Clamping jaw for clay gun clay adding robot

Abstract

The utility model belongs to the technical field of a mud gun mud adding robot in front of an European smelting furnace, and particularly discloses a clamping jaw used by a mud gun mud adding robot, which comprises a connecting bottom plate and a parallel cylinder, the two ends of the parallel cylinder are connected with the clamping jaw, the clamping jaw is fixedly connected with a nail plate, and the connecting bottom plate is provided with a guide groove. The first guide plates of the scraping plate are connected with the guide grooves in a sliding mode, extension springs are connected between the first guide plates above the connecting bottom plate, spring pieces are connected between the first guide plates below the connecting bottom plate, and through holes with the same layout as nails on the nail plate are formed in the scraping plate. In the prior art, two inserting rods which are obliquely arranged and mutually crossed are arranged, the two crossed inserting rods do not make contact with each other, a packing carton used for bearing the foamed mud blocks and a conveying tray carrying the packing carton to move on a transfer conveying belt are arranged on a boxing platform, and a horizontal positioning mechanism limiting the position of the conveying tray is arranged on the boxing platform. Residual stemming is scraped off through automatic resetting of the scraping plate in the clamping work by means of the spring.

Description

TECHNICAL FIELD

[0001] The utility model relates to a furnace front clay gun adds mud robot technical field, concretely relates to a kind of gripper that clay gun adds mud robot uses. BACKGROUND

[0002] Blocking clay gun system is the key equipment of blast furnace and European smelting furnace after iron removal is carried out to block tuyere, and the special clay is added to the mud cylinder, and the mud is pressed into the tuyere by hydraulic power, to achieve the effect of blocking tuyere. At present, the clay is manually added to the clay gun by the furnace front operator, and the operation process is heavy, and the operation environment is high temperature. In order to reduce the repeated and heavy physical labor of the operator and the current situation of long time in high temperature environment, an online automatic mud adding robot is needed, which automatically adds mud to the mud cylinder of the blocking clay gun system by mechanical arm.

[0003] The invention application with application number CN202210597859.X discloses an inclined cross type grabbing device for bubble mud packaging production, which comprises a boxing platform, a mechanical grab, a transfer conveyor belt and a bubble mud conveyor belt. The mechanical grab is arranged above the boxing platform. The bubble mud conveyor belt and the transfer conveyor belt are arranged in a cross manner. The mechanical grab moves the bubble mud block on the bubble mud conveyor belt above the boxing platform, so that the bubble mud block can be conveniently transferred away from the transfer conveyor belt after being boxed on the boxing platform. The mechanical grab comprises two inclined and cross arranged inserting rods. The two cross inserting rods do not contact each other. The boxing platform is provided with a packaging carton for receiving the bubble mud block and a conveying tray for carrying the packaging carton on the transfer conveyor belt. The boxing platform is provided with a horizontal positioning mechanism for limiting the position of the conveying tray.

[0004] The mechanical grab of the above structure is not firm, and the clay may be left on the mechanical grab for a long time, which affects the subsequent grabbing success rate. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a gripper for a clay gun mud adding robot to solve the problem of unfirm grabbing and clay left on the mechanical grab.

[0006] To achieve the above-mentioned purpose, the basic scheme provided by the utility model is: a gripper for a clay gun mud adding robot, comprising a connecting bottom plate, parallel cylinders and a clamping plate. The clamping plate is fixedly connected with anti-dropping parts. The clamping plate is provided with a slag removal assembly. The slag removal assembly comprises a set of scrapers. The anti-dropping parts are peg plates. The scrapers are provided with a plurality of through holes. Each through hole is opposite to a peg on the peg plate.

[0007] The utility model discloses a principle and beneficial effect lie in: anti -drop spare part is nail board or rubber pad, and the cannon clay of different seasons will present different state, and nail board and rubber pad can respond to different working environment, and the residual after the clamp plate of slag removal subassembly removes the cannon clay, and does not influence the subsequent grabbing work.

[0008] Scheme two, this is the preferred scheme one, the scraper is parallel with nail board, the scraper is equipped with first guide plate, the connecting bottom plate is equipped with guide groove, and the first guide plate is slidably connected with the guide groove. Two scrapers are respectively parallel with one side clamp, and the clamp is close to the scraper when clamping the cannon clay, and the clamp drives the scraper to move, and the guide groove and the guide plate limit the parallel movement of the scraper.

[0009] Scheme three, this is the preferred scheme two, a group of guide plates are equipped with spring sheet and stretch spring, the spring sheet is below the connecting bottom plate, and the stretch spring is above the connecting bottom plate. When the clamping jaw opens, the spring sheet and the stretch spring are in the state of not being forced, and the scraper is parallel with the outside of the nail of nail board, when the clamping jaw contracts, the clamp compresses the spring sheet to make the scraper close to the clamp to expose the nail board, and the stretch spring is stretched, so that the scraper moves in parallel, and the spring sheet and the stretch spring reset when clamping is completed, and the scraper automatically scrapes the residual cannon clay on the nail board.

[0010] Scheme four, this is the preferred scheme one, the anti -drop spare part is rubber pad, and the slag removal subassembly includes two groups of two scrapers, the scrapers are located on the side of the clamp, the two scrapers are connected through the connecting plate, the scraper is rotatably connected with the connecting plate, the connecting plate is fixedly connected with the clamp, and the spring is arranged between each group of scrapers, the connecting bottom plate is connected with the second guide plate, the second guide plate is inverted eight-shaped, and the narrow opening faces outward, and the outside of the scraper is in contact with the inside of the second guide plate. The rubber pad can be applied to the clamping of the dry and hard cannon clay in winter, and when clamping, the parallel cylinder drives the clamp to move towards each other, the clamp drives the scraper to move, the scraper moves from the narrow end to the wide end relative to the second guide plate, the clamp is rotated to the both sides of the clamp by the reset of the compression spring, and when clamping is completed, the parallel cylinder drives the clamp to open in the opposite direction, drives the scraper to move from the wide end to the narrow end between the guide plates, and compacts the compression spring, so that the scraper is rotated to the plane of the clamp, and the surface residual is scraped.

[0011] Scheme five, this is the preferred basic scheme, the surface of the rubber pad has corrugated shape, and the surface of the scraper is matched with the shape of the rubber pad. The corrugated rubber pad increases the friction, and the scraper matched with the shape can completely scrape the surface residual. BRIEF DESCRIPTION OF DRAWINGS

[0012] Fig. 1 It is the structure schematic diagram of the clamp jaw embodiment 1 of the mud cannon adding mud robot of the utility model;

[0013] Fig. 2This is a schematic diagram of the slag removal component in Embodiment 1 of the gripper used in the mud cannon mud-adding robot of this utility model;

[0014] Fig. 3 This is a schematic diagram of the gripper used in embodiment 2 of the mud-filling robot of this utility model;

[0015] Fig. 4 This is a front view of embodiment 2 of the gripper used in the mud cannon mud-adding robot of this utility model;

[0016] Fig. 5 This is a top view of embodiment 2 of the gripper used in the mud-filling robot of this utility model. Detailed Implementation

[0017] The present invention will be further described in detail below through specific embodiments:

[0018] The reference numerals in the accompanying drawings include: 1-connecting base plate, 2-parallel cylinder, 3-clamping plate, 4-nail plate, 5-slag removal assembly, 6-scraper, 7-through hole, 8-first guide plate, 9-guide groove, 10-spring sheet, 11-tension spring, 12-rubber pad, 13-connecting plate, 14-compression spring, 15-second guide plate.

[0019] Example 1

[0020] like Figs. 1-2 As shown: A gripper used in a mud-filling robot includes a connecting base plate 1 and a parallel cylinder 2. The parallel cylinder 2 is fixedly connected to the connecting base plate 1 by bolts. Clamping plates 3 are connected to both ends of the parallel cylinder 2, and nail plates 4 are fixedly connected to the clamping plates 3. The connecting base plate 1 is provided with a guide groove 9. The first guide plate 8 of the scraper 6 is slidably connected to the guide groove 9. A tension spring 11 is connected between the first guide plates 9 above the connecting base plate 1, and a spring sheet 10 is connected between the first guide plates 8 below the connecting base plate 1. The scraper 6 is provided with through holes 7 in the same layout as the nails on the nail plate 6, and the scraper 6 is parallel to the nail plate 4.

[0021] The implementation method of this embodiment is as follows: In the non-gripping state, the spring plate 10 and the tension spring are in a state of no force, and the scraper 6 is parallel to the outside of the nail on the nail plate 4. During the gripping action, the parallel cylinder 2 drives the clamping plate 3 to move. At this time, the nail on the nail plate 4 will extend through the through hole 7. After the nail plate 4 contacts the scraper 6, the clamping plate 3 continues to move to compress the spring plate 10 and stretch the tension spring 11. After the gripping action is completed, when the jaws open, the clamping plate 3 moves outward. When the spring plate 10 and the tension spring 11 return to their original positions, the scraper 6 no longer moves. At this time, the clamping plate 3 continues to move, and the scraper 6 can automatically scrape off the residual slag.

[0022] Example 2

[0023] As Figs. 3-5 The clamping jaw used by the mud gun and mud adding robot comprises a connecting bottom plate 1 and a parallel cylinder 2, the parallel cylinder 2 is fixedly connected on the connecting bottom plate 1 through bolts, clamping plates 3 are connected at both ends of the parallel cylinder 2, and rubber pads 12 are fixedly connected on the clamping plates 3. The slag removing assembly 5 comprises two groups of two scrapers 6, the scrapers 6 are located on both sides of the clamping plates 3, the two scrapers 6 are connected through a connecting plate 13, the scrapers 6 are rotationally connected with the connecting plate 13, a compression spring 14 is arranged between the two scrapers 6 in each group, and the connecting bottom plate 1 is connected with a second guide plate 15.

[0024] The implementation manner of the embodiment is that: in a non-grasping state, the compression spring 14 is in a compressed state, the scrapers 6 are parallel to the clamping plates 3, when a grasping action is performed, the parallel cylinder 2 drives the clamping plates 3 to move towards each other, the clamping plates 3 drive the scrapers 6 to move, the scrapers 6 move from the narrow end to the wide end relative to the second guide plate 15, at this time, the compression spring 14 is released, the scrapers 6 are rotated to the side surface of the clamping plates 3 around the connecting plate 13, the rubber pads 12 are exposed, after the grasping is completed, the parallel cylinder 2 drives the clamping plates 3 to move in the opposite direction, the scrapers 6 move from the wide end to the narrow end relative to the second guide plate 15, at this time, the compression spring 14 is compressed inwardly under force, the scrapers 6 are rotated to the front surface of the clamping plates 3 around the connecting plate 13, and the surface residues are scraped off.

[0025] The above is only an embodiment of the utility model, and the specific structure and characteristics of the scheme and other common knowledge are not described in detail. It should be pointed out that, for those skilled in the art, without departing from the structure of the utility model, a number of deformations and improvements can be made, which should also be regarded as the protection range of the utility model, and these will not affect the effect and practicality of the utility model. The protection range claimed in the application should be subject to the content of the claims, and the specific implementation mode and the like recorded in the specification can be used to explain the content of the claims.

Claims

1. A gripper used in a mud-filling robot, comprising a connecting base plate (1), a parallel cylinder (2), and a clamping plate (3), characterized in that, The clamp (3) is fixedly connected with an anti-detachment component. The clamp (3) is provided with a slag removal component (5). The slag removal component (5) includes a set of scrapers (6). The anti-detachment component is a nail plate (4). The scraper (6) is provided with several through holes (7). Each through hole (7) is directly opposite a nail on a nail plate (4).

2. The gripper used in a mud-filling robot according to claim 1, characterized in that... The scraper (6) is parallel to the nail plate (4). The scraper (6) is provided with a first guide plate (8). The connecting base plate (1) is provided with a guide groove (9). The first guide plate (8) and the guide groove (9) are slidably connected.

3. The gripper used in a mud-filling robot according to claim 2, characterized in that... A spring sheet (10) and a tension spring (11) are provided between the first guide plates (8). The spring sheet (10) is below the connecting base plate (1), and the tension spring (11) is above the connecting base plate (1).

4. The gripper used in a mud-filling robot according to claim 1, characterized in that... The anti-detachment part is a rubber pad (12). The slag removal assembly (5) includes two sets of two scrapers (6) in each set. The scrapers (6) are located on the side of the clamping plate (3). The two scrapers (6) are connected by a connecting plate (13). The scrapers (6) and the connecting plate (13) are rotatably connected. The connecting plate (13) and the clamping plate (3) are fixedly connected. A compression spring (14) is provided between each set of scrapers (6). The connecting plate (13) is connected to a second guide plate (15). The second guide plate (15) is in the shape of an inverted octagon with the narrow opening facing outward. The outer side of the scraper (6) contacts the inner side of the second guide plate (15).

5. The gripper used in a mud-filling robot according to claim 4, characterized in that... The surface of the rubber pad (12) has a corrugated shape, and the surface of the scraper (6) matches the shape of the rubber pad (12).

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