Manipulator device of submerged arc furnace discharging robot

Abstract

The embodiment of the invention provides a manipulator device of a submerged arc furnace discharging robot. A grabbing mechanism of the manipulator device comprises a grabbing base and a clamping jaw structure, the clamping jaw structure is arranged on the grabbing base and partially located at the clamping end of the grabbing base, and the clamping jaw structure is closed to be used for fixing an operation tool to the clamping end; the slewing mechanism comprises a driving structure and a connecting sleeve, the driving structure is arranged on an operation large arm of the furnace discharging robot, and the driving structure is connected with the connecting end of the grabbing seat through the connecting sleeve and used for driving the grabbing mechanism to rotate automatically; the telescopic mechanism comprises a driver and a connecting shaft, the tail end of the connecting shaft is connected with the driver, the head end of the connecting shaft penetrates through the driving structure and the connecting sleeve and then is movably connected with the clamping jaw structure of the grabbing mechanism, and the driver drives the connecting shaft to stretch out and draw back so as to drive the clamping jaw structure to be closed or opened and is used for grabbing or loosening an operation tool. According to the embodiment of the invention, the possibility of faults can be effectively reduced, and the durability and long-term stability of equipment are improved.

Description

Technical Field

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

[0002] Currently, operations in front of submerged arc furnaces (SEMs) are not only highly intensive but also dusty and noisy, making them the most labor-intensive and dangerous processes in the smelting process. With the advancement of technology, companies are gradually reducing manual operations and automating these processes by adopting furnace unloading robots. During the unloading process, these robots are required to grasp various tools to perform processes such as burning, opening, pulling, and plugging the holes. They also need to withstand the high temperatures in the furnace, placing high demands on their stability and reliability.

[0003] In the existing technology, the furnace-unloading robot needs to grasp and rotate various operating tools to complete the furnace-unloading operation. However, the structure of the manipulator in the existing technology is relatively complex and prone to jamming. It is not convenient to repair after a failure, which greatly affects production efficiency. In addition, since the manipulator itself is large in size, it not only affects the flexibility of operation, but also easily causes a large load on the furnace-unloading robot due to its heavy weight, thereby affecting the service life of the furnace-unloading robot. Summary of the Invention

[0004] In view of the shortcomings of the existing methods, this application proposes a manipulator device for an electric arc furnace unloading robot to solve the technical problems of the existing technology such as complex structure and large size.

[0005] In a first aspect, an embodiment of the present application provides a manipulator device of an electric arc furnace unloading robot, which is used to grasp different operating tools to perform the unloading operation of the electric arc furnace, including: a grasping mechanism, a rotating mechanism and a telescopic mechanism; the grasping mechanism includes a grasping seat and a claw structure, the grasping seat has a clamping end and a connecting end; the claw structure is arranged on the grasping seat and is partially located at the clamping end of the grasping seat, and the claw structure is closed to fix the operating tool to the clamping end; the rotating mechanism includes a driving structure and a connecting sleeve, the driving structure is arranged on the operating arm of the unloading robot, the driving structure is connected to the connecting end of the grasping seat through the connecting sleeve, and is used to drive the grasping mechanism to rotate; the telescopic mechanism includes a driver and a connecting shaft, the tail end of the connecting shaft is connected to the driver, and the head end passes through the driving structure and the connecting sleeve and is movably connected to the claw structure of the grasping mechanism. The driver drives the connecting shaft to retract or retract to drive the claw structure to close or open, so as to grasp or release the operating tool.

[0006] In one embodiment of the present application, the rotating mechanism also includes a fixed seat and a fixed plate, the fixed seat and the fixed plate are fixedly arranged, and there is an installation space between the two, the driving structure is located in the installation space, and is fixedly connected to the fixed plate, and the connecting sleeve is passed through the fixed seat and can rotate relative to the fixed seat.

[0007] In one embodiment of the present application, the fixing seat includes a base, a first bearing and a pressure cover. The base is fixedly arranged, the first bearing is sleeved in the middle position of the connecting sleeve, and the pressure cover is covered on the base to tighten the first bearing.

[0008] In one embodiment of the present application, the driving structure includes a slewing bearing and a driving assembly, the inner ring of the slewing bearing is fixedly connected to the fixed plate, and the outer ring of the slewing bearing is connected to the end of the connecting sleeve; the driving assembly is transmission-connected to the outer ring, and is used to drive the connecting sleeve to rotate through the outer ring.

[0009] In one embodiment of the present application, the telescopic mechanism further includes a sliding assembly, the sliding assembly is disposed on the fixed plate, the connecting shaft sleeve is disposed in the sliding assembly, and can slide axially relative to the sliding assembly.

[0010] In one embodiment of the present application, the telescopic mechanism also includes a connecting component, which is fixedly connected to the claw structure and movably connected to the head end of the connecting shaft. The connecting shaft drives the claw structure to close or open through the connecting component, and the connecting component can rotate relative to the connecting shaft.

[0011] In one embodiment of the present application, a locking groove is provided on the outer peripheral surface of the head end of the connecting shaft; the connecting component includes a movable seat and a connecting seat, and the two movable seats cooperate to form a locking opening, the inner diameter of the locking opening is smaller than the outer diameter of the connecting shaft and larger than the outer diameter of the locking groove, and the connecting seat is located between the movable seat and the claw structure, and is fixedly connected to both.

[0012] In one embodiment of the present application, the connecting assembly further includes a second bearing, which is disposed in the engaging opening and sleeved on the outer periphery of the engaging groove, and the second bearing is clearance-matched with the bottom surface of the engaging groove.

[0013] In one embodiment of the present application, the telescopic mechanism also includes an anti-rotation component, which includes an anti-rotation base and an anti-rotation lock pin. The anti-rotation base is fixedly arranged, and a guide groove is provided on the top of the anti-rotation base. The guide groove extends along the axial direction of the connecting shaft; the anti-rotation lock pin is arranged on the connecting shaft, and one end of the anti-rotation lock pin slides in cooperation with the guide groove to allow the connecting shaft to freely extend and retract and prevent self-rotation.

[0014] In one embodiment of the present application, the telescopic mechanism also includes a support seat; the driver includes a fixed part and a telescopic part, the fixed part is hinged to the support seat through two ear plates, the telescopic part is passed through the support seat, and one end is located in the fixed part, and the other end is hinged to the tail end of the connecting shaft.

[0015] In one embodiment of the present application, the manipulator device further includes an insulating component, wherein the insulating component is disposed between the grabbing seat and the connecting sleeve, and the insulating component is disposed between the claw structure and the connecting shaft.

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

[0017] The embodiment of the present application connects to the gripping mechanism via a connecting sleeve, employing a drive structure to directly drive the gripping mechanism's rotation, and employing a connecting shaft to connect to the gripping mechanism's claw structure to directly drive the claw structure to close or open, without interference between the two. This makes the embodiment of the present application not only simple in structure, but also relatively simple and direct in transmission system overall, thereby effectively reducing the possibility of failure and increasing the durability and long-term stability of the equipment. Furthermore, due to the overall small size of the manipulator device, the load on the submerged arc furnace unloading robot is significantly reduced, further improving the durability and working efficiency of the equipment.

[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] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0020] Figure 1 A schematic structural diagram of a closed state of a claw structure of a manipulator device provided in an embodiment of the present application;

[0021] Figure 2 A schematic structural diagram of a claw structure of a manipulator device provided in an embodiment of the present application in an open state;

[0022] Figure 3A schematic cross-sectional view of a closed state of a claw structure of a manipulator device provided in an embodiment of the present application;

[0023] Figure 4 A schematic cross-sectional view of a manipulator device in an embodiment of the present application with a claw structure in an open state;

[0024] Figure 5 This is a partially enlarged cross-sectional structural schematic diagram of the manipulator device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] 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.

[0026] 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.

[0027] 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.

[0028] The embodiment of the present application provides a manipulator device of a submerged arc furnace unloading robot, which is used to grab different operating tools to perform the unloading operation of the submerged arc furnace. The structural diagram of the manipulator device is shown in FIG. Figure 1 As shown, it includes: a gripping mechanism 1, a rotating mechanism 2 and a telescopic mechanism 3; the gripping mechanism 1 includes a gripping seat 11 and a claw structure 12, the gripping seat 11 has a clamping end and a connecting end; the claw structure 12 is provided on the gripping seat 11 and is partially located at the clamping end of the gripping seat 11, and the claw structure 12 is closed to fix the operating tool to the clamping end; the rotating mechanism 2 includes a driving structure 21 and a connecting sleeve 22, the driving structure 21 is provided on the operating arm of the furnace unloading robot, and the driving structure 21 is connected to the connecting end of the gripping seat 11 through the connecting sleeve 22, and is used to drive the gripping mechanism 1 to rotate;

[0029] The telescopic mechanism 3 includes a driver 31 and a connecting shaft 32. The tail end of the connecting shaft 32 is connected to the driver 31. The head end passes through the driving structure 21 and the connecting sleeve 22 and is movably connected to the claw structure 12 of the grasping mechanism 1. The driver 31 drives the connecting shaft 32 to extend or retract to drive the claw structure 12 to close or open, which is used to grasp or release the operating tool.

[0030] like Figure 1 As shown, the manipulator device provided in the embodiments of the present application can be specifically applied to various types of furnace unloading robots, such as industrial silicon unloading robots, ferroalloy unloading robots, and calcium carbide unloading robots. The manipulator device can be installed on the operating arm of the unloading robot, and the operating arm drives the manipulator to move, thereby grasping various operating tools to perform unloading operations of the unloading furnace. The grasping mechanism 1 includes a grasping seat 11 and a claw structure 12. The grasping seat 11 adopts a structure similar to a conical sleeve. Its relatively small end is a clamping end for clamping the tail end of the operating tool, and its relatively large end is a connecting end for connecting to the connecting sleeve 22. The claw structure 12 is installed on the grasping seat 11 and is partially located in front of the clamping end. It is used to clamp the tail end of the operating tool and cooperate with the clamping end to grasp the operating tool. The rotary mechanism 2 is entirely installed on the base plate 41, which is installed on the operating arm of the unloading robot to support the entire manipulator device. The driving structure 21 is fixedly arranged on the bottom plate 41, and the connecting sleeve 22 can be fixedly connected to the driving structure 21. The driving structure 21 can drive the connecting sleeve 22 to rotate, thereby driving the gripping mechanism 1 and the operating tool to rotate. The telescopic mechanism 3 can be arranged on the bottom plate 41, wherein the driver 31 is fixedly arranged and is connected to the tail end of the connecting shaft 32 by transmission. The head end of the connecting shaft 32 is passed through the driving structure 21 and is connected to the claw structure 12 of the gripping mechanism 1. The driver 31 drives the connecting shaft 32 to extend and retract, thereby driving the closing and opening of the claw structure 12. For details, please refer to Figure 1 and Figure 2 As shown, both show the closed state and the open state of the claw structure 12 respectively, wherein the claw structure 12 is used to grasp the operating tool when closed, and the claw structure 12 is used to release the operating tool when open.

[0031] The embodiment of the present application connects to the gripping mechanism via a connecting sleeve, employing a drive structure to directly drive the gripping mechanism's rotation, and employing a connecting shaft to connect to the gripping mechanism's claw structure to directly drive the claw structure to close or open, without interference between the two. This makes the embodiment of the present application not only simple in structure, but also relatively simple and direct in transmission system overall, thereby effectively reducing the possibility of failure and increasing the durability and long-term stability of the equipment. Furthermore, due to the overall small size of the manipulator device, the load on the submerged arc furnace unloading robot is significantly reduced, further improving the durability and working efficiency of the equipment.

[0032] In one embodiment of the present application, Figure 1 As shown, the rotary mechanism 2 also includes a fixed seat 23 and a fixed plate 24. The fixed seat 23 and the fixed plate 24 are fixedly arranged with an installation space between them. The driving structure 21 is located in the installation space and is fixedly connected to the fixed plate 24. The connecting sleeve 22 is inserted into the fixed seat 23 and can rotate relative to the fixed seat 23. Specifically, the fixed seat 23 can be fixedly arranged on the base plate 41 via a supporting plate 42 to facilitate the disassembly, assembly and maintenance of the rotary mechanism 2. The fixed seat 23 is specifically a hollow structure. The connecting sleeve 22 is inserted into the hollow structure, and the outer periphery of the connecting sleeve 22 rolls with the hollow structure to achieve the self-rotation of the connecting sleeve 22. The fixed plate 24 and the fixed seat 23 are respectively arranged at both ends of the supporting plate 42, and are arranged side by side and spaced apart to ensure an installation space between them. The driving structure 21 is arranged in the installation space and is fixedly connected to the fixed plate 24 to drive the connecting sleeve 22 to rotate. With the above design, since the fixing seat 23 is used to support the connecting sleeve 22, and the driving structure 21 is used to drive the connecting sleeve 22, the embodiment of the present application has a relatively simple structure and high strength, so as to be used for executing processes with large impact forces, thereby not only improving the applicability of the embodiment of the present application, but also greatly improving the stability and service life of the equipment. It should be noted that the embodiment of the present application does not limit the specific implementation of the rotary mechanism 2. For example, the fixing seat 23 and the fixing plate 24 can be directly set on the bottom plate 41, or directly set on the operating arm. 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.

[0033] In one embodiment of the present application, Figures 1 to 2As shown, the fixing seat 23 includes a base 231, a first bearing 232 and a pressure cover 233. The base 231 is fixedly arranged, the first bearing 232 is sleeved in the middle position of the connecting sleeve 22, and the pressure cover 233 covers the base 231 to compress the first bearing 232. Specifically, the base 231 is fixedly arranged on the supporting plate 42. The top surface of the base 231 has a semicircular groove for accommodating and fixing the first bearing 232. The bottom surface of the pressure cover 233 has a semicircular groove in the same phase, which covers the base 231 to compress the first bearing 232. The first bearing 232 is sleeved in the middle position of the connecting sleeve 22, but the present application does not limit its specific position. The technical personnel in this field can adjust the setting according to actual conditions. The connection between the base 231, the pressure cover 233 and the supporting plate 42 can be bolted, making the disassembly and maintenance of the embodiment of the present application relatively simple and quick, thereby greatly improving the maintenance efficiency of the present application. Furthermore, the first bearing 232 can be a self-lubricating bearing such as a copper sleeve, which can effectively improve the high temperature resistance and dustproof characteristics of the present application, thereby significantly improving stability and service life. It should be noted that the present embodiment is not limited to the specific implementation of the fixed seat 23. For example, the first bearing 232 can also be a bearing of other types with the above characteristics, which can also achieve the above effects. Therefore, the present embodiment is not limited to this, and those skilled in the art can adjust the settings according to actual conditions.

[0034] In one embodiment of the present application, Figures 1 to 2As shown, the drive structure 21 includes a slewing bearing 211 and a drive assembly 212. The inner ring of the slewing bearing 211 is fixedly connected to the fixed plate 24, and the outer ring of the slewing bearing 211 is connected to the end of the connecting sleeve 22. The drive assembly 212 is drivingly connected to the outer ring, and is used to drive the connecting sleeve 22 to rotate. Specifically, because the connecting shaft 32 needs to pass through, the drive structure 21 is implemented using the slewing bearing 211. The inner ring of the slewing bearing 211 is fixedly connected to the fixed plate 24 using bolts, while the outer ring of the slewing bearing 211 can be connected to the connecting sleeve 22. The two are connected by a flange and bolts to achieve a detachable connection, thereby facilitating disassembly and maintenance. However, this embodiment of the application is not limited to a specific connection method. The drive assembly 212 can use a hydraulic motor and a worm gear to drive the outer ring, thereby driving the connecting sleeve 22 to rotate. The above-described design makes the structure of the present application simple and reliable, not only improving the driving force, but also further reducing the volume and weight, thereby reducing the load on the submerged arc furnace unloading robot, and effectively reducing the failure rate, thereby improving the stability of the embodiment of the present application. It should be noted that the embodiment of the present application does not limit the specific implementation of the drive structure 21. For example, the drive assembly 212 can also be implemented using an electric motor in conjunction with a gear transmission. 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 circumstances.

[0035] In one embodiment of the present application, Figures 1 to 3 As shown, the telescopic mechanism 3 also includes a sliding assembly 33, which is disposed on the fixed plate 24. The connecting shaft 32 is sleeved within the sliding assembly 33 and can slide axially relative to the sliding assembly 33. Specifically, the fixed plate 24 can have a circular notch for the connecting shaft 32 to pass through. However, to improve transmission efficiency, a sliding assembly 33 can be provided on the fixed plate 24. The connecting shaft 32 cooperates with the sliding assembly 33 to achieve axial movement with the connecting shaft 32. This not only supports the connecting shaft 32 to improve transmission efficiency but also effectively prevents mechanical interference between the connecting shaft 32 and the fixed plate 24. Furthermore, the sliding assembly 33 includes a compression sleeve and a copper sleeve, which are sequentially sleeved around the outer circumference of the connecting shaft 32. The compression sleeve is connected to the fixed plate 24 using bolts, and the compression sleeve is located within the circular notch. The above design can effectively reduce the application and maintenance costs of the embodiment of the present application, thereby improving the economic benefits of the embodiment of the present application. It should be noted that the embodiment of the present application is not limited to a specific embodiment of the sliding assembly 33. For example, the sliding assembly 33 can also be implemented using a linear bearing. Therefore, the embodiments of the present application are not limited thereto, and those skilled in the art can adjust the settings according to actual conditions.

[0036] In one embodiment of the present application, Figures 3 to 5As shown, the telescopic mechanism 3 also includes a connecting component 34, the connecting component 34 is fixedly connected to the claw structure 12, and the connecting component 34 is movably connected to the head end of the connecting shaft 32. The connecting shaft 32 drives the claw structure 12 to close or open through the connecting component 34, and the connecting component 34 can rotate relative to the connecting shaft 32. Specifically, the connecting component 34 can be a cylindrical structure, one end face of which is fixedly connected to the slider 13 of the claw structure 12, and the other end face can be movably connected to the head end of the connecting shaft 32, so that the connecting shaft 32 can drive the slider 13 to move, and the connecting component 34 can rotate relative to the connecting shaft 32 to avoid mechanical interference between the claw structure 12 and the connecting shaft 32 during rotation. It should be noted that the head end of the connecting shaft 32 refers to the end close to the grasping mechanism 1, and the tail end is the end close to the telescopic mechanism 3. For details, please refer to Figures 1 to 4 With the above design, the transmission between the connecting shaft 32 and the claw structure 12 can be realized by adding the connecting assembly 34, and there is no mechanical interference between the two, which makes the structural design of the embodiment of the present application reasonable, thereby further reducing the failure rate.

[0037] In one embodiment of the present application, Figure 5 As shown, the outer circumference of the head end of the connecting shaft 32 is provided with a snap-fit ​​groove; the connecting assembly 34 includes a movable seat 341 and a connecting seat 342. The two movable seats 341 cooperate to form a snap-fit ​​opening. The inner diameter of the snap-fit ​​opening is smaller than the outer diameter of the connecting shaft 32 and larger than the outer diameter of the snap-fit ​​groove. The connecting seat 342 is located between the movable seat 341 and the claw structure 12 and is fixedly connected to both. Specifically, a snap-fit ​​groove is provided near the head end of the connecting shaft 32. The snap-fit ​​groove extends along the circumference of the connecting shaft 32, so that a boss is formed at the head end of the connecting shaft 32 to facilitate the snap-fit ​​transmission of the connected assembly 34. The two movable seats 341 are connected by bolts to form a circular snap-fit ​​opening. The inner circumference of the snap-fit ​​opening is in clearance with the bottom surface of the snap-fit ​​groove, and the inner diameter of the snap-fit ​​opening is smaller than the outer diameter of the connecting shaft 32, that is, the snap-fit ​​opening can be snap-fitted with the above-mentioned boss for transmission. The connecting seat 342 is an integral structure, which can adopt a cylindrical structure. The connecting seat 342 and the above-mentioned slider 13 are connected by flanges and bolts. The two movable seats 341 and the connecting seat 342 are also connected by bolts. The connecting seat 342 is located between the movable seat 341 and the slider 13. The above design allows the present application to adopt a relatively simple structure to achieve the telescopic action of the connecting shaft 32 without interfering with the self-rotation action of the grasping mechanism 1, thereby effectively reducing the application and maintenance costs of the present application. It should be noted that the embodiments of the present application do not limit the specific implementation of the connecting assembly 34, and those skilled in the art can adjust the settings according to actual conditions.

[0038] In one embodiment of the present application, Figure 5As shown, the connecting assembly 34 also includes a second bearing 343, which is arranged in the engaging mouth and is sleeved on the outer periphery of the engaging groove, and the second bearing 343 is clearance-fitted with the bottom surface of the engaging groove. Specifically, the second bearing 343 is implemented by, for example, two semicircular copper sleeves, which are combined and fixed in the engaging mouth, and the second bearing 343 and the engaging groove are clearance-fitted, thereby preventing mechanical interference. Furthermore, due to the provision of the second bearing 343, the rotation between the connecting shaft 32 and the connecting assembly 34 is smoother, thereby further improving stability. It should be noted that the embodiments of the present application do not limit the specific implementation of the second bearing 343. For example, the second bearing 343 can be implemented by other types of self-lubricating bearings, or by other types of bearings. Therefore, the embodiments of the present application are not limited thereto, 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 4 As shown, the telescopic mechanism 3 also includes an anti-rotation assembly 35, which includes an anti-rotation base 351 and an anti-rotation lock pin 352. The anti-rotation base 351 is fixedly mounted and has a guide slot defined at its top that extends axially along the connecting shaft 32. The anti-rotation lock pin 352 is mounted on the connecting shaft 32, and one end of the anti-rotation lock pin 352 slides in the guide slot, allowing the connecting shaft 32 to freely extend and retract while preventing self-rotation. Specifically, the anti-rotation base 351 is fixedly mounted on the base plate 41 and can be a frame structure. The top end of the anti-rotation lock pin 352 can be connected to the connecting shaft 32. Because the connecting shaft 32 and the driver 31 are hinged, the anti-rotation lock pin 352 can be positioned within a gap at the end of the connecting shaft 32, thereby improving the stability of the anti-rotation lock pin 352 and saving space. The bottom of the anti-rotation lock pin 352 extends into the guide slot. Since the guide slot extends axially along the connecting shaft 32, the connecting shaft 32 can only extend and retract axially, preventing rotation. This prevents the gripping mechanism 1 from rotating and thus causing damage to the driver 31, thereby improving safety and stability. It should be noted that the present embodiment does not limit the specific implementation of the anti-rotation assembly 35. For example, the anti-rotation base 351 can also be disposed on the fixed plate 24. Therefore, the present embodiment is not limited to this, and those skilled in the art can adjust the configuration according to actual circumstances.

[0040] In one embodiment of the present application, Figure 1 and Figure 2As shown, the telescopic mechanism 3 also includes a support base 36; the driver 31 includes a fixed portion 311 and a telescopic portion 312. The fixed portion 311 is hinged to the support base 36 via two lugs. The telescopic portion 312 is inserted into the support base 36, with one end located within the fixed portion 311 and the other end hinged to the tail end of the connecting shaft 32. Specifically, the support base 36 is vertically arranged on the base plate 41, and multiple triangular reinforcement plates can be provided on both sides to improve the stability of the structure. The driver 31 can be, for example, a hydraulic telescopic cylinder, an electric telescopic cylinder, or a pneumatic telescopic cylinder. The fixed portion 311 of the driver 31 can be hinged to the support base 36 via two lugs, so that the fixed portion 311 can pitch and roll, thereby preventing jamming during transmission. The telescopic portion 312 of the driver 31 passes through the support base 36 and is hinged to the tail end of the connecting shaft 32, thereby further improving transmission stability.

[0041] In one embodiment of the present application, Figures 1 to 5 As shown, the manipulator device also includes an insulating component 6, an insulating component 6 is provided between the grabbing seat 11 and the connecting sleeve 22, and an insulating component 6 is provided between the claw structure 12 and the connecting shaft 32. Specifically, since the grabbing mechanism 1 needs to grab the charged burner to perform the burning process, the present application requires insulation between the grabbing mechanism 1 and the driving structure 21 to avoid damage to the embodiment of the present application and the ore-fired furnace unloading robot. Specifically, the grabbing seat 11 and the connecting sleeve 22 are connected by flanges and bolts, and insulating material is provided between the two flanges to prevent conductivity between the two. Furthermore, the slider 13 of the claw structure 12 is connected to the connecting seat 342 of the connecting assembly 34 through a flange, and the two are also connected by bolts, and insulating material is also provided between the two. In order to improve the insulation effect, insulating material is provided between the bolts and the grabbing seat 11, the connecting sleeve 22, the slider 13 and the connecting assembly 34, thereby further improving the insulation effect.

[0042] By applying the embodiments of the present application, at least the following beneficial effects can be achieved:

[0043] The embodiment of the present application connects to the gripping mechanism via a connecting sleeve, employing a drive structure to directly drive the gripping mechanism's rotation, and employing a connecting shaft to connect to the gripping mechanism's claw structure to directly drive the claw structure to close or open, without interference between the two. This makes the embodiment of the present application not only simple in structure, but also relatively simple and direct in transmission system overall, thereby effectively reducing the possibility of failure and increasing the durability and long-term stability of the equipment. Furthermore, due to the overall small size of the manipulator device, the load on the submerged arc furnace unloading robot is significantly reduced, further improving the durability and working efficiency of the equipment.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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 device of a submerged arc furnace unloading robot, used to grab different operating tools to perform submerged arc furnace unloading operations, characterized in that: include: Grasping mechanism, rotating mechanism and telescopic mechanism; The gripping mechanism includes a gripping seat and a claw structure, wherein the gripping seat has a clamping end and a connecting end; the claw structure is arranged on the gripping seat and is partially located at the clamping end of the gripping seat, and the claw structure is closed to fix the operating tool to the clamping end; The rotary mechanism includes a driving structure and a connecting sleeve. The driving structure is provided on the operating arm of the unloading robot. The driving structure is connected to the connecting end of the grabbing seat through the connecting sleeve and is used to drive the grabbing mechanism to rotate. The telescopic mechanism includes a driver and a connecting shaft. The tail end of the connecting shaft is connected to the driver, and the head end passes through the driving structure and the connecting sleeve and is movably connected to the claw structure of the grasping mechanism. The driver drives the connecting shaft to extend or retract to drive the claw structure to close or open, so as to grasp or release the operating tool.

2. The robot device according to claim 1, wherein: The rotating mechanism also includes a fixed seat and a fixed plate. The fixed seat and the fixed plate are both fixedly arranged, and there is an installation space between the two. The driving structure is located in the installation space and is fixedly connected to the fixed plate. The connecting sleeve is passed through the fixed seat and can rotate relative to the fixed seat.

3. The robot device according to claim 2, wherein: The fixing seat includes a base, a first bearing and a pressure cover. The base is fixedly arranged, the first bearing is sleeved in the middle position of the connecting sleeve, and the pressure cover is covered on the base to press the first bearing.

4. The robot device according to claim 2, wherein: The driving structure includes a slewing bearing and a driving assembly, the inner ring of the slewing bearing is fixedly connected to the fixed plate, and the outer ring of the slewing bearing is connected to the end of the connecting sleeve; the driving assembly is in transmission connection with the outer ring, and is used to drive the connecting sleeve to rotate through the outer ring.

5. The robot device according to claim 2, wherein: The telescopic mechanism further includes a sliding assembly, which is arranged on the fixed plate. The connecting shaft is sleeved in the sliding assembly and can slide axially relative to the sliding assembly.

6. The robot device according to claim 1, wherein: The telescopic mechanism also includes a connecting component, which is fixedly connected to the claw structure and movably connected to the head end of the connecting shaft. The connecting shaft drives the claw structure to close or open through the connecting component, and the connecting component can rotate relative to the connecting shaft.

7. The robot device according to claim 6, wherein: The outer circumferential surface of the head end of the connecting shaft is provided with a locking groove; the connecting component includes a movable seat and a connecting seat, and the two movable seats cooperate to form a locking opening, the inner diameter of the locking opening is smaller than the outer diameter of the connecting shaft and larger than the outer diameter of the locking groove, and the connecting seat is located between the movable seat and the claw structure, and is fixedly connected to both.

8. The robot device according to claim 7, wherein: The connecting assembly further includes a second bearing, which is disposed in the engaging opening and sleeved on the outer periphery of the engaging groove, and the second bearing is clearance-matched with the bottom surface of the engaging groove.

9. The robot device according to claim 6, wherein: The telescopic mechanism also includes an anti-rotation component, which includes an anti-rotation base and an anti-rotation lock pin. The anti-rotation base is fixed, and a guide groove is provided on the top of the anti-rotation base. The guide groove extends along the axial direction of the connecting shaft; the anti-rotation lock pin is provided on the connecting shaft, and one end of the anti-rotation lock pin slides in cooperation with the guide groove to allow the connecting shaft to freely extend and retract and prevent self-rotation.

10. The robot device according to claim 6, wherein: The telescopic mechanism also includes a support seat; the driver includes a fixed part and a telescopic part, the fixed part is hinged to the support seat through two ear plates, the telescopic part is passed through the support seat, and one end is located in the fixed part, and the other end is hinged to the tail end of the connecting shaft.

11. The robot device according to any one of claims 1 to 9, characterized in that: The manipulator device further includes an insulating component, which is arranged between the grabbing seat and the connecting sleeve, and between the claw structure and the connecting shaft.

Images