CN101234490A - Blast-furnace furnace-arch maintenance robot movement mechanism - Google Patents
Blast-furnace furnace-arch maintenance robot movement mechanism Download PDFInfo
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- CN101234490A CN101234490A CNA2008100340968A CN200810034096A CN101234490A CN 101234490 A CN101234490 A CN 101234490A CN A2008100340968 A CNA2008100340968 A CN A2008100340968A CN 200810034096 A CN200810034096 A CN 200810034096A CN 101234490 A CN101234490 A CN 101234490A
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Abstract
The invention relates to a motion mechanism of a blast furnace top maintaining robot, comprising a support frame which is fixedly connected with the blast furnace top manhole and is positioned in the cavity of the blast furnace top. The support frame is provided with a rotary table, of which the rotary center is positioned in the center of the blast furnace top. The rotary table is provided with a lifting platform in which a telescopic boom is arranged. The structure well realizes a three degrees motion of the structure. With simple structure, good rigidity, the motion mechanism of the blast furnace top maintaining robot can automatically and precisely control the moving position and meet the operation requirement of the industry robot.
Description
Technical field
The present invention relates to the motion of a kind of blast furnace furnace roof maintenance, belong to extraordinary large scale industry Robotics field with industrial robot.
Background technology
In enterprise's large equipment maintenance process, tend to have some difficulties, perhaps dangerous, for example be the maintenance of 2500 cubic metres high about 40 meters blast furnace furnace roofs (as Fig. 1) to volume, be exactly the work that difficulty is very big to the welding pre-buried steel pin and the spray refractory material of blast furnace conical top inside.This work now all is by manually finishing, and not only efficient is low, and is of poor quality, and the workman also has the danger that falls down, and life is threatened.So consider to use the large scale industry robot to replace the workman to carry out operation.
Summary of the invention
The objective of the invention is to problem at the prior art existence, a kind of blast furnace furnace roof maintenance motion is provided, make power tool welding gun and shower nozzle etc. can at first reach the blast furnace inboard wall of burner hearth, carry out the circumference rotary operation along inwall then, after finishing a circle, telescopic arm stretches according to operating mode, power tool can be elevated to another position that needs operation afterwards, thereby can make power tool carry out operation along the wall of burner hearth, increase work efficiency, saved human cost and reduced danger coefficient.It is simple in structure, good rigidity, and movement position can be by computer realization accurately control automatically.
To achieve the object of the present invention, design of the present invention is:
According to the columned characteristics of blast furnace self, invented circular cylindrical coordinate formula frame for movement.This mechanism can finish the operation on the conical top inner wall surface of blast furnace well.This circular cylindrical coordinate formula frame for movement is spatial movement mechanism, three degree of freedom is arranged, mainly contain four parts and form, comprise bracing frame, turntable (as Fig. 2), lifting platform (crane such as Fig. 1), telescopic arm (as Fig. 5) etc., turntable, lifting platform and telescopic arm are respectively realized the motion of one degree of freedom.Bracing frame is a large-scale integral housing moulding, have suspension ring above, being used for hanging of crane send, flange is arranged at the top, can rely on flange robot to be fixed on the installation manhole of blast furnace wall chute material distributing machine, the end has the line hole, is convenient to cable, refractory material carrier pipe and welding wire etc. and passes through in enclosure interior, passes to robot manipulating task instrument place.
Turntable is made up of under casing and table top, and under casing is fixed on the bracing frame, and table top is connected by the roller type rotating supporting device with under casing, the roller type rotating supporting device can effectively reduce friction and wear, bearing capacity is big, can bear bigger tilting moment, compact conformation; On the under casing inwall gear-box is installed, its output shaft passes under casing and fixedlys connected with table top, the power shaft of motor-driven gear case, thereby the rotation of realization turntable.Can assemble electric equipment and working equipment etc. in the under casing, its cable, refractory material carrier pipe and welding wire etc. can be connected with the power tool of top by the cavity of turntable hollow shaft.
Lifting platform comprises a crane, and crane has two slide rails up and down, and the glidepath of crane is fixed on the table top of turntable, and glidepath can be installed the ball-screw driving mechanism again as the bearing of crane, and slider nut can slide thereon; Crane adopts V shape mechanism, and four connecting rods are connected by connecting axle, and its upper and lower is connected with slide rail by slide block, and lower slider is driven by ball-screw.
Telescopic arm is the flexible shell structure of a two-stage, and the telescopic arm first segment is fixed on the top board of lifting platform; On telescopic arm second joint gear is housed, with the tooth bar engaged transmission of installing on the first segment, under the driving of motor, second joint can be done stretching motion along the first segment inwall; Telescopic arm the 3rd is saved ball-screw and is driven, ball-screw and the nut guide block routing motion that is contained on telescopic arm second joint, thus making the 3rd joint motion, power tools such as shower nozzle, welding gun can be installed in telescopic arm the 3rd joint top.
According to above-mentioned inventive concept, the present invention adopts following technical proposals:
A kind of blast-furnace furnace-arch maintenance robot mechanism comprises that one fixedlys connected with blast furnace furnace roof manhole and is in the bracing frame of blast furnace furnace roof inner chamber, it is characterized in that installing on the described bracing frame turntable, and the center of rotation of turntable is in the center of blast furnace furnace roof; A lifting platform is installed on the described turntable; A telescopic arm is installed on the described lifting platform.
Above-mentioned bracing frame is a L-shaped integral housing, is made of head, " L " shape housing and end welding, and the import of its head becomes the inclined-plane to fixedly connected with the manhole coupling of blast furnace furnace roof; Fixedly connected with described turntable in the end, all wired hole in head and end and " L " shape housing linkage interface place, and there is gusset the junction, and suspension ring are arranged on the head.
Above-mentioned turntable is: a under casing is fixedlyed connected with the end of described bracing frame, the under casing top inner wall is installed a gear-box, a motor is installed below the gear-box, motor is through the brick axle of gearbox drive turntable, this rotating shaft is for being hollow rotating shaft, stretch out the under casing top, the top of rotating shaft is by the fixedly connected table top of top cover, there is a fixing chassis table top below, a fixedly connected supporter below the table top, the groove that taper roller bracing ring and chassis are housed on the supporter forms to roll and supports.
Above-mentioned lifting platform is: be made of a top board and two collapsible cranes; Two collapsible cranes are arranged in parallel, two glidepaths of lower end are fixedlyed connected with table top, both sides, lower end and two nut sliders of two cover fork-shaped hinge connecting rods are hinged, and nut slider and glidepath cunning are joined, and one by the parallel installation with glidepath of motor-driven screw rod, screw rod and two nut sliders revolve joins, the screw thread rotation direction of two nut sliders is opposite, and connecting rod is hinged mutually by pin, and small end and top shoe are hinged, top shoe and last slide rail cunning are joined, and last slide rail is fixedlyed connected with top board.
Above-mentioned telescopic arm is the two-stage telescoping mechanism: the first segment stationary pipes is fixedly mounted on the described top board; The second joint sliding tube slip cap is contained in the first segment stationary pipes, fixes a tooth bar in the first segment stationary pipes along its length, in the second joint sliding tube motor is installed, and a gear and the engagement of described tooth bar are installed on its output shaft; The 3rd joint travelling carriage and the second joint sliding tube cunning are joined, the 3rd joint travelling carriage is fixedlyed connected with the backing plate of slip in the second joint sliding tube, install one by motor-driven ball screw between two end plates of the 3rd joint travelling carriage, a ball screw nut block interior with being fixed on the second joint sliding tube revolved and joined.
Characteristics of the present invention are simple in structure, control is convenient, owing to adopt circular cylindrical coordinate formula three-degree-of-freedom motion mechanism, rotation, lifting and mobile Three Degree Of Freedom be drive separately, raise several meters at lifting platform, under the bad working environments such as telescopic arm number meter, the deviation that mechanism causes because of amount of deflection is the machine software compensation as calculated, is convenient to satisfy requirement of engineering precision.
Description of drawings
Fig. 1 is the structural representation of one embodiment of the invention.
Fig. 2 is the integral installation structural representation of blast furnace and arch maintenance robot.
Fig. 3 is the structural representation of blast furnace.
Fig. 4 is the structure key diagram of bracing frame.
Fig. 5 is the structural representation of turntable.
Fig. 6 is the gear-box schematic diagram of turntable.
Fig. 7 is the crane structural front view.
Fig. 8 is a crane structure right view.
Fig. 9 is the telescopic arm structure front view.
Figure 10 is the telescopic arm structure right view.
The specific embodiment
A preferred embodiment of the present invention accompanying drawings is as follows: referring to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, this blast-furnace furnace-arch maintenance robot movement mechanism adopts the mechanical motion mechanism of circular cylindrical coordinate formula, it contains three degree of freedom, this structure will realize separately that three sub-agencies of one degree of freedom motion fit together, and be fixed on the bracing frame 4, formed an overall structure.Its specific embodiment is finished jointly by three sub-agencies work compounds, in the cylindrical coordinates space or rotate or move, finally makes terminal power tool arrive the blast furnace furnace roof inner wall surface of expection.
Referring to Fig. 4 and Fig. 5, bracing frame 4 is integral housing 11 moulding that are big " L " shape, head 7 thick ends 9 are thin, and the manhole 5 on head 7 and blast furnace 6 walls contacts, and its flange that utilizes self is with robot overall fixed being fixed on the manhole 5 in the blast furnace chute material distributing machine.End 9 reduces size as far as possible in the requirement of satisfying strength and stiffness, and the center of rotation of under casing 20 is overlapped after the under casing 20 of turntable 3 is fixedly connected with the central shaft of blast furnace 6, obtains accurate localization.There are suspension ring 8 to sling on the bracing frame 4, move into blast furnace during work, shift out blast furnace after finishing, realize the action between industrial robot and the working environment with the heavy equipment that rises of crane and so on.Have gusset 12 to increase the intensity of bracing frame 4 in the junction of head 7 and end 9,9 have line hole 10 with under casing 20 junctions in the end, and cable, refractory material carrier pipe and welding wire etc. are passed through in the bracing frame enclosure interior, pass to robot manipulating task instrument place.
Referring to Fig. 5 and Fig. 6, turntable 3 comprises under casing 20, cylindrical roller supporter 18, table top 19, gear-box 15, conical roller supporter 17, chassis 16 and top cover 14.Under casing 20 is square housings, as required except base as other sub-agencies, also be connected by the roller type rotating supporting device with table top 19, and welding equipment is installed in body, spraying equipment and electrical equipment etc., utilized the space to greatest extent, made structure compact more.The roller type rotating supporting device adopts conical roller supporter 17 to bear vertical force, conical roller supporter 17 is to be contained on the retainer that pull bar constitutes by conical roller to constitute, the power of toppling is born by cylindrical roller supporter 18, and horizontal force is born as central shaft by the rotating shaft 21 of gear-box 15.The effect of supporting conical roller and support cylinder shape roller is played on chassis 16, and table top 19 is fixedlyed connected by top cover 14 with rotating shaft 21.On under casing 20 inwalls gear-box 15 is installed, its rotating shaft 21 is hollow shafts, and its cavity can make cable, refractory material carrier pipe and welding wire etc. pass through, and can prevent winding unnecessary when rotating.The power shaft of motor 22 driving gearboxs 15, thereby the rotation of realization turntable, other two sub-agencies that drive then on the table top 19 rotate, and realization rotatablely moves in X-Y plane around the Z axle, and rotation angle range is the 0-360 degree, the central lines of Z axle and blast furnace.
Referring to Fig. 7 and Fig. 8, lifting platform 2 and telescopic arm 1 can realize that the space of robot moves.Lifting platform 2 is to form with two cranes and a top board 23, two crane symmetries are installed in the both sides of the centre bore of table top 19, crane has two slide rails 25,28 up and down, adopt V shape mechanism, the glidepath 28 of crane is connected and fixed as bottom and table top 19, ball-screw 29 has been installed on the glidepath 28, glidepath 28 is connected by lower nut slide block 26 with connecting rod 30, lower nut slide block 26 has two functions, one is that slide block can move as straight line in the slideway of glidepath 28, another is to be connected with ball-screw 29, is driven by it.Each root connecting rod 30 connects by connecting axle 43,31,32, and last and last slide rail 25 constitutes an integral body.Motor 27 drives ball-screw 29 rotations, drive lower nut slide block 26 along the slideway rectilinear motion, drive each root connecting rod 30 interlock again, drive the track slip of top shoe 24 afterwards along last slide rail 25, thereby make slide rail 25 do the straight line elevating movement, it is fixing at grade that top board 23 is gone up slide rail with two, also is that top board 23 is done the straight line elevating movement, and have two circular holes at medium position on the top board 23, cable, refractory material carrier pipe and welding wire etc. are passed through.Two supporting structures of crane are opposite, be lower nut slide block 26 move toward one another, compare with the identical direction of motion can hoisting mechanism degree of stability, obtain better to support, this mechanism will rotatablely move and be converted into vertical moving, and realize that the straight line of lifting platform on Z-direction moves.
Referring to Fig. 9 and Figure 10, telescopic arm 1 is a two-stage telescoping mechanism, is bullet design according to Top of BF, stretches along with the variation of radius about the bullet; Telescopic arm 1 first segment stationary pipes 33 is fixed on the top board 23, and tooth bar 39 is housed in inside, telescopic arm 1 second joint sliding tube 34 1 ends are equipped with gear 41, under the driving of motor 42, by the rack-and-pinion transmission, can make the second joint sliding tube 34 in first segment stationary pipes 33, do straight line and move.Telescopic arm 1 the 3rd joint travelling carriage 37 is fixedly connected by backing plate 44, end plate 38 is equipped with at the two ends of travelling carriage 37, ball-screw 18 is installed on the end plate 38, and be connected with nut guide block 35 on being fixed on telescopic arm 1 second joint sliding tube 34, under the driving of motor 40, ball-screw 36 rotatablely moves, and the straight line that changes telescopic arm 1 the 3rd joint travelling carriage 37 by nut guide block 35 into moves, and so far can realize the moving process in the X-Y plane.Power tools such as spraying equipment and welding equipment can be installed in telescopic arm 1 the 3rd joint travelling carriage 37 afterbody tops, to satisfy the industrial machine human needs.
Claims (5)
1. blast-furnace furnace-arch maintenance robot movement mechanism, comprise that one fixedlys connected with blast furnace furnace roof (6) manhole (5) and is in the bracing frame (4) of blast furnace furnace roof (6) inner chamber, it is characterized in that a upward installation turntable (3) of described bracing frame (4), the center of rotation of turntable is in the center of blast furnace furnace roof; Described turntable (3) is gone up a lifting platform (2) is installed; Described lifting platform (2) is gone up a telescopic arm (1) is installed.
2. blast-furnace furnace-arch maintenance robot movement mechanism according to claim 1, it is characterized in that described bracing frame (4) is a L-shaped integral housing, be made of head (7), " L " shape housing (11) and end (9) welding, the import of its head (7) becomes the inclined-plane to fixedly connected with manhole (5) coupling of blast furnace furnace roof (6); Fixedly connected with described turntable (3) in end (9), head (7) and end (9) and " L " shape housing (11) all wired hole, linkage interface place (10), and there is gusset (12) junction, and suspension ring (8) are arranged on the head (7).
3. blast-furnace furnace-arch maintenance robot movement mechanism according to claim 2, it is characterized in that described turntable (3) is: a under casing (20) is fixedlyed connected with the end (9) of described bracing frame (4), under casing (20) top inner wall is installed a gear-box (15), a motor (22) is installed below the gear-box (15), motor (22) is through the brick axle (21) of gear-box (15) transmission turntable (3), this rotating shaft (21) is for being hollow rotating shaft, stretch out under casing (20) top, the top of rotating shaft (21) is by the fixedly connected table top of a top cover (14) (19), there is a fixing chassis (16) table top (19) below, a fixedly connected supporter (18) below the table top (19) is equipped with taper roller bracing ring (17) and supports with the groove formation rolling on chassis (16) on the supporter (18).
4. blast-furnace furnace-arch maintenance robot movement mechanism according to claim 3 is characterized in that described lifting platform (2) is: be made of a top board (23) and two collapsible cranes; Two collapsible cranes are arranged in parallel, two glidepaths (28) of lower end are fixedlyed connected with table top (29), the both sides, lower end of two cover fork-shaped hinge connecting rods (30) and two nut sliders (26) are hinged, nut slider (26) is joined with glidepath (28) is sliding, a screw rod (29) and the parallel installation of glidepath (28) that drives by motor (27), screw rod (29) revolves with two nut sliders (26) joins, the screw thread rotation direction of two nut sliders (26) is opposite, connecting rod (30) is by pin (31,32) be hinged mutually, connecting rod (30) upper end is hinged with top shoe (24), top shoe (24) is joined with last slide rail (25) is sliding, and last slide rail (25) is fixedlyed connected with top board (23).
5. the motion of blast-furnace furnace-arch maintenance robot according to claim 4, it is characterized in that described telescopic arm (1) is the two-stage telescoping mechanism: first segment stationary pipes (33) is fixedly mounted on the described top board (23); Second joint sliding tube (34) slip cap is contained in the first segment stationary pipes (33), fix a tooth bar (39) in the first segment stationary pipes (33) along its length, in the second joint sliding tube (34) motor (42) is installed, a gear (41) and described tooth bar (39) engagement are installed on its output shaft; The 3rd joint travelling carriage (37) is joined with the second joint sliding tube cunning, the 3rd joint travelling carriage (37) is fixedlyed connected with the backing plate (44) of slip in the second joint sliding tube (34), install one by motor (40) ball screw driven (36) between two end plates (38) of the 3rd joint travelling carriage, ball screw (a 36) nut block (35) interior with being fixed on the second joint sliding tube (34) revolved and joined.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810034096A CN100586668C (en) | 2008-02-29 | 2008-02-29 | Blast-furnace furnace-arch maintenance robot movement mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810034096A CN100586668C (en) | 2008-02-29 | 2008-02-29 | Blast-furnace furnace-arch maintenance robot movement mechanism |
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| Publication Number | Publication Date |
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| CN101234490A true CN101234490A (en) | 2008-08-06 |
| CN100586668C CN100586668C (en) | 2010-02-03 |
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| CN200810034096A Expired - Fee Related CN100586668C (en) | 2008-02-29 | 2008-02-29 | Blast-furnace furnace-arch maintenance robot movement mechanism |
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| CN104464831A (en) * | 2014-10-20 | 2015-03-25 | 佛山市禾才科技服务有限公司 | H-type composite mechanical arm |
| CN105965225A (en) * | 2016-06-27 | 2016-09-28 | 中国原子能科学研究院 | Reactor graphite removal device |
| CN106499912A (en) * | 2016-11-25 | 2017-03-15 | 上海速介机器人科技有限公司 | Portable big reducing drives formula pipe robot entirely |
| CN106834583A (en) * | 2017-03-13 | 2017-06-13 | 鞍钢建设集团有限公司 | A kind of mechanical arm that is automatically positioned walks Biodge device and the localization method for shaft furnace maintenance |
| CN107598436A (en) * | 2017-10-19 | 2018-01-19 | 胡景棋 | One kind promptly welds car for aircraft accident |
| CN108518751A (en) * | 2018-04-13 | 2018-09-11 | 明光市天淼新能源科技有限公司 | A kind of multifunction combined indoor air purifier |
| CN108581304A (en) * | 2018-04-27 | 2018-09-28 | 杨贵忠 | A kind of high-rise building guardrail welding robot |
| CN112756348A (en) * | 2020-12-17 | 2021-05-07 | 石家庄怡鑫科技开发有限公司 | Scraping device |
| CN113001073A (en) * | 2021-03-10 | 2021-06-22 | 库恩智能设备(常州)有限公司 | High-precision automatic welding robot |
| CN113927227A (en) * | 2021-11-08 | 2022-01-14 | 淮安洛昱海电子科技有限公司 | Anti-blocking high-altitude welding robot |
| CN116160170A (en) * | 2023-04-25 | 2023-05-26 | 常州市鹏睿机械有限公司 | Automatic welding device for processing transformer shell |
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| JP6184161B2 (en) * | 2012-07-12 | 2017-08-23 | キヤノン株式会社 | robot |
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- 2008-02-29 CN CN200810034096A patent/CN100586668C/en not_active Expired - Fee Related
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| CN104464831A (en) * | 2014-10-20 | 2015-03-25 | 佛山市禾才科技服务有限公司 | H-type composite mechanical arm |
| CN105965225A (en) * | 2016-06-27 | 2016-09-28 | 中国原子能科学研究院 | Reactor graphite removal device |
| CN106499912A (en) * | 2016-11-25 | 2017-03-15 | 上海速介机器人科技有限公司 | Portable big reducing drives formula pipe robot entirely |
| CN106834583A (en) * | 2017-03-13 | 2017-06-13 | 鞍钢建设集团有限公司 | A kind of mechanical arm that is automatically positioned walks Biodge device and the localization method for shaft furnace maintenance |
| CN107598436A (en) * | 2017-10-19 | 2018-01-19 | 胡景棋 | One kind promptly welds car for aircraft accident |
| CN108518751A (en) * | 2018-04-13 | 2018-09-11 | 明光市天淼新能源科技有限公司 | A kind of multifunction combined indoor air purifier |
| CN108581304A (en) * | 2018-04-27 | 2018-09-28 | 杨贵忠 | A kind of high-rise building guardrail welding robot |
| CN112756348A (en) * | 2020-12-17 | 2021-05-07 | 石家庄怡鑫科技开发有限公司 | Scraping device |
| CN112756348B (en) * | 2020-12-17 | 2022-05-13 | 石家庄怡鑫科技开发有限公司 | Scraping device |
| CN113001073A (en) * | 2021-03-10 | 2021-06-22 | 库恩智能设备(常州)有限公司 | High-precision automatic welding robot |
| CN113001073B (en) * | 2021-03-10 | 2023-09-08 | 库恩智能设备(常州)有限公司 | High-precision automatic welding robot |
| CN113927227A (en) * | 2021-11-08 | 2022-01-14 | 淮安洛昱海电子科技有限公司 | Anti-blocking high-altitude welding robot |
| CN116160170A (en) * | 2023-04-25 | 2023-05-26 | 常州市鹏睿机械有限公司 | Automatic welding device for processing transformer shell |
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| CN100586668C (en) | 2010-02-03 |
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