CN218545898U - Hot stove in ore deposit patrols and examines robot - Google Patents
Hot stove in ore deposit patrols and examines robot Download PDFInfo
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- CN218545898U CN218545898U CN202222504322.2U CN202222504322U CN218545898U CN 218545898 U CN218545898 U CN 218545898U CN 202222504322 U CN202222504322 U CN 202222504322U CN 218545898 U CN218545898 U CN 218545898U
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Abstract
The utility model provides a hot stove in ore deposit patrols and examines robot, include: a robot housing and a wheel chassis; the robot further has: the device comprises a control unit, a collecting unit, a detecting unit, an illumination indicating unit, an executing unit, a driving unit, a power supply unit and an ultrasonic unit; the control unit includes: an industrial personal computer, a main control board and a starting switch; the acquisition unit includes: infrared cameras and high definition cameras; the detection unit includes: radar, gas detector, noise detector; the illumination indication unit includes: a working state indicator light and an illuminating light; the execution unit includes: a lifting mechanism; the driving unit includes: a driving motor and a driving control panel; the ultrasound unit includes: front ultrasonic and back ultrasonic; the power supply unit includes: battery, automatic charging subassembly, switch and manual charging. The utility model discloses can realize automatic high frequency intelligence and patrol and examine, reduce hot stove trouble in ore deposit and cause the blowing out, improve production efficiency. The working environment of the patrol personnel is effectively improved, the number of the patrol personnel is reduced, and the labor cost is reduced.
Description
Technical Field
The utility model relates to a technical field of hot stove of ore deposit is smelted particularly, especially relates to a hot stove of ore deposit patrols and examines robot.
Background
The smelting environment of the submerged arc furnace has the characteristics of high temperature and high dust, and also can have the dangerous conditions of material collapse, CO gas leakage and the like. At present, the inspection mode of the submerged arc furnace is manual field walking inspection, the operation condition of equipment is judged through visual, tactile and auditory experiences, an infrared temperature measuring gun measures temperature and forms records are handwritten, the equipment fault inquiry and operation state history tracing efficiency is low, and the inspection data records lack integrity and objectivity.
Because the high-risk environment of the submerged arc furnace production endangers the safety of workers, and the manual inspection cannot realize high-frequency and instant arrival at fault equipment and accurate recording of the running full state of the equipment, the traditional submerged arc furnace inspection mode is urgently required to be upgraded into intelligent inspection, the running stability of the submerged arc furnace is improved, accidents are prevented, the working environment of the inspection workers is improved, and the life safety of the inspection workers is ensured.
SUMMERY OF THE UTILITY MODEL
In accordance with the technical problems mentioned in the background art, the inspection robot for the submerged arc furnace is provided. The utility model discloses mainly include a hot stove in ore deposit patrols and examines robot, include: a robot housing and a wheel chassis; the robot further has: the device comprises a collecting unit, a detecting unit, an illumination indicating unit, an executing unit, a driving unit, a power supply unit, an ultrasonic unit and a control unit; the acquisition unit includes: infrared cameras and high definition cameras; the detection unit includes: radar, gas detector and noise detector; the illumination indication unit includes: a working state indicator light and an illuminating light; the execution unit includes: a lifting mechanism; the driving unit includes: a drive motor and a drive control board; the ultrasound unit includes: front ultrasonic and back ultrasonic; the power supply unit includes: the device comprises a battery, an automatic charging assembly, a power switch and a manual charging device; the control unit includes: an industrial personal computer, a main control board and a starting switch; the power supply unit is respectively connected with the control unit, the acquisition unit and the driving unit; the control unit is respectively connected with the acquisition unit, the detection unit and the ultrasonic unit; the control unit is also connected with the illumination indication unit, the execution unit and the driving unit respectively.
Compared with the prior art, the utility model has the advantages of it is following:
the utility model discloses can realize automatic high frequency intelligence and patrol and examine, reduce the hot stove trouble in ore deposit and cause the blowing out, improve production efficiency. The working environment of the inspection personnel is effectively improved, the number of the inspection personnel is reduced, and the labor cost is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is the utility model discloses the hot stove in ore deposit patrols and examines robot explosion chart.
Fig. 2 is the utility model discloses patrol and examine robot control system block diagram.
Fig. 3 is the utility model discloses the hot stove in ore deposit patrols and examines robot network diagram.
Wherein, 1, an infrared camera; 2. a high definition camera; 3. a WIFI antenna; 4. a working state indicator light; 5. a radar; 6. a gas detector; 7. a noise detector; 8. an illuminating lamp; 9. pre-sonication; 10. an anti-collision strip; 11. a router; 12. a lifting mechanism; 13. a battery; 14. a drive motor; 15. a drive control board; 16. an automatic charging assembly; 17. post-sonication; 18. the system comprises an industrial personal computer and a main control board; 19. an emergency stop button; 20. debugging the component; 21. starting a switch; 22. a power switch; 23. manual charging; 101. the submerged arc furnace patrols and examines the robot; 102. wireless routing; 103. a worker station; 104. a fiber optic transceiver; 105. a remote operator station.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, the submerged arc furnace inspection robot uses a wheel type chassis. The robot includes: the device comprises a control unit, a collecting unit, a detecting unit, an illumination indicating unit, an executing unit, a driving unit, a power supply unit and an ultrasonic unit;
the acquisition unit includes: an infrared camera 1 and a high-definition camera 2;
the detection unit includes: a radar 5, a gas detector 6 and a noise detector 7;
the illumination indication unit includes: a working state indicator lamp 4 and an illuminating lamp 8;
the execution unit includes: a lifting mechanism 12;
the drive unit includes: a drive motor 14 and a drive control board 15;
the ultrasound unit includes: front ultrasonic 9 and back ultrasonic 17;
the power supply unit includes: a battery 13, an automatic charging assembly 16, a power switch 22 and a manual charging 23;
the control unit includes: an industrial personal computer, a main control board 18 and a starting switch 21;
the power supply unit is respectively connected with the control unit, the acquisition unit and the driving unit; the control unit is respectively connected with the acquisition unit, the detection unit and the ultrasonic unit; the control unit is also respectively connected with the illumination indicating unit, the execution unit and the driving unit.
As a preferred embodiment, in the present application, the infrared camera 1 collects infrared images and videos, uses a high-temperature infrared camera to measure temperature, and collects the normal-temperature equipment material pipe, short net, moisture separator, access door, observation door, electric furnace transformer, hydraulic station, annular feeder, etc. of the submerged arc furnace in a full-coverage manner, and the blanking nozzle of the high-temperature equipment in the hearth, the exposed section in the electrode hearth and the charge level are installed on the right side of the robot camera holder;
the high-definition camera 2 is a high-pixel camera, collects high-definition images and videos of submerged arc furnace equipment and is installed on the left side of the robot camera holder;
the WIFI antenna 3 is an external antenna of a router in the robot, and is magnetically adsorbed on the shells on the two sides of the rear part of the robot; the acousto-optic alarm lamp 4 indicates the running state of the robot, normally runs to display evergreen, the electric quantity is too low to display everorange, the system starts to display orange flicker, the alarm display is everred and whistle, and the acousto-optic alarm lamp is arranged on the right shell of the robot; the radar 5 is a laser radar, is used for synchronous positioning and map construction of the robot, and is arranged on the top of the middle shell of the robot.
Preferably, this application robot still has gaseous detector and detects 6 for measure CO concentration, trigger the acousto-optic warning lamp and send the warning when CO concentration is too high, install on the robot right side shell, with the protection of column metal casing back-off. The noise detector 7 collects an audio signal for identifying abnormal sound emitted in an abnormal state of the apparatus, and is mounted together with the gas detector.
Preferably, the illuminating lamp 8 as the robot illumination indicating unit is a supplementary light source, used when the ambient light is insufficient, and installed in front of the left side housing of the robot.
The front ultrasonic wave 9 is used for predicting collision avoidance when the robot walks forwards and is arranged at the front end of the robot. The back ultrasonic 17 radar is used for predicting collision avoidance when the robot runs backwards, is arranged at the back end of the robot and is positioned at two sides of the automatic charging assembly, which are in contact with the copper conductor;
the device is also provided with an anti-collision strip 10 which is a robot mechanical anti-collision device and is arranged at the foremost end of the robot; the router 11 is a robot management route, realizes wireless communication connection with a robot management system, and is installed inside a robot body; the lifting mechanism 12 is a lifting rod for mounting the infrared camera and the high-definition camera cloud deck, is used for adjusting the height of the camera by lifting the cloud deck, and is mounted at the top end of the shell of the robot.
The battery 13 is two groups of lithium iron batteries, is a main power supply of the robot and is arranged at the front end in the robot body; the driving motor 14 is used for driving the robot to walk and is arranged at the bottom inside the robot body; the driving control board 15 is used for controlling a robot driving motor and is arranged on two sides in the robot body; the automatic charging assembly 16 is in contact connection with an external power supply by adopting infrared positioning, is used for charging a lithium iron battery and is arranged at the rearmost end of the robot; the industrial personal computer 18 and the main control board are a Linux operating system built-in industrial personal computer and a singlechip core main control board, establish communication connection to control the robot and are installed in the robot body; the emergency stop button 19 is used for cutting off a main power supply in emergency and is arranged on the left side of the rear end of the robot; the debugging component 20 is a USB interface of a built-in industrial personal computer and a debugging serial port of a core main control board, is used for downloading and uploading programs, and is arranged on the right side of the emergency stop button side by side; the starting switch 21 is an industrial personal computer switch button and is arranged on the right side of the debugging component in parallel; 22 the power switch is a main power supply switch of the robot and is arranged on the right side of the starting switch in parallel; 23 manual charging is a reserved power supply aviation plug, is used for manual charging of the adapter and is arranged on the right side of the power switch side by side.
Fig. 2 is a block diagram of a patrol robot control system, which comprises: the H01 main control board is a robot core control board, realizes the functions of hardware driving, information communication and processing of an electric sensor and power management, establishes communication with an industrial personal computer, is a hardware core of the robot, and is connected with a power supply cable, a communication line, a signal line, a sensing line and a control line; the H02 laser radar, the infrared camera and the high-definition camera are intelligent sensor equipment connected with an RJ45 interface, a fixed IP address is set so that an industrial personal computer can access the intelligent sensor equipment, the intelligent sensor equipment is connected to a router by using a fifth type of network cable, and a main control board supplies power; the H03 router is a management type router which connects the laser radar, the infrared camera and the high-definition camera to the industrial personal computer, supports wireless connection with an external network, and is powered by the main control board; the H04 industrial personal computer is provided with a Linux system to realize positioning, navigation and processing of text information, instructions and audio and video streams, processes the instructions of the workstation and communicates the instructions to the main control board, sets a fixed IP address, is connected to the router by using a fifth type of network cable, is connected with the main control board by a starting signal cable and a communication cable, and supplies power to the main control board; the H05 remote controller is a wireless remote controller, is used for operating the running and the lifting of the robot on site, and is in wireless communication with the industrial personal computer; the H06 mouse keyboard is an input device of the industrial personal computer and is in wireless communication with the industrial personal computer; the H07 display is output equipment of the industrial personal computer, is connected to the industrial personal computer by using a VGA (video graphics array) line, and is powered by the main control board; the H08 sensor comprises an automatic charging guide sensor, an ultrasonic obstacle avoidance sensor, a mechanical anti-collision sensor, an infrared anti-falling sensor, a noise detector and a gas detector, and is connected to the main control board by using a special sensing line; the H09 starting switch is used for starting and stopping the industrial personal computer, a starting signal is transmitted to the industrial personal computer through the main control board, and the starting signal is connected to the main control board through a starting signal line; the H10 charging input is connected to the main control panel by using a power supply cable, and the power switch and the emergency stop button are main power supply control buttons of the robot; h11 acousto-optic alarm lamps, a pan-tilt lifting and horizontal pitching motion lamp and an illuminating lamp are robot actuating mechanisms, are controlled by a main control board and are connected to the main control board by using control lines; the H12 motor driving module is used for controlling the operation of the left motor and the right motor, is connected to the main control board by using a left motor control line and a right motor control line, and supplies power to the main control board; the H13 left motor is a robot walking power mechanism, is connected to a motor driving module by using a driving wire, and feeds back a robot movement displacement signal by using a Hall sensing wire; and H14, a right motor is a robot walking power mechanism, a driving wire is connected to a motor driving module, and a Hall sensing wire feeds back a robot movement displacement signal. 101, a built-in management router and an external WIFI antenna of the robot are connected with an industrial personal computer, a laser radar, an infrared camera and high-definition camera equipment in a wired mode, the industrial personal computer is used for collecting positioning and navigation data of the laser radar, and collecting video stream data of the infrared camera and the high-definition camera, the industrial personal computer is installed on a robot body and carries the robot to move in a workshop of the submerged arc furnace; the 102 wireless router is a group of wireless routers, establishes a wireless local area network, transmits various data such as robot text information, instructions, audio and video streams and the like, is installed on each floor of a submerged arc furnace plant, and is connected in a star shape by adopting five types of network cables; 103, transmitting various data such as text information, instructions, audio and video streams and the like of the robot by the workstation through a wireless route, establishing a database as a server and a client of the robot management system, installing the database in a control room of a submerged arc furnace workshop, and connecting the database with a wireless route interface by adopting five types of network cables; 104 optical fiber transceivers are used in pairs, 104.1 optical fiber transceivers A and 104.2 optical fiber transceivers B are connected through multimode optical fibers to remotely transmit various data such as robot text information, instructions, audio and video streams and the like to a centralized control room, the optical fiber transceivers A are installed in a workshop control room of the submerged arc furnace, and the optical fiber transceivers B are installed in the centralized control room; the remote operator station is used as a client of the robot management system, transmits various data such as robot text information, instructions, audio and video streams and the like through an optical fiber transceiver, realizes data synchronization with the operator station, remotely manages the robot, performs real-time monitoring, task scheduling and data management, and is installed in a centralized control room.
Example 1
At present, the ferroalloy smelting industry at home and abroad does not have a mature and reliable inspection robot product, the robot product can effectively replace manpower, and realizes higher frequency, more complete data record and more data inspection points than manual inspection.
The cost of a single inspection robot is about 40 ten thousand, 3 workers (3 shifts) are replaced by each inspection robot, 45 ten thousand yuan is saved for users every year, the selling price is 50 ten thousand yuan, and each robot generates 10 ten thousand yuan of profit. The company completes the construction of 400 production lines in nearly 15 years, calculates according to 2 robots required by each submerged arc furnace production line, and needs 800 inspection robots. Considering new projects and non-self company inventory projects, the market demand will exceed 1500, producing about 1.5 billion dollars of profit.
The number of the embodiment of the present invention is only for description, and does not represent the advantages or disadvantages of the embodiment. In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments. In the embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other manners.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (6)
1. A hot stove in ore deposit patrols and examines robot includes: a robot housing and a wheel chassis; characterized in that the robot further comprises:
the device comprises a control unit, a collecting unit, a detecting unit, an illumination indicating unit, an executing unit, a driving unit, a power supply unit and an ultrasonic unit;
the acquisition unit includes: an infrared camera (1) and a high-definition camera (2);
the detection unit includes: a radar (5), a gas detector (6) and a noise detector (7);
the illumination indication unit includes: a working state indicator lamp (4) and an illuminating lamp (8);
the execution unit includes: a lifting mechanism (12);
the driving unit includes: a drive motor (14) and a drive control board (15);
the ultrasound unit includes: front ultrasound (9) and back ultrasound (17);
the power supply unit includes: a battery (13), an automatic charging assembly (16), a power switch (22) and a manual charging (23);
the control unit includes: an industrial personal computer, a main control board (18) and a starting switch (21);
the power supply unit is respectively connected with the control unit, the acquisition unit and the driving unit; the control unit is respectively connected with the acquisition unit, the detection unit and the ultrasonic unit; the control unit is also connected with the illumination indication unit, the execution unit and the driving unit respectively.
2. A submerged arc furnace inspection robot according to claim 1, characterized in that the foremost end of the robot is also provided with a bumper strip (10).
3. The submerged arc furnace inspection robot according to claim 1, wherein a WIFI antenna for connection is further arranged on the robot; WIFI antenna magnetism adsorbs on the robot rear portion both sides shell.
4. The submerged arc furnace inspection robot according to claim 1, wherein the radar is arranged on the top of the middle shell of the robot.
5. A submerged arc furnace inspection robot according to claim 1, characterized in that the illumination lamp (8) in the illumination indication unit is used to supplement a light source, and the illumination lamp (8) is arranged in the front of the left side of the robot housing.
6. The submerged arc furnace inspection robot according to claim 1, characterized in that the robot further has a lifting mechanism (12) provided with the acquisition unit; the lifting mechanism (12) is used for lifting the cradle head to adjust the height of the camera, and the lifting mechanism (12) is arranged at the top end of the robot shell.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202222504322.2U CN218545898U (en) | 2022-09-20 | 2022-09-20 | Hot stove in ore deposit patrols and examines robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202222504322.2U CN218545898U (en) | 2022-09-20 | 2022-09-20 | Hot stove in ore deposit patrols and examines robot |
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| CN218545898U true CN218545898U (en) | 2023-02-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116880315A (en) * | 2023-08-02 | 2023-10-13 | 北京朗信能源环保科技有限公司 | Control system of material level processor |
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2022
- 2022-09-20 CN CN202222504322.2U patent/CN218545898U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116880315A (en) * | 2023-08-02 | 2023-10-13 | 北京朗信能源环保科技有限公司 | Control system of material level processor |
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