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CN-224209978-U - Mechanical gripper, mechanical arm and blockage removing system of cement kiln preheater

CN224209978UCN 224209978 UCN224209978 UCN 224209978UCN-224209978-U

Abstract

The utility model provides a mechanical gripper, a mechanical arm and a blocking removing system of a cement kiln preheater, and relates to the technical field of cement kiln cleaning devices. The first clamping arm and the second clamping arm can relatively move close to or far away from each other to clamp or loosen the water gun, the first driving piece is connected with the first clamping arm and the second clamping arm, and the second driving piece is arranged on the first clamping arm or the second clamping arm and is used for being connected with the clamped water gun and driving the water gun to move close to or far away from the first driving piece. According to the embodiment provided by the utility model, the length of the water gun extending out of the mechanical gripper is adjusted, so that the high-temperature target area is cleaned in time at a long distance, the cleaning efficiency is improved, the manual short-distance operation is avoided, the labor intensity is reduced, and the manual safety is ensured.

Inventors

  • LI CHUANYONG
  • LIU JIAN
  • WANG TAO

Assignees

  • 米凯利科技（北京）有限公司

Dates

Publication Date
20260508
Application Date
20250529

Claims (10)

  1. 1. A mechanical gripper, comprising: A first clamping arm (1) and a second clamping arm (2) which can relatively move close to or away from each other to clamp or unclamp the water gun (200); A first driving member (3) connected to both the first clamp arm (1) and the second clamp arm (2); The second driving piece (4) is arranged on the first clamping arm (1) or the second clamping arm (2) and is used for being connected with the clamped water gun (200) and driving the water gun (200) to move close to or far away from the first driving piece (3).
  2. 2. The mechanical hand grip of claim 1, further comprising: A guide groove (5) formed in the first clamp arm (1) and the second clamp arm (2); The guide piece (6) is fixed on the first clamping arm (1) or the second clamping arm (2), the guide piece (6) is installed in the guide groove (5) and is connected in a sliding mode, the guide groove (5) and the guide piece (6) extend along a design direction, the guide groove (5) is recessed along a direction perpendicular to the design direction, and the design direction is a direction in which the first clamping arm (1) and the second clamping arm (2) are relatively close to or far away from each other.
  3. 3. The mechanical gripper according to claim 2, characterized in that the first gripper arm (1) comprises: The device comprises a first supporting plate (11), a second supporting plate (11), a first connecting plate and a second connecting plate, wherein the first side is a clamping side, and the second side is an installation side; A first clamping member (12) mounted to a first side of the first support plate (11); wherein the guide groove (5) is formed at the second side of the first support plate (11).
  4. 4. A mechanical gripper according to claim 3, characterized in that the second gripper arm (2) comprises: the second support plate (21) is arranged on one side of the first support plate (11) in parallel, the first side of the second support plate (21) is a clamping side, and the second side is an installation side, the first side of the second support plate (21) is opposite to the second side of the second support plate (21), the first side of the second support plate (21) and the first side of the first support plate (11) face the same direction, and the second side of the second support plate (21) and the second side of the first support plate (11) face the same direction; a second clamping member (22) mounted to a first side of the second support plate (21); Wherein the guide groove (5) is also formed at the second side of the second support plate (21).
  5. 5. The mechanical gripper according to claim 4, characterized in that the first drive member (3) comprises: A guide shaft (31) axially arranged along the design direction; the first motor (32) is in driving connection with the guide shaft (31) so as to drive the guide shaft (31) to move along the axial direction close to or far from the first motor (32); The connecting seat (33) is fixedly connected with the guide shaft (31), one of the guide shaft (31) and the connecting seat (33) is arranged on the second side of the first supporting plate (11), and the other is arranged on the second side of the second supporting plate (21).
  6. 6. The mechanical hand grip according to claim 4, wherein, The first clamping piece (12) is arranged opposite to the second clamping piece (22) so as to form a first clamping structure; the first clamping piece (12) and the second clamping piece (22) are both first idler wheels, the first idler wheels are provided with first clamping grooves which are recessed along the radial direction, the first clamping grooves are arranged along the circumferential direction, and the axial direction of the first idler wheels is perpendicular to the design direction.
  7. 7. The mechanical gripper according to claim 6, characterized in that the second drive member (4) comprises: a second motor (41) mounted on the first arm (1) or the second arm (2); The second roller (42) is arranged on the first side of the first supporting plate (11) or the first side of the second supporting plate (21), the second roller (42) is provided with a second clamping groove recessed along the radial direction, the second clamping groove is arranged along the circumferential direction, the axial direction of the second roller (42) is perpendicular to the design direction, and the second roller (42) and the first roller are correspondingly formed into a second clamping structure.
  8. 8. A robotic arm, comprising: The mechanical gripper of any one of claims 1-7; The arm structure (100) is rotationally connected with the mechanical gripper, the arm structure (100) comprises a plurality of small arms which are connected, and the adjacent small arms are rotationally connected through steering shafts.
  9. 9. A cement kiln preheater unblocking system, comprising: the arm structure (100) of claim 8; a high pressure water pump (300) in communication with a water source; the water gun (200) is connected with the high-pressure water pump (300); And a controller which is connected with and controls the arm structure (100) and the high-pressure water pump (300).
  10. 10. The cement kiln preheater blockage removal system of claim 9, wherein the high pressure water pump (300) comprises: The high-pressure water outlet pipe is connected with the water gun (200); The electric valve, the pressure sensor and the pressure transmitter are both arranged on the high-pressure water outlet pipe, and the pressure sensor and the pressure transmitter are both connected with the controller.

Description

Mechanical gripper, mechanical arm and blockage removing system of cement kiln preheater Technical Field The utility model relates to the technical field of cement kiln cleaning devices, in particular to a mechanical gripper, a mechanical arm and a blockage cleaning system of a cement kiln preheater. Background In the novel dry cement production line, a smoke chamber is an important device for connecting a rotary kiln with a decomposing furnace, hot smoke in the rotary kiln enters the decomposing furnace through the smoke chamber, and high-temperature raw materials of the lowest-stage preheater are fed into the rotary kiln through the smoke chamber. The section of the lowest smoke chamber which is connected with the rotary kiln is called a blanking slope. Because the novel dry cement production line adopts a preheating and pre-decomposition technology, the temperature of the pre-decomposed raw material is generally 850-900 ℃. The hot raw material enters the smoke chamber and then meets the kiln-exit smoke at the temperature of more than 1000 ℃, and the raw fuel contains harmful elements such as potassium, sodium, sulfur, chlorine and the like, and the elements are circularly enriched between the rotary kiln and a kiln tail system, so that the melting point of the hot raw material is reduced, and liquid phase is easy to occur early and crust is easy to form. The formation of crust is easy to cause accumulation and collapse of materials, affects ventilation of the system, worsens combustion efficiency, causes blockage when serious, and affects continuous operation of a production line. The kiln tail smoke chamber discharging slope is most difficult to clean, once a crust is formed, materials are easy to accumulate, the kiln tail smoke chamber discharging slope must be cleaned each time, otherwise, sintering is easy, cleaning is extremely difficult, and in addition, the temperature is high, so that safety production accidents are easy to cause. At present, the cleaning method of the kiln tail smoke chamber blanking slope crust mainly comprises the following steps: 1. The air cannon is used, the effect of clearing the blocking materials is better, and the effect of clearing the crust is poorer; 2. manual cleaning, namely manually cleaning tools such as steel drills, hammers and the like, so that the labor intensity of personnel is high and the risk is high; 3. When the crust is serious, the high-pressure water gun is used for cleaning after stopping the material, and the manual cleaning mode and the high-pressure water gun cleaning mode can thoroughly clean the crust of the blanking slope, but the material temperature and the air temperature at the position are usually more than hundreds of degrees, the probability of positive-pressure external spraying after blockage is very high, and the manual blockage cleaning by using steel drills or the high-pressure water gun is a dangerous work. Disclosure of utility model Aiming at the defects of the existing mode, the application provides the mechanical gripper, the mechanical arm and the blockage removing system of the cement kiln preheater, which can improve the automation level and the efficiency of cleaning work, improve the working environment of workers, reduce the labor intensity, reduce the probability of safety accidents and ensure the safety production. In a first aspect, embodiments of the present application provide a mechanical gripper that generally includes a first gripper arm, a second gripper arm, a first drive member, and a second drive member. The first clamping arm and the second clamping arm can relatively move close to or far away from each other to clamp or loosen the water gun, the first driving piece is connected with the first clamping arm and the second clamping arm, and the second driving piece is arranged on the first clamping arm or the second clamping arm and is used for being connected with the clamped water gun and driving the water gun to move close to or far away from the first driving piece. As an alternative embodiment, the mechanical gripper further comprises a guide groove and a guide. The guide groove is formed in the first clamping arm and the second clamping arm, the guide piece is fixed in the first clamping arm or the second clamping arm, the guide piece is installed in the guide groove and is connected in a sliding mode, the guide groove and the guide piece extend along a design direction, the guide groove is recessed along a direction perpendicular to the design direction, and the design direction is a direction in which the first clamping arm and the second clamping arm are relatively close to or far away from each other. As an alternative embodiment, the first clamping arm includes a first support plate and a first clamping member. The first side of the first support plate is a clamping side, the second side of the first support plate is an installation side, the first side of the first support plate is opposite to the s