CN219174531U - Wheel type blast furnace tuyere safety inspection robot - Google Patents
Wheel type blast furnace tuyere safety inspection robot Download PDFInfo
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- CN219174531U CN219174531U CN202223140907.7U CN202223140907U CN219174531U CN 219174531 U CN219174531 U CN 219174531U CN 202223140907 U CN202223140907 U CN 202223140907U CN 219174531 U CN219174531 U CN 219174531U
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- 238000007689 inspection Methods 0.000 title claims abstract description 61
- 230000002159 abnormal effect Effects 0.000 claims abstract description 19
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 claims abstract description 16
- 229910002091 carbon monoxide Inorganic materials 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 12
- 210000001015 abdomen Anatomy 0.000 claims description 20
- 238000001931 thermography Methods 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 7
- 244000261422 Lysimachia clethroides Species 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 3
- 230000005855 radiation Effects 0.000 claims 3
- 238000000034 method Methods 0.000 abstract description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000017525 heat dissipation Effects 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000003211 malignant effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000006061 abrasive grain Substances 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000026058 directional locomotion Effects 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
The utility model discloses a wheel type blast furnace tuyere safety inspection robot which comprises a navigation system, a detection system, a power supply system, a control system and a communication system which are sequentially arranged on a wheel type vehicle body from bottom to top; the navigation system consists of an obstacle avoidance radar, a front laser navigation radar and a rear laser navigation radar; the detection system comprises a high-level thermal imager, a middle-level thermal imager and a low-level thermal imager which are used for collecting images of key positions of the furnace body, and a carbon monoxide alarm and a abnormal sound collector which are arranged on the side wall of the vehicle-mounted control box close to the furnace body; the control system comprises a trolley travel control device, an access layer switch and an audio analyzer; the communication system comprises a vehicle-mounted wireless transmitter and a wireless antenna; the power supply system consists of a power battery and a battery management device; the inspection robot can timely grasp the running state of equipment in the use process under the condition of ensuring the smooth inspection path, quickly locate the abnormal position when the running state is abnormal, and ensure the production safety of the blast furnace.
Description
Technical Field
The utility model relates to the technical field of iron and steel, metallurgy and mining industry, in particular to a wheel type blast furnace tuyere safety inspection robot.
Background
In an iron-making blast furnace system, a blast furnace air supply device, in particular a belly pipe, is very important equipment, bears the weight of injecting hot air into a blast furnace, and is an important guarantee for the safety production of the blast furnace. As the belly pipe is in the running state of high temperature, corrosion, thermal fatigue and abrasive grain erosion for a long time, the belly pipe bears great running load, and once the belly pipe is fatigued, the burning-through accident of the belly pipe is easily induced. Therefore, it is particularly important to timely master the temperature change trend of the belly pipe of the tuyere platform, detect the gas leakage and the huge noise generated by burning through the belly pipe, and timely and automatically send out an alarm prompt so as to avoid serious and malignant accidents.
Disclosure of Invention
The utility model aims to provide a wheel type blast furnace tuyere safety inspection robot capable of dynamically detecting the temperature, burning-through noise and gas leakage of a tuyere platform belly pipe.
For this purpose, the technical scheme of the utility model is as follows:
the wheel type blast furnace tuyere safety inspection robot is provided with a navigation system, a detection system, a power supply system, a control system and a communication system which are arranged on a wheel type vehicle body; the top surface of the wheeled vehicle body is sequentially fixed with a vehicle-mounted power battery box and a vehicle-mounted control box from bottom to top; wherein,,
the navigation system consists of an obstacle avoidance radar, a front laser navigation radar and a rear laser navigation radar; the obstacle avoidance radar is arranged at the front side of the bottom surface of the vehicle-mounted power battery box in a mode that the radar detection direction of the obstacle avoidance radar faces the front side of the vehicle body; the front laser navigation radar and the rear laser navigation radar are respectively positioned at the diagonal positions of the top surface of the vehicle-mounted control box, and are respectively arranged in a way that the laser scanning windows of the front laser navigation radar and the rear laser navigation radar face the two sides of the vehicle body, so that the scanning range of the laser emission angles of the front laser navigation radar and the rear laser navigation radar covers the circumferential space of the vehicle body;
the detection system comprises a thermal imaging system, a middle thermal imaging system, a low thermal imaging system, a carbon monoxide alarm and an abnormal sound collector; the high-position thermal imager is centrally arranged on the top surface of the vehicle-mounted control box in a mode that an image acquisition window of the high-position thermal imager looks upward towards a tail pipe, a gooseneck and a middle pipe of the furnace body air port device; the middle thermal imager is arranged on the top surface of the vehicle-mounted control box in a mode that an image acquisition window of the middle thermal imager faces to a belly pipe of the furnace body air port device; the low-level thermal imager is arranged on the bottom surface of the vehicle-mounted power battery box in a way that an image acquisition window of the low-level thermal imager faces to the joint of the bottom of the belly pipe of the furnace body air port device and the furnace body; the carbon monoxide alarm and the abnormal sound collector are arranged on the side wall of the vehicle-mounted control box close to the furnace body;
the control system comprises a trolley travel control device, an access layer switch and an audio analyzer which are arranged in the vehicle-mounted control box; the access layer switch is respectively connected with the trolley travel control device, the obstacle avoidance radar, the front-end laser navigation radar, the rear-end laser navigation radar, the carbon monoxide alarm instrument and the audio analyzer;
the communication system comprises a vehicle-mounted wireless transmitter connected with the access layer switch and a wireless antenna connected with the vehicle-mounted wireless transmitter;
the power supply system is arranged in the vehicle-mounted power battery box and consists of a power battery and a battery management device; the power battery is electrically connected with each electric component on the vehicle body respectively, and the battery management device is electrically connected with the power battery so as to monitor the residual electric quantity of the power battery.
Further, the wheeled vehicle body adopts a full steering wheel steering free driving mechanism.
Further, the scanning angle of the obstacle avoidance radar is adjustable by 0-135 degrees, and the scanning angles of the two laser navigation radars are adjustable by 0-270 degrees.
Further, the obstacle avoidance radar is hinged to the obstacle avoidance radar support, so that the obstacle avoidance radar is fixed to the bottom of the vehicle-mounted power battery box through the obstacle avoidance radar support.
Further, the front laser navigation radar is arranged on the top surface of the vehicle-mounted control box through a front laser navigation radar bracket and is close to the front end of the left side of the vehicle body, and a laser scanning window of the front laser navigation radar faces the left side of the vehicle body, so that the scanning range of the laser emission angle of the front laser navigation radar covers the left side of the vehicle body and the front side of the vehicle body; the rear laser navigation radar is arranged on the top surface of the vehicle-mounted control box through a rear navigation radar bracket and is close to the rear end of the right side of the vehicle body, and a laser scanning window of the rear laser navigation radar faces the right side of the vehicle body, so that the scanning range of the laser emission angle of the rear laser navigation radar covers the right side of the vehicle body and the rear side of the vehicle body.
Further, an electric cradle head is arranged on the top surface of the vehicle-mounted control box in the middle, so that the high-level thermal imager is fixed on the top surface of the vehicle-mounted control box through a high-level thermal imager bracket; the middle thermal imager is fixed on the top surface of the vehicle-mounted control box and is close to the position of one side of the furnace body through a middle thermal imager bracket; the low-level thermal imager is fixed on the bottom surface of the vehicle-mounted power battery box through a low-level thermal imager bracket and is close to the position on one side of the furnace body.
Further, a top plate of the vehicle-mounted control box adopts a heat dissipation cover plate, and two rows of distributed heat dissipation holes are formed in the top plate.
Further, the wheel type blast furnace tuyere safety inspection machine also comprises a safety alarm device, wherein the safety alarm device consists of an audible and visual alarm and a scram button, which are arranged on a top plate of the vehicle-mounted control box; the audible and visual alarm is connected with the switch of the access layer; the emergency stop button is connected with a circuit breaking controller which is electrically connected with the power battery so as to cut off the power supply circuit of the power battery by pressing the emergency stop button.
Compared with the prior art, the wheel type blast furnace tuyere inspection robot can collect the abnormal noise generated by the temperature change trend, the gas leakage condition and the burning-through of the tuyere platform belly pipe in real time in the regular inspection process of a furnace body, upload an upper computer, and realize real-time inspection environment map construction and obstacle detection in a traveling route by using a laser radar and an obstacle avoidance radar, so that the running state of equipment in the use process can be mastered in time under the condition that the inspection route is smooth, the abnormal position can be rapidly positioned when the running state is abnormal, overhaul of the equipment is reasonably arranged, serious malignant accidents are avoided, the production safety of the blast furnace is ensured, and the wheel type blast furnace tuyere inspection robot has important significance for prolonging the service life of the equipment.
Drawings
FIG. 1 is a front view of a wheel type blast furnace tuyere safety inspection robot of the present utility model;
FIG. 2 is a top view of a wheel type blast furnace tuyere safety inspection robot of the present utility model;
fig. 3 is a right side view of the wheel type blast furnace tuyere safety inspection robot.
Detailed Description
The utility model will now be further described with reference to the accompanying drawings and specific examples, which are in no way limiting. For convenience of description, this embodiment will be further described by taking inspection performed by a robot around a furnace body as an example. The directional movement direction based on the robot is clockwise movement around the blast furnace body, one end facing the movement direction is the front end of the inspection robot, the other end is the rear end of the inspection robot, one side close to the furnace body is the right side of the inspection robot, one side far away from the furnace body is the left side of the inspection robot, and furthermore, the front, rear, left, right and other azimuth words in the embodiment are all described based on the above.
Referring to fig. 1 to 3, the wheel type blast furnace tuyere safety inspection machine comprises a navigation system, a detection system, a power supply system, a control system and a communication system which are arranged on a wheel type vehicle body 1; wherein,,
the wheel type vehicle body 1 adopts a full steering wheel steering free driving mechanism, is a mechanism for realizing walking based on a four-wheel mode, and has multiple walking modes of straight running, backward running and in-situ rotation; a vehicle-mounted power battery box 4 and a vehicle-mounted control box 5 are sequentially fixed on the top surface of the wheeled vehicle body 1 from bottom to top.
The navigation system is arranged on the top surface of the vehicle-mounted control box 5 and consists of an obstacle avoidance radar 2, a front laser navigation radar 7 and a rear laser navigation radar 12; in particular, the method comprises the steps of,
the obstacle avoidance radar 2 is arranged on the front end side of the inspection robot in a manner that the radar detection direction of the obstacle avoidance radar 2 faces the front side of the vehicle body (namely faces the traveling direction of the vehicle body) through an obstacle avoidance radar bracket 3, and specifically, the obstacle avoidance radar 2 is hinged on the obstacle avoidance radar bracket 3, so that the setting angle of the obstacle avoidance radar is adjustable; the obstacle avoidance radar bracket 3 is mechanically fixed at the bottom of the vehicle-mounted power battery box 4 through screws;
the front laser navigation radar 7 is arranged on the top surface of the vehicle-mounted control box 5 through a front laser navigation radar bracket 6 and is close to the front end of the left side of the vehicle body, and a laser scanning window of the front laser navigation radar 7 faces the left side of the vehicle body, so that the scanning range of the laser emission angle of the front laser navigation radar covers the left side of the vehicle body and the front side of the vehicle body; specifically, the front laser navigation radar 7 is hinged on the front laser navigation radar bracket 6, so that the setting angle of the front laser navigation radar is adjustable; the front laser navigation radar bracket 6 is mechanically fixed on the top surface of the vehicle-mounted control box 5 through screws;
the rear laser navigation radar 12 is arranged on the top surface of the vehicle-mounted control box 5 through a rear navigation radar bracket 13 and is close to the rear end of the right side of the vehicle body, namely, the rear laser navigation radar 12 and the front laser navigation radar 7 are positioned at the opposite angles of the top surface of the vehicle-mounted control box 5, and the laser scanning window of the rear laser navigation radar 12 faces the right side of the vehicle body, so that the scanning range of the laser emission angle of the rear laser navigation radar covers the right side of the vehicle body and the rear side of the vehicle body; specifically, the rear laser navigation radar 12 is hinged on the rear navigation radar bracket 13, so that the setting angle of the rear laser navigation radar is adjustable; the rear navigation radar bracket 13 is mechanically fixed on the top surface of the vehicle-mounted control box 5 through screws;
in the navigation system, the obstacle avoidance radar and the laser navigation radar are purchased from commercial products, wherein the scanning angle of the obstacle avoidance radar 2 is adjustable by 0-135 degrees, and the scanning angles of the two laser navigation radars are adjustable by 0-270 degrees. In the application process, the obstacle avoidance radar 2 is used for detecting whether an obstacle exists in a set distance range on a vehicle body travelling path or not, so as to transmit a detection result back to a central control room upper computer, and then a central control room worker controls a trolley to run along a re-planned travelling path, for example, according to the use condition of a field environment, an alarm threshold value is set for the height of the obstacle, the alarm threshold value is set to be 100mm for example, when the height of the obstacle is lower than the threshold value, the inspection robot can automatically pass through the obstacle, and when the height of the obstacle is higher than the threshold value, an alarm signal is output and fed back to the upper computer; the front laser navigation radar 7 and the rear laser navigation radar 12 cover the two sides of the vehicle body through the scanning range of the laser emission angle, and the scanning result is returned to the upper computer of the central control room to construct a scanning and inspection environment; in the practical application process, SLAM navigation software can be configured on the upper computer of the central control room so as to utilize the front-end laser navigation radar and the rear-end laser navigation radar to scan the inspection environment to construct a new map, further compare with the previously constructed map, and set up mark points in the inspection environment so that the inspection robot senses the position of the inspection robot and gives out an alarm when abnormality occurs.
The detection system comprises a high-level thermal imager 9, a medium-level thermal imager 14, a low-level thermal imager 19, a carbon monoxide alarm 16, a abnormal sound collector 17 and an electric cradle head 11; in particular, the method comprises the steps of,
the electric cradle head 11 is centrally fixed on the top surface of the vehicle-mounted control box 5 and has the function of rotating in the horizontal direction and the vertical direction; the high-level thermal imager 9 is arranged on the electric cradle head 11 through the high-level thermal imager bracket 10 in a mode that an image acquisition window of the high-level thermal imager looks up at a tail pipe, a gooseneck and a middle pipe of the furnace body tuyere device; specifically, the high-level thermal imager 9 is hinged on the high-level thermal imager bracket 10, so that the angle of the high-level thermal imager is adjustable in a large range with the aid of the electric cradle head 11, and the high-level thermal imager bracket 10 is mechanically fixed on the electric cradle head 11 through screws;
the median thermal imager 14 is arranged at the right side position of the top surface of the vehicle-mounted control box 5 through the median thermal imager bracket 15 in a mode that an image acquisition window of the median thermal imager is towards a belly pipe of the furnace body air port device; specifically, the median thermal imager 14 is hinged on the median thermal imager bracket 15, and the median thermal imager bracket 15 is mechanically fixed on the top surface of the vehicle-mounted control box 5 through screws;
the low-level thermal imager 19 is arranged at the right side of the bottom surface of the vehicle-mounted power battery box 4 through the low-level thermal imager bracket 18 in a way that an image acquisition window of the low-level thermal imager faces to the joint of the bottom of the belly pipe of the furnace body air port device and the furnace body; specifically, the middle thermal imager 14 is hinged on a low thermal imager bracket 18, and the low thermal imager bracket 18 is mechanically fixed on the top surface of the vehicle-mounted control box 5 through screws;
the high-level thermal imager 9, the medium-level thermal imager 14 and the low-level thermal imager 19 respectively collect infrared images of key parts on the furnace body, which need to be inspected, so as to regularly transmit the infrared images back to a central control room upper computer, and a central control room worker analyzes the infrared images to judge whether the furnace body is in a normal running state;
the carbon monoxide alarm 16 is mechanically and centrally fixed on the left side box side wall of the vehicle-mounted control box 5 through a screw, and is used for detecting whether the concentration of carbon monoxide gas near the furnace body exceeds a threshold value set in the furnace body or not, so as to give an alarm;
the abnormal sound collector 17 is mechanically fixed on the left side box side wall of the vehicle-mounted control box 5 through screws and is close to the rear side position of the vehicle body, and is used for collecting audio information near the furnace body.
The control system comprises a walking control device, an access layer switch and an audio analyzer which are arranged in the vehicle-mounted control box 5; the travelling control device is a device carried by the trolley and is used for driving the travelling mode of the trolley; the audio analyzer is connected with the abnormal sound collector 17 to receive the audio information collected by the abnormal sound collector 17 and analyze whether abnormal high-frequency audio reflecting the damage of the furnace body exists or not; the access layer switch is provided with a multiport network bridge which is respectively communicated with the trolley travelling control device, the obstacle avoidance radar 2, the front-end laser navigation radar 7, the rear-end laser navigation radar 12, the carbon monoxide alarm 16 and the audio analyzer through electric signals;
the communication system comprises a vehicle-mounted wireless transmitter and a wireless antenna 8; the vehicle-mounted wireless transmitter is arranged in the vehicle-mounted control box 5 and is connected with the access layer switch; the wireless antenna 8 is arranged at the top of the vehicle-mounted control box 5 and near the front end of the vehicle body and is connected with the vehicle-mounted wireless transmitter; the communication system realizes the communication between the access layer switch and the upper computer in the central control room, further carries out the further confirmation and analysis of the barrier information detected by the obstacle avoidance radar 2, scans the acquired robot surrounding environment information by the front-end laser navigation radar 7 and the rear-end laser navigation radar 12, detects the carbon monoxide gas concentration out-of-standard alarm information by the carbon monoxide alarm 16, transmits the furnace body damage information obtained by the analysis of the audio analyzer to the upper computer in the central control room, and then sends the running and running mode instructions to the running control device by the upper computer.
In order to facilitate the inspection robot to execute the inspection task, the inspection robot adopts a wireless network communication mode, the inspection robot is provided with a vehicle-mounted wireless transmitter which is arranged in the vehicle-mounted control box 5 and is communicated with a wireless transmitting station of the air port platform through a wireless antenna 8, and the wireless transmitter adopts a multi-link wireless AP for guaranteeing the reliability of wireless network communication of the inspection robot in the process.
As a preferred technical solution of this embodiment, in order to ensure that each electrical element in the vehicle-mounted control box 5 works normally, the top plate 20 of the vehicle-mounted control box 5 adopts a heat dissipation cover plate, and two rows of heat dissipation holes distributed on the left and right sides of the electric cradle head 11 are formed on the heat dissipation cover plate.
The power supply system is arranged in the vehicle-mounted power battery box 4 and consists of a power battery and a battery management device; the power battery is respectively and electrically connected with all the electric components on the vehicle body so as to provide electric energy; the battery management device is electrically connected with the power battery to acquire the residual electric quantity of the power battery in real time; and meanwhile, the battery management module is also connected with the access layer switch, so that a signal is sent out when the electric quantity of the power battery is lower than a set threshold value and is transmitted to the upper computer of the central control room, and the upper computer of the central control room controls the inspection robot to return to the workstation for charging.
The wheel type blast furnace tuyere safety inspection machine also comprises a safety alarm device, which consists of an audible and visual alarm 21 and a scram button 22 which are arranged on the top plate of the vehicle-mounted control box 5; the audible and visual alarm 21 is connected with the access layer switch to receive an alarm signal sent by the upper computer of the central control room and then start audible and visual alarm so as to send an alarm warning to field staff; the emergency stop button 22 is connected with a circuit breaking controller, which is electrically connected with the power battery and is used for pressing down to cut off the power battery power supply circuit in emergency, thereby realizing emergency stop.
In this embodiment, the specific working principle of the wheel type blast furnace tuyere safety inspection robot matched with the upper computer in the central control room is summarized as follows:
the wheel type blast furnace tuyere inspection robot adopts an SLAM navigation system, a map is established by scanning an inspection environment through a wide-angle laser navigation radar arranged at the front end and the rear end of the robot and setting mark points in the inspection environment, the execution graph of an inspection task and the marking of the position of the inspection robot are confirmed, and the inspection robot can automatically perform inspection operation according to a specified route through an upper computer prefabricated system program and the established inspection map;
the inspection robot vehicle is provided with an obstacle avoidance radar for detecting an obstacle in the travelling direction, when a person or an object exceeding a threshold height is detected, the robot sends an alarm and immediately stops, and simultaneously sends remote alarm information to the upper computer for prompting, and the robot continues travelling after the obstacle is removed;
meanwhile, the inspection robot is based on infrared thermal imaging acquisition and audio acquisition, and the principle that the surface temperature of equipment is increased due to the fact that the equipment is internally failed due to the correlation of the temperature change and fault abnormal sound of the outer surface of the belly pipe to be detected and the internal condition of the equipment, and huge noise is generated when the belly pipe is burnt through the belly pipe is utilized, the temperature change, the abnormal temperature rise and the abnormal sound of the belly pipe are comprehensively detected through high-level thermal imagers, medium-level thermal imagers, low-level thermal imagers and audio analyzers carried by the inspection robot, and the fault position of the equipment can be quickly determined by combining a map when the abnormality occurs, so that the temperature change trend of the belly pipe of an air port platform can be timely mastered; and because the tuyere platform is in the gas enrichment area, the carbon monoxide alarm is carried on the body of the inspection robot to monitor the carbon monoxide value in real time in the process of executing the inspection task, when the carbon monoxide value exceeds a set threshold value, an alarm signal is timely sent out and simultaneously an alarm signal is output to an upper computer to carry out system prompt, so that unmanned inspection of the whole tuyere gas area is ensured, and personnel safety is ensured to the greatest extent. The inspection robot has important significance in preventing serious production safety accidents, prolonging the service life of equipment and ensuring the smooth production of the blast furnace.
Claims (8)
1. The wheel type blast furnace tuyere safety inspection robot is characterized by comprising a navigation system, a detection system, a power supply system, a control system and a communication system which are arranged on a wheel type vehicle body (1); the top surface of the wheeled vehicle body (1) is sequentially fixed with a vehicle-mounted power battery box (4) and a vehicle-mounted control box (5) from bottom to top; wherein,,
the navigation system consists of an obstacle avoidance radar (2), a front laser navigation radar (7) and a rear laser navigation radar (12); the obstacle avoidance radar (2) is arranged at the front side of the bottom surface of the vehicle-mounted power battery box (4) in a mode that the radar detection direction of the obstacle avoidance radar faces the front side of the vehicle body; the front laser navigation radar (7) and the rear laser navigation radar (12) are respectively positioned at the diagonal positions of the top surface of the vehicle-mounted control box (5), and are respectively arranged in a way that the laser scanning windows of the front laser navigation radar and the rear laser navigation radar face towards the two sides of the vehicle body, so that the scanning range of the laser emission angles of the front laser navigation radar and the rear laser navigation radar covers the circumferential space of the vehicle body;
the detection system comprises a thermal imaging system (9), a median thermal imaging system (14), a low-level thermal imaging system (19), a carbon monoxide alarm (16) and an abnormal sound collector (17); the high-position thermal imager (9) is centrally arranged on the top surface of the vehicle-mounted control box (5) in a mode that an image acquisition window of the high-position thermal imager looks up towards a tail pipe, a gooseneck and a middle pipe of the furnace body air port device; the median thermal imager (14) is arranged on the top surface of the vehicle-mounted control box (5) in a mode that an image acquisition window of the median thermal imager faces to a belly pipe of the furnace body air port device; the low-level thermal imager (19) is arranged on the bottom surface of the vehicle-mounted power battery box (4) in a mode that an image acquisition window of the low-level thermal imager faces to the joint of the bottom of the belly pipe of the furnace body air port device and the furnace body; the carbon monoxide alarm instrument (16) and the abnormal sound collector (17) are arranged on the side wall of the vehicle-mounted control box (5) close to the furnace body;
the control system comprises a trolley travel control device, an access layer switch and an audio analyzer which are arranged in the vehicle-mounted control box (5); the audio analyzer is connected with the abnormal sound collector (17), and the access layer switch is respectively connected with the trolley travelling control device, the obstacle avoidance radar (2), the front laser navigation radar (7), the rear laser navigation radar (12), the carbon monoxide alarm instrument (16) and the audio analyzer;
the communication system comprises a vehicle-mounted wireless transmitter connected with the access layer switch and a wireless antenna (8) connected with the vehicle-mounted wireless transmitter;
the power supply system is arranged in a vehicle-mounted power battery box (4) and consists of a power battery and a battery management device; the power battery is electrically connected with each electric component on the vehicle body respectively, and the battery management device is electrically connected with the power battery so as to monitor the residual electric quantity of the power battery.
2. The wheel type blast furnace tuyere safety inspection robot according to claim 1, wherein the wheel type car body (1) adopts a full steering wheel steering free driving mechanism 。
3. The wheel type blast furnace tuyere safety inspection robot according to claim 1, wherein the scanning angle of the obstacle avoidance radar (2) is 0 ° to 135 °, and the scanning angle of the two laser navigation radars is 0 ° to 270 °.
4. The wheel type blast furnace tuyere safety inspection robot according to claim 1, wherein the obstacle avoidance radar (2) is hinged on the obstacle avoidance radar support (3) so as to be fixed at the bottom of the vehicle-mounted power battery box (4) through the obstacle avoidance radar support (3).
5. The wheel type blast furnace tuyere safety inspection robot according to claim 1, wherein a front laser navigation radar (7) is arranged on the top surface of the vehicle-mounted control box (5) at a position close to the front end of the left side of the vehicle body through a front laser navigation radar bracket (6), and a laser scanning window of the front laser navigation radar (7) faces the left side of the vehicle body, so that the scanning range of the laser emission angle of the front laser navigation radar covers the left side of the vehicle body and the front side of the vehicle body; the rear laser navigation radar (12) is arranged on the top surface of the vehicle-mounted control box (5) through a rear navigation radar bracket (13) and is close to the rear end of the right side of the vehicle body, so that a laser scanning window of the rear laser navigation radar (12) faces the right side of the vehicle body, and the scanning range of the laser emission angle of the rear laser navigation radar covers the right side of the vehicle body and the rear side of the vehicle body.
6. The wheel type blast furnace tuyere safety inspection robot according to claim 1, wherein an electric cradle head (11) is arranged on the top surface of the vehicle-mounted control box (5) in the middle, so that the high-level thermal imager (9) is fixed on the top surface of the vehicle-mounted control box (5) through a high-level thermal imager bracket (10); the middle thermal imager (14) is fixed on the top surface of the vehicle-mounted control box (5) and is close to the position of one side of the furnace body through a middle thermal imager bracket (15); the low-level thermal imager (19) is fixed on the bottom surface of the vehicle-mounted power battery box (4) and is close to the position on one side of the furnace body through the low-level thermal imager bracket (18).
7. The wheel type blast furnace tuyere safety inspection robot according to claim 1, wherein a top plate (20) of the vehicle-mounted control box (5) adopts a heat radiation cover plate, and two rows of distributed heat radiation holes are formed in the heat radiation cover plate.
8. The wheel type blast furnace tuyere safety inspection robot according to claim 1, further comprising a safety alarm device composed of an audible and visual alarm (21) and a scram button (22) provided on a ceiling of the vehicle-mounted control box (5); the audible and visual alarm (21) is connected with the switch of the access layer; the emergency stop button (22) is connected with a circuit breaking controller which is electrically connected with the power battery so as to cut off the power battery power supply circuit by pressing the emergency stop button (22).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202223140907.7U CN219174531U (en) | 2022-11-25 | 2022-11-25 | Wheel type blast furnace tuyere safety inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202223140907.7U CN219174531U (en) | 2022-11-25 | 2022-11-25 | Wheel type blast furnace tuyere safety inspection robot |
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| CN219174531U true CN219174531U (en) | 2023-06-13 |
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| CN202223140907.7U Active CN219174531U (en) | 2022-11-25 | 2022-11-25 | Wheel type blast furnace tuyere safety inspection robot |
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- 2022-11-25 CN CN202223140907.7U patent/CN219174531U/en active Active
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