CN111351364A - Automatic carbide discharging robot - Google Patents

Abstract

The invention discloses a calcium carbide automatic discharging robot which comprises a walking track, a trolley chassis, a rotary drive, a rotary support, a large arm and a pitching oil cylinder, wherein the large arm support is positioned at the top of the rotary support, is pivoted with the rotary support through a horizontal pivot and is directly driven by the pitching oil cylinder, the large arm comprises a middle arm capable of moving back and forth in the large arm support and a front arm capable of rotating around the axis of the large arm, and the front arm of the large arm is provided with a clamp holder for grabbing a drill rod. Compared with the existing furnace discharging robot, the calcium carbide automatic furnace discharging robot reduces one degree of freedom, and is easy to realize remote control of the robot. In addition, the middle arm and the large arm support of the tapping robot are in meshing transmission through a gear and a rack, the stroke of the large arm can be long enough, and the requirement of the tapping robot on the depth of a drawn drill rod during operation is met.

Description

Automatic carbide discharging robot

Technical Field

The invention relates to a calcium carbide discharging process, in particular to an automatic calcium carbide discharging robot.

Background

Calcium carbide, i.e. calcium carbide, of the formula CaC₂The garlic-flavored colorless crystal is a black block-shaped industrial product, the end face of the garlic-flavored colorless crystal is purple or gray, and the garlic-flavored colorless crystal can immediately generate violent chemical reaction when meeting water to generate acetylene and release a large amount of heat. The calcium carbide is not only an important raw material for producing acetylene, but also can be used for producing lime ammonia, can also be used as a steel desulfurizing agent, and is an important chemical raw material.

At present, the calcium carbide is produced by heating limestone and coke in a closed high-temperature reaction furnace in all countries in the world. The energy reserve of China has the characteristic of more coal and less oil, and the acetylene produced by the calcium carbide method can fully utilize the advantage of abundant coal reserves in China.

The calcium carbide discharging process refers to the whole operation process of enabling molten calcium carbide to smoothly flow out of a calcium carbide furnace until the molten calcium carbide is cooled into calcium carbide blocks. The temperature of melting carbide is very high, about 2000 ℃, flows out to the refrigerated in-process in the carbide follow carbide stove, can release a large amount of heat through conduction, convection current and radiation, and the environment of carbide workshop can become very abominable because of high temperature and dust, and the carbide is dangerous chemical substance moreover, meets water and can take place violent chemical reaction, can explode even when serious.

In the domestic calcium carbide industry, calcium carbide discharging equipment is very crude due to late starting, and most of work mainly depends on manual operation (4-5 people per group) on the calcium carbide discharging equipment for discharging operation.

The traditional calcium carbide discharging system mainly comprises a burning through bus system, a burning through device, a furnace front smoke discharging system, a discharging track, a winch, a furnace front baffle screen, a hole opening and blocking machine, a discharging trolley, a calcium carbide pot and the like. Three furnace outlets are uniformly distributed at 120 degrees on the calcium carbide furnace, and a working platform corresponds to the front of each furnace outlet for the operation of discharging. The discharging trolley carrying the carbide pot is arranged on the track in front of the furnace and is pulled by a winch at the tail end of the track to pull a steel wire.

The whole discharging process of the traditional calcium carbide discharging system is introduced as follows:

1) the contact breaker that the stokehold operation workman corresponds in the burn-through bus system of this fire door closes a floodgate, makes the electric current direction burn-through ware, burns through the ware and pushes away the in good time operation of opening a hole of operating position, before burning through the fire door, opens the blast switching valve that corresponds on the stokehold smoke exhaust system with this fire door, and the system that discharges fume begins to work, when the carbide flows out to the carbide pot smoothly, removes burn-through ware, closes the contact breaker.

2) When the molten calcium carbide flows out from the furnace outlet, the molten calcium carbide can be solidified when cooled, and the calcium carbide is blocked. There are two cases: the first is that the carbide solidifies in the mouth of a stove that goes out, and the second is that the carbide solidifies in furnace tongue department, and the manual drill rod or the shovel steel of operating workman is all needed to two kinds of circumstances, pokes the carbide that solidifies in mouth of a stove and furnace tongue department open.

3) After the calcium carbide is discharged, the eye plugging operation is performed, and the eye plugging operation has two modes: one is that workers use furnace blocking tools (such as a blocking shovel, a blocking push rod and the like) to block the furnace outlet; the other is that the worker moves the hole opening and plugging machine to a working position and starts the pneumatic conveying device on the hole opening and plugging machine to plug. The two modes use different media, the former adopts yellow mud, and the latter adopts fine-particle calcium carbide.

4) And finally, closing the air volume switch valve and finishing the tapping operation.

The discharging operation of the traditional calcium carbide discharging system not only has high labor intensity of workers, but also has low calcium carbide production efficiency. Because the calcium carbide production is accompanied with a large amount of dust, photothermal radiation and calcium carbide splash in a molten state, the working environment of workers is poor, and meanwhile, a great potential safety hazard (high voltage is introduced into a burner in the calcium carbide furnace burning-through process) exists. Therefore, the automatic modification of the driven furnace discharging process is necessary.

The earlier published chinese patent document (document No. CN 103307885 a) discloses a robot automatic furnace eye opening and blocking device, which comprises a guide rail, a movable base, a special robot, a cable transfer mechanism, a combined tool rack, and a heat shield, wherein the guide rail is arranged on the ground along the axis direction of the furnace eye, the heat shield is arranged between the furnace eye and the guide rail, the movable base can move back and forth along the guide rail, the special robot is arranged on the movable base, the cable transfer mechanism is arranged on the front end side surface of the guide rail, the cable transfer mechanism is positioned behind the heat shield, and the combined tool rack is arranged on the rear end side surface of the guide rail. The device can realize the automation of the calcium carbide discharging operation.

Recently published Chinese patent document (document No. CN 106403617A) discloses a method and a device for automatically discharging calcium carbide, wherein the method comprises the following steps: (1) opening the furnace eye; (2) cleaning a flow passage; (3) drawing the drill rod out of the furnace; (4) scraping slag by steel chisel; (5) soaking the steel chisel in water; (6) returning the steel chisel to the frame; (7) blocking the furnace eye; (8) and maintaining the furnace eye. The device adopting the method comprises a furnace discharging robot, a combined tool rack, a burner power supply mechanism, a steel chisel soaking tank, a movable baffle screen, a fixed baffle screen and a slag scraping mechanism.

In the electric automatic furnace discharging process, a furnace discharging robot is matched with a combined tool rack, and tools are frequently replaced.

In the automatic furnace eye opening and blocking device of the robot, the combination tool rack and the special robot are not matched reasonably, the direction of the tool axis and the direction of the furnace eye axis are 90 degrees and are arranged obliquely upwards, and the robot needs to be adjusted by more than two degrees of freedom in the process of grabbing tools, so that the grabbing tools consume longer time. Meanwhile, in order to ensure the strength of the supporting structure of the small arm, the unconventional robot structural design of a parallelogram mechanism is adopted, and meanwhile, the small arm is short in extension length and cannot be used for deep drill rod pulling operation.

In the automatic play stove device of above-mentioned carbide, the cooperation of combination tool frame and the robot of coming out of the stove is also unreasonable, and the instrument axis is parallel with the furnace eye axial, so need be special for the degree of freedom that the robot gripping tool configuration lateral deviation, and the required gesture of robot is all inequality when snatching every instrument. And the instrument quantity that the tool holder top layer was put is limited, arranges through upper and lower floor and increases the instrument and put quantity and can increase the instrument and snatch the degree of difficulty, if the robot gesture precision is not enough, produces the motion easily and interferes. And the steel chisel immersion water tank is introduced into the furnace discharging process method, the calcium carbide can react violently when meeting water to generate acetylene gas, potential risks can be brought to furnace discharging operation, and meanwhile, the extending length of a horizontal arm of the furnace discharging robot is short, and the drill chisel operation cannot be pulled to the depth of the furnace.

Disclosure of Invention

The invention aims to provide an automatic calcium carbide discharging robot to meet the requirement of drill rod drawing operation in a deep furnace.

The large arm support is positioned at the top of the rotary support, is pivoted with the rotary support through a horizontal pivot and is directly driven by the pitching oil cylinder, the large arm comprises a middle arm capable of moving back and forth in the large arm support and a front arm capable of rotating around the axis of the large arm, and the front arm of the large arm is provided with a clamp holder for grabbing a drill rod.

Furthermore, the large arm support is provided with a driving gear, the middle arm of the large arm is provided with a rack, and the middle arm of the large arm and the large arm support are in meshing transmission through the gear and the rack.

Further, an inner rotary flange is provided at an end of the middle arm, and an outer rotary flange is provided at an end of the front arm, wherein a sleeve portion of the outer rotary flange is inserted into a sleeve portion of the inner rotary flange and is rotatable relative to the inner insulating flange.

Further, above-mentioned forearm is the segmentation structure, includes along the axial from the front to back in proper order for holder sleeve, transition sleeve, insulating sleeve and outer rotatory ring flange, wherein, insulating sleeve's front and back both ends carry out electrical isolation through the adjacent part of outer insulating flange respectively.

Furthermore, a main shaft capable of rotating and axially moving is arranged in the middle arm, wherein the main shaft extends out of the sleeve part of the outer rotary flange plate, and the main shaft and the sleeve part are synchronously and rotatably connected through a sliding key.

Furthermore, a clamp connecting shaft for operating the opening and closing of the pair of mechanical clamping jaws is arranged in the clamp sleeve, and the main shaft and the clamp connecting shaft are electrically isolated through an inner insulating flange.

Further, the large arm further comprises a driving box, the driving box comprises a box body, a plurality of horizontal guide rods positioned in the box body, a sliding seat supported on the horizontal guide rods, a bearing seat fixedly connected with the sliding seat, a hydraulic motor arranged on the sliding seat, and a hydraulic oil cylinder in driving connection with the sliding seat, wherein the end part of the main shaft is supported on the bearing seat and is in driving connection with the hydraulic motor.

Furthermore, a through hole is formed in the rear wall of the box body, and the second hydraulic motor extends out of the box body from the through hole.

Further, the rotary support is a worm and gear type rotary support mechanism.

Further, the automatic calcium carbide discharging robot further comprises a hydraulic pump station and a field control cabinet which are arranged on the chassis of the trolley.

Compared with the existing furnace discharging robot, the calcium carbide automatic furnace discharging robot reduces one degree of freedom, so that the remote control of the robot is easy to realize. In addition, the middle arm and the large arm support of the discharging robot are in meshing transmission through a gear and a rack, the stroke of the large arm can be long enough, and the requirement of the discharging robot on the exhaust depth (the furnace chamber depth of the calcium carbide furnace is 1.5m) of fiber drawing operation is met.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, 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 flow chart of an automatic calcium carbide tapping method according to the invention;

FIG. 2 is a schematic structural view of an automatic calcium carbide discharging device according to the invention;

FIG. 3 is a schematic structural view of an automatic calcium carbide discharging robot according to the present invention;

FIG. 4 is a schematic structural diagram of the automatic calcium carbide discharging robot shown in FIG. 2;

fig. 5 is a schematic structural diagram of a large arm of the automatic calcium carbide discharging robot according to one embodiment of the invention;

FIG. 6 is a layout diagram of a control room console of the automatic calcium carbide discharging robot according to the invention;

fig. 7 is a schematic structural diagram of a large arm of an automatic calcium carbide discharging robot according to another embodiment of the invention;

FIG. 8 is a schematic view of the external structure of the forearm of FIG. 7;

FIG. 9 is a schematic view of the internal structure of the forearm of FIG. 7; and

fig. 10 is a schematic view of the structure of a drive case of the large arm shown in fig. 7.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Fig. 1-10 illustrate some embodiments according to the invention.

As shown in figure 1, the calcium carbide discharging method comprises the following steps:

s1, burning through a furnace eye: grabbing a burnthrough device which is placed on the left side and is provided with a carbon rod by using a furnace discharging robot, then conveying the burnthrough device to a furnace mouth, and burning through the blocked calcium carbide furnace eye, so that calcium carbide solution in the calcium carbide furnace flows out;

s2, drawing out the drill rod: a tapping robot is used for grabbing the hole opener placed on the right tool frame, then the long steel drill rod is stretched into the calcium carbide furnace and is rapidly pulled out to bring out calcium carbide flow, and meanwhile, the long steel drill rod continuously rotates around the axis of the long steel drill rod, so that the calcium carbide tapping efficiency is guaranteed, the staying time of the long steel drill rod in the furnace is reduced, and the quantity of calcium carbide condensed on the long steel drill rod is reduced;

s3, scraping slag by steel chisel: after the drill rod is pulled out of the furnace, the long steel rod is pulled out of the calcium carbide furnace and placed on a slag scraper, a small amount of calcium carbide solidified on the long steel rod is removed by the slag scraper, and meanwhile, the opener is straightened to a certain degree, so that the service life of the opener is prolonged;

s4, slagging off at a furnace mouth: when a large amount of calcium carbide in a semi-solidified state is accumulated at the furnace mouth, a furnace-out robot is needed to grab the slag raking device placed on the right-side tool rack, and the calcium carbide accumulated at the furnace mouth is raked open by the slag raking device, so that the calcium carbide in a molten state can flow out more easily;

s5, blocking the furnace eye: after all the carrying pots are filled with calcium carbide, grabbing the hole blocking device placed on the right tooling frame by using a furnace discharging robot, and spraying calcium carbide powder into the furnace eye by using compressed gas so as to block the furnace eye;

s6, cleaning a furnace tongue: when the furnace eye is blocked, a furnace-tap cleaner placed on the right-side tooling frame is grabbed by a furnace-discharging robot to clean calcium carbide adhered on the furnace tap, so that the calcium carbide can be discharged from the furnace next time;

s7, maintaining a furnace eye: and after the furnace tongue is cleaned, maintaining the outer side of the blocked furnace eye into an outer horn shape by using the burner again.

The discharging device for realizing the automatic calcium carbide discharging method comprises the following steps: the device comprises a furnace discharging robot 1, a movable fireproof door 4, a fireproof door retaining wall 5, a burner support 6, a burner 7, an eye opener 10, a slag skimmer 11, an eye blocking device 9, a furnace tongue cleaner 12, a slag scraper 13 and a tool support 8.

As shown in fig. 2, the tapping robot 1 is arranged along the axis direction of the calcium carbide furnace 2, the burner 7 is placed on the burner support 6 and arranged on the left side of the tapping robot, and the hole opener 10, the slag skimmer 11, the hole plugging device 9 and the furnace tongue cleaner 12 are placed on the tool support 8 and arranged on the right side of the tapping robot together with the slag scraper.

In the invention, three openers 10 are configured, the openers 10, the slag raking devices 11, the hole blocking devices 9 and the burner tongue cleaning devices 12 are arranged on the tool support 8 in parallel, the axial direction of the openers and the burner tongue cleaning devices is arranged at a first included angle of 40 degrees, the axial direction of the burner 7 is arranged at a second included angle of 30 degrees, the axial direction of the burner tongue cleaning devices is arranged at the center line of the calcium carbide burner eye, the tail parts of the openers 10, the slag raking devices 11, the hole blocking devices 9, the burner tongue cleaning devices 12 and the burner penetration devices 7 are provided with clamping parts with the same shape, and the central axes of the openers 10, the slag raking devices 11, the hole blocking devices 9, the burner tongue cleaning devices 12 and the burner penetration devices 7 are on the same plane with the center line of the calcium carbide burner eye.

The burner 7 repairs the inner wall of the furnace mouth orderly so as to facilitate material discharge, and thins or burns the furnace eye so as to facilitate smooth opening.

The opener 10 on the one hand blows the furnace eye open for the outflow of material from the furnace; on the other hand, the long drill rod is used for reciprocating at the furnace eye to flow out the viscous materials around the furnace eye.

The hole blocking device 9 is used for feeding materials into the furnace eye through compressed air to block the furnace eye through the pulse valve after the furnace eye is discharged.

The furnace tongue cleaner 12 is a long drill rod with a shovel-shaped head and is used for cleaning the furnace tongue after being discharged.

The slag scraper 13 is used for removing a small amount of calcium carbide solidified on the long steel chisel.

The slag raking device 11 is a long drill rod with a round cake-shaped head, and on one hand, the solidified material at the furnace tongue is cleaned so that the material can flow into the material pot through the furnace tongue. On the other hand, the method can also be used for extruding the outer opening material of the furnace eye to the position of the furnace opening for tamping after the furnace eye is plugged.

As shown in fig. 3 and 4, the tapping robot 1 mainly includes a traveling rail 101, a cart chassis 102, a swing support 103, a swing support 104, a boom support 105, and a boom 106.

The trolley chassis 102 is provided with road wheels and a walking motor for driving the road wheels.

The tapping robot 1 further comprises a hydraulic pump station outer cover 109, a large arm drag chain 110, a trolley drag chain 111, a front end baffle 112, a field control cabinet baffle 113 and a pitching cylinder 114.

The tapping robot 1 further comprises a hydraulic pump station 107 and a field control cabinet 108 which are arranged on the trolley chassis 102. Compared with the existing arrangement that a hydraulic pump station and a field control cabinet are far away from the robot, the tapping robot adopts an integrated structure design, integrates a hydraulic system, an electric cabinet and a tapping machine body, has a compact structure, does not need to arrange hydraulic pipelines and multiple groups of power lines on a working site, reduces the installation workload on the site, and shortens the installation and debugging time of the tapping robot.

The rotary support 103 realizes the rotary motion of the large arm of the intelligent tapping robot around the Z axis, so that the large arm can grab steel rods arranged in different directions.

Preferably, the worm and gear type rotary drive is adopted, the worm and gear type rotary support is formed by combining a rotary support body and a ring surface enveloping worm, multi-tooth contact is achieved, the multi-tooth contact type worm and gear type worm support has the advantages of being large in reduction ratio, large in transmission torque, stable in operation and the like, meanwhile, the multi-tooth contact type worm and gear type worm can bear large radial and axial loads and strong overturning moment, and requirements for installation space and design.

The pivoting support 104 is connected to the pivoting support 103 and can pivot about the Z axis relative to the trolley chassis 102. The large arm is rotated while receiving the power output of the rotating support. Preferably, the swivel support 104 is designed in the form of a welded flange for stiffness and strength.

The swivel support 104 is provided with a pitch support on its side, on which the cylinder barrel of the pitch cylinder 114 is pivotably supported. The large arm support 105 is pivotally connected to the slewing support 104 by a pivot, and the rod end of the pitch cylinder 114 is pivotally connected to the large arm support 105.

The pitching support and the pitching cylinder form a large arm pitching mechanism, and the large arm pitching mechanism realizes the pitching action of the large arm by driving the large arm support 105 to rotate through the extension and contraction of the pitching cylinder 114. The realization of the pitching action of the large arm powerfully ensures the realization of the avoiding and furnace tongue cleaning actions of the intelligent furnace discharging robot in the drill rod changing process.

The boom support 105 primarily carries the boom while providing a power output for the boom movement. The large arm support is mainly formed by welding a left steel plate and a right steel plate, an upper group of guide wheels and a lower group of guide wheels are installed on the large arm support, and the upper group of guide wheels and the lower group of guide wheels form a large arm slide way, so that the large arm is allowed to slide in a reciprocating manner, and support and limit are provided for the front and back movement of the large arm.

The large arm is a main component for bearing steel rods, and the furnace eye is opened and blocked by the grabbed steel rods. The big arm of intelligence tapping robot can snatch the drill rod automatically to can realize the automatic function of changing the drill rod of intelligence tapping robot.

As shown in fig. 5, the large arm 106 is composed of three major parts, a front arm 1061, a middle arm 1062, and a rear arm 1063.

Wherein the front arm 1061 mainly comprises a mechanical hand grip 1064, which is rotatable about its axis relative to the middle arm.

The middle arm 1062 is clamped between two sets of guide wheels of the large arm support, and includes a rack 1065 on the middle arm housing, and the large arm support 105 is further provided with a gear meshed with the rack for transmission and a barrel hole motor for driving the gear to rotate. The gear is meshed with the rack on the big arm to provide power for the front and back movement of the big arm. The middle arm 1062 further includes a pivot shaft (not shown) located in the inner cavity of the middle arm housing.

The rear arm 1063 is mainly provided with a hole-punching rotary motor and a drill rod grabbing cylinder (not shown in the figure) for driving a rotary shaft to rotate and reciprocate, the rotary shaft drives the front arm to rotate when rotating, and the rotary shaft pulls the mechanical clamping jaw to open and close when moving, and the main function of the rear arm is to grab various tools for opening and blocking a furnace hole.

Through the structural design, the tapping robot 1 can realize the following 6 actions, namely the linear motion X1 of the trolley along the X-axis direction, the linear motion X2 of the big arm along the X-axis direction, and the circumferential rotation omega of the big arm along the Z-axis direction₁Circular motion gamma of the big arm along the Y-axis direction, circular motion omega 2 of the front arm of the big arm along the center of the big arm and opening and closing motion of the clamping jaws.

The tapping robot is controlled by hydraulic power, has the same power and larger electric power, and is high in blowing speed, energy-saving and consumption-reducing. The big arm of the furnace discharging robot adopts a gear and rack transmission mode, and has the advantages of stable movement, accurate positioning, large bearing load and the like. In addition, the connection cable joint of the furnace-discharging robot adopts a structure form of an aerial plug, so that the field installation workload of equipment cables is reduced, and the field installation debugging and later-period equipment maintenance of the equipment are facilitated.

In one embodiment, some of the design parameters of the tapping robot are as follows:

1. the maximum running speed of the trolley is 0.75m/s, and the normal running speed is 0.5 m/s; 2. the left-right rotation angle of the big arm is +/-40 degrees; 3. the pitching swinging angle of the large arm is 10 degrees upwards and 15 degrees downwards; 4. the maximum moving speed of the big arm is 1.5m/s, and the normal moving speed is 1.2 m/s; 5. the front-back movement distance of the large arm is not more than 1.5 m; 6. the rotation speed of the large arm is not more than 3 r/min; 7. the maximum load of the large-arm mechanical claw is 400kg (mainly the weight of a steel chisel); 8. the diameter of the drill steel for opening the furnace eye is not more than 50mm, and the length is not less than 2.5 m; 9. the time for automatically replacing the furnace eye opening and blocking tool is not more than 2 min; 10. the maximum open hole depth can reach 4 m; 11. the maximum depth of the burnt hole can reach 2.4 m; 12. can realize automatic operation with drill rod.

The operation of the tapping robot for grabbing the drill rod will be described below.

When the tapping robot executes the drill rod grabbing action, the trolley is started to advance at a certain speed, and the trolley stops when moving to a preset position (drill rod grabbing mark positioning). After the trolley runs in place, the large arm rotates at a certain angular speed, and stops rotating when the large arm rotates to a preset position. After the rotation positioning action of the big arm, the big arm extends out at a certain speed, and when the front arm of the big arm is inserted in place with the clamping part of the tool, the clamping action of the drill rod is executed. After the drill rod is grabbed, the large arm is lifted upwards for a certain angle to prevent collision with the tool rack in the rotation process. And then the large-arm slewing mechanism rotates to a preset zero point of the system, and the drill rod grabbing work is finished.

The slag scraping operation of the tapping robot will be described below.

The small car chassis starts to retreat at a certain speed, stops after the small car chassis runs in place, then enables the big arm to rotate around the Z shaft at a certain angular speed, stops when the big arm rotates in place, extends out at a certain speed, stops when the big arm extends out in place, then the big arm presses down at a preset angle, the drill rod of the hole opener 10 falls into the groove of the slag scraper, and the big arm moves back and forth in a reciprocating mode to scrape slag.

The discharging process of the automatic calcium carbide discharging device is explained below.

1) Firstly, the movable fireproof door 4 is transversely moved, so that a gap on the fireproof door base 5 is exposed, and subsequent discharging operation is facilitated.

2) And (3) controlling the tapping robot 1 to grab the burner 7 placed on the left burner bracket 6, enabling the axis of the burner to be basically coincident with the axis of the furnace eye, and then driving the burner 7 to move towards the furnace eye by the tapping robot 1. When the front end of the carbon rod on the burner 7 reaches the position near the furnace eye, the power-on device is switched on to electrify the carbon rod on the burner 7, so that the blocked furnace eye is burned through.

3) When the blocked furnace eye is burnt through, the furnace discharging robot 1 is operated to retreat backwards, and meanwhile, the burner 7 is placed on the burner support 6.

4) Control out of furnace robot 1 and snatch the ware of opening eyes 10 of placing on right side frock support 8 to make the axis and the stove eye axis of opening the eye ware coincide basically, then stretch into the ware of opening eyes inside the carbide stove and pull out the ware of opening eyes fast and make it bring out the carbide flow, make the ware of opening eyes rotate around its self axis ceaselessly simultaneously, when guaranteeing carbide play stove efficiency, reduce the time that the ware of opening eyes dwelled in the stove, thereby reduce the carbide quantity of condensing on the ware of opening eyes.

5) After the hole opener finishes 3-4 times of drill rod pulling and discharging operations, the hole opener is pulled out of the calcium carbide furnace and placed on a slag scraper, and a small amount of calcium carbide solidified on the long drill rod is removed by the slag scraper.

6) In order to ensure the service life of the hole opener, the hole opener needs to be put back on the tool bracket, and a new hole opener is replaced to carry out the next operation of pulling and discharging the drill rod.

7) After 2-3 times of drill rod pulling operation, a large amount of calcium carbide in a semi-solidified state is accumulated at the furnace mouth, the furnace discharging robot 1 is controlled to grab the slag raking device 11 placed on the right tool support 8, and then the calcium carbide at the furnace mouth is raked.

8) And repeating the steps 5) to 7) until the carrying trolley is filled with the calcium carbide.

9) After all the carrying pots are filled with the calcium carbide, the hole blocking device placed on the right tool rack is grabbed by the furnace discharging robot 1, and the calcium carbide powder is sprayed into the furnace eye by using compressed gas, so that the furnace eye is blocked.

10) When the furnace eye is blocked, a furnace-tap cleaner placed on the right-side tooling frame is grabbed by a furnace-discharging robot to clean calcium carbide adhered on the furnace tap, so that the calcium carbide can be discharged from the furnace next time;

11) and after the furnace tongue is cleaned, maintaining the outer side of the blocked furnace eye into an outer horn shape by using the burner again.

12) And finally, the discharging robot is retreated to the safe position, and the movable fireproof door 4 is transversely moved, so that a notch in the fireproof door base 5 is blocked, and the high temperature in the calcium carbide furnace is prevented from causing adverse effects on the discharging device.

For the operating condition that makes things convenient for the staff to observe equipment and the production situation of fire door, this automatic play stove of carbide still is equipped with the digital visual monitoring system of high definition that is used for on-the-spot control, and it keeps away from the installation of furnace eye high temperature district and also can gain high definition video image, need not additionally to increase cooling system, has effectively improved the life-span of camera, compares with analog video signal, and video image's definition is high, and the interference killing feature is strong.

This automatic play stove device of carbide has the remote control mode, and the staff only needs can realize controlling in real time to equipment in the remote control room.

As shown in fig. 6, a plurality of control buttons are distributed on the console of the control room, so that the functions of starting and stopping the equipment, switching between manual and automatic modes, switching between working modes, switching between drill rod grabbing sequences and the like can be conveniently realized. The left end and the right end of the control console are provided with industrial control handles, workers can realize the operation and speed adjustment of each mechanism of the equipment through the handles, and the top ends of the handles are provided with manual fine adjustment buttons which can perform fine adjustment on the positions of each mechanism of the equipment. And a touch screen is arranged in the middle of the control console and used for storing all calibration parameters of the control system, modifying the control parameters and displaying system state parameters.

This tapping robot adopts program modularization's control mode, carries out program modularization with every action flow of tapping operation: the automatic drill rod changing program module, the automatic zero returning program module, the automatic hole burning program module, the automatic drill rod pulling program module and the automatic hole plugging program module are adopted, and a worker can complete corresponding operation actions only by selecting the corresponding program module, so that the control program of the tapping robot is simplified, and the operation difficulty of the tapping robot is reduced.

This automatic device of coming out of stove of carbide can make operating personnel come remote control through the man-machine interaction control platform in the control room, thereby accomplish if automatic electrification, automatic burn through, automatic opening, the borer is traded automatically, the operation of coming out of stove of a series of carbide stove such as clearance furnace tongue, production efficiency has not only been improved, and the manufacturing cost is reduced, still leave the carbide staff of coming out of stove from the risk factor height, intensity of labour is big, liberate in the operation environment that the operating mode is abominable, thereby workman's personal safety has been guaranteed, workman's operational environment has been improved.

Referring to fig. 7 to 10, in the present embodiment, the large arm 106 is mainly composed of three parts, namely a front arm 1061, a middle arm 1062 and a driving box 1066. By replacing the trailing arm with the drive housing 1066, the length occupied by the trailing arm can be significantly reduced, i.e. the amplitude of the trailing arm's swing can be reduced, compared to the larger arm of the previous embodiment.

The front arm 1061 of the large arm 106 is a segmented structure, and is sequentially provided with a holder sleeve 202, a transition sleeve 203, an insulating sleeve 205, and an outer rotating flange 206 from front to back along the axial direction, wherein the front end and the rear end of the insulating sleeve 205 are electrically isolated from the adjacent components (the outer rotating flange 206 and the transition sleeve 203) by an outer insulating flange 204.

The end of the middle arm 1062 is provided with an inner rotary flange 207, wherein the sleeve portion 2061 of the outer rotary flange 206 at the end of the forearm is inserted into the sleeve portion 2071 of the inner rotary flange 207 at the end of the middle arm and is rotatable relative to the inner rotary flange 207.

The spindle 216 is rotatably and axially movable in the middle arm, the front end of the spindle 216 projecting from the sleeve portion 2061 of the outer rotary flange 206 and being synchronously rotatably connected by the feather key 30.

The clamp sleeve 222 is provided with a clamp connecting shaft 220 for operating the opening and closing of a pair of mechanical clamping jaws, the tail end of the main shaft is provided with a rotating flange 18, and the rotating flange 18 and the clamp connecting shaft 220 are electrically isolated by an inner insulating flange 19.

The inner insulating flange 19 has a large outer diameter and is disposed in the insulating sleeve 205 having a large inner diameter. A sliding bush 221 is arranged in the transition sleeve 203 and used for supporting the clamping connecting shaft 220, the clamping connecting shaft 220 is connected with a pair of clamping connecting rods 223 through a clamping connecting block 222, and the pair of clamping connecting rods 223 are connected with a pair of mechanical clamping jaws 201.

The drive box 1066 includes a box body 210, a plurality of horizontal guide rods 224 in the box body, a slide 209 supported on the horizontal guide rods, a hydraulic motor 213 provided on the slide 209, and a hydraulic cylinder 214 drivingly connected to the slide 209 via a connecting bolt 215.

The lower end of the slide 209 forms a connecting sleeve 212, one end of the connecting sleeve 212 being provided with a bearing seat 211 on which the end of the spindle is supported by means of a thrust ball bearing assembly 227 and connected to the hydraulic motor 213 by means of a coupling 228.

A through hole 226 is arranged on the rear wall of the box body 210, and the hydraulic motor 213 extends out of the box body through the through hole so as to reduce the volume of the box body.

The large arm has two degrees of freedom, namely, the rotation motion of the front arm of the large arm around the axis of the front arm, and the opening and closing motion of the clamping jaw of the large arm.

The opening and closing of the large arm clamping jaws are powered by the telescopic movement of the hydraulic oil cylinder 214. When the hydraulic rod of the hydraulic oil cylinder 214 extends forwards, the power is transmitted to the connecting sleeve 212 and the bearing seat 211 through the connecting bolt 215, and the bearing seat 211 drives the boom main shaft 216 to move forwards through the thrust ball bearing assembly 227, so that the pair of clamping jaws 201 are driven to open.

When the hydraulic rod of the hydraulic cylinder 214 retracts backwards, the power is transmitted to the connecting sleeve 212 and the bearing seat 211 through the connecting bolt 215, and then the large arm main shaft 216 is driven to move backwards, so that the pair of clamping jaws 201 are driven to move in a closing mode.

The rotary power of the forearm comes from the rotary motion of the hydraulic motor 213. When the hydraulic shaft of the hydraulic motor 213 rotates, the power is transmitted to the boom main shaft 216 through the coupling 228, and the boom main shaft 2216 drives the outer rotating flange 206 to rotate through the sliding key 230, and the insulating sleeve 205, the outer insulating flange 204, the transition sleeve 203, and the holder sleeve 202 are connected to the outer rotating flange 206, so that the rotation is also generated.

Meanwhile, the main shaft 16 of the big arm also drives the rotary flange 18, the inner insulating flange 19, the clamp connecting shaft 20, the clamp connecting block 22 and the clamp connecting rod 23 to rotate, and finally, the rotary motion of the front end of the big arm around the self shaft is realized.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides an automatic robot that comes out of stove of carbide, its characterized in that, includes walking track, dolly chassis, swing drive, slewing bearing, big arm support, big arm and every single move hydro-cylinder, wherein, big arm support is located slewing bearing's top is through horizontal pivot and slewing bearing pin joint, and by every single move hydro-cylinder direct drive, big arm includes can the back-and-forth movement in the big arm support the well arm with can be around the rotatory forearm of self axis, the forearm of big arm is equipped with the holder that is used for grabbing the borer.

2. The automatic calcium carbide discharging robot as claimed in claim 1, wherein the large arm support is provided with a drive gear, the middle arm of the large arm is provided with a rack, and the middle arm of the large arm and the large arm support are in meshing transmission through the gear and the rack.

3. The automatic calcium carbide discharging robot as claimed in claim 1, wherein an inner rotating flange is provided at an end of the middle arm, and an outer rotating flange is provided at an end of the front arm, wherein a sleeve portion of the outer rotating flange is inserted into a sleeve portion of the inner rotating flange and is rotatable relative to the inner insulating flange.

4. The automatic calcium carbide discharging robot as claimed in claim 3, wherein the front arm is of a segmented structure and comprises a holder sleeve, a transition sleeve, an insulation sleeve and an outer rotary flange plate in sequence from front to back along the axial direction, and the front end and the rear end of the insulation sleeve are electrically isolated through adjacent parts of the outer insulation flange respectively.

5. The automatic calcium carbide discharging robot as claimed in claim 4, wherein a main shaft capable of rotating and moving axially is arranged in the middle arm, wherein the main shaft extends out of the sleeve part of the outer rotary flange plate, and the main shaft and the sleeve part are synchronously and rotationally connected through a sliding key.

6. The automatic calcium carbide discharging robot as claimed in claim 5, wherein a gripper connecting shaft for operating a pair of mechanical jaws to open and close is arranged in the gripper sleeve, and the main shaft and the gripper connecting shaft are electrically isolated from each other by an internal insulating flange.

7. The automatic calcium carbide discharging robot as claimed in claim 6, wherein the boom further comprises a driving box, the driving box comprises a box body, a plurality of horizontal guide rods in the box body, a sliding seat supported on the horizontal guide rods, a bearing seat fixedly connected with the sliding seat, a hydraulic motor arranged on the sliding seat, and a hydraulic oil cylinder in driving connection with the sliding seat, wherein the end of the main shaft is supported on the bearing seat and in driving connection with the hydraulic motor.

8. The automatic calcium carbide discharging robot of claim 7, wherein a through hole is formed in the rear wall of the box body, and the second hydraulic motor extends out of the box body from the through hole.

9. The automatic calcium carbide discharging robot as claimed in claim 1, wherein the rotary drive is a worm and gear type rotary drive mechanism.

10. The automatic calcium carbide discharging robot according to claim 1, further comprising a hydraulic pump station and a field control cabinet which are arranged on the chassis of the trolley.

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