Manipulator for pulling and inserting pot inserting plate of calcium carbide pot

Abstract

The utility model provides a manipulator for pulling and inserting a pot inserting plate of a calcium carbide pot, which comprises a support frame, a laser sensor for detecting the position of the calcium carbide pot arranged on a frame is arranged on the support frame, and the frame is provided with a slide rail and a plurality of calcium carbide pots sequentially arranged along the linear direction, the distribution direction of the calcium carbide pots is parallel to the length direction of the sliding rail, and each calcium carbide pot is provided with a pot insertion plate with a pot lug; the two grippers are arranged on the supporting frame in a sliding mode and used for achieving gripping and releasing of the pot inserting plate on each calcium carbide pot through the mode that the two grippers get close to each other or get away from each other; the telescopic end of the telescopic device is arranged at the bottom of the supporting frame, the bottom end of the telescopic device is arranged on the sliding table, and the sliding table is slidably connected with the sliding rail. Accurate positioning of the position of the calcium carbide pot is achieved, the hand of a worker is prevented from making contact with the calcium carbide pot, and the grabbing safety and grabbing efficiency of the pot inserting plate are improved.

Description

Technical Field

[0001] This application relates to the technical field of calcium carbide production, and particularly relates to a manipulator for inserting and extracting the pot plug plate of a calcium carbide pot. Background Art

[0002] Calcium carbide is a chemical raw material, which is currently mainly produced by an electric furnace. A calcium carbide pot is a commonly used device for producing calcium carbide. The molten calcium carbide in the electric furnace flows into the calcium carbide pot for cooling, thereby forming calcium carbide lumps. In order to facilitate the clamping of the calcium carbide lumps in the calcium carbide pot, two notches are provided on the side wall of the calcium carbide pot. In order to prevent the molten calcium carbide entering the calcium carbide pot from overflowing during transfer or cooling, a pot plug plate needs to be inserted at the notch of the calcium carbide pot.

[0003] However, the existing process of inserting and extracting the pot plug plate mainly uses tools such as pry bars by manual labor to pull out the pot plug plates at both ends of the calcium carbide pot, and then uses a lifting tool to lift the calcium carbide lumps out of the calcium carbide pot. Although the calcium carbide lumps have cooled, there is still a relatively high temperature in fact. Therefore, there is still a certain degree of danger when manual labor pulls out the plug plates on both sides. Therefore, this application proposes a manipulator for inserting and extracting the pot plug plate of a calcium carbide pot. Utility Model Content

[0004] This application provides a manipulator for inserting and extracting the pot plug plate of a calcium carbide pot to solve the technical problems described in the above background art.

[0005] To solve the above technical problems, this application is implemented by adopting the following technical solutions:

[0006] This application provides a manipulator for inserting and extracting the pot plug plate of a calcium carbide pot, including:

[0007] A support frame, on which a laser sensor for detecting the position of the calcium carbide pot arranged on the vehicle frame is provided. A slide rail and a plurality of the calcium carbide pots arranged in sequence along a straight line direction are provided on the vehicle frame. The distribution direction of the plurality of calcium carbide pots is parallel to the length direction of the slide rail. A pot plug plate with a pot ear is provided on each calcium carbide pot;

[0008] Two grippers, which are slidably arranged on the support frame and are used to grasp and release the pot plug plate on each calcium carbide pot by approaching or separating from each other;

[0009] A telescopic device, the telescopic end of which is arranged at the bottom of the support frame, and the bottom end thereof is arranged on a sliding table, and the sliding table is slidably connected to the slide rail.

[0010] Optionally, the support frame includes a column, a horizontal column and an I-beam;

[0011] The bottom end of the vertical column is connected to the telescopic end of the telescopic device. One end of the horizontal column is arranged on the side of the vertical column close to the calcium carbide pot. The I-beam is horizontally arranged on the lower surface of the horizontal column through a rotating member. The laser sensor is arranged on the horizontal column. Both of the grippers are slidably connected to the I-beam.

[0012] Optionally, the rotating member includes a first driving motor and a gear reducer.

[0013] The housing of the first driving motor is arranged on the horizontal column. The output shaft of the first driving motor is connected to the input shaft of the gear reducer. The output shaft of the gear reducer is connected to the top surface of the I-beam.

[0014] Optionally, two laser sensors are arranged at intervals on the top surface of the horizontal column. A horizontal connecting rod located between the horizontal column and the I-beam is arranged on the vertical column. The housing of the gear reducer is connected to the horizontal connecting rod.

[0015] Optionally, a bidirectional threaded rod is rotatably arranged on the support frame. Two connecting plates corresponding to the two grippers one by one are sleeved on the bidirectional threaded rod in a threaded manner. A slider embedded in the steel groove of the I-beam and capable of sliding in the steel groove of the I-beam is arranged on each connecting plate. Each gripper is arranged on the lower surface of the corresponding connecting plate.

[0016] Optionally, the gripper is L-shaped and is used for gripping and releasing the pot ear on the pot insert plate.

[0017] Optionally, a second driving motor is arranged on the sliding table. A roller capable of sliding along the length direction of the slide rail is arranged on the output shaft of the second driving motor.

[0018] The manipulator for inserting and extracting the pot insert plate of the calcium carbide pot provided by the present application realizes the precise positioning of the position of the calcium carbide pot by detecting the position of the calcium carbide pot placed on the vehicle frame through the laser sensor on the support frame. Specifically, the support frame is moved close to the calcium carbide pot by the sliding of the sliding table along the slide rail. After the laser sensor detects the position of the calcium carbide pot, the bottom end of the gripper is made flush with the pot ear of the pot insert plate on the calcium carbide pot by the telescoping of the telescopic device. The two grippers respectively grab the corresponding pot ears on the pot insert plate by the sliding of the two grippers on the support frame. Then, the support frame is moved vertically upward by the elongation of the telescopic device. During the vertical upward movement of the support frame, the two grippers are driven to pull the hanging ears connected thereto upward, and finally the pot insert plate is pulled out from the notch on the calcium carbide pot. The above process avoids the staff's hands from contacting the calcium carbide pot, and improves the safety and grabbing efficiency of the pot insert plate grabbing. Description of the Drawings

[0019] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 Schematic structural diagram of a manipulator for a pot inserting plate of an electric calcium carbide pot that is inserted and withdrawn, provided in an embodiment of the present application, disposed on a vehicle frame;

[0021] Figure 2 Provided in an embodiment of the present application Figure 1 Partial enlarged structural diagram in;

[0022] Figure 3 Provided in an embodiment of the present application Figure 1 Side view of;

[0023] Figure 4 Provided in an embodiment of the present application Figure 1 Top view of;

[0024] Figure 5 Schematic structural diagram of a manipulator for a pot inserting plate of an electric calcium carbide pot that is inserted and withdrawn, provided in an embodiment of the present application;

[0025] Figure 6 Provided in an embodiment of the present application Figure 1 Side view of.

[0026] In the figure: 100, support frame; 101, laser sensor; 102, column; 103, horizontal column; 104, I-beam; 1041, slider; 105, horizontal connecting rod; 106, bidirectional threaded rod; 1061, connecting plate; 200, vehicle frame; 201, electric calcium carbide pot; 2011, pot inserting plate; 202, slide rail; 300, gripper; 400, telescopic device; 500, sliding table; 501, second driving motor; 5011, roller; 600, rotating member; 601, first driving motor; 602, gear reducer. Detailed implementation manners

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following clearly and completely describes the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts also belong to the scope of protection of the present application.

[0028] Refer to Figures 1 to 6, this application provides a manipulator for a pot insertion plate of a calcium carbide pot for insertion and extraction, including:

[0029] A support frame 100, on which a laser sensor 101 for detecting the position of the calcium carbide pot 201 arranged on the vehicle frame 200 is provided. A slide rail 202 and a plurality of calcium carbide pots 201 arranged in sequence in a straight line direction are provided on the vehicle frame 200. The distribution direction of the plurality of calcium carbide pots 201 is parallel to the length direction of the slide rail 202. A pot insertion plate 2011 with pot ears is provided on each calcium carbide pot 201. Among them, by detecting the position of the calcium carbide pot 201 on the vehicle frame 200 through the laser sensor 101, precise positioning of the position of the calcium carbide pot 201 is achieved, thereby improving the grasping efficiency of the pot insertion plate 2011 on the calcium carbide pot 201. The specifications and models of the laser sensor 101 can be set according to actual needs. Therefore, this application does not make specific limitations on it here.

[0030] Two grippers 300, which are slidably arranged on the support frame 100 and are used to grasp and release the pot insertion plate 2011 on each calcium carbide pot 201 by moving closer to or away from each other. Among them, a grasping ear is provided on the pot insertion plate 2011, and the gripper 300 realizes the insertion and extraction of the pot insertion plate 2011 at the notch of the calcium carbide pot 201 by grasping the grasping ear on the pot insertion plate 2011.

[0031] A telescopic device 400, the telescopic end of the telescopic device 400 is arranged at the bottom of the support frame 100, and its bottom end is arranged on a slide table 500, and the slide table 500 is slidably connected to the slide rail 202. Among them, the telescopic device 400 can be a hydraulic cylinder, etc. The purpose is to drive the support frame 100 and the gripper 300 on the support frame 100 to move vertically up and down through its own telescopic movement, so as to adjust the position of the gripper 300 and the grasping ear on the pot insertion plate 2011. Therefore, the telescopic device 400 can be specifically set according to actual needs, and this application does not make specific limitations on it here. In addition, the sliding of the slide table 500 along the length direction of the slide rail 202 can realize the sequential insertion and extraction of the pot insertion plates 2011 on the plurality of calcium carbide pots 201 on the vehicle frame 200 by the gripper 300.

[0032] The manipulator for the pot insertion plate of the plug-in calcium carbide pot provided by the present application uses the laser sensor 101 on the support frame 100 to detect the position of the calcium carbide pot 201 placed on the vehicle frame 200, realizing the precise positioning of the position of the calcium carbide pot 201. Specifically, the support frame 100 is brought close to the calcium carbide pot 201 by the sliding of the sliding table 500 along the slide rail 202. After the laser sensor 101 detects the position of the calcium carbide pot 201, the bottom end of the gripper 300 is made flush with the pot ear of the pot insertion plate 2011 on the calcium carbide pot 201 through the expansion and contraction of the telescopic device 400. The two grippers 300 slide on the support frame 100 so that the two grippers 300 respectively grab the corresponding pot ears on the pot insertion plate 2011, and then the support frame 100 is vertically moved upward by the elongation of the telescopic device 400. During the process of the vertical upward movement of the support frame 100, the two grippers 300 are driven to pull the hanging ears connected to them upward, and finally the pot insertion plate 2011 is pulled out from the notch on the calcium carbide pot 201. The above process avoids the staff's hands from contacting the calcium carbide pot 201, improving the safety and efficiency of grasping the pot insertion plate 2011.

[0033] In some embodiments, referring to Figure 1 and Figure 2 , the support frame 100 in the present application includes a vertical column 102, a horizontal column 103 and an I-beam 104; specifically, the bottom end of the vertical column 102 is connected to the telescopic end of the telescopic device 400, one end of the horizontal column 103 is arranged on the side of the vertical column 102 close to the calcium carbide pot 201, the I-beam 104 is horizontally arranged on the lower surface of the horizontal column 103 through a rotating member 600, the laser sensor 101 is arranged on the vertical column 102, and the two grippers 300 are both slidably connected to the I-beam 104. Among them, the arrangement of the vertical column 102 facilitates the connection with the telescopic end of the telescopic device 400, and the parallel arrangement of the I-beam 104 and the horizontal column 103 realizes the movement of the two grippers 300 in the horizontal direction, facilitating the adjustment of the position of each gripper 300 and the pot insertion plate 2011 at the notch of the calcium carbide pot 201.

[0034] In some embodiments, referring to Figure 5 , the rotating member 600 in the present application includes a first driving motor 601 and a gear reducer 602; among them, the gear reducer 602 can slow down the rotation speed of the I-beam 104 and the gripper 300 on the I-beam 104, making the rotation process of the I-beam 104 and the gripper 300 on the I-beam 104 relatively smooth, and improving the stability of the rotation process of the I-beam 104 and the gripper 300 on the I-beam 104. In addition, the specifications and models of the first driving motor 601 and the gear reducer 602 can be set according to actual needs, and the present application does not specifically limit them here.

[0035] Specifically, the housing of the first drive motor 601 is arranged on the horizontal column 103. The output shaft of the first drive motor 601 is connected to the input shaft of the gear reducer 602, and the output shaft of the gear reducer 602 is connected to the top surface of the I-beam 104.

[0036] In the above embodiment, the rotation of the input shaft of the gear reducer 602 is driven by the output shaft of the first drive motor 601. Under the meshing action of the gears at all levels in the gear reducer 602, the rotation speed output from the output shaft of the gear reducer 602 is less than the rotation speed of the input shaft of the gear reducer 602. Furthermore, the rotation speed of the I-beam 104 connected to the output shaft of the gear reducer 602 is lower than the rotation speed of the first drive motor 601, thereby slowing down the rotation speed of the I-beam 104 and the gripper 300 on the I-beam 104, and further improving the stability of the rotation process of the I-beam 104 and the gripper 300 on the I-beam 104.

[0037] In some embodiments, referring to Figure 5 , two laser sensors 101 are spaced apart on the top surface of the horizontal column 103 in this application. A horizontal connecting rod 105 located between the horizontal column 103 and the I-beam 104 is arranged on the vertical column 102, and the housing of the gear reducer 602 is connected to the horizontal connecting rod 105.

[0038] In the above embodiment, the two laser sensors 101 are respectively arranged at different positions, so that the positions of the calcium carbide pots 201 on the vehicle frame 200 can be detected simultaneously by the two laser sensors 101, thereby accurately obtaining the positions of the calcium carbide pots 201 and improving the precise positioning of the positions of the calcium carbide pots 201.

[0039] In some embodiments, referring to Figure 6 , a bidirectional threaded rod 106 is rotatably arranged on the support frame 100 in this application. Two connecting plates 1061 corresponding to the two grippers 300 are sleeved on the bidirectional threaded rod 106 in a threaded manner. A slider 1041 is arranged on each connecting plate 1061 and is embedded in the steel groove of the I-beam 104 and can slide in the steel groove of the I-beam 104. Each gripper 300 is arranged on the lower surface of the corresponding connecting plate 1061. Among them, a right-handed thread and a left-handed thread are respectively arranged on the rod bodies of the middle part of the bidirectional threaded rod 106 extending towards both ends, and the rotation of the bidirectional threaded rod 106 can be realized by arranging a third drive motor on the support frame 100 and connecting the output shaft of the third drive motor to one end of the bidirectional threaded rod 106.

[0040] In the above embodiments, by rotating the bidirectional threaded rod 106 forward or backward, the grippers 300 corresponding to the two connecting plates 1061 are moved closer to or away from each other, thereby realizing the adjustment of the position between the gripper 300 and the pot insertion plate 2011 on the calcium carbide pot 201, so that the gripper 300 can effectively grasp the pot insertion plate 2011.

[0041] In some embodiments, referring to Figure 5 and Figure 6 , the gripper 300 in the present application is L-shaped and is used to grasp and release the pot ears on the pot insertion plate 2011. Among them, after the L-shaped gripper 300 is hooked to the pot ears on the pot insertion plate 2011, it is convenient to pull out the pot insertion plate 2011 from the notch of the calcium carbide pot 201 during the extension of the telescopic device 400, improving the extraction efficiency of the pot insertion plate 2011 at the notch of the calcium carbide pot 201.

[0042] In some embodiments, referring to Figure 5 , a second driving motor 501 is provided on the sliding table 500 in the present application, and a roller 5011 capable of sliding along the length direction of the slide rail 202 is provided on the output shaft of the second driving motor 501.

[0043] In the above embodiments, when the second driving motor 501 is started, the roller 5011 on the output shaft thereof is driven to rotate by the second driving motor 501, thereby realizing the sliding of the roller 5011 along the length direction of the slide rail 202. In addition, there are at least two second driving motors 501, and a roller 5011 is sleeved on the output shaft of each second driving motor 501. The two rollers 5011 are arranged on opposite sides of the slide rail 202, thereby ensuring the stability of the sliding table 500 sliding along the length direction of the slide rail 202.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A manipulator for a pot insertion plate used to insert and extract a calcium carbide pot, characterized in that, Comprising: A support frame (100) is provided with a laser sensor (101) for detecting the position of a calcium carbide pot (201) provided on a vehicle frame (200). The vehicle frame (200) is provided with a slide rail (202) and a plurality of the calcium carbide pots (201) arranged in sequence along a straight line direction. The distribution direction of the plurality of calcium carbide pots (201) is parallel to the length direction of the slide rail (202). Each calcium carbide pot (201) is provided with a pot insertion plate (2011) with a pot ear. Two grippers (300) are slidably arranged on the support frame (100) and are used to grasp and release the pot insertion plate (2011) on each calcium carbide pot (201) by approaching or separating from each other. A telescopic device (400), the telescopic end of the telescopic device (400) is arranged at the bottom of the support frame (100), and its bottom end is arranged on a slide table (500). The slide table (500) is slidably connected to the slide rail (202).

2. The manipulator for the pot insertion plate for inserting and extracting a calcium carbide pot according to claim 1, characterized in that, The support frame (100) includes columns (102), horizontal columns (103) and I-beams (104). The bottom end of the column (102) is connected to the telescopic end of the telescopic device (400). One end of the horizontal column (103) is arranged on the side of the column (102) close to the calcium carbide pot (201). The I-beam (104) is horizontally arranged on the lower surface of the horizontal column (103) through a rotating member (600). The laser sensor (101) is arranged on the horizontal column (103). Both of the two grippers (300) are slidably connected to the I-beam (104).

3. The manipulator for the pot plug board of the calcium carbide pot for insertion and extraction according to claim 2, characterized in that, The rotating member (600) includes a first driving motor (601) and a gear reducer (602). The housing of the first driving motor (601) is arranged on the horizontal column (103). The output shaft of the first driving motor (601) is connected to the input shaft of the gear reducer (602). The output shaft of the gear reducer (602) is connected to the top surface of the I-beam (104).

4. The manipulator for the pot plug board used to insert and extract the calcium carbide pot according to claim 3, characterized in that, Two laser sensors (101) are arranged at intervals on the top surface of the horizontal column (103). A horizontal connecting rod (105) is arranged on the column (102) between the horizontal column (103) and the I-beam (104). The housing of the gear reducer (602) is connected to the horizontal connecting rod (105).

5. The manipulator for the pot plug board of the calcium carbide pot for insertion and extraction, as claimed in claim 2, wherein, A bidirectional threaded rod (106) is rotatably arranged on the support frame (100). Two connecting plates (1061) corresponding to the two grippers (300) are threadedly sleeved on the bidirectional threaded rod (106). Each connecting plate (1061) is provided with a slider (1041) embedded in the steel groove of the I-beam (104) and capable of sliding in the steel groove of the I-beam (104). Each gripper (300) is arranged on the lower surface of the corresponding connecting plate (1061).

6. The manipulator for the pot plug board for inserting and extracting carbide pots according to claim 5, characterized in that, The gripper (300) is L-shaped and is used for gripping and releasing the pot handle on the pot insert plate (2011).

7. The manipulator for the pot plug board used to insert and extract the calcium carbide pot according to any one of claims 1 to 6, characterized in that, A second drive motor (501) is provided on the sliding table (500), and a roller (5011) capable of sliding along the length direction of the slide rail (202) is provided on the output shaft of the second drive motor (501).

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