CN208841421U - Blast-furnace tuyere automatic crusing robot - Google Patents
Blast-furnace tuyere automatic crusing robot Download PDFInfo
- Publication number
- CN208841421U CN208841421U CN201821342905.7U CN201821342905U CN208841421U CN 208841421 U CN208841421 U CN 208841421U CN 201821342905 U CN201821342905 U CN 201821342905U CN 208841421 U CN208841421 U CN 208841421U
- Authority
- CN
- China
- Prior art keywords
- fuselage
- blast
- automatic
- furnace tuyere
- crusing robot
- 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.)
- Expired - Fee Related
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
- G01N2021/9542—Inspecting the inner surface of hollow bodies, e.g. bores using a probe
- G01N2021/9544—Inspecting the inner surface of hollow bodies, e.g. bores using a probe with emitter and receiver on the probe
Abstract
The utility model discloses the blast-furnace tuyere automatic crusing robots of robotic technology field, including fuselage, it is characterized by: fuselage left and right sides bottom is equipped with four-wheel drive, the front surface of fuselage is docked embedded with automatic charging, intelligent console is equipped on front side of the upper surface of fuselage, the left side top of intelligent console is equipped with visible light camera, and the right hand top of intelligent console is equipped with thermal infrared imager, laser radar is equipped on rear side of the upper surface of fuselage, the right side of laser radar is equipped with wireless antenna；The utility model is equipped with timing means, inspection route locating module and autoreport generation module by the inner cavity of fuselage, it is alternative manually to 32 air ports every 1 hour tour number, it is more more punctual than manual inspection and data are reliable, reduction personnel receive coal gas in tuyere platform, and the threat of the bad working environments such as temperature guarantees personnel safety.
Description
Technical field
The utility model relates to robotic technology fields, and in particular to blast-furnace tuyere automatic crusing robot.
Background technique
Blast-furnace tuyere is on Iron Works, and high-temperature hot-air and furnace bottom the char oxidation burning be blown by blast-furnace tuyere is given birth to
At CO, CO is restored originally in high temperature rising with iron existing for oxide form.Blast-furnace tuyere has conductibility good, cooling equal
Even, the features such as cooling efficiency is high, dense structure, good wearability.It is usually mounted in the furnace wall between bosh and furnace bottom, leading portion has
500mm is protruded into furnace, directly by the hot erosion of liquid slag iron and falls being seriously worn for hot material, is easy failure, because it is frequent more
Air change outlet leads to blast furnace staying, leads to blast furnace low yield.Blast furnace operating personnel pay special attention to the working condition of In Raceway Before Tuyere of Blast Furnace,
And as one of the important evidence for judging and controlling operation of blast furnace situation.This work is completed, is that manually eye of wind mirror comes
It completes.Operator judges coal dust in the combustion position of Tuyere Raceway, from air port according to the brightness in air port by eye of wind mirror
The delivery situation of " prying through " coal dust, this method is discontinuous, and individual experience differs greatly, and the order of accuarcy of judgement is lower.It is based on
This, the utility model devises blast-furnace tuyere automatic crusing robot, to solve the above problems.
Utility model content
The purpose of this utility model is to provide blast-furnace tuyere automatic crusing robots, to solve to mention in above-mentioned background technique
Existing apparatus out needs artificial monitoring blast-furnace tuyere, and individual experience differs greatly, the lower problem of the order of accuarcy of judgement.
To achieve the above object, the utility model provides the following technical solutions: blast-furnace tuyere automatic crusing robot, including
Fuselage, it is characterised in that: fuselage left and right sides bottom is equipped with four-wheel drive, and the front surface of the fuselage is embedded with fills automatically
Electricity docking, the upper surface front side of the fuselage are equipped with intelligent console, and the left side top of the intelligent console is equipped with visible image capturing
Machine, the right hand top of the intelligent console are equipped with thermal infrared imager, and laser radar is equipped on rear side of the upper surface of the fuselage, described
The right side of laser radar is equipped with wireless antenna.
Preferably, the inner cavity of the fuselage is equipped with timing means, inspection route locating module and autoreport generation module.
Preferably, the outside of the fuselage is equipped with high-temperature-resistant layer, is vertically equipped with drainage trough on the high-temperature-resistant layer.
Preferably, the fuselage is equipped with two-stage alarming value, and two-stage alarming value includes yellow early-warning lamp and red early warning lamp.
Preferably, automatic charging docking includes wireless collection device and wireless repeater, and wireless collection device and wireless
Repeater is electrically connected charging pile, and the wireless collection device, wireless repeater and charging pile are all made of AC220V power supply.
Preferably, the top on the intelligent console is respectively equipped with temperature inductor and gas concentration inductor.
Preferably, the left side of the laser radar is equipped with intermediate range remote control reception device.
Compared with prior art, the utility model has the beneficial effects that the utility model passes through blast-furnace tuyere automatic detecting
The temperature detection to blast furnace tuyere platform and belly pipe surface region may be implemented in robot, passes through the thermal infrared imager of high sensitivity
Acquire monitoring area real-time pictures be passed to intelligent console region carry out date comprision, by preliminary data by wireless antenna with
Wireless is transmitted to industrial personal computer software and carries out software data processing export result；It is acquired by front equipment end visible light camera
The radar detection signal of picture and laser radar carries out Data Analysis Services in intelligent console region, controls the four-wheel of drive module
Driving carries out automatic evacuation and automatic Memory track route, can adapt to the ground environment of blast furnace multi-platform industry completely；Pass through fuselage
Inner cavity be equipped with timing means, inspection route locating module and autoreport generation module, it is alternative manually every to 32 air ports
More more punctual than manual inspection and data are reliable every 1 hour tour number, reduction personnel receive coal gas, temperature in tuyere platform
Etc. bad working environments threat guarantee personnel safety；Mating a variety of acquisition instruments can be set up on fuselage, it can real-time collection site
Border picture, environment temperature and gas concentration value；It can automatic detecting and middle control remote control by intelligent console and wireless antenna
Operate both of which function.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the utility model embodiment, make required for being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are merely some embodiments of the present invention,
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Other attached drawings.
FIG. 1 is a schematic structural view of the utility model.
In attached drawing, parts list represented by the reference numerals are as follows:
1- fuselage, 2- four-wheel drive, the docking of 3- automatic charging, 4- intelligent console, 5- laser radar, 6- wireless antenna, 7-
Visible light camera.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
All other embodiment obtained, fall within the protection scope of the utility model.
Referring to Fig. 1, the utility model provides a kind of technical solution: blast-furnace tuyere automatic crusing robot, including fuselage
1,1 left and right sides bottom of fuselage is equipped with four-wheel drive 2, and the front surface of fuselage 1 is embedded with automatic charging docking 3, the upper table of fuselage 1
Intelligent console 4 is equipped on front side of face, the left side top of intelligent console 4 is equipped with visible light camera 7, the right hand top of intelligent console 4
Equipped with thermal infrared imager 8, laser radar 5 is equipped on rear side of the upper surface of fuselage 1, the right side of laser radar 5 is equipped with wireless antenna 6.
Wherein, the inner cavity of fuselage 1 is equipped with timing means, inspection route locating module and autoreport generation module, fuselage 1
Outside be equipped with high-temperature-resistant layer, drainage trough is vertically equipped on high-temperature-resistant layer, fuselage 1 is equipped with two-stage alarming value, two-stage alarming value
Including yellow early-warning lamp and red early warning lamp, automatic charging docking 3 includes wireless collection device and wireless repeater, and wireless collection
Device and wireless repeater are electrically connected charging pile, and wireless collection device, wireless repeater and charging pile are all made of AC220V power supply, intelligence
Top on energy holder 4 is respectively equipped with temperature inductor and gas concentration inductor, and it is long-range that the left side of laser radar 5 is equipped with intermediate range
Remote-receiver.
One concrete application of the present embodiment are as follows: blast-furnace tuyere automatic crusing robot may be implemented to blast furnace tuyere platform
And the temperature detection of belly pipe surface region, monitoring area real-time pictures are acquired by the thermal infrared imager 8 of high sensitivity and are passed to intelligence
Energy 4 region of holder carries out date comprision, and preliminary data is transmitted to industrial personal computer software by wireless antenna 6 in a wireless form
Carry out software data processing export result；It is visited by the radar that front equipment end visible light camera 7 acquires picture and laser radar 5
It surveys signal and carries out Data Analysis Services in 4 region of intelligent console, the four-wheel drive 2 for controlling drive module is avoided automatically and oneself
Dynamic memory track route, can adapt to the ground environment of blast furnace multi-platform industry completely；When by tentatively fixed trace operation, front end can
Light-exposed video camera 7 acquires data and enters the analysis of intelligent console 4 and store, and at the same time passing through UWB the and GPS skill of wireless antenna 6
Art carries out artificial label positioning and is set on intelligent console 4 and industrial personal computer software to be stored, and completes the automatic of setting path
Inspection docks 3 automatic chargings, registration, automatic avoiding obstacles, the standardization of inspection route by automatic charging, and energy is certainly
The dynamic charging pile that returns voluntarily charges, and realizes standard Unmanned operation；Timing means, inspection route are equipped with by the inner cavity of fuselage 1
Locating module and autoreport generation module, it is alternative manually to 32 air ports every 1 hour tour number, more than manual inspection
Add punctual and data reliable, reduction personnel receive coal gas in tuyere platform, and the threat of the bad working environments such as temperature guarantees personnel safety；
Mating a variety of acquisition instruments can be set up on fuselage 1, can in real time collection site border picture, environment temperature and gas concentration
Value；It can automatic detecting and middle control remote control operation both of which function by intelligent console 4 and wireless antenna 5.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one of the utility model
In embodiment or example.In the present specification, schematic expression of the above terms be not necessarily referring to identical embodiment or
Example.Moreover, particular features, structures, materials, or characteristics described can be in any one or more embodiment or examples
In can be combined in any suitable manner.
The preferred embodiment in the utility model disclosed above is only intended to help to illustrate the utility model.Preferred embodiment is simultaneously
There is no the details that detailed descriptionthe is all, also not limiting the utility model is only the specific embodiment.Obviously, according to this theory
The content of bright book can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to preferably
The principles of the present invention and practical application are explained, so that skilled artisan be enable to better understand and utilize this
Utility model.The utility model is limited only by the claims and their full scope and equivalents.
Claims (7)
1. blast-furnace tuyere automatic crusing robot, including fuselage (1), it is characterised in that: fuselage (1) the left and right sides bottom
Equipped with four-wheel drive (2), the front surface of the fuselage (1) docks (3) embedded with automatic charging, before the upper surface of the fuselage (1)
Side is equipped with intelligent console (4), and the left side top of the intelligent console (4) is equipped with visible light camera (7), the intelligent console
(4) right hand top is equipped with thermal infrared imager (8), is equipped with laser radar (5) on rear side of the upper surface of the fuselage (1), described to swash
The right side of optical radar (5) is equipped with wireless antenna (6).
2. blast-furnace tuyere automatic crusing robot according to claim 1, it is characterised in that: the inner cavity of the fuselage (1)
Equipped with timing means, inspection route locating module and autoreport generation module.
3. blast-furnace tuyere automatic crusing robot according to claim 1, it is characterised in that: the outside of the fuselage (1)
Equipped with high-temperature-resistant layer, drainage trough is vertically equipped on the high-temperature-resistant layer.
4. blast-furnace tuyere automatic crusing robot according to claim 1, it is characterised in that: the fuselage (1) is equipped with
Two-stage alarming value, two-stage alarming value include yellow early-warning lamp and red early warning lamp.
5. blast-furnace tuyere automatic crusing robot according to claim 1, it is characterised in that: the automatic charging docking
It (3) include wireless collection device and wireless repeater, and wireless collection device and wireless repeater are electrically connected charging pile, it is described wireless
Collector, wireless repeater and charging pile are all made of AC220V power supply.
6. blast-furnace tuyere automatic crusing robot according to claim 1, it is characterised in that: on the intelligent console (4)
Top be respectively equipped with temperature inductor and gas concentration inductor.
7. blast-furnace tuyere automatic crusing robot according to claim 1, it is characterised in that: the laser radar (5)
Left side is equipped with intermediate range remote control reception device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821342905.7U CN208841421U (en) | 2018-08-22 | 2018-08-22 | Blast-furnace tuyere automatic crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821342905.7U CN208841421U (en) | 2018-08-22 | 2018-08-22 | Blast-furnace tuyere automatic crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208841421U true CN208841421U (en) | 2019-05-10 |
Family
ID=66356929
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821342905.7U Expired - Fee Related CN208841421U (en) | 2018-08-22 | 2018-08-22 | Blast-furnace tuyere automatic crusing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208841421U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111500811A (en) * | 2020-05-28 | 2020-08-07 | 鞍钢股份有限公司 | Device and method for automatically inspecting on blast furnace tuyere platform |
| CN112947461A (en) * | 2021-03-01 | 2021-06-11 | 金陵科技学院 | VSLAM algorithm-based blast furnace tuyere platform inspection robot control method |
| CN113006855A (en) * | 2021-02-23 | 2021-06-22 | 美卓矿山安全设备（徐州）有限公司 | Automatic inspection robot for mine |
| IT202000018511A1 (en) * | 2020-07-30 | 2022-01-30 | Danieli Automation Spa | INSPECTION EQUIPMENT AND RELATED METHOD |
| CN115369199A (en) * | 2022-08-02 | 2022-11-22 | 南京金桓电子科技有限公司 | Artificial intelligence blast furnace system of patrolling and examining |
-
2018
- 2018-08-22 CN CN201821342905.7U patent/CN208841421U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111500811A (en) * | 2020-05-28 | 2020-08-07 | 鞍钢股份有限公司 | Device and method for automatically inspecting on blast furnace tuyere platform |
| IT202000018511A1 (en) * | 2020-07-30 | 2022-01-30 | Danieli Automation Spa | INSPECTION EQUIPMENT AND RELATED METHOD |
| WO2022024160A1 (en) * | 2020-07-30 | 2022-02-03 | Danieli Automation S.P.A. | Inspection apparatus for melting furnaces that can be used in the steel industry and method |
| CN113006855A (en) * | 2021-02-23 | 2021-06-22 | 美卓矿山安全设备（徐州）有限公司 | Automatic inspection robot for mine |
| CN112947461A (en) * | 2021-03-01 | 2021-06-11 | 金陵科技学院 | VSLAM algorithm-based blast furnace tuyere platform inspection robot control method |
| CN112947461B (en) * | 2021-03-01 | 2022-11-04 | 金陵科技学院 | VSLAM algorithm-based blast furnace tuyere platform inspection robot control method |
| CN115369199A (en) * | 2022-08-02 | 2022-11-22 | 南京金桓电子科技有限公司 | Artificial intelligence blast furnace system of patrolling and examining |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190510 Termination date: 20210822 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |