Operating arm device for a furnace robot

Abstract

The embodiment of the present application provides an operating arm device of a furnace discharge robot. The operating arm device comprises a large arm mechanism, a gripper mechanism and a multi-axis detection mechanism. The large arm mechanism comprises a large arm body and a moving vehicle. The moving vehicle is slidingly arranged on the large arm body and is used to carry the gripper mechanism and the multi-axis detection mechanism. The gripper mechanism comprises a gripper body and a support structure. The gripper body is arranged on the support structure and can rotate along the axis of the gripper body. The gripper body is used to grasp and drive an operating tool. The support structure is arranged on the moving vehicle through the multi-axis detection mechanism. The multi-axis detection mechanism comprises a detection structure and a connecting structure. The detection structure is connected with the moving vehicle and the support structure and is used to detect multi-axis force data of the gripper mechanism. The connecting structure is arranged between the detection structure and the moving vehicle and is used to absorb the impact force of the gripper mechanism. The embodiment of the present application can avoid damage to the operating tool and greatly reduce the failure rate of the furnace discharge robot.

Description

Technical Field

[0001] This application relates to the field of submerged arc furnace tapping technology, and more specifically, to a manipulator device for a submerged arc furnace tapping robot. Background Technology

[0002] Currently, submerged arc furnaces are mainly used for smelting ferroalloys such as ferrosilicon, ferromanganese, ferromanganese, and ferrochrome. They are also used for smelting industrial raw materials such as calcium carbide and industrial silicon. The furnace-front operations in submerged arc furnace smelting production are not only characterized by high temperatures but also by large amounts of dust and noise. It is the most labor-intensive and dangerous process in smelting production, and is extremely prone to safety risks such as burns and mechanical injuries.

[0003] In current technology, the operation of submerged arc furnaces is still mainly manual. With the rapid development of technology, enterprises have gradually reduced the manual operation links and adopted furnace unloading robots to achieve automation. However, existing furnace unloading robots generally have low levels of automation and intelligence. For example, when using the burn-through device to open holes, the carbon rods are prone to breakage when they hit the furnace wall, resulting in a high failure rate. In addition, when the unloading robot performs hole-pulling operations, it cannot judge the stress on the equipment, resulting in greater impact forces on the equipment and causing damage. Summary of the Invention

[0004] This application addresses the shortcomings of existing methods by proposing a manipulator arm device for a submerged arc furnace tapping robot, which solves the technical problems of high failure rate and easy equipment damage in the prior art.

[0005] In a first aspect, embodiments of this application provide a manipulator arm device for a submerged arc furnace (SAF) unloading robot, used to grasp operating tools to perform unloading operations on the SAF, comprising: a main arm mechanism, a gripper mechanism, and a multi-axis detection mechanism; the main arm mechanism includes a main arm body and a moving carriage, the moving carriage being slidably disposed on the main arm body for supporting the gripper mechanism and the multi-axis detection mechanism; the gripper mechanism includes a gripper body and a support structure, the gripper body being disposed on the support structure and capable of rotating along its own axis, the gripper body being used to grasp and drive the operating tool; the support structure being disposed on the moving carriage via the multi-axis detection mechanism; the multi-axis detection mechanism includes a detection structure and a connecting structure, the detection structure being connected to the moving carriage and the support structure for detecting multi-axis force data of the gripper mechanism; the connecting structure being disposed between the detection structure and the moving carriage for absorbing the impact force of the gripper mechanism.

[0006] In one embodiment of this application, the detection structure includes a support plate, a multi-axis sensor, and a connecting plate. The support plate is disposed on the mobile vehicle and is used to support a plurality of multi-axis sensors, which are evenly and spaced apart on the support plate. The connecting plate covers the support plate and is connected to the plurality of multi-axis sensors. The top surface of the connecting plate is connected to the support structure.

[0007] In one embodiment of this application, the length direction of the connecting plate is parallel to the axial direction of the boom body; the plurality of multi-axis sensors are arranged in a rectangular array, and the distance between any two adjacent multi-axis sensors in the length direction of the connecting plate is greater than or equal to 400 mm; and the distance between any two adjacent multi-axis sensors in the width direction of the connecting plate is greater than or equal to 250 mm.

[0008] In one embodiment of this application, the connection structure includes two movable connection components. One end of each movable connection component is fixedly connected to the connection plate, and the other end is fixedly mounted on the mobile vehicle. The two movable connection components are disposed away from the gripper body to absorb the impact force of the gripper mechanism.

[0009] In one embodiment of this application, the movable connection assembly includes a connecting rod and a ball joint. One end of the connecting rod is movably connected to the ball joint, and the other end is hinged to the end of the connecting plate. The rated dynamic load of the ball joint is 40kN or more.

[0010] In one embodiment of this application, the movable connection assembly further includes a mounting base, a fisheye bearing, and a connecting lug. The bottom of the mounting base is connected to the mobile vehicle, and the side is used to mount the ball joint. The other end of the connecting rod is hinged to the connecting lug via the fisheye bearing, and the connecting lug is disposed at the end of the connecting plate.

[0011] In one embodiment of this application, the support structure includes a support base and a back plate. The support base and the back plate are arranged side by side and spaced apart along the axial direction of the main arm body. The rotating part of the gripper body is rolled within the support base, and a pressure sensor is provided between the end of the rotating part and the back plate. The pressure sensor is used to detect the axial force data of the gripper body.

[0012] In one embodiment of this application, the operating arm device further includes a shock-absorbing structure disposed on the back plate and located on opposite sides of the back plate, respectively, to absorb the impact force received by the gripper body and relieve the load.

[0013] In one embodiment of this application, the shock absorption structure includes two shock absorption components, which are arranged side by side in a horizontal direction, and one end of each shock absorption component is connected to the back plate, while the bottom of the other end is slidably engaged with the detection structure.

[0014] In one embodiment of this application, the shock absorption assembly includes a spring damper, a counterweight, and a slide rail assembly. The two ends of the spring damper are respectively connected to the back plate and the side of the counterweight. The bottom surface of the counterweight slides with the top surface of the detection structure through the slide rail assembly.

[0015] In one embodiment of this application, the gripper mechanism further includes a rotating component and a telescopic component. The rotating component is disposed between the end of the rotating part and the pressure sensor, and one side of the rotating component is connected to the end of the rotating part, and the other side is connected to the back plate. The rotating component is used to drive the gripper body to rotate. The telescopic component is disposed on the multi-axis detection mechanism and can pass through the back plate to connect with the gripper body, and is used to drive the gripper body's claws to open and close.

[0016] In one embodiment of this application, the boom mechanism further includes a driver, a transmission wheel, and a flexible transmission component. The driver and the transmission wheel are respectively disposed at both ends of the boom body. The flexible transmission component is disposed around the output end of the driver and the transmission wheel, and both ends of the flexible transmission component are respectively fixedly connected to both ends of the mobile vehicle. The driver drives the mobile vehicle to move at a preset speed through the flexible transmission component to provide impact force to the gripper body. The preset speed is 1 to 3 meters per second.

[0017] The beneficial technical effects of the technical solutions provided in this application are:

[0018] In this embodiment of the invention, a mobile cart moves along the boom body to move the gripper mechanism, which then grasps the operating tool. The gripper mechanism is mounted on the mobile cart via a multi-axis detection mechanism, allowing the detection structure to directly detect the multi-axis forces acting on the gripper mechanism. Furthermore, the impact force is transmitted to the mobile cart through a connecting structure, preventing damage to the operating tool, effectively reducing the possibility of accidents, minimizing the impact of strong impacts on the equipment, increasing equipment durability and long-term stability, and improving safety. Moreover, due to the modular design of this application, by connecting the boom body to different types of submerged arc furnace unloading robots, compatibility with various types of submerged arc furnaces can be achieved, thereby significantly improving the applicability and scope of this application.

[0019] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0020] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0021] Figure 1 This is a schematic diagram of the structure of an operating arm device provided in an embodiment of this application;

[0022] Figure 2 A schematic diagram illustrating the structure of a gripper mechanism, a multi-axis detection mechanism, and a mobile vehicle in cooperation, provided in an embodiment of this application;

[0023] Figure 3 This is a schematic diagram of the structure of a multi-axis detection mechanism provided in an embodiment of this application;

[0024] Figure 4 This is a schematic diagram of the structure of a gripper mechanism and a multi-axis detection mechanism in cooperation, provided for an embodiment of this application. Detailed Implementation

[0025] This application is described in detail below. Examples of embodiments of this application are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. Furthermore, detailed descriptions of known technologies that are unnecessary for the features of this application are omitted. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0026] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0027] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments.

[0028] This application provides a manipulator arm device for a submerged arc furnace tapping robot, used to grasp manipulators and perform tapping operations on the submerged arc furnace. A schematic diagram of the manipulator arm device is shown below. Figure 1As shown, the system includes: a boom mechanism 1, a gripper mechanism 2, and a multi-axis detection mechanism 3; the boom mechanism 1 includes a boom body 11 and a moving carriage 12, the moving carriage 12 being slidably mounted on the boom body 11 to support the gripper mechanism 2 and the multi-axis detection mechanism 3; the gripper mechanism 2 includes a gripper body 21 and a support structure 22, the gripper body 21 being mounted on the support structure 22 and capable of rotating along its own axis, the gripper body 21 being used to grip and drive the operating tool; the support structure 22 being mounted on the moving carriage 12 via the multi-axis detection mechanism 3; the multi-axis detection mechanism 3 includes a detection structure 31 and a connecting structure 32, the detection structure 31 being connected to the moving carriage 12 and the support structure 22, and being used to detect the multi-axis force data of the gripper mechanism 2; the connecting structure 32 being located between the detection structure 31 and the moving carriage 12, and being used to absorb the impact force of the gripper mechanism 2.

[0029] like Figure 1 As shown, the submerged arc furnace tapping robot can be used for tapping operations in submerged arc furnaces such as ferroalloy, industrial silicon, and calcium carbide. The manipulator device of this application can be adapted to different types of submerged arc furnace tapping robots. The boom mechanism 1 includes a boom body 11 and a moving carriage 12. The boom body 11 has a rectangular structure. Two hinge seats are provided at the bottom of the boom body 11 for cooperation with different submerged arc furnace tapping robots. A track is provided on the top surface of the boom body 11. The moving carriage 12 is slidably mounted on the track. The moving carriage 12 can be equipped with a rolling wheel assembly and a guide wheel assembly for rolling cooperation and guidance with the track. The moving carriage 12 is used to carry the gripper mechanism 2 and the multi-axis detection mechanism 3, and drives the gripper mechanism 2 to reciprocate along the furnace hole direction of the submerged arc furnace. The gripper body 21 is mounted on the multi-axis detection mechanism 3 via a support structure 22. One end of the gripper body 21 is located within the support structure 22 and can rotate relative to it, while the other end is used to grip the operating tool. The support structure 22 is mounted on the multi-axis detection mechanism 3 to facilitate the detection of impact forces from multiple directions on the gripper body 21. The multi-axis detection mechanism 3 includes a detection structure 31 and a connecting structure 32. The detection structure 31 is mounted on the moving carriage 12 and supports the gripper mechanism 2. When the gripper mechanism 2 is subjected to an impact force, the detection structure 31 can directly receive the impact force, thereby acquiring multi-axis force data for closed-loop control of the operating arm device. For example, when the impact force is large, the moving carriage 12 can be stopped from moving forward or directly controlled to move backward. The connecting structure 32 is disposed between the detection structure 31 and the moving vehicle 12. That is, when the gripper mechanism 2 is subjected to an impact force, the connecting structure 32 can transmit the impact force to the moving vehicle 12, thereby avoiding damage to the detection structure 31, and thus reducing the failure rate and extending the service life of this embodiment.

[0030] In practical applications, the mobile carriage 12 drives the gripper mechanism 2 to move. After the gripper mechanism 2 moves to the end of the boom body 11, it grabs different operating tools, which may include a burn-through device, a chisel, a plug, etc., to perform different operations. During the burn-through process, the mobile carriage 12 travels to the front end of the boom body 11 and grabs the burn-through device on the tool rack. The front end of the boom body 11 refers to the end of the boom body 11 closest to the furnace hole, and the end furthest from the furnace hole is the rear end. The gripper mechanism 2 drives the burn-through device to align with the furnace hole for burn-through. The detection structure 31 can detect the force on the carbon rod at the front end of the burn-through device when it hits the furnace wall in various directions and obtain multi-axis force data. Once the load is exceeded, the mobile carriage 12 can be stopped or an alarm can be triggered, thereby preventing the carbon rod from breaking due to the force. During the opening process, the gripper mechanism 2 grabs the chisel to open the hole. The mobile carriage 12 can use a high-torque, high-power drive motor to achieve strong impact load operation during the opening and pulling processes.

[0031] In this embodiment of the invention, a mobile cart moves along the boom body to move the gripper mechanism, which then grasps the operating tool. The gripper mechanism is mounted on the mobile cart via a multi-axis detection mechanism, allowing the detection structure to directly detect the multi-axis forces acting on the gripper mechanism. Furthermore, the impact force is transmitted to the mobile cart through a connecting structure, preventing damage to the operating tool, effectively reducing the possibility of accidents, minimizing the impact of strong impacts on the equipment, increasing equipment durability and long-term stability, and improving safety. Moreover, due to the modular design of this application, by connecting the boom body to different types of submerged arc furnace unloading robots, compatibility with various types of submerged arc furnaces can be achieved, thereby significantly improving the applicability and scope of this application.

[0032] In one embodiment of this application, as Figure 1 and Figure 3 As shown, the detection structure 31 includes a support plate 311, a multi-axis sensor 312, and a connecting plate 313. The support plate 311 is mounted on the moving vehicle 12 and is used to support multiple multi-axis sensors 312. The multiple multi-axis sensors 312 are evenly and spaced apart on the support plate 311. The connecting plate 313 covers the support plate 311 and is connected to the multiple multi-axis sensors 312. The top surface of the connecting plate 313 is connected to the support structure 22.

[0033] like Figure 1 and Figure 3As shown, the support plate 311 is specifically a rectangular plate structure. The support plate 311 is connected to the mobile vehicle 12, for example, by bolts. Four multi-axis sensors 312 can be installed on the support plate 311, and the multi-axis sensors 312 are located at the four corners of the support plate 311. The multi-axis sensors 312 are, for example, triaxial sensors. However, the embodiments of this application do not limit the specific type of multi-axis sensors 312. Those skilled in the art can adjust the settings according to the actual situation. The connecting plate 313 also adopts a rectangular plate structure. The top of the connecting plate 313 is used to install the gripper mechanism 2. The connecting plate 313 covers the top of the support plate 311 and is connected to multiple multi-axis sensors 312. The length of the connecting plate 313 can be slightly longer than that of the support plate 311, and the rear end of the connecting plate 313 can have a bent portion for connecting with the connecting structure 32. With the above configuration, by setting multiple multi-axis sensors 312 on the support plate 311, the assembly and disassembly of the detection structure 31 becomes simpler and more convenient. Furthermore, the multiple multi-axis sensors 312 are evenly distributed and can withstand impact forces individually, thereby improving the service life of this embodiment. The connecting plate 313 is located between the multi-axis sensors 312 and the gripper mechanism 2, allowing the impact force to be evenly transmitted to the multiple multi-axis sensors 312, thus significantly improving detection accuracy. It should be noted that this embodiment is not limited in the number or type of multi-axis sensors 312; those skilled in the art can adjust them according to actual conditions.

[0034] In one embodiment of this application, as Figure 3 As shown, the length direction of the connecting plate 313 is parallel to the axial direction of the boom body 11; multiple multi-axis sensors 312 are arranged in a rectangular array, and the distance between any two adjacent multi-axis sensors 312 in the length direction of the connecting plate 313 is greater than or equal to 400 mm; and the distance between any two adjacent multi-axis sensors 312 in the width direction of the connecting plate 313 is greater than or equal to 250 mm. Specifically, since the connecting plate 313 has a rectangular structure, the four multi-axis sensors 312 are respectively arranged at the four corners of the connecting plate 313, that is, the four multi-axis sensors 312 can be arranged in a rectangular array. This method can not only effectively improve the detection accuracy, but also avoid damage caused by uneven force on the multi-axis sensors 312, thereby improving the stability of the embodiments of this application. However, this application does not limit the specific number of multi-axis sensors 312. For example, the number of multi-axis sensors 312 is only required to be arranged in a rectangular array, and those skilled in the art can adjust the setting according to the actual situation. Along the length of the connecting plate 313, the distance between any two adjacent multi-axis sensors 312 is 400 mm or more; along the width of the connecting plate 313, the distance between any two adjacent multi-axis sensors 312 is 250 mm or more. This design facilitates the detection of the bending moment at the front end of the carbon rod in the burn-through device, preventing the carbon rod from breaking due to excessive force, thereby improving the stability and safety of the embodiments of this application.

[0035] In one embodiment of this application, as Figure 2 and Figure 3 As shown, the connection structure 32 includes two movable connection components 321. One end of each movable connection component 321 is fixedly connected to the connecting plate 313, and the other end is fixedly mounted on the moving vehicle 12. The two movable connection components 321 are positioned away from the gripper body 21 to absorb the impact force of the gripper mechanism 2. Specifically, the two movable connection components 321 are arranged side-by-side at the rear end of the connecting plate 313, along the width direction of the connecting plate 313, for example, fixedly connected to the bent portion at the rear end of the connecting plate 313. The other end of each movable connection component 321 is fixedly connected to the moving vehicle 12. Using two movable connection components 321 can effectively distribute the impact force received by the gripper mechanism 2, thereby further improving the detection accuracy of the detection structure 31. The movable connection components 321 themselves have a certain degree of mobility, allowing the connecting plate 313 to shift under force, thereby further improving the detection accuracy of the detection structure 31. However, this embodiment does not limit the number of movable connection components 321; those skilled in the art can adjust the configuration according to actual conditions.

[0036] In one embodiment of this application, as Figure 2 and Figure 3 As shown, the movable connection assembly 321 includes a connecting rod 322 and a ball joint 323. One end of the connecting rod 322 is movably connected to the ball joint 323, and the other end is hinged to the end of the connecting plate 313. Optionally, the rated dynamic load of the ball joint 323 is 40kN or more. Specifically, one end of the connecting rod 322 has a ball head for engaging with the ball joint 323, and the other end is hinged to the connecting plate 313, thereby enabling relative displacement of the connecting plate 313. The ball joint 323 is vertically mounted on the moving vehicle 12, for example, by means of a mounting base 324, or by a baffle protruding from the moving vehicle 12; this application is not limited thereto. In order to withstand greater impact forces, the rated dynamic load of the ball joint 323 is 40kN or more, that is, a single movable connection assembly 321 can withstand a force of more than 4 tons, thereby improving the impact resistance of this application and significantly improving the working efficiency of eye-opening and eye-pulling operations. It should be noted that the embodiments of this application do not limit the specific structure of the active connection component 321, and those skilled in the art can adjust the settings according to the actual situation.

[0037] In one embodiment of this application, as Figure 2 and Figure 3As shown, the movable connecting assembly 321 also includes a mounting base 324, a fisheye bearing, and a connecting lug 325. The bottom of the mounting base 324 is connected to the mobile carriage 12, and its side is used to mount the ball joint 323. The other end of the connecting rod 322 is hinged to the connecting lug 325 via the fisheye bearing. The connecting lug 325 is located at the end of the connecting plate 313. Specifically, the mounting base 324 is vertically mounted on the mobile carriage 12. Two triangular reinforcing plates are provided on one side of the mounting base 324, and the other side is used to mount the ball joint 323 in the above embodiment. One end of the connecting rod 322 is provided with a ball head, and the other end is equipped with a fisheye bearing. The fisheye bearing is connected to the end of the connecting plate 313 via the connecting lug 325. For example, a pivot shaft can be used to pass through the connecting lug 325 and the fisheye bearing in sequence, and then be fixedly connected to the connecting lug 325, thereby realizing the hinge between the movable connecting assembly 321 and the connecting plate 313. The above design can effectively improve the flexibility of movement between the movable connecting component 321 and the connecting plate 313, avoid mechanical interference to the movement of the connecting plate 313, and while transmitting impact force, it can also greatly improve the detection accuracy of the detection structure 31, thereby further enhancing the safety and stability of the embodiments of this application.

[0038] In one embodiment of this application, as Figure 2 and Figure 3 As shown, the support structure 22 includes a support base 221 and a back plate 222. The support base 221 and the back plate 222 are arranged side by side and spaced apart along the axial direction of the boom body 11. The rotating part of the gripper body 21 is rolled within the support base 221, and a pressure sensor 5 is provided between the end of the rotating part and the back plate 222. The pressure sensor 5 is used to detect the axial force data of the gripper body 21. Specifically, the support base 221 can be, for example, a bearing housing, which is divided into upper and lower parts. The support base 221 is set on the connecting plate 313 and is used to install the gripper body 21. The rotating part of the gripper body 21 is set within the support base 221, and the right end is exposed. The rotating assembly can be connected to this end to drive the gripper body 21 to rotate. The back plate 222 is arranged vertically on the connecting plate 313 and is spaced apart from the support base 221 on the left side. The space between the two is used to install the rotating assembly. The pressure sensor 5 is disposed between the end face of the rotating part and the back plate 222 to detect the axial impact force on the gripper body 21, so as to obtain the axial force data of the gripper body 21. The axial force data may specifically include the rebound force, impact intensity and collision time of the gripper body 21, so as to predict and judge the subsequent impact process, avoid the impact of strong impact on the equipment, thereby forming a closed-loop control, and thus improving the safety and stability of the embodiment of this application.

[0039] In one embodiment of this application, as Figure 2As shown, the operating arm device also includes a shock-absorbing structure 4, which is disposed on the back plate 222 and located on opposite sides of the back plate 222 along with the pressure sensor 5. This structure absorbs and unloads the impact force received by the gripper body 21. Specifically, the pressure sensor 5 is disposed on one side of the back plate 222, and the shock-absorbing structure 4 is disposed on the other side, meaning the pressure sensor 5 is located on opposite sides of the back plate 222. With this design, even when the gripper body 21 is subjected to a strong impact, the stiffness and damping of the shock-absorbing structure 4 can be adjusted to achieve efficient unloading, thereby reducing the impact force on the embodiment of this application and further improving the stability and safety of this application.

[0040] In one embodiment of this application, as Figures 2 to 4 As shown, the shock-absorbing structure 4 includes two shock-absorbing components 41, which are arranged side by side in a horizontal direction. One end of each shock-absorbing component 41 is connected to the back plate 222, and the bottom of the other end is slidably engaged with the detection structure 31. Specifically, the two shock-absorbing components 41 are arranged side by side in a water direction, with one end connected to the back plate 222 and the other end extending away from the back plate 222. The bottom of the other end of the shock-absorbing component 41 can also be slidably engaged with the connecting plate 313. With the above design, not only can the gripper body 21 be unloaded evenly, but the slidable connection with the connecting plate 313 can also avoid the weight of the shock-absorbing component 41 from affecting the unloading, thereby improving the unloading effect and thus improving the safety and stability of the embodiments of this application.

[0041] In one embodiment of this application, as Figure 2 and Figure 4 As shown, the shock absorption assembly 41 includes a spring damper 42, a counterweight 43, and a slide rail assembly 44. The two ends of the spring damper 42 are connected to the back plate 222 and the sides of the counterweight 43, respectively. The bottom surface of the counterweight 43 slides against the top surface of the detection structure 31 via the slide rail assembly 44. Specifically, the two ends of the spring damper 42 are connected to the back plate 222 and the sides of the counterweight 43, respectively. For example, the spring damper 42 can be connected to both via bolts, but this application is not limited to this. The counterweight 43 can be a cube structure, and the specific material is not limited, as long as it achieves the purpose of counterweighting. The bottom surface of the counterweight 43 is connected to the connecting plate 313 via the slide rail assembly 44, thereby achieving a sliding arrangement between the counterweight 43 and the connecting plate 313. With the above design, the embodiments of this application are not only simple in structure but also effectively reduce application and maintenance costs. However, this application embodiment is not limited to this. For example, the counterweight 43 can also be directly supported by the spring damper 42, and this application embodiment does not limit the specific type of spring damper 42, as long as it can achieve the corresponding function.

[0042] In one embodiment of this application, as Figures 2 to 4As shown, the gripper mechanism 2 also includes a rotating component 23 and a telescopic component 24. The rotating component 23 is disposed between the end of the rotating part and the pressure sensor 5, with one side connected to the end of the rotating part and the other side connected to the back plate 222. The rotating component 23 is used to drive the gripper body 21 to rotate. The telescopic component 24 is disposed on the multi-axis detection mechanism 3 and can pass through the back plate 222 to connect with the gripper body 21, used to drive the opening and closing of the gripper body 21's claws. Specifically, the rotating component 23 is disposed between the support base 221 and the back plate 222, and the pressure sensor 5 can be disposed between the rotating component 23 and the back plate 222. The rotating component 23 is sleeved on the rotating part of the gripper body 21 and is used to drive the gripper body 21 to rotate. The rotating component 23 can be implemented, for example, by using a hydraulic motor in conjunction with a slewing support, but this application is not limited to this, and the power source of the rotating component 23 can also be an electric motor. The telescopic component 24 is mounted on the connecting plate 313 of the connecting mechanism. The telescopic component 24 can be implemented using, for example, a hydraulic or electric telescopic cylinder. It can be fixedly connected to the connecting plate 313 via a support frame and is also connected to the gripper body 21 via a transmission mechanism, thereby enabling the opening and closing of the grippers on the gripper body 21. This design makes the structure of the embodiments of this application simple and easy to implement. Furthermore, the use of a hydraulic drive system improves the stability and accuracy of control. The hydraulic drive system also improves the heat resistance of this application, thereby increasing its applicability while reducing the failure rate.

[0043] In one embodiment of this application, as Figure 1 As shown, the boom mechanism 1 also includes a driver 13, a transmission wheel 14, and a flexible transmission component 15. The driver 13 and the transmission wheel 14 are respectively disposed at both ends of the boom body 11. The flexible transmission component 15 is disposed around the output end of the driver 13 and the transmission wheel 14, and both ends of the flexible transmission component 15 are fixedly connected to both ends of the moving vehicle 12. The driver 13 drives the moving vehicle 12 to move at a preset speed through the flexible transmission component 15, which is used to provide impact force to the gripper body 21. Optionally, the preset speed is 1 to 3 meters per second.

[0044] like Figure 1As shown, the driver 13 can be implemented using a high-impact motor. Specifically, the driver 13 can have a power of 28KW or higher, a torque of 178nm or higher, and a speed of 2500r / m or higher. Using these parameters, the moving vehicle 12 can be driven to move at high speed, thereby increasing the impact force of the gripper body 21. That is, the preset speed of the moving vehicle 12 can reach 1-3 m / s. However, this application embodiment does not limit the specific type and parameters of the driver 13, as long as it enables the moving vehicle 12 to reach the preset speed. With the above design, this application embodiment can provide a strong impact force when performing eye-opening and eye-pulling operations, thereby significantly improving the work efficiency of this application embodiment and thus improving economic benefits. The drive wheel 14 can be a sprocket, for example, and the flexible transmission component 15 can be a chain. The driver 13 and the drive wheel 14 are respectively located at both ends of the boom body 11. The flexible transmission component 15 is wound around the output end of the driver 13 and the drive wheel 14, and its two ends are connected to the front and rear ends of the mobile vehicle 12. The driver 13 drives the mobile vehicle 12 to move through the flexible transmission component 15. This design not only significantly improves transmission efficiency but also reduces application and manufacturing costs and facilitates maintenance, thereby greatly reducing maintenance costs.

[0045] By applying the embodiments of this application, at least the following beneficial effects can be achieved:

[0046] In this embodiment of the invention, a mobile cart moves along the boom body to move the gripper mechanism, which then grasps the operating tool. The gripper mechanism is mounted on the mobile cart via a multi-axis detection mechanism, allowing the detection structure to directly detect the multi-axis forces acting on the gripper mechanism. Furthermore, the impact force is transmitted to the mobile cart through a connecting structure, preventing damage to the operating tool, effectively reducing the possibility of accidents, minimizing the impact of strong impacts on the equipment, increasing equipment durability and long-term stability, and improving safety. Moreover, due to the modular design of this application, by connecting the boom body to different types of submerged arc furnace unloading robots, compatibility with various types of submerged arc furnaces can be achieved, thereby significantly improving the applicability and scope of this application.

[0047] It is understood that the above embodiments are merely exemplary implementations used to illustrate the principles of the present invention, and the present invention is not limited thereto. For those skilled 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 considered to be within the scope of protection of the present invention.

[0048] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0049] 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 number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0050] In the description of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0051] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0052] The above description is only a partial embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A manipulator arm device for a submerged arc furnace tapping robot, used to grasp manipulators to perform tapping operations on the submerged arc furnace, characterized in that, include: boom mechanism, gripper mechanism and multi-axis detection mechanism; The boom mechanism includes a boom body and a mobile vehicle. The mobile vehicle is slidably mounted on the boom body and is used to support the gripper mechanism and the multi-axis detection mechanism. The gripper mechanism includes a gripper body and a support structure. The gripper body is disposed on the support structure and can rotate along its own axis. The gripper body is used to grip and drive the operating tool. The support structure is disposed on the mobile vehicle through the multi-axis detection mechanism. The multi-axis detection mechanism includes a detection structure and a connecting structure. The detection structure is connected to the mobile vehicle and the support structure, and is used to detect the multi-axis force data of the gripper mechanism. The connecting structure is disposed between the detection structure and the mobile vehicle, and is used to absorb the impact force of the gripper mechanism. The detection structure includes a support plate, multi-axis sensors, and a connecting plate. The support plate is mounted on the mobile vehicle. Multiple multi-axis sensors are evenly and spaced apart and arranged in a matrix on the support plate. The lower end of each multi-axis sensor is mounted on the support plate, and the upper end is fitted with a measuring hole in the connecting plate. The top surface of the connecting plate is connected to the support structure. The connecting structure includes two movable connecting components. One end of each movable connecting component is fixedly connected to the connecting plate, and the other end is fixedly mounted on the mobile vehicle. The two movable connecting components are positioned away from the gripper body to absorb the impact force of the gripper mechanism.

2. The operating arm device as described in claim 1, characterized in that, The length direction of the connecting plate is parallel to the axial direction of the boom body; the multiple multi-axis sensors are arranged in a rectangular array, and the distance between any two adjacent multi-axis sensors in the length direction of the connecting plate is greater than or equal to 400 mm; and the distance between any two adjacent multi-axis sensors in the width direction of the connecting plate is greater than or equal to 250 mm.

3. The operating arm device as described in claim 1, characterized in that, The movable connection assembly includes a connecting rod and a ball joint. One end of the connecting rod is movably connected to the ball joint, and the other end is hinged to the end of the connecting plate. The rated dynamic load of the ball joint is 40kN or more.

4. The operating arm device as described in claim 3, characterized in that, The movable connection assembly also includes a mounting base, a fisheye bearing, and a connecting lug. The bottom of the mounting base is connected to the mobile vehicle, and the side is used to mount the ball joint. The other end of the connecting rod is hinged to the connecting lug via the fisheye bearing, and the connecting lug is located at the end of the connecting plate.

5. The operating arm device as described in claim 1, characterized in that, The support structure includes a support base and a back plate. The support base and the back plate are arranged side by side and spaced apart along the axial direction of the main arm body. The rotating part of the gripper body is rolled within the support base, and a pressure sensor is provided between the end of the rotating part and the back plate. The pressure sensor is used to detect the axial force data of the gripper body.

6. The operating arm device as described in claim 5, characterized in that, The operating arm device also includes a shock-absorbing structure, which is disposed on the back plate and located on opposite sides of the back plate, respectively, with respect to the pressure sensor, for absorbing the impact force on the gripper body and unloading it.

7. The operating arm device as described in claim 6, characterized in that, The shock absorption structure includes two shock absorption components, which are arranged side by side in a horizontal direction. One end of each shock absorption component is connected to the back plate, and the bottom of the other end is slidably engaged with the detection structure.

8. The operating arm device as described in claim 7, characterized in that, The shock absorption assembly includes a spring damper, a counterweight, and a slide rail assembly. The two ends of the spring damper are respectively connected to the back plate and the side of the counterweight. The bottom surface of the counterweight slides with the top surface of the detection structure through the slide rail assembly.

9. The operating arm device as described in claim 5, characterized in that, The gripper mechanism further includes a rotating component and a telescopic component. The rotating component is disposed between the end of the rotating part and the pressure sensor, with one side of the rotating component connected to the end of the rotating part and the other side connected to the back plate. The rotating component is used to drive the gripper body to rotate. The telescopic component is disposed on the multi-axis detection mechanism and can pass through the back plate to connect with the gripper body, and is used to drive the gripper body's claws to open and close.

10. The operating arm device as claimed in claim 1, characterized in that, The boom mechanism also includes a driver, a transmission wheel, and a flexible transmission component. The driver and the transmission wheel are respectively disposed at both ends of the boom body. The flexible transmission component is disposed around the output end of the driver and the transmission wheel, and both ends of the flexible transmission component are respectively fixedly connected to both ends of the mobile vehicle. The driver drives the mobile vehicle to move at a preset speed through the flexible transmission component to provide impact force to the gripper body. The preset speed is 1 to 3 meters per second.

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