Sludge pipe sludge dredging device used in cooperation with six-axis robot

Abstract

The utility model relates to a mud pipe sludge dredging device matched with a six-axis robot for use, which is mounted on the six-axis robot and comprises a rack, a driving motor, a driving gear, a drill gun component and a driven gear, the rack is fixedly connected with a sixth axis of the six-axis robot, the driving motor is arranged in the rack, and the drill gun component is arranged in the rack. An output shaft of the driving motor extends to the outside of the rack, the driving gear fixedly sleeves the periphery of the output shaft of the driving motor, the drill gun component is fixedly connected with the rack, an input shaft of the drill gun component penetrates through the rack and extends to the outside of the rack, and the driven gear fixedly sleeves the periphery of the input shaft of the drill gun component and is meshed with the driving gear. According to the sludge dredging device for the sludge discharge pipe, the feeding movement of the drilling gun in the sludge discharge pipe is realized under the driving of the six-axis robot; the drilling gun is driven to rotate, so that the pipeline dredging work is realized; the automation degree is high, operation is reliable, a traditional manual operation mode is changed, the operation efficiency can be effectively improved, and potential safety hazards are reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical automation, and particularly relates to a sludge dredging device for a sludge discharge pipe used in cooperation with a six-axis robot. Background Art

[0002] The waste slag and sludge generated in the actual production of blast furnaces in the steelmaking area generally exceed the design load of the coarse-grained sludge discharge device at the tail end process, resulting in the accumulation of sludge at the bottom of the coarse-grained machine. The main equipment industrial auger cannot always operate normally, and it is necessary to dredge the sludge at the discharge port of the coarse-grained machine to restore the normal operation of the industrial auger. Currently, this work adopts a manual operation mode, which has a high labor intensity for workers, and there are safety hazards during the dredging process, and remote monitoring and control cannot be achieved. Content of the Utility Model

[0003] To solve the technical problems existing in the prior art, the utility model provides a kind of.

[0004] To achieve the above object, the technical solution of the utility model is as follows:

[0005] A sludge dredging device for a sludge discharge pipe used in cooperation with a six-axis robot, which is installed on the six-axis robot. The device includes: a frame, a driving motor, a driving gear, a drill gun component, and a driven gear. The frame is fixedly connected to the sixth axis of the six-axis robot. The driving motor is arranged inside the frame, and the output shaft of the driving motor extends outside the frame. The driving gear is fixedly sleeved on the outer periphery of the output shaft of the driving motor. The drill gun component is fixedly connected to the frame, and the input shaft of the drill gun component passes through the frame and extends outside the frame. The driven gear is fixedly sleeved on the outer periphery of the input shaft of the drill gun component and meshes with the driving gear.

[0006] The frame is of an assembled type.

[0007] As a preferred technical solution, the connection mode between the driving gear and the motor output shaft, and the connection mode between the driven gear and the input shaft of the drill gun component both adopt key connection or fixing connection with set screws.

[0008] As a preferred technical solution, both the driving gear and the driven gear adopt helical gears.

[0009] As a preferred technical solution, the drill gun component includes a drill gun body, a bearing seat, and a bearing. The inner ring of the bearing is fixedly connected to the tail of the drill gun body, and the bearing seat is fixedly connected to the outer ring of the bearing.

[0010] As a preferred technical solution, the head of the drill gun body is provided with a spiral groove, and the tail of the drill gun body is arranged in a stepped shape.

[0011] As a preferred technical solution, a front seal end cover and a rear seal end cover are respectively arranged at the front end and the rear end of the bearing seat. Both the front seal end cover and the rear seal end cover are provided with matching skeleton oil seals, and an oil injection nozzle is arranged on the side surface of the bearing seat.

[0012] As a preferred technical solution, the bearing is an angular contact ball bearing.

[0013] As a preferred technical solution, a water-proof protective suit is arranged outside the device.

[0014] As a preferred technical solution, a pressure sensor is arranged at the connection between the device and the six-axis robot.

[0015] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0016] The sludge dredging device for the sludge discharge pipe of the present utility model realizes the feeding movement of the drill gun in the sludge discharge pipe driven by a six-axis robot; the drill gun is driven by a driving motor at the end of the device to realize the rotational movement, thereby realizing the work of pipeline dredging; at the same time, the visual system is used to monitor the sludge dredging condition in the pipeline in real time, so that the whole work forms a closed loop; the sludge dredging device for the sludge discharge pipe used in cooperation with the six-axis robot has a high degree of automation and reliable operation, changes the traditional manual operation mode, can effectively improve the operation efficiency, reduce the safety hazards of workers, and realize centralized management at the same time. Description of the Drawings

[0017] Figure 1 is a schematic diagram of the working state of the sludge dredging device for the sludge discharge pipe used in cooperation with the six-axis robot of the present utility model;

[0018] Figure 2 is a schematic structural diagram of the sludge dredging device for the sludge discharge pipe used in cooperation with the six-axis robot in the embodiment of the present utility model;

[0019] Figure 3 is an assembled structural diagram of the sludge dredging device for the sludge discharge pipe used in cooperation with the six-axis robot in the embodiment of the present utility model;

[0020] Figure 4 is a schematic structural diagram of the frame in the sludge dredging device for the sludge discharge pipe used in cooperation with the six-axis robot in the embodiment of the present utility model;

[0021] Figure 5 is a schematic structural diagram of the drill gun component in the sludge dredging device for the sludge discharge pipe used in cooperation with the six-axis robot in the embodiment of the present utility model.

[0022] In the figure: 1. Sludge dredging device for sludge discharge pipe; 11. Frame; 111. Main frame; 112. Connecting side plate; 113. Front cover plate; 114. Rear cover plate; 115. Protective cover; 116. Sealing gasket; 12. Driving motor; 13. Driving gear; 14. Drill gun component; 141. Drill gun body; 142. Bearing seat; 143. Bearing; 144. Skeleton oil seal; 145. Front sealing end cover; 146. Rear sealing end cover; 147. Bush; 148. Journal bush; 15. Driven gear; 2. Six-axis robot; 3. Sludge discharge pipe; 4. Electric ball valve. Specific embodiments

[0023] The technical solution of the present utility model will be further described below in conjunction with specific embodiments:

[0024] As Figure 2 shown, a sludge dredging device 1 for a sludge discharge pipe 3 used in cooperation with a six-axis robot 2 is installed on the six-axis robot 2. The device includes: a frame 11, a driving motor 12, a driving gear 13, a drill gun component 14, and a driven gear 15. The frame 11 is fixedly connected to the sixth axis of the six-axis robot 2. The driving motor 12 is arranged inside the frame 11, and the output shaft of the driving motor 12 extends outside the frame 11. The driving gear 13 is fixedly sleeved on the outer periphery of the output shaft of the driving motor 12. In this embodiment, the inner diameter of the driving gear 13 is preferably 22 mm, and the number of teeth is preferably 29. The drill gun component 14 is fixedly connected to the frame 11, and the input shaft of the drill gun component 14 passes through the frame 11 and extends outside the frame 11. The driven gear 15 is fixedly sleeved on the outer periphery of the input shaft of the drill gun component 14 and meshes with the driving gear 13. The inner diameter of the driven gear 15 is preferably 25 mm, and the number of teeth is preferably 30. The drill gun component 14 makes a feeding movement in the sludge discharge pipe 3 driven by the six-axis robot 2. The motor drives the driving gear 13 to rotate, transmits the rotation to the driven gear 15, and thus drives the drill gun component 14 to rotate to clean the inside of the sludge discharge pipe 3. End cover plates are provided at the ends of the output shaft of the motor and the end of the drill gun component 14, and are fixedly connected by screws to prevent the gears from coming off.

[0025] As Figure 1As shown in the figure, an electric ball valve 4 and a video monitoring system are provided at the tail end of the sludge discharge pipe 3. The sludge dredging condition inside the pipe is monitored in real time through the video monitoring system. During operation, the electric ball valve 4 automatically opens, and the video monitoring system automatically identifies the sludge discharge situation at the outlet of the electric ball valve 4. When blockage is detected, the six-axis robot 2 installed under the sludge discharge pipe 3 is manually controlled to drive the sludge dredging device 1 of the sludge discharge pipe 3 to pass through the electric ball valve 4 and enter the sludge discharge pipe 3 for work to dredge the sludge. The video monitoring system monitors the sludge discharge situation at the outlet of the electric ball valve 4 in real time. When the sludge is discharged completely and clear water is discharged, the six-axis robot 2 drives the sludge dredging device 1 of the sludge discharge pipe 3 to withdraw from the sludge discharge pipe 3, and the electric ball valve 4 automatically closes, completing a closed-loop for the entire operation. The device has a high degree of automation and reliable operation, changes the traditional manual operation mode, can effectively improve the operation efficiency, reduce the safety hazards of workers, and at the same time realize centralized management.

[0026] As Figure 4 shown, the frame 11 is set as an assembled type, which is convenient for pre-installation and maintenance of internal equipment in the later stage. Specifically, the frame 11 includes a main frame 111, connecting side plates 112, a front cover plate 113, a rear cover plate 114, a protective cover 115 and a gasket 116. The main frame 111 is fixedly connected to the connecting side plates 112 by bolts, and the connecting side plates 112 are fixedly connected to the sixth axis of the six-axis robot 2 by bolts. The front cover plate 113 and the rear cover plate 114 are respectively arranged on the front and rear sides of the main frame 111 and are fixedly connected to the main frame 111 by bolts. A gasket 116 is also arranged between the front cover plate 113 and the rear cover plate 114 and the main frame 111. The protective cover 115 is fixedly connected to the rear cover plate 114 by bolts.

[0027] The connection mode between the driving gear 13 and the output shaft of the motor, and the connection mode between the driven gear 15 and the input shaft of the drill gun component 14 both adopt key connection or fixation by set screws.

[0028] Both the driving gear 13 and the driven gear 15 adopt helical gears to operate stably under high-speed and heavy-load working conditions.

[0029] As Figure 3 and Figure 5 shown, the drill gun component 14 includes a drill gun body 141, a bearing seat 142 and a bearing 143, and also includes a skeleton oil seal 144, a front sealing end cover 145, a rear sealing end cover 146, a shaft sleeve 147 and a journal sleeve 148. The inner ring of the bearing 143 is fixedly connected to the tail of the drill gun body 141, and the bearing seat 142 is fixedly connected to the outer ring of the bearing 143.

[0030] The head of the drill gun body 141 is provided with a spiral groove to facilitate the discharge of sludge during work, and the tail of the drill gun body 141 is set in a stepped shape.

[0031] There are three sets of bearings 143. The first set of bearings is fixedly sleeved on the tail spindle of the drill gun body 141 and is in close contact with the annular flange at the front end of the tail spindle of the drill gun body 141. The bushing 147 is fixedly sleeved in the middle of the tail spindle of the drill gun body 141 and is in close contact with the first set of bearings. The second set of bearings and the third set of bearings are both fixedly sleeved on the rear end of the tail spindle of the drill gun body 141. The second set of bearings and the third set of bearings are arranged adjacent to each other and are in close contact with the bushing 147. The journal sleeve 148 is fixedly sleeved at the journal of the tail spindle of the drill gun body 141 and is in close contact with the third set of bearings.

[0032] The front end and the rear end of the bearing housing 142 are respectively provided with a front sealing end cover 145 and a rear sealing end cover 146. The front sealing end cover 145 and the rear sealing end cover 146 are both provided with matching skeleton oil seals 144. The side of the bearing housing 142 is provided with an oil injection nozzle.

[0033] The bearing 143 is an angular contact ball bearing 143, which can bear both radial load and axial load and can better adapt to work at higher speeds.

[0034] The bearing housing 142 is fixedly sleeved on the outer ring of the bearing 143. There is also an annular flange inside the bearing housing 142 for fixing the bearing 143. The front end face and the rear end face of the bearing housing 142 are both provided with end cover bolt holes. The front sealing end cover 145 and the rear sealing end cover 146 are respectively installed on the front end face and the rear end face of the bearing housing 142 through bolts and are installed with matching skeleton oil seals 144. The outer side wall of the bearing housing 142 is also provided with a pipe thread hole for installing the oil injection nozzle.

[0035] The outside of the device is provided with a water-proof protective suit.

[0036] A pressure sensor is provided at the connection between the device and the six-axis robot 2.

[0037] In this embodiment, the working process of the sludge dredging device 1 of the sludge discharge pipe 3 used in cooperation with the six-axis robot 2 is as follows:

[0038] Control the six-axis robot 2 to work, so that the sludge dredging device 1 of the sludge discharge pipe 3 used in cooperation with the six-axis robot 2 passes through the electric ball valve 4 and enters the sludge discharge pipe 3; at the same time, control the drive motor 12 to work. The driving gear 13 rotates with the motor output shaft, and the driven gear 15 rotates driven by the driving gear 13, thereby driving the drill gun body 141 in the drill gun component 14 to rotate. The sludge dredging device 1 of the sludge discharge pipe 3 used in cooperation with the six-axis robot 2 realizes the synchronous feeding movement and rotation movement under the drive of the six-axis robot 2, and realizes the work of pipeline dredging.

[0039] This embodiment is only a further explanation of the present utility model and does not limit the present utility model. After reading this specification, those skilled in the art can make non-creative modifications to this embodiment as needed, but as long as it is within the scope of the claims of the present utility model, it is protected by the patent law.

Claims

1. A sludge dredging device for a sludge discharge pipe used in conjunction with a six-axis robot, installed on the six-axis robot, characterized in that: The device comprises: a frame, a driving motor, a driving gear, a drilling gun component, and a driven gear. The frame is fixedly connected to the sixth axis of the six-axis robot, the driving motor is arranged in the frame, the output shaft of the driving motor extends to the outside of the frame, the driving gear is fixedly sleeved on the outer periphery of the output shaft of the driving motor, the drilling gun component is fixedly connected to the frame, the input shaft of the drilling gun component passes through the frame and extends to the outside of the frame, and the driven gear is fixedly sleeved on the outer periphery of the input shaft of the drilling gun component and meshes with the driving gear.

2. The sludge dredging device for a sludge discharge pipe used in conjunction with a six-axis robot according to claim 1, characterized in that: The frame is assembled.

3. The sludge dredging device for a sludge discharge pipe used in conjunction with a six-axis robot according to claim 1, characterized in that: The connection mode between the driving gear and the output shaft of the motor, and the connection mode between the driven gear and the input shaft of the drilling gun component, are both key connection or set screw fixed connection.

4. The sludge dredging device for a sludge discharge pipe used in conjunction with a six-axis robot according to claim 1, characterized in that: The driving gear and the driven gear are both helical gears.

5. The sludge dredging device for a sludge discharge pipe used in conjunction with a six-axis robot according to claim 1, characterized in that: The drill gun component comprises a drill gun body, a bearing seat and a bearing, the inner ring of the bearing is fixedly connected to the tail of the drill gun body, and the bearing seat is fixedly connected to the outer ring of the bearing.

6. The sludge dredging device for a sludge discharge pipe used in conjunction with a six-axis robot according to claim 5, characterized in that: The head of the drill gun body is provided with a spiral groove, and the tail of the drill gun body is arranged in a stepped shape.

7. The sludge dredging device for a sludge discharge pipe used in conjunction with a six-axis robot according to claim 6, characterized in that: The front end and rear end of the bearing seat are respectively provided with a front sealing end cover and a rear sealing end cover, and the front sealing end cover and the rear sealing end cover are both provided with matching skeleton oil seals. The side of the bearing seat is provided with an oil filling nozzle.

8. The sludge dredging device for a sludge discharge pipe used in conjunction with a six-axis robot according to claim 6, characterized in that: The bearing is an angular contact ball bearing.

9. The sludge dredging device for a sludge discharge pipe used in conjunction with a six-axis robot according to claim 1, characterized in that: A water-proof protective suit is arranged outside the device.

10. The sludge dredging device for a sludge discharge pipe used in conjunction with a six-axis robot according to claim 1, characterized in that: A pressure sensor is provided at the connection between the device and the six-axis robot.

Images