Multifunctional robot for rare earth metal electrolytic furnace

Abstract

The present application relates to the technical field of robots for electrolytic furnaces, and particularly relates to a multifunctional robot for rare earth metal electrolytic furnaces, which comprises a mobile gantry driving frame, a telescopic suspension structure, liquid-permeable sealing assemblies, claw outer support assemblies, outer cover sealing assemblies, shaft center blanking assemblies and servo drive assemblies, the liquid-permeable sealing assemblies are provided in plurality, the liquid-permeable sealing assemblies are connected with the lower end of the telescopic suspension structure, the liquid-permeable sealing assemblies are elastically twisted relative to the telescopic suspension structure, liquid can pass through the liquid-permeable sealing assemblies, the number of the claw outer support assemblies is equal to that of the liquid-permeable sealing assemblies, the claw outer support assemblies are connected with the lower end of the telescopic suspension structure, and the claw outer support assemblies are elastically twisted relative to the telescopic suspension structure. The present application can be used in cooperation among the liquid-permeable sealing assemblies, the claw outer support assemblies and the outer cover sealing assemblies and other structures, and can be used for solution transfer, molten slag treatment and crucible transfer, and can perform various operation treatments without changing the structure.

Description

Technical Field

[0001] This invention relates to the technical field of robots for electrolytic furnaces, and in particular to a multifunctional robot for rare earth metal electrolytic furnaces. Background Technology

[0002] Rare earth metal electrolytic furnaces are key equipment used to produce rare earth metals or their alloys through molten salt electrolysis. They are mainly used in the industrial preparation of light rare earth metals (such as lanthanum, cerium, praseodymium, and neodymium).

[0003] The application of robotic arms in rare earth metal electrolysis furnaces is primarily aimed at replacing manual labor in high-temperature, high-risk, and high-precision operations, overcoming the limitations of traditional manual intervention (such as high labor intensity, high safety risks, and insufficient precision), while also supporting the continuous and intelligent upgrading of the electrolysis process.

[0004] Chinese patent CN215325520U discloses a two-degree-of-freedom manipulator for rare earth metal electrolysis furnaces, comprising a furnace body, an electrolytic cell, a graphite plate, graphite plate lugs, a cooling box, a manipulator mounting platform, a two-degree-of-freedom manipulator, and a hook. The electrolytic cell is embedded in the center of the upper surface of the furnace body, and a graphite plate is fixedly mounted inside the electrolytic cell. A graphite plate lug is fixedly mounted above the graphite plate. A cooling box is embedded in the left side of the upper surface of the furnace body. This utility model features a rectangular block and a positioning block on the hook assembly. When the rectangular block is embedded in the rectangular collar, the right side surface of the positioning block is in close contact with the surface of the molybdenum crucible. This ensures that the molybdenum crucible remains horizontal during the hook assembly's lifting process, preventing the metal inside from spilling out.

[0005] The application of robotic arms in rare earth metal electrolytic furnaces in the aforementioned related technologies and existing technologies has the following drawbacks: the role of robotic arms in rare earth metal electrolytic furnaces includes material handling, slag removal, and crucible transfer, but different robotic arms require the replacement of corresponding parts during operation, which is a cumbersome process. The operation of robotic arms is relatively simple and cannot adapt to various operational needs. Summary of the Invention

[0006] To address the problems mentioned in the background art, the present invention provides a multifunctional robot for rare earth metal electrolysis furnaces.

[0007] The present invention provides a multifunctional robot for rare earth metal electrolysis furnaces, which adopts the following technical solution: including a mobile gantry drive frame, a telescopic suspension structure, a liquid-permeable sealing component, a claw external support component, an outer cover sealing component, a shaft unloading component, and a servo drive component.

[0008] The upper end of the telescopic suspension structure is connected to the mobile gantry drive frame;

[0009] Multiple liquid-permeable sealing components are provided. The liquid-permeable sealing components are connected to the lower end of the telescopic suspension structure. The liquid-permeable sealing components can elastically twist relative to the telescopic suspension structure, allowing liquid to pass through the liquid-permeable sealing components.

[0010] The number of claw external support components is equal to the number of liquid permeable sealing components. The claw external support components are connected to the lower end of the telescopic suspension structure. The claw external support components are elastically twisted relative to the telescopic suspension structure. Multiple claw external support components and multiple liquid permeable sealing components are alternately distributed around the axis of the telescopic suspension structure.

[0011] The number of outer cover sealing components is equal to the number of liquid permeable sealing components. The outer cover sealing components are fitted and disposed on the side of the liquid permeable sealing components away from the axis of the telescopic suspension structure. The upper end of the outer cover sealing components is elastically torsional connected to the liquid permeable sealing components.

[0012] The shaft unloading assembly is installed between multiple outer cover enclosure assemblies and multiple claw external support assemblies, and the upper end of the shaft unloading assembly is connected to the telescopic suspension structure.

[0013] The servo drive component can drive the liquid-permeable sealing component, the claw external support component and the outer cover sealing component to rotate respectively. The servo drive component is connected to the telescopic suspension structure and drives the shaft unloading component to move up and down.

[0014] Optionally, the telescopic suspension structure includes:

[0015] A suspension frame is connected to a movable gantry drive frame, which drives the suspension frame to move up and down.

[0016] A suspension main rod, the upper end of which is connected to the suspension frame, and a servo drive component connected to the suspension main rod;

[0017] The mounting plate is installed at the lower end of the suspension main rod. The liquid-permeable sealing component and the claw external support component are both connected to the mounting plate, and both the liquid-permeable sealing component and the claw external support component can rotate elastically relative to the mounting plate.

[0018] Optionally, the claw support assembly includes:

[0019] A short horizontal shaft is rotatably mounted on the upper surface of the mounting plate, and the short horizontal shaft rotates elastically relative to the mounting plate.

[0020] A claw cover plate, the upper end of which is fixed to a short horizontal axis;

[0021] The claw rod is installed at the lower end of the claw cover plate, and the claw rod is located on the side of the claw cover plate away from the axis of the suspension main rod.

[0022] A claw linkage plate, one end of which is fixedly sleeved on the outside of a short horizontal shaft, and the servo drive component drives the horizontal shaft to rotate through the claw linkage plate.

[0023] Optionally, the liquid-permeable sealing assembly includes:

[0024] A long horizontal shaft is rotatably mounted on the upper surface of the mounting plate, and the long horizontal shaft rotates elastically relative to the mounting plate.

[0025] A liquid-permeable sealing plate, the upper end of which is fixed to a long horizontal axis, and the surface of the liquid-permeable sealing plate is provided with liquid-permeable holes that are connected inside and out.

[0026] The upper liquid permeation linkage plate has one end fixed to the long horizontal axis, and the servo drive component controls the rotation of the long horizontal axis through the upper liquid permeation linkage plate.

[0027] Optionally, the outer enclosure assembly includes:

[0028] A sealing and bonding plate is attached to the part of the liquid-permeable sealing plate with liquid-permeable holes. The upper end of the sealing and bonding plate is rotatably sleeved on the outside of the long horizontal shaft. The sealing and bonding plate can rotate elastically relative to the long horizontal shaft. A blocking arc plate is provided on the lower end of the sealing and bonding plate away from the liquid-permeable sealing plate. The two ends of the blocking arc plate are fixed to the adjacent liquid-permeable sealing plate.

[0029] A closed linkage plate, one end of which is installed at the end where the closed bonding plate connects to the long horizontal shaft;

[0030] The reverse swing plate has its middle part rotatably connected to the upper surface of the mounting plate. The reverse swing plate elastically twists relative to the mounting plate. The reverse swing plate is located on the upper side of the closed linkage plate. A rotatable one-way pressure rod is installed on one end of the reverse swing plate near the closed linkage plate. The one-way pressure rod elastically rotates relative to the reverse swing plate.

[0031] Optionally, the shaft feeding assembly includes:

[0032] A central sealing rod is disposed between multiple liquid-permeable sealing plates and multiple claw cover plates. A suspension main rod is slidably sleeved on the outside of the central sealing rod, and the suspension main rod moves elastically up and down relative to the central sealing rod.

[0033] The linkage cylinder is slidably sleeved on the outside of the central sealing rod. The inner annular surface of the linkage cylinder slides through the outer surface of the suspension main rod and then connects to the upper end of the central sealing rod.

[0034] Optionally, when multiple liquid-permeable sealing plates and multiple claw covers come into contact with each other, they form a closed space with the mounting plate at the lower end and upper side of the central sealing rod;

[0035] The claw cover plate has groove-like structures on both sides away from the central sealing rod, and the liquid-permeable sealing plate extends out of the side that cooperates with the claw cover plate to form a plate-like structure that cooperates with the claw cover plate.

[0036] Optionally, the servo drive component includes:

[0037] A servo telescopic component, which is connected to the suspension main rod;

[0038] Active ring, the telescopic end of the servo telescopic component is connected to the active ring, and the active ring is slidably sleeved on the outside of the suspension main rod;

[0039] The upper driven ring is slidably sleeved on the outside of the suspension main rod and elastically connected to the suspension main rod. The upper driven ring is located below the linkage cylinder, and the driving ring is located below the upper driven ring.

[0040] The lower driven ring is slidably sleeved on the outside of the suspension main rod and elastically connected to the upper surface of the mounting plate. The lower driven ring is located below the active ring.

[0041] Optionally, a lifting push rod is provided on the lower side of the end of the reverse swing plate away from the closed linkage plate, and the lifting push rod is fixed to the upper driven ring;

[0042] A one-way pressure rod is provided on the upper side of the upper liquid permeation linkage plate. A rotatable linkage rod is installed on one side of the upper liquid permeation linkage plate. The one-way pressure rod rotates elastically relative to the linkage rod. The linkage rod is fixed to the outer ring surface of the lower driven ring.

[0043] The upper side of the claw linkage plate is provided with a spreading push plate, which is vertically set and the upper end of the spreading push plate is fixed to the outer ring surface of the lower driven ring.

[0044] A baffle plate is provided between the upper driven ring and the lower driven ring. The baffle plate is vertically installed on the outside of the suspension main rod, and the driving ring is slidably sleeved on the outer surface of the baffle plate.

[0045] Optionally, the suspension frame is slidably sleeved on the outer surface of the suspension main rod. A toothed groove is provided on one side of the upper end of the suspension main rod, a toothed plate is fitted on one side of the toothed groove, and a lateral drive cylinder is installed on one side of the toothed plate. A vibration rod is slidably inserted into the upper end of the suspension main rod. One end of the vibration rod is located inside the suspension main rod and is elastically connected to the suspension main rod. A vertical drive cylinder for driving the vibration rod to move up and down is installed inside the suspension frame.

[0046] In summary, the present invention has the following beneficial technical effects:

[0047] This invention utilizes the coordinated use of structures such as a liquid-permeable sealing component, a claw-supported outer component, and an outer cover sealing component. After the outer cover sealing component disengages from the liquid-permeable sealing component, liquid enters the interior through it. Then, the outer cover sealing component re-adheres and seals the liquid-permeable sealing component. Upon moving to a location requiring drainage, the axial feeding component moves upward to discharge the internal solution. When slag needs to be treated, both the liquid-permeable sealing component and the outer cover sealing component open, allowing the slag to enter. After the liquid-permeable sealing component closes again, the outer cover sealing component disengages, allowing the solution within the slag to flow out. Only the slag is transferred. When the crucible needs to be transferred, the claw-supported outer component expands outward to tighten the inside of the crucible, suspending it for transfer. This allows for various operational processes without changing the structure.

[0048] This invention utilizes the combined use of toothed grooves, toothed plates, and a vibrating rod. When the molten slag is located inside the liquid-permeable sealing component and the outer cover sealing component is no longer in contact with the liquid-permeable sealing component, the toothed plate is controlled to disengage from the toothed groove, driving the vibrating rod to move up and down. Through the suspension main rod, the outer cover sealing component and the molten slag inside are shaken. The liquid remaining inside the molten slag separates from the molten slag under the inertia of the vibration, increasing the separation speed and preventing the molten slag from re-solidifying inside the molten slag due to the slow separation speed.

[0049] This invention utilizes a blocking arc plate. By enclosing the molten slag inside the liquid-permeable sealing plate and controlling the sealing bonding plate away from the liquid-permeable sealing plate, the liquid is discharged from the liquid-permeable holes of the liquid-permeable sealing plate. The liquid flows downward through the obstruction of the sealing bonding plate and then falls inside the blocking arc plate, flowing into the crucible below. This effectively prevents the liquid from traveling a long distance after being discharged from the liquid-permeable holes of the liquid-permeable sealing plate, thus preventing the solution from falling outside the crucible and causing waste. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the overall structure in an embodiment of the present invention;

[0051] Figure 2 This is a schematic diagram of the connection between the suspension frame and the main suspension rod in an embodiment of the present invention;

[0052] Figure 3 This is a schematic diagram of the connection between the toothed plate and the toothed groove in an embodiment of the present invention;

[0053] Figure 4 This is a schematic diagram of the distribution of the active loop and the servo telescopic rod in an embodiment of the present invention;

[0054] Figure 5 This is a schematic diagram of the distribution of the linkage rod and the one-way pressure rod in an embodiment of the present invention;

[0055] Figure 6This is a schematic diagram of the distribution of the active ring and the upper driven ring in an embodiment of the present invention;

[0056] Figure 7 This is an exploded view of some structures in an embodiment of the present invention;

[0057] Figure 8 This is a schematic diagram of the connection between the liquid-permeable sealing plate and the claw cover plate in an embodiment of the present invention;

[0058] Figure 9 This is a schematic diagram of the connection between the central sealing rod and the suspension main rod in an embodiment of the present invention.

[0059] Reference numerals: 1. Moving gantry drive frame; 2. Telescopic suspension structure; 21. Suspension frame; 22. Suspension main rod; 23. Mounting plate; 24. Toothed plate; 25. Toothed groove; 26. Vibration rod; 3. Liquid-permeable sealing assembly; 31. Long horizontal shaft; 32. Liquid-permeable sealing plate; 33. Upper liquid-permeable linkage plate; 4. Claw external support assembly; 41. Short horizontal shaft; 42. Claw cover plate; 43. Claw rod; 44. Claw linkage plate; 5. Outer cover sealing assembly 51. Sealing plate; 52. Blocking arc plate; 53. Sealing linkage plate; 54. Reverse swing plate; 55. One-way pressure rod; 6. Shaft unloading assembly; 61. Center sealing rod; 62. Linkage cylinder; 7. Servo drive assembly; 71. Servo telescopic component; 72. Active ring; 73. Upper driven ring; 74. Lower driven ring; 75. Lifting push rod; 76. One-way pressure rod; 77. Linkage rod; 78. Spreading push plate; 79. Baffle plate. Detailed Implementation

[0060] The following is in conjunction with the appendix Figures 1-9 The present invention will be described in further detail below.

[0061] This invention discloses a multifunctional robot for rare earth metal electrolysis furnaces. For example... Figure 1 As shown, it includes a mobile gantry drive frame 1, a telescopic suspension structure 2, a liquid-permeable sealing assembly 3, a claw external support assembly 4, an outer cover sealing assembly 5, a shaft unloading assembly 6, and a servo drive assembly 7.

[0062] The bottom of the mobile gantry drive frame 1 is equipped with a set of wheels that drive the whole structure to move. The mobile gantry drive frame 1 can drive the telescopic suspension structure 2 to move up and down and can extend into the crucible inside the electrolysis furnace.

[0063] The upper end of the telescopic suspension structure 2 is connected to the mobile gantry drive frame 1. Multiple liquid-permeable sealing components 3 are provided. The liquid-permeable sealing components 3 are connected to the lower end of the telescopic suspension structure 2. The liquid-permeable sealing components 3 can elastically twist relative to the telescopic suspension structure 2, allowing liquid to pass through them.

[0064] The number of claw outer support assemblies 4 is equal to the number of liquid-permeable sealing assemblies 3. The claw outer support assemblies 4 are connected to the lower end of the telescopic suspension structure 2. The claw outer support assemblies 4 are elastically twisted relative to the telescopic suspension structure 2. Multiple claw outer support assemblies 4 and multiple liquid-permeable sealing assemblies 3 are alternately distributed around the axis of the telescopic suspension structure 2. The number of outer cover sealing assemblies 5 is equal to the number of liquid-permeable sealing assemblies 3. The outer cover sealing assemblies 5 are fitted and set on the side of the liquid-permeable sealing assemblies 3 away from the axis of the telescopic suspension structure 2. The upper end of the outer cover sealing assemblies 5 is elastically twisted and connected to the liquid-permeable sealing assemblies 3. The shaft unloading assembly 6 is installed between multiple outer cover sealing assemblies 5 and multiple claw outer support assemblies 4. The upper end of the shaft unloading assembly 6 is connected to the telescopic suspension structure 2.

[0065] When the lower ends of the multiple claw external support components 4 are spread apart from each other, the multiple claw external support components 4 can be tightly supported with the inner wall of the crucible, which can drive the crucible to move.

[0066] The servo drive assembly 7 can drive the liquid-permeable sealing assembly 3, the claw external support assembly 4 and the outer cover sealing assembly 5 to rotate respectively. The servo drive assembly 7 is connected to the telescopic suspension structure 2 and drives the shaft unloading assembly 6 to move up and down.

[0067] Furthermore, in this embodiment, when the liquid-permeable sealing component 3 is opened, the outer cover sealing component 5 can be opened simultaneously. When the servo drive component 7 drives the outer cover sealing component 5 to rotate and open relative to the liquid-permeable sealing component 3, the liquid in the crucible can enter the annular cavity formed between the liquid-permeable sealing component 3 and the claw outer support component 4. After the outer cover sealing component 5 re-fits the liquid-permeable sealing component 3, the liquid stored in the cavity can be transferred.

[0068] In this embodiment, as Figures 2-4 As shown, the telescopic suspension structure 2 includes a suspension frame 21, a suspension main rod 22, and a mounting plate 23.

[0069] The suspension frame 21 is connected to the mobile gantry drive frame 1. The mobile gantry drive frame 1 is equipped with a drive telescopic cylinder, which can drive the suspension frame 21 to move up and down. The mobile gantry drive frame 1 drives the suspension frame 21 to move up and down. The upper end of the suspension main rod 22 is connected to the suspension frame 21. The servo drive component 7 is connected to the suspension main rod 22.

[0070] The mounting plate 23 is installed at the lower end of the suspension main rod 22. The liquid-permeable sealing component 3 and the claw external support component 4 are both connected to the mounting plate 23. The liquid-permeable sealing component 3 and the claw external support component 4 can rotate elastically relative to the mounting plate 23.

[0071] The suspension frame 21 is slidably sleeved on the outer surface of the suspension main rod 22. A toothed groove 25 is provided on one side of the upper end of the suspension main rod 22. A toothed plate 24 is fitted on one side of the toothed groove 25. A lateral drive cylinder is installed on one side of the toothed plate 24. A slidably inserted oscillating rod 26 is inserted into the upper end of the suspension main rod 22. One end of the oscillating rod 26 is located inside the suspension main rod 22 and is elastically connected to the suspension main rod 22. The elastic connection between the oscillating rod 26 and the suspension main rod 22 is preferably a spring. A vertical drive cylinder for driving the oscillating rod 26 to move up and down is installed inside the suspension frame 21.

[0072] Vision control units are installed on both sides of the main suspension rod 22. When the vision control unit detects that the molten slag has entered the liquid-permeable sealing component 3 and the claw outer support component 4 and then merges them, and when the outer cover sealing component 5 is in the open state, the control side drive cylinder drives the toothed plate 24 to disengage from the toothed groove 25, and the vertical drive cylinder drives the oscillating rod 26 to move up and down. The oscillating rod 26 drives the main suspension rod 22 to sway up and down through the elastic connection. The liquid remaining inside the molten slag separates from the molten slag under the oscillation inertia, increasing the separation speed and preventing the molten slag from re-solidifying inside the molten slag due to the slow separation speed.

[0073] In this embodiment, as Figures 5-9 As shown, the claw outer support assembly 4 includes a short horizontal shaft 41, a claw cover plate 42, a claw rod 43, and a claw linkage plate 44.

[0074] The short horizontal shaft 41 is rotatably mounted on the upper surface of the mounting plate 23. The short horizontal shaft 41 rotates elastically relative to the mounting plate 23. The upper end of the claw cover plate 42 is fixed to the short horizontal shaft 41. The claw rod 43 is mounted on the lower end of the claw cover plate 42. The claw rod 43 is located on the side of the claw cover plate 42 away from the axis of the suspension main rod 22. One end of the claw linkage plate 44 is fixedly sleeved on the outside of the short horizontal shaft 41. The servo drive assembly 7 drives the horizontal shaft to rotate through the claw linkage plate 44.

[0075] Furthermore, in this embodiment, the downward projection range of the mounting plate 23 is smaller than the inner diameter of the crucible, and the claw rod 43 extends away from the claw cover plate 42. The extension length of the claw rod 43 is smaller than the downward projection range of the mounting plate 23, ensuring that the claw rod 43 can follow the claw cover plate 42 into the crucible before the claw cover plate 42 opens.

[0076] In this embodiment, the liquid-permeable sealing assembly 3 includes a long horizontal shaft 31, a liquid-permeable sealing plate 32, and an upper liquid-permeable linkage plate 33.

[0077] The long horizontal shaft 31 is rotatably mounted on the upper surface of the mounting plate 23. The long horizontal shaft 31 rotates elastically relative to the mounting plate 23. The elastic rotation between the short horizontal shaft 41 and the long horizontal shaft 31 and the mounting plate 23 is preferably a torsion spring. The upper end of the liquid-permeable sealing plate 32 is fixed to the long horizontal shaft 31. The surface of the liquid-permeable sealing plate 32 is provided with liquid-permeable holes that are open through the inside and outside. One end of the upper liquid-permeable linkage plate 33 is fixed to the long horizontal shaft 31. The servo drive assembly 7 controls the rotation of the long horizontal shaft 31 through the upper liquid-permeable linkage plate 33.

[0078] In this embodiment, the outer cover sealing assembly 5 includes a sealing bonding plate 51, a sealing linkage plate 53, and a reverse swing plate 54.

[0079] The sealing plate 51 is attached to the portion of the liquid-permeable sealing plate 32 where the liquid-permeable hole is opened. The upper end of the sealing plate 51 is rotatably sleeved on the outside of the long horizontal shaft 31. The sealing plate 51 can elastically rotate relative to the long horizontal shaft 31, preferably using a torsion spring. One end of the sealing linkage plate 53 is installed at the end where the sealing plate 51 connects to the long horizontal shaft 31. The elastic torque between the long horizontal shaft 31 and the mounting plate 23 is greater than the elastic torque between the sealing plate 51 and the long horizontal shaft 31. When the sealing plate 51 is subjected to a thrust and rotates, it will not drive the liquid-permeable sealing plate 32 to rotate through the elastic connection between it and the liquid-permeable sealing plate 32.

[0080] A blocking arc plate 52 is provided on the side of the lower end of the sealing and bonding plate 51 away from the liquid-permeable sealing plate 32, and the two ends of the blocking arc plate 52 are fixed to the adjacent liquid-permeable sealing plate 32.

[0081] Furthermore, in this embodiment, multiple blocking arc plates 52 are formed into a conical cylinder with a small diameter at the lower end. After the liquid-permeable sealing plate 32 covers the molten slag inside and the sealing bonding plate 51 is controlled to move away from the liquid-permeable sealing plate 32, the liquid is discharged from the liquid-permeable hole of the liquid-permeable sealing plate 32. The liquid flows downward under the obstruction of the sealing bonding plate 51, falls inside the blocking arc plate 52, and flows into the crucible below.

[0082] The middle part of the reverse swing plate 54 is rotatably connected to the upper surface of the mounting plate 23. The reverse swing plate 54 elastically twists relative to the mounting plate 23, preferably a torsion spring. The reverse swing plate 54 is located on the upper side of the closed linkage plate 53. A rotatable one-way pressure rod 55 is installed on one end of the reverse swing plate 54 near the closed linkage plate 53. The one-way pressure rod 55 elastically rotates relative to the reverse swing plate 54, preferably a torsion spring.

[0083] In this embodiment, the shaft feeding assembly 6 includes a central sealing rod 61 and a linkage cylinder 62.

[0084] The central sealing rod 61 is positioned between multiple liquid-permeable sealing plates 32 and multiple claw cover plates 42. The main suspension rod 22 is slidably sleeved on the outside of the central sealing rod 61, and the main suspension rod 22 moves elastically up and down relative to the central sealing rod 61.

[0085] The linkage cylinder 62 is slidably sleeved on the outside of the central sealing rod 61. The inner ring surface of the linkage cylinder 62 slides through the outer surface of the suspension main rod 22 and then connects to the upper end of the central sealing rod 61.

[0086] Furthermore, in this embodiment, the long horizontal shaft 31 and the short horizontal shaft 41, through their elastic connection with the mounting plate 23, can drive the liquid-permeable sealing plate 32 and the claw cover plate 42 to come into contact with each other, so that an annular closed space is formed between the liquid-permeable sealing plate 32 and the claw cover plate 42, and the lower end of the formed annular closed space is adapted to the lower end of the central sealing rod 61. Under the elastic action of the suspension main rod 22, the central sealing rod 61 seals the lower end of the annular closed space formed between the liquid-permeable sealing plate 32 and the claw cover plate 42.

[0087] In this embodiment, the servo drive assembly 7 includes a servo telescopic member 71, an active ring 72, an upper driven ring 73, and a lower driven ring 74.

[0088] The servo telescopic component 71 is connected to the suspension main rod 22, and the telescopic end of the servo telescopic component 71 is connected to the active ring 72. The active ring 72 is slidably sleeved on the outside of the suspension main rod 22.

[0089] Furthermore, in this embodiment, the main suspension rod 22 is equipped with a servo motor, and the servo telescopic component 71 is composed of a threaded cylinder and a threaded shaft that mesh with each other. The threaded cylinder is connected to the active ring 72, and the threaded shaft is rotatably connected to the main suspension rod 22. The threaded shaft is connected to the output end of the servo motor, and the servo motor controls the active ring 72 to move up and down by driving the threaded shaft to mesh with the threaded cylinder.

[0090] The upper driven ring 73 is slidably sleeved on the outside of the suspension main rod 22. The upper driven ring 73 is elastically connected to the suspension main rod 22, preferably by a straight spring. Pushing the upper driven ring 73 downward, the upper driven ring 73 is located below the linkage cylinder 62. The driving ring 72 is located below the upper driven ring 73. The lower driven ring 74 is slidably sleeved on the outside of the suspension main rod 22. The lower driven ring 74 is elastically connected to the upper surface of the mounting plate 23, preferably by a straight spring. The lower driven ring 74 is located below the driving ring 72. Pushing the lower driven ring 74 upward.

[0091] When the active ring 72 moves up and down, it pushes the upper driven ring 73 and the lower driven ring 74 respectively.

[0092] A baffle plate 79 is provided between the upper driven ring 73 and the lower driven ring 74. The baffle plate 79 is vertically installed on the outside of the suspension main rod 22. The driving ring 72 is slidably sleeved on the outer surface of the baffle plate 79. The baffle plate 79 limits the lowest position of the upper driven ring 73 and the highest position of the lower driven ring 74.

[0093] When multiple liquid-permeable sealing plates 32 and multiple claw cover plates 42 come into contact with each other, they form a closed space with the mounting plate 23 at the lower end and upper side of the central sealing rod 61.

[0094] The claw cover plate 42 has groove-like structures on both sides of the side away from the central sealing rod 61, and the liquid-permeable sealing plate 32 extends out of the side that cooperates with the claw cover plate 42 to form a plate-like structure that cooperates with the claw cover plate 42.

[0095] A lifting push rod 75 is provided on the lower side of the reverse swing plate 54 away from the closed linkage plate 53, and the lifting push rod 75 is fixed to the upper driven ring 73.

[0096] A one-way pressure rod 76 is provided on the upper side of the upper liquid permeation linkage plate 33. A rotatable linkage rod 77 is installed on one side of the upper liquid permeation linkage plate 33. The one-way pressure rod 76 rotates elastically relative to the linkage rod 77, preferably a torsion spring. The linkage rod 77 is fixed to the outer ring surface of the lower driven ring 74. A spreading push plate 78 is provided on the upper side of the claw linkage plate 44. The spreading push plate 78 is vertically arranged, and the upper end of the spreading push plate 78 is fixed to the outer ring surface of the lower driven ring 74.

[0097] Furthermore, in this embodiment, when the active ring 72 pushes the upper driven ring 73 upward, the upper driven ring 73 first pushes one end of the reverse swing plate 54 upward via the lifting push rod 75, causing the other end of the reverse swing plate 54 to move downward. The one-way pressure rod 55 then pushes the sealing linkage plate 53 downward, causing the sealing bonding plate 51 to rotate relative to the liquid-permeable sealing plate 32, allowing the solution to enter the inner side through the liquid-permeable sealing plate 32 while blocking the slag on the outer side. Then, as the lifting push rod 75 continues to move upward, the lifting push rod 75 and the reverse swing plate 54 are misaligned. The reverse swing plate 54 resets under elastic connection with the mounting plate 23. After the pressure on the sealing linkage plate 53 disappears, the sealing bonding plate 51 and the liquid-permeable sealing plate 32 re-seal the liquid-permeable hole portion of the liquid-permeable sealing plate 32 under elastic connection. After moving to the position where the solution needs to be transferred, the upper driven ring 73 continues to move upward, pushing the linkage cylinder 62 to move the central sealing rod 61 upward, allowing the solution to flow out from the lower center.

[0098] When slag removal is required in the crucible, after the liquid-permeable sealing plate 32 and the sealing plate 51 are moved to their corresponding positions, the driving ring 72 pushes the driven ring 74 downward. As the driven ring 74 moves downward, it first pushes the upper liquid-permeable linkage plate 33 downward through the linkage rod 77 and the one-way pressure rod 76, controlling the liquid-permeable sealing plate 32 to open, allowing the slag to enter between the open liquid-permeable sealing plates 32. The driving ring 72 then moves upward, causing the liquid-permeable sealing plate 32 to close again. The driving ring 72 pushes the driven ring 73 upward, causing the sealing plate 51 to separate from the liquid-permeable sealing plate 32 again, allowing the solution in the inner slag to drain. After the solution in the slag drains, the driving ring 72 moves downward, opening the liquid-permeable sealing plate 32 and transferring the inner slag to the outside, thus completing the cleaning of the slag in the crucible.

[0099] When the crucible needs to be transferred, the driving ring 72 pushes the driven ring 74 downward. After the one-way pressure rod 76 moves downward and is misaligned with the upper liquid permeation linkage plate 33, the upper liquid permeation linkage plate 33 and the liquid permeation sealing plate 32 are reset under the elastic action of the long horizontal shaft 31 and the mounting plate 23. Then, as the driven ring 74 continues to move downward, it applies a pushing force to the claw linkage plate 44 by opening the push plate 78, controlling the claw cover plate 42 to gradually open, driving the claw rod 43 to gradually contact and tighten with the inner wall of the crucible, enabling the crucible to be suspended and transferred. As the driven ring 74 drives the push plate 78 and the one-way pressure rod 76 to move upward, the one-way pressure rod 76 gradually rotates elastically relative to the linkage rod 77 after contacting the upper liquid permeation linkage plate 33, so that the one-way pressure rod 76 can be misaligned with the upper liquid permeation linkage plate 33 by rotation and move to the upper side of the upper liquid permeation linkage plate 33.

[0100] In this embodiment, the transfer of solution, separation of slag and transfer of crucible can be accomplished simply by controlling the up and down movement of the active ring 72. Various mechanical gripper operations can be performed through simple movement.

[0101] The working principle is as follows: The moving gantry drive frame 1 controls the telescopic suspension structure 2 to move to the upper side of the rare earth metal electrolysis furnace. The moving gantry drive frame 1 controls the telescopic suspension structure 2 to move downward, extending the liquid-permeable sealing assembly 3, the claw outer support assembly 4, and the outer cover sealing assembly 5 into the crucible of the rare earth metal electrolysis furnace. When it is necessary to remove the solution from the crucible, after controlling the outer cover sealing assembly 5 to disengage from the liquid-permeable sealing assembly 3, the liquid-permeable sealing assembly 3 is extended into the liquid inside the device, allowing the liquid to enter the interior through the liquid-permeable sealing assembly 3. Then, the outer cover sealing assembly 5 is controlled to re-engage with the liquid-permeable sealing assembly 3. The closed component 3 is closed and then moved to the position where liquid needs to be drained. The control shaft feeding component 6 moves upward to drain the internal solution. When the slag inside the device needs to be treated, the control liquid-permeable sealing component 3 and the outer cover sealing component 5 are both opened. After the slag enters the device, the control liquid-permeable sealing component 3 is closed again. The outer cover sealing component 5 is then separated from the liquid-permeable sealing component 3, allowing the solution inside the slag to flow out. Only the slag is transferred. When the crucible inside the device needs to be transferred, the control claw outer support component 4 is opened outward to tighten the inside of the crucible, which can suspend the crucible and transfer it.

[0102] The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A multi-functional robot for a rare earth metal electrolysis furnace, comprising a mobile gantry drive frame (1), characterized in that, include: Telescopic suspension structure (2), the upper end of which is connected to the mobile gantry drive frame (1); Liquid-permeable sealing component (3), multiple liquid-permeable sealing components (3) are provided. The liquid-permeable sealing component (3) is connected to the lower end of the telescopic suspension structure (2). The liquid-permeable sealing component (3) is elastically twisted relative to the telescopic suspension structure (2), and liquid can pass through the liquid-permeable sealing component (3). The number of claw external support components (4) is equal to the number of liquid-permeable sealing components (3). The claw external support components (4) are connected to the lower end of the telescopic suspension structure (2). The claw external support components (4) elastically twist relative to the telescopic suspension structure (2). Multiple claw external support components (4) and multiple liquid-permeable sealing components (3) are alternately distributed around the axis of the telescopic suspension structure (2). The number of outer cover sealing components (5) is equal to the number of liquid permeable sealing components (3). The outer cover sealing components (5) are fitted and disposed on the side of the liquid permeable sealing component (3) away from the axis of the telescopic suspension structure (2). The upper end of the outer cover sealing components (5) is elastically twisted and connected to the liquid permeable sealing component (3). A shaft unloading assembly (6) is installed between multiple outer cover enclosure assemblies (5) and multiple claw outer support assemblies (4), and the upper end of the shaft unloading assembly (6) is connected to the telescopic suspension structure (2). Servo drive assembly (7) can drive the liquid-permeable sealing assembly (3), the claw external support assembly (4) and the outer cover sealing assembly (5) to rotate respectively. The servo drive assembly (7) is connected to the telescopic suspension structure (2). The servo drive assembly (7) drives the shaft unloading assembly (6) to move up and down.

2. The multifunctional robot for a rare earth metal electrolysis furnace according to claim 1, characterized in that: The telescopic suspension structure (2) includes: The suspension frame (21) is connected to the movable gantry drive frame (1), and the movable gantry drive frame (1) drives the suspension frame (21) to move up and down; The main suspension rod (22) is connected to the upper end of the suspension frame (21), and the servo drive assembly (7) is connected to the main suspension rod (22). Mounting plate (23), which is installed at the lower end of the suspension main rod (22), the liquid permeable sealing component (3) and the claw external support component (4) are both connected to the mounting plate (23), and the liquid permeable sealing component (3) and the claw external support component (4) can rotate elastically relative to the mounting plate (23).

3. The multifunctional robot for a rare earth metal electrolysis furnace according to claim 2, characterized in that: The claw support assembly (4) includes: A short horizontal shaft (41) is rotatably mounted on the upper surface of the mounting plate (23), and the short horizontal shaft (41) rotates elastically relative to the mounting plate (23); The upper end of the claw cover plate (42) is fixed to the short horizontal axis (41); The claw rod (43) is installed at the lower end of the claw cover plate (42) and the claw rod (43) is located on the side of the claw cover plate (42) away from the axis of the suspension main rod (22); The claw linkage plate (44) is fixedly sleeved on the outside of the short horizontal shaft (41) at one end. The servo drive assembly (7) drives the horizontal shaft at the end to rotate through the claw linkage plate (44).

4. The multifunctional robot for a rare earth metal electrolysis furnace according to claim 3, characterized in that: The liquid-permeable sealing assembly (3) includes: A long horizontal shaft (31) is rotatably mounted on the upper surface of the mounting plate (23), and the long horizontal shaft (31) rotates elastically relative to the mounting plate (23); Liquid-permeable sealing plate (32), the upper end of which is fixed to the long horizontal axis (31), and liquid-permeable sealing plate (32) has liquid-permeable holes that are open through the inside and outside on its surface; The upper liquid permeation linkage plate (33) is fixed at one end to the long horizontal shaft (31), and the servo drive component (7) controls the rotation of the long horizontal shaft (31) through the upper liquid permeation linkage plate (33).

5. The multifunctional robot for a rare earth metal electrolysis furnace according to claim 4, characterized in that: The outer enclosure assembly (5) includes: A sealing plate (51) is attached to the part of the liquid-permeable sealing plate (32) where the liquid-permeable hole is opened. The upper end of the sealing plate (51) is rotatably sleeved on the outside of the long horizontal shaft (31). The sealing plate (51) can rotate elastically relative to the long horizontal shaft (31). A blocking arc plate (52) is provided on the side of the lower end of the sealing plate (51) away from the liquid-permeable sealing plate (32). The two ends of the blocking arc plate (52) are fixed to the adjacent liquid-permeable sealing plate (32). Closed linkage plate (53), one end of which is installed at the end where the closed bonding plate (51) and the long horizontal shaft (31) are connected; The reverse swing plate (54) is rotatably connected to the upper surface of the mounting plate (23) in the middle part. The reverse swing plate (54) is elastically twisted relative to the mounting plate (23). The reverse swing plate (54) is located on the upper side of the closed linkage plate (53). A rotatable one-way pressure rod (55) is installed on one end of the reverse swing plate (54) near the closed linkage plate (53). The one-way pressure rod (55) is elastically rotated relative to the reverse swing plate (54).

6. The multifunctional robot for a rare earth metal electrolysis furnace according to claim 5, characterized in that: The shaft feeding assembly (6) includes: A central sealing rod (61) is disposed between multiple liquid-permeable sealing plates (32) and multiple claw cover plates (42). A suspension main rod (22) is slidably sleeved on the outside of the central sealing rod (61). The suspension main rod (22) moves elastically up and down relative to the central sealing rod (61). Linkage cylinder (62) is slidably sleeved on the outside of the center sealing rod (61). The inner ring surface of the linkage cylinder (62) slides through the outer surface of the suspension main rod (22) and is connected to the upper end of the center sealing rod (61).

7. A multifunctional robot for a rare earth metal electrolysis furnace according to claim 6, characterized in that: When multiple liquid-permeable sealing plates (32) and multiple claw cover plates (42) come into contact with each other, they form a closed space with the mounting plate (23) at the lower end and upper side of the central sealing rod (61); The claw cover plate (42) has groove-shaped structures on both sides away from the central sealing rod (61), and the liquid-permeable sealing plate (32) extends out of the side that cooperates with the claw cover plate (42) to form a plate-shaped structure that cooperates with the claw cover plate (42).

8. A multifunctional robot for a rare earth metal electrolytic furnace according to claim 6, characterized in that: The servo drive component (7) includes: Servo telescopic component (71), which is connected to the suspension main rod (22); Active ring (72), the telescopic end of the servo telescopic component (71) is connected to the active ring (72), and the active ring (72) is slidably sleeved on the outside of the suspension main rod (22); Upper driven ring (73) is slidably sleeved on the outside of the suspension main rod (22). The upper driven ring (73) is elastically connected to the suspension main rod (22). The upper driven ring (73) is located below the linkage cylinder (62), and the driving ring (72) is located below the upper driven ring (73). The lower driven ring (74) is slidably sleeved on the outside of the suspension main rod (22). The lower driven ring (74) is elastically connected to the upper surface of the mounting plate (23). The lower driven ring (74) is located below the active ring (72).

9. A multifunctional robot for a rare earth metal electrolytic furnace according to claim 8, characterized in that: A lifting push rod (75) is provided on the lower side of the reverse swing plate (54) away from the closed linkage plate (53), and the lifting push rod (75) is fixed to the upper driven ring (73); A one-way pressure rod (76) is provided on the upper side of the upper liquid permeation linkage plate (33). A rotatable linkage rod (77) is installed on one side of the upper liquid permeation linkage plate (33). The one-way pressure rod (76) rotates elastically relative to the linkage rod (77). The linkage rod (77) is fixed to the outer ring surface of the lower driven ring (74). The upper side of the claw linkage plate (44) is provided with a spreading push plate (78), the spreading push plate (78) is vertically set, and the upper end of the spreading push plate (78) is fixed to the outer ring surface of the lower driven ring (74); A baffle plate (79) is provided between the upper driven ring (73) and the lower driven ring (74). The baffle plate (79) is vertically installed on the outside of the suspension main rod (22), and the active ring (72) is slidably sleeved on the outer surface of the baffle plate (79).

10. A multifunctional robot for a rare earth metal electrolysis furnace according to claim 2, characterized in that: The suspension frame (21) is slidably sleeved on the outer surface of the suspension main rod (22). A toothed groove (25) is provided on one side of the upper end of the suspension main rod (22). A toothed plate (24) is fitted on one side of the toothed groove (25). A lateral drive cylinder is installed on one side of the toothed plate (24). A slidably inserted oscillating rod (26) is slidably inserted into the upper end of the suspension main rod (22). One end of the oscillating rod (26) is located inside the suspension main rod (22) and is elastically connected to the suspension main rod (22). A vertical drive cylinder for driving the oscillating rod (26) to move up and down is installed inside the suspension frame (21).

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