Four-axis robot with artificial top bag function

Abstract

The utility model discloses a four -axis robot with manual top bag function, including sleeve, front arm, vertical commutator, speed reducer motor and manual input unit, the rear end rotatable of front arm is installed in sleeve, vertical commutator includes two commutating input shafts and a commutating output shaft, the commutating input shaft with vertical commutating output shaft is perpendicular, two commutating input shafts respectively with commutating output shaft through bevel gear meshing drive, vertical commutator installs sleeve's rear end, commutating output shaft with the rear end transmission connection of front arm, speed reducer motor installs one side of vertical commutator and with one of commutating input shaft transmission connection, manual input unit includes hand push handle and handle, hand push handle installs vertical commutator rear end, handle with another commutating input shaft is detachably connected.

Description

Technical Field

[0001] This utility model relates to the field of continuous casting equipment technology, specifically to a four-axis robot with manual ladle-lifting function. Background Technology

[0002] In continuous casting production, long nozzles are mainly used to transport molten steel from the ladle to the tundish, preventing the molten steel from coming into contact with air, causing secondary oxidation of the molten steel, and preventing excessive aluminum loss in aluminum-containing steels, thus achieving protective casting of molten steel.

[0003] Existing technologies mainly include manual ladle mounting and automatic ladle mounting. Manual ladle mounting involves manually pushing a handle to move the long nozzle to a fixed position, forming a flow channel between the ladle and the tundish, allowing molten steel from the ladle to flow from the channel to the tundish. Automatic ladle mounting utilizes a four-axis special robot (such as the robot disclosed in CN216442569U) to clamp the long nozzle in a fixed position, forming a flow channel between the ladle and the tundish, allowing molten steel from the ladle to flow from the channel to the tundish.

[0004] When using a manual ladle holder, the ladle-holding effect is related to the worker's skill level. This can lead to issues such as tilted nozzles and insufficient sealing, allowing external air to enter the system through gaps. This causes secondary oxidation of the molten steel, generating oxide inclusions (such as Al2O3), reducing the purity of the steel, and affecting the mechanical properties of the product (such as toughness and ductility). In more serious cases, it may lead to a steel spill accident, which, if not handled properly, can result in injury or death to the workers.

[0005] Traditional four-axis special robots require a six-axis manipulator to locate the sprue. However, the stability and rigidity of the six-axis manipulator can lead to inaccurate positioning or unsuccessful image capture. Furthermore, because the two robots need to work together, their work areas overlap, preventing simultaneous operation and resulting in wasted time, reduced casting efficiency, and in severe cases, failure to meet the continuous casting cycle time, leading to a significant decrease in billet quality and even production stoppages. In addition, in emergency situations (such as unexpected power outages or system crashes), it is necessary to switch from automatic ladle top-loading to manual ladle top-loading (requiring a manipulator to replace the four-axis special robot).

[0006] Therefore, there is an urgent need to design a four-axis special robot with a human cover-up function, which can automatically cover up under normal circumstances and switch to human cover-up in special circumstances. Utility Model Content

[0007] Therefore, this utility model provides a four-axis robot with manual shirking function to solve the technical problem that existing four-axis special robots cannot freely switch between automatic shirking and manual shirking methods.

[0008] To achieve the above objectives, this utility model provides the following technical solution:

[0009] A four-axis robot with manual support function includes a sleeve, a forward arm, a vertical commutator, a geared motor, and a manual input unit. The rear end of the forward arm is rotatably mounted in the sleeve. The vertical commutator includes two commutator input shafts and one commutator output shaft. The commutator input shafts are perpendicular to the commutator output shaft. The two commutator input shafts are respectively driven by bevel gears meshing with the commutator output shaft. The vertical commutator is mounted at the rear end of the sleeve. The commutator output shaft is drivenly connected to the rear end of the forward arm. The geared motor is mounted on one side of the vertical commutator and drivenly connected to one of the commutator input shafts. The manual input unit includes a push handle and a handle. The push handle is mounted at the rear end of the vertical commutator, and the handle is detachably connected to the other commutator input shaft.

[0010] Furthermore, the four-axis robot also includes a support frame and a top-mounted hydraulic cylinder. The middle part of the sleeve is hinged to the support frame, the cylinder body of the top-mounted hydraulic cylinder is hinged to the support frame, and the cylinder rod of the top-mounted hydraulic cylinder is hinged to the sleeve.

[0011] Furthermore, the four-axis robot also includes a first vertical rotation drive assembly, a second vertical rotation drive assembly, and a connecting arm. The first and second vertical rotation drive assemblies are arranged in parallel. One end of the connecting arm is connected to the top output end of the first vertical rotation drive assembly, and the other end is connected to the lower middle housing of the second vertical rotation drive assembly. The bracket is installed at the top output end of the second vertical rotation drive assembly.

[0012] Furthermore, the rear end of the sleeve and the housing of the vertical commutator are connected through the housing of the reducer, the commutation output shaft is connected to the reduction input shaft of the reducer, and the reduction output shaft of the reducer is connected to the rear end of the extension arm.

[0013] Furthermore, the geared motor is provided with a slot for placing the handle.

[0014] Furthermore, the sleeve and the bracket are rotatably connected by a horizontal shaft. There are two horizontal shafts, which are respectively located on both sides of the sleeve and the ends of the horizontal shafts are fixed relative to the sleeve. The other end of the horizontal shaft is rotatably mounted on the mounting hole of the bracket through a bearing structure.

[0015] Furthermore, the first vertical rotation drive assembly and the second vertical rotation drive assembly have the same structure, both including a lower housing frame, a motor, a reducer, a clutch, and an upper housing frame. The motor and the reducer are installed in the lower housing frame. The motor is driven by the reducer. The clutch input shaft of the clutch is driven by the output shaft of the reducer. The clutch output shaft of the clutch is connected to the upper housing frame. The upper housing frame is invertedly covered on the upper end of the lower housing frame.

[0016] One end of the connecting arm is connected to the upper housing frame of the first vertical rotation drive assembly, and the other end is connected to the lower housing frame of the second vertical rotation drive assembly. The bracket is mounted on the upper housing frame of the second vertical rotation drive assembly.

[0017] This utility model has the following advantages:

[0018] The four-axis robot provided by this utility model is an improvement on the traditional four-axis special robot. It adds a manual input unit, so it has both the automatic packing function of the traditional four-axis special robot and the ability to manually pack in emergency situations. The manual packing is no different from the operation of the manual handle, and the human can quickly learn to use it without training.

[0019] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this application will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0020] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0021] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0022] Figure 1 A three-dimensional structural diagram of a four-axis robot with manual shirking function provided for an embodiment of this utility model;

[0023] Figure 2 A three-dimensional structural diagram of a four-axis robot with manual shirking function provided in an embodiment of this utility model;

[0024] Figure 3 A front view structural diagram of a four-axis robot with manual shirking function provided for an embodiment of this utility model;

[0025] Figure 4 A three-dimensional sectional view of a four-axis robot with manual bag-lifting function provided for an embodiment of this utility model (part of the forward extension arm is omitted).

[0026] Figure 5 This is a partial structural diagram of a four-axis robot with manual shirking function provided for an embodiment of the present utility model.

[0027] In the figure: 1. First vertical rotation drive assembly; 2. Second vertical rotation drive assembly; 3. Connecting arm; 4. Bracket; 5. Top cylinder; 6. Sleeve; 7. Extending arm; 8. Vertical commutator; 9. Gear motor; 10. Hand handle; 11. Push handle; 12. Placement slot; 13. First lower housing frame; 14. First motor; 15. First reducer; 16. First clutch; 17. First upper housing frame; 18. Second lower housing frame; 19. Second motor; 20. Second reducer; 21. Second clutch; 22. Second upper housing frame. Detailed Implementation

[0028] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] like Figures 1 to 5 As shown, this embodiment provides a four-axis robot with manual bag-lifting function, including a first vertical rotation drive assembly 1, a second vertical rotation drive assembly 2, a connecting arm 3, a bracket 4, a bag-lifting cylinder 5, a sleeve 6, a forward extension arm 7, a vertical commutator 8, a geared motor 9, and a manual input unit.

[0030] The first vertical rotary drive assembly 1 and the second vertical rotary drive assembly 2 are arranged in parallel. One end of the connecting arm 3 is connected to the top output end of the first vertical rotary drive assembly 1 (referring to the first upper housing frame 17 in the following text), and the other end is connected to the middle and lower housing of the second vertical rotary drive assembly 2 (referring to the second lower housing frame 18 in the following text). The bracket 4 is installed on the top output end of the second vertical rotary drive assembly 2 (referring to the second upper housing frame 22 in the following text). The middle part of the sleeve 6 is hinged to the bracket 4. The cylinder body of the top-mounted cylinder 5 is hinged to the bracket 4, and the cylinder rod of the top-mounted cylinder 5 is hinged to the sleeve 6.

[0031] In this embodiment, it should be noted that the structure and connection relationship of the first vertical rotation drive assembly 1, the second vertical rotation drive assembly 2, the connecting arm 3, the bracket 4, the top cylinder 5, the sleeve 6, and the forward extension arm 7 are existing technologies (such as a robot disclosed in CN216442569U, in which the first vertical rotation drive assembly 1 of this application is equivalent to the second longitudinal axis, and the second vertical rotation drive assembly 2 of this application is equivalent to the third longitudinal axis). For example, the first vertical rotation drive assembly 1 includes a first lower housing frame 13, a first motor 14, a first reducer 15, a first clutch 16, and a first upper housing frame 17; the second vertical rotation drive assembly 2 includes a second lower housing frame 18, a second motor 19, a second reducer 20, a second clutch 21, and a second upper housing frame 22. Since the structures of the first vertical rotation drive assembly 1 and the second vertical rotation drive assembly 2 are substantially the same, the connection relationship of the vertical rotation drive assembly is described together: the motor and reducer are installed in the lower housing frame, the motor and reducer are connected in transmission, the clutch input shaft of the clutch is connected in transmission to the output shaft of the reducer, the clutch output shaft of the clutch is connected to the upper housing frame, and the upper housing frame is invertedly mounted on the upper end of the lower housing frame; one end of the connecting arm 3 is connected to the first upper housing frame 17, and the other end is connected to the second lower housing frame 18; the bracket 4 is installed on the second upper housing frame 22; when the clutch is engaged, the power of the motor is transmitted to the upper housing frame through the reducer and the clutch; when the clutch is disengaged, the upper housing frame rotates freely relative to the lower housing frame. The clutch is an automatic disengagement clutch when power is off, and the top cylinder 5 is an automatic pressure relief cylinder (e.g., a hydraulic cylinder equipped with a center sealing valve) when power is off. For example, the sleeve 6 and the bracket 4 are rotatably connected by two horizontal shafts, each located on one side of the sleeve 6 with its end fixed relative to the sleeve 6. The other end of the horizontal shaft is rotatably mounted on the mounting hole of the bracket 4 via a bearing structure.

[0032] The rear end of the reach arm 7 is rotatably mounted in the sleeve 6, and the two are generally coaxial. The reach arm 7 can rotate a certain angle around its own axis or the axis of the sleeve 6. The vertical commutator 8 includes two commutation input shafts and one commutation output shaft. The axes of the commutation input shaft and the commutation output shaft are perpendicular. The two commutation input shafts are respectively driven by bevel gears meshing with the commutation output shaft. The vertical commutator 8 is mounted at the rear end of the sleeve 6. The axis of the commutation output shaft is coaxial with the axis of the reach arm 7, and the commutation output shaft is drivenly connected to the rear end of the reach arm 7. The geared motor 9 is mounted on one side of the vertical commutator 8. The motor shaft of the geared motor 9 is drivenly connected to the first commutation input shaft. The geared motor 9 here does not have a self-locking function. The manual input unit includes a push handle 11 and a handle 10. The push handle 11 is mounted at the rear end of the vertical commutator 8, and the handle 10 is detachably connected to the second commutation input shaft. For example, the handle 10 is a crank type, with a square hole at one end, and a square head that matches the square hole of the handle 10 at the outer end of the second reversing input shaft, so as to facilitate the disassembly and installation of the handle 10.

[0033] The four-axis robot provided in this embodiment is an improvement on the traditional four-axis special robot. It adds a manual input unit, so it has both the automatic packing function of the traditional four-axis special robot and the ability to manually pack in emergency situations. The manual packing is no different from the operation of the manual handle, and the human can quickly learn to use it without training.

[0034] In this embodiment, the rear end of the sleeve 6 and the housing of the vertical commutator 8 are connected through the housing of the third reducer. The commutation output shaft is connected to the reduction input shaft of the third reducer, and the reduction output shaft of the third reducer is connected to the rear end of the reach arm 7. By setting the third reducer, the rotation speed of the reach arm 7 can be effectively reduced when the reduction motor 9 drives the reach arm 7.

[0035] In this embodiment, a protective cover is provided outside the geared motor 9, and a placement slot 12 is provided on the outer side of the protective cover. When using the automatic packing function, the handle 10 is placed in the placement slot 12. When in use, the handle 10 is connected to the second reversing input shaft. In this way, in the event of a sudden emergency, the handle 10 can be quickly taken out for easy manual packing.

[0036] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A four-axis robot with manual scapegoating function, characterized in that, The device includes a sleeve (6), a forward extension arm (7), a vertical commutator (8), a geared motor (9), and a manual input unit. The rear end of the forward extension arm (7) is rotatably mounted in the sleeve (6). The vertical commutator (8) includes two commutator input shafts and one commutator output shaft. The commutator input shafts are perpendicular to the commutator output shaft. The two commutator input shafts are respectively driven by bevel gears meshing with the commutator output shaft. The vertical commutator (8) is mounted at the rear end of the sleeve (6). The commutator output shaft is drivenly connected to the rear end of the forward extension arm (7). The geared motor (9) is mounted on one side of the vertical commutator (8) and drivenly connected to one of the commutator input shafts. The manual input unit includes a push handle (11) and a handle (10). The push handle (11) is mounted at the rear end of the vertical commutator (8). The handle (10) is detachably connected to the other commutator input shaft.

2. The four-axis robot according to claim 1, characterized in that, The four-axis robot also includes a support (4) and a top-mounted cylinder (5). The middle part of the sleeve (6) is hinged to the support (4), the cylinder body of the top-mounted cylinder (5) is hinged to the support (4), and the cylinder rod of the top-mounted cylinder (5) is hinged to the sleeve (6).

3. The four-axis robot according to claim 2, characterized in that, The four-axis robot also includes a first vertical rotation drive assembly (1), a second vertical rotation drive assembly (2), and a connecting arm (3). The first vertical rotation drive assembly (1) and the second vertical rotation drive assembly (2) are arranged in parallel. One end of the connecting arm (3) is connected to the top output end of the first vertical rotation drive assembly (1), and the other end is connected to the lower middle shell of the second vertical rotation drive assembly (2). The bracket (4) is installed on the top output end of the second vertical rotation drive assembly (2).

4. The four-axis robot according to claim 1, characterized in that, The rear end of the sleeve (6) and the housing of the vertical commutator (8) are connected through the housing of the reducer. The commutation output shaft is connected to the reduction input shaft of the reducer, and the reduction output shaft of the reducer is connected to the rear end of the extension arm (7).

5. The four-axis robot according to claim 1, characterized in that, The geared motor (9) is provided with a placement slot (12) for placing the handle (10).

6. The four-axis robot according to claim 2, characterized in that, The sleeve (6) and the bracket (4) are rotatably connected by a horizontal shaft. There are two horizontal shafts, which are respectively located on both sides of the sleeve (6) and the ends of the horizontal shafts are fixed relative to the sleeve (6). The other end of the horizontal shaft is rotatably mounted on the mounting hole of the bracket (4) through a bearing structure.

7. The four-axis robot according to claim 3, characterized in that, The first vertical rotation drive assembly (1) and the second vertical rotation drive assembly (2) have the same structure, both including a lower housing frame, a motor, a reducer, a clutch and an upper housing frame. The motor and the reducer are installed in the lower housing frame. The motor is connected to the reducer in a transmission connection. The clutch input shaft is connected to the output shaft of the reducer in a transmission connection. The clutch output shaft is connected to the upper housing frame. The upper housing frame is invertedly covered on the upper end of the lower housing frame. One end of the connecting arm (3) is connected to the upper housing frame of the first vertical rotation drive assembly (1), and the other end is connected to the lower housing frame of the second vertical rotation drive assembly (2). The bracket (4) is installed on the upper housing frame of the second vertical rotation drive assembly (2).

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