Automatic dismounting device for top clamp and outer water gap of slide gate slag blocking mechanism

Abstract

This utility model discloses an automated disassembly and assembly device for the clamping device and external water inlet of a sliding plate slag-blocking mechanism, comprising: a robotic arm, the end of which is connected to a disassembly and assembly clamp via a quick-release structure; the disassembly and assembly clamp includes a quick-change frame, on which is mounted a three-jaw chuck for clamping the external water inlet and the clamping device, and positioning pins distributed on one side of the three-jaw chuck, the positioning pins being used to receive into the screw holes of the heat insulation plate; and a placement platform, independently arranged on one side of the robotic arm, the placement platform being provided with a soft landing platform and a positioning rod, the positioning rod being used to pass through the clamping device. By setting up distance sensors, vision sensors, and positioning pins for coordinated use, the device facilitates convenient, quick, and accurate removal and placement of the external water inlet and the clamping device.

Description

Technical Field

[0001] This invention relates to an automated equipment for metallurgy, mainly used for disassembling and installing the external water inlet and the clamping device during offline maintenance of the sliding plate slag-blocking mechanism. Background Technology

[0002] CN119776612A discloses an automated equipment and method for the entire maintenance process of a converter slide plate slag-blocking mechanism. It employs a second gripper body mounted on a quick-change plate, which is equipped with a hydraulic chuck for clamping the external nozzle. In operation, under programmed instructions, the robotic arm connects the second gripper body, placed on a mounting frame, to its arm via the quick-change plate. The gripper body is then theoretically aligned with the center of the external nozzle, and its actual precise position is measured using a vision system. The size of the outer diameter of the front end; the three jaws of the hydraulic chuck, driven by the hydraulic station, make the inner circle of the jaws slightly larger than the outer diameter of the front end of the outer sprue; the robot moves along the axial direction of the outer sprue until the three jaws are fitted onto the front end of the outer sprue, and the jaws clamp the outer sprue under the drive of the hydraulic station; the robot moves backward, overcoming the adhesive force between the outer sprue and the outer slide plate, and removes the clamping device fitted on the outer sprue from the mechanism together, and puts it into the ground recycling box; the robot swings the gripper body back onto the placement frame and disengages from it, and this process is completed.

[0003] During practical application, the inventors discovered that due to inherent positional deviations in the installation of the sliding plate slag-blocking mechanism, the theoretical positioning data becomes inaccurate, leading to axial misalignment. This causes damage to the external water inlet during maintenance, limiting the technology to maintenance work and allowing only minor damage to the external water inlet structure. Since a new external water inlet must be replaced, it cannot be used for maintenance applications. Furthermore, because the technology is designed for maintenance and replacement, it lacks a non-destructive assembly for holding the external water inlet and the clamping device. Utility Model Content

[0004] To solve the above-mentioned technical problems, the inventors, through practice and summarization, derived the technical solution of this utility model, which adopts the following technical solution:

[0005] An automated disassembly and assembly device for the clamping device and external water inlet used in the maintenance of the sliding plate slag-blocking mechanism includes:

[0006] The robotic arm has a quick-release mechanism connecting it to a disassembly and assembly fixture. The disassembly and assembly fixture includes a quick-change frame, on which a three-jaw chuck for holding the external water inlet and the clamping device is installed, and positioning pins distributed on one side of the three-jaw chuck. The positioning pins are used to be inserted into the screw holes of the heat insulation plate.

[0007] The placement platform is independently located on one side of the robot arm. The placement platform is equipped with a soft landing platform and a positioning rod, which is used to insert into the clamping device.

[0008] In the automated assembly and disassembly device, the quick-change frame is equipped with a vision sensor and a distance sensor. The vision sensor provides image support for the robot arm to grasp the outer sprue and the clamping device, and the distance sensor is used to measure the distance between the quick-change frame and the clamping frame to determine the length of the positioning pin inserted into the screw hole.

[0009] In the automated disassembly and assembly device, the bottom of the soft landing platform and the placement platform are connected by an elastic element. The soft landing platform is provided with three sets of circumferentially equally spaced positioning blocks and two sets of positioning rods. During implementation, they cooperate with the positioning columns to form an equilateral triangle distribution for the lowering and tightening device.

[0010] The automated disassembly and assembly device further includes a disassembly and assembly frame independently distributed on one side of the robotic arm, which is used to fix the slide plate slag-blocking mechanism.

[0011] In the automated disassembly and assembly device, the quick-change frame is provided with a fixed structure, a guide column, and an outer top structure. The fixed structure is installed on the quick-change frame through a connecting column. The fixed structure is provided with a clearance groove, which corresponds to the position of the jaws of the three-jaw chuck. The guide column is fixed on the fixed structure. The outer top structure is slidably fitted on the guide column and is connected to the fixed structure through a spring. When the jaws of the three-jaw chuck move inward to clamp the outer water inlet, the outer top structure presses against the fixed top clamp.

[0012] In the automated assembly and disassembly device, the outer top structure includes an outer extrusion plate, which is distributed on the outside of the outer sprue. The side of the outer extrusion plate opposite to the clamping device is connected to a pressure plate through an elastic deformable body.

[0013] In the automated assembly and disassembly device, the side of the three-jaw chuck where the jaws contact the outer top structure is arranged with a sloping structure.

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

[0015] This invention utilizes a positioning post on the quick-change frame, along with a distance sensor and a vision sensor, to facilitate coaxial alignment between the three-jaw chuck and the outer sprue, enabling precise and non-destructive clamping and disassembly. The vision sensor provides visual judgment and image support for the automated disassembly and assembly device, allowing the robotic arm to accurately grasp the outer sprue and the clamping device. The distance sensor accurately determines the insertion depth, ensuring the grippers effectively hold the outer sprue and the clamping device.

[0016] This utility model adds a placement platform, which uses a soft landing platform on the placement platform to achieve soft landing of the external water inlet and the clamping device, preventing damage during maintenance and handling. The positioning rod is used to accurately position the clamping device so that the position can be corrected when it is re-clamped.

[0017] This utility model features an external top structure on the quick-change frame, which enables the clamping device to be tightened when the gripper holds the outer sprue. This prevents the clamping device from separating from the outer sprue during the process of overcoming the adhesive force between the outer sprue and the outer slide plate, thus preventing the device from being effectively reinstalled. Attached Figure Description

[0018] Figure 1 This is a structural diagram of the automated disassembly and assembly device of this utility model in maintenance mode.

[0019] Figure 2 This is a schematic diagram of the quick-change clamp of this utility model. Figure 1 .

[0020] Figure 3 This is a schematic diagram of the placement platform of this utility model.

[0021] Figure 4 This is a schematic diagram of the structure of the placement platform of this utility model, which holds the external water inlet and the clamping device. Figure 1 .

[0022] Figure 5 This is a schematic diagram of the quick-change clamp of this utility model. Figure 2 .

[0023] In the picture:

[0024] 100. Robotic arm; 110. Quick-change frame; 120. Three-jaw chuck; 130. Positioning column; 140. Vision sensor; 150. Distance sensor; 160. Fixing structure; 170. Guide column; 180. External top structure; 181. External extrusion plate; 182. Elastic deformable body; 183. Pressure plate; 190. Spring component;

[0025] 200. Placement platform; 210. Soft landing platform; 220. Positioning rod; 230. Elastic element; 240. Positioning block;

[0026] 300. Assembly / disassembly rack. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0028] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, 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 utility model.

[0029] like Figures 1 to 4 As shown, the automated disassembly and assembly device for the clamping device and external water inlet of the sliding plate slag-blocking mechanism includes:

[0030] The robotic arm 100 (6-DOF robotic arm) has a quick-release structure connecting a disassembly and assembly fixture at its end. The disassembly and assembly fixture includes a quick-change frame 110, on which a three-jaw chuck 120 for holding the external water inlet and the clamping device is mounted, and positioning pins 130 distributed on one side of the three-jaw chuck 120 are used to insert into the screw holes of the heat insulation plate.

[0031] The placement platform 200 is independently arranged on one side of the robot arm 100. The placement platform 200 is equipped with a soft landing platform 210 and a positioning rod 220. The positioning rod 220 is used to insert into the clamping device.

[0032] The 120 three-jaw chuck contains a motor to control the linear movement of the L-shaped jaws. This product is a mature product currently available on the market.

[0033] In actual use, the end of the robot arm 100 and the quick-change frame 110 are assembled together. The quick-change frame 110 is a traditional industrial quick-change disc component, a commercially available mature product. The robot arm 100 moves the fixture to the outside of the outer sprue, inserts the positioning pin 130 into the screw hole on the clamping frame for installing the heat insulation plate. After being inserted to a certain depth, the three-jaw chuck 120 clamps the outer sprue and pulls it outward to overcome the adhesive force between the outer sprue and the outer slide plate, and removes it. Then, the positioning rod 220 is inserted into the mounting hole on the edge of the clamping device, and the outer sprue and the clamping device are softly attached to the soft-attachment platform 210.

[0034] like Figure 2 As shown, in the automated disassembly and assembly device, the quick-change frame 110 is equipped with a vision sensor 140 and a distance sensor 150. The vision sensor 140 provides image support for the robot arm 100 to grasp the outer water inlet and the clamping device. The distance sensor 150 is used to measure the distance between the quick-change frame 110 and the clamping frame to determine the length of the positioning post 130 inserted into the screw hole.

[0035] The system provides visual judgment and image support for the automated assembly and disassembly device, enabling the robotic arm to accurately grasp the outer sprue and clamping device. The distance sensor accurately determines the insertion depth, ensuring the gripper effectively holds the outer sprue and clamping device. The visual sensor provides image support to facilitate the alignment and insertion of the positioning post 130 with the threaded hole (for mounting the heat insulation plate) on the clamping frame. The distance sensor measures the distance change between the clamping frame and the quick-release bracket 110, thereby accurately determining the insertion distance and ensuring the gripper effectively holds the outer sprue. It should be noted that the working and control principles of the visual and distance sensors are existing mature automation control technologies, and therefore will not be described in detail here.

[0036] like Figure 3 and Figure 4 As shown, in the automated disassembly and assembly device, the bottom of the soft landing platform 210 and the placement platform 200 are connected by elastic members 230. Four elastic members 230 are respectively arranged at the four corners of the bottom of the soft landing platform 210. Three sets of circumferentially evenly spaced positioning blocks 240 are provided on the soft landing platform 210, and two sets of positioning rods 220 are provided. During implementation, these, together with the positioning posts 130, form an equilateral triangle distribution to lower the clamping device. By determining the position of the clamping device, it is ensured that no angular deviation occurs when the structure is reassembled.

[0037] In the automated disassembly and assembly device, such as Figure 1 As shown, the device also includes a disassembly and assembly frame 300 independently distributed on one side of the robotic arm 100, which is used to fix the slide plate slag-blocking mechanism.

[0038] In the automated disassembly and assembly device, such as Figure 5 As shown, the quick-change frame 110 is equipped with a fixed structure 160, a guide post 170, and an outer top structure 180. The fixed structure 160 is mounted on the quick-change frame 110 via a connecting post. The fixed structure 160 has a clearance groove, which corresponds to the position of the jaws of the three-jaw chuck 120. The guide post 170 is fixed to the fixed structure 160. The outer top structure 180 is slidably fitted onto the guide post 170 and connected to the fixed structure 160 via a spring member 190. When the jaws of the three-jaw chuck 120 move inward to clamp the outer water outlet, the outer top structure 180 presses against the fixed clamping device. When the three jaws of the three-jaw chuck 120 move towards the center, they can act on the outer top structure 180 to push it outward and fit against the end face of the clamping device, thereby ensuring that the clamping device and the outer water outlet will not separate when they are pulled out. When the jaws and the outer water outlet disengage, the outer top structure can be automatically pulled back.

[0039] In the automated assembly / disassembly device, the outer top structure 180 includes an outer extrusion plate 181, which is distributed on the outer side of the outer sprue. The side of the outer extrusion plate 181 opposite to the clamping device is connected to a pressure plate 183 via an elastic deformable body 182. The flexible outer extrusion of the outer top structure 180 ensures a tight fit between the clamping device and the outer sprue.

[0040] The side of the three-jaw chuck 120 that contacts the outer top structure 180 is arranged with a sloping structure.

[0041] The above description is merely a preferred embodiment of this utility model, but the protection scope of this utility model is not limited thereto. The substitutions may be replacements of some structures, devices, or method steps, or they may be complete technical solutions. Equivalent substitutions or modifications made based on the technical solution and inventive concept of this utility model should all be covered within the protection scope of this utility model.

Claims

1. An automated disassembly and assembly device for the clamping device and external water inlet used in the maintenance of the sliding plate slag-blocking mechanism, characterized in that, include: The robotic arm (100) has a quick-release structure connecting a disassembly and assembly fixture at its end. The disassembly and assembly fixture includes a quick-change frame (110). The quick-change frame (110) is equipped with a three-jaw chuck (120) for clamping the external water inlet and the clamping device, and positioning pins (130) distributed on one side of the three-jaw chuck (120). The positioning pins (130) are used to be inserted into the screw holes of the heat insulation plate. The placement platform (200) is independently arranged on one side of the robot (100). The placement platform (200) is equipped with a soft landing platform (210) and a positioning rod (220). The positioning rod (220) is used to insert into the clamping device.

2. The automated disassembly and assembly device for the clamping device and external water inlet for maintenance of the sliding plate slag-blocking mechanism according to claim 1, characterized in that, The quick-change frame (110) is equipped with a vision sensor (140) and a distance sensor (150). The vision sensor (140) provides image support for the robot arm (100) to grasp the outer water inlet and the clamping device. The distance sensor (150) is used to measure the distance between the quick-change frame (110) and the clamping frame to determine the length of the positioning post (130) inserted into the screw hole.

3. The automated disassembly and assembly device for the clamping device and external water inlet for maintenance of the sliding plate slag-blocking mechanism according to claim 1, characterized in that, The bottom of the soft landing platform (210) and the placement platform (200) are connected by an elastic element (230). The soft landing platform (210) is provided with three sets of circumferentially equally spaced positioning blocks (240) and two sets of positioning rods (220). During implementation, they cooperate with the positioning column (130) to form an equilateral triangle distribution for the lowering and tightening device.

4. The automated disassembly and assembly device for the clamping device and external water inlet for maintenance of the sliding plate slag-blocking mechanism according to claim 1, characterized in that, The device also includes a disassembly frame (300) on one side of the independently distributed manipulator (100), which is used to fix the slide plate slag-blocking mechanism.

5. The automated disassembly and assembly device for the clamping device and external water inlet for maintenance of the sliding plate slag-blocking mechanism according to claim 1, characterized in that, The quick-change frame (110) is provided with a fixed structure (160), a guide column (170) and an outer top structure (180). The fixed structure (160) is installed on the quick-change frame (110) through a connecting column. The fixed structure (160) is provided with a clearance groove, which corresponds to the position of the jaws of the three-jaw chuck (120). The guide column (170) is fixed on the fixed structure (160). The outer top structure (180) is slidably fitted on the guide column (170) and connected to the fixed structure (160) through a spring (190). When the jaws of the three-jaw chuck (120) move inward to clamp the outer water inlet, the outer top structure (180) presses the fixed top clamp.

6. The automated disassembly and assembly device for the clamping device and external water inlet for maintenance of the sliding plate slag-blocking mechanism according to claim 5, characterized in that, The outer top structure (180) includes an outer extrusion plate (181), which is distributed on the outside of the outer water outlet. The outer extrusion plate (181) is connected to a pressure plate (183) on the side opposite to the clamping device through an elastic deformable body (182).

7. The automated disassembly and assembly device for the clamping device and external water inlet for maintenance of the sliding plate slag-blocking mechanism according to claim 1, characterized in that, The side of the three-jaw chuck (120) that contacts the jaws and the outer top structure (180) is arranged with a sloping structure.

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