Manipulator device for mounting steel ladle hydraulic cylinder

Abstract

The utility model relates to the field of steel-making continuous casting equipment, in particular to a manipulator device for installing a steel ladle hydraulic cylinder, which comprises a fixed base, the lifting mechanism comprises a linear guide rail and a sliding block and is arranged on the fixed base; the lifting frame is of a box structure, and one side of the lifting frame is fixed to the sliding block; the rack is arranged on one side of the linear guide rail in parallel; the lifting motor is arranged on the lifting frame, and the output end of the lifting motor is provided with a driving gear meshed with the rack; the rotating mechanism comprises a rotating shaft which is a hollow shaft and is arranged in the lifting frame; the rotating motor and speed reducer is fixed on one side of the lifting frame, the output end is provided with a rotating driving gear, and the upper end of a rotating shaft is provided with a rotating driven gear; the telescopic arm mechanism comprises a driving shaft, a telescopic driving motor and a speed reducer and is fixed on the lifting frame, and the output end of the telescopic arm mechanism is connected with the upper end of the driving shaft; the right-angle reversing gearbox is arranged at the lower end of the rotating shaft. The device can replace manual operation, is prevented from being damaged by high temperature and dust, reduces manual operation, and improves the safety level.

Description

Technical Field

[0001] This utility model relates to the field of steelmaking continuous casting equipment, and in particular to a robotic arm device for installing hydraulic cylinders for steel ladles. Background Technology

[0002] In the field of continuous casting steelmaking, after the molten steel has been smelted to meet the requirements, it is transported to the rotary table of the continuous casting machine. A hydraulic cylinder is installed at the bottom of the ladle by a worker, and the hydraulic cylinder is driven to open the ladle nozzle for pouring.

[0003] The installation of traditional hydraulic cylinders is done manually, which requires moving a cylinder weighing about 50 kilograms. This is labor-intensive and carries the risk of being exposed to dust and being burned by hot molten steel splashes.

[0004] In recent years, some steel plants have adopted robots to install hydraulic cylinders. However, due to the limitations of existing equipment, robot installation requires the addition of a load-bearing platform or installation on a casting platform. If the robot arm is not long enough, the arm length needs to be increased or a separate mobile platform needs to be set up. The modification is difficult, the system is complex, and implementation is not easy. Summary of the Invention

[0005] The purpose of this invention is to provide a robotic arm device for installing hydraulic cylinders for steel ladles, replacing manual labor and solving the problems of complexity and implementation difficulties in existing robot systems.

[0006] To achieve the above objectives, the technical solution of this utility model is as follows:

[0007] A robotic arm device for installing hydraulic cylinders for steel ladles, comprising,

[0008] Fixed base, vertically installed;

[0009] The lifting mechanism includes:

[0010] The linear guide rail and its slider are mounted on the fixed base;

[0011] The lifting frame has a box-like structure, with one side of the lifting frame fixed to the slider.

[0012] A rack is arranged parallel to one side of the linear guide;

[0013] A lifting motor is mounted on the lifting frame, and a drive gear is provided at its output end, which meshes with a rack;

[0014] Rotating mechanism, including:

[0015] A hollow rotating shaft is installed inside the lifting frame, and bearing seats that cooperate with the rotating shaft are provided at the upper and lower ends of the lifting frame.

[0016] A rotary motor and a reducer are fixed to one side of the lifting frame. The output end of the motor is provided with a rotary drive gear, and the upper end of the rotary shaft is provided with a rotary driven gear that meshes with the rotary drive gear.

[0017] Telescopic boom mechanism, including,

[0018] A drive shaft is inserted inside the rotating shaft, and bearing seats that cooperate with the drive shaft are provided at the upper and lower ends of the rotating shaft.

[0019] A telescopic drive motor and a reducer are fixed on the lifting frame, and their output ends are connected to the upper end of the drive shaft;

[0020] A right-angle reversing gearbox is located at the lower end of the rotating shaft, and contains an input bevel gear and an output bevel gear; the lower end of the drive shaft is connected to the input bevel gear of the right-angle reversing gearbox.

[0021] The fixed arm is horizontally positioned, with one end connected to one side of the right-angle reversing gearbox; the fixed arm has a hollow structure.

[0022] A ball screw and a screw nut are inserted into the fixed arm, and bearings that cooperate with the ball screw drive shaft are provided at both ends of the fixed arm; the rear end of the ball screw is connected to the output bevel gear of the right-angle reversing gearbox; the front part of the ball screw extends out of the fixed arm;

[0023] The telescopic arm has a hollow structure, with its rear part fitted onto the fixed arm, and the front part of the telescopic arm connected to the lead screw nut.

[0024] Furthermore, it also includes a forearm, which is a hollow structure, with its rear end connected to the lead screw nut.

[0025] Furthermore, a retractable dust cover is provided, with one end fitted onto the rear end of the telescopic arm and the other end connected to the right-angle reversing gearbox.

[0026] Preferably, the diameter of the rotary driving gear is smaller than the diameter of the rotary driven gear.

[0027] In the robotic arm device described in this utility model:

[0028] The lifting mechanism, through the cooperation of linear guide rails, sliders, and gear racks, enables the lifting frame to move up and down under the drive of a lifting motor.

[0029] The rotating mechanism, via a rotating shaft and a fixed arm, drives the fixed arm to rotate horizontally under the drive of a rotating motor.

[0030] The telescopic arm mechanism achieves the forward and backward extension of the telescopic arm through the cooperation of a drive shaft, a right-angle reversing gearbox, and a ball screw.

[0031] Under the three-dimensional drive of the above-mentioned lifting, rotating, and telescopic arm mechanism, the end effector of the robot achieves three-dimensional positioning.

[0032] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0033] 1. The robotic arm device described in this utility model is designed with lifting, rotating and telescopic mechanisms to achieve three-dimensional positioning.

[0034] 2. The robotic arm device described in this utility model can be wall-mounted on the vertical plane of the rotating arm of the continuous casting turntable. Through the lifting, rotating, and telescopic driving of the robotic arm, the three-dimensional positioning of the hydraulic cylinder is realized, and the hydraulic cylinder is installed in the slot of the sliding gate at the bottom of the ladle.

[0035] 3. This utility model can replace manual operation, avoid the harm of high temperature and dust, reduce manual operation, and improve the safety level.

[0036] 4. Compared with existing technologies that install robots on load-bearing columns or casting platforms, this method eliminates the need to build a load-bearing platform, simplifies the system, facilitates installation, and saves investment. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the structure of an embodiment of the present utility model;

[0038] Figure 2 This is a top view of an embodiment of the present utility model. Detailed Implementation

[0039] See Figure 1 , Figure 2 The robotic arm device for installing hydraulic cylinders for steel ladles, as described in this utility model, includes,

[0040] Fixed base 1, vertically installed;

[0041] Lifting mechanism 2 includes:

[0042] The linear guide rail 21 and its slider 22 are mounted on the fixed base 1;

[0043] The lifting frame 23 has a box structure, and one side of the lifting frame 23 is fixed to the slider 22.

[0044] Rack 24 is arranged parallel to one side of linear guide 21;

[0045] A lifting motor 25 is mounted on the lifting frame 23, and a drive gear 26 is mounted on its output end. The drive gear 26 meshes with a rack 24.

[0046] Rotating mechanism 3 includes:

[0047] The rotating shaft 31 is a hollow shaft and is installed inside the lifting frame 23. The upper and lower ends of the lifting frame 23 are provided with bearing seats that cooperate with the rotating shaft 31.

[0048] A rotary motor 32 and a reducer are fixed on one side of the lifting frame 23. A rotary drive gear 33 is provided at its output end, and a rotary driven gear 34 that meshes with the rotary drive gear 33 is provided at the upper end of the rotary shaft 31.

[0049] Telescopic boom mechanism 4 includes,

[0050] A drive shaft 41 is inserted inside the rotating shaft 31, and the upper and lower ends of the rotating shaft are provided with bearing seats that cooperate with the drive shaft.

[0051] The telescopic drive motor 42 and the reducer are fixed on the lifting frame 23, and their output ends are connected to the upper end of the drive shaft 41;

[0052] A right-angle reversing gearbox 43 is disposed at the lower end of the rotating shaft 31, and has an input bevel gear 431 and an output bevel gear 432 inside; the lower end of the drive shaft 41 is connected to the input bevel gear 431 of the right-angle reversing gearbox 43;

[0053] The fixed arm 44 is horizontally positioned, with one end connected to one side of the right-angle reversing gearbox 43; the fixed arm has a hollow structure.

[0054] The ball screw 45 and the screw nut 46 are installed inside the fixed arm 44. The fixed arm 44 has bearings at both ends that cooperate with the ball screw drive shaft. The rear end of the ball screw 45 is connected to the output bevel gear 432 of the right-angle reversing gearbox 43. The front part of the ball screw 45 extends out of the fixed arm 44.

[0055] The telescopic arm 47 has a hollow structure, and its rear part is sleeved on the fixed arm 44. The front part of the telescopic arm 47 is connected to the lead screw nut 46.

[0056] Furthermore, it also includes a forearm 48, which is a hollow structure, and its rear end is connected to the lead screw nut 46.

[0057] Furthermore, a retractable dust cover 49 is provided, one end of which is fitted onto the rear end of the telescopic arm 47, and the other end of the retractable dust cover 49 is connected to the right-angle reversing gearbox 43.

[0058] Preferably, the diameter of the rotary driving gear is smaller than the diameter of the rotary driven gear.

[0059] During hydraulic cylinder installation, the cylinder is mounted at the end of the telescopic boom or forearm. The lifting motor is turned on, and the lifting frame moves up and down along the guide rail via gears and racks. Driven by the rotary motor, the rotating shaft rotates the fixed arm horizontally. The telescopic drive motor drives the drive shaft, which, through the drive shaft and right-angle reversing gearbox, rotates the ball screw. The ball screw drives the screw nut, causing the telescopic boom to move back and forth. Under the three-dimensional drive of lifting, rotating, and telescopic movement, the hydraulic cylinder achieves three-dimensional positioning and is inserted into the slot of the ladle's sliding gate, completing the installation.

[0060] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A manipulator device for installing a ladle hydraulic cylinder, characterized by, The device comprises a fixed base vertically arranged; A lifting mechanism comprising: A linear guide rail and a slider arranged on the fixed base; A lifting frame in a box structure, one side of which is fixed to the slider; A rack arranged parallel to one side of the linear guide rail; A lifting motor arranged on the lifting frame, the output end of which is provided with a driving gear engaged with the rack; A rotating mechanism comprising: A rotating shaft in a hollow structure arranged in the lifting frame, the upper and lower ends of which are provided with bearing seats matched with the rotating shaft; A rotating motor and a speed reducer fixed to one side of the lifting frame, the output end of which is provided with a rotating driving gear, and the upper end of the rotating shaft is provided with a rotating driven gear engaged with the rotating driving gear; A telescopic arm mechanism comprising: A driving shaft arranged in the rotating shaft, the upper and lower ends of which are provided with bearing seats matched with the driving shaft; A telescopic driving motor and a speed reducer fixed to the lifting frame, the output end of which is connected to the upper end of the driving shaft; A right-angle reversing gear box arranged at the lower end of the rotating shaft, the inner part of which is provided with an input end bevel gear and an output end bevel gear; The lower end of the driving shaft is connected to the input end bevel gear of the right-angle reversing gear box; A fixed arm arranged horizontally, one end of which is connected to one side of the right-angle reversing gear box; the fixed arm is in a hollow structure; A ball screw and a screw nut arranged in the fixed arm, the two ends of which are provided with bearings matched with the ball screw driving shaft; the rear end of the ball screw is connected to the output end bevel gear of the right-angle reversing gear box; the front part of the ball screw protrudes out of the fixed arm; 3. The mechanical hand device for installing a ladle hydraulic cylinder according to claim 1 or 2, characterized by, A telescopic arm in a hollow structure, the rear part of which is sleeved on the fixed arm, and the front part of which is connected to the screw nut.

4. The mechanical hand device for installing a ladle hydraulic cylinder according to claim 1, wherein 2. The mechanical hand device for installing a ladle hydraulic cylinder according to claim 1, further comprising a front arm in a hollow structure, the rear end of which is connected to the screw nut. A telescopic dust cover is further arranged, one end of which is sleeved on the rear end of the telescopic arm, and the other end of which is connected to the right-angle reversing gear box. The diameter of the rotating driving gear is smaller than that of the rotating driven gear.

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