A slag grab

Abstract

The present application relates to a slag grabber, comprising a frame, a push-pull piece vertically slidingly installed on the frame, a first connecting piece and a second connecting piece with coinciding central axes rotationally installed at the bottom end of the push-pull piece, a first swing piece and a second swing piece rotationally installed at the ends of the first connecting piece and the second connecting piece away from each other, the ends of the first swing piece and the second swing piece close to each other being rotationally connected to the frame, a first knocking piece and a first grabber fixedly installed on the first swing piece, and a second knocking piece and a second grabber fixedly installed on the second swing piece; when the included angle between the first connecting piece and the second connecting piece becomes smaller to a predetermined angle, the first grabber and the second grabber are separated and opened, the first knocking piece collides with the outer wall of the second grabber, the second knocking piece collides with the outer wall of the first grabber to produce vibration, and the slag on the inner walls of the first grabber and the second grabber is shaken off.

Description

Technical Field

[0001] This invention relates to the field of muck loader gripper technology, specifically to a muck loader gripper. Background Technology

[0002] A slag remover typically consists of a robotic arm, a slag removal head, or hydraulic grippers. The robotic arm generally has multiple movable joints, enabling multi-degree-of-freedom movement such as extension, rotation, lifting, and tilting. This allows for flexible adjustment of the position and angle of the slag removal head or hydraulic grippers, enabling them to accurately reach different locations within the induction furnace for slag removal operations.

[0003] Existing slag removers mostly use toothed grippers, which grab slag through the gaps between the teeth. Their working principle is as follows: the robotic arm drives the toothed gripper to insert into the slag pile, using the gaps between the teeth to accommodate the slag, and then it is lifted away from the furnace body to complete the grabbing.

[0004] Existing toothed grippers mainly have the following two problems:

[0005] 1. Insufficient gripping capacity: Due to the limited gap between the toothed structures, the gripping capacity per operation is only 0.038 cubic meters, requiring frequent operation.

[0006] Second, serious leakage: The toothed gap is prone to causing slag to fall during the lifting process, especially for fine slag, the leakage rate is as high as 30% or more, resulting in low operating efficiency.

[0007] The information disclosed in the background section is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0008] The purpose of this invention is to redesign the gripper to increase its single gripping capacity and reduce the leakage rate of fine particulate slag, thereby addressing the aforementioned shortcomings in the technology.

[0009] To achieve the above objectives, the present invention provides the following technical solution: a slag remover gripper, comprising a frame, on which a push-pull member is vertically slidably mounted; a first connecting member and a second connecting member with their central axes are rotatably mounted at the bottom end of the push-pull member; a first swing member and a second swing member are rotatably mounted at the ends of the first and second connecting members that are far apart from each other; the ends of the first and second swing members that are close to each other are rotatably connected to the frame; a first striking member and a first gripper are fixedly mounted on the first swing member; and a second striking member and a second gripper are fixedly mounted on the second swing member.

[0010] When the angle between the first connector and the second connector decreases to a predetermined angle, the first gripper and the second gripper separate and open, allowing the first striking element to collide with the outer wall of the second gripper, and the second striking element to collide with the outer wall of the first gripper to generate vibration, causing the slag on the inner walls of the first gripper and the second gripper to be shaken off.

[0011] Preferably, the bottom of the frame is fixedly installed with a symmetrically distributed first shaft and a second shaft. The first swinging member includes a first hollow rod rotatably mounted with the first shaft, a first positioning plate fixedly mounted on the outer circumferential surface of the first hollow rod, and two symmetrically distributed first swing rods fixedly mounted on the first hollow rod. The first striking member is fixedly connected to the outer circumferential surface of the first hollow rod.

[0012] Preferably, the first striking element includes two symmetrically distributed first arc-shaped rods fixedly connected to the outer peripheral surface of the first hollow rod, and a first striking strip fixedly installed at the ends of the two first arc-shaped rods.

[0013] Preferably, the second swing member includes a second hollow rod rotatably mounted to the second shaft, a second positioning plate fixedly mounted on the outer circumferential surface of the second hollow rod, and two symmetrically distributed second swing rods fixedly mounted on the second hollow rod. The second striking member is fixedly connected to the outer circumferential surface of the second hollow rod, and the two second swing rods are located between the two first arc-shaped rods.

[0014] Preferably, the second striking element includes two symmetrically distributed second arc-shaped rods fixedly connected to the outer peripheral surface of the second hollow rod, and a second striking strip fixedly installed at the ends of the two second arc-shaped rods.

[0015] Preferably, the included angle between the first connector and the first swing arm is the same as the included angle between the second connector and the second swing arm.

[0016] Preferably, the push-pull component includes an outer rod that passes through the top of the frame and is slidably connected, an inner rod that passes through the bottom of the outer rod and is slidably connected, a baffle plate fixedly installed at the top of the inner rod, a spring fixedly installed at the top of the baffle plate, and a third shaft fixedly installed at the bottom of the inner rod. The first connecting component and the second connecting component are both rotatably connected to the third shaft.

[0017] Preferably, a connecting frame is fixedly installed on the outer circumferential surface of the outer rod, and a third striking element is installed on the connecting frame.

[0018] Preferably, the third striking component includes a fourth shaft rotatably mounted through the bottom of the connecting frame, a first limiting block fixedly connected to one end of the fourth shaft, a third swing rod fixedly connected to the other end of the fourth shaft, a striking wheel mounted on the end of the third swing rod, and a second limiting block fixedly connected to the side wall of the connecting frame. When the second limiting block is in contact with the first limiting block, the third swing rod cannot swing to the side of the outer rod.

[0019] The technical effects and advantages provided by the present invention in the above technical solution are as follows:

[0020] 1. This invention improves the toothed gripper of the existing slag remover by expanding the vertical volume without affecting the movement of the robotic arm. This significantly increases the gripping volume, reduces the number of round trips, reduces equipment operating time, lowers energy consumption and wear on the robotic arm, and extends service life. Furthermore, the enclosed structure almost eliminates slag falling during the gripping process, making it particularly suitable for handling fine-particle slag.

[0021] 2. The present invention improves the gripper so that when the gripper is opened to a certain angle, the first and second striking parts will strike the outer wall of the gripper, causing the slag attached to the inner surface of the gripper to be shaken off, reducing the amount of slag that solidifies on the inner wall of the gripper and improving the service life of the gripper.

[0022] 3. Simultaneously, after the gripper grabs the slag, the invention drives the third striking component to strike the outer surfaces of the closed first and second grippers, causing the slag adhering to the outer surfaces of the grippers to be shaken off during the grabbing process. This reduces the amount of high-temperature slag spilled onto the ground during the movement of the gripper by the robotic arm, thereby improving safety and extending the service life of the gripper. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 This is a partial structural diagram of the present invention;

[0026] Figure 3 This is a schematic diagram of the first gripper and the second gripper of the present invention closing together;

[0027] Figure 4 This is a schematic diagram of the first and second grippers of the present invention in operation.

[0028] Figure 5 This is a partial sectional view of the push-pull rod of the present invention;

[0029] Figure 6 This is a schematic diagram showing the disassembled connection frame and striking component of the present invention.

[0030] Explanation of reference numerals in the attached figures:

[0031] 1. Frame; 2. Push-pull component; 2a. Outer rod; 2b. Inner rod; 2c. Baffle; 2d. Spring; 2e. Third shaft; 3. First connecting component; 4. Second connecting component; 5. First swing component; 5a. First hollow rod; 5b. First positioning plate; 5c. First swing arm; 6. Second swing component; 6a. Second hollow rod; 6b. Second positioning plate; 6c. Second swing arm; 7. First striking component; 7a. First arc-shaped rod; 7b. First striking strip; 8. First gripper; 9. Second striking component; 9a. Second arc-shaped rod; 9b. Second striking strip; 10. Second gripper; 11. First shaft; 12. Second shaft; 13. Third striking component; 13a. Fourth shaft; 13b. First limiting block; 13c. Third swing arm; 13d. Striking wheel; 13e. Second limiting block; 14. Connecting frame. Detailed Implementation

[0032] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0034] This invention provides, for example Figure 1-6The shown is a slag remover gripper, comprising a frame 1 as the main body. A push-pull member 2 is slidably mounted vertically through the top of the frame 1. A first connecting member 3 and a second connecting member 4 with their central axes are rotatably mounted at the bottom of the push-pull member 2. A first swing member 5 and a second swing member 6 are rotatably mounted at the ends of the first connecting member 3 and the second connecting member 4 that are far apart from each other. The ends of the first swing member 5 and the second swing member 6 that are close to each other are rotatably connected to the frame 1. A first striking member 7 and a first gripper 8 are fixedly mounted on the first swing member 5. The device is fixedly equipped with a second striking element 9 and a second gripper 10. The first gripper 8 and the second gripper 10 are welded from high-strength steel plates, forming a closed cavity when combined. The main structure of the first gripper 8 and the second gripper 10 is an integral plate structure, with baffles on both sides as shown in the diagram. The bottom of the first gripper 8 and the second gripper 10 features an arc-shaped transition to reduce resistance when inserting into the slag. This improvement increases the gripping volume and the amount gripped in a single operation, reduces the number of reciprocating operations and equipment operating time, lowers energy consumption and reduces wear on the robotic arm, and extends its service life. Furthermore, the enclosed structure almost eliminates slag falling during the gripping process, making it particularly suitable for handling fine-particle slag. During use, when the push-pull component 2 moves away from the first gripper 8 and the second gripper 10, the first connecting component 3 and the second connecting component 4 can reduce the angle between the first swing component 5 and the second swing component 6, thereby causing the first gripper 8 and the second gripper 10 to separate and open. Then, the robotic arm drives the gripper to insert into the slag pile within the furnace body, and then drives the push-pull component 2 closer to the first gripper 8 and the second gripper 10, thereby causing the first gripper 8 and the second gripper 10 to separate and open. When the first gripper 8 and the second gripper 10 are closed, a portion of the slag is grabbed. When the grabbed slag needs to be placed in the desired position, the push-pull part 2 is moved away from the first gripper 8 and the second gripper 10. At this time, the first gripper 8 and the second gripper 10 open and the slag falls off. When the push-pull part 2 is moved away to a certain length, the first swing part 5 and the second swing part 6 will also drive the first striking part 7 and the second striking part 9, thereby colliding with the outer wall of the second gripper 10 and the first gripper 8 to form vibration, thereby shaking off the slag attached to the inner wall of the first gripper 8 and the second gripper 10.

[0035] To ensure synchronous movement of the first swing member 5 and the second swing member 6, a first shaft 11 and a second shaft 12 are symmetrically distributed and fixedly installed at the bottom of the frame 1. The first swing member 5 includes a first hollow rod 5a rotatably mounted to the first shaft 11, a first positioning plate 5b fixedly mounted on the outer circumferential surface of the first hollow rod 5a, and two symmetrically distributed first swing rods 5c fixedly mounted on the first hollow rod 5a. A first striking member 7 is fixedly connected to the outer circumferential surface of the first hollow rod 5a and includes two symmetrically distributed first arc-shaped rods 7a fixedly connected to the outer circumferential surface of the first hollow rod 5a, and a first striking strip 7b fixedly mounted at the ends of the two first arc-shaped rods 7a. The second swing member 6 includes a second hollow rod 6a rotatably mounted to the second shaft 12, a second positioning plate 6b fixedly mounted on the outer circumferential surface of the second hollow rod 6a, and two symmetrically distributed second swing rods 6c fixedly mounted on the second hollow rod 6a. A second striking member 9 is fixedly connected to the outer circumferential surface of the second hollow rod 6a, and the two second swing rods 6c are located on the two first arc-shaped rods. Between 7a, the second striking element 9 includes two symmetrically distributed second arc-shaped rods 9a fixedly connected to the outer peripheral surface of the second hollow rod 6a, and a second striking strip 9b fixedly installed at the ends of the two second arc-shaped rods 9a. The included angle between the first connecting member 3 and the first swing rod 5c is the same as the included angle between the second connecting member 4 and the second swing rod 6c. In this way, the first connecting member 3 and the second connecting member 4 will drive the first swing rod 5c and the second swing rod 6c. The first swing rod 5c and the second swing rod 6c will drive the first hollow rod 5a and the second hollow rod 6a to rotate on the first shaft 11 and the second shaft 12. The first shaft 11 and the second shaft 12 will then drive the first positioning plate 5b and the second positioning plate 6b. The first positioning plate 5b and the second positioning plate 6b will then drive the first gripper 8 and the second gripper 10 to rotate. When the first hollow rod 5a and the second hollow rod 6a rotate, they will also synchronously drive the first arc-shaped rod 7a and the second arc-shaped rod 9a to rotate, thereby causing the first striking strip 7b and the second striking strip 9b to collide with the outer wall of the second gripper 10 and the first gripper 8.

[0036] The push-pull component 2 includes an outer rod 2a that passes through the top of the frame 1 and is slidably connected, an inner rod 2b that passes through the bottom of the outer rod 2a and is slidably connected, a baffle 2c fixedly installed at the top of the inner rod 2b, a spring 2d fixedly installed at the top of the baffle 2c, and a third shaft 2e fixedly installed at the bottom of the inner rod 2b. The first connecting component 3 and the second connecting component 4 are both rotatably connected to the third shaft 2e. A connecting frame 14 is fixedly installed on the outer circumferential surface of the outer rod 2a. A third striking component 13 is installed on the connecting frame 14. The third striking component 13 includes a fourth shaft 13a that passes through the bottom of the connecting frame 14 and is rotatably installed, a first limiting block 13b fixedly connected to one end of the fourth shaft 13a, a third swing rod 13c fixedly connected to the other end of the fourth shaft 13a, a striking wheel 13d installed at the end of the third swing rod 13c, and a second limiting block 13e fixedly connected to the side wall of the connecting frame 14. When the second limiting block 13e is in contact with the first limiting block 13b, the third swing rod 13c cannot swing to the side of the outer rod 2a.

[0037] When the outer rod 2a moves upward, its bottom will cause the inner rod 2b to rise via the baffle 2c on the inner rod 2b, thereby causing the third shaft 2e to rise. This, in turn, causes the first connecting piece 3 and the second connecting piece 4 to rise and the included angle to decrease. When the outer rod 2a descends, due to the structural design, the first gripper 8 and the second gripper 10 move closer to each other under their own weight. When the outer rod 2a presses the spring 2d against the baffle 2c on the inner rod 2b, it generates a downward elastic force, thereby applying a force to bring the first gripper 8 and the second gripper 10 together, preventing them from separating. Then, the outer rod 2a continues to move, causing the connecting frame 14 to descend. The connecting frame 14 causes the third striking piece 13 to descend. The third striking piece 13 strikes the first gripper 8 and the second gripper 10, generating vibration that adheres to the first gripper 8 and the second gripper 10. The slag on the outer surfaces of the first gripper 8 and the second gripper 10 is shaken off into the furnace body, thus preventing excessive slag from falling onto the ground when the robotic arm moves. Due to the design of the third striking element 13, the connecting frame 14 drives the third swing arm 13c to descend via the fourth shaft 13a. The third swing arm 13c drives the striking wheel 13d to descend until it contacts the outer surfaces of the first gripper 8 and the second gripper 10. When the connecting frame 14 drives the striking wheel 13d to rise, the gravity of the striking wheel 13d and the third swing arm 13c will drive the fourth shaft 13a to rotate. The fourth shaft 13a will drive the first limit block 13b to contact the second limit block 13e. At this time, the second limit block 13e blocks the first limit block 13b from rotating, causing the striking wheel 13d to reset.

[0038] When using this slag remover, the outer rod 2a is first driven to rise away from the first gripper 8. At this time, the first gripper 8 and the second gripper 10 open and are inserted into the slag. The outer rod 2a is then driven to descend to a certain height, allowing the first gripper 8 and the second gripper 10 to grab a portion of the slag. Then, the robotic arm drives the slag remover to rise vertically, and then drives the outer rod 2a to descend to a certain height and then rise to the same height. This process is repeated several times, causing the striking wheel 13d to vibrate the surfaces of the first gripper 8 and the second gripper 10. This causes the slag adhering to the outer surface to be shaken off when grabbing slag from the furnace. Then, the robotic arm drives the slag remover to a designated position, causing the outer rod 2a to rise and allowing the slag inside the first gripper 8 and the second gripper 10 to fall off. The outer rod 2a is then raised until the first striking piece 7 and the second striking piece 9 collide with the surfaces of the second gripper 10 and the first gripper 8. This collision is repeated several times to shake off the slag adhering to the inner walls of the first gripper 8 and the second gripper 10.

[0039] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape and proportion of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), installation arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application.

Claims

1. A slag grab comprising a frame (1), characterised in that: A push-pull component (2) is vertically slidably mounted on the frame (1). A first connecting component (3) and a second connecting component (4) with the central axis coincident are rotatably mounted on the bottom end of the push-pull component (2). A first swing component (5) and a second swing component (6) are rotatably mounted on the ends of the first connecting component (3) and the second connecting component (4) that are far apart from each other. The ends of the first swing component (5) and the second swing component (6) that are close to each other are rotatably connected to the frame (1). A first striking component (7) and a first gripper (8) are fixedly mounted on the first swing component (5). A second striking component (9) and a second gripper (10) are fixedly mounted on the second swing component (6). A first shaft (11) and a second shaft (12) that are symmetrically distributed are fixedly mounted on the bottom of the frame (1). The first swing component (5) includes a first hollow rod (5a) that is rotatably mounted on the first shaft (11) and a first positioning plate that is fixedly mounted on the outer circumference of the first hollow rod (5a). (5b), and two symmetrically distributed first swing arms (5c) fixedly installed on the first hollow rod (5a), the first striking element (7) is fixedly connected to the outer peripheral surface of the first hollow rod (5a), the first striking element (7) includes two symmetrically distributed first arc-shaped rods (7a) fixedly connected to the outer peripheral surface of the first hollow rod (5a), and a first striking strip (7b) fixedly installed at the ends of the two first arc-shaped rods (7a), the second swing element (6) includes a second hollow rod (6a) rotatably installed with the second shaft (12), a second positioning plate (6b) fixedly installed on the outer peripheral surface of the second hollow rod (6a), and two symmetrically distributed second swing arms (6c) fixedly installed on the second hollow rod (6a), the second striking element (9) is fixedly connected to the outer peripheral surface of the second hollow rod (6a), and the two second swing arms (6c) are located between the two first arc-shaped rods (7a); As the included angle between the first connector (3) and the second connector (4) decreases to a predetermined angle, the first gripper (8) and the second gripper (10) separate and open, allowing the first striking element (7) to collide with the outer wall of the second gripper (10), and the second striking element (9) to collide with the outer wall of the first gripper (8) to generate vibration, causing the slag on the inner walls of the first gripper (8) and the second gripper (10) to be shaken off.

2. The grappling hook for a muck loader according to claim 1, characterized in that: The second striking element (9) includes two symmetrically distributed second arc-shaped rods (9a) fixedly connected to the outer peripheral surface of the second hollow rod (6a), and a second striking strip (9b) fixedly installed at the ends of the two second arc-shaped rods (9a).

3. The grappling hook for a muck loader according to claim 1, characterized in that: The included angle between the first connector (3) and the first swing rod (5c) is the same as the included angle between the second connector (4) and the second swing rod (6c).

4. The grappling hook for a muck loader according to claim 1, characterized in that: The push-pull component (2) includes an outer rod (2a) that passes through the top of the frame (1) and is slidably connected, an inner rod (2b) that passes through the bottom of the outer rod (2a) and is slidably connected, a baffle (2c) fixedly installed at the top of the inner rod (2b), a spring (2d) fixedly installed at the top of the baffle (2c), and a third shaft (2e) fixedly installed at the bottom of the inner rod (2b). The first connecting component (3) and the second connecting component (4) are both rotatably connected to the third shaft (2e).

5. A grappling hook for a muck loader according to claim 4, characterized in that: A connecting frame (14) is fixedly installed on the outer periphery of the outer rod (2a), and a third striking element (13) is installed on the connecting frame (14).

6. A grappling hook for a muck loader according to claim 5, characterized in that: The third striking component (13) includes a fourth shaft (13a) rotatably mounted through the bottom of the connecting frame (14), a first limiting block (13b) fixedly connected to one end of the fourth shaft (13a), a third swing rod (13c) fixedly connected to the other end of the fourth shaft (13a), a striking wheel (13d) mounted at the end of the third swing rod (13c), and a second limiting block (13e) fixedly connected to the side wall of the connecting frame (14). When the second limiting block (13e) is in contact with the first limiting block (13b), the third swing rod (13c) cannot swing to the side of the outer rod (2a).

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