CN212320422U

CN212320422U - Blow-in robot for alloy smelting furnace

Info

Publication number: CN212320422U
Application number: CN202021670093.6U
Authority: CN
Inventors: 李亚宁; 贾孝平; 赵银平; 贾淑丽
Original assignee: Ningxia Pan En Intelligent Control Technology Co ltd
Current assignee: Ningxia Pan En Intelligent Control Technology Co ltd
Priority date: 2020-08-12
Filing date: 2020-08-12
Publication date: 2021-01-08
Anticipated expiration: 2030-08-12

Abstract

The utility model relates to a blow-in equipment technical field indicates an alloy smelting furnace blow-in robot especially, blow-in robot is including automobile body, open eye module, combustion-supporting class module, shutoff module, hydraulic pressure module, collection module and the control module group of flowing, wherein, it is including electron chi, force sensor, dynamic torque sensor, absolute value encoder and industrial camera to gather the module. The utility model discloses can eliminate the potential safety hazard of on-the-spot blowing in, reduce labour's cost, still solve the difficult problem that on-the-spot personnel can't accurate judgement blowing in process each state simultaneously.

Description

Blow-in robot for alloy smelting furnace

Technical Field

The utility model relates to a blow-in equipment technical field indicates an alloy smelting furnace blow-in robot especially.

Background

Silicomanganese, ferrosilicon alloy smelt hot stove in ore deposit very much in the metallurgical industry, the blow-in machine of current universal adoption realizes the blow-in, the eye blocks, the slag that appears at smelting fluid outflow in-process often blocks up the flow, in order to guarantee to smelt the normal outflow of fluid, the most artifical mode of flow aid that adopts at present, adopt long drill rod to carry out reciprocal pull to the fire hole, because the liquid outflow of interior high temperature metal of stove, for guaranteeing personnel's safety, must keeping away from the operation of fire door certain distance, guarantee relative security, and long distance pulls, the pull action needs many people to accomplish jointly, lead to present stokehold staff in front of the stove numerous, very high running cost has been brought for the enterprise.

In the process of opening the furnace, in order to ensure that a drill bit is not directly damaged by high-temperature liquid or avoid that no smelting fluid flows out after the drill bit runs away, at present, an iron pipe is adopted on the site of opening the furnace to supply oxygen into a furnace eye, so that a high-temperature area in the furnace eye is gradually melted to be in a liquid state and flows out, because the operation process is carried out in a hole with the depth of less than 10cm, after oxygen enters, the high-temperature area is instantly melted and burnt, so that the spraying type outward sputtering of the smelting fluid can be caused, the operation is very unsafe for operators, personnel injury accidents can be easily caused, and a plurality of uncontrollable factors are brought to the safety production in.

On the spot of the silicon-manganese and silicon-iron alloy smelting submerged arc furnace, because the situation that part of the silicon-manganese and silicon-iron alloy is directly solidified into powder under the metal liquid state is difficult to avoid, the powder exists around the smelting submerged arc furnace in the form of floating dust, personnel need to work around the smelting submerged arc furnace for a long time in the process of opening the furnace every time, and a large amount of metal powder is sucked to cause personnel occupational diseases.

Therefore, an apparatus capable of replacing field operation workers is urgently needed on the smelting ore furnace site of the silicon-manganese and silicon-iron alloy.

Through retrieval, the patent application number is 201010180190.1, and discloses an electric heating ore smelting furnace hole opening and blocking machine which mainly comprises a traveling mechanism (1), an opening mechanism (3) and a hole blocking mechanism (4); the device is also provided with a center line adjusting mechanism, a track table (6) and a pushing oil cylinder (9) are arranged on the machine base (2), a roller seat (8) is arranged at the bottom of a center line adjusting seat plate (10), two groups of rollers (7) are arranged on the roller seat (8) through a center shaft, a piston rod of the pushing oil cylinder (9) is connected with the roller seat (8), and a bracket (19) is arranged on the center line adjusting seat plate (10) through a slide rail.

However, the eye opening and blocking machine does not describe the eye opening mechanism (3) and the eye blocking mechanism (4), and the disclosure is insufficient; moreover, the eye opening and blocking machine is not provided with a flow aid mechanism and an oxygen supply mechanism in the furnace eye, and the defects of manual flow aid, manual oxygen supply in the furnace and the like cannot be overcome.

Disclosure of Invention

Therefore, the utility model discloses a main aim at provides an alloy smelting furnace blow-in robot, blow-in robot has realized whole blow-in process through remote operation, need not the on-the-spot personnel blow-in, eliminates the potential safety hazard.

Still another object of the utility model is to provide an alloy smelting furnace blow-in robot, blow-in robot can gather in real time, judge the field device running state, has solved the problem that the field personnel can't accurately judge the state.

Another object of the utility model is to provide an alloy smelting furnace blow-in robot, blow-in robot has reduced a large amount of on-the-spot personnel's work, reduces labour's cost.

In order to achieve the above object, the utility model adopts the following technical scheme:

a blow-in robot for an alloy smelting furnace is characterized by comprising a vehicle body, a blow-in module, a combustion-supporting and flow-assisting module, a plugging module, a hydraulic module, a collecting module and a control module,

the vehicle body is used for installing the plugging module, the open-hole module, the combustion-supporting and flow-assisting module, the control box and the hydraulic module;

the open-hole module is used for opening a furnace eye to realize outflow of liquid metal in the furnace;

the combustion-supporting flow-aiding module is used for changing the phenomena of outflow stoppage, unsmooth flow and the like after the eyes are opened;

the plugging module is used for plugging the opened furnace eye so as to ensure that the subsequent smelting work is normal;

the acquisition module is used for acquiring various types of data and accurately transmitting and feeding back the acquired data to the control module;

the hydraulic module is used for realizing all action driving of the whole blow-in robot equipment;

the control module is used for analyzing and judging the data acquired by the acquisition module and controlling the action drive of the hydraulic module;

the acquisition module comprises an electronic ruler, a tension sensor, a dynamic torque sensor, an absolute value encoder and an industrial camera, and the control module is connected with the electronic ruler, the tension sensor, the dynamic torque sensor, the absolute value encoder and the industrial camera.

Further, the open-hole module comprises a first hydraulic motor, a moving trolley, a rock drill, a first support rail, a drill rod and a drill bit, wherein the moving trolley is arranged on the first support rail, and the output end of the first hydraulic motor is connected with the moving trolley;

the rock drill is arranged on the movable trolley, and the output end of the rock drill is connected with the drill bit through a drill rod.

Furthermore, the combustion-supporting flow-aiding module comprises a second hydraulic motor, a third hydraulic motor, a drill rod supplying mechanism, a first-stage support rail, a second-stage support rail, a first-stage trolley and a drill rod trolley,

the first-stage trolley is arranged on the first-stage supporting track in a sliding mode, the second-stage supporting track is arranged on the first-stage trolley, the output end of the second hydraulic motor is connected with the first-stage trolley, and the output end of the third hydraulic motor is connected with the drill rod trolley;

the drill rod trolley is provided with a drill rod, and the secondary support rail is provided with a drill rod support piece corresponding to the drill rod.

Further, the combustion-supporting flow-assisting module further comprises an oxygen pipe and a friction drill rod feeding assembly, the friction drill rod feeding assembly is arranged on the secondary support track, and the oxygen pipe is provided with the friction drill rod feeding assembly.

Furthermore, the shutoff module includes propulsion cylinder, second support track, plug-in hole machine and slide rail, propulsion cylinder sets up in the second supports the track, the slide rail slides and sets up on the second support track, propulsion cylinder's output with the orbital connection of second support, the plug-in hole machine sets up on the slide rail.

Further, the control module comprises a control box and a far-end upper computer, the control box is provided with an active chip, the active chip is an ST32 series chip, and the active chip and the far-end upper computer realize TCP/IP communication through an industrial ring network;

the active chip is triggered by a timer at short intervals and commands a frame return locking mode, so that misoperation caused by time delay is avoided.

The beneficial effects of the utility model reside in that:

the utility model comprises a vehicle body, an open-eye module, a combustion-supporting flow-assisting module, a plugging module, a hydraulic module, an acquisition module and a control module, wherein the control module comprises a control box and a far-end upper computer, the control box is provided with an active chip, and the active chip and the far-end upper computer realize TCP/IP communication through an industrial looped network; the whole blow-in work can be controlled through the far-end upper computer, field personnel are not needed to participate in the blow-in process, the labor cost is reduced, meanwhile, the problems of industrial injuries and occupational diseases of the field blow-in personnel are solved, and the potential safety hazard of the field blow-in is eliminated.

The utility model discloses be equipped with electronic ruler, force sensor, dynamic torque sensor, absolute value encoder and industrial camera, can gather in real time, judge the field device running state, solved the difficult problem that the field personnel can't accurately judge each state of blow-in process.

Drawings

Fig. 1 is a schematic connection diagram of the modules of the present invention.

Fig. 2 is a schematic structural diagram of the present invention.

Fig. 3 is a schematic structural view of another angle of the present invention.

Fig. 4 is a schematic structural view of the combustion-supporting flow-aiding module of the present invention.

Fig. 5 is a schematic structural diagram of the open-eye module of the present invention.

Fig. 6 is a top view of the plugging module of the present invention.

Fig. 7 is a schematic structural diagram of the plugging module of the present invention.

Fig. 8 is a schematic view of the present invention in use.

The reference numbers illustrate:

1. a hydraulic module; 2. a drill rod; 3. a drill bit; 4. a mud guiding cylinder; 5. a vehicle body; 6. a control box; 7. a shank support; 8. a secondary support rail; 9. a primary support rail; 10. a drill rod trolley; 11. a first-stage trolley; 12. a rock drill; 13. a drill stem; 14. moving the trolley; 15. a first support rail; 16. a propulsion cylinder; 17. a mud pushing oil cylinder; 18. a second support rail; 19. a slide rail; 20. a furnace eye; 21. a guide bar; 22. a drill rod supply assembly; 23. and (3) a friction drill rod feeding assembly.

Detailed Description

Referring to fig. 1-8, the present invention relates to a blow-in robot for an alloy smelting furnace, which comprises a furnace body 5, a blow-in module, a combustion-supporting flow-assisting module, a plugging module, a hydraulic module 1, a collecting module and a control module,

the vehicle body 5 is used for installing the plugging module, the open-hole module, the combustion-supporting and flow-assisting module, the control box 6 and the hydraulic module 1;

when the smelting in the furnace reaches the condition of opening the furnace, the open-hole module is used for opening the furnace eye 20 to realize the outflow of liquid metal in the furnace;

the plugging module is used for plugging the opened furnace eye 20 so as to ensure that the subsequent smelting work is normal;

the hydraulic module 1 is used for realizing all action driving of the whole blow-in robot equipment;

the control module is used for analyzing and judging the data acquired by the acquisition module and controlling the action drive of the hydraulic module 1;

the acquisition module comprises an electronic ruler, a tension sensor, a dynamic torque sensor, an absolute value encoder and an industrial camera, and the control module is connected with the electronic ruler, the tension sensor, the dynamic torque sensor, the absolute value encoder and the industrial camera; the high-precision electronic scale, the wide-range tension sensor, the dynamic torque sensor, the absolute value encoder and other electronic feedback sensors are adopted in the application, the industrial camera is synchronously assisted, the mixed positioning mode of the sensor and vision is realized, and the positioning accuracy is ensured.

In this embodiment, the open-hole module includes a first hydraulic motor, a moving trolley 14, a rock drill 12, a first support rail 15, a drill rod 13 and a drill bit 3, the moving trolley 14 is disposed on the first support rail 15, and an output end of the first hydraulic motor is connected with the moving trolley 14;

the rock drill 12 is arranged on the movable trolley 14, and the output end of the rock drill 12 is connected with the drill bit 3 through a drill rod 13;

in the scheme, before the opening, firstly, the rock drilling machine 12 is started to rotate and impact, the rock drilling machine 12 is fixed on the movable trolley 14 and moves along with the trolley, and the first hydraulic motor is used for rotating to drive the movable trolley 14 to move forward along the first support rail 15, so that the opening of the furnace eye 20 is realized;

the absolute value encoder is arranged on an output shaft of the first hydraulic motor, the speed of the movable trolley 14 is fed back in real time in the drilling process, the drilling process is divided into four stages according to actual field test data, the first stage is an idle stroke, the second stage is a clay part, the third stage is a metal solidification part, the fourth stage is a metal liquid part, when the trolley drives the rock drill 12 to move forwards, the speed in the idle stroke of the first stage is higher, when the rock drill enters the second stage from the first stage, the advancing speed is reduced, when the rock drill enters the third stage from the second stage from the metal solidification part, the advancing speed is reduced again, and when the rock drill enters the fourth stage from the third stage from the metal solidification part, the advancing speed is greatly increased and changed, the control module acquires the data of the absolute value encoder in real time, records and judges the data, whether the opening is successful or not is judged.

In this embodiment, the combustion-supporting flow-aiding module comprises a second hydraulic motor, a third hydraulic motor, a drill rod supplying mechanism, a primary support rail 9, a secondary support rail 8, a primary trolley 11 and a drill rod trolley 10,

the first-stage trolley 11 is arranged on the first-stage supporting track 9 in a sliding mode, the second-stage supporting track 8 is arranged on the first-stage trolley 11, the output end of the second hydraulic motor is connected with the first-stage trolley 11, and the output end of the third hydraulic motor is connected with the drill rod trolley 10;

the drill rod trolley 10 is provided with a drill rod 2, and the secondary support track 8 is provided with a drill rod support piece 7 corresponding to the drill rod 2; the combustion-supporting flow-aiding module further comprises a drill rod supply assembly 22, and the drill rod supply assembly 22 is used for storing the drill rod 2;

the combustion-supporting flow-aiding module further comprises an oxygen pipe and a friction drill rod feeding assembly 23, the friction drill rod feeding assembly 23 is arranged on the secondary support rail 8, and the oxygen pipe is provided with the friction drill rod feeding assembly 23;

in the scheme, the combustion-supporting flow-aiding module mainly realizes oxygen-introduction combustion-aiding and steel chisel flow-aiding, namely measures for improving the situations are realized when outflow stopping, unsmooth and the like occur after the opening, combustion-aiding is mainly used when metal liquid does not flow out after the opening is finished, and flow-aiding is mainly performed when the outflow of the metal liquid is reduced; the method specifically comprises the following steps:

before combustion supporting, the secondary support rail 8 enters the furnace eye 20 from the protective door observation hole to a position 1.5 meters away from the furnace eye, an oxygen pipe is placed in the friction drill rod feeding assembly 23, the front end of the oxygen pipe basically reaches the position of the furnace eye 20, after clamping is controlled, forward feeding of the oxygen pipe is realized by rotating a friction wheel set, the feeding length of the oxygen pipe is controlled by adjusting the rotating speed of a second hydraulic motor or intermittently controlling, the outflow condition of metal liquid of the furnace eye 20 is observed through videos, and whether combustion supporting is finished is judged;

before flow aid, the secondary support rail 8 enters the furnace eye 20 from the protective door observation hole to a position 1.5 meters away from the furnace eye, the drill rod 2 is placed in the drill rod trolley 10, the front end of the drill rod 2 basically reaches the position of the furnace eye 20, after clamping is controlled, the drill rod trolley 10 is driven to move back and forth through rotation of the third hydraulic motor, reciprocating drawing is achieved, flow aid is completed, the outflow condition of metal liquid in the furnace eye 20 is observed through videos, and the flow aid effect is judged.

In this embodiment, the plugging module includes a propulsion cylinder 16, a second support rail 18, a plugging machine and a slide rail 19, the propulsion cylinder 16 is disposed in the second support rail 18, the slide rail 19 is slidably disposed on the second support rail 18, an output end of the propulsion cylinder 16 is connected to the second support rail 18, the plugging machine is disposed on the slide rail 19, wherein the plugging machine is composed of a mud pushing cylinder 17 and a mud guiding cylinder 4, and the tension sensor is disposed at a tail portion of the propulsion cylinder 16;

in the above scheme, the plugging module mainly realizes plugging the opened furnace eye 20 when the external flow of the metal liquid meets the requirement or no molten metal liquid is in the furnace eye, so as to ensure the normal subsequent smelting work;

when a furnace eye 20 is plugged, the pushing cylinder 16 is controlled to move towards the position of the furnace eye 20, when the front end of the mud guide cylinder 4 enters the furnace eye 20, the mud guide cylinder continues to advance, the mud guide cylinder 4 is in contact with a furnace body to generate backward reaction force, the reaction force can be collected by a tension sensor arranged at the tail part in real time, when the reaction force reaches 2T, a control circuit automatically cuts off a valve body corresponding to the pushing cylinder 16, the pushing is stopped, the mud pushing cylinder 17 starts to work, cement pre-filled in the mud guide cylinder 4 is pushed into the furnace eye 20, and the pushing cylinder is withdrawn after plugging for 20 minutes; it should be noted that the control circuit refers to a circuit that is controlled by the control module to drive the propulsion cylinder 16, and the circuit is not a protection point of the present application, and therefore, the description thereof is omitted.

In this embodiment, the control module includes a control box 6 and a remote upper computer, the control box 6 is provided with an active chip, the active chip is a chip of ST32 series, and the active chip and the remote upper computer realize TCP/IP communication through an industrial ring network;

the active chip adopts a timer short-interval trigger and a command reply frame locking mode to avoid misoperation caused by time delay;

the active chips relate to 32 paths of contact signals, 2 paths of analog signal acquisition, 5 RS485 communication nodes and 3 paths of TCP/IP communication in total, relate to 2 positions of video shooting, cover the contents of multiple fields such as digital signal processing, analog signal processing, video stream processing and the like, and ensure the realization of the functions of the blowing-in robot equipment.

In the embodiment, the length of the whole vehicle body 5 is designed to be not more than 6 meters according to actual data on site, the vehicle width can adapt to the existing track running parameters on site, the vehicle body 5 reaches a working position, the overhang length at the front part can meet the use requirement, and the vehicle body does not interfere with the extension section of the furnace eye 20;

the horizontal movement range is 1.2m, the center distance between the modules at two ends is less than 1m, the effective reservation is 200mm, and all actions can be realized in the effective stroke;

the utility model adopts a hydraulic mode for the integral driving, totally relates to a hydraulic loop not less than 14 paths, the pressure maintaining pressure is designed to be 14Mpa, the maximum flow is 70L/min, a 37KW motor and a two-stage gear pump are adopted, and the mailbox capacity is designed to be 200L;

the utility model discloses wholly relate to 20 groups of motion in total, realized that whole car gos forward and retreat, whole car braking, the whole translation of module, module hierarchical operation, module dislocation are put, mechanism reciprocating motion, rotation, impact etc. and realized the action of whole blow-in process and covered.

Combing according to the working flow as follows:

when the whole vehicle moves forward to a working position, the guide rod 21 is propped by the front end to move backwards, the tail sensor responds to automatically cut off the forward power supply of the forward motor, and the forward movement is stopped;

the module integrally moves horizontally, the control module feeds back the current extending distance of the oil cylinder in real time, when the module reaches a preset working position, a control signal of the horizontal oil cylinder is automatically cut off, and meanwhile, the module is positioned in a front video area and reaches a fixed area;

the rock drill 12 starts, the trolley moves forward, the absolute value encoder data starts to be collected in real time, when the absolute value encoder has acceleration change exceeding a threshold value, the observation is judged to be completed, the rock drill 12 automatically returns to an initial position, and at the moment, the furnace eye 20 lightening characteristic appears in the video;

in the combustion supporting process, the friction drill rod feeding assembly 23 starts to automatically feed into the oxygen pipe, the current outflow situation of the furnace eye 20 is displayed in real time through a video, and combustion supporting is stopped when the outflow of the metal liquid is normal;

in the flow aiding process, the drill rod feeding trolley realizes reciprocating motion through the rotation speed and the steering control of a third hydraulic motor, so that the slag in the furnace eye 20 is output, the outflow of the metal liquid is assisted, and whether the outflow condition meets the requirement or not is judged according to videos;

the furnace eye is plugged 20, the plugging module firstly runs to the plugging position through a preset value, the module integrally moves forwards, when the reaction force of the module reaches 2T (or other preset values), the control signal of the pushing oil cylinder 16 is automatically cut off, the pushing is stopped, the mud pushing oil cylinder 17 starts to advance, and continuous plugging for 20 minutes is realized according to the timing mode of a timer in the control module;

and (4) finishing the whole blow-in work, releasing the rail clamping, withdrawing the whole vehicle backwards, judging the current withdrawing position according to the video information, returning each module to the initial position, and calibrating zero by using the sensor.

The above embodiments are only for describing the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and improvements made by the technical solution of the present invention by those skilled in the art are all within the scope of the present invention as defined by the claims.

Claims

1. A blow-in robot for an alloy smelting furnace is characterized by comprising a vehicle body, a blow-in module, a combustion-supporting and flow-assisting module, a plugging module, a hydraulic module, a collecting module and a control module,

2. The alloy smelting furnace tapping robot according to claim 1, wherein the tapping module comprises a first hydraulic motor, a traveling bogie, a rock drill, a first support rail, a drill rod and a drill bit, the traveling bogie is arranged on the first support rail, and an output end of the first hydraulic motor is connected with the traveling bogie;

3. The furnace opening robot of the alloy smelting furnace according to claim 2, wherein the combustion-supporting flow-assisting module comprises a second hydraulic motor, a third hydraulic motor, a drill rod supplying mechanism, a first-stage supporting rail, a second-stage supporting rail, a first-stage trolley and a drill rod trolley,

4. The alloy smelting furnace tapping robot according to claim 3, wherein the combustion-supporting flow-assisting module further comprises an oxygen pipe and a friction feeding drill rod assembly, the friction feeding drill rod assembly is arranged on the secondary support rail, and the oxygen pipe is provided with the friction feeding drill rod assembly.

5. The alloy smelting furnace blowing-in robot of claim 4, characterized in that the shutoff module includes propulsion cylinder, second support track, machine of plugging in and slide rail, propulsion cylinder sets up in the second support track, the slide rail slides and sets up on the second support track, propulsion cylinder's output with the second supports orbital being connected, the machine of plugging in sets up on the slide rail.

6. The alloy smelting furnace blowing-in robot according to claim 5, characterized in that the control module comprises a control box and a far-end upper computer, the control box is provided with an active chip, the active chip is a chip of ST32 series, and the active chip and the far-end upper computer realize TCP/IP communication through an industrial ring network;