Multi-joint slag salvaging, temperature measuring and feeding device

Abstract

The utility model relates to the technical field of aluminum electrolysis carbon phosphorus pig iron casting industrial equipment, and particularly discloses a multi-joint type slag salvaging, temperature measuring and feeding device which comprises a rotating seat, a lifting stand column, a lifting table, a joint arm, a mechanical gripper, a feeding mechanism and a temperature measuring assembly. The lower end face of the lifting stand column is connected with the upper end face of the rotary table, a guide rail extending in the length direction of the lifting stand column is arranged on one side of the lifting stand column, and the lifting table is slidably connected with the lifting stand column through the guide rail. A driving system is arranged on the lifting platform, and the lifting platform is in transmission connection with the lifting stand column through the driving system; one end of the articulated arm is connected with the lifting table, a right-angle arm is arranged at the other end of the articulated arm, and the mechanical gripper and the feeding mechanism are arranged at the two ends of the right-angle arm respectively; the temperature measuring assembly is arranged on the upper portion of the mechanical gripper.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of aluminum electrolysis carbon phosphorus pig iron casting industrial equipment, in particular to a multi-joint type slag salvaging temperature measuring and feeding device. BACKGROUND

[0002] The phosphorus pig iron casting technology pours molten phosphorus pig iron water into the gap between the graphitized cathode carbon block and the cathode steel rod, and condenses into one, so as to become an aluminum electrolysis cathode carbon block.

[0003] During the melting process of the phosphorus pig iron water, a series of processing technologies such as metal smelting, slag removal, feeding and temperature measurement need to be carried out in a high-temperature furnace, and at present, the above operations are mostly completed manually, which is highly dangerous, and the manual operation has randomness, the quality of the molten iron is uneven, the operation efficiency is low, and the existing technology only has mechanical operation for part of the processes, such as a slag salvaging robot. SUMMARY

[0004] The application aims to provide a multi-joint type slag salvaging temperature measuring and feeding device to solve the problem that in the prior art, the processing technology in the melting process of the phosphorus pig iron water is mostly completed manually, which is highly dangerous, and the manual operation has randomness, the quality of the molten iron is uneven, the operation efficiency is low, and the existing technology only has mechanical operation for part of the processes.

[0005] To achieve the above-mentioned purpose, the application provides a multi-joint type slag salvaging temperature measuring and feeding device, which comprises a rotating seat, a lifting column, a lifting table, a joint arm, a mechanical gripper, a feeding mechanism and a temperature measuring assembly, wherein,

[0006] The rotating seat comprises a base and a rotating table, and the rotating table is rotationally connected with the base.

[0007] The lower end surface of the lifting column is connected with the upper end surface of the rotating table, and one side of the lifting column is provided with a guide rail extending along the length direction of the lifting column, and the lifting table is slidingly connected with the lifting column through the guide rail.

[0008] The lifting table is provided with a driving system, and the lifting table is drivingly connected with the lifting column through the driving system.

[0009] One end of the joint arm is connected with the lifting table, and the other end of the joint arm is provided with a right-angle arm, and the mechanical gripper and the feeding mechanism are arranged at the two ends of the right-angle arm, respectively.

[0010] The temperature measuring assembly is arranged on the upper part of the mechanical gripper.

[0011] Optionally, the base is internally provided with a rotary table bearing, the base is rotatably connected with the rotary table through the rotary table bearing, the base is externally provided with a rotary speed reduction motor, an end of a rotary shaft of the rotary speed reduction motor is provided with a rotary gear, and the rotary gear is rotatably connected with the rotary table.

[0012] Optionally, the rotary table is disc-shaped, the outer annular surface is provided with teeth, and the rotary gear is in transmission through the teeth.

[0013] Optionally, one side of the lifting column is provided with a rack parallel to the guide rail.

[0014] Optionally, the driving system comprises a lifting gear and a lifting speed reduction motor, the lifting speed reduction motor is arranged on the lifting table, the lifting gear is arranged at an output shaft end of the lifting speed reduction motor, and the lifting gear is in engagement with the rack.

[0015] Optionally, the articulated arm comprises a primary arm, a secondary driving assembly, a secondary arm, a tertiary driving assembly and a tertiary arm, one end of the primary arm is connected with the lifting table, the other end of the primary arm is rotatably connected with one end of the secondary arm through the secondary driving assembly, the tertiary arm is designed in a right angle, the other end of the secondary arm is rotatably connected with a right angle end of the right angle arm through the tertiary driving assembly.

[0016] Optionally, the mechanical gripper has a telescopic cylinder in the middle, the telescopic cylinder is arranged at one end of the right angle arm, the telescopic cylinder is internally provided with a piston rod, a first direct drive cylinder is arranged at the top of the telescopic cylinder, the first direct drive cylinder is arranged at one end of the right angle arm, an output shaft at a lower end of the first direct drive cylinder is connected with the piston rod, two groups of arc-shaped grippers are symmetrically arranged at a lower part of the piston rod, one end of the arc-shaped gripper is rotatably connected with the lower part of the piston rod, a curved arm at an upper part of the arc-shaped gripper is connected with the middle of the telescopic cylinder through a first connecting rod, and two ends of the first connecting rod are rotatably connected with the curved arm of the arc-shaped gripper and the telescopic cylinder respectively.

[0017] Optionally, the temperature measuring assembly is arranged on the upper part of the telescopic cylinder structure of the mechanical gripper.

[0018] Optionally, the feeding mechanism comprises a rod seat, a material shovel, a second direct drive motor and a second connecting rod, an upper end of the rod seat is connected with the other end of the right angle arm, an upper end of the second direct drive motor is rotatably connected with the rod seat, an output shaft at a lower end of the second direct drive motor is rotatably connected with an upper end of the material shovel, a curved arm at an upper part of the material shovel is connected with the rod seat through the second connecting rod, and a lower end of the second connecting rod is rotatably connected with the curved arm at the upper part of the material shovel.

[0019] Optionally, the method further comprises:

[0020] Detection elements are arranged on the rotating seat, the lifting column, the lifting table, the joint arm, the mechanical gripper and the feeding mechanism, and the detection elements include proximity switches, photoelectric sensors and travel switches.

[0021] The embodiments of the present application have the following advantages:

[0022] Compared with the prior art, the multi-joint type slag salvaging temperature measuring and feeding device provided by the above technical solution makes the production of phosphorus pig iron water intelligent and automatic, and makes the production safe, high-precision and efficient. The technical solution solves the problem that in the prior art, the processing technology in the smelting process of phosphorus pig iron water is mostly completed manually, which is highly dangerous, and the manual operation has randomness, the quality of the pig iron water is uneven, the operation efficiency is low, and the prior art only has the problem of mechanical operation for part of the process. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only exemplary, and for those skilled in the art, other drawings can be derived from the provided drawings without creative labor.

[0024] Figure 1 A perspective structural schematic view of a multi-joint type slag salvaging temperature measuring and feeding device provided by at least one embodiment of the present application;

[0025] Figure 2 A front view of a multi-joint type slag salvaging temperature measuring and feeding device provided by at least one embodiment of the present application;

[0026] Figure 3 A side view of a multi-joint type slag salvaging temperature measuring and feeding device provided by at least one embodiment of the present application;

[0027] Figure 4 A top view of a multi-joint type slag salvaging temperature measuring and feeding device provided by at least one embodiment of the present application;

[0028] Figure 5 A right-angle arm structural schematic view of a multi-joint type slag salvaging temperature measuring and feeding device provided by at least one embodiment of the present application.

[0029] Explanation of reference signs:

[0030] 1-Base; 2-Turntable; 3-Rotating gear; 4-Rotating reduction motor; 5-Lifting column; 6-Lifting platform; 7-Guide rail; 8-Rack; 9-Lifting gear; 10-Lifting reduction motor; 11-First-stage arm; 12-Second-stage drive assembly; 13-Second-stage arm; 14-Feeding mechanism; 15-Third-stage drive assembly; 16-Third-stage arm; 17-Mechanical gripper; 18-Temperature measuring assembly; 19-First connecting rod; 20-Arc-shaped gripper; 21-First direct-drive electric cylinder; 22-Piston rod; 23-Telescopic cylinder; 24-Rod seat; 25-Shovel; 26-Second connecting rod; 27-Second direct-drive motor. Detailed Implementation

[0031] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0032] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing this application and for simplification, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Unless otherwise expressly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or a connection within two elements. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0033] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0034] This application provides a multi-joint type slag removal, temperature measurement, and feeding device, referencing... Figures 1 to 5 It includes: a rotating seat, a lifting column 5, a lifting platform 6, an articulated arm, a mechanical gripper 17, a feeding mechanism 14, and a temperature measuring component 18.

[0035] The rotating seat comprises a base 1 and a rotating table 2, and the rotating table 2 is rotationally connected with the base 1.

[0036] In some embodiments, the base 1 is internally provided with a rotating table 2 bearing, the base 1 is rotationally connected with the rotating table 2 through the rotating table 2 bearing, and the base 1 is externally provided with a rotating reduction motor 4, the rotating shaft end of the rotating reduction motor 4 is provided with a rotating gear 3, and the rotating gear 3 is rotationally connected with the rotating table 2.

[0037] In some embodiments, the rotating table 2 is disc-shaped, and the outer annular surface is provided with teeth, and the rotating gear 3 and the rotating table 2 are driven through the tooth meshing.

[0038] The lower end surface of the lifting column 5 is connected with the upper end surface of the rotating table 2, one side of the lifting column 5 is provided with a guide rail 7 extending along the length direction of the lifting column 5, and the lifting platform 6 is slidingly connected with the lifting column 5 through the guide rail 7.

[0039] Specifically, the lifting column 5 is composed of steel plates and is welded, the vertical sliding guide rail 7 of the lifting platform 6 is installed on the lifting column 5, and the lifting platform 6 is supported to move up and down.

[0040] In some embodiments, the lifting platform 6 is provided with a buffer block at both upper and lower ends, which is used to prevent the lifting platform 6 from being impacted when moving up and down.

[0041] Specifically, the lifting platform 6 is a welded body of steel plates and profile pipes, and is supported by a guide wheel assembly provided with a bearing to slide on the vertical guide rail 7 of the lifting column 5.

[0042] The lifting platform 6 is provided with a driving system, the lifting platform 6 is drivingly connected with the lifting column 5 through the driving system, so that the lifting platform 6 can move up and down along the rack 8 on the lifting column 5.

[0043] In some embodiments, one side of the lifting column 5 is provided with a rack 8 parallel to the guide rail 7.

[0044] In some embodiments, the driving system comprises a lifting gear 9 and a lifting reduction motor 10, the lifting reduction motor 10 is arranged on the lifting platform 6, the lifting gear 9 is arranged at the output shaft end of the lifting reduction motor 10, and the lifting gear 9 is engaged with the rack 8.

[0045] One end of the joint arm is connected with the lifting platform 6, the other end of the joint arm is provided with a right-angle arm, the mechanical gripper 17 and the feeding mechanism 14 are arranged at two ends of the right-angle arm respectively, and different functions are realized by rotating the right-angle arm.

[0046] In some embodiments, the articulated arm includes a first arm 11, a second drive assembly 12, a second arm 13, a third drive assembly 15, a third arm 16, one end of the first arm 11 is connected with the lifting platform 6, the other end of the first arm 11 is rotatably connected with one end of the second arm 13 through the second drive assembly 12, the third arm 16 is designed as a right angle, that is, a right angle arm, the other end of the second arm 13 is connected with the right angle end of the right angle arm through the third drive assembly 15.

[0047] In some embodiments, the mechanical gripper 17 has a telescopic cylinder 23 arranged at one end of the right angle arm, the telescopic cylinder 23 is internally provided with a piston rod 22, the telescopic cylinder 23 is provided at the top with a first direct drive cylinder 21, the first direct drive cylinder 21 is arranged at one end of the right angle arm, the output shaft at the lower end of the first direct drive cylinder 21 is connected with the piston rod 22, two groups of arc-shaped grippers 20 are symmetrically arranged at the lower part of the piston rod 22, one end of the arc-shaped gripper 20 is rotatably connected with the lower part of the piston rod 22, the curved arm at the upper part of the arc-shaped gripper 20 is connected in the middle of the telescopic cylinder 23 through a first connecting rod 19, the two ends of the first connecting rod 19 are rotatably connected with the curved arm of the arc-shaped gripper 20 and the telescopic cylinder 23 respectively. The arc-shaped gripper 20 is welded by an arc-shaped round steel.

[0048] The temperature measuring assembly 18 is arranged on the upper part of the mechanical gripper 17.

[0049] In some embodiments, the temperature measuring assembly 18 is arranged on the structure of the upper part of the telescopic cylinder 23 of the mechanical gripper 17.

[0050] In some embodiments, the feeding mechanism 14 includes a rod seat 24, a material shovel 25, a second direct drive motor 27 and a second connecting rod 26, the upper end of the rod seat 24 is connected with the other end of the right angle arm, the upper end of the second direct drive motor 27 is rotatably connected with the rod seat 24, the output shaft at the lower end of the second direct drive motor 27 is rotatably connected with the upper end of the material shovel 25, the curved arm at the upper part of the material shovel 25 is connected with the rod seat 24 through the second connecting rod 26, and the lower end of the second connecting rod 26 is rotatably connected with the curved arm at the upper part of the material shovel 25.

[0051] In some embodiments, it further includes:

[0052] Detection elements are arranged on the rotating seat, the lifting column 5, the lifting platform 6, the articulated arm, the mechanical gripper 17 and the feeding mechanism 14, including proximity switches, photoelectric sensors and travel switches, for control detection of rotation, lifting and multi-joint movement.

[0053] In some embodiments, it further includes a multi-joint control system, which includes rotation control, lifting control, multi-joint swing control, gripper telescopic control, cooperative control, positioning control, etc.

[0054] Working principle:

[0055] The multi-joint slag salvaging and temperature measuring feeding device is arranged between two furnaces, and can realize operation of one system for two furnaces.

[0056] When the furnace needs to be slagged, the rotating table 2 of the application rotates to make the upper part rotate to the furnace that needs to be operated, and then the lifting table 6 is lowered, and the joint arm is stretched out, the straight arm rotates one end of the mechanical gripper 17 mounted thereon to directly above the furnace, after the lifting table 6 is lowered in place, the mechanical gripper 17 realizes the opening and closing of the gripper through the up-down movement of the piston rod 22, thereby realizing the function of salvaging slag in the molten iron. The temperature measuring assembly 18 is mounted on the upper part of the mechanical gripper 17, and the temperature of the metal solution can be measured at the same time of salvaging slag, so as to facilitate the control of the timing of subsequent feeding operation.

[0057] When the furnace needs to be fed, the rotating table 2 of the application rotates to make the upper part rotate to the furnace that needs to be operated, and then the lifting table 6 is lowered, and the joint arm is stretched out, the straight arm rotates one end of the feeding mechanism 14 mounted thereon to the material table, the element is scooped into the material shovel 25 under the action of the multi-joint, and after the material is scooped, the front part of the material shovel 25 can be rotated upward to tilt to prevent the material from spilling out during movement. When the feeding mechanism 14 operates above the furnace, the material shovel 25 rotates to pour the material, and at the same time, the feeding mechanism 14 slowly shakes to uniformly pour the element from the hopper into the furnace.

[0058] The multi-joint control system realizes the mechatronic cooperation through a series of ways such as task control, sensing positioning, driving motor, position detection, information interaction and action feedback, so that the whole system has the advantages of smooth operation, accurate action, safety and high efficiency.

[0059] The invention of the multi-joint slag salvaging and temperature measuring feeding device makes the preparation process of phosphorus pig iron water intelligent and automatic, and makes the production safe, high-precision and high-efficiency.

[0060] Note that all features disclosed in this specification (including any accompanying claims, abstract and drawings) can be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is only one example of a generic series of equivalent or similar features. Further, preferably, more preferably, even more preferably and most preferably are simple starting points for another embodiment in the context of another embodiment described in the preceding claims, the combination of the features of the preceding claims being a complete set of features of the other embodiment. Any combination of features from different embodiments described in the same claim is also an embodiment.

[0061] In the implementation of the functions and steps, the corresponding functions and steps in various embodiments can also occur in a different order than shown. For example, two consecutive functions and steps can actually be performed or implemented substantially in parallel, or they can sometimes be performed or implemented in reverse order, depending on the functions involved.

[0062] Although the present application has been described in detail with general description and specific embodiments above, some modifications or improvements can be made on the basis of the present application, which is obvious to those skilled in the art. Therefore, these modifications or improvements made on the basis of not deviating from the spirit of the present application, all belong to the scope of the present application claimed.

Claims

1. A multi-joint type of a slag salvaging temperature measuring and charging device, characterized by, The application relates to a multi-joint type slag salvaging, temperature measuring and material feeding device. The device comprises a rotating base, a lifting column, a lifting platform, a joint arm, a mechanical grab, a material feeding mechanism and a temperature measuring assembly, wherein The rotating base comprises a base and a rotating table, and the rotating table is rotationally connected with the base; The lower end surface of the lifting column is connected with the upper end surface of the rotating table, and a guide rail extending along the length direction of the lifting column is arranged on one side of the lifting column; the lifting platform is slidingly connected with the lifting column through the guide rail; A driving system is arranged on the lifting platform, and the lifting platform is drivingly connected with the lifting column through the driving system; One end of the joint arm is connected with the lifting platform, and the other end of the joint arm is provided with a right-angle arm; the mechanical grab and the material feeding mechanism are arranged at the two ends of the right-angle arm respectively; The temperature measuring assembly is arranged on the upper portion of the mechanical grab.

2. The multi-joint type slag salvaging, temperature measuring and material feeding device according to claim 1, wherein A rotating table bearing is arranged in the base, the base is rotationally connected with the rotating table through the rotating table bearing, a rotating speed reducer motor is arranged outside the base, a rotating gear is arranged at the end of the rotating shaft of the rotating speed reducer motor, and the rotating gear is rotationally connected with the rotating table.

3. The multi-joint type slag salvaging, temperature measuring and material feeding device according to claim 2, wherein The rotating table is disc-shaped, a ring-shaped surface on the outer side of the rotating table is provided with a gear, and the rotating gear is drivingly connected with the rotating table through the gear.

4. The multi-joint type slag salvaging, temperature measuring and material feeding device according to claim 1, wherein A rack parallel to the guide rail is arranged on one side of the lifting column.

5. The multi-joint type slag salvaging, temperature measuring and material feeding device according to claim 4, wherein The driving system comprises a lifting gear and a lifting speed reducer motor, the lifting speed reducer motor is arranged on the lifting platform, the lifting gear is arranged at the end of the output shaft of the lifting speed reducer motor, and the lifting gear is engaged with the rack.

6. The multi-joint type slag salvaging, temperature measuring and material feeding device according to claim 1, wherein The joint arm comprises a primary arm, a secondary driving assembly, a secondary arm, a tertiary driving assembly and a tertiary arm, one end of the primary arm is connected with the lifting platform, the other end of the primary arm is rotationally connected with one end of the secondary arm through the secondary driving assembly, the tertiary arm is designed as a right-angle arm, and the other end of the secondary arm is connected with the right-angle end of the right-angle arm through the tertiary driving assembly.

7. The multi-joint type slag salvaging, temperature measuring and material feeding device according to claim 6, wherein The middle portion of the mechanical grab is a telescopic cylinder, the telescopic cylinder is arranged at one end of the right-angle arm, a piston rod is arranged in the telescopic cylinder, a first direct drive cylinder is arranged at the top of the telescopic cylinder, the first direct drive cylinder is arranged at one end of the right-angle arm, the output shaft at the lower end of the first direct drive cylinder is connected with the piston rod, two groups of arc-shaped grabs are symmetrically arranged at the lower portion of the piston rod, one end of the arc-shaped grab is rotationally connected with the lower portion of the piston rod, the curved arm at the upper portion of the arc-shaped grab is connected with the middle portion of the telescopic cylinder through a first connecting rod, and the two ends of the first connecting rod are rotationally connected with the curved arm of the arc-shaped grab and the telescopic cylinder respectively.

8. The multi-joint type slag salvaging, temperature measuring and material feeding device according to claim 7, wherein The temperature measuring assembly is arranged on the upper part of the mechanical gripper telescopic cylinder structure.

9. The multi-joint temperature measuring and charging device according to claim 1, characterized in that, The charging mechanism comprises a rod seat, a material shovel, a second direct drive motor and a second connecting rod, the upper end of the rod seat is connected with the other end of the right angle arm, the upper end of the second direct drive motor is rotationally connected with the rod seat, the output shaft at the lower end of the second direct drive motor is rotationally connected with the upper end of the material shovel, the curved arm at the upper part of the material shovel is connected with the rod seat through the second connecting rod, and the lower end of the second connecting rod is rotationally connected with the curved arm at the upper part of the material shovel.

10. The multi-articulated dredge temperature measuring and charging device according to claim 1, characterized in that, Further comprising: Detection elements arranged on the rotating seat, the lifting column, the lifting table, the joint arm, the mechanical gripper and the charging mechanism, the detection elements comprising proximity switches, photoelectric sensors and travel switches.

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