Automatic brick stacking device for side wall refractory bricks in steel ladle building process

Abstract

The utility model relates to an automatic brick stacking device for side wall refractory bricks in the steel ladle building process. The automatic brick stacking device comprises a steel ladle, a truss mechanical arm, a material stack, a feeding mechanical arm, a vertical continuous brick supply device, a vibration flapping mechanism and a four-axis robot. The feeding mechanical arm comprises a longitudinal beam, a gear and a rack are arranged at the bottom of the longitudinal beam, a first guide rail and a sliding block are arranged at the bottoms of the gear and the rack, a first motor and a speed reducer are arranged at the bottoms of the first guide rail and the sliding block, a mounting plate is arranged on one side of the first motor and the speed reducer, and a second guide rail and a sliding block are arranged at the bottom of the mounting plate. A second motor and a speed reducer are arranged at the bottom of the second guide rail and the sliding block, a third motor and a speed reducer are arranged at the bottom of the second motor and the speed reducer, and in the steel ladle building process, the functions of automatic recognition, conveying and position adjustment of refractory bricks from a material stack to a code placing area can be achieved through the feeding mechanical arm.

Description

TECHNICAL FIELD

[0001] The utility model relates to the steel ladle masonry technical field, in particular to a kind of automatic brick laying device of side wall refractory brick in steel ladle masonry process. BACKGROUND

[0002] Steel ladle is important container in metallurgical industry, mainly used for steelmaking plant in electric furnace, converter before receiving molten steel, carries out pouring operation.In enterprise, it plays a pivotal role, however, steel ladle working layer generally uses aluminum magnesium material refractory brick, under the action of mechanical stress, thermal stress and 1500 degrees Celsius molten steel chemical erosion, steel ladle working layer is easy to make refractory fall off etc.

[0003] Current existing steel ladle masonry work mainly uses manual masonry, with 90 tons steel ladle masonry, operation has many people simultaneously operating, is used for brick laying in package and package outside transfer respectively, manual cost is big, masonry steel ladle operation area is below trolley hoisting, trolley hoisting and masonry package cross operation, safety factor is low, there is a lot of dust in scene, poor working environment, steel ladle body has 2403 refractory bricks, each brick is 14KG heaviest, 5KG lightest.Each person needs to transport 5-6 tons of bricks per day, labor intensity is big, and the masonry of brick requires high precision control of brick joint. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of automatic brick laying device of side wall refractory brick in steel ladle masonry process, to solve the problems mentioned in the above background.

[0005] The technical scheme of the utility model is a kind of automatic brick laying device of side wall refractory brick in steel ladle masonry process, including steel ladle, truss manipulator, material stamp, feeding manipulator, vertical continuous brick supply device, vibration patting mechanism, four-axis robot;

[0006] The feeding manipulator includes longitudinal beam, the longitudinal beam bottom is equipped with gear and rack, the gear and rack bottom is equipped with first guide rail and sliding block, the first guide rail and sliding block bottom is equipped with first motor and speed reducer, the first motor and speed reducer one side is equipped with mounting plate, the mounting plate bottom is equipped with second guide rail and sliding block, the second guide rail and sliding block bottom is equipped with second motor and speed reducer, the second motor and speed reducer bottom is equipped with third motor and speed reducer.

[0007] In one embodiment, the third motor and speed reducer front side is provided with a belt and a pressing plate, the bottom of the belt and the pressing plate is provided with a first guide rail sliding block, the front side of the first guide rail sliding block is provided with a visual system, the front side of the visual system is provided with a motor speed reducer drive module, the front side of the motor speed reducer drive module is provided with a transmission belt and a pulley, the front side of the transmission belt and the pulley is provided with a pneumatic suction cup, the front side of the pneumatic suction cup is provided with a cross beam.

[0008] In one embodiment, the vertical continuous brick feeding device comprises a fourth motor and speed reducer, the bottom of the fourth motor and speed reducer is provided with a lead screw nut, the bottom of the lead screw nut is provided with a second guide rail sliding block, the bottom of the second guide rail sliding block is provided with a first slewing bearing, the bottom of the first slewing bearing is provided with a support beam, the bottom of the support beam is provided with a second slewing bearing, the front side of the fourth motor and speed reducer is provided with a motor speed reducer, the bottom of the motor speed reducer is provided with a transmission shaft, the bottom of the transmission shaft is provided with a bearing seat, the bottom of the bearing seat is provided with a supporting plate, the bottom of the supporting plate is provided with a transmission chain, the bottom of the transmission chain is provided with a steel structure frame, the bottom of the steel structure frame is provided with a first gear, and the bottom of the first gear is provided with a fifth motor and speed reducer.

[0009] In one embodiment, the bottom of the fifth motor and speed reducer is provided with a sixth motor and speed reducer, the bottom of the sixth motor and speed reducer is provided with a second gear, the bottom of the second gear is provided with a first rodless cylinder, the bottom of the first rodless cylinder is provided with a first push plate, the bottom of the support beam is provided with a supporting plate, the top of the supporting plate is provided with a second push plate, the top of the second push plate is provided with a second rodless cylinder, and the rear side of the supporting plate is provided with a connecting plate.

[0010] The beneficial effects of the present application are:

[0011] 1. In the process of ladle masonry, the feeding manipulator can complete the automatic identification, conveying and position adjustment of the refractory bricks from the material pile to the stacking area;

[0012] 2. In the process of ladle masonry, the vertical continuous brick feeding device can complete the continuous feeding of the refractory bricks while stacking;

[0013] 3. The whole device can finally stack the refractory bricks from the material pile to the inner side wall of the ladle. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a schematic view of the component feeding manipulator structure of the present application;

[0015] Figure 2 It is a schematic view of the component vertical continuous brick feeding device structure of the present application;

[0016] Figure 3 It is a perspective view of the present application.

[0017] In the drawings, 1, longitudinal beam; 2, gear and rack; 3, first guide rail and sliding block; 4, first motor and speed reducer; 5, mounting plate; 6, second guide rail and sliding block; 7, second motor and speed reducer; 8, third motor and speed reducer; 9, belt and pressing plate; 10, first guide rail sliding block; 11, visual system; 12, motor speed reducer driving module; 13, transmission belt and pulley; 14, pneumatic suction cup; 15, cross beam; 16, fourth motor and speed reducer; 17, screw and nut; 18, second guide rail sliding block; 19, first slewing bearing; 20, support beam; 21, second slewing bearing; 22, motor speed reducer; 23, transmission shaft; 24, bearing seat; 25, supporting plate; 26, transmission chain; 27, steel frame; 28, first gear; 29, fifth motor and speed reducer; 30, sixth motor and speed reducer; 31, second gear; 32, first rodless cylinder; 33, first push plate; 34, second rodless cylinder; 35, second push plate; 36, supporting plate; 37, connecting plate; 38, ladle; 39, truss manipulator; 40, material table; 41, feeding manipulator; 42, vertical continuous brick feeding device; 43, vibration beating mechanism; 44, four-axis robot. DETAILED DESCRIPTION

[0018] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The technical solutions of the present application will be further described below in conjunction with the drawings of the embodiments of the present application. The present application is not limited to the following specific embodiments.

[0019] It should be understood that the same or similar reference numerals in the drawings of the embodiments correspond to the same or similar components. In the description of the present application, it should be understood that the orientation or position relationship indicated by the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore the terms describing the position relationship in the drawings cannot be understood as limiting the present patent to a specific orientation, structure and operation. Therefore, the terms describing the position relationship in the drawings are only used for exemplary description, and cannot be understood as limiting the present patent. For those skilled in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0020] In one embodiment, as shown in Figure 1 , Figure 2 , Figure 3 A device for automatically stacking bricks of a side wall refractory brick in a ladle building process, comprising a ladle 38, a truss manipulator 39, a material table 40, a feeding manipulator 41, a vertical continuous brick feeding device 42, a vibration beating mechanism 43, and a four-axis robot 44.

[0021] The feeding manipulator 41 comprises a longitudinal beam 1, the bottom of which is provided with a gear and a rack 2, the bottom of which is provided with a first guide rail and a sliding block 3, the bottom of which is provided with a first motor and a speed reducer 4, one side of which is provided with a mounting plate 5, the bottom of which is provided with a second guide rail and a sliding block 6, the bottom of which is provided with a second motor and a speed reducer 7, the bottom of which is provided with a third motor and a speed reducer 8, the front side of which is provided with a belt and a pressing plate 9, the bottom of which is provided with a first guide rail sliding block 10, the front side of which is provided with a visual system 11, the front side of which is provided with a motor and speed reducer driving module 12, the front side of which is provided with a transmission belt and pulley 13, the front side of which is provided with a pneumatic suction cup 14, the front side of which is provided with a cross beam 15, the vertical continuous brick feeding device 42 comprises a fourth motor and a speed reducer 16, the bottom of which is provided with a screw and a nut 17, the bottom of which is provided with a second guide rail sliding block 18, the bottom of which is provided with a first slewing bearing 19, the bottom of which is provided with a support beam 20, the bottom of which is provided with a second slewing bearing 21, the front side of which is provided with a motor and speed reducer 22, the bottom of which is provided with a transmission shaft 23, the bottom of which is provided with a bearing seat 24, the bottom of which is provided with a supporting plate 25, the bottom of which is provided with a transmission chain 26, the bottom of which is provided with a steel structure frame 27, the bottom of which is provided with a first gear 28, the bottom of which is provided with a fifth motor and a speed reducer 29, the bottom of which is provided with a sixth motor and a speed reducer 30, the bottom of which is provided with a second gear 31, the bottom of which is provided with a first rodless air cylinder 32, the bottom of which is provided with a first push plate 33, the bottom of which is provided with a supporting plate 36, the top of which is provided with a second push plate 35, the top of which is provided with a second rodless air cylinder 34, the rear side of the supporting plate 36 is provided with a connecting plate 37;

[0022] The whole mechanism of the feeding manipulator 41 is fixed on the truss manipulator 39 component through the mounting plate 5, driven by the first motor and the gear and rack 4 of the reducer in X axis, guided and positioned by the second guide rail and the sliding block 6, the first guide rail and the sliding block 3 are installed on the longitudinal beam 1, the Z axis is driven by the second motor and the reducer 7 and the gear and rack 2, the Y axis is driven by the third motor and the reducer 8 through the belt and the pressing plate 9 below the longitudinal beam 1, the first guide rail sliding block 10 is installed on both sides of the cross beam 15 for guiding, so that the whole mechanism can move in X, Y and Z axes, so that the feeding mechanism can pick up the material on the side of the refractory brick material pile, the vision system 11 is installed below the whole feeding manipulator 41, the position of the workpiece is adjusted by visual positioning before picking up the material, the angle of the material can be adjusted by the motor reducer drive module 12 at the front end of the pneumatic suction cup 14 and the transmission of the transmission belt and the pulley 13.

[0023] The vertical continuous brick feeding device 42 is fixed on the truss manipulator 39 component through the support beam 20, the center of the mechanism is installed with a steel frame 27, which is connected with the support beam 20 through the first rotary support 19, under the drive of the fifth motor and the reducer 29 and the first gear 28, the whole can rotate 360 degrees, at the same time, the fourth motor and the reducer 16 are installed on the side of the steel frame 27, the lead screw and the second guide rail sliding block 18 complete the movement in Z axis direction, the bearing seat 24 is installed on the upper and lower sides of the steel frame 27, the middle part can complete the rotary motion of the transmission chain 26 through the motor reducer 22 and the transmission shaft 23, the transmission chain 26 is uniformly arranged with the supporting plate 25 on the top, which can buffer a plurality of refractory bricks, ensuring the supply of refractory bricks during the process of stacking refractory bricks below, the second rotary support 21 is installed on the steel frame 27 at the same time, the rotation of the connecting plate 37 is driven by the sixth motor and the reducer 30 and the second gear 31, the feeding manipulator 41 places the refractory bricks on the supporting plate 36 after taking them from the material pile 40, then rotates to the upper side of the supporting plate 36, the refractory bricks are pushed to the supporting plate 25 by the second rodless cylinder 34 and the second push plate 35, when the supporting plate 25 is transmitted to the lower side through the transmission chain 26, the refractory bricks are pushed from the supporting plate 25 to the final stacking position by the first rodless cylinder 32 and the first push plate 33.

[0024] Working principle: The firebricks are stacked on the side of the whole set, the firebricks are picked up from the material stack 40 by the feeding manipulator 41, the position is adjusted after visual identification, and then transferred to the vertical continuous brick feeding device 42, the vertical continuous brick feeding device 42 transmits the firebricks upwards and downwards, and finally the firebricks are delivered to the corresponding masonry layer, meanwhile, the vertical continuous brick feeding device 42 can rotate at different positions within 360°, and the firebricks can be delivered to any waiting stacking position of the ladle 38 side wall, the four-axis robot 44 fixed at the end of the vertical continuous brick feeding device 42 drives the pneumatic suction cup 14 to transfer the firebricks from the waiting stacking position to the final stacking position, then the slewing device on the vertical continuous brick feeding device 42 rotates to transfer the four-axis robot 44 to the next stacking position, and the next block of firebricks is stacked in this way, while rotating, the vibration and beating mechanism 43 installed at the end of the vertical continuous brick feeding device 42 is driven to rotate above the firebricks just completed stacking, the pneumatic vibrator is started to beat and vibrate, the vibration and beating mechanism 43 mainly consists of a small-sized Cartesian coordinate manipulator driving a pneumatic vibrator, and after beating, the firebrick stacking is more stable and solid, since the depth of the ladle 38 is relatively deep, the whole ladle 38 is sunk to a certain depth below the ground, in order to facilitate the hoisting and transfer of the ladle 38, the vertical continuous brick feeding device 42 is placed on the gantry manipulator 39 as a whole.

[0025] The technical features of the above-described embodiments can be combined in any manner, and to make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0026] The above-described embodiments only express several implementation manners of the present application, the description is relatively specific and detailed, but it should not be understood as the limitation of the scope of the present application. It should be pointed out that, for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. An automatic brick stacking device for side wall refractory bricks during ladle construction, characterized in that: It includes a ladle (38), a truss manipulator (39), a material stamping machine (40), a loading manipulator (41), a vertical continuous brick feeding device (42), a vibration beating mechanism (43), and a four-axis robot (44); The loading robot (41) includes a longitudinal beam (1), a gear and a rack (2) are provided at the bottom of the longitudinal beam (1), a first guide rail and a slider (3) are provided at the bottom of the gear and the rack (2), a first motor and a reducer (4) are provided at the bottom of the first guide rail and the slider (3), a mounting plate (5) is provided on one side of the first motor and the reducer (4), a second guide rail and a slider (6) are provided at the bottom of the mounting plate (5), a second motor and a reducer (7) are provided at the bottom of the second guide rail and the slider (6), and a third motor and a reducer (8) are provided at the bottom of the second motor and the reducer (7).

2. The automatic brick stacking device for side wall refractory bricks during ladle construction according to claim 1, characterized in that: The front side of the third motor and reducer (8) is provided with a belt and a pressure plate (9), the bottom of the belt and pressure plate (9) is provided with a first guide rail slider (10), the front side of the first guide rail slider (10) is provided with a visual system (11), the front side of the visual system (11) is provided with a motor reducer drive module (12), the front side of the motor reducer drive module (12) is provided with a transmission belt and a pulley (13), the front side of the transmission belt and pulley (13) is provided with a pneumatic suction cup (14), and the front side of the pneumatic suction cup (14) is provided with a crossbeam (15).

3. The automatic brick stacking device for side wall refractory bricks during ladle construction according to claim 1, characterized in that: The vertical continuous brick feeding device (42) comprises a fourth motor and a reducer (16), a screw nut (17) is provided at the bottom of the fourth motor and the reducer (16), a second guide rail slider (18) is provided at the bottom of the screw nut (17), a first slewing bearing (19) is provided at the bottom of the second guide rail slider (18), a support beam (20) is provided at the bottom of the first slewing bearing (19), a second slewing bearing (21) is provided at the bottom of the support beam (20), and the fourth motor and the reducer (16) are provided at the bottom of the fourth motor and the reducer (16). A motor reducer (22) is provided at the front side, a transmission shaft (23) is provided at the bottom of the motor reducer (22), a bearing seat (24) is provided at the bottom of the transmission shaft (23), a support plate (25) is provided at the bottom of the bearing seat (24), a transmission chain (26) is provided at the bottom of the support plate (25), a steel frame (27) is provided at the bottom of the transmission chain (26), a first gear (28) is provided at the bottom of the steel frame (27), and a fifth motor and reducer (29) are provided at the bottom of the first gear (28).

4. The automatic brick stacking device for side wall refractory bricks during ladle construction according to claim 3, characterized in that: A sixth motor and reducer (30) is provided at the bottom of the fifth motor and reducer (29), a second gear (31) is provided at the bottom of the sixth motor and reducer (30), a first rodless cylinder (32) is provided at the bottom of the second gear (31), a first push plate (33) is provided at the bottom of the first rodless cylinder (32), a support plate (36) is provided at the bottom of the support beam (20), a second push plate (35) is provided at the top of the support plate (36), a second rodless cylinder (34) is provided at the top of the second push plate (35), and a connecting plate (37) is provided on one side of the rear side of the support plate (36).

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