CN119610161B - Submerged arc furnace unloading robot system - Google Patents
Submerged arc furnace unloading robot systemInfo
- Publication number
- CN119610161B CN119610161B CN202411991891.1A CN202411991891A CN119610161B CN 119610161 B CN119610161 B CN 119610161B CN 202411991891 A CN202411991891 A CN 202411991891A CN 119610161 B CN119610161 B CN 119610161B
- Authority
- CN
- China
- Prior art keywords
- power supply
- track
- furnace
- robot
- arc furnace
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Vertical, Hearth, Or Arc Furnaces (AREA)
Abstract
The invention discloses a tapping robot system for a submerged arc furnace, which is characterized by comprising a moving mechanism, a robot and a tool library, wherein the moving mechanism comprises a moving track and a moving platform, the moving track is arranged along the periphery of the submerged arc furnace in an extending mode, the moving platform is matched with the moving track to walk, a walking track is arranged at the top of the moving platform, the robot is matched with the walking track to walk, and can clamp an operating tool from the tool library to be used for realizing tapping operation of the submerged arc furnace, and the tool library is arranged at one end of the walking track and is used for providing more than one operating tool used by the robot. The invention can use independent equipment to perform automatic stokehold operation, reduce cost and danger and improve working efficiency.
Description
Technical Field
The invention belongs to the field of robot manufacturing, and particularly relates to a robot system capable of automatically carrying out stokehold multiple operations on an ore-smelting furnace.
Background
At present, robots are increasingly widely applied, especially work in high-temperature severe environments, and robots are more required to replace manual operation. In the field of industrial silicon smelting, tapping stokehole operations, such as tapping, pulling, plugging, etc., are required. The submerged arc furnace is usually very large in overall dimension, high in furnace hole position and even needs to be arranged in layers, and an operation platform is also required to be built to perform corresponding stokehole operation on the operation platform no matter when the submerged arc furnace is operated manually or by a machine. Under the existing condition, manufacturers can build tapping platforms with two layers of concrete or steel structures while building tapping equipment, one layer is used for smelting bags to walk, and the other layer is used for placing tapping machines for tapping industrial silicon. The construction of the two-layer platform is carried out at large cost no matter the two-layer platform is a concrete or steel platform, and the construction platform occupies a large space. In addition, the tapping device can only be manufactured on a platform, the space is relatively narrow, and the place is dangerous, so that the tapping device is very inconvenient.
Therefore, how to use a single device to perform automatic stokehold operation, thereby reducing the cost and improving the working efficiency of dangerous diseases is a technical problem which is urgently needed to be solved in the industry.
Disclosure of Invention
It is a primary object of the present invention to provide a submerged arc furnace tapping robot system that is capable of automated stokehole operation using a single apparatus, thereby reducing costs and increasing operational efficiency for dangerous diseases.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
according to one aspect of the invention, there is provided a tapping robot system for a submerged arc furnace, for tapping operations of the submerged arc furnace, comprising a moving mechanism, a robot and a tool magazine;
The moving mechanism comprises a moving track and a moving platform, the moving track is arranged along the periphery of the submerged arc furnace in an extending mode, the moving platform and the moving track are matched to walk, and a walking track is arranged at the top of the moving platform;
The robot is matched with the walking track to walk and can clamp an operation tool from the tool library so as to realize tapping operation on the submerged arc furnace;
The tool library is arranged at one end of the walking track and is used for providing more than one operating tool used by the robot.
According to one embodiment of the invention, the moving track comprises two arc-shaped first guide rails and two arc-shaped second guide rails which are arranged in parallel, wherein the arc-shaped center point is positioned in the submerged arc furnace, the diameter of the first guide rails is larger than that of the second guide rails, the two sides of the bottom of the moving platform are respectively provided with a driving structure and a driven driving structure, the driving structure is in rolling fit with the first guide rails, and the driven driving structure is in rolling fit with the second guide rails.
According to one embodiment of the invention, one or both ends of the movable platform are provided with a ladder structure, and one side of the movable platform, which is close to the submerged arc furnace, is provided with a protection structure for isolating heat of the submerged arc furnace.
According to one embodiment of the invention, a power supply rail is arranged above the moving rail, the power supply rail is arranged corresponding to the moving rail, and the moving mechanism comprises a first power taking structure which is arranged on the power supply rail in a sliding manner and is connected with the moving platform for supplying power to the moving platform;
according to one embodiment of the invention, the robot comprises a second electricity taking structure, wherein the second electricity taking structure is arranged on the power supply rail in a sliding mode and is connected with the robot to supply power for the robot.
According to an embodiment of the present invention, the power supply rail includes a sliding rail and a trolley line, the trolley line is disposed along the sliding rail, and the first power taking structure and the second power taking structure are both in sliding fit with the sliding rail and are electrically connected with the trolley line.
According to one embodiment of the invention, the first electricity taking structure and the second electricity taking structure comprise an electricity taking trolley and a connecting rod, wherein the electricity taking trolley is matched with the sliding rail, and the connecting rod is connected with the electricity taking trolley and is respectively connected to the mobile platform and the robot;
According to one embodiment of the invention, the connecting rod comprises a first rod, a second rod and a fixing piece, wherein the first rod and the second rod are in telescopic sleeving connection, and the fixing piece is used for locking relative movement between the first rod and the second rod.
According to one embodiment of the invention, the power supply rail further comprises a power supply copper bar, a burn-through device and a power taking mechanism are arranged in the tool library, and the burn-through device is connected with the power supply copper bar through the power taking mechanism.
According to one embodiment of the invention, the power taking mechanism comprises a mounting bracket, a power taking bracket and a telescopic cylinder, wherein the mounting bracket is arranged on the moving platform, the power taking bracket is connected with the telescopic cylinder, the telescopic cylinder is arranged on the mounting bracket, and a telescopic rod of the telescopic cylinder pushes against the power taking bracket so that the power taking bracket is electrically connected with the power supply copper bar, and the power taking bracket is connected with the power taking bracket of the power taking bracket telescopic cylinder of the power taking bracket of the power taking mechanism of the burn-through device through a cable.
According to one embodiment of the invention, the submerged arc furnace tapping robot system further comprises a furnace body rotation detection device and a control system, wherein the furnace body rotation detection device is fixed on a rotating furnace body of the submerged arc furnace, measures the rotation angle of the rotating furnace body and feeds back the rotation angle to the control system, and the control system controls the robot to act and provides furnace eye position compensation control for the operation of the robot.
According to the technical scheme, the submerged arc furnace tapping robot system has the advantages and positive effects that:
According to the invention, the moving mechanism is provided with the moving platform, the robot is arranged on the moving platform, the robot uses the operation tool from the tool library on the moving platform to automatically operate the front of the submerged arc furnace, the platform does not need to be independently built, and the moving mechanism has the moving capability, so that the moving mechanism is very convenient to manufacture and move, and can use independent equipment to automatically operate the front of the submerged arc furnace, thereby reducing the cost and the risk and improving the working efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained by those skilled in the art without any inventive effort.
Fig. 1 is a schematic perspective view showing an operating state of an embodiment of a tapping robot system for an ore furnace according to the present invention.
Fig. 2 is a schematic top view of an embodiment of a tapping robot system for an ore furnace according to the present invention.
Fig. 3 is a schematic perspective view of an embodiment of the tapping robot system for the submerged arc furnace according to the present invention.
Fig. 4 is a schematic perspective view of a power supply rail in an embodiment of the tapping robot system for an submerged arc furnace according to the present invention.
Fig. 5 is a schematic perspective view of an electricity taking mechanism in an embodiment of the tapping robot system for an ore furnace according to the present invention.
Description of the figure:
1. an ore furnace;
2. A moving mechanism;
21. A moving track;
211. a first guide rail;
212. a second guide rail;
22. a mobile platform;
221. a walking rail;
222. a step structure;
223. A bracket;
3. a robot;
4. a tool library;
41. An operating tool;
5. a power taking mechanism;
51. a mounting bracket;
52. Taking an electric bracket;
53. A telescopic cylinder;
6. a power supply rail;
61. a first power taking structure;
611. the first electricity taking trolley;
612. a first connecting rod;
62. a second power taking structure;
621. The second electricity taking trolley;
622. A second connecting rod;
63. A sliding rail;
64. A trolley line;
65. a shield;
7. a power supply copper bar;
8. A burn-through device.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus detailed descriptions thereof will be omitted.
In the following description of different examples of the invention, reference is made to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration different exemplary structures, systems, and steps in which aspects of the invention may be practiced. It is to be understood that other specific arrangements of parts, structures, example devices, systems, and steps may be utilized and structural and functional modifications may be made without departing from the scope of the present invention. Moreover, although the terms "top," "bottom," "front," "rear," "side," and the like may be used herein to describe various example features and elements of the invention, these terms are used herein merely for convenience, e.g., as in the illustrated orientation of the examples in the figures. Nothing in this specification should be construed as requiring a particular three-dimensional orientation of the structure in order to fall within the scope of the invention.
Fig. 1 is a schematic perspective view showing an operating state of an embodiment of a tapping robot system for an ore furnace according to the present invention.
Fig. 2 is a schematic top view of an embodiment of a tapping robot system for an ore furnace according to the present invention.
Fig. 3 is a schematic perspective view of an embodiment of the tapping robot system for the submerged arc furnace according to the present invention.
Fig. 4 is a schematic perspective view of a power supply rail in an embodiment of the tapping robot system for an submerged arc furnace according to the present invention.
Fig. 5 is a schematic perspective view of an electricity taking mechanism in an embodiment of the tapping robot system for an ore furnace according to the present invention.
As shown in fig. 1 to 5, the submerged arc furnace tapping robot system of the present invention is applied to a tapping operation for a submerged arc furnace 1. The submerged arc furnace 1 is also called an electric arc furnace or a resistance furnace, and is mainly used for reducing and smelting ores to produce various iron alloy, industrial silicon, calcium carbide and other products. The submerged arc furnace 1 comprises a furnace body, an electrode system, a charging system and a smoke discharging system. The submerged arc furnace utilizes arc heat and furnace charge resistance heat generated by the electrodes to melt furnace charges and generate a reduction reaction. An electric current is introduced into the furnace through the electrodes, an electric arc is generated between the electrodes and the charge, and the high temperature of the electric arc melts the charge. Meanwhile, heat is generated by the resistance of the furnace burden, and the melting and reaction of the furnace burden are further promoted. The submerged arc furnace 1 is mainly applied to industries such as ferroalloy, industrial silicon, calcium carbide and the like. For example, the method can be used for producing ferrosilicon, ferromanganese, ferrochrome and the like in ferroalloy production, is one of main production equipment in industrial silicon production, and is used for producing calcium carbide by reacting lime and coke in an submerged arc furnace in calcium carbide production. The energy consumption of the submerged arc furnace is relatively high due to the large amount of electric energy required to maintain the high temperature. The submerged arc furnace needs to be monitored and adjusted by professional operators to ensure the stability and safety of the production process.
The tapping operation of the submerged arc furnace comprises a plurality of working procedures such as opening, pulling, cleaning, plugging and the like. Wherein, the tapping is that a tapping machine or a drill rod is used for tapping the furnace mouth, so that the liquid metal and slag in the furnace can smoothly flow out. This requires a well controlled opening size and angle. Pulling holes sometimes require oxygen or other fluxing agents to assist in the smooth flow of the liquid product, especially when the slag or metal flows poorly. Cleaning, namely cleaning residues, knots and the like around a furnace mouth after discharging, so as to ensure that the next discharging operation is smoothly carried out. And plugging holes, namely plugging a furnace outlet in time after the furnace outlet operation is finished, wherein special plugging materials such as refractory clay and the like are generally used to ensure the stable environment in the furnace and prevent excessive heat and leakage of substances in the furnace.
The tapping robot system of the submerged arc furnace comprises a moving mechanism 2, a robot 3 and a tool warehouse 4. The moving mechanism 2 includes a moving track 21 and a moving platform 22. The moving rail 21 is extended along the periphery of the submerged arc furnace 1 to form an annular or circular traveling channel so as to facilitate the moving platform 22 to move along the periphery of the submerged arc furnace 1. In this embodiment, the moving track 21 includes two parallel arc-shaped first guide rails 211 and two parallel arc-shaped second guide rails 212, and the arc-shaped center point is located in the submerged arc furnace 1, where the diameter of the first guide rails 211 is larger than that of the second guide rails 212, so that the submerged arc furnace 1, the second guide rails 212, and the first guide rails 211 sequentially form three concentric circles from inside to outside. The first rail 211 and the second rail 212 may be disposed on the ground, and the foundation must be solid and flat and capable of bearing the weight of the track and the running object. In addition, the track interface is in smooth transition, so that the situation of overlarge height difference or gap is avoided.
In this embodiment, the moving platform 22 forms a two-layered structure to facilitate the operator and the robot 3 to correspond to the height position of the furnace eyes of the submerged arc furnace 1. Wherein the lower layer and the moving track 21 are matched to walk, and the upper layer is provided with a robot 3 to facilitate the robot 3 to operate the submerged arc furnace 1 in front of the furnace. The two sides of the bottom of the mobile platform 22 are respectively provided with a driving structure and a driven driving structure, wherein the driving structure is in rolling fit with the first guide rail 211, the driven driving structure is in rolling fit with the second guide rail 212 to form an external driving mode, and the internal driven driving mode is formed. In addition, the top of the moving platform 22 is provided with a walking track 221, and the walking track 221 may be two parallel straight tracks, and in other embodiments, may be provided with an arc track, so as to adapt to the external structure of the submerged arc furnace 1. The robot 3 can walk stably and reliably thereon to adjust the lateral position of the robot 3 with respect to the submerged arc furnace 1.
In this embodiment, the mobile platform 22 is provided with a step structure 222 at one or both ends, and the step structure 222 may be provided at both ends at the same time, so as to facilitate the operator to go up and down. In this embodiment, a protective structure is provided on the side of the movable platform 22 close to the submerged arc furnace 1 for isolating the heat of the submerged arc furnace 1. The heat insulation plate can be adopted to completely shield one surface close to the submerged arc furnace 1, and the structure of a double-layer baffle can be also adopted, wherein ventilation is realized, so that the heat insulation effect is improved. The mobile platform 22 is provided with a bracket 223 and an electric cabinet, wherein the bracket 223 can be connected with a power supply and is electrically connected with the electric cabinet, so as to transmit power to the electric cabinet, and the electric cabinet controls various actions of the platform and transmits power to the driving structure. The bracket 223 has a power take-off shaft disposed at an upper portion thereof for facilitating matching with the power transmission structure, and a groove or a frame may be disposed on the power take-off shaft for matching with a ball of a first connecting rod 612 (which will be described in detail below, and will not be repeated).
In this embodiment, the mobile platform 22 is intended to ensure a secure connection between the components, especially in the event of vibrations or shocks that may be encountered during movement. The moving process needs to keep low speed and stable, and rapid acceleration, rapid braking or rapid turning is avoided. Operators need to pay close attention to the state of the platform and the surrounding environment, and prevent accidental collision to equipment or personnel. Care should be taken to keep the load uniform and avoid center of gravity shifting when placing tools and materials on the mobile platform 22. Such as the inability to stack large amounts of weight together on one side of the mobile platform 22.
In this embodiment, the robot 3 travels in cooperation with the travel rail 221, and can grip the operation tool 41 from the tool magazine 4 for performing the tapping operation on the submerged arc furnace 1. The robot 3 integrates the functions of various tapping equipment of the submerged arc furnace, including an open-eye equipment and a plugging equipment. An open-eye apparatus is a commonly used apparatus for opening the outlet of a submerged arc furnace by means of mechanical impact or rotation. Its power source may be electric or pneumatic. For example, the motor is used for driving the drill bit to rotate and applying a certain pressure, so that condensate at the furnace mouth can be quickly and effectively penetrated, and a channel is opened to enable liquid products in the furnace to flow out. Drill steel may also be used, still in some small submerged arc furnaces or in special cases. Tapping equipment is used for automatically knocking steel bars, and hard blocks at the furnace mouth are knocked into pieces to open the channel. The plugging device is mainly used for plugging the tapping hole after tapping operation is completed. The device can accurately control the throwing amount and throwing position of the plugging material (such as refractory mortar), so that the furnace mouth can be quickly and firmly sealed. The plugging material may be injected into the furnace mouth by extrusion, or may be sprayed into the furnace mouth as a lance. The mud gun is also a mode for plugging, and is particularly suitable for large-scale submerged arc furnaces. The sealing device can generate larger thrust force to forcefully push the sealing material into the furnace mouth, ensure the sealing compactness of the furnace mouth and prevent substances in the furnace from leaking. In addition, when the fluidity of liquid products (such as molten iron, calcium carbide and the like) is poor, oxygen can be blown into a furnace outlet or a furnace by an oxygen lance. The oxygen reacts with the high-temperature furnace burden to generate heat so as to enhance the fluidity of slag or molten metal and facilitate smooth tapping.
In this embodiment, the robot 3 includes a walking section, a chassis, a driving section, and an operation arm. The walking part is installed at the lower part of the chassis and is matched with the walking rail 221, and can comprise a plurality of pairs of walking wheels, anti-tilting wheels and guide wheels, so that the robot 3 can walk transversely, and the transverse position of the robot can be adjusted. The chassis is a supporting structure of the robot, is used for supporting the driving part, needs to have enough strength, can be provided with an electric control structure, a hydraulic structure and the like, and performs corresponding protection. The driving part mainly realizes various adjustment actions, specifically protects lifting, rotating, pitching and the like, and can be one or the combination of two functions. The operation arm is mounted on the driving part for realizing a corresponding stokehole operation, and the operation arm mainly performs a telescopic motion to perform stokehole operation on the submerged arc furnace 1 in cooperation with the use of the operation tool 41. The operation arm is close to the submerged arc furnace 1, and is required to be directly roasted at high temperature of the submerged arc furnace 1, so that a high-temperature protection structure is required to be additionally arranged to protect the operation arm and an electrohydraulic structure on the operation arm.
In this embodiment, the tool magazine 4 is disposed at one end of the walking track 221, and is used for providing one or more operating tools 41 used by the robot 3. The operating tool 41 may include, but is not limited to, a drill rod, drill pipe, a burner, a mud gun barrel, and the like. The drill rod can be used for poking the hole of the submerged arc furnace 1, and has higher strength and diameter matched with the size of the hole. The drill rod is mainly used for drilling a furnace hole of the submerged arc furnace 1, can be used for opening the hole, can also be used for pulling the hole and reaming the hole, and can be used for carrying out corresponding stokehole operation through mechanical drilling force. The burner is used for melting the materials in the furnace hole by using high current, and the burner needs to be safe when being used, can generate the burst and needs to be protected as necessary. The mud gun barrel is mainly used for blocking the furnace hole of the submerged arc furnace 1, and mud gun is fed into the furnace hole through the mud gun barrel to block the furnace hole. In this embodiment, the robot 3 needs to adjust the position of the relative submerged arc furnace 1 by the traveling rail 221 to align the furnace eyes that need to be operated.
In this embodiment, a power supply rail 6 is provided above the moving rail 21, and the power supply rail 6 is provided corresponding to the moving rail 21 to supply power to the moving platform 22 and the robot 3. The moving mechanism 2 includes a first power taking structure 61, where the first power taking structure 61 is slidably disposed on the power supply rail 6 and connected to the moving platform 22 for supplying power to the moving platform 22. In this embodiment, the robot 3 includes a second power taking structure 62, and the second power taking structure 62 is slidably disposed on the power supply rail 6 and connected to the robot 3 for supplying power to the robot 3. The first power taking structure 61 and the second power taking structure 62 are both slidably connected to the power supply rail 6 to supply power to the mobile platform 22 and the robot 3, respectively. A distance needs to be kept between the first power taking structure 61 and the second power taking structure 62 to avoid connection and interference, so that the positions are separated. The first power taking structure 61 and the second power taking structure 62 can move on the power supply rail 6 to maintain the power supply state at all times when the moving platform 22 walks along the moving rail 21.
In this embodiment, the power supply rail 6 includes a slide rail 63 and a trolley line 64. The sliding wire 64 is disposed along the sliding track 63, and the first power taking structure 61 and the second power taking structure 62 are both in sliding fit with the sliding track 63 and electrically connected with the sliding wire 64. A trolley line is a device for powering a mobile device, comprising a conductor part, an insulating material and a current collector. The conductor part is a core part of the trolley wire and is usually made of a material with good conductivity such as copper or aluminum. For example, the copper trolley wire has good conductivity and small resistance, and can effectively reduce electric energy loss. The multi-pole sliding contact wire has various shapes, such as a single-pole type and a multi-pole type, and can simultaneously transmit various different electric signals. The insulating material wraps the outside of the conductor to play an insulating role. Common insulating materials are plastics, rubber, etc. These materials not only have to withstand a certain voltage, but also have to be resistant to abrasion and aging, so as to ensure the safety of the trolley wire during long-term use. The current collector is mounted on the mobile device in contact with the conductor of the trolley line for obtaining electrical energy. It is generally made of graphite, copper alloy, etc. For example, graphite current collectors are softer in texture, can make good contact with the trolley wire, and wear on the trolley wire during sliding is less. The levelness and the straightness are ensured in the installation of the sliding contact line. If the installation is uneven, poor contact between the current collector and the sliding contact line can be caused, and electric spark, power failure and the like are caused. Thus, in this embodiment, a shield 65 is provided outside the trolley wire 64 to protect the trolley wire 64 and the cheering rail 63.
In this embodiment, the first power taking structure 61 and the second power taking structure 62 each include a power taking trolley and a connecting rod. The first power taking structure 61 comprises a first power taking trolley 611 and a first connecting rod, and the second power taking structure 62 comprises a second power taking trolley 621 and a second connecting rod 622. The first power-taking trolley 611 and the second power-taking trolley 621 are matched with the sliding rail 63, are arranged at intervals and move on the sliding rail. One end of the first connecting rod 612 is connected with the first electricity taking trolley 611 through a spherical hinge, and the other end is electrically connected with the bracket 223, so as to supply electricity to the mobile platform 22. One end of the second connecting rod 622 is connected with the second electricity taking trolley 621 through a spherical hinge, and the other end is electrically connected with the robot 3, so that power is supplied to the robot 3. Wherein the length of the first connecting rod 622 is greater than the length of the first connecting rod 612 and is spaced apart from each other.
In this embodiment, the first connecting rod 612 and the second connecting rod 622 may be telescopic rods, or only one of them may be telescopic rods. The telescopic rod may comprise a first rod, a second rod and a fixing member, wherein the first rod and the second rod are telescopically sleeved, and the fixing member is used for locking the relative movement between the first rod and the second rod. Moreover, the fixing piece can have a certain preset force, and when the relative stress of the first rod and the second rod reaches a certain preset value, the relative position between the first rod and the second rod can be changed, and the expansion and the contraction are realized. When the force does not reach the preset value, the fixing member locks the relative positions of the first rod and the second rod, so that the first connecting rod 612 and/or the second connecting rod 622 do not extend or retract. The telescopic structure can be convenient for the mobile platform 22 to adjust when the distance and angle are changed during movement, so as to ensure stable power supply of the mobile platform 22 and the robot 3.
In this embodiment, the power supply track 6 further includes a power supply copper bar 7, and a burn-through device 8 and a power taking mechanism 5 are disposed in the tool library, where the burn-through device 8 is connected with the power supply copper bar 7 through the power taking mechanism 5. The power supply copper bar 7 is parallel to the sliding rail 63 and the sliding contact line 64 and is of a structure surrounding the submerged arc furnace 1, wherein the sliding rail 63 and the sliding contact line 64 are positioned on the outer side, the power supply copper bar 7 is positioned on the inner side, and the center of the submerged arc furnace 1 is also used as a round point to form a circular or arc-shaped structure. The power supply copper bar is a common electrical device and is mainly used for transmitting electric energy. The main component is copper, the copper has good conductivity, and the conductivity is inferior to silver, so that the loss of electric energy in the transmission process can be effectively reduced. And copper has better corrosion resistance and can stably work for a long time under certain environmental conditions. Copper bars can carry more current than wires. This is because the copper bar has a larger cross-sectional area, and a conductor having a larger cross-sectional area can allow more current to pass through the same material and voltage according to the current calculation formula (i=u/R, where R is related to the cross-sectional area of the conductor).
In this embodiment, the tool magazine 4 includes a plurality of support frames for supporting different operation tools 41, and the kinds and the number of the operation tools 41 are determined according to actual needs in the field. In this embodiment, the tool magazine 4 further includes a power take-off mechanism 5 and a burn-through device 8, wherein the power take-off mechanism 5 is mounted on the upper portion of the mobile platform 22 and on the side of the travel rail 221 away from the carriage 223. In this embodiment, the power take-off mechanism 5 includes a mounting bracket 51, a power take-off bracket 52, a telescopic cylinder 53, and mounting legs. The mounting bracket 51 is disposed on the mobile platform 22 through a mounting leg, a traversing structure is disposed between the mounting leg and the mounting bracket 51, and the mounting bracket 51 can perform traversing motion relative to the mounting leg by adjusting a hand wheel of the traversing structure, so that the position of the power taking bracket 52 is adjusted. One side of the upper portion of the mounting bracket 51 is provided with a fixing seat, the middle portion of the electricity taking bracket 52 is fixed to the fixing seat, one end of the mounting bracket 51 is located above the mounting bracket 51, and the other end extends towards the outer side and the lower side and is connected with the burner 8 through a cable. The telescopic cylinder 53 is arranged at the top of the mounting bracket 51, the telescopic rod of the telescopic cylinder 53 pushes the electricity taking bracket 52 upwards, the electricity taking bracket 52 deforms, so that the electricity taking bracket 52 is electrically connected with the power supply copper bar 7, and the telescopic rod of the telescopic cylinder 53 stretches out and the electricity taking bracket 52 deforms as shown in fig. 5. The electricity taking support 52 is lifted or lowered under the action of the telescopic cylinder 53, when lifted, the upper part is propped against the power supply copper bar 7, so that electric connection is realized, and the electric power is supplied to the burner 8 through a cable, so that the burner 8 is kept in an electrified state when operated by the robot 3, and the furnace hole of the submerged arc furnace 1 is operated in front of the furnace.
In this embodiment, the tapping robot system for the submerged arc furnace further comprises a furnace body rotation detection device and a control system (not shown in the figure), wherein the furnace body rotation detection device is fixed on the rotating furnace body of the submerged arc furnace 1, measures the rotation angle of the rotating furnace body, feeds back the rotation angle to the control system, and controls the robot 3 to act so as to provide furnace eye position compensation control for the operation of the robot 3. The collected data can be analyzed and judged by using components such as a rotation speed sensor, an angle encoder and the like, the position of the mobile platform 22 on the moving track 21, the position of the robot 3 on the walking track 221 and various actions of the robot 3 are required to be monitored in order to accurately control the actions of the robot 3, and the control system needs to comprehensively analyze various data to determine the position and the state of the robot 3 so as to send action instructions to the robot to perform intelligent operations.
In this embodiment, the mobile platform 22 is mounted on the mobile track 21, the on-site electric cabinet provides emergency stop, start, parameter display, etc. for the equipment, the annular copper bar 7 is fixed on the copper bar track, and the trolley line 64 provides power for the robot 3 and the mobile platform 22. The robot 3 provides tapping and plugging operations for the industrial silicon submerged arc furnace 1 and can be remotely controlled. The furnace body rotation detection device is fixed on the rotary furnace body, measures the rotation angle of the furnace body, feeds back to the control system, and provides furnace eye position compensation for the operation of the robot 3. The walking rail 221 is laid on the moving platform 22, and two electric driving wheels are installed at the bottom of the moving platform 22, arranged at the outer side, and two driven wheels are arranged at the inner side. The moving platform 22 travels along an arc shape on the moving rail 21 by traveling wheels. One end of the second connecting rod 622 is connected with the robot 3, and one end is connected with the second electricity taking trolley 621. The burner 8 is a burning tool used by the robot 3, and is placed on a tool rack at ordinary times, when the industrial silicon ore heating furnace needs to be discharged, the robot runs to the burner tool warehouse 4, and the burner 8 is taken to perform the hole burning action. The electricity taking support 52 is connected with the burner 8, when electricity needs to be supplied, the telescopic cylinder 53 is pushed upwards, the electricity taking support 52 is connected with the power supply copper bar 7, and the electricity supply of the burner 8 is completed. The tool magazine 4 places other tools for the robot 3 to take for the oven operation. The bracket 223 is connected to a first connecting rod 612, on which a power line is laid, for providing a walking power source for the mobile platform 22. The trolley line 64 is externally connected with a 380V power supply to provide power for the whole system.
In the invention, the moving mechanism 2 is provided with the moving platform 22, the robot 3 is arranged on the moving platform 22, the robot 3 uses the operating tool 41 from the tool library 4 to automatically operate the submerged arc furnace 1 in front of the furnace, and the moving mechanism 2 does not need to independently build the platform, so that the moving mechanism 2 has the moving capability, and is very convenient to manufacture and move, thereby the automatic operation in front of the furnace can be performed by using independent equipment, the cost and the danger are reduced, and the working efficiency is improved.
In addition, compared with the prior art, the invention has the following beneficial effects:
Compared with the traditional steel structure or concrete two-layer building, the movable platform has the advantages of compact structure, cost saving, small occupied space, convenience in mounting and dismounting, capability of taking electricity on the same sliding contact line 64 by the movable platform 3 and the movable platform 22, capability of reducing high-temperature damage and mechanical folding damage compared with the traditional long-distance long-towing chain transmission line, capability of arranging the robot 3 on the movable platform 22, capability of arranging a short-distance walking track 221, capability of greatly reducing the operation of the robot compared with the traditional long-distance track, capability of shortening the track of the robot 3, capability of shortening the distance between the grabbing operation tool 41 and the burnthrough device 8, and convenience and time saving compared with the prior art. The fixed power-on structure of the mobile platform 22 reduces rails and motors compared with a double-rail electric power-on trolley, has the advantages of simplified power-on structure, simple structure and difficult fault occurrence, and the direct-connection sliding contact power-on structure is simple, reduces high-temperature damage, reduces mechanical folding damage and reduces cost compared with the traditional long-distance long-tow chain oil delivery pipeline.
It will be appreciated by persons skilled in the art that the particular structures and processes shown in the above detailed description are illustrative only and not limiting. Moreover, those skilled in the art to which the invention pertains will appreciate that various features described above may be combined in any number of possible ways to form new embodiments, or that other modifications are within the scope of the invention.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411991891.1A CN119610161B (en) | 2024-12-31 | 2024-12-31 | Submerged arc furnace unloading robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411991891.1A CN119610161B (en) | 2024-12-31 | 2024-12-31 | Submerged arc furnace unloading robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN119610161A CN119610161A (en) | 2025-03-14 |
| CN119610161B true CN119610161B (en) | 2025-09-02 |
Family
ID=94908270
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411991891.1A Active CN119610161B (en) | 2024-12-31 | 2024-12-31 | Submerged arc furnace unloading robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN119610161B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN215202065U (en) * | 2021-05-24 | 2021-12-17 | 广东中发罗庚智能装备制造有限公司 | Ground rail walking device for polishing robot |
| CN114877696A (en) * | 2022-03-30 | 2022-08-09 | 苏州朗信智能科技有限公司 | Industrial silicon discharging equipment |
| CN217751410U (en) * | 2022-07-22 | 2022-11-08 | 山东军成机械科技有限公司 | A robot of coming out of stove for industrial silicon field |
| CN221917125U (en) * | 2024-01-31 | 2024-10-29 | 苏州朗信智能科技有限公司 | Tapping machine sliding contact power-on system and tapping machine |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN217818080U (en) * | 2022-06-28 | 2022-11-15 | 苏州朗信智能科技有限公司 | Automatic power-on system of rotary submerged arc furnace |
| CN116753734B (en) * | 2023-06-08 | 2025-08-19 | 北京朗信智能科技有限公司 | Tapping equipment of submerged arc furnace |
| CN219934656U (en) * | 2023-06-25 | 2023-10-31 | 山东军成机械科技有限公司 | Burn-through robot for industrial silicon furnace opening |
| CN220567871U (en) * | 2023-08-16 | 2024-03-08 | 山东军成机械科技有限公司 | Manual-automatic integrated burning-through robot |
-
2024
- 2024-12-31 CN CN202411991891.1A patent/CN119610161B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN215202065U (en) * | 2021-05-24 | 2021-12-17 | 广东中发罗庚智能装备制造有限公司 | Ground rail walking device for polishing robot |
| CN114877696A (en) * | 2022-03-30 | 2022-08-09 | 苏州朗信智能科技有限公司 | Industrial silicon discharging equipment |
| CN217751410U (en) * | 2022-07-22 | 2022-11-08 | 山东军成机械科技有限公司 | A robot of coming out of stove for industrial silicon field |
| CN221917125U (en) * | 2024-01-31 | 2024-10-29 | 苏州朗信智能科技有限公司 | Tapping machine sliding contact power-on system and tapping machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN119610161A (en) | 2025-03-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101306488B (en) | Double arc four wire automatic arc-submerging welder and manufacture method thereof | |
| CN108413773B (en) | A kind of Fesi Furnace is come out of the stove the operational method of Work robot | |
| EP0820421A2 (en) | Displaceable working apparatus with extensible boom | |
| CN103358115A (en) | Device for automatically lengthening graphite electrode | |
| CN102997686B (en) | Automatic discharge device of calcium carbide furnace | |
| CN102774444A (en) | Independent arm wheel type movement mechanism of tunnel cable inspection robot | |
| CN215598130U (en) | Furnace burden pushing and stoking machine for smelting furnace | |
| CN119610161A (en) | Tapping robot system for submerged arc furnace | |
| CN111351364A (en) | A kind of calcium carbide automatic furnace robot | |
| CN219934656U (en) | Burn-through robot for industrial silicon furnace opening | |
| CN102430684A (en) | Multifunctional hydraulic track forging manipulator | |
| CN202278138U (en) | Hydraulic multi-functional rail forging manipulator with nippling-lever telescoping function | |
| CN212566894U (en) | Automatic calcium carbide discharging device | |
| CN201402054Y (en) | Self-consumable furnace door carbon oxygen gun manipulator | |
| CN220376172U (en) | Crown block towing cable fire-proof plate device | |
| CN212931016U (en) | Automatic carbide discharging robot | |
| CN115284304B (en) | Tapping robot | |
| CN107560439B (en) | Free-running furnace tamping vehicle | |
| CN207066165U (en) | A kind of fire door automatic cleaning apparatus | |
| CN102190250A (en) | Hoisting device for building blast furnaces | |
| CN219756991U (en) | Stokehold auxiliary smelting system | |
| CN220912021U (en) | Carbide stove robot of coming out of stove | |
| CN223685435U (en) | Chassis mechanism of tapping robot of submerged arc furnace | |
| CN219218068U (en) | Auxiliary offline device of oxygen lance | |
| CN107830737B (en) | Rotary type opening and blocking all-in-one machine for submerged arc furnace |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |