Molten iron transferring and clamping equipment

Abstract

The utility model discloses molten iron transfer clamping equipment which comprises a mechanical arm, the end of a supporting arm of the mechanical arm is fixedly connected with a fixing plate, the outer wall of the fixing plate is provided with two sets of sliding grooves, the positions of the two sets of sliding grooves are symmetrical, the outer wall of a connecting plate is connected with two sets of sliding rods in a sliding mode, and the ends of the two sets of sliding rods are jointly connected with a clamping plate. The outer wall of the sliding rod is sleeved with a buffering mechanism for buffering the acting force during clamping, and a plurality of sets of anti-skid grooves are formed in the outer wall of the clamping plate at equal intervals. Through the buffering effect of the springs, when the clamping plates make contact with a container, the springs can absorb part of instantaneous clamping force and convert the instantaneous clamping force into more moderate force, container deformation or molten iron shaking caused by the too large instantaneous clamping force is avoided, impact in the clamping process is greatly reduced, and the service life of the container is prolonged. And the structural stability of the container in the clamping process is ensured, the risk that molten iron overflows is reduced, and the safety and stability of the operation process are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of transfer equipment, in particular to a molten iron transfer clamping device. Background Art

[0002] A molten iron transfer clamping device generally refers to a device that, during the steel production process, uses a robotic arm or other automated equipment to safely and precisely grasp, transport, and transfer containers (such as ladles and steel ladles) filled with molten iron.

[0003] Currently, when the existing robotic arms for molten iron transfer are in specific operations, most of them grip the outer wall of the container filled with molten iron. However, the weight of the molten iron is relatively large, and due to the possible sloshing of the molten iron inside the container, the center of gravity is unstable. During the transfer process by the robotic hand, if the clamping device shakes violently during the transfer, it may cause the container to tilt or overturn, resulting in the overflow of molten iron and endangering safety. Therefore, it is necessary to redesign a molten iron transfer clamping device to address the above problems. Summary of the Utility Model

[0004] The purpose of the utility model is to solve the deficiencies existing in the prior art and to propose a molten iron transfer clamping device.

[0005] To achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A molten iron transfer clamping device includes a robotic arm. A fixed plate is fixedly connected to the end of the support arm of the robotic arm. Two groups of sliding grooves are formed on the outer wall of the fixed plate, and the two groups of sliding grooves are symmetrically arranged. Two groups of sliders are slidably connected in each of the two groups of sliding grooves. Adjacent pairs of sliders are commonly fixedly connected to a connecting plate. Two groups of sliding rods are slidably connected to the outer wall of the connecting plate. The ends of the two groups of sliding rods are commonly connected to a clamping plate. A buffer mechanism for buffering the acting force during clamping is sleeved on the outer wall of the sliding rod. Multiple anti-slip grooves are formed on the outer wall of the clamping plate and are arranged at equal intervals.

[0007] Preferably, the buffer mechanism includes limit blocks fixedly connected to the ends of the two groups of sliding rods. Springs are sleeved on the outer walls of the sliding rods. One end of each spring is fixedly connected to the outer wall of the connecting plate, and the other end of the spring is fixedly connected to the limit block.

[0008] Preferably, two groups of double-headed threaded rods are rotatably connected in each of the two groups of sliding grooves. The two groups of sliders are threadedly connected to the threaded sections of the double-headed threaded rods.

[0009] Preferably, the upper and lower end faces of the slider are both flat. The upper and lower end faces of the slider are in close contact with the inner walls of the sliding groove. Two groups of transmission wheels are rotatably connected to the outer wall of the fixed plate. The two groups of transmission wheels are coaxially and fixedly connected to their adjacent double-headed threaded rods respectively.

[0010] Preferably, the two groups of driving wheels are connected to each other through a transmission belt. The lower end surface of the fixing plate is fixedly connected with two hydraulic cylinders, and the ends of the telescopic ends of the two hydraulic cylinders are fixedly connected with a bottom plate together.

[0011] Preferably, a servo motor is fixedly connected to the side wall of the fixing plate, and the end of the output shaft of the servo motor is coaxially and fixedly connected to the adjacent double-headed threaded rod.

[0012] The utility model has the following beneficial effects:

[0013] 1. Through the buffering effect of the spring, when the clamping plate touches the container, the spring can absorb part of the instantaneous clamping force and convert it into a more gentle force, avoiding the deformation of the container or the sloshing of the molten iron caused by excessive instantaneous clamping force, greatly reducing the impact during the clamping process, ensuring the structural stability of the container during the clamping process, reducing the risk of molten iron overflow, and improving the safety and stability of the operation process.

[0014] 2. The utility model drives the bottom plate to slide upward through the hydraulic cylinder, firmly lifts the container filled with molten iron from the bottom, and the stable support provided by the bottom plate ensures that the container does not move downward due to gravity during the operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of a molten iron transfer clamping device proposed by the utility model;

[0016] Figure 2 is Figure 1 a schematic structural diagram of the fixing plate and its external components in

[0017] Figure 3 is Figure 2 a schematic structural diagram of the slider, clamping plate, spring and other components in

[0018] In the figure: 1. Robot arm; 2. Fixing plate; 3. Hydraulic cylinder; 4. Bottom plate; 5. Driving wheel; 6. Transmission belt; 7. Servo motor; 8. Slider; 9. Connecting plate; 10. Clamping plate; 11. Slide bar; 12. Limit block; 13. Spring; 14. Chute; 15. Double-headed threaded rod. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments.

[0020] Referring to Figures 1-3A molten iron transfer clamping device comprises a mechanical arm 1, wherein the end of the arm of the mechanical arm 1 is fixedly connected to a fixed plate 2, and the outer wall of the fixed plate 2 is provided with two groups of slide grooves 14, and the positions of the two groups of slide grooves 14 are symmetrical to each other, and two groups of sliders 8 are slidably connected in the two groups of slide grooves 14, and the two adjacent groups of sliders 8 are commonly fixedly connected to a connecting plate 9, and the outer wall of the connecting plate 9 is slidably connected to two groups of slide rods 11, and the ends of the two groups of slide rods 11 are commonly connected to a clamping plate 10, and the outer wall of the slide rod 11 is provided with a buffer mechanism for buffering the force during clamping, and the clamping plate 1 0 has multiple groups of anti-slip grooves on its outer wall, which are arranged at equal intervals. The buffer mechanism includes limit blocks 12 fixedly connected to the ends of the two groups of slide bars 11. The outer walls of the slide bars 11 are sleeved with springs 13. One end of the spring 13 is fixedly connected to the outer wall of the connecting plate 9, and the other end of the spring 13 is fixedly connected to the limit block 12. The spring 13 is introduced to increase the buffering force of the clamping plate 10 when clamping, so as to reduce the impact and vibration caused by the movement of the robot arm 1 during the molten iron transfer process, thereby reducing the risk of container tilting and molten iron overflow.

[0021] Two sets of slide grooves 14 are rotatably connected with double-headed threaded rods 15, two sets of sliders 8 are threadedly connected to the threaded sections of the double-headed threaded rods 15, the upper and lower end surfaces of the sliders 8 are both flat, and the upper and lower end surfaces of the sliders 8 are in close contact with the inner wall of the slide groove 14, and the outer wall of the fixed plate 2 is rotatably connected with two sets of transmission wheels 5, the two sets of transmission wheels 5 are respectively coaxially fixedly connected to their adjacent double-headed threaded rods 15, and the two sets of transmission wheels 5 are connected to each other through a transmission belt 6, and two sets of hydraulic cylinders 3 are fixedly connected to the lower end surface of the fixed plate 2, and the telescopic ends of the two sets of hydraulic cylinders 3 are commonly fixedly connected to the bottom plate 4; the hydraulic cylinders 3 drive the bottom plate 4 to slide upward from the bottom, and support the container with molten iron from the bottom, and when the molten iron is transferred, the shaking is mostly in the left and right directions, and no buffer mechanism is provided on the solid bottom plate 4.

[0022] A servo motor 7 is fixedly connected to the side wall of the fixing plate 2 , and the end of the output shaft of the servo motor 7 is coaxially fixedly connected to the adjacent double-headed threaded rod 15 .

[0023] In the utility model, when the device is used specifically: after the mechanical arm 1 is started, the fixed plate 2 at the end of the arm begins to adjust its position, so that the entire clamping device moves to the top of the container filled with molten iron, ready for clamping operation, and then the servo motor 7 is started to drive the double-headed threaded rod 15 and the transmission wheel 5 at its end to rotate, thereby driving the other double-headed threaded rod 15 to rotate, and then driving the slider 8 to move in the slide groove 14, driving the clamping plate 10 to automatically adjust the clamping width according to the size of the container, and with the movement of the slider 8, the connecting plate 9 drives the slide bar 11 and the clamping plate 10 to slide inward or outward to achieve Suitable clamping position. When the clamping plate 10 approaches the container, the anti-slip groove on the outer wall of the clamping plate 10 can ensure close contact with the outer wall of the container, increase friction, and prevent the container from sliding during the clamping process. When the clamping plate 10 contacts the container, the spring 13 takes effect. The spring 13 absorbs part of the clamping force through its elastic deformation. This elastic deformation can be regarded as a "buffering" process, which alleviates the transmission speed and strength of the force applied by the robot 1, and reduces the impact of the instantaneous clamping force by buffering the clamping force, thereby avoiding deformation of the container or shaking of the molten iron due to excessive clamping force.

[0024] After the clamping operation is completed, the hydraulic cylinder 3 under the fixed plate 2 starts to work, driving the bottom plate 4 to slide upward, and lifting the container filled with molten iron from the bottom. The bottom plate 4 provides stable support, bearing the weight of the container and preventing the container from moving downward due to gravity. In this process, since the shaking during the transfer of molten iron is mainly concentrated in the left and right directions, the bottom plate 4 is not provided with a buffer mechanism, so the stability of the bottom support can be maintained.

[0025] The robot arm 1 starts to operate and begins to transfer the molten iron container. At this time, since the springs 13 on both sides of the clamping plate 10 absorb and release energy through their elastic deformation, when the clamping plate 10 is subjected to external force, such as lateral force caused by the shaking of the container, the spring 13 will be compressed or stretched according to the applied force, and can convert the instantaneously applied external force into a gradually increasing or decreasing force, thereby slowing down or eliminating the direct impact of the external force on the container, and avoiding the tilting or overflow of the molten iron due to shaking.

[0026] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A molten iron transfer and clamping device, comprising a mechanical arm (1), characterized in that: The end of the arm of the mechanical arm (1) is fixedly connected to a fixed plate (2), and the outer wall of the fixed plate (2) is provided with two groups of slide grooves (14), and the positions of the two groups of slide grooves (14) are symmetrical to each other. Two groups of sliders (8) are slidably connected in the two groups of slide grooves (14), and the two adjacent groups of sliders (8) are commonly fixedly connected to a connecting plate (9), and the outer wall of the connecting plate (9) is slidably connected to two groups of slide rods (11), and the ends of the two groups of slide rods (11) are commonly connected to a clamping plate (10), and the outer wall of the slide rod (11) is provided with a buffer mechanism for buffering the force applied during clamping, and the outer wall of the clamping plate (10) is provided with multiple groups of anti-slip grooves, which are arranged at equal intervals.

2. The molten iron transfer clamping device according to claim 1, characterized in that: The buffer mechanism comprises a limit block (12) fixedly connected to the ends of two groups of sliding rods (11); the outer walls of the sliding rods (11) are sleeved with a spring (13); one end of the spring (13) is fixedly connected to the outer wall of the connecting plate (9); and the other end of the spring (13) is fixedly connected to the limit block (12).

3. The molten iron transfer clamping device according to claim 2, characterized in that: The two groups of slide grooves (14) are both rotatably connected with double-headed threaded rods (15), and the two groups of sliding blocks (8) are both threadedly connected to the threaded sections of the double-headed threaded rods (15).

4. The molten iron transfer and clamping device according to claim 3, characterized in that: The upper and lower end surfaces of the slider (8) are both arranged in a plane, and the upper and lower end surfaces of the slider (8) are both in close contact with the inner wall of the slide groove (14). The outer wall of the fixed plate (2) is rotatably connected with two groups of transmission wheels (5), and the two groups of transmission wheels (5) are respectively coaxially fixedly connected with their adjacent double-headed threaded rods (15).

5. The molten iron transfer and clamping device according to claim 4, characterized in that: The two groups of transmission wheels (5) are connected to each other via a transmission belt (6); the lower end surface of the fixed plate (2) is fixedly connected to two groups of hydraulic cylinders (3); and the telescopic ends of the two groups of hydraulic cylinders (3) are fixedly connected to a bottom plate (4).

6. The molten iron transfer and clamping device according to claim 5, characterized in that: A servo motor (7) is fixedly connected to the side wall of the fixed plate (2), and the end of the output shaft of the servo motor (7) is coaxially fixedly connected to the adjacent double-headed threaded rod (15).

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