CN111118243A - Pulling and vibrating driving equipment of blast furnace maintenance and disassembly robot and working method thereof - Google Patents
Pulling and vibrating driving equipment of blast furnace maintenance and disassembly robot and working method thereof Download PDFInfo
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- CN111118243A CN111118243A CN202010065885.9A CN202010065885A CN111118243A CN 111118243 A CN111118243 A CN 111118243A CN 202010065885 A CN202010065885 A CN 202010065885A CN 111118243 A CN111118243 A CN 111118243A
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- 238000012423 maintenance Methods 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 title claims abstract description 31
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- 238000007906 compression Methods 0.000 claims description 26
- 239000012530 fluid Substances 0.000 claims description 19
- 230000001681 protective effect Effects 0.000 claims description 11
- 230000000712 assembly Effects 0.000 claims description 8
- 238000000429 assembly Methods 0.000 claims description 8
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 2
- 229910000831 Steel Inorganic materials 0.000 abstract description 13
- 239000010959 steel Substances 0.000 abstract description 13
- 238000003466 welding Methods 0.000 abstract description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 12
- 238000010009 beating Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 9
- 238000013461 design Methods 0.000 description 8
- 229910052742 iron Inorganic materials 0.000 description 6
- 230000006378 damage Effects 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000002893 slag Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 239000002817 coal dust Substances 0.000 description 1
- 239000000571 coke Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 239000000243 solution Substances 0.000 description 1
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21B—MANUFACTURE OF IRON OR STEEL
- C21B7/00—Blast furnaces
- C21B7/16—Tuyéres
- C21B7/166—Tuyere replacement apparatus
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Abstract
The invention discloses pulling rapping driving equipment of a blast furnace maintenance disassembling and assembling robot and a working method thereof. Draw and drag drive arrangement that shakes and include the supporting seat, draw and drag drive arrangement and shake drive arrangement, draw and drag drive arrangement and include cylinder body and first piston rod, it shakes drive arrangement and includes shake and beat board and elastic component to shake, wherein first piston rod can remove between primary importance and second place, elastic component can remove between primary importance and contraction position, when elastic component removed primary importance from contraction position, elastic component drove and shakes the board and hit and shake and beat the piece, move to primary importance by the second place with the one end that the cylinder body protecgulum was stretched out to drive first piston rod. The driving device can provide a pulling force, and can also provide rapping and pulling force for the windband with welding condition to dismount the windband. And compact structure, reasonable arrangement, strong practicability and suitability for complex environment of steel mills.
Description
Technical Field
The invention relates to special equipment for disassembling, assembling and maintaining a blast furnace, in particular to pulling and rapping driving equipment of a disassembling and assembling robot for maintaining the blast furnace and a working method thereof.
Background
The blast furnace of the steel mill comprises an air pipe, an air sleeve, an air supply branch pipe and other parts. Wherein the blast furnace tuyere comprises a large sleeve, a middle sleeve and a small sleeve. The blast furnace is characterized in that the blast pipe is positioned on the outermost side in the blast furnace, the air supply branch pipe is positioned above the blast pipe, the large sleeve is connected with the furnace shell and sleeved with the middle sleeve, and the middle sleeve is sleeved with the tuyere small sleeve. The air jacket is an important device in a blast furnace air inlet system, and has the function of feeding hot air into the blast furnace, and along with the large-scale blast furnace and the continuous improvement of the air temperature level, the temperature of the front end of the air jacket is close to 2000 ℃, and the temperature of the slag iron melt is more than 1400 ℃. In the working process, the blast furnace air sleeve is required to bear the high-speed scouring of high-temperature hot air and the erosion of liquid iron slag, and is also required to bear the impact of high-temperature coke and the high-speed abrasion of coal dust during coal injection; in addition, the high temperature points in the blast furnace tuyere are increased, so that the blast furnace tuyere is easy to crack and the like. Therefore, the blast furnace tuyere is a component which is easily damaged in the blast furnace and needs periodic damping down for inspection and maintenance and disassembly.
At present, the maintenance dismouting operation of blast furnace windband generally adopts the manual type, and a windband needs several workman concurrent operations to install and dismantle, because windband weight generally is several hundred kilograms, need during the dismantlement to use the manual work to stimulate the smooth hammer striking extracting tool of dozens of kilograms repeatedly just can accomplish, and the dismantlement work intensity of labour is big, and low in labor efficiency very easily takes place the bodily injury accident. In addition, when the blast furnace air jacket is disassembled, the blast furnace air jacket is burnt and smelted into a whole by molten iron in the furnace sometimes, which is equivalent to that the blast furnace air jacket is welded. In this case, the difficulty of manual work is further increased.
At present, some blast furnace air sleeve dismounting devices are also arranged, and the dismounting work of the air sleeve is completed in an impacting or striking mode, but the devices are large in size and are not suitable for the complex working environment and road conditions of a steel mill. On the other hand, the air jacket is only detached by means of impact or striking, such as a structure of a sliding hammer or a breaking hammer, if the impact force is too small, the detaching effect cannot be achieved, and if the impact force is too large, the air jacket or the air inlet of the blast furnace is easily damaged under a high-temperature environment, so that unnecessary economic loss is caused.
Therefore, there is a need to develop a new driving apparatus for maintaining and disassembling a blast furnace, which can simplify the structure, reduce the volume, adapt to the environment of a steel mill, and provide a suitable driving force for the disassembling operation of the blast furnace.
The above description is included in the technical recognition scope of the inventors, and does not necessarily constitute the prior art.
Disclosure of Invention
Embodiments of the present invention provide a pulling rapping drive apparatus of a blast furnace maintenance disassembly and assembly robot and a method of operating the same, to at least solve or alleviate one or more of the technical problems of the prior art, or to at least provide one advantageous option.
In order to achieve the above purpose, an aspect of the embodiments of the present invention provides a pulling rapping drive apparatus for a blast furnace maintenance disassembling and assembling robot. The pulling and rapping driving device of the blast furnace maintenance and disassembly robot comprises a supporting seat, a pulling driving device and a rapping driving device. The pulling driving device comprises a cylinder body and a first piston rod, a front cover of the cylinder body is connected with the supporting seat, and fluid is arranged in the cylinder body; the first piston rod is a bidirectional piston rod penetrating through the front cover and the rear cover of the cylinder body, one end of the first piston rod, extending out of the front cover of the cylinder body, can move from a first position to a second position in the direction away from the supporting seat under the drive of fluid in the cylinder body, and a vibrating block is arranged at one end of the first piston rod, extending out of the rear cover of the cylinder body. The rapping driving device comprises a rapping plate and an elastic component, wherein the rapping plate is provided with a guide hole, the rapping plate is movably sleeved on the part of the first piston rod extending out of the rear cover of the cylinder body through the guide hole, and the radial size of the guide hole is smaller than that of the rapping block; one end of the elastic component is connected with the supporting seat, the other end of the elastic component is connected with the vibrating plate, the elastic component can move between an initial position and a contraction position, the vibrating plate is in contact with the vibrating block at the initial position, and the vibrating plate is separated from the vibrating block at the contraction position; when the elastic component moves from the contraction position to the initial position, the elastic component drives the rapping plate to impact the rapping block so as to drive one end, extending out of the front cover of the cylinder body, of the first piston rod to move from the second position to the first position.
Dragging of blast furnace maintenance dismouting robot shakes drive arrangement and drags through setting up and drag drive arrangement, makes first piston rod can remove to the primary importance under the fluidic drive in the cylinder body, drags in primary importance department and shakes the manipulator that drive arrangement connects and can catch on the one end of blast furnace wind cover, then makes the manipulator drag the blast furnace wind cover under the fluidic drive in the cylinder body, realizes the dismantlement work to the blast furnace wind cover.
In the actual disassembly process, if the blast furnace air jacket is burnt and smelted into a whole by molten iron in the furnace, the pulling rapping driving device of the blast furnace maintenance and disassembly robot drives the first piston rod to move from the first position to the second position through fluid in the cylinder body in the pulling driving device, so that the manipulator exceeds the end part of the blast furnace air jacket for a certain distance, then the manipulator moves to the contraction position from the initial position through the elastic component in the rapping driving device, the rapping plate in the rapping driving device is in contact with the rapping block in the pulling driving device at the initial position, and the elastic component drives the rapping plate to move forwards at the contraction position, so that the rapping plate is separated from the rapping block. And then the elastic component enables the elastic component to recover to the initial position, and the vibrating plate impacts the vibrating block, so that the piston rod recovers to the first position from the second position, the manipulator contacts with the blast furnace air sleeve again, and the vibration of the blast furnace air sleeve is realized.
The pulling and rapping driving device disclosed by the embodiment of the invention can realize the function of pulling the blast furnace air jacket, and can also assist the function of rapping in the function of pulling, thereby realizing the disassembly of the blast furnace air jacket with welding problems. Simultaneously, will drag and drag drive arrangement and shake drive arrangement and combine together organically, shake through setting up and beat elements such as piece, shake and beat the board, realized that global design, element combine organically, whole dragging and dragging shakes and beats drive arrangement compact structure, arrange rationally, the practicality is strong, can be applicable to the complex environment of steel factory.
In one embodiment of the pulling rapping driving device of the blast furnace maintenance disassembling robot, the elastic component comprises a compression element and a reset element, the compression element is arranged on the supporting seat, the compression element comprises a second piston rod, and the second piston rod is connected with the rapping plate; one end of the reset element is connected with the supporting seat, the other end of the reset element is connected with the rapping plate, and the axis of the reset element is parallel to the axis of the compression element; the compression element can drive the reset element to move from the initial position to the contraction position; the reset element is resettable from the retracted position to the initial position.
Through setting up compression element and reset element can drive the removal of beating the board between initial position and shrinkage position fast in elastic component, realize quick rapping function, and make the impact force when beating the board and shaking the contact of beating the piece big, can dismantle the tuyere cover better. Simultaneously, the axis of the compression element and the axis of the reset element are arranged to be parallel, so that the vibration plate can not incline or deviate when moving, and the vibration plate can collide with the plane of the vibration block, thereby ensuring the good guidance of the first piston rod and the manipulator, and avoiding damaging the air sleeve or other parts due to the inclination or deviation when the blast furnace air sleeve is disassembled.
In one embodiment of the pulling rapping drive apparatus of the blast furnace maintenance disassembling and assembling robot, the rapping drive device comprises at least two elastic assemblies, and the at least two elastic assemblies are uniformly arranged by taking the axis of the pulling drive device as a symmetry axis.
The plurality of elastic assemblies are arranged, the axes of the plurality of elastic assemblies which drag the driving device are uniformly arranged as the symmetrical shafts, so that the guidance of the vibrating plate can be further increased, the vibrating plate can move in parallel, the vibrating block is struck in the front, the impact force is uniform when the blast furnace air jacket is vibrated, and the condition that the blast furnace air jacket or other components are damaged is avoided.
In one embodiment of the pulling rapping driving device of the blast furnace maintenance dismounting robot, the pulling rapping driving device further comprises a guide shaft, a guide pipe and a through hole, wherein the guide shaft is arranged on the supporting seat; the guide tube is arranged in the reset element, and the guide tube is sleeved on the guide shaft; the through hole is arranged on the vibrating plate, and the vibrating plate is movably sleeved on the guide shaft through the through hole.
Through setting up the guiding axle on the supporting seat to corresponding set up the through-hole on shaking and beating the board and set up the stand pipe in reset element, make the stand pipe cover locate on the guiding axle, such combination setting can prevent effectively that compression element and reset element from shaking the volume too big in flexible in-process, causing to drag and draw the location between drive arrangement and the drive arrangement of shaking inaccurate.
In an embodiment of the pulling and rapping driving device of the blast furnace maintenance and disassembly robot, the pulling and rapping driving device further comprises a guide sleeve, the guide sleeve is arranged outside the guide hole and on a side surface of the rapping plate away from the rapping block, and the guide sleeve is movably sleeved on a portion of the first piston rod extending out of the rear cover of the cylinder body.
The guide sleeve is arranged on the vibration plate, so that the guidance of the first piston rod can be further improved, the first piston rod is prevented from inclining, deviating and the like when moving or a vibration block is impacted, and accurate positioning between the pulling driving device and the vibration driving device is further ensured.
In an embodiment of the pulling rapping drive device of the blast furnace maintenance disassembling robot, the pulling rapping drive device further comprises a drive device protection cover, and the drive device protection cover is arranged at the periphery of the supporting seat and used for wrapping the supporting seat. The driving device protective cover can effectively protect a pulling driving device and a rapping driving device in equipment in a high-temperature environment.
In an embodiment of the pulling rapping drive device of the blast furnace maintenance disassembling robot, the pulling rapping drive device further comprises a manipulator connecting piece, and the manipulator connecting piece is arranged at one end of the first piston rod, which extends out of the front cover of the cylinder body. The front end of the first piston rod is provided with a manipulator connecting piece for being connected with a manipulator on the blast furnace tuyere maintenance and disassembly robot.
In an embodiment of the pulling rapping drive device of the blast furnace maintenance and disassembly robot, the pulling rapping drive device further comprises a connecting piece protective cover, the connecting piece protective cover is arranged outside the manipulator connecting piece, one end of the connecting piece protective cover is connected with the supporting seat, and the other end of the connecting piece protective cover is in contact with the manipulator connecting piece. The connecting piece safety cover can effectively stretch out the manipulator connecting piece outside the supporting seat under the high temperature environment.
In an embodiment of the pulling rapping drive device of the blast furnace maintenance and disassembly robot, the pulling rapping drive device further comprises at least two support rods, one end of each support rod is connected with the support seat, and the other end of each support rod can abut against the blast furnace. The bracing piece can the butt on the blast furnace, makes the position relatively fixed of blast furnace maintenance dismouting robot and blast furnace, and the reaction force that the blast furnace produced when reducing equipment and picking out the windband controls the reaction force and can protect the windband better, is difficult for causing windband or blast furnace internal damage.
In order to achieve the above object, according to another aspect of the present invention, there is provided a method for operating a pulling rapping drive apparatus of a blast furnace maintenance disassembly and assembly robot, as defined in any of the above claims, wherein the method comprises the steps of:
controlling a pulling driving device, and driving a first piston rod to move to a first position under the driving of fluid in a cylinder body to enable a manipulator of the blast furnace maintenance disassembling and assembling robot to be in contact with the outer edge of a windband;
controlling a pulling driving device, wherein a first piston rod moves under the driving of fluid in a cylinder body so as to realize pulling of a wind sleeve;
if the pulling is not moving:
controlling a rapping driving device, and moving an elastic component from an initial position to a contraction position;
controlling a pulling driving device, wherein a first piston rod moves from a first position to a second position under the driving of fluid in a cylinder body, so that a manipulator of the blast furnace maintenance disassembling and assembling robot is separated from the outer edge of a windband;
and controlling a rapping driving device, wherein the elastic component moves from a contraction position to an initial position, and the elastic component drives a rapping plate to impact a rapping block, so that a first piston rod is driven to move from a second position to a first position, and a manipulator of the blast furnace maintenance, disassembly and assembly robot is contacted with the outer side of the air jacket again to realize rapping.
The working method of the pulling and rapping driving device disclosed by the embodiment of the invention can realize the function of pulling the blast furnace air jacket, and can also realize the function of rapping in the function of pulling, thereby realizing the disassembly of the blast furnace air jacket with welding problems.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic perspective view showing an exemplary embodiment of a blast furnace windband dismounting and mounting device according to the present invention, wherein the pulling rapping drive device is connected with a manipulator of a blast furnace maintenance dismounting and mounting robot;
fig. 2 is a schematic perspective view showing an exemplary embodiment of the connection of the pulling rapping drive apparatus to the manipulator of the blast furnace maintenance disassembling and assembling robot in accordance with an embodiment of the present invention;
fig. 3 shows a schematic perspective view of an exemplary embodiment of the internal structure of a pulling rapping drive apparatus (without a drive device guard mounted) in an embodiment of the present invention;
fig. 4 shows a schematic top view of an exemplary embodiment of the internal structure of a pulling rapping drive apparatus (without a drive device guard mounted) in an embodiment of the present invention;
fig. 5 shows a schematic view of an embodiment of the method of operation of the pulling rapping drive apparatus of the present invention, with the pulling drive device in a first position and the rapping drive device in an initial position;
fig. 6 shows a schematic view of a rapping drive device in a retracted position in an embodiment of the method of operating a pulling rapping drive apparatus of the present invention;
fig. 7 shows a schematic view of the pulling drive in a second position in an embodiment of the method of operating a pulling rapping drive apparatus of the present invention.
Wherein:
10-a support seat, 20-a pulling driving device and 30-a rapping driving device;
201-cylinder body, 202-first piston rod, 203-vibration block, 204-guide shaft, 205-guide sleeve;
301-a vibro-plate, 302-a compression element, 303-a reset element;
101-drive unit protective cover, 102-connector protective cover, 103-support bar, 104-manipulator connector;
60-a manipulator;
70-wind sleeve;
701-large sleeve, 702-middle sleeve and 703-small sleeve.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
First, the technical concept of the technical solution disclosed in the present invention will be explained. At present, the maintenance, disassembly and assembly operation of the blast furnace tuyere 70 (the blast furnace tuyere comprises a large sleeve 701, a middle sleeve 702 and a small sleeve 703) generally adopts a manual mode, the labor intensity of the disassembly operation is high, the labor efficiency is low, and personal injury accidents are easily caused.
In addition, there are some blast furnace windband dismantling devices in the steel mill, and the windband 70 is dismantled by impact or striking, but these devices have the problem that the size is large and the device is not suitable for the complex working environment of the steel mill. On the other hand, the size of the disassembly force is difficult to control, the disassembly effect can not be achieved if the disassembly force is too small, and the damage to the air sleeve or the air inlet of the blast furnace is easily caused if the disassembly force is too large, so that unnecessary economic loss is caused.
In the actual production of a steel mill, some blast furnace windshields 70 are better sleeved with other parts, so that the blast furnace windshields can be detached with smaller detaching force. However, some blast furnace tuyere 70 may creep or be burnt by molten iron in the furnace into a whole in a high temperature environment, similar to the case of welding with other parts, in which case a large dismantling force is required to dismantle it. Moreover, because the actual production environment and road conditions of the steel mill are complex, the space for accommodating the blast furnace maintenance disassembling and assembling equipment is small, so that the driving device and the internal elements thereof need to be reasonably designed and arranged, and under the condition of finishing the functions, the structure of the blast furnace maintenance disassembling and assembling equipment is more compact, the arrangement is more reasonable, the practicability is higher, and the blast furnace maintenance disassembling and assembling equipment is more suitable for the complex operation environment of the steel mill.
In view of the above-mentioned problems of the prior art devices, embodiments of the present invention provide a pulling rapping drive device of a blast furnace maintenance disassembly and assembly robot and an operating method thereof. In order to more clearly explain the overall concept of the present invention, the following detailed description is given by way of example in conjunction with the accompanying drawings.
The specific scheme is as follows:
the embodiment provides a pulling rapping driving device of a blast furnace maintenance disassembling and assembling robot. Fig. 3 shows a schematic perspective view of an exemplary embodiment of the internal structure of a pulling rapping drive apparatus (without a drive device guard mounted) in an embodiment of the present invention; fig. 4 shows a schematic top view of an exemplary embodiment of the internal structure of a pulling rapping drive apparatus (without a drive device guard installed) in an embodiment of the present invention. As shown in fig. 3 and 4, the pulling rapping drive device of the blast furnace maintenance disassembling and assembling robot comprises a support base 10, a pulling drive device 20 and a rapping drive device 30. The pulling driving device 20 comprises a cylinder 201 and a first piston rod 202, a front cover of the cylinder 201 is connected with the supporting seat 10, and fluid is arranged in the cylinder 201; the first piston rod 202 is a bidirectional piston rod penetrating through the front cover and the rear cover of the cylinder 201, one end of the first piston rod 202 extending out of the front cover of the cylinder 201 can move from a first position to a second position along a direction away from the support seat 10 under the driving of fluid in the cylinder 201, and one end of the first piston rod 202 extending out of the rear cover of the cylinder 201 is provided with a vibrating block 203. The rapping driving device 30 comprises a rapping plate 301 and an elastic component, wherein a guide hole (not shown in the figure) is formed in the rapping plate 301, the rapping plate 301 is movably sleeved on the part, extending out of the rear cover of the cylinder body 201, of the first piston rod 202 through the guide hole (not shown in the figure), and the radial dimension of the guide hole (not shown in the figure) is smaller than that of the rapping block 203; one end of the elastic component is connected with the supporting seat 10, the other end of the elastic component is connected with the vibrating and beating plate 301, the elastic component can move between an initial position and a contraction position, in the initial position, the vibrating and beating plate 301 is in contact with the vibrating and beating block 203, and in the contraction position, the vibrating and beating plate 301 is separated from the vibrating and beating block 203; when the elastic component moves from the contraction position to the initial position, the elastic component drives the rapping plate 301 to strike the rapping block 203, so as to drive the end, extending out of the front cover of the cylinder 201, of the first piston rod 202 to move from the second position to the first position.
In the present exemplary embodiment, the pulling drive 20 is a double-acting hydraulic cylinder. It will of course be appreciated that the pulling drive 20 may take other configurations or forms depending on design requirements, such as a double acting pneumatic cylinder. The double-acting hydraulic cylinder is adopted in the embodiment because the power provided by the double-acting hydraulic cylinder is larger than that provided by a lead screw and the like, so that the function of pulling the windband with large weight can be effectively realized. Compared with other devices capable of providing power, the double-acting hydraulic cylinder is smaller in size, so that the driving equipment can be more compact and small in overall design, and the double-acting hydraulic cylinder is suitable for narrow environments of steel mills.
The pulling and rapping driving device of the blast furnace maintenance and disassembly robot is provided with a pulling and rapping driving device 20, so that the first piston rod 202 can move to the first position under the driving of the fluid in the cylinder body 201, the manipulator connected with the pulling and rapping driving device can hook the one end of the blast furnace air jacket at the first position, and then the manipulator pulls the blast furnace air jacket under the driving of the fluid in the cylinder body 201, thereby realizing the disassembly work of the blast furnace air jacket.
In the actual disassembly process, if the blast furnace air jacket is burnt and smelted into a whole by molten iron in the furnace, the pulling rapping driving device of the blast furnace maintenance and disassembly robot drives the first piston rod 202 to move from the first position to the second position through fluid in the cylinder body 201 in the pulling driving device 20, so that the manipulator exceeds the end part of the blast furnace air jacket for a certain distance, then the manipulator moves to the contraction position from the initial position through the elastic component in the rapping driving device 30, the rapping plate 301 in the rapping driving device 30 is in contact with the rapping block 203 in the pulling driving device 20 at the initial position, and the elastic component drives the rapping plate 301 to move forwards at the contraction position, so that the rapping plate 301 is separated from the rapping block 203. And then the elastic component enables the vibration plate 301 to impact the vibration block 203, so that the piston rod is restored to the first position from the second position, the manipulator is contacted with the blast furnace air sleeve again, and the vibration of the blast furnace air sleeve is realized.
The pulling and rapping driving device disclosed by the embodiment of the invention can realize the function of pulling the blast furnace air jacket, and can also assist the function of rapping in the function of pulling, thereby realizing the disassembly of the blast furnace air jacket with welding problems. Simultaneously, will drag and drag drive arrangement 20 and shake drive arrangement 30 and combine together organically, through setting up elements such as shake piece 203, rapping plate 301, realized that overall design, element combine organically, whole dragging and dragging drive equipment that shakes compact structure, arrange rationally, the practicality is strong, can be applicable to the complex environment of steel factory.
In the rapping drive device 30, the elastic assembly comprises a compression element 302 and a reset element 303, the compression element 302 is arranged on the supporting seat 10, the compression element 302 comprises a second piston rod, and the second piston rod is connected with the rapping plate 301; one end of the reset element 303 is connected with the supporting seat 10, the other end of the reset element is connected with the vibrating plate 301, and the axis of the reset element 303 is parallel to the axis of the compression element 302; the compression element 302 is capable of driving the reduction element 303 to move from the initial position to the retracted position; the reset element 303 is resettable from the retracted position to the initial position.
The compression element 302 and the reset element 303 are arranged in the elastic component, so that the vibration plate 301 can be rapidly driven to move between the initial position and the contraction position, the rapid vibration function is realized, the impact force when the vibration plate 301 is contacted with the vibration block 203 is large, and the tuyere sleeve can be better detached. Meanwhile, the axial line of the compression element 302 and the axial line of the reset element 303 are arranged in parallel, so that the rapping plate 301 cannot incline or deviate during moving, the rapping plate 301 can collide with the plane of the rapping block 203, and therefore good guidance of the first piston rod 202 and the manipulator is ensured, and the air jacket or other parts cannot be damaged due to the inclination or deviation during dismounting of the blast furnace air jacket.
In the present embodiment, the compression element 302 is an auxiliary cylinder. It will be appreciated, of course, that the compression element 302 may take other configurations or forms, such as an auxiliary cylinder, depending on design considerations. The return element 303 is a spring, but the return element 303 may have other structures or forms, such as an accumulator, etc., according to different design requirements.
The compression element 302 adopts an auxiliary oil cylinder, the reset element 303 adopts a spring, and the auxiliary oil cylinder and the spring are designed in a matching way. Compared with other power devices, the design can further reduce the volume of the driving device under the condition of providing the same acting force, so that the internal elements of the driving device are more compact. If other power devices are adopted, the same force is generated, the volume is larger, the influence on the whole appearance volume of the equipment is larger, and the environment around a blast furnace of a steel mill requires that the appearance of the equipment is as small as possible.
In this embodiment the rapping drive device 30 comprises two elastic assemblies, which are arranged on both sides of the pulling drive device 20 symmetrically with respect to the axis of the pulling drive device 20 as axis of symmetry. It will be understood that the resilient members may be provided in three or more and evenly around the drag drive 20, depending on the design requirements.
The plurality of elastic components are arranged, the plurality of elastic components are uniformly arranged by taking the axis of the pulling driving device 20 as a symmetrical shaft, so that the guidance of the vibrating plate 301 can be further increased, the vibrating plate 301 can move in parallel, the vibrating block 203 is struck in front, the impact force is uniform when the blast furnace tuyere is vibrated, and the condition that the blast furnace tuyere or other components are damaged is avoided. In this embodiment, the two elastic assemblies are provided to achieve the above-mentioned functions, and also to reduce the number of components in the pulling rapping drive device to the maximum extent, thereby reducing the cost and making the structure smaller and more reasonable.
In this embodiment, the pulling rapping drive device further comprises a guide shaft 204, a guide tube (not shown in the figure) and a through hole (not shown in the figure), the guide shaft 204 being arranged on the support base 10; a guide tube (not shown) is arranged in the reset element 303, and the guide tube (not shown) is sleeved on the guide shaft 204; through holes (not shown in the figure) are arranged on the rapping plate 301, and the rapping plate 301 is movably sleeved on the guide shaft 204 through the through holes (not shown in the figure).
By providing the guide shaft 204 on the support base 10, and correspondingly providing the through hole (not shown) on the rapping plate 301 and the guide tube (not shown) in the resetting element 303, the guide tube (not shown) is sleeved on the guide shaft 204, so that the combined arrangement can effectively prevent the compressing element 302 and the resetting element 303 from swinging too much during the expansion and contraction process, which results in inaccurate positioning between the pulling driving device 20 and the rapping driving device 30.
In this embodiment, the pulling rapping drive device further comprises a guide sleeve 205, the guide sleeve 205 is disposed outside the guide hole (not shown in the figure) and on the side of the rapping plate 301 away from the rapping block 203, and the guide sleeve 205 is movably sleeved on the portion of the first piston rod 202 extending out of the back cover of the cylinder 201.
By providing the guide sleeve 205 on the rapping plate 301, the guidance of the first piston rod 202 may be further improved, avoiding tilting, shifting, etc. of the first piston rod 202 when it is moved or when the rapping block 203 is struck, further ensuring accurate positioning between the pulling drive 20 and the rapping drive 30.
In this embodiment the pull rapping drive apparatus further comprises a drive device protection cover 101, which drive device protection cover 101 is arranged at the periphery of the support seat 10 for wrapping the support seat 10. The drive-guard cover 101 effectively protects the pulling drive 20 and the rapping drive 30 within the device in a high-temperature environment.
In this embodiment, the pull rapping drive apparatus further comprises a manipulator connection 104, the manipulator connection 104 being arranged at the end of the first piston rod 202 protruding out of the front cover of the cylinder 201. As shown in fig. 2, a manipulator connection 104 is provided at the front end of the first piston rod 202 for connection to a manipulator 60 of the blast furnace windband maintenance robot. The robot arm connecting member 104 may be configured, for example, as a flange, an ear, a pin, a ball, etc., and it is understood that the configuration of the robot arm connecting member 104 may be selected according to the robot arm 60 used in the blast furnace maintenance disassembling and assembling robot.
In this embodiment, the pulling rapping drive device further comprises a connector guard 102, the connector guard 102 being arranged outside the manipulator connector 104, the connector guard 102 being connected at one end to the support base 10 and at the other end being in contact with the manipulator connector 104. The connector protective cover 102 can effectively extend out of the robot connector 104 outside the support base 10 in a high temperature environment.
As shown in fig. 1, in this embodiment the pulling rapping drive device further comprises at least two support bars 103, one end of the support bars 103 being connected to the support base 10, the other end being able to abut against the blast furnace. The bracing piece 103 can the butt on the blast furnace, makes the position relatively fixed of blast furnace maintenance dismouting robot and blast furnace, and the reaction force that the blast furnace produced when reducing equipment and picking up the windband controls the reaction force and can protect the windband better, is difficult for causing windband or blast furnace internal damage.
For the sake of facilitating an understanding of the present invention, the specific structure of the above-described pulling rapping drive apparatus will be further described:
the pulling driving device 20 is a double-acting oil cylinder, the cylinder body 201 is flange-fixed on the supporting seat 10, one end of the first piston rod 202 passes through the guide sleeve 205 and the rapping plate 301, and the head is provided with a rapping block 203; a manipulator connecting piece is arranged at the other end of the first piston rod 202, and a connecting piece protective cover is sleeved on the manipulator connecting piece; the guide sleeve 205 is connected with the rapping plate 301 through bolts, and the connecting piece protective cover is connected with the cylinder body 201 through bolts. The compression element 302 auxiliary oil cylinder is a single-acting oil cylinder, and the spring is used for storing and outputting energy as power and is matched with the auxiliary oil cylinder for use, so that a rapping function is realized; the spring is internally provided with a guide tube (not shown in the figure). The guide shaft 204 is used to prevent the oil cylinder from swinging too much during the telescoping process, which results in inaccurate positioning of the two driving devices, and it passes through the guide tube (not shown) inside the spring and the rapping plate 301 in sequence. The transition disc is welded on the supporting seat 10 and is connected with the baffle plate through a bolt. The purpose of the support bar 103 is to reduce the impact on the equipment caused by the reaction force generated when pulling the rapping windband.
In order to achieve the above object, the present embodiment provides, in another aspect, a method for operating a pulling rapping drive apparatus of a blast furnace maintenance disassembly and assembly robot as defined in any of the above. Fig. 5 shows a schematic view of an embodiment of the method of operation of the pulling rapping drive apparatus of the present invention, with the pulling drive device in a first position and the rapping drive device in an initial position; fig. 6 shows a schematic view of a rapping drive device in a retracted position in an embodiment of the method of operating a pulling rapping drive apparatus of the present invention; fig. 7 shows a schematic view of the pulling drive in a second position in an embodiment of the method of operating a pulling rapping drive apparatus of the present invention.
As shown in fig. 5 to 7, a method of operating a pull rapping drive apparatus, comprising the steps of:
controlling the pulling driving device 20, and moving the first piston rod 202 to a first position under the driving of the fluid in the cylinder 201, so that the manipulator of the blast furnace maintenance dismounting robot is contacted with the outer edge of the windband;
controlling the pulling driving device 20, and driving the first piston rod 202 to move under the driving of the fluid in the cylinder 201 to realize the pulling of the windband;
if the pulling is not moving:
controlling the rapping drive device 30 such that the elastic assembly moves from an initial position to a retracted position;
controlling the pulling driving device 20, and moving the first piston rod 202 from the first position to the second position under the driving of the fluid in the cylinder 201 to separate the manipulator of the blast furnace maintenance disassembling and assembling robot from the outer edge of the windband;
and controlling the rapping driving device 30, resetting the elastic assembly from the contraction position to the initial position, driving the rapping plate 301 to strike the rapping block 203 by the elastic assembly, driving the first piston rod 202 to move from the second position to the first position, and enabling the manipulator of the blast furnace maintenance, disassembly and assembly robot to contact with the outer side of the air jacket again so as to realize rapping.
For the sake of facilitating an understanding of the present invention, the specific working method of a pull-rapping drive apparatus will be further described:
when the windband is required to be maintained and disassembled, the following steps are adopted:
1. connecting the pulling and vibrating drive equipment with a manipulator of a robot of the blast furnace maintenance disassembling and assembling machine;
2. moving the robot of the blast furnace maintenance disassembling and assembling machine to the vicinity of the edge of the blast furnace, adjusting the position of the robot, and enabling the support rod 103 on the pulling and vibrating driving device to be abutted against the edge of the blast furnace and to be reliably contacted with the edge of the blast furnace;
3. controlling a pulling driving device 20 in the pulling rapping driving device to enable the manipulator to extend into the wind sleeve until the manipulator is contacted with the outer edge of the wind sleeve;
5. the pulling driving device 20 is controlled to pull the windband,
if the wind cover is not pulled (the wind cover is burnt), starting a rapping function:
① operating the button controlling the compression element 302 auxiliary cylinder to make the compression element 302 retract, and simultaneously bring the return element 303 spring and the rapping plate 301 to retract;
② operating the button of the double-acting oil cylinder of the pulling driving device 20 to make the double-acting oil cylinder drive the vibrating and beating block 203 to retract, at this time, the vibrating and beating block 203 contacts with the vibrating and beating plate 301, the manipulator is separated from the windband;
③ the button controlling the compression element 302 to assist the oil cylinder is operated to let the oil cylinder discharge oil, at this time, the compressed reset element 303 springs back quickly, instantly drives the vibrating plate 301 to push the vibrating block 203 to the initial position, and realizes one-time vibration.
6. Repeating the steps for several times, and the burned windband can be smoothly detached.
The mounting process is the reverse of the dismounting process.
The working method of the pulling and rapping driving device can realize the function of pulling the blast furnace air jacket, and can also assist the function of rapping in the function of pulling, thereby realizing the disassembly of the blast furnace air jacket with welding problems.
The method can be realized by adopting or referring to the prior art in places which are not described in the invention.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "square," and "over" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
The above disclosure provides many different embodiments, or examples, for implementing different features of the invention. The components and arrangements of the specific examples are described above to simplify the present disclosure. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.
Claims (10)
1. The utility model provides a drive equipment is beaten in drawing of blast furnace maintenance dismouting robot which characterized in that includes:
a supporting seat;
a pull drive device, the pull drive device comprising:
the cylinder body front cover is connected with the supporting seat, and fluid is arranged in the cylinder body;
the first piston rod is a bidirectional piston rod penetrating through the front cover and the rear cover of the cylinder body, one end, extending out of the front cover of the cylinder body, of the first piston rod can move from a first position to a second position in the direction away from the supporting seat under the driving of fluid in the cylinder body, and a vibrating block is arranged at one end, extending out of the rear cover of the cylinder body, of the first piston rod;
a rapping drive device, said rapping drive device comprising:
the vibrating plate is movably sleeved on the part of the first piston rod extending out of the rear cover of the cylinder body through the guide hole, and the radial size of the guide hole is smaller than that of the vibrating block;
one end of the elastic component is connected with the supporting seat, the other end of the elastic component is connected with the rapping plate, the elastic component can move between an initial position and a contraction position, the rapping plate is contacted with the rapping block at the initial position, and the rapping plate is separated from the rapping block at the contraction position;
when the elastic assembly moves from the contraction position to the initial position, the elastic assembly drives the vibrating plate to impact the vibrating block so as to drive one end, extending out of the front cover of the cylinder body, of the first piston rod to move from the second position to the first position.
2. A pulling rapping drive apparatus of a blast furnace maintenance pick-and-place robot as recited in claim 1, wherein said elastic assembly comprises:
the compression element is arranged on the supporting seat and comprises a second piston rod, and the second piston rod is connected with the rapping plate;
one end of the reset element is connected with the supporting seat, the other end of the reset element is connected with the rapping plate, and the axis of the reset element is parallel to the axis of the compression element;
the compression element is capable of driving the reduction element to move from the initial position to the retracted position; the reset element is resettable from the retracted position to the initial position.
3. A pulling rapping drive apparatus of a blast furnace maintenance disassembly and assembly robot as recited in claim 2, characterized in that:
the rapping drive device comprises at least two elastic assemblies, and the at least two elastic assemblies are uniformly arranged by taking the axis of the drawing drive device as a symmetrical axis.
4. The pulling rapping drive apparatus of a blast furnace maintenance disassembly and assembly robot as recited in claim 3, further comprising:
the guide shaft is arranged on the supporting seat;
the guide pipe is arranged inside the reset element, and the guide pipe is sleeved on the guide shaft;
the through hole is formed in the vibrating plate, and the vibrating plate is movably sleeved on the guide shaft through the through hole.
5. The pulling rapping drive apparatus of a blast furnace maintenance disassembly and assembly robot as recited in claim 1, further comprising:
the guide sleeve is arranged on the outer side of the guide hole and is positioned on the side face, away from the vibrating block, of the vibrating plate, and the guide sleeve is movably sleeved on the portion, extending out of the cylinder body rear cover, of the first piston rod.
6. The pulling rapping drive apparatus of a blast furnace maintenance disassembly and assembly robot as recited in claim 1, further comprising:
the driving device protective cover is arranged on the periphery of the supporting seat and used for wrapping the supporting seat.
7. The pulling rapping drive apparatus of a blast furnace maintenance disassembly and assembly robot as recited in claim 1, further comprising:
and the manipulator connecting piece is arranged at one end of the first piston rod, which extends out of the front cover of the cylinder body.
8. The pulling rapping drive apparatus of a blast furnace maintenance pick-and-place robot as recited in claim 7, further comprising:
the connecting piece safety cover, the connecting piece safety cover set up in the manipulator connecting piece outside, connecting piece safety cover one end with supporting seat connection, the other end with manipulator connecting piece contact.
9. The pulling rapping drive apparatus of a blast furnace maintenance disassembly and assembly robot as recited in claim 1, further comprising:
and one end of each support rod is connected with the corresponding support seat, and the other end of each support rod can be abutted against the blast furnace.
10. A method of operating a pull rapping drive apparatus of a blast furnace service disassembly and assembly robot as defined in claims 1-9, characterized in that said method comprises the steps of:
controlling the pulling driving device, and moving the first piston rod to the first position under the driving of the fluid in the cylinder body to enable a manipulator of the blast furnace maintenance disassembling and assembling robot to be in contact with the outer edge of the windband;
controlling the pulling driving device, wherein the first piston rod moves under the driving of the fluid in the cylinder body so as to realize the pulling of the windband;
if the pulling is not moving:
controlling the rapping drive device, wherein the elastic component moves from the initial position to the contracted position;
controlling the pulling driving device, and moving the first piston rod from the first position to the second position under the driving of the fluid in the cylinder body to separate a manipulator of the blast furnace maintenance disassembling and assembling robot from the outer edge of the windband;
and controlling the rapping driving device, wherein the elastic component is reset to the initial position from the contraction position, and the elastic component drives the rapping plate to impact the rapping block to drive the first piston rod to move to the first position from the second position, so that the manipulator of the blast furnace maintenance and disassembly robot is contacted with the outer edge of the air jacket again to realize rapping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010065885.9A CN111118243A (en) | 2020-01-20 | 2020-01-20 | Pulling and vibrating driving equipment of blast furnace maintenance and disassembly robot and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010065885.9A CN111118243A (en) | 2020-01-20 | 2020-01-20 | Pulling and vibrating driving equipment of blast furnace maintenance and disassembly robot and working method thereof |
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| Publication Number | Publication Date |
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| CN111118243A true CN111118243A (en) | 2020-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010065885.9A Pending CN111118243A (en) | 2020-01-20 | 2020-01-20 | Pulling and vibrating driving equipment of blast furnace maintenance and disassembly robot and working method thereof |
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| CN (1) | CN111118243A (en) |
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