Auxiliary gripping mechanism and furnace discharge operation robot arm

Abstract

The utility model discloses a kind of auxiliary grabbing mechanism and furnace discharge operation mechanical arm, it is related to furnace discharge equipment field;The auxiliary grabbing mechanism includes mechanism frame;Frame body is slidably arranged in mechanism frame, and one end of frame body is fixedly provided with support frame, and the other end is hingedly connected with push assembly;Support frame upper surface is equipped with clamping groove, and clamping groove can be connected with the convex of eye plug Jiaqian;Clamping link is arranged in support frame, and one end of its is equipped with two symmetrical auxiliary wheels, and the other end is hingedly connected with pull rod, and pull rod is located in frame body, and the end of pull rod away from clamping link is connected with the end of frame body away from support frame by elastic member;Limiting block is equipped on mechanism frame, and stop block is fixedly arranged on pull rod, and stop block can abut with one end of limiting block, after abutting, pull rod can drive clamping link to act, to make two auxiliary wheels move to abut with drill rod side wall mutually. The utility model can ensure to provide support for eye plug under the premise, and also can provide auxiliary clamping and positioning for drill rod.

Description

Technical Field

[0001] This utility model relates to the field of furnace unloading equipment technology, and in particular to an auxiliary gripping mechanism and a furnace unloading robotic arm. Background Technology

[0002] In the tapping operation of electric arc furnace smelting, robotic arms need to perform various processes such as opening holes, inserting probes, and plugging holes. Each process requires the use of tools with different structures and specific functions. This requires the robotic arm not only to have the ability to grasp general-purpose tools, but also to be able to stably and reliably clamp and operate complex special-purpose tools designed for specific tapping processes.

[0003] In current applications, due to the considerable distance between the work platform and the furnace opening, the drill rod, as one of the tools, is generally quite long. This results in poor end-point stability when the drill rod rotates at high speed, making it impossible to accurately position the furnace hole. Although existing technologies have auxiliary gripping mechanisms that can move along the axis of the robotic arm, these mechanisms can only provide support for the plugging tool and cannot provide auxiliary clamping and positioning for the drill rod, thus failing to guarantee stability during high-speed drilling.

[0004] Therefore, there is an urgent need to design a technical solution that can provide support for the plugging device while also providing auxiliary clamping and positioning for the drill pipe. Utility Model Content

[0005] The purpose of this utility model is to provide an auxiliary gripping mechanism and a robotic arm for furnace unloading operations to solve the problems existing in the prior art. It can provide support for the plugging device while also providing auxiliary clamping and positioning for the drill rod.

[0006] To achieve the above objectives, this utility model provides the following solution: This utility model provides an auxiliary grasping mechanism, including: A mechanical frame, which can be fixedly connected to the bottom of the furnace unloading robotic arm; The frame is slidably disposed within the mechanism frame. One end of the frame is fixedly provided with a support frame, and the upper surface of the support frame is provided with a slot. The other end of the frame is hinged to a pushing component, which is used to drive the frame to reciprocate along the length direction of the mechanism frame. A clamping link is located inside the support frame. One end of the link has two symmetrical auxiliary wheels, and the other end is hinged to a pull rod. The pull rod is located inside the frame, and the end of the pull rod away from the clamping link is connected to the end of the frame away from the support frame through an elastic element. The mechanism frame is provided with a limiting block, and the pull rod is fixed with a stop block. The stop block can abut against one end of the limiting block. The pushing component drives the frame to move closer to the furnace body until the slot can engage with the protrusion of the plugger before the stop block abuts against the limiting block. After the stop block abuts against the limiting block, the pull rod can drive the clamping connecting rod to move so that the two auxiliary wheels move towards each other until they abut against the side wall of the drill rod.

[0007] In one embodiment, the clamping link includes vertical rotating shafts symmetrically arranged on both sides inside the support frame. One end of the vertical rotating shaft passes through the upper surface of the support frame and is fixedly connected to a first connecting rod. The auxiliary wheel is rotatably provided at the end of the first connecting rod. A second connecting rod is fixedly connected to the end of the vertical rotating shaft located inside the support frame. The second connecting rod is arranged at an angle to the corresponding first connecting rod. A third connecting rod is hinged to the end of the second connecting rod. The end of the third connecting rod is hinged to one end of the pull rod through an adapter.

[0008] In one embodiment, two slides are symmetrically provided on the inner sidewall of the mechanism frame, and a straight groove is provided on the inner side of the slide. A pulley is provided on the outer side of the frame, and the pulley is slidably connected to the straight groove on the same side.

[0009] In one embodiment, the mechanism frame is provided with an eccentric guide wheel assembly, which is symmetrically arranged on both sides of the frame and abuts against the outer wall of the frame; the frame body is provided with a tie rod guide wheel assembly, which is located on the upper and lower sides of the tie rod and abuts against the side wall of the tie rod.

[0010] In one embodiment, the pushing component includes a mounting base and a push-pull drive. The mounting base is fixedly connected to the bottom of the furnace unloading robotic arm. The fixed end of the push-pull drive is hinged to the mounting base, and the telescopic end of the push-pull drive is hinged to the end of the frame away from the support frame.

[0011] This utility model also provides a robotic arm for unloading operations, including a support assembly, a guide rail, a gripping execution mechanism, a mobile trolley, a telescopic drive component, a telescopic transmission assembly, and the auxiliary gripping mechanism described above. The auxiliary gripping mechanism is located at the bottom of the support assembly; The support assembly has a guide rail fixedly mounted on its top. The mobile trolley is movably mounted on the guide rail. The gripping execution mechanism is fixed on the mobile trolley and is used to grip the required tool. The support assembly has a telescopic transmission assembly, and the mobile trolley is connected to the telescopic transmission assembly. The support assembly has a telescopic drive component at its rear, and the telescopic drive component is connected to the telescopic transmission assembly. The telescopic drive component can drive the mobile trolley to reciprocate along the guide rail through the telescopic transmission assembly.

[0012] In one embodiment, the gripping actuator includes a clamping gripper, a conical sleeve, a support sleeve, a gripper cylinder, an inner sleeve, an outer sleeve, and a rock drill. The rock drill is mounted on the mobile trolley, the outer sleeve is fixed to the trolley assembly, the inner sleeve passes through the outer sleeve, and the rear end of the inner sleeve is connected to the outer sleeve via a bearing. The rotating shaft of the rock drill is located inside the inner sleeve. The support sleeve is located at the middle of the front end of the inner sleeve and is movably connected to the rotating shaft of the rock drill. The support sleeve is used to support the rotating shaft of the rock drill. One end of the conical sleeve is coaxially connected to the end of the outer sleeve away from the rock drill. The clamping gripper is mounted on the outer wall of the conical sleeve, and the gripper cylinder is fixed to the outer sleeve for controlling the opening and closing of the clamping gripper.

[0013] In one embodiment, the clamping gripper includes an active gripper and a passive gripper. The active gripper is rotatably connected to an active gripper seat via a gripper shaft, and the active gripper seat is fixed to the upper side wall of the conical sleeve. The passive gripper is rotatably connected to a passive gripper seat via a gripper shaft, and the passive gripper seat is fixed to the lower side wall of the conical sleeve. The rear end of the active gripper is hinged to the telescopic end of the gripper cylinder. A first sector gear is fixedly provided at one end of the gripper shaft of the active gripper, and a second sector gear is fixedly provided at one end of the gripper shaft of the passive gripper. The first sector gear and the second sector gear are meshed together.

[0014] In one embodiment, the mobile trolley includes a trolley assembly and four wheels; four wheels are arranged below the trolley assembly, the wheels are rotatably connected to a guide rail, and both ends of the trolley assembly are respectively connected to a telescopic transmission assembly.

[0015] In one embodiment, the mobile trolley further includes anti-tilt wheels; anti-tilt frames are provided on both sides of the trolley assembly, and anti-tilt wheels are provided on the anti-tilt frames, with the anti-tilt wheels making rolling contact with the bottom sides of the support assembly.

[0016] This utility model also provides a tool grasping method, including the following steps: Grab the drill rod. Connect the internal threaded interface at the end of the drill rod to the external threaded interface extending from the end of the rock drill's rotating shaft. The clamping gripper is not activated. Move the auxiliary gripping mechanism to the gripping front position so that it clamps the connecting rod and holds the middle section of the drill rod, thus assisting in positioning and holding the drill rod. Use the drill rod to perform hole-opening operations. Remove the drill rod and grab the chisel rod. No auxiliary gripping mechanism is needed. The auxiliary gripping mechanism retracts to the gripping zero position. Insert one end of the chisel rod into the conical sleeve and activate the clamping gripper to grab the chisel rod. Use the chisel rod to clear the flow channel in the furnace body. After the furnace is unloaded, the plugging device is grabbed and the auxiliary grabbing mechanism is moved to the grabbing center position. The protrusion at the bottom of the plugging device is embedded into the corresponding slot of the auxiliary grabbing mechanism, providing rigid support and axial positioning, and restricting the rotation of the outer cylinder. The plugging device carries the plugging mud to seal the furnace hole.

[0017] The present invention achieves the following technical advantages over the prior art: The clamping link of the auxiliary gripping mechanism of this utility model extends and clamps the drill rod during drilling, improving the rotational stiffness of the drill rod and achieving precise positioning of the borehole. The clamping link adopts a force-saving design and is optimized to be close to the mechanical dead point at the clamping termination position, so that only a small thrust is required for the push-pull drive to generate a large clamping force in the radial direction of the drill rod. When plugging the borehole, it can provide axial limit and bottom rigid support for the plugging device and restrict the rotation of the outer cylinder, improving the stability of the plugging device. Using the same auxiliary gripping mechanism, by controlling its different positions during forward movement, the plugging device can be clamped and supported, and the drill rod can be clamped and positioned respectively. This design avoids swaying at the front of the drill rod, improving the accuracy and overall stability of drilling operations. The eccentric guide wheel assembly can fine-tune the radial installation position of the auxiliary gripping mechanism to compensate for installation and manufacturing errors, ensuring precise alignment between the auxiliary gripping mechanism and the gripping execution mechanism. Through the synergistic action of the return spring and the stop block, the auxiliary gripping mechanism can complete multiple actions such as forward movement, clamping, and resetting with only one drive device. This enables the furnace-loading robotic arm to automatically grip and release tools, improving the automation level of the equipment. Without introducing an additional drive device, it achieves cost reduction and efficiency improvement in structure, and comprehensively ensures production cycle time and personnel safety. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the unloading robot arm in one or more embodiments of the present invention; Figure 2This is a bottom view schematic diagram of the furnace unloading robotic arm in one or more embodiments of the present utility model; Figure 3 This is a partial cross-sectional view of the gripping execution mechanism in one or more embodiments of the present invention; Figure 4 This is a schematic diagram of the gripping execution mechanism in one or more embodiments of the present utility model; Figure 5 This is a schematic diagram of the auxiliary gripping mechanism in one or more embodiments of the present invention; Figure 6 This is a three-dimensional structural diagram of the auxiliary gripping mechanism after removing the support frame in one or more embodiments of the present invention. Figure 7 for Figure 6 A diagram showing the view from below; Figure 8 for Figure 6 A side view diagram; Figure 9 This is a schematic diagram of the robotic arm gripping the drill rod during the furnace unloading operation of this utility model; Figure 10 for Figure 9 Side view; Figure 11 This is a schematic diagram of the robotic arm grasping the plug during the furnace unloading operation of this utility model; Figure 12 for Figure 11 Side view; Figure 13 This is a schematic diagram of the robotic arm gripping the drill rod during the furnace unloading operation of this utility model; Figure 14 for Figure 13 Side view; Figure 15 for Figure 11 A magnified view of part A.

[0020] In the diagram: 1-Support assembly; 2-Guide rail; 3-Gripping actuator; 4-Mobile trolley; 5-Telescopic drive component; 6-Telescopic transmission assembly; 7-Auxiliary gripping mechanism; 8-Clamping gripper; 801-Active gripper; 802-Driven gripper; 803-First sector gear; 804-Second sector gear; 9-Conical sleeve; 10-Support sleeve; 11-Gripper cylinder; 12-Inner sleeve; 13-Outer sleeve; 14-Rock drill; 15-Trolley assembly; 16-Anti-tilt mechanism 17-Walking wheel; 18-Mounting base; 19-Push-pull drive; 20-Frame; 21-Slide rail; 22-Eccentric guide wheel assembly; 23-Limit block; 24-Reset spring; 25-Stop block; 26-Pull rod; 27-Pulley; 28-Pull rod guide wheel assembly; 29-Clamping link; 2901-First link; 2902-Second link; 2903-Third link; 2904-Vertical pivot; 30-Support frame; 31-Slot; 32-Protrusion. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] The purpose of this utility model is to provide an auxiliary gripping mechanism and a robotic arm for furnace unloading operations to solve the problems existing in the prior art. It can provide support for the plugging device while also providing auxiliary clamping and positioning for the drill rod.

[0023] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] While existing technologies possess auxiliary gripping mechanisms capable of moving along the robotic arm's axis, these mechanisms only provide support for the eye-plugging tool. Since the drill rod requires high-speed rotation during operation, they cannot provide auxiliary clamping and positioning, thus failing to guarantee stability during drilling. Furthermore, designing a separate support device for the drill rod not only increases the structural complexity of the equipment but also interferes with the operation of other tools that do not require support. To address this issue, the first objective of this invention is to provide an auxiliary gripping mechanism, referencing... Figure 5 , Figure 6 , Figure 7 , Figure 8As shown, the device includes a mechanism frame, a frame body 20, and a clamping link 29. The mechanism frame can be fixedly connected to the bottom of the furnace unloading robotic arm. The frame body 20 is slidably disposed within the mechanism frame. One end of the frame body 20 is fixedly provided with a support frame 30, and the other end is hinged to a pushing component. The pushing component is used to drive the frame body 20 to reciprocate along the length of the mechanism frame. The upper surface of the support frame 30 is provided with a slot 31, which can engage with the protrusion 32 of the plugging device to provide support for the plugging device. The clamping link 29 is disposed within the support frame 30. One end of the link has two symmetrical auxiliary wheels, and the other end is hinged to a pull rod 26. The pull rod 26 is located within the frame body 20, and the end of the pull rod 26 away from the clamping link 29 is connected to the end of the frame body 20 away from the support frame 30 through an elastic element. In this embodiment, the elastic element is a return spring 24. A limiting block 23 is provided on the mechanism frame, and a stop block 25 is fixed on the pull rod 26. The stop block 25 can abut against one end of the limiting block 23. When the frame 20 moves towards the furnace body, after the stop block 25 abuts against the limiting block 23, the pull rod 26 can drive the clamping connecting rod 29 to move so that the two auxiliary wheels move towards each other until they abut against the side wall of the drill rod. The outer side of the auxiliary wheel is provided with an annular groove. By abutting against the side wall of the drill rod through the annular groove, the clamping stability of the drill rod can be improved. Furthermore, by clamping the drill rod through the annular groove of the two auxiliary wheels, there is a certain amount of space for movement between the auxiliary wheel and the side wall of the drill rod. Under the premise that the auxiliary wheel provides support stability, it will not interfere with the rotation of the drill rod itself. The auxiliary gripping mechanism 7 of this utility model extends and grips the drill rod during drilling, improving the rotational rigidity of the drill rod and achieving precise positioning of the borehole; during plugging, it can provide axial limiting and bottom rigid support for the plugging device, and restrict the rotation of the outer cylinder, improving the stability of the plugging device; by using the same auxiliary gripping mechanism 7, by controlling its different positions during forward movement, the plugging device can be clamped and supported separately, and the drill rod can be clamped and positioned separately, avoiding the front of the drill rod from shaking, improving the accuracy and overall stability of the drilling operation, and eliminating the need to design an additional support device for the drill rod.

[0025] In one embodiment, the clamping link 29 includes vertical rotating shafts 2904 symmetrically arranged on both sides inside the support frame 30. One end of the vertical rotating shaft 2904 passes through the upper surface of the support frame 30 and is fixedly connected to a first link 2901. An auxiliary wheel is rotatably provided at the end of the first link 2901. A second link 2902 is fixedly connected to the end of the vertical rotating shaft 2904 inside the support frame 30. The second link 2902 is arranged at an angle to the corresponding first link 2901. A third link 2903 is hinged to the end of the second link 2902. The end of the third link 2903 is hinged to one end of the pull rod 26 through a connector. When the pull rod 26 is rearward relative to the third link 2903... When retracting, the two third links 2903 are pulled, and the third links 2903 drive their corresponding second links 2902 to rotate towards the end closer to the pull rod 26. During the rotation, the vertical shaft 2904 rotates synchronously, and the first link 2901 fixed at the top of the vertical shaft 2904 rotates synchronously in opposite directions, thereby causing the auxiliary wheels at the end of the first link 2901 to move towards each other and clamp the drill pipe. When the pull rod 26 moves forward relative to the third link 2903, the clamping link 29 moves in the opposite direction, causing the two auxiliary wheels to move away from each other, thereby no longer clamping the drill pipe, and the space between the two auxiliary wheels increases, so as not to interfere with the installation and use of other tools.

[0026] To make the frame 20 move more smoothly, this embodiment has two slides 21 symmetrically arranged on the inner side wall of the mechanism frame. A straight groove is opened on the inner side of the slide 21, and a pulley 27 is provided on the outer side of the frame 20. The pulley 27 is slidably connected in the straight groove on the same side. The straight groove can guide the frame 20 and also provide a certain support for the frame 20 through the pulley 27. In one embodiment, an eccentric guide wheel assembly 22 is provided on the mechanism frame. The eccentric guide wheel assembly 22 is symmetrically arranged on both sides of the frame 20 and abuts against the outer wall of the frame 20. The eccentric guide wheel assembly 22 can adjust the position of the abutment point by eccentric rotation, thereby moving the frame 20 along the width direction. In this way, the eccentric guide wheel assembly 22 can finely adjust the radial installation position of the auxiliary gripping mechanism 7 to compensate for installation and manufacturing errors and ensure that the auxiliary gripping mechanism 7 and the gripping execution mechanism 3 are precisely aligned. A tie rod guide wheel assembly 28 is provided inside the frame 20. The tie rod guide wheel assembly 28 is located on the upper and lower sides of the tie rod 26 and abuts against the side wall of the tie rod 26, which can provide support and guidance for the tie rod 26.

[0027] In one embodiment, the pushing component includes a mounting base 18 and a push-pull drive 19. The mounting base 18 is fixedly connected to the bottom of the furnace unloading robotic arm. The fixed end of the push-pull drive 19 is hinged to the mounting base 18, and the telescopic end of the push-pull drive 19 is hinged to the end of the frame 20 away from the support frame 30. The push-pull drive 19 can drive the frame 20 to move back and forth in a linear motion. The specific structure of the push-pull drive 19 is not limited. In one embodiment, the push-pull drive 19 is a hydraulic cylinder.

[0028] The working principle of the auxiliary gripping mechanism 7 is as follows: the limiting block 23 is fixed to the bracket assembly 1, the stop block 25 is fixed to the pull rod 26, and the front end of the pull rod 26 is fixed to the end of the clamping connecting rod 29. When the push-pull drive 19 does not extend, the auxiliary gripping mechanism 7 is in the zero position of auxiliary gripping, and at this time, the two auxiliary wheels of the clamping connecting rod 29 are in the open state. When the push-pull drive 19 extends, but the stop block 25 does not contact the limiting block 23, the drive frame 20 and the pull rod 26 move forward synchronously, and the clamping connecting rod 29 extends with the frame 20 and is in the open state. At this time, the auxiliary gripping mechanism 7 is in the middle position of auxiliary gripping, and the slot 31 can engage with the protrusion 32 of the eye plug, providing support and positioning for the eye plug. When the push-pull drive 19 continues to extend until the stop block 25 contacts the limiting block 23, the pull rod 26 is limited. Block 23 blocks and stops the movement. The frame 20 continues to move forward with the push-pull drive 19. At this time, the return spring 24 is in a compressed state. The pull rod 26 pulls the third link 2903 at the end of the clamping link 29. The third link 2903 drives the corresponding vertical shaft 2904 to rotate through the second link 2902. Then, the first link 2901 at the top of the vertical shaft 2904 drives the auxiliary wheels to swing in opposite directions. The two auxiliary wheels of the clamping link 29 are clamped. At this time, the auxiliary gripping mechanism 7 is in the auxiliary gripping front position, which can realize the auxiliary clamping of the drill rod. The clamping link 29 adopts a force-saving design. When it is in the auxiliary gripping front position, it is close to the mechanical dead point, so that the push-pull drive 19 only needs to apply a small pushing force to generate a large clamping force in the radial direction of the drill rod. The clamping link 29 adopts a force-saving link structure, and the clamping position is close to the dead point. Therefore, the push-pull drive 19 only needs to output a small force to clamp the drill rod. When the clamping link 29 resets, the push-pull drive 19 retracts, causing the frame 20 to retract as well. During the reset process, the reset spring 24 pushes the pull rod 26 forward, and the clamping link 29 opens under the action of the spring force. When the stop block 25 disengages from the limit block 23, the reset is completed. Through the coordinated action of the reset spring 24 and the stop block 25, the clamping link 29 is driven to complete the switch to a non-powered state, enabling the auxiliary gripping mechanism 7 to complete multiple actions such as forward movement, clamping, and reset with only one drive device. This allows the telescopic arm to automatically grip and release tools, improving the automation level of the equipment.

[0029] The second objective of this utility model is to provide a robotic arm for furnace unloading operations, as shown in the reference. Figure 1 , Figure 2 , Figure 3 , Figure 4As shown, the assembly includes a support assembly 1, a guide rail 2, a gripping actuator 3, a moving trolley 4, a telescopic drive component 5, a telescopic transmission assembly 6, and an auxiliary gripping mechanism 7 as described above. The auxiliary gripping mechanism 7 is located at the bottom of the support assembly 1. The guide rail 2 is fixedly mounted on the top of the support assembly 1, and the moving trolley 4 is movably mounted on the guide rail 2. The gripping actuator 3 is fixed to the moving trolley 4 and is used to grip the required tools. The telescopic transmission assembly 6 is provided on the support assembly 1, and the moving trolley 4 is connected to the telescopic transmission assembly 6. The telescopic drive component 5 is located at the rear of the support assembly 1 and is connected to the telescopic transmission assembly 6. The telescopic drive component 5 can drive the moving trolley 4 to reciprocate along the guide rail 2 through the telescopic transmission assembly 6. When the moving trolley 4 is working, the telescopic drive component 5 drives the moving trolley 4 to reciprocate back and forth on the guide rail 2 through the telescopic transmission assembly 6. In one embodiment, the telescopic drive component 5 includes a motor, a drive sprocket, and a drive chain. The telescopic transmission assembly 6 includes a front sprocket, a rear sprocket, and a chain mounted on the support assembly 1. The drive sprocket is connected to the rear sprocket via the drive chain. The front sprocket is located at the front end of the support assembly 1. The front and rear sprockets are connected by a chain, and the upper part of the chain is connected to the moving trolley 4. Thus, the moving trolley 4 can be driven to reciprocate through the chain and sprocket structure. In another embodiment, the telescopic drive component 5 includes a motor, and the telescopic transmission assembly 6 includes a lead screw and nut pair. The lead screw is arranged parallel to the support assembly 1, one end of the lead screw is connected to the motor, and a nut is provided on the lead screw. The nut is connected to the moving trolley 4, which can also drive the reciprocating movement of the moving trolley 4.

[0030] In one embodiment, the gripping actuator 3 includes a clamping gripper 8, a conical sleeve 9, a support sleeve 10, a gripper cylinder 11, an inner sleeve 12, an outer sleeve 13, and a rock drill 14. The rock drill 14 is mounted on a moving trolley 4, the outer sleeve 13 is fixed on the trolley assembly 15, the inner sleeve 12 passes through the outer sleeve 13, and the rear end of the inner sleeve 12 is connected to the outer sleeve 13 via a bearing. The rotating shaft of the rock drill 14 is located inside the inner sleeve 12, and the support sleeve 10 is provided at the middle of the front end of the inner sleeve 12. The support sleeve 10 is movably connected to the rotating shaft of the rock drill 14 and is used to support the rotating shaft of the rock drill 14. One end of the conical sleeve 9 is coaxially connected to the end of the outer sleeve 13 away from the rock drill 14. The clamping gripper 8 is mounted on the outer wall of the conical sleeve 9, and the gripper cylinder 11 is fixed on the outer sleeve 13 and is used to control the opening and closing of the clamping gripper 8. Specifically, the clamping gripper 8 includes an active gripper 801 and a driven gripper 802. The active gripper 801 is rotatably connected to the active gripper 801 seat via a gripper shaft, and the active gripper 801 seat is fixed to the upper side wall of the conical sleeve 9. The driven gripper 802 is rotatably connected to the driven gripper 802 seat via a gripper shaft, and the driven gripper 802 seat is fixed to the lower side wall of the conical sleeve 9. The gripper shaft is a bar-shaped shaft structure. The active gripper 801 is fixed to the corresponding gripper shaft, and the driven gripper 802 is fixedly connected to the corresponding other gripper shaft. The gripper shaft rotatably passes through the corresponding gripper seat. The rear end of the active gripper 801 is hinged to the telescopic end of the gripper cylinder 11. A first sector gear 803 is fixedly provided at one end of the gripper shaft of the active gripper 801, and a second sector gear 804 is fixedly provided at one end of the gripper shaft of the driven gripper 802. The first sector gear 803 and the second sector gear 804 are meshed together. The gripping actuator 3 combines rotary gripping and hand gripping methods, enabling it to handle various complex and specialized tools. During rotary gripping, the external thread of the rock drill 14's rotating shaft is tightened to the internal thread of the drill rod, achieving gripping. The outer wall of the drill rod tool is tightly fitted against the inner wall of the inner sleeve 12, with the inner sleeve 12 bearing the radial impact load, ensuring tool performance. Furthermore, the inner sleeve 12 can rotate axially with the tool, preventing the problem of excessively tight tool threads that are difficult to disassemble due to excessive friction between the tool and the inner sleeve 12. During hand gripping, the gripper clamps the tool flange, achieving gripping. The conical outer wall of the tool is tightly fitted against the inner wall of the conical sleeve 9, allowing the conical sleeve 9 to bear the radial impact load. This also improves the tool's deformation resistance and adaptability range, ensuring tool performance.

[0031] In one embodiment, the mobile trolley 4 includes a trolley assembly 15, anti-tilt wheels 16, and traveling wheels 17. Four traveling wheels 17 are arranged below the trolley assembly 15 and are rotatably connected to the guide rail 2. Both ends of the trolley assembly 15 are connected to the telescopic transmission assembly 6. Anti-tilt frames are provided on both sides of the trolley assembly 15, and anti-tilt wheels 16 are provided on the anti-tilt frames. The anti-tilt wheels 16 are in rolling contact with the bottom sides of the support assembly 1.

[0032] The main processes of tapping the furnace include opening the furnace hole, inserting the drill rod, and plugging the hole. During opening, the drill rod is gripped to open the furnace hole, allowing molten iron to flow out. During inserting the drill rod, the drill rod is gripped to clear the flow path, ensuring smooth flow of molten iron. After tapping, the hole is plugged. At this point, a plugging tool is gripped, carrying plugging mud, to plug the furnace hole. The plugging tool is a conventional technology. Based on this, this utility model also provides a tool gripping method, referencing... Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 and Figure 15 As shown, it includes the following steps: When gripping the drill rod for drilling operations, it needs to simultaneously rotate and drill. Therefore, the internal threaded interface at the end of the drill rod must connect to the external threaded interface extending from the end of the existing rock drill 14. At this time, the clamping gripper 8 is not activated. Given the large cantilever length and relatively small diameter of the drill rod, its end stability and positioning accuracy during drilling are difficult to guarantee. Therefore, an auxiliary gripping mechanism 7 is needed for auxiliary positioning and clamping. When the auxiliary gripping mechanism 7 is in the gripping front position, the auxiliary wheel of its clamping link 29 will grip the middle section of the drill rod, thereby effectively improving the accuracy and overall stability of the drilling operation. Remove the drill rod and grab the chisel. For chisels or other tools that do not require rotating rock drilling function, are lightweight, and do not require high positioning accuracy, there is no need to use an auxiliary clamping mechanism. Just use the conical sleeve 9 for positioning and the gripper to grab them to meet the process requirements. After the furnace is unloaded, the eye plugger is grasped. The eye plugger typically needs to be filled with mud balls or plugging material, and its weight is considerable. In addition, the long cantilever length during operation can easily lead to difficulties in tool posture control and decreased positioning accuracy. To ensure operational performance, an auxiliary gripping mechanism 7 is used for support and positioning. The eye plugger has a piston-type structure. During operation, the clamping gripper 8 clamps the inner rod of the eye plugger. When the auxiliary gripping mechanism 7 is in the gripping center position, the T-shaped protrusion 32 at the bottom of the eye plugger embeds into the corresponding slot 31 of the auxiliary gripping mechanism 7, providing rigid support. This improves the accuracy and stability of the eye plugging operation while also limiting the axial displacement and radial rotation of the outer cylinder of the eye plugger.

[0033] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. An auxiliary grasping mechanism, characterized in that: include: A mechanical frame, which can be fixedly connected to the bottom of the furnace unloading robotic arm; The frame is slidably disposed within the mechanism frame. One end of the frame is fixedly provided with a support frame, and the upper surface of the support frame is provided with a slot. The other end of the frame is hinged to a pushing component, which is used to drive the frame to reciprocate along the length direction of the mechanism frame. A clamping link is located inside the support frame. One end of the link has two symmetrical auxiliary wheels, and the other end is hinged to a pull rod. The pull rod is located inside the frame, and the end of the pull rod away from the clamping link is connected to the end of the frame away from the support frame through an elastic element. The mechanism frame is provided with a limiting block, and the pull rod is fixed with a stop block. The stop block can abut against one end of the limiting block. The pushing component drives the frame to move closer to the furnace body until the slot can engage with the protrusion of the plugger before the stop block abuts against the limiting block. After the stop block abuts against the limiting block, the pull rod can drive the clamping connecting rod to move so that the two auxiliary wheels move towards each other until they abut against the side wall of the drill rod.

2. The auxiliary gripping mechanism according to claim 1, characterized in that: The clamping link includes vertical rotating shafts symmetrically arranged on both sides inside the support frame. One end of the vertical rotating shaft passes through the upper surface of the support frame and is fixedly connected to a first connecting rod. The auxiliary wheel is rotatably provided at the end of the first connecting rod. The end of the vertical rotating shaft located inside the support frame is fixedly connected to a second connecting rod. The second connecting rod is arranged at an angle to the corresponding first connecting rod. The end of the second connecting rod is hinged to a third connecting rod. The end of the third connecting rod is hinged to one end of the pull rod through an adapter.

3. The auxiliary gripping mechanism according to claim 1, characterized in that: The mechanism frame is provided with an eccentric guide wheel assembly, which is symmetrically arranged on both sides of the frame and abuts against the outer wall of the frame.

4. The auxiliary gripping mechanism according to claim 1, characterized in that: The pushing component includes a mounting base and a push-pull drive. The mounting base is fixedly connected to the bottom of the furnace unloading robotic arm. The fixed end of the push-pull drive is hinged to the mounting base, and the telescopic end of the push-pull drive is hinged to the end of the frame away from the support frame.

5. A robotic arm for unloading from a furnace, characterized in that: It includes a support assembly, a guide rail, a gripping execution mechanism, a mobile trolley, a telescopic drive component, a telescopic transmission assembly, and the auxiliary gripping mechanism as described in any one of claims 1 to 4; The auxiliary gripping mechanism is located at the bottom of the support assembly; The support assembly has a guide rail fixedly mounted on its top. The mobile trolley is movably mounted on the guide rail. The gripping execution mechanism is fixed to the mobile trolley and is used to grip the required tool. The support assembly has a telescopic transmission assembly, and the mobile trolley is connected to the telescopic transmission assembly. The support assembly has a telescopic drive component at its rear, and the telescopic drive component is drively connected to the telescopic transmission assembly. The telescopic drive component can drive the mobile trolley to reciprocate along the guide rail through the telescopic transmission assembly. The mobile trolley includes a trolley assembly and four wheels. Four wheels are arranged below the trolley assembly and are tumbled to the guide rail. Both ends of the trolley assembly are connected to the telescopic transmission assembly.

6. The robotic arm for unloading operations according to claim 5, characterized in that: The gripping actuator includes a clamping gripper, a conical sleeve, a support sleeve, a gripper cylinder, an inner sleeve, an outer sleeve, and a rock drill. The rock drill is mounted on the mobile trolley, the outer sleeve is fixed to the trolley assembly, the inner sleeve passes through the outer sleeve, and the rear end of the inner sleeve is connected to the outer sleeve via a bearing. The rotating shaft of the rock drill is located inside the inner sleeve. The support sleeve is located at the middle of the front end of the inner sleeve and is movably connected to the rotating shaft of the rock drill. The support sleeve is used to support the rotating shaft of the rock drill. One end of the conical sleeve is coaxially connected to the end of the outer sleeve away from the rock drill. The clamping gripper is mounted on the outer wall of the conical sleeve, and the gripper cylinder is fixed to the outer sleeve to control the opening and closing of the clamping gripper.

7. The robotic arm for unloading operations according to claim 6, characterized in that: The clamping gripper includes an active gripper and a driven gripper. The active gripper is rotatably connected to an active gripper seat via a gripper shaft, and the active gripper seat is fixed to the upper side wall of the conical sleeve. The driven gripper is rotatably connected to a driven gripper seat via a gripper shaft, and the driven gripper seat is fixed to the lower side wall of the conical sleeve. The rear end of the active gripper is hinged to the telescopic end of the gripper cylinder. A first sector gear is fixedly provided at one end of the gripper shaft of the active gripper, and a second sector gear is fixedly provided at one end of the gripper shaft of the driven gripper. The first sector gear and the second sector gear are meshed together.

8. The robotic arm for unloading operations according to claim 5, characterized in that: The mobile trolley also includes anti-tilt wheels; anti-tilt frames are provided on both sides of the trolley assembly, and anti-tilt wheels are provided on the anti-tilt frames, with the anti-tilt wheels making rolling contact with the bottom sides of the support assembly.

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