CN117484460A - Rotary type integrated operation robot for industrial silicon furnace and use method thereof - Google Patents

Rotary type integrated operation robot for industrial silicon furnace and use method thereof Download PDF

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Publication number
CN117484460A
CN117484460A CN202311662464.4A CN202311662464A CN117484460A CN 117484460 A CN117484460 A CN 117484460A CN 202311662464 A CN202311662464 A CN 202311662464A CN 117484460 A CN117484460 A CN 117484460A
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CN
China
Prior art keywords
cylindrical support
support frame
eye
industrial silicon
brackets
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Granted
Application number
CN202311662464.4A
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Chinese (zh)
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CN117484460B (en
Inventor
王磊
王延军
尹贻东
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Shandong Juncheng Machinery Technology Co ltd
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Shandong Juncheng Machinery Technology Co ltd
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Priority to CN202311662464.4A priority Critical patent/CN117484460B/en
Publication of CN117484460A publication Critical patent/CN117484460A/en
Application granted granted Critical
Publication of CN117484460B publication Critical patent/CN117484460B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/08—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for attachment of work holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P15/00—Making specific metal objects by operations not covered by a single other subclass or a group in this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/10—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
    • B25H1/16—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top in height
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Vertical, Hearth, Or Arc Furnaces (AREA)

Abstract

The rotary integrated operation robot for the industrial silicon furnace comprises an annular ground rail, wherein a moving platform is arranged on the annular ground rail, and a mounting platform is arranged above the moving platform; the mounting platform is provided with a plurality of arc-shaped brackets, the arc-shaped brackets are provided with rotatable cylindrical support frames, and the rotation axes of the cylindrical support frames pass through the central line of the industrial silicon furnace; the cylindrical support frame comprises a plurality of assembly brackets which are circumferentially arranged around the rotation axis, the adjacent assembly brackets are detachably connected, and an open-eye mechanism, a hole burning mechanism and a hole blocking mechanism are respectively arranged on one side of each assembly bracket, which faces the rotation axis, and can move. Different from the switching mode of the existing operation mechanism, the device can switch different operation mechanisms to operate the furnace mouth under the condition that the position of the movable platform is kept unchanged, and the device can be provided with horizontal holes at different height positions and perform subsequent related operations due to the special use method of the device.

Description

Rotary type integrated operation robot for industrial silicon furnace and use method thereof
Technical Field
The invention relates to the technical field of industrial silicon operation robots, in particular to a rotary type integrated operation robot for an industrial silicon furnace and a use method thereof.
Background
The operation robot for the industrial silicon furnace is required to have three functions of opening, burning and blocking, a plurality of moving platforms are generally arranged for realizing the functions, opening mechanisms, blocking mechanisms and blocking mechanisms with different functions are respectively arranged on the moving platforms, when the operation robot is used, the corresponding moving platforms are required to be sequentially moved to the working positions according to the sequence, as the arrangement mode is required to move different moving platforms for a plurality of times and occupies large space, the opening mechanisms and blocking mechanisms are arranged on the same moving platform for use by the existing part of factories, the opening mechanisms, the burning and blocking mechanisms are generally arranged on the same horizontal plane for facilitating the follow-up opening, blocking and blocking operations in sequence, the operation robot can normally operate for the opening of the conventional horizontal plane, but when the opening of the higher position is required, the whole operation robot is required to be inclined upwards so that the horizontal hole can only be opened at the high position, and the working rail can not be opened, and the working rail is required to be frequently moved to be frequently influenced by the driving mechanism before the moving of the operating moving platform.
Disclosure of Invention
The invention provides a rotary type integrated operation robot for an industrial silicon furnace and a use method thereof, and aims to solve the problems that horizontal holes cannot be formed in different horizontal planes in the mode of switching operation mechanisms by adopting a movable platform and normal operation efficiency of workers nearby the industrial silicon furnace is affected during operation.
The technical scheme of the invention is as follows:
the rotary integrated operation robot for the industrial silicon furnace comprises an annular ground rail which is arranged around the industrial silicon furnace, wherein a movable platform capable of moving is arranged on the annular ground rail, and an installation platform capable of rotating on a vertical plane is arranged above the movable platform;
the mounting platform is provided with a plurality of arc-shaped brackets along the diameter direction of the annular ground rail, the arc-shaped brackets are provided with rotatable cylindrical support frames, and the rotation axes of the cylindrical support frames pass through the central line of the industrial silicon furnace;
the cylindrical support frame comprises a plurality of assembly brackets which are circumferentially arranged around the rotation axis, adjacent assembly brackets are detachably connected, and an open-eye mechanism, an eye burning mechanism and an eye blocking mechanism are respectively arranged on one side of each assembly bracket, which faces the rotation axis;
the lengths of the center points of the operating positions of the open-eye mechanism, the burn-in mechanism and the plugging mechanism are the same with the length of the rotating axis, and the open-eye mechanism, the burn-in mechanism and the plugging mechanism can all move along the length direction of the cylindrical support frame.
The device is different from the existing operation robots, after the single operation robot is aligned with the furnace mouth of the industrial silicon furnace, the movable platform is positioned, so that the device can move after the operation of opening, burning and blocking the hole is completed, therefore, in the operation process, only a worker is required to complete the operation mechanism and the furnace mouth alignment confirmation work once, and the operation mechanism switching mode of the structure does not need to move the movable platform, thereby avoiding affecting the operation of workers nearby the industrial silicon furnace, and only the worker is required to be warned to withdraw when the worker is required to switch the furnace mouth.
The concrete structure for realizing the rotation of the cylindrical support frame is characterized in that a plurality of annular rail supports are arranged on the cylindrical support frame along the length direction, the annular rail supports comprise annular rail lantern rings sleeved outside the cylindrical support frame, a plurality of movable positioning sliding seats are fixed on the annular rail lantern rings, and the positioning sliding seats and the arc-shaped supporting tables are detachably fixed. The split cylindrical support frame can be fixed after the annular rail lantern ring is sleeved, and the cylindrical support frame can be supported and rotationally connected by connecting the positioning sliding seat with the arc-shaped supporting table.
In order to avoid dislocation to appear between a plurality of equipment brackets, the outside of equipment bracket is provided with arc extension seat, and the cylinder support frame is provided with the worm wheel lantern ring in one side that the industry silicon stove was kept away from to arc extension seat, and the worm wheel lantern ring can dismantle with the arc extension seat and be connected, be provided with on the mounting platform with worm drive mechanism of worm wheel lantern ring meshing. The vertical plane formed by the arc-shaped extension seats can be used for fixing the worm wheel lantern ring, the worm wheel lantern ring can avoid relative movement of the assembly bracket, and the structural strength of the post-assembly cylindrical support frame is improved.
The mode of realizing the connection between the assembly brackets is that the assembly brackets are provided with connecting holes at one side close to and far away from the industrial silicon furnace, and adjacent assembly brackets are connected through connecting pieces inserted in the connecting holes. The outer side surface of the assembly bracket is prevented from being provided with a fixing structure, so that the installation of the lantern ring structure is prevented from being influenced.
In order to confirm the actual position of operating mechanism, the cylindrical support frame has cup jointed the spiral ring, and set up the distancer with spiral ring relative arrangement on the mounting platform, the distancer orientation axis of rotation sets up and is perpendicular with the axis of rotation. The distance between each position of the spiral circle and the center of the circle is different, so that the distance meter can measure the actual rotation angle of the spiral ring in real time, and the position of the operating mechanism can be conveniently confirmed.
In order to realize the installation of the working mechanism, the assembly brackets are circumferentially arranged along the rotation axis, and one side of the assembly brackets facing the rotation axis is a plane perpendicular to the diameter of the cylindrical support frame.
Preferably, the plane included angle of adjacent assembly brackets is 120 °.
In order to master the working states of different operation mechanisms, the cylindrical support frame is provided with travel switches at one ends of the opening mechanism, the hole burning mechanism and the hole blocking mechanism, which are far away from the industrial silicon furnace. When any one of the operation mechanisms is far away from the travel switch and performs operation, the state information can be obtained.
The application method of the rotary type integrated operation robot for the industrial silicon furnace comprises the following steps of:
s1, equipment assembly:
(1) Paving an annular ground rail by taking the industrial silicon furnace as the center, and arranging a movable platform capable of moving along the annular ground rail on the annular ground rail;
(2) A rotatable mounting platform is arranged on the moving platform, and a plurality of arc-shaped brackets are arranged on the mounting platform along the diameter direction of the annular ground rail (1);
(3) Selecting three assembly brackets and arranging an open-eye mechanism, a burn-in mechanism and a plugging mechanism on one side of the assembly brackets away from the arc-shaped surface respectively;
(4) The three assembly brackets are circumferentially arranged around the same central axis and sequentially connected and combined to form a cylindrical support frame;
(5) A plurality of fixed hole groups are formed along the length direction of the cylindrical support frame, and the fixed ring rail support or the spiral circular lantern ring can be disassembled at the fixed hole groups;
(6) The cylindrical support frame is hoisted through the hoisting tool, the positioning sliding seat fixed on the annular rail lantern ring is fixed with the arc-shaped supporting table, and the range finder is arranged on the mounting platform and faces the spiral annular ring;
(7) A worm wheel lantern ring is sleeved on one side, away from the industrial silicon furnace, of the cylindrical support frame, and the worm wheel lantern ring is fixed on one side, away from the industrial silicon furnace, of the arc-shaped epitaxial seat;
(8) A worm driving mechanism is arranged on the mounting platform and is meshed with the worm wheel lantern ring;
(9) A travel switch is arranged on one side of the cylindrical support frame far away from the industrial silicon furnace, and the travel switch is triggered by an opening mechanism, an eye burning mechanism and an eye blocking mechanism respectively;
(10) Setting a control main board, connecting the input end of the control main board with a range finder and an angle encoder, connecting the output end of the control main board with a worm driving mechanism and a driving motor for driving the mobile platform, and setting the angle encoder at the output end of the driving motor;
s2, horizontal holes are formed;
s3, driving the cylindrical support frame to rotate by 120 degrees, and performing hole burning operation along the horizontal hole;
s4, driving the cylindrical support frame to rotate by 120 degrees, and performing hole blocking operation along the horizontal hole.
The device is different from a mode of horizontally moving the switching position, different operation mechanisms are circumferentially arranged around the same rotation axis, so that the operation mechanisms can be rotated and switched, the above switching mode can avoid the movement of the moving platform, and then workers nearby the industrial silicon furnace can normally operate without withdrawing.
In order to realize the opening of the furnace hole, the furnace hole also comprises:
s2, horizontal holes are formed:
s21, forming a standard height horizontal hole:
(1) Driving the movable platform to a position aligned with the furnace mouth;
(2) Rotating the open-eye mechanism until the reading x of the distance meter reaches a reference point v, wherein v is the reading value of the distance meter when the open-eye mechanism is positioned at the lowest position;
(3) And moving the eye opening mechanism along the length direction of the cylindrical support frame and completing the eye opening operation.
Under normal conditions, the horizontal hole needs to be formed at the lowest point of the furnace mouth, and the device can judge the position of the open-eye mechanism by means of the range finder, so that the open-eye mechanism can be judged to be in place and can be opened only when the reading of the range finder is the datum point v, and the measurement of v can be carried out after the device is assembled.
S22, opening a non-elevation horizontal hole:
(1) Driving the movable platform to a position aligned with the furnace mouth;
(2) Rotating the open-eye mechanism until the reading x of the distance meter reaches the reference point v;
(3) Moving the open eye mechanism to a designated position along a horizontal plane;
the travel distance is calculated using the following formula:
wherein o is the moving distance of the open-eye mechanism, h is the height difference between the highest point which can be reached by the open-eye mechanism and the lowest point which can be reached by the open-eye mechanism, and h is smaller than the height of the furnace mouth; p is the height of the eye opening mechanism to be opened;
(4) Rotating the open-eye mechanism to a specified angle;
when (when)When the specified angle is calculated using the following formula, < + >>Alpha is the rotation angle of the open eye mechanism;
when (when)When the specified angle is calculated using the following formula, < + >>
(5) And moving the eye opening mechanism along the length direction of the cylindrical support frame and completing the eye opening operation.
When the conventional equipment is used for punching holes at the higher position of the furnace hole, the equipment is required to be arranged obliquely upwards, so that the horizontal holes cannot be formed in the equipment, the device can rotate, so that the horizontal holes can be formed at different height positions, and the device can be directly moved to the corresponding position after the height of the holes is set.
The invention has the beneficial effects that: the invention relates to a rotary type integrated operation robot for an industrial silicon furnace and a use method thereof, which are different from the prior mechanism, wherein the device only needs to drive a moving platform to move to the operation position corresponding to a furnace mouth before the operation of the furnace mouth, and then does not need to move the moving platform before the operation of opening, burning and blocking eyes is completed, so that frequent evacuation of operators caused by frequent movement of the moving platform can be avoided, the operation mechanism of the device is switched to realize confirmation through arranging a spiral round sleeve ring and matching with a range finder, after any operation mechanism reaches the working position in front of the furnace mouth and is manually confirmed by the operators, the position confirmation of the subsequent other operation mechanisms is realized through matching with the spiral round sleeve ring, thereby avoiding frequent confirmation of whether the operation mechanism of the operators is aligned with the furnace mouth.
Drawings
The aspects and advantages of the present application will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention.
In the drawings:
FIG. 1 is a schematic rear view of the present invention;
FIG. 2 is a schematic view of a part of the structure of the present invention;
FIG. 3 is a schematic view of the rear view of the working body of the present invention;
FIG. 4 is a schematic elevational view of the working body of the present invention;
FIG. 5 is a schematic diagram of the front view of the working body (with a circular rail bracket);
FIG. 6 is a schematic view of the structure of the circular rail bracket of the present invention;
FIG. 7 is a schematic view of a spiral round collar structure according to the present invention;
FIG. 8 is a schematic top view of a working body of the present invention;
FIG. 9 is a schematic view of the structure of a cylindrical support frame according to the present invention;
FIG. 10 is a schematic view of the assembled bracket structure of the present invention;
FIG. 11 is a schematic view of the assembled bracket (from a different view than FIG. 10) according to the present invention;
FIG. 12 is a schematic view of an assembled bracket structure (with an open eye mechanism);
the components represented by the reference numerals in the figures are:
1. an annular ground rail; 2. a mobile platform; 3. a mounting platform; 4. a worm drive mechanism; 5. an arc-shaped supporting table; 6. a cylindrical support frame; 61. assembling a bracket; 611. a fixed hole group; 612. a translational drive mechanism; 62. a connecting piece; 63. a worm wheel collar; 64. arc-shaped extension seats; 65. a circular rail bracket; 651. a circular rail collar; 652. positioning a sliding seat; 66. a spiral round sleeve ring; 7. an eye burning mechanism; 8. an eye opening mechanism; 9. and a plugging mechanism.
Detailed Description
The rotary integrated operation robot for the industrial silicon furnace comprises an annular ground rail 1 which is arranged around the industrial silicon furnace, wherein a movable platform 2 which can move is arranged on the annular ground rail 1, and the industrial silicon furnace is in a cylindrical arrangement, and a furnace mouth is arranged at different positions of a side wall, so that the movable platform 2 is required to be arranged on the annular rail but cannot be arranged on a straight rail, more adjustment is required to be performed on the straight rail, and then, an installation platform 3 which can rotate on a vertical plane is arranged above the movable platform 2, and the purpose of adjusting the pitching of the installation platform 3 is to enable the installation platform to work obliquely upwards or obliquely downwards.
Thereafter, as shown in fig. 2, the mounting platform 3 is provided with a plurality of arc brackets 5 along the diameter direction of the annular ground rail 1 at intervals, the arc brackets 5 are provided with rotatable cylindrical support frames 6, and the rotation axes of the cylindrical support frames 6 pass through the central line of the industrial silicon furnace, so that the rotation of the cylindrical support frames 6 can not cause the rotation axes to deviate from the direction towards the furnace mouth of the industrial silicon furnace under any condition, and as the device is required to be provided with operation mechanisms such as an open-eye mechanism, an eye burning mechanism, an eye blocking mechanism and the like, the cylindrical support frames 6 must be of a split structure so as to ensure that the operation mechanisms can be mounted and cannot be mounted on the outer side surfaces of the cylindrical support frames 6, so that the condition of influencing rotation is avoided.
Based on the above requirements, as shown in fig. 3-12, the cylindrical support frame 6 comprises a plurality of assembling brackets 61 circumferentially arranged around the rotation axis, and the device only needs three operation mechanisms, so that the assembling brackets 61 are circumferentially arranged along the rotation axis, one side of the assembling brackets 61 facing the rotation axis is a plane perpendicular to the diameter of the cylindrical support frame 6, and the included angle between the planes of the adjacent assembling brackets 61 is 120 degrees. During installation, as shown in fig. 11, a single side of the assembly bracket 61, which is away from the arc-shaped outer side surface, is provided with a plane and a groove lower than the plane, the length direction of the groove is the same as the length direction of the assembly bracket 61, the two ends of the groove are provided with chain wheels and are sleeved with chains, then one end far away from an industrial silicon furnace is provided with a reciprocating driving motor to drive the chain wheels to rotate, the opening of the groove is also required to be provided with a supporting plate driven by the chains, in order to avoid the supporting plate from separating from a preset position, the groove is also internally provided with a guide rail, the supporting plate is movably fixed on the guide rail, and then, driving of the opening mechanism, the hole burning mechanism or the hole blocking mechanism can be realized by fixing the opening mechanism, and the driving direction is the direction close to or far away from the industrial silicon furnace, namely, as shown in fig. 12.
After the three different assembling brackets 61 are respectively fixed with the corresponding operation mechanisms, the assembling brackets 61 can be assembled, and the implementation mode is that, as shown in fig. 4, one side of the assembling bracket 61 close to and far from the industrial silicon furnace is provided with a connecting hole, the connecting hole is arranged at the position where the assembling bracket 61 is close to the adjacent assembling bracket 61, and then the adjacent assembling brackets 61 are connected through a connecting piece 62 inserted in the connecting hole. The outer side of the assembly bracket 61 is prevented from being provided with a fixing structure to avoid affecting the installation of the collar structure. The connecting member 62 includes an integrally formed locking plate having a plurality of openings corresponding to the connecting holes, and the adjacent assembling brackets 61 can be connected to each other by the action of the locking plate by inserting and tightening the bolts.
It should be noted that the operating points of the open-eye mechanism 8, the hole-burning mechanism 7 and the hole-blocking mechanism 9 have the same length from the rotation axis, that is, the operating position of the open-eye mechanism 8 can be aligned with the operating position of the hole-burning mechanism 7 or the hole-blocking mechanism 9 after 120 ° rotation, and can all move along the length direction of the cylindrical support frame 6.
Through the above arrangement, the cylindrical support frame 6 shown in fig. 9 can be obtained, and the specific structure for realizing the rotation of the cylindrical support frame 6 is that, as shown in fig. 9, the cylindrical support frame 6 is provided with a plurality of annular rail brackets 65 along the length direction, the annular rail brackets 65 comprise annular rail lantern rings 651 sleeved outside the cylindrical support frame 6, the inner diameter of the annular rail lantern rings 651 is the same as the outer diameter of the cylindrical support frame 6, and after the annular rail lantern rings are sleeved, the situation that the cylindrical support frame 6 is scattered can be avoided, a plurality of movable positioning sliding seats 652 are fixed on the annular rail lantern rings 651, and when the circular rail lantern rings 651 are in use, the rotatable connection of the annular rail lantern rings 651 relative to the arc-shaped supporting platforms 5 can be realized only by fixing the positioning sliding seats 652 and the arc-shaped supporting platforms 5.
Then, on the basis of the above structure, in order to realize the drive to the cylinder support frame 6 and avoid dislocation to appear between a plurality of equipment brackets 61, the outside of equipment bracket 61 is provided with arc epitaxial seat 64, the external diameter of arc epitaxial seat 64 is greater than the external diameter of cylinder support frame 6, and as shown in fig. 8, cylinder support frame 6 is provided with worm wheel lantern ring 63 in the one side that industry silicon stove was kept away from to arc epitaxial seat 64, and worm wheel lantern ring 63 can dismantle with arc epitaxial seat 64 and be connected, and connected mode does, horizontal trompil has been seted up to arc epitaxial seat 64, and the direction orientation of horizontal trompil deviate from one side of industry silicon stove, later through the bolt with arc epitaxial seat 64 with worm wheel lantern ring 63 fixed can, and in order to realize the drive, be provided with on the mounting platform 3 with worm drive mechanism 4 of worm wheel lantern ring 63 meshing. The vertical plane can be fixed through arc epitaxial seat 64 formation worm wheel lantern ring 63 to worm wheel lantern ring 63 can avoid the relative movement of equipment bracket 61, promotes the structural strength of post-assembling cylinder support frame 6, and afterwards worm wheel and worm's meshing connection can realize driving its rotation, and can avoid appearing the cylinder support frame 6 initiative at worm wheel lantern ring 63 place to drive worm actuating mechanism 4 pivoted condition emergence.
Through the above structure, the rotation angle of the cylindrical support frame 6 can be positioned only by the rotation of the worm driving mechanism 4, but the lack of confirmation process, once the rotation angle is inconsistent with the required rotation angle, the operation mechanism collides with the industrial silicon furnace to damage the equipment, therefore, on the basis of the above structure, as shown in fig. 7 and 8, in order to confirm the actual position of the operation mechanism, the cylindrical support frame 6 is sleeved with the spiral round collar 66, and the installation platform 3 is provided with a distance meter which is arranged opposite to the spiral round collar 66, and the distance meter is arranged towards the rotation axis and is perpendicular to the rotation axis. The distance between each position of the spiral circle and the center of the circle is different, so that the distance meter can measure the actual rotation angle of the spiral ring 66 in real time, and the position of the operation mechanism can be confirmed conveniently. Further, the distance between the spiral collars 66 is linearly changed by the distance meter, so that it is possible to know whether the position of the device is changed or the device is damaged.
Finally, in order to grasp the working states of different working mechanisms, the cylindrical support frame 6 is provided with travel switches at one ends of the opening mechanism 8, the hole burning mechanism 7 and the hole blocking mechanism 9, which are far away from the industrial silicon furnace. When any one of the operation mechanisms is far away from the travel switch and performs operation, the state information can be obtained. And further, the phenomenon that other operation mechanisms enter an operation state and collide with the industrial silicon furnace can be avoided.
Through the structure, the device is different from the existing operation robot, after the single operation robot is aligned with the furnace mouth of the industrial silicon furnace, the movable platform 2 is positioned, so that the device can move after the operation of opening, burning and blocking eyes is completed, and therefore, in the operation process, only a worker is required to complete the operation mechanism and the furnace mouth alignment confirmation work once, and the operation mechanism switching mode of the structure does not need the movement of the movable platform 2, thereby avoiding affecting the operation of workers nearby the industrial silicon furnace, and only the worker is required to be warned to withdraw when the furnace mouth is switched.
The application method of the rotary type integrated operation robot for the industrial silicon furnace comprises the following steps of:
s1, equipment assembly:
(1) An annular ground rail 1 is paved by taking an industrial silicon furnace as a center, and a movable platform 2 capable of moving along the annular ground rail 1 is arranged on the annular ground rail 1;
(2) A rotatable mounting platform is arranged on the moving platform 2, a plurality of arc-shaped supporting tables 5 are arranged on the mounting platform along the diameter direction of the annular ground rail 1, the inner side surface of each arc-shaped supporting table 5 is an arc-shaped surface, and the circle center of the cylindrical supporting frame 6 are on the same horizontal straight line;
(3) Selecting three assembly brackets 61 and arranging an open-eye mechanism 8, an eye burning mechanism 7 and an eye blocking mechanism 9 on one side of the assembly brackets 61 away from the arc surface;
(4) The three assembly brackets 61 are circumferentially arranged around the same central axis and sequentially connected and combined to form the cylindrical support frame 6, and the concrete mode is that after a plurality of assembly brackets 61 are combined to form a cylindrical structure, adjacent assembly brackets 61 are fixed through the connecting frame 62;
(5) A plurality of fixed hole groups 611 are formed along the length direction of the cylindrical support frame 6, a fixed annular rail bracket 65 or a spiral circular collar 66 can be disassembled and fixed at the fixed hole groups 611, the spiral circular collar 66 is arranged far away from one end of the industrial silicon furnace, the annular rail bracket 65 is required to sleeve an annular rail collar 651 provided with a positioning slide seat 652 and is fixed on the cylindrical support frame 6 through the fixed hole groups 611, the positioning slide seat 652 is moved to a position opposite to the arc-shaped supporting table 5 and is fixed, and at the moment, the annular rail collar 651 can rotate relative to the fixed slide seat 652 because the positioning slide seat 652 is fixed;
(6) Lifting the cylindrical support frame 6 through a lifting tool, fixing the positioning slide seat 652 of the fixed ring rail with the arc-shaped supporting table 5, and arranging distance meters on the mounting platform, wherein the distance meters are arranged towards the spiral round sleeve ring 66, and a plurality of distance meters can be arranged along the length direction of the cylindrical support frame 6;
(7) A worm wheel lantern ring 63 is sleeved on one side of the cylindrical support frame 6 far away from the industrial silicon furnace, and the worm wheel lantern ring 63 is fixed on one side of the arc-shaped epitaxial seat 64 far away from the industrial silicon furnace;
(8) The worm driving mechanism 4 is arranged on the mounting platform, and the worm driving mechanism 4 is meshed and connected with the worm wheel lantern ring 63, and at the moment, the cylindrical support frame 6 can be driven to rotate by driving the worm driving mechanism 4 to rotate;
(9) A travel switch is arranged on one side of the cylindrical support frame 6 far away from the industrial silicon furnace, and the travel switch is triggered by an opening mechanism 8, an eye burning mechanism 7 and an eye blocking mechanism 9 respectively;
(10) Setting a control main board, connecting the input end of the control main board with a range finder and an angle encoder, connecting the output end of the control main board with a worm driving mechanism 4 and a driving motor for driving the mobile platform 2, and setting the angle encoder at the output end of the driving motor; the rangefinder can be used to locate the position of the open eye mechanism 8, the burn-in mechanism 7 and the blind mechanism 9, while the angle encoder can locate the position of the mobile platform 2 on the annular ground rail 1.
Then, in order to realize the opening of the furnace hole, step S2 includes standard height horizontal hole opening and non-elevation horizontal hole opening, specifically:
s2, horizontal holes are formed:
s21, forming a standard height horizontal hole:
(1) Driving the movable platform 2 to a position aligned with the furnace mouth; the moving platform 2 is driven by the driving motor and is connected with the angle encoder, the position of the moving platform 2 on the guide rail can be positioned through the rotation circle number of the driving motor, so after equipment assembly is completed, the position of the moving platform 2 can be positioned through the mode of recording the encoder value, and the encoder value is a fixed value because the furnace mouth position is fixed, the moving platform 2 is driven to move to the corresponding value position, the moving platform 3 can be aligned with the furnace mouth, and the central axis of the cylindrical support frame 6 and the middle part of the furnace mouth are positioned on the same vertical plane.
(2) Rotating the open eye mechanism 8 until the reading x of the distance meter reaches a reference point v, wherein v is the reading value of the distance meter when the open eye mechanism 8 is positioned at the lowest position, and the position of the spiral ring 66 relative to the cylindrical support frame 6 is fixed, so that the reading of the distance meter is changed when the distance meter rotates, and the secondary reference point v can be determined by recording the reading of the distance meter when the distance meter is positioned at the lowest position of the open eye mechanism 8 after equipment is assembled;
(3) The eye opening mechanism 8 is moved along the length direction of the cylindrical support frame 6 and the eye opening operation is completed, and the eye opening operation is a conventional means, so that the description thereof is omitted.
The reference point v can be set as a reference section A, the reading of the range finder is in the corresponding section, the alignment of the corresponding operation mechanism to the furnace mouth can be judged, whether the operation is performed by the corresponding operation mechanism or not is further judged, and equipment damage caused by the fact that the operation mechanism rotates to a position not aligned with the furnace mouth can be avoided.
For convenience of use, the first section a is set in such a manner that when the hole opening mechanism is located at the lowest position that can be reached, the distance measuring instrument is defined to be respectively read as a, and with the value of a as a reference, when the hole opening mechanism 8 is rotated counterclockwise or clockwise by the angle n, the hole opening mechanism can be tightly attached to the inner side wall of the furnace mouth, and in this process, it is required to ensure that the maximum diameter of the spiral ring 66 does not pass through the distance measuring instrument, therefore, the reading x of the distance measuring instrument is linearly increased or linearly reduced, and the rotation direction of the cylindrical support frame 6 can be further determined.
And at this time, the change value of the reading of the distance meter relative to a is m, the interval a is (a-m, a+m), and the control host is used for judging whether the value x falls into the interval in real time, so that whether the operation mechanism can align the furnace mouth can be judged, and if necessary, in the process of rotating the opening mechanism 8 anticlockwise or clockwise by an angle n, if the maximum diameter of the spiral circular ring 66 passes through the distance meter, the spiral circular ring 66 needs to be loosened and rotated for a certain angle and then is carried out again.
The screw round sleeve ring 66 and the range finder are arranged, the control host is used for judging whether the reading of the range finder corresponds to the section, the corresponding operation mechanism can be judged to align the furnace mouth, and then whether the operation is performed by the corresponding operation mechanism is judged, so that equipment damage caused by the fact that the operation mechanism rotates to a position not aligned with the furnace mouth can be avoided, and the range is different from the mode of setting the reference point v, a certain height adjusting capability can be provided, and the height adjusting range is smaller.
The meaning of the above-mentioned setting interval is that it is not necessary to set a standard reading, only the reference interval a is needed to be set, the above-mentioned needs are satisfied and the furnace hole can be opened, at this time, even if the hole opening mechanism 8 is not located at the lowest position, the height floating range with the lowest position is smaller, so that it can be ignored, and the hole can be opened directly.
Then, when the conventional equipment is used for punching holes at the higher position of the furnace hole, the equipment is required to be arranged obliquely upwards, so that the horizontal holes cannot be formed, the device can be rotated, so that the horizontal holes can be formed at different height positions, and after the height of the holes is set, the device can be directly moved to the corresponding position, and the specific mode is as follows.
S22, opening a non-elevation horizontal hole:
(1) Driving the moving platform 2 to a position aligned with the furnace mouth, the furnace mouth position being constant, and the moving platform 2 being capable of being provided with an encoder, the apparatus being capable of being positioned by the encoder in the case of being rotationally driven by a motor driving motor, so that the operation of moving the moving platform 2 to the furnace mouth alignment can be achieved by controlling the main board drive;
(2) Rotating the open-eye mechanism until the reading x of the distance meter reaches a reference point v, wherein v is the reading value of the distance meter when the open-eye mechanism 8 is positioned at the lowest position, taking the reading value as a reference, and carrying out subsequent adjustment according to the specific open-eye mechanism 8;
(3) Moving the open eye mechanism to a designated position along a horizontal plane;
the travel distance is calculated using the following formula:
where o is the moving distance of the open-eye mechanism 8, h is the difference between the highest point reached by the open-eye mechanism 8 and the lowest point reached by the open-eye mechanism, and h is smaller than the furnace mouth height; p is the height of the eye opening mechanism 8 to be opened;
because h is a fixed value and p is an input value of a worker, the moving and positioning of the open-eye mechanism 8 can be completed under the condition of non-manual operation through the steps, so that after the open-eye mechanism 8 rotates and deviates from a furnace mouth position, the offset distance of the open-eye mechanism 8 is compensated by moving the open-eye mechanism 8 through a horizontal plane.
(4) Rotating the eye opening mechanism 8 to a specified angle;
when (when)When the specified angle is calculated using the following formula, < + >>Alpha is the rotation angle of the eye opening mechanism 8;
when (when)When the specified angle is calculated using the following formula, < + >>
The above steps obtain that the moving distance value of the moving open-eye mechanism 8 is o, so that the angle value alpha can be calculated when h is a fixed value, and therefore, the open-eye mechanism 8 can be realigned with the furnace mouth only by rotating the cylindrical support frame 6 corresponding to the angle value, and the two cases are separated because under the condition of the same moving distance value o, the open-eye mechanism 8 has two rotation values, and therefore, the specific rotation angle value is the value of alpha or 180-alpha according to the relation between p and h/2.
The hole opening mechanism 8 moves along the length direction of the cylindrical support frame 6 to complete the hole opening operation, and the moving path of the hole opening mechanism 8 is an arc line, so that the hole opening of the furnace hole still deviates from the center of the furnace hole through the steps, but the furnace hole can still be opened within the error range because the furnace hole is larger, and the device can still be ensured to normally operate.
(5) And moving the eye opening mechanism along the length direction of the cylindrical support frame and completing the eye opening operation.
After the open-eye operation is completed, the open-eye operation can be performed, and because the distance between the open-eye mechanism 8 and the open-eye mechanism 7 is the same as the distance between the rotation axes, the open-eye mechanism 7 can reach the position of the open-eye mechanism 8 in a rotating manner, and the following steps are performed:
s3, driving the cylindrical support frame (6) to rotate 120 degrees, and performing hole burning operation along the horizontal hole;
in the same way as the above steps, the plugging mechanism 9 can switch positions and align with the openings to perform plugging operation by rotating and not moving the moving platform 2, namely, the following steps are:
s4, driving the cylindrical support frame (6) to rotate for 120 degrees, and performing hole blocking operation along the horizontal hole.

Claims (10)

1. The utility model provides an integrative operation robot of rotation type for industrial silicon stove, includes annular ground rail (1) that set up around industrial silicon stove, be provided with moving platform (2) that can remove on annular ground rail (1), moving platform (2)'s top is provided with can be at vertical plane pivoted mounting platform (3), its characterized in that:
the mounting platform (3) is provided with a plurality of arc-shaped brackets (5) along the diameter direction of the annular ground rail (1), the arc-shaped brackets (5) are provided with rotatable cylindrical support frames (6), and the rotation axis of each cylindrical support frame (6) passes through the central line of the industrial silicon furnace;
the cylindrical support frame (6) comprises a plurality of assembly brackets (61) which are circumferentially arranged around the rotation axis, the adjacent assembly brackets (61) are detachably connected, and an open-eye mechanism (8), an eye burning mechanism (7) and an eye blocking mechanism (9) are respectively arranged on one side, facing the rotation axis, of each assembly bracket (61);
the center points of the operating positions of the open-eye mechanism (8), the hole burning mechanism (7) and the hole blocking mechanism (9) are the same in length from the rotating axis, and can move along the length direction of the cylindrical support frame (6).
2. The rotary integrated operation robot for the industrial silicon furnace according to claim 1, wherein the cylindrical support frame (6) is sleeved with a spiral round sleeve ring (66), and a distance meter which is arranged opposite to the spiral round sleeve ring (66) is arranged on the mounting platform (3), and the distance meter is arranged towards the rotation axis and is perpendicular to the rotation axis.
3. The rotary integrated operation robot for the industrial silicon furnace according to any one of claims 1 or 2, wherein an arc-shaped extension seat (64) is arranged on the outer side of the assembly bracket (61), a worm wheel collar (63) is arranged on one side, far away from the industrial silicon furnace, of the arc-shaped extension seat (64) of the cylindrical support frame (6), the worm wheel collar (63) is detachably connected with the arc-shaped extension seat (64), and a worm driving mechanism (4) meshed with the worm wheel collar (63) is arranged on the installation platform (3).
4. A rotary integrated operation robot for an industrial silicon furnace according to any one of claims 1 or 2, characterized in that the assembly brackets (61) are provided with connection holes on the sides close to and far from the industrial silicon furnace, and adjacent assembly brackets (61) are connected by connection pieces (62) inserted in the connection holes.
5. The rotary integrated operation robot for the industrial silicon furnace according to any one of claims 1 or 2, wherein a plurality of annular rail brackets (65) are arranged on the cylindrical support frame (6) along the length direction, the annular rail brackets (65) comprise annular rail lantern rings (651) sleeved outside the cylindrical support frame (6), a plurality of movable positioning sliding seats (652) are fixed on the annular rail lantern rings (651), and the positioning sliding seats (652) are detachably fixed with the arc-shaped supporting table (5).
6. The rotary integrated operation robot for an industrial silicon furnace according to claim 1, wherein the assembly brackets (61) are circumferentially arranged three along the rotation axis, and a side of the assembly brackets (61) facing the rotation axis is a plane perpendicular to the diameter of the cylindrical support frame (6).
7. A rotary integrated operation robot for an industrial silicon furnace according to claim 2, wherein the position of the maximum diameter of the spiral collar (66) does not pass through the distance meter.
8. The rotary integrated operation robot for the industrial silicon furnace according to any one of claims 1 to 7, wherein the cylindrical support frame (6) is provided with travel switches at one ends of the opening mechanism (8), the hole burning mechanism (7) and the hole blocking mechanism (9) far away from the industrial silicon furnace.
9. A method of using the rotary integrated operation robot for an industrial silicon furnace as set forth in claim 8, comprising the steps of:
s1, equipment assembly:
(1) An annular ground rail (1) is paved by taking an industrial silicon furnace as a center, and a moving platform (2) capable of moving along the annular ground rail (1) is arranged on the annular ground rail (1);
(2) A rotatable mounting platform is arranged on the moving platform (2), and a plurality of arc-shaped brackets (5) are arranged on the mounting platform along the diameter direction of the annular ground rail (1);
(3) Selecting three assembly brackets (61) and arranging an open-eye mechanism (8), a hole burning mechanism (7) and a hole blocking mechanism (9) on one side of the assembly brackets (61) away from the arc surface respectively;
(4) Three assembly brackets (61) are circumferentially arranged around the same central axis and sequentially connected and combined to form a cylindrical support frame (6);
(5) A plurality of fixed hole groups (611) are formed along the length direction of the cylindrical support frame (6), and the fixed ring rail support (65) or the spiral round lantern ring (66) can be disassembled at the fixed hole groups (611);
(6) The cylindrical support frame (6) is hoisted through a hoisting tool, a positioning sliding seat (652) fixed on the annular rail sleeve ring (651) is fixed with the arc-shaped supporting table (5), and a range finder is arranged on the mounting platform and faces the spiral annular sleeve ring (66);
(7) A worm wheel lantern ring (63) is sleeved on one side, far away from the industrial silicon furnace, of the cylindrical support frame (6), and the worm wheel lantern ring (63) is fixed on one side, far away from the industrial silicon furnace, of the arc-shaped epitaxial seat (64);
(8) A worm driving mechanism (4) is arranged on the mounting platform, and the worm driving mechanism (4) is meshed with the worm wheel lantern ring (63);
(9) A travel switch is arranged on one side of the cylindrical support frame (6) far away from the industrial silicon furnace, and the travel switch is triggered by an opening mechanism (8), an eye burning mechanism (7) and an eye blocking mechanism (9) respectively;
(10) Setting a control main board, connecting the input end of the control main board with a range finder and an angle encoder, connecting the output end of the control main board with a worm driving mechanism (4) and a driving motor for driving the mobile platform (2), and setting the angle encoder at the output end of the driving motor;
s2, horizontal holes are formed;
s3, driving the cylindrical support frame (6) to rotate 120 degrees, and performing hole burning operation along the horizontal hole;
s4, driving the cylindrical support frame (6) to rotate for 120 degrees, and performing hole blocking operation along the horizontal hole.
10. The method for using a rotary integrated operation robot for an industrial silicon furnace according to claim 9, wherein the step S2 comprises standard height horizontal hole opening and non-elevation horizontal hole opening, specifically:
s2, horizontal holes are formed:
s21, forming a standard height horizontal hole:
(1) Driving the moving platform (2) to a position aligned with the furnace mouth;
(2) Rotating the eye opening mechanism (8) until the reading x of the distance meter reaches a reference point v, wherein v is the reading value of the distance meter when the eye opening mechanism (8) is positioned at the lowest position;
(3) Moving the eye opening mechanism (8) along the length direction of the cylindrical support frame (6) and completing eye opening operation;
s22, opening a non-elevation horizontal hole:
(1) Driving the moving platform (2) to a position aligned with the furnace mouth;
(2) Rotating the eye opening mechanism (8) until the reading x of the distance meter reaches the reference point v;
(3) Moving the open eye mechanism (8) to a specified position along a horizontal plane;
the travel distance is calculated using the following formula:
wherein o is the moving distance of the open-eye mechanism (8), h is the height difference between the highest point which can be reached by the open-eye mechanism (8) and the lowest point which can be reached, and h is smaller than the furnace mouth height; p is the height of the eye opening mechanism (8) to be opened;
(4) Rotating the eye opening mechanism (8) to a specified angle;
when (when)When the specified angle is calculated using the following formula, < + >>Alpha is the rotation angle of the eye opening mechanism (8);
when (when)When the specified angle is calculated using the following formula, < + >>(5) And moving the eye opening mechanism (8) along the length direction of the cylindrical support frame (6) and completing the eye opening operation.
CN202311662464.4A 2023-12-06 2023-12-06 Using method of rotary type integrated operation robot for industrial silicon furnace Active CN117484460B (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108406733A (en) * 2018-03-09 2018-08-17 哈尔滨博实自动化股份有限公司 A kind of ferrosilicon is come out of the stove the artificial position switching conveyer method of machine
CN211163976U (en) * 2019-11-26 2020-08-04 哈尔滨博实自动化股份有限公司 Furnace discharging robot
WO2021232468A1 (en) * 2020-05-21 2021-11-25 青州晨泰机械设备科技有限公司 Gripper assembly for slag salvaging robot
CN217751456U (en) * 2022-07-22 2022-11-08 山东军成机械科技有限公司 Mobile hole plugging robot for industrial silicon furnace
CN219693892U (en) * 2023-05-11 2023-09-15 神木市科达矿冶设备有限责任公司 Calcium carbide furnace opening and plugging machine with slag pulling function

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108406733A (en) * 2018-03-09 2018-08-17 哈尔滨博实自动化股份有限公司 A kind of ferrosilicon is come out of the stove the artificial position switching conveyer method of machine
CN211163976U (en) * 2019-11-26 2020-08-04 哈尔滨博实自动化股份有限公司 Furnace discharging robot
WO2021232468A1 (en) * 2020-05-21 2021-11-25 青州晨泰机械设备科技有限公司 Gripper assembly for slag salvaging robot
CN217751456U (en) * 2022-07-22 2022-11-08 山东军成机械科技有限公司 Mobile hole plugging robot for industrial silicon furnace
CN219693892U (en) * 2023-05-11 2023-09-15 神木市科达矿冶设备有限责任公司 Calcium carbide furnace opening and plugging machine with slag pulling function

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