Intermediate frequency furnace slag salvaging robot system with quick-changing spoon

Abstract

An intermediate frequency furnace slag salvaging robot system with a quick-changing spoon comprises a six-axis robot, a moving platform, a salvaging device, a spoon frame and a slag hopper, the moving platform is installed on a furnace platform and located on one side of the intermediate frequency furnace, the six-axis robot is installed on the moving platform, and the salvaging device is connected with the front end of a mechanical arm of the six-axis robot. The spoon frame and the slag hopper are arranged on the surface of the furnace platform on the outer side of the moving platform and located on the two sides of the six-axis robot respectively, the fishing device comprises a robot connecting plate, a servo motor, a transmission assembly, an electromagnet and a slag fishing spoon, and the robot connecting plate is connected with the front end of a mechanical arm of the six-axis robot; the transmission assembly is connected to one side of the robot connecting plate, the servo motor is connected with the transmission assembly, the electromagnet is connected to the surface of the magnet mounting plate connected to the bottom end of the transmission assembly, the slag salvaging spoons are connected with the electromagnet, and a plurality of spoon positioning seats capable of positioning the slag salvaging spoons are arranged on the spoon frame. According to the utility model, full-automatic spoon replacement can be realized, the spoon replacement speed is high, and the slag salvaging working efficiency is high.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a slag removal robot system used in ironmaking. Background Technology

[0002] Ironmaking using an induction furnace involves adding raw materials such as iron ore and coke into the furnace. Eddy currents generated by the induction current heat the materials to a molten state. After melting, the molten iron is discharged from the furnace for further processing or casting. The discharged molten iron must be clean and free of floating slag; therefore, it is necessary to remove any floating slag during the ironmaking process. Currently, there are two methods for removing slag from molten iron: one is manual slag removal using tools during the ironmaking process, and the other is using a robotic arm. Manual slag removal is labor-intensive, and the high temperatures during ironmaking pose significant safety hazards for workers operating in high-temperature environments for extended periods. Using a robotic arm to remove slag typically involves attaching a slag scoop to the end of the robotic arm. The robotic arm controls the slag scoop to remove the floating slag from the molten iron in the induction furnace. Existing slag scoops mainly use either a top-down grabbing motion or a scooping motion from one side to the other. The top-down slag-removing method simulates the process of a hand grasping an object from above, making it difficult to efficiently remove slag floating in molten iron. Incomplete removal necessitates repeated operations, wasting electricity and shortening the equipment's lifespan. Prolonged contact between the slag-removing spoon and the high-temperature molten iron significantly reduces the spoon's lifespan. The method of entering from one side and retrieving from the other often uses a slag-removing spoon with one side lacking a baffle or having a low baffle, causing some slag to fall back into the induction furnace during retrieval, resulting in low efficiency. Furthermore, the slag-removing spoon connected to the robotic arm requires periodic replacement. The current structure necessitates disassembling the slag-removing spoon from the robotic arm and installing a replacement, requiring manual operation, resulting in slow spoon replacement and low work efficiency. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of the existing technology by providing a slag removal robot system for medium-frequency furnaces that can achieve fully automatic slag changing, fast slag changing speed, and high slag removal efficiency.

[0004] The technical solution adopted by this utility model to achieve the above-mentioned objectives is as follows: a slag-removing robot system for a medium-frequency furnace with quick-changing ladles, comprising a six-axis robot, a mobile platform, a slag-removing device, a ladle holder, and a slag hopper. The mobile platform is set on the furnace platform on which the medium-frequency furnace is installed and is located on one side of the furnace. The six-axis robot is mounted on the mobile platform and can slide on the mobile platform. The slag-removing device is connected to the front end of the robotic arm of the six-axis robot. The ladle holder and the slag hopper are respectively set on the furnace platform surface outside the mobile platform. The ladle holder and the slag hopper are respectively located on both sides of the six-axis robot and at positions that can be projected after the robotic arm rotates. The slag-removing device includes a robot connecting plate, a servo motor, a transmission component, an electromagnet, and a slag-removing ladle. The robot connecting plate is connected to the front end of the robotic arm of the six-axis robot. The transmission component is connected to one side of the robot connecting plate. The servo motor is connected to the transmission component. The electromagnet is connected to the surface of the magnet mounting plate connected to the bottom end of the transmission component. The slag-removing ladle is connected to the electromagnet. The ladle holder is provided with multiple ladle positioning seats that can position the slag-removing ladle.

[0005] A further technical solution of this utility model is as follows: The mobile platform includes a base, a slider, a slide rail, a base plate, a motor, gear I, and a rack. The base is fixedly connected to the upper surface of the furnace platform on one side of the medium-frequency furnace through a connecting device. The slide rail and the rack are installed on the base through the connecting device. The slider is connected to the slide rail, and the upper end of the slider is connected to the bottom surface of the base plate. The motor is installed at one corner of the upper surface of the base plate. The output end of the motor is connected to the reducer I. The output end of the reducer I passes through the base plate and is connected to gear I. Gear I meshes with the rack. When the motor is working, gear I rotates relative to the rack, causing the slider to slide relative to the slide rail, thereby pushing the base plate to move relative to the base. The six-axis robot is installed on the upper surface of the base plate through a robot pad at its bottom.

[0006] A further technical solution of this utility model is as follows: The transmission component of the retrieval device includes a servo motor bracket, a reducer II, a coupling, and a gearbox. The gearbox is connected to one side of the robot connecting plate. The servo motor bracket is mounted on the gearbox, and the servo motor is mounted on the servo motor bracket. The output end of the servo motor is connected to the reducer II, and the output end of the reducer II is connected to the upper end of the coupling. The gearbox has two parallel rotating shafts, and gears II are connected to the two rotating shafts respectively. The two gears II mesh with each other. The upper end of one rotating shaft passes through the upper wall of the gearbox and is connected to the lower end of the coupling. The bottom ends of the two rotating shafts protrude from the bottom end of the gearbox. The two rotating shafts protruding from the bottom end of the gearbox are connected to two connecting blocks respectively. The lower side of each connecting block is connected to a magnet mounting plate. The two magnet mounting plates are parallel to each other in the vertical direction. Electromagnets are connected to the inner sides of the two magnet mounting plates respectively. The slag scoop includes a left half slag scoop and a right half slag scoop that can be joined together to form a whole. The left half slag scoop and the right half slag scoop are symmetrically connected to two electromagnets.

[0007] A further technical solution of this utility model is as follows: the upper ends of the left half slag scoop and the right half slag scoop are respectively connected to two electromagnets. When slag is scooped, the two gears II in the gearbox driven by the servo motor rotate inward at the same time, so that the bottom ends of the left half slag scoop and the right half slag scoop are connected to form a whole to complete the slag scooping. When the slag scoop moves above the slag hopper with the mechanical arm of the six-axis robot, the two gears II in the gearbox driven by the servo motor rotate outward at the same time, so that the bottom ends of the left half slag scoop and the right half slag scoop separate and release the scooped residue.

[0008] A further technical solution of this utility model is as follows: magnet side baffles are vertically connected to the outer edges of the two magnet mounting plates respectively. The front end of the magnet side baffles is provided with a guide part. The bottom end of the two magnet mounting plates is connected to a vertically forward-extending magnet lower baffle. The front end of the magnet lower baffle is also connected to an upward-extending spoon baffle. When the two electromagnets are installed on the inner surface of the two magnet mounting plates, the outer side and bottom end of the electromagnets are limited by the magnet side baffles and the magnet lower baffles respectively. The upper end of the slag scoop is connected to the outer surface of the electromagnet.

[0009] A further technical solution of this utility model is as follows: the left half of the slag scoop includes a left scoop connecting rod and a left scoop connected to the bottom end of the left scoop connecting rod; the right half of the slag scoop includes a right scoop connecting rod and a right scoop connected to the bottom end of the right scoop connecting rod; the left scoop includes a bottom wall and a baffle wall connected to the upper outer periphery of the bottom wall, and the right outer periphery of the bottom wall of the left scoop is not provided with a baffle wall; the right scoop includes a bottom wall and a baffle wall connected to the upper outer periphery of the bottom wall, and the left outer periphery of the bottom wall of the right scoop is not provided with a baffle wall; when the left scoop and the right scoop are joined together, they can form an integral structure with a closed bottom and side walls; both the left scoop connecting rod and the right scoop connecting rod are made of iron material that can be attracted to an electromagnet; the upper side of the left scoop connecting rod and the right scoop connecting rod are respectively provided with clearance holes that cooperate with the lower stop block of the magnet.

[0010] A further technical solution of this utility model is: the spoon stop can pass through the clearance hole on the left spoon connecting rod and the clearance hole on the right spoon connecting rod. When the left half slag scoop and the right half slag scoop are positioned in the spoon positioning seat, the clearance hole on the left spoon connecting rod and the clearance hole on the right spoon connecting rod are exposed on the upper side of the spoon positioning seat to facilitate the spoon stop passing through the clearance hole.

[0011] A further technical solution of this utility model is: the spoon holder includes a support frame and a spoon positioning seat connected to one side of the support frame. The support frame includes a square bottom frame and a positioning seat mounting bracket connected to one upper side of the bottom frame. Multiple spoon positioning seats are connected to the top of the positioning seat mounting bracket in parallel and extend inward respectively. The upper sides of the slag scoop are respectively provided with positioning steps that engage with the spoon positioning seats. The bottom frame is positioned on the upper surface of the furnace platform on one side of the moving platform.

[0012] This utility model of a quick-change slag-removing robot system for medium-frequency furnaces has the following advantages: A six-axis robot is mounted on a mobile platform, which serves as the robot's seventh axis. The six-axis robot can move precisely. The slag-removing device is mounted on the front end of the robot's robotic arm and can move precisely with the robot. An electromagnet connects to or disconnects from the slag-removing scoop by switching on and off electrical power. A scoop holder and a slag hopper are respectively set on the furnace platform on both sides of the six-axis robot. The six-axis robot automatically controls the slag-removing device to complete slag removal and place the residue into the slag hopper. When the slag-removing scoop needs to be replaced, the six-axis robot can place the connected scoop onto the scoop holder. The slag-removing spoon is positioned on the spoon positioning seat, and another slag-removing spoon is inserted from the spoon positioning seat, which can automatically and quickly complete the spoon changing operation. The slag-removing spoon includes a left half slag-removing spoon and a right half slag-removing spoon. When removing slag, the left half slag-removing spoon and the right half slag-removing spoon move from the left and right sides towards the middle to connect and form a complete slag-removing spoon, similar to two hands scooping up the floating slag from the left and right sides towards the middle. This can more efficiently remove the floating slag on the molten iron. After removing the floating slag, the six-axis robot automatically sends the scooping device to the top of the slag hopper. When it reaches the top of the slag hopper, the left half slag-removing spoon and the right half slag-removing spoon can be controlled to separate and put the residue into the slag hopper. The whole process is automated and has high work efficiency.

[0013] The following description, in conjunction with the accompanying drawings and embodiments, further illustrates the present invention's medium-frequency furnace quick-change slag-removing robot system. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of a medium-frequency furnace quick-change slag-removing robot system installed on the furnace platform;

[0015] Figure 2 This is a front view of a six-axis robot of a medium-frequency furnace quick-change slag-removing robot system, which is installed on a mobile platform and connected to a slag-removing device.

[0016] Figure 3 yes Figure 2 A three-dimensional image;

[0017] Figure 4 This is the front view of the scooping device (where the left and right halves of the scooping spoon are separated).

[0018] Figure 5 yes Figure 4 The retrieval device shown is a left view;

[0019] Figure 6 yes Figure 4 A partially enlarged view of the retrieval device shown;

[0020] Figure 7 This is a cross-sectional view of the gearbox of the retrieval device;

[0021] Figure 8It is a three-dimensional view of the scooping device (where the left and right halves of the scooping spoon are combined).

[0022] Figure 9 This is an enlarged view of the spoon holder;

[0023] Reference numerals: 1-Furnace platform, 2-Medium frequency furnace, 3-Moving platform, 4-Spoon holder, 5-Six-axis robot, 6-Slag hopper, 7-Retrieving device, 8-Passageway, 9-Mechanical arm, 10-Robot pad, 11-Motor, 12-Reducer I, 13-Gear I, 14-Base plate, 15-Slider, 16-Slide rail, 17-Base, 18-Rack and pinion, 19-Servo motor, 20-Reducer II, 21-Coupling, 22-Gearbox, 23-Right spoon connecting rod, 24-Right half scoop 25-Right spoon, 26-Left spoon, 27-Left half slag scoop, 28-Left spoon connecting rod, 29-Robot connecting plate, 30-Connecting block, 31-Spoon stop block, 32-Slag scoop, 33-Lower magnet stop block, 34-Magnet side baffle, 35-Magnet mounting plate, 36-Private motor bracket, 37-Leaving hole, 38-Guide part, 39-Electromagnet, 40-Gear II, 41-Rotating shaft, 42-Bottom frame, 43-Positioning seat mounting bracket, 44-Spoon positioning seat. Detailed Implementation

[0024] like Figure 1 As shown, this utility model discloses a slag-removing robot system for a medium-frequency furnace with a quick-change ladle, comprising a six-axis robot 5, a mobile platform 3, a slag-removing device 7, a ladle holder 4, and a slag hopper 6. The mobile platform 3 is mounted on the furnace platform 1 where the medium-frequency furnace 2 is installed and is located on one side of the furnace 2. In this embodiment, the mobile platform 3 is positioned on the furnace platform 1 in the middle of two medium-frequency furnaces 2, allowing the six-axis robot 5 to simultaneously perform slag removal operations for both furnaces 2. The six-axis robot 5 is mounted on the mobile platform 3 and can slide on it. The slag-removing device 7 is connected to the front end of the robotic arm 9 of the six-axis robot 5. The ladle holder 4 and the slag hopper 6 are respectively positioned on the outer surface of the furnace platform 1 outside the mobile platform 3, located on both sides of the six-axis robot 5 and within the projection range of the robotic arm 9 after rotation. This ensures that the robotic arm 9 of the six-axis robot 5 can reach the positions of the ladle holder 4 and the slag hopper 6.

[0025] like Figure 2 , 3As shown, the six-axis robot 5 is mounted on the mobile platform 3. The six-axis robot 5 is an existing device that was purchased directly, and its structure will not be described in detail here. The mobile platform 3 includes a base 17, a slider 15, a slide rail 16, a base plate 14, a motor 11, a gear I 13, and a rack 18. The base 17 is fixedly connected to the upper surface of the furnace platform 1 on one side of the medium-frequency furnace 2 through a connecting device. In this embodiment, the base 17 is set on the furnace platform 1 in the middle of the two medium-frequency furnaces 2. The base 17 is two square steel tubes, and connecting protrusions that connect to the furnace platform 1 are connected to both sides of the square steel tubes. Screws passing through the through holes on the connecting protrusions can fix the base 17 to the upper surface of the furnace platform 1. The slide rails 16 and rack 18 are mounted on the base 17 via a connecting device. The two slide rails 16 are directly mounted on the upper surfaces of the two square steel tubes, and the rack 18 is mounted on the inner side of the square steel tubes via a connecting plate. The slider 15 is connected to the slide rails 16, and the upper end of the slider 15 is connected to the bottom surface of the base plate 14 via a guide rail connecting block. That is, the two sides of the base plate 14 are respectively mounted parallel to each other on the upper side of the base 17 via guide rail connecting blocks. The motor 11 is mounted on one corner of the upper surface of the base plate 14. The output end of the motor 11 is connected to the reducer I 12. The output end of the reducer I 12 passes through the base plate 14 and is connected to the gear I 13. The gear I 13 meshes with the rack 18. When the motor 11 is working, the gear I 13 rotates relative to the rack 18, causing the slider 15 to slide relative to the slide rails 16, thereby pushing the base plate 14 to move relative to the base 17. The six-axis robot 5 is mounted on the upper surface of the base plate 14 via the robot pad 10 at its bottom end. When the motor 11 is working, the six-axis robot 5 can move between the two medium-frequency furnaces 2 relative to the base 17.

[0026] like Figures 4 to 8 As shown, the scooping device 7 includes a robot connecting plate 29, a servo motor 19, a transmission assembly, an electromagnet 39, and a slag scoop 32. The robot connecting plate 29 is connected to the front end of the mechanical arm 9 of the six-axis robot 5. The transmission assembly is connected to one side of the robot connecting plate 29. The servo motor 19 is connected to the transmission assembly. The electromagnet 39 is connected to the surface of the magnet mounting plate 35 connected to the bottom end of the transmission assembly. The slag scoop 32 is connected to the electromagnet 39.

[0027] like Figures 4 to 8As shown, the transmission components of the retrieval device 7 include a servo motor bracket 36, a reducer II 20, a coupling 21, and a gearbox 22. The gearbox 22 is connected to one side of the robot connecting plate 29. The servo motor bracket 36 is mounted on the gearbox 22, and the servo motor 19 is mounted on the servo motor bracket 36. The output end of the servo motor 19 is connected to the reducer II 20, and the output end of the reducer II 20 is connected to the upper end of the coupling 21. The gearbox 22 contains two parallel rotating shafts 41, each connected to a gear II 40. The gears II 40 mounted on the two rotating shafts 41 have identical structures. The two gears II 40 mesh with each other. The upper end of one rotating shaft 41 passes through the upper wall of the gearbox 22 and connects to the lower end of the coupling 21. Bearings are installed at both ends of the two rotating shafts 41, and bearing retaining rings are installed outside the bearings. Two rotating shafts 41 protrude from the bottom of the gearbox 22, and are connected to two connecting blocks 30. Each connecting block 30 is connected to a magnet mounting plate 35 on its lower side. The two magnet mounting plates 35 are vertically parallel, and electromagnets 39 are connected to their inner sides. When the connecting blocks 30 rotate with the gears, they cause the magnet mounting plates 35 to rotate as well, and the electromagnets 39 mounted on the magnet mounting plates 35 also rotate with them. Magnet side baffles 34 are vertically connected to the outer edges of the two magnet mounting plates 35. A guide portion 38 is provided at the front end of the magnet side baffle 34 to facilitate easier adsorption of the upper end of the slag scoop 32 onto the surface of the electromagnet 39. A vertically extending lower magnet stop 33 is connected to the bottom of the two magnet mounting plates 35, effectively supporting the weight of the electromagnet 39. The front end of the lower magnet stop 33 is also connected to an upwardly extending spoon stop 31. The spoon stop 31 is used to block the upper side of the slag scoop 32 to prevent the slag scoop 32 from detaching from the electromagnet 39 during operation. When the two electromagnets 39 are installed on the inner surface of the two magnet mounting plates 35, the outer side and bottom of the electromagnets 39 are limited by the magnet side baffle 34 and the lower magnet stop 33, respectively. The upper end of the slag scoop 32 is connected to the outer surface of the electromagnet 39.

[0028] like Figure 4 and 8As shown, the slag scoop 32 includes a left half slag scoop 27 and a right half slag scoop 24 that can be joined together to form a whole. The left half slag scoop 27 and the right half slag scoop 24 are symmetrically connected to two electromagnets 39. The left half slag scoop 27 includes a left scoop connecting rod 28 and a left scoop 26 connected to the bottom end of the left scoop connecting rod 28. The right half slag scoop 24 includes a right scoop connecting rod 23 and a right scoop 25 connected to the bottom end of the right scoop connecting rod 23. The left scoop 26 includes a bottom wall and a baffle wall connected to the upper outer periphery of the bottom wall, but the right outer periphery of the bottom wall of the left scoop 26 is not provided with a baffle wall. The right scoop 25 includes a bottom wall and a baffle wall connected to the upper outer periphery of the bottom wall, but the left outer periphery of the bottom wall of the right scoop 25 is not provided with a baffle wall. When the left spoon 26 and the right spoon 25 are joined, they form a closed overall structure with a closed bottom and side walls. The left spoon connecting rod 28 and the right spoon connecting rod 23 are both made of iron material that can be attracted to the electromagnet 39. The left spoon connecting rod 28 and the right spoon connecting rod 23 are respectively provided with clearance holes 37 on the upper side to cooperate with the lower stop block 33 of the magnet. The spoon stop block 31 can pass through the clearance holes 37 on the left spoon connecting rod 28 and the right spoon connecting rod 23. When the left half of the slag scoop 27 and the right half of the slag scoop 24 are positioned in the spoon positioning seat 44, the clearance holes 37 on the left spoon connecting rod 28 and the right spoon connecting rod 23 are exposed on the upper side of the spoon positioning seat 44, which makes it easy for the six-axis robot 5 to control the spoon stop block 31 to pass through the clearance holes 37, so that the six-axis robot 5 can complete the action of inserting or lowering the slag scoop 32. The upper ends of the left half slag scoop 27 and the right half slag scoop 24 are respectively connected to two electromagnets 39. When slag is scooped, the servo motor 19 drives the two gears II 40 in the gearbox 22 to rotate inward at the same time, so that the bottom ends of the left half slag scoop 27 and the right half slag scoop 24 are connected to form a whole to complete the slag scooping. When the slag scoop 32 moves above the slag hopper 6 with the mechanical arm 9 of the six-axis robot 5, the servo motor 19 drives the two gears II 40 in the gearbox 22 to rotate outward at the same time, so that the bottom ends of the left half slag scoop 27 and the right half slag scoop 24 are separated and the scooped residue is released.

[0029] like Figure 9As shown, the spoon holder 4 is equipped with multiple spoon positioning seats 44 for positioning the slag scoop 32. Positioning steps that engage with the spoon positioning seats 44 are located on both sides of the upper end of the slag scoop 32. Specifically, the positioning steps are located at the upper ends of the left spoon connecting rod 28 and the right spoon connecting rod 23. The spoon holder 4 includes a support frame and spoon positioning seats 44 connected to one side of the support frame. The support frame includes a square bottom frame 42 and a positioning seat mounting bracket 43 connected to one upper side of the bottom frame 42. Multiple spoon positioning seats 44 are parallel to each other and spaced apart at the top of the positioning seat mounting bracket 43, extending inwards respectively. The bottom frame 42 is positioned on the upper surface of the furnace platform 1 on one side of the moving platform 3. The multiple parallel spoon positioning seats 44 facilitate the six-axis robot 5 in placing used slag scoop 32s onto empty spoon positioning seats 44 and inverting used slag scoop 32s from spoon positioning seats 44 with slag scoop 32s hanging on them. Regularly replacing the slag scoop 32s can extend their service life.

[0030] During operation, the slag-removing robot system of this utility model for medium-frequency furnace 2 can be controlled by the control system. The control system is connected to the control terminals of the six-axis robot 5, motor 11, and servo motor 19, etc. The control system can set control commands, and the slag-removing robot system of this utility model for medium-frequency furnace 2 completes the work according to the control commands. The control system is not the inventive point of this patent application and is an existing control system, so it will not be described in detail here. During operation, the six-axis robot 5 is first controlled to move relative to the moving platform 3 and approach the medium-frequency furnace 2 where slag needs to be removed. The front end of the robotic arm 9 of the six-axis robot 5 is connected to the slag-removing device 7. At this time, the left half of the slag-removing spoon 27 and the right half of the slag-removing spoon 24 of the slag-removing device 7 are in a separated state, that is, as shown in the figure. Figure 4 As shown, the slag scoop 32 is controlled to move with the six-axis robot 5 and the robotic arm 9 into the medium-frequency furnace 2. The left half of the slag scoop 27 and the right half of the slag scoop 24 are controlled to merge. During the process of the left half of the slag scoop 27 and the right half of the slag scoop 24 closing inward from the left and right sides, the floating slag is scooped up. The six-axis robot 5 and the robotic arm 9 are controlled to move above the slag hopper 6. The left half of the slag scoop 27 and the right half of the slag scoop 24 are controlled to separate and release the scooped-up floating slag. The above slag removal action can then be repeated. When it is necessary to replace the slag removal spoon 32, the six-axis robot 5 moves its robotic arm 9 to one side of the spoon holder 4. First, the slag removal spoon 32 connected to the robotic arm 9 is placed on an empty spoon positioning seat 44. When it is in position, the electromagnet 39 is de-energized, releasing the slag removal spoon 32. Then, another slag removal spoon 32 is inserted from another spoon positioning seat 44 that already contains a slag removal spoon 32. After the spoon stop 31 moves into position, the electromagnet 39 is energized, attracting the slag removal spoon 32 to the surface of the electromagnet 39, completing the spoon replacement action. The entire slag removal and spoon replacement operation is fully automated during operation.

[0031] The above embodiments are merely preferred embodiments of this utility model. The structure of this utility model is not limited to the forms listed in the above embodiments. Any modifications, equivalent substitutions, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An intermediate frequency furnace quick-change ladle slagging robot system, characterized in that, The application relates to a six-axis robot (5), a moving platform (3), a salvaging device (7), a ladle rack (4) and a slag bucket (6), wherein the moving platform (3) is arranged on a furnace table (1) of a medium-frequency furnace (2) and located at one side of the medium-frequency furnace (2), the six-axis robot (5) is arranged on the moving platform (3) and can slide on the moving platform (3), the salvaging device (7) is connected to the front end of a mechanical arm (9) of the six-axis robot (5), the ladle rack (4) and the slag bucket (6) are arranged on the surface of the furnace table (1) outside the moving platform (3), the ladle rack (4) and the slag bucket (6) are located at positions which can be projected by the mechanical arm (9) after rotation, the salvaging device (7) comprises a robot connecting plate (29), a servo motor (19), a transmission assembly, an electromagnet (39) and a salvaging ladle (32), the robot connecting plate (29) is connected to the front end of the mechanical arm (9) of the six-axis robot (5), the transmission assembly is connected to one side of the robot connecting plate (29), the servo motor (19) is connected to the transmission assembly, the electromagnet (39) is connected to the surface of a magnet mounting plate (35) at the bottom end of the transmission assembly, and the salvaging ladle (32) is connected to the electromagnet (39), and the ladle rack (4) is provided with a plurality of ladle positioning seats (44) capable of positioning the salvaging ladle (32).

2. The IF furnace quick-change ladle and slag machine robot system according to claim 1, characterized in that, The moving platform (3) comprises a base (17), a sliding block (15), a sliding rail (16), a bottom plate (14), a motor (11), a gear I (13) and a rack (18), the base (17) is fixedly connected to the upper surface of the furnace table (1) at one side of the medium-frequency furnace (2) through a connecting device, the sliding rail (16) and the rack (18) are arranged on the base (17) through a connecting device, the sliding block (15) is connected to the sliding rail (16), the upper end of the sliding block (15) is connected to the bottom surface of the bottom plate (14), the motor (11) is arranged at a corner of the upper surface of the bottom plate (14), the output end of the motor (11) is connected to a speed reducer I (12), the output end of the speed reducer I (12) penetrates through the bottom plate (14) and is connected to the gear I (13), the gear I (13) is engaged with the rack (18), and when the motor (11) works, the gear I (13) rotates relative to the rack (18) and drives the sliding block (15) to slide relative to the sliding rail (16) and further drives the bottom plate (14) to move relative to the base (17), and the six-axis robot (5) is arranged on the upper surface of the bottom plate (14) through a robot base plate (10) at the bottom end.

3. The IF furnace quick-change ladle and slag machine robot system according to claim 1, characterized in that, The transmission assembly of the fishing device (7) comprises a servo motor support (36), a speed reducer II (20), a shaft coupling (21), and a gear box (22). The gear box (22) is connected to one side of the robot connecting plate (29), the servo motor support (36) is installed on the gear box (22), the servo motor (19) is installed on the servo motor support (36), the output end of the servo motor (19) is connected with the speed reducer II (20), the output end of the speed reducer II (20) is connected with the upper end of the shaft coupling (21), two parallel rotating shafts (41) are arranged in the gear box (22), the two rotating shafts (41) are respectively connected with gear II (40), the upper end of one of the rotating shafts (41) penetrates through the upper end wall of the gear box (22) and is connected with the lower end of the shaft coupling (21), the bottom ends of the two rotating shafts (41) respectively protrude from the bottom end of the gear box (22), the two rotating shafts (41) protruding from the bottom end of the gear box (22) are respectively connected with two connecting blocks (30), the lower side of each connecting block (30) is respectively connected with a magnet mounting plate (35), the two magnet mounting plates (35) are parallel to each other in the vertical direction, the inner sides of the two magnet mounting plates (35) are respectively connected with electromagnets (39), and the slag scoop (32) comprises a left half slag scoop (27) and a right half slag scoop (24) capable of being connected to form a whole. The left half slag scoop (27) and the right half slag scoop (24) are symmetrically connected to the two electromagnets (39).

4. The IF furnace quick-change ladle and slag machine system according to claim 3, characterized in that, The upper ends of the left half slag scoop (27) and the right half slag scoop (24) are respectively connected with the two electromagnets (39), the servo motor (19) drives the two gear II (40) in the gear box (22) to simultaneously rotate inward when the slag is fished, so that the bottom ends of the left half slag scoop (27) and the right half slag scoop (24) are connected to form a whole to complete the slag fishing, when the slag scoop (32) moves to above the slag hopper (6) with the mechanical arm (9) of the six-axis robot (5), the servo motor (19) drives the two gear II (40) in the gear box (22) to simultaneously rotate outward, so that the bottom ends of the left half slag scoop (27) and the right half slag scoop (24) are separated to release the fished residues.

5. The IF furnace quick-change ladle and slag machine system according to claim 3, characterized in that, Magnet side baffles (34) are respectively and vertically connected to the outer edges of the two magnet mounting plates (35), the magnet side baffles (34) are provided with guide portions (38) at the front ends, magnet lower blocks (33) vertically extending forward are connected to the bottom ends of the two magnet mounting plates (35), and spoon blocks (31) extending upward are further connected to the front ends of the magnet lower blocks (33). When the two electromagnets (39) are installed on the inner side surfaces of the two magnet mounting plates (35), the outer side edges and the bottom ends of the electromagnets (39) are respectively limited by the magnet side baffles (34) and the magnet lower blocks (33), and the upper end of the slag scoop (32) is connected with the outer side surfaces of the electromagnets (39).

6. The IF furnace quick-change ladle and slag machine robot system according to claim 5, characterized in that, The left half of the drag spoon (27) includes a left spoon connecting rod (28) and a left spoon (26) connected to the bottom end of the left spoon connecting rod (28), and the right half of the drag spoon (24) includes a right spoon connecting rod (23) and a right spoon (25) connected to the bottom end of the right spoon connecting rod (23). The left spoon (26) includes a bottom wall and a blocking wall connected to the upper periphery of the bottom wall, and the right periphery of the bottom wall of the left spoon (26) is not provided with a blocking wall. The right spoon (25) includes a bottom wall and a blocking wall connected to the upper periphery of the bottom wall, and the left periphery of the bottom wall of the right spoon (25) is not provided with a blocking wall. The left spoon (26) and the right spoon (25) can form an overall structure with a closed bottom and side wall when they are connected. The left spoon connecting rod (28) and the right spoon connecting rod (23) are both connecting rods made of ferromagnetic material that can be attracted to each other by the electromagnet (39). The left spoon connecting rod (28) and the right spoon connecting rod (23) are respectively provided with a clearance hole (37) at the upper side position, which cooperates with the lower magnet blocking block (33).

7. The IF furnace quick-change ladle and slag machine robot system according to claim 6, characterized in that, The spoon blocking block (31) can pass through the clearance hole (37) on the left spoon connecting rod (28) and the clearance hole (37) on the right spoon connecting rod (23). When the left half of the drag spoon (27) and the right half of the drag spoon (24) are positioned in the spoon positioning seat (44), the clearance hole (37) on the left spoon connecting rod (28) and the clearance hole (37) on the right spoon connecting rod (23) are exposed above the spoon positioning seat (44) to facilitate the spoon blocking block (31) to pass through the clearance hole (37).

8. The medium frequency furnace quick-change ladle and slag machine robot system according to claim 1, characterized in that, The spoon holder (4) includes a support frame and a spoon positioning seat (44) connected to one side of the support frame. The support frame includes a square bottom frame (42) and a positioning seat mounting bracket (43) connected to one side of the bottom frame (42). A plurality of spoon positioning seats (44) are connected to the top end of the positioning seat mounting bracket (43) in parallel and extend inward respectively. The upper end of the drag spoon (32) is provided with a positioning step that can be clamped with the spoon positioning seat (44). The bottom frame (42) is positioned on the upper surface of the furnace table (1) on one side of the moving platform (3).

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