Controllable mechanical arm for converter steelmaking experiment

Abstract

The utility model provides a controllable mechanical arm for a converter steelmaking experiment, which comprises a transfer arm and a transfer furnace, a rotating shaft is fixedly mounted below the middle of the transfer arm, a rotating disc with insections is fixedly mounted below the rotating shaft, a mechanical hanging arm is arranged below the transfer arm, and the rotating disc is movably mounted in the mechanical hanging arm in an embedded manner. A rotating shaft and a rotating disc below the transfer arm are matched with a mechanical hanging arm, so that the mechanical hanging arm can flexibly rotate, the position of the transfer furnace is convenient to adjust, a fixed sleeve rod and an electric push telescopic rod II are arranged on the two sides below the mechanical hanging arm, and the electric push telescopic rod II upwards retracts into the fixed sleeve rod during transfer; meanwhile, the sealing plate in the middle of the lower portion of the mechanical hanging arm effectively seals an opening of the transfer furnace in the transportation process and prevents molten steel from overflowing, and due to the stable hanging and sealing structure, the safety of the molten steel in the transportation process is guaranteed, and safety accidents caused by splashing of the molten steel are avoided.

Description

Technical Field

[0001] This utility model relates to the field of experimental robotic arms for steelmaking, specifically a controllable robotic arm for converter steelmaking experiments. Background Technology

[0002] In converter steelmaking experiments, molten steel is at a high temperature, and manual operation poses certain safety risks. However, a robotic arm can be used to pour the molten steel required for the steelmaking experiment from the transfer furnace into the converter. This allows the robotic arm to replace manual operation in a hazardous environment, keeping operators away from the furnace opening area and reducing safety hazards.

[0003] During the transportation of molten steel from the transfer furnace to the converter, when the transfer furnace containing molten steel stops at the designated location, the molten steel inside will shake due to inertia, causing it to splash out and potentially leading to a safety accident. Secondly, in existing systems, the tilting height of the transfer furnace is usually relatively fixed when pouring molten steel from the furnace opening into the converter. Therefore, when the furnace is full of molten steel, the tilting opening is relatively high, which can easily generate a large impact force when the transfer furnace is tilted into the converter, causing molten steel to splash out and increasing operational risks.

[0004] To address this, we provide a controllable robotic arm for converter steelmaking experiments. Utility Model Content

[0005] The main purpose of this utility model is to provide a controllable robotic arm for converter steelmaking experiments, which can effectively solve the problem mentioned in the background art that the transfer furnace containing molten steel, suspended by steel cables, will shake under the action of inertia, which may lead to the risk of collision between the transfer furnace containing molten steel and the converter, causing the molten steel inside to splash out.

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

[0007] A controllable robotic arm for converter steelmaking experiments includes a transfer arm and a transfer furnace. A rotating shaft is fixedly installed at the lower center of the transfer arm, and a toothed rotating disk is fixedly installed below the rotating shaft. A mechanical hanging arm is provided below the transfer arm, and the rotating disk is movably fitted inside the mechanical hanging arm. A drive gear that meshes with the rotating disk is movably fitted inside the mechanical hanging arm. A sealing plate for sealing the opening of the transfer furnace is fixedly installed at the lower center of the mechanical hanging arm. Fixed sleeve rods are fixedly installed on both sides of the lower part of the mechanical hanging arm, and electric telescopic rods for suspending the transfer furnace are movably fitted inside the fixed sleeve rods.

[0008] In the above scheme, preferably, electric telescopic rods are movably installed on both sides of the transfer arm, and a support strut for improving support is fixedly installed on one side of each electric telescopic rod.

[0009] In the above scheme, preferably, both sides of the support strut are fitted with drive wheels for moving on the transfer beam, and the drive wheels are all electrically driven to rotate synchronously.

[0010] In the above scheme, preferably, a servo motor is fixedly installed at one end of the mechanical arm, and the drive shaft of the servo motor passes through one end of the mechanical arm, with a cable wound around the drive shaft.

[0011] In the above scheme, preferably, a fixed shaft is fixedly installed on one side of the transfer furnace, and a cable is wound and installed between the fixed shaft and the drive shaft for tilting the transfer furnace.

[0012] In the above scheme, preferably, a fixing sleeve is fitted and installed at the bottom of each of the electric telescopic rods 2, and a fixing bolt is provided at the bottom of each of the electric telescopic rods 2, and the fixing bolt is fixedly connected to the electric telescopic rods 2 by fitting the fixing sleeve.

[0013] In the above scheme, preferably, connecting shafts are fixedly installed on both sides of the transfer furnace, and the transfer furnace is suspended and installed on the electric push telescopic rod two via the connecting shafts and fixing bolts.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] (1) This type of controllable robotic arm for converter steelmaking experiments achieves stable transport of the converter furnace by setting up a mechanical hanging arm, a fixed sleeve, and an electric push telescopic rod. The rotating shaft and rotating disk under the transfer arm cooperate with the mechanical hanging arm, allowing the mechanical hanging arm to rotate flexibly and making it easy to adjust the position of the converter furnace. During transport, the fixed sleeve and electric push telescopic rod on both sides under the mechanical hanging arm retract upward into the fixed sleeve. The rigid structure greatly reduces the shaking of the converter furnace caused by inertia. At the same time, the sealing plate in the middle under the mechanical hanging arm effectively seals the opening of the converter furnace during transport to prevent molten steel from overflowing. This stable suspension and sealing structure ensures the safety of molten steel during transport and avoids safety accidents caused by molten steel splashing out.

[0016] (2) The controllable robotic arm used in this converter steelmaking experiment is equipped with a drive shaft, a fixed shaft, and an electric telescopic rod II. When molten steel needs to be poured, the operator sends a command to the servo motor. The servo motor drives the drive shaft to rotate, causing the cable wound between the drive shaft and the fixed shaft of the converter to be wound up and down. This causes the converter to tilt around the connecting shaft as a fulcrum. During the pouring process, the electric telescopic rod II adjusts the height of the converter pouring opening according to the change in the amount of molten steel poured. As the molten steel gradually decreases, the electric telescopic rod II gradually retracts into the fixed sleeve to ensure that the height of the converter pouring opening can match the action of the servo motor winding the cable, so that the remaining molten steel can flow smoothly into the converter. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0019] Figure 2 This is a schematic diagram of the disassembled connection structure between the fixed sleeve rod and the transfer furnace in this utility model.

[0020] Figure 3 This is a schematic diagram of the disassembled connection structure of the transfer arm and the mechanical hanging arm in this utility model.

[0021] Figure 4 This is a partial structural diagram of the mechanical hanging arm in this utility model.

[0022] Figure 1 - Figure 4 In the middle: 1. Transfer arm; 2. Electric push telescopic rod one; 3. Support strut; 4. Drive wheel; 5. Rotating shaft; 501. Rotating disk; 6. Mechanical hanging arm; 601. Sealing plate; 7. Servo motor; 701. Drive shaft; 8. Fixed sleeve rod; 801. Electric push telescopic rod two; 802. Fixed sleeve; 803. Fixing bolt; 9. Transfer furnace; 901. Connecting shaft; 902. Fixed shaft; 10. Cable. Detailed Implementation

[0023] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0024] like Figure 1 - Figure 4As shown in this embodiment, a controllable robotic arm for converter steelmaking experiments includes a transfer arm 1 and a transfer furnace 9. A rotating shaft 5 is fixedly installed in the lower middle of the transfer arm 1, and a toothed rotating disk 501 is fixedly installed below the rotating shaft 5. A mechanical hanging arm 6 is provided below the transfer arm 1, and the rotating disk 501 is movably fitted inside the mechanical hanging arm 6. A drive gear that meshes with the rotating disk 501 is movably fitted inside the mechanical hanging arm 6. A sealing plate 601 for sealing the opening of the transfer furnace 9 is fixedly installed in the middle of the lower part of the mechanical hanging arm 6. Fixed sleeve rods 8 are fixedly installed on both sides of the lower part of the mechanical hanging arm 6, and electric telescopic rods 801 for suspending the transfer furnace 9 are movably fitted inside the fixed sleeve rods 8.

[0025] Each of the two electric push telescopic rods 801 has a fixing sleeve 802 fitted into its lower part, and a fixing bolt 803 is provided at the lower part of each of the two electric push telescopic rods 801. The fixing bolt 803 is fixedly connected to the two electric push telescopic rods 801 through the fixing sleeve 802. Both sides of the transfer furnace 9 are fixedly installed with connecting shafts 901. The transfer furnace 9 is suspended and installed on the two electric push telescopic rods 801 through the connecting shafts 901 and the fixing bolts 803.

[0026] Specifically, with this setup, when the drive gear inside the mechanical hanging arm 6 starts to rotate under the drive of the drive motor (not detailed in the figure, but in actual applications, there is a power source driving the gear to rotate), the gear meshes with the teeth on the rotating disk 501, thereby driving the mechanical hanging arm 6 to perform circular motion around the rotating shaft 5. This allows the transfer furnace 9 to be adjusted at multiple angles in the horizontal direction, meeting the needs of rotating the transfer furnace 9 to a suitable position above the converter for molten steel pouring during the converter steelmaking experiment. During transfer, the electric push telescopic rod 801 retracts upward into the fixed sleeve 8, thereby sealing the opening of the transfer furnace 9 with the sealing plate 601. The rigid fixed sleeve 8 and the electric push telescopic rod 801 prevent the transfer furnace from being stopped. During transfer, the transfer furnace 9 sways due to inertia to prevent molten steel from splashing out. The connecting shaft 901 is nested and connected by the fixing sleeve 802 and the fixing bolt 803 to connect the transfer furnace 9 to the electric push telescopic rod 801, thereby installing and using the transfer furnace 9. When the molten steel in the transfer furnace 9 is poured into the converter, the height of the pouring opening of the transfer furnace 9 is adjusted by the fixing sleeve rod 8 and the electric push telescopic rod 801 so that the molten steel in the transfer furnace 9 can flow into the inclined converter. As the molten steel in the transfer furnace 9 gradually decreases during pouring, the electric push telescopic rod 801 gradually retracts into the fixing sleeve rod 8, so that the height of the pouring opening of the transfer furnace 9 gradually decreases when the servo motor 7 winds up the cable 10, and the remaining molten steel inside can be smoothly poured into the converter.

[0027] like Figure 1 - Figure 4As shown, in this embodiment, electric telescopic rods 2 are movably mounted on both sides of the transfer arm 1, and a support strut 3 for improving support is fixedly mounted on one side of each electric telescopic rod 2. Drive wheels 4 for moving on the transfer beam are movably mounted on both sides of each support strut 3, and the drive wheels 4 are all set to rotate synchronously by electric drive.

[0028] Specifically, with this setup, when it is necessary to adjust the support length of the transfer arm 1, the operator can send a command to the electric telescopic rod 2 through the control system. The electric telescopic rod 2 drives the lead screw to extend or retract according to the command, thereby lengthening or shortening the support distance of the transfer arm 1, so that the drive wheel 4 can maintain good contact with the transfer beam, ensuring that the robotic arm can move smoothly on the transfer beam. When power is supplied to the drive motor inside the support strut 3, the operation of the drive motor causes the drive wheel 4 to rotate and roll synchronously on the transfer beam, thereby driving the transfer arm 1 to move smoothly on the transfer beam.

[0029] like Figure 1 - Figure 4 As shown, in this embodiment, a servo motor 7 is fixedly installed at one end of the mechanical hanging arm 6, and a drive shaft 701 on the servo motor 7 passes through one end of the mechanical hanging arm 6. A cable 10 is wound around the drive shaft 701. A fixed shaft 902 is fixedly installed on one side of the transfer furnace 9, and the cable 10 is wound between the fixed shaft 902 and the drive shaft 701 for tilting the transfer furnace 9.

[0030] Specifically, with this setup, when molten steel needs to be poured, the operator sends an operation command to the servo motor 7. After receiving the command, the rotor inside the servo motor 7 rotates, causing the drive shaft 701 to rotate synchronously. Since the cable 10 is wrapped around the drive shaft 701 and the fixed shaft 902, the rotation of the drive shaft 701 will cause the cable 10 to be wound up and down. When the servo motor 7 rotates in the forward direction according to the command, the drive shaft 701 begins to wound up the cable 10. Under the action of the drive shaft 701, the cable 10 gradually winds around the drive shaft 701, while pulling one side of the transfer furnace 9 upward. The transfer furnace 9 is connected to the electric push telescopic rod 801 through the connecting shaft 901 and remains relatively fixed. Therefore, as the cable 10 is continuously wound up and down, the transfer furnace 9 will gradually tilt with the connecting shaft 901 as the fulcrum, realizing the action of pouring molten steel.

[0031] Working principle: When it is necessary to adjust the support length of the transfer arm 1, the operator can send a command to the electric telescopic rod 2 through the control system. The electric telescopic rod 2 drives the lead screw to extend or retract according to the command, thereby adjusting the support distance of the transfer arm 1, making it longer or shorter. In this way, the drive wheel 4 can maintain good contact with the transfer beam, ensuring that the robotic arm can move smoothly on the transfer beam. When power is supplied to the drive motor inside the support strut 3, the operation of the drive motor causes the drive wheel 4 to rotate synchronously on the transfer beam, driving the transfer arm 1 to move smoothly. The drive gear inside the mechanical hanging arm 6 drives the drive motor. Driven by the mechanism, the mechanical arm 6 rotates around the rotating shaft 5, allowing the transfer furnace 9 to be adjusted at multiple angles in the horizontal direction. This meets the requirements for the transfer furnace 9 to rotate to a suitable position above the converter for molten steel pouring. During transfer, the electric pusher telescopic rod 801 retracts upward into the fixed sleeve rod 8, and the sealing plate 601 seals the opening of the transfer furnace 9 to prevent the transfer furnace 9 from shaking due to inertia when the transfer stops, thus avoiding molten steel splashing out. The connecting shaft 901 is nested and connected by the fixed sleeve 802 and the fixing bolt 803, connecting the transfer furnace 9 to the electric pusher telescopic rod 801 for easy rotation. The installation and use of transfer furnace 9 involves adjusting the height of the pouring opening of transfer furnace 9 by using fixed sleeve rod 8 and electric push telescopic rod 801 when pouring molten steel from transfer furnace 9 into the converter. This allows the molten steel to flow into the inclined converter. As the amount of molten steel poured from transfer furnace 9 gradually decreases, electric push telescopic rod 801 gradually retracts into fixed sleeve rod 8, facilitating a gradual reduction in the height of the pouring opening of transfer furnace 9 when servo motor 7 winds up cable 10. This allows the remaining molten steel to flow smoothly into the converter. When a molten steel pouring operation is required, the operator sends an operation command to servo motor 7. After receiving the instruction, the rotor inside 7 rotates, driving the drive shaft 701 to rotate synchronously. The rotation of the drive shaft 701 causes the cable 10 to be wound up and down. When the servo motor 7 rotates in the forward direction according to the instruction, the drive shaft 701 begins to wound up the cable 10. Under the action of the drive shaft 701, the cable 10 gradually winds onto the drive shaft 701, while simultaneously pulling one side of the transfer furnace 9 upward. The transfer furnace 9 is connected to the electric push telescopic rod 801 through the connecting shaft 901 and remains relatively fixed. Therefore, as the cable 10 is continuously wound up and down, the transfer furnace 9 will gradually tilt with the connecting shaft 901 as the fulcrum, realizing the action of pouring molten steel.

[0032] The preferred embodiments of the present invention disclosed above are merely illustrative of the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to specific implementations. The present invention is not limited to the above embodiments; the embodiments and descriptions in the specification are merely outlining the principles of the present invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A controllable mechanical arm for use in experiments with a converter steelmaking, comprising a transfer arm (1) and a transfer furnace (9), characterized in that: The rotating shaft (5) is fixedly installed below the middle of the transfer arm (1), and the rotating disc (501) with a tooth pattern is fixedly installed below the rotating shaft (5); the mechanical hanging arm (6) is arranged below the transfer arm (1), and the rotating disc (501) is embeddedly and movably arranged in the mechanical hanging arm (6); the driving gear meshed with the rotating disc (501) is embeddedly and movably arranged in the mechanical hanging arm (6); the sealing plate (601) for sealing the opening of the transfer furnace (9) is fixedly installed below the middle of the mechanical hanging arm (6); the fixed sleeve rod (8) is fixedly installed on both sides of the mechanical hanging arm (6); and the electric telescopic rod two (801) for hanging the transfer furnace (9) is embeddedly and movably arranged in the fixed sleeve rod (8).

2. The controllable mechanical arm for converter steelmaking experiments according to claim 1, characterized in that, The electric telescopic rod one (2) is embeddedly and movably arranged on both sides of the transfer arm (1), and the support cross rod (3) for improving the support is fixedly installed on one side of the electric telescopic rod one (2).

3. The controllable mechanical arm for a converter steelmaking experiment according to claim 2, characterized in that, The driving wheel (4) for moving on the transfer beam is embeddedly and movably arranged on both sides of the support cross rod (3), and the driving wheel (4) is driven to synchronously rotate by electricity.

4. The controllable mechanical arm for converter steelmaking experiments according to claim 1, characterized in that, The servo motor (7) is fixedly installed on one end of the mechanical hanging arm (6), the driving shaft (701) of the servo motor (7) penetrates through one end of the mechanical hanging arm (6), and the cable (10) is wound around the driving shaft (701).

5. The controllable mechanical arm for use in experiments with converter steelmaking according to claim 4, characterized in that, The fixed shaft (902) is fixedly installed on one side of the transfer furnace (9), and the cable (10) is wound around the fixed shaft (902) and the driving shaft (701) to pour the transfer furnace (9).

6. The controllable mechanical arm for converter steelmaking experiments according to claim 1, characterized in that, The fixed sleeve (802) is embeddedly and movably arranged below the electric telescopic rod two (801), and the fixed bolt (803) is arranged below the electric telescopic rod two (801) and embeddedly and fixedly connected with the electric telescopic rod two (801) through the fixed sleeve (802).

7. The controllable mechanical arm for a converter steelmaking experiment according to claim 1, characterized in that, The connecting shaft (901) is fixedly installed on both sides of the transfer furnace (9), and the transfer furnace (9) is hung and installed on the electric telescopic rod two (801) through the connecting shaft (901) and the fixed bolt (803).

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