolley; the two sides of the slag scraper rod are respectively fixed on the opposite rods of the two groups of four-bar linkages; one group of pushing mechanisms is distributed at the end of the slag scraper rod, and the pushing mechanism includes a hydraulic motor. The two groups of pushing mechanisms are respectively distributed in parallel on both sides of the slag scraping rod and each group of pushing mechanisms includes an angle cylinder and a lifting cylinder. The angle cylinder is located behind the lifting cylinder and its cylinder body is hinged on the AGV trolley, and its telescopic end is hinged on the upper hinge point of the rear end of the corresponding four rod bodies; the cylinder body of the lifting cylinder is hinged on the AGV trolley and its telescopic end is hinged on the lower hinge point of the front end of the corresponding four rod bodies, so that the slag scraping shovel can perform slag scraping operations under the coordinated cooperation of the three groups of angle cylinders, the lifting cylinders and the hydraulic motor.

[0007] The beneficial effects of the present invention are: improving the traditional slag scraper mechanism, firstly setting the slag scraper rod and the slag scraper shovel on the AGV trolley, and then fixing the rod bodies on the opposite sides of the two sets of four-link mechanisms on the opposite sides of the slag scraper rod respectively; since the cylinder body of the angle cylinder is hinged on the AGV trolley and its telescopic end is hinged on the upper hinge point of the rear end of the corresponding four rod bodies, and the cylinder body of the lifting cylinder is hinged on the AGV trolley and its telescopic end is hinged on the lower hinge point of the front end of the corresponding four rod bodies, it can move independently, clean slag independently, reduce human intervention, reduce labor intensity, and improve slag scraping efficiency and effect.

[0008] On the basis of the above technical solution, the present invention can also be improved as follows.

[0009] Furthermore, the slag scraper rod includes a slag scraper main rod, a fixed plate and a mounting seat, and the mounting seat, the fixed plate and the slag scraper main rod are fixedly connected in sequence along the front-to-back direction; the two groups of the four-bar linkages have opposite rod bodies fixed on both sides of the fixed plate respectively; the slag scraper shovel is detachably connected to the mounting seat.

[0010] Furthermore, it also includes a temperature shielding plate, which is fixed to the front end of the AGV trolley; the slag scraping rod is located above the temperature shielding plate; and the slag scraping shovel is located in front of the temperature shielding plate.

[0011] The above method has the further beneficial effect of: using the heat shield plate to block high temperature radiation, the high temperature radiation can be avoided from impacting the AGV car, thereby extending the service life of the AGV car.

[0012] Furthermore, it also includes a counterweight block, which is fixed to the rear end of the AGV vehicle.

[0013] A further beneficial effect of the above method is that by fixing the counterweight block at the rear end of the AGV trolley, the AGV trolley can be prevented from tipping over when the slag scraper is shoveling the residue, thereby improving the safety of the slag scraping operation.

[0014] Furthermore, it also includes a laser radar, which is fixed at the front end of the AGV vehicle.

[0015] Furthermore, it also includes a temperature sensor, which is fixed at the front end of the AGV vehicle.

[0016] Furthermore, it also includes a camera, the visual camera, and the visual camera is fixed on the front end of the AGV vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of an AGV slag scraper vehicle of the present invention;

[0018] Figure 2This is a schematic diagram of the connection structure of two sets of four-link mechanisms and three sets of push rod mechanisms in an AGV slag scraper vehicle of the present invention;

[0019] Figure 3 The figure is a schematic structural diagram of a slag scraper bar and a slag scraper shovel in an AGV slag scraper vehicle of the present invention.

[0020] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0021] 1. AGV trolley, 2. Slag scraper rod, 21, 22. Fixed plate, 23. Mounting seat, 3. Slag scraper, 4. Rod body, 5. Angle cylinder, 6. Lifting cylinder, 7. Temperature shield plate, 8. Counterweight. DETAILED DESCRIPTION

[0022] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0023] like Figure 1 As shown, an AGV scraper vehicle includes: an AGV vehicle 1, a scraper rod 2, a scraper shovel 3, two sets of four-bar linkage mechanisms and three sets of pushing mechanisms.

[0024] The slag scraper rod 2 is arranged above the AGV trolley 1 in the front-to-back direction, and the front end of the slag scraper rod 2 extends out of the AGV trolley 1; the slag scraper shovel 3 is detachably connected to the front end of the slag scraper rod 2; two groups of four-bar linkages are respectively distributed in parallel on both sides of the slag scraper rod 2 and each group of four-bar linkages is composed of four rod bodies 4 hinged in sequence in a "mouth" shape, and the rear end lower hinge points of the four rod bodies 4 of the two groups of four-bar linkages are all hinged on the AGV trolley 1; the two sides of the slag scraper rod 2 are respectively fixed on the opposite rod bodies 4 of the two groups of four-bar linkages; one group of the pushing mechanisms is distributed at the end of the slag scraper rod, and the pushing mechanism includes a hydraulic motor. The two groups of pushing mechanisms are respectively distributed in parallel on both sides of the slag scraping rod 2 and each group of pushing mechanisms includes an angle cylinder 5 and a lifting cylinder 6. The angle cylinder 5 is located behind the lifting cylinder 6 and its cylinder body is hinged on the AGV trolley 1, and its telescopic end is hinged at the upper hinge point of the rear end of the corresponding four rod bodies 4; the cylinder body of the lifting cylinder 6 is hinged on the AGV trolley 1 and its telescopic end is hinged at the lower hinge point of the front end of the corresponding four rod bodies 4, so that the slag scraping shovel 3 can realize the slag scraping operation under the coordinated cooperation of the two groups of angle cylinders 5 and lifting cylinders 6.

[0025] like Figure 3 As shown, in some specific embodiments, the slag scraper rod 2 includes a slag scraper main rod 21, a fixed plate 22 and a mounting seat 23, and the mounting seat 23, the fixed plate 22 and the slag scraper main rod 21 are fixedly connected in sequence from front to back; the two groups of relative rod bodies 4 of the four-bar linkage are respectively fixed on both sides of the fixed plate 22; the slag scraper 3 is detachably connected to the mounting seat 23.

[0026] like Figure 1 As shown, in some specific embodiments, a heat shield plate 7 is further included, which is fixed at the front end of the AGV trolley 1 ; the slag scraper bar 2 is located above the heat shield plate 7 ; and the slag scraper 3 is located in front of the heat shield plate 7 .

[0027] like Figure 1 As shown, in some specific embodiments, a counterweight block 8 may also be included, and the counterweight block 8 is fixed at the rear end of the AGV vehicle 1.

[0028] In some specific embodiments, a laser radar may also be included, and the laser radar is fixed at the front end of the AGV vehicle 1.

[0029] In some specific embodiments, a temperature sensor may also be included, and the temperature sensor is fixed at the front end of the AGV trolley 1 .

[0030] In some specific embodiments, a camera, a visual camera, may also be included, and the visual camera is fixed at the front end of the AGV vehicle 1.

[0031] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An AGV slag scraper, characterized in that: include: AGV car (1), A slag scraping rod (2) and a slag scraping shovel (3), wherein the slag scraping rod (2) is arranged above the AGV trolley (1) in the front-to-back direction, and the front end of the slag scraping rod (2) extends out of the AGV trolley (1); the slag scraping shovel (3) is detachably connected to the front end of the slag scraping rod (2); Two groups of four-bar linkages, the two groups of four-bar linkages are respectively distributed in parallel on both sides of the slag scraping rod (2), and each group of the four-bar linkages is composed of four rods (4) hinged in sequence in a "mouth" shape, and the rear end lower hinge points of the four rods (4) of the two groups of the four-bar linkages are all hinged on the AGV trolley (1); the two sides of the slag scraping rod (2) are respectively fixed on the rods (4) opposite to each other in the two groups of the four-bar linkages; Two groups of pushing mechanisms are respectively distributed in parallel on both sides of the slag scraping rod (2) and each group of pushing mechanisms includes an angle cylinder (5) and a lifting cylinder (6). The angle cylinder (5) is located behind the lifting cylinder (6) and its cylinder body is hinged on the AGV trolley (1), and its telescopic end is hinged on the upper hinge point of the rear end of the corresponding four rod bodies (4); the cylinder body of the lifting cylinder (6) is hinged on the AGV trolley (1) and its telescopic end is hinged on the lower hinge point of the front end of the corresponding four rod bodies (4), so that the slag scraping shovel (3) can achieve slag scraping operation under the coordinated cooperation of the two groups of angle cylinders (5) and the lifting cylinder (6).

2. The AGV slag scraper according to claim 1, characterized in that: The slag scraping rod (2) comprises a slag scraping main rod (21), a fixing plate (22) and a mounting seat (23); the mounting seat (23), the fixing plate (22) and the slag scraping main rod (21) are fixedly connected in sequence from front to back; the rod bodies (4) of the two groups of the four-bar linkages that are opposite to each other are respectively fixed on both sides of the fixing plate (22); and the slag scraper (3) is detachably connected to the mounting seat (23).

3. The AGV slag scraper according to claim 1, characterized in that: It also includes a heat shield (7), which is fixed to the front end of the AGV trolley (1); the slag scraper rod (2) is located above the heat shield (7); and the slag scraper (3) is located in front of the heat shield (7).

4. The AGV scraper according to claim 1, characterized in that: It also includes a counterweight (8), which is fixed to the rear end of the AGV trolley (1).

5. The AGV scraper according to claim 1, characterized in that: It also includes a laser radar, which is fixed at the front end of the AGV vehicle (1).

6. The AGV slag scraper according to claim 1, characterized in that: It also includes a temperature sensor, which is fixed on the front end of the AGV trolley (1).

7. The AGV slag scraper according to claim 1, characterized in that: It also includes a camera, the visual camera being fixed at the front end of the AGV trolley (1).

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