JPH0354164B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a robot for pre-furnace work, and more specifically to a robot of this type for automatically performing pre-furnace work during the refining stage of arc furnace steelmaking.

[Background of the invention] In the pre-furnace work of arc furnace steelmaking, the main operations from melting to tapping are charging of scrap (iron ore), charging of alloy materials and auxiliary materials, oxygen injection, and steel slag. Various complicated operations such as adjustment and judgment of furnace conditions are required. Vehicle-type manipulators have already been developed for the above-mentioned tasks, such as loading scrap or breaking down unmolten material in the furnace, and the driver can perform these tasks using power by operating a lever or handle. However, most of the other work must be done manually using tools, which requires a lot of effort. For example, when inserting and operating a Bethsemerizing lance for blowing oxygen into molten steel, or a cutting lance for cutting unmolten scrap into the furnace, place a screen in the work opening. The work is carried out manually by inserting a lance through the window of the screen, that is, the worker hides behind the screen to avoid heat. Furthermore, when adding alloy materials, work is done manually using a ladle, and measurements, sampling, etc. are also done manually, and each of the above tasks was done in the previous era when there was very little mechanization. Many parts of the story remain. However, in principle, furnaces were operated 24 hours a day, so the working conditions for those engaged in the above work had to be extremely harsh and dangerous.

[Summary of the Invention] The present invention has been made based on the above viewpoint, and provides a multifunctional and multipurpose robot that can automatically perform furnace front work or preparatory work during the refining stage of steel manufacturing. The aim is to alleviate the harsh and dangerous working conditions mentioned above as much as possible.

The robot according to the present invention that achieves the above object has a main body with wheels that can move freely, a television camera for visually checking the inside of the furnace, a rotary bucket belt attached to the tip of a telescopic arm, and a robot that can freely move up and down. The present invention is characterized in that it includes a lance for Betsemer rising, a heating burner, a lance for elevating and telescopic cutting, and a lance for measurement and sampling.

[Embodiments of the Invention] FIG. 1 is a perspective view showing a working robot according to the present invention, and FIG. 2 is a longitudinal sectional side view showing the robot facing the working opening of an arc furnace F. 10 in the diagram
1 shows a vehicle-shaped body equipped with wheels 12 and capable of being remotely operated, and a tank 13 for storing additives is installed in the rear body of the body 10. A hopper 14 is attached to the lower part of the tank 13, which discharges the additive in the tank 13 to a conveyor 16 located below. Further, a vibrating chute 17 is arranged at the tip of the conveyor 16, and this is connected to a bucket 20 disposed at the center of the lower front side of the main body 10.
The bucket 20 is opened toward the bottom, and the additive can be sent into the bucket 20. Bucket 2
0 is an arm 24 that is extendable and retractable by a cylinder 22.
It is attached to the tip of the arm 24 and is rotatable about the arm 24 as an axis, and can be raised and lowered by the lift mechanism 18.

An operating unit 26 is provided at the front of the main body 10, and can be moved up and down as a whole by means of a cylinder 28. A Bethsemerizing lance 30 and a heating burner 32 extend forward from the center of the unit 26, and these are telescopically attached to the panel 38 via guide mechanisms 34 and 36 at the base.
will be installed on the The panel 38 is movable up and down by the cylinder 40, and therefore the lance 30 and burner 32 are also movable up and down. The lance 30 and the burner 32 are also individually provided with cylinders 35 and 37 attached to the panel 38, respectively, so that they can be moved up and down relative to the panel 38.

Further, a rotary cockpit 42 is provided on both the left and right sides of the unit 26, and this has a driver's seat 44 inside. The inside of the furnace and the work opening in the cockpit 42 are visually checked by a monitor television (not shown) placed opposite the driver's seat 44, and the television is connected to a television camera 45 attached to the upper side of the cockpit 42. . Also, from the side faces of the two pots 42 facing the heating burner 32, there are lances 46 for cutting, respectively.
A measuring lance 48 or a sampling lance 50 extends forward. each lance 4
6, 48, 50 are related guide mechanisms 52, 54,
56, it can be expanded and contracted, and associated cylinders 58, 60, and 62 can be used to raise and lower it. Further, a measurement holder 63 is disposed adjacent to the uppermost position of the measurement lance 48, and is adapted to supply a protective paper cover to the lance 48 for each measurement operation.

On the other hand, a cable holder 64 is disposed at the upper rear portion of the vehicle-type main body 10. Inside the casing 66 of the holder 64, a messenger wire 68 and a bundle 70 of a plurality of hoses, control cables, or power cables corresponding to each gas are introduced; 10, so that the main body 10 can freely turn in all directions. The wire 68 has its end connected to the holder housing 6
The starting end thereof extends to the travel starting point of the vehicle-type main body 10, and serves as a guide when the main body 10 is remotely operated. Further, a bundle 70 of hoses etc. is wound around a reel 74 provided on the inside front side of the main body 10, and is then separated and wired to corresponding parts, but these details are omitted in the figure.

In the working robot having the above configuration, operations such as the movement of the main body 10, regular scraping, addition of additives such as alloy materials, measurement, and sampling are performed according to a program input in advance to the central automatic control device. This is done automatically or semi-automatically by remote control by an operator. In addition, for work such as cutting unraveled scraps, the operator can perform the work while viewing the monitor TV in the cockpit 42, or directly when necessary, or while viewing the monitor TV in the central control room. Just do it.

[Effects of the Invention] As described above, the robot for furnace front work according to the present invention can perform various tasks in the furnace front work of arc furnace steelmaking, such as loading scrap, oxygen injection, steel slag adjustment, and determining furnace conditions. Complicated work or preparatory work can be performed automatically or semi-automatically. Therefore, the harsh and dangerous working conditions of those engaged in such work can be alleviated as much as possible, and the absolute number of personnel required for the work can be significantly reduced.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing a working robot according to the present invention, and FIG. 2 is a longitudinal sectional side view showing the same robot facing the working opening of an arc furnace. DESCRIPTION OF SYMBOLS 10...Vehicle type main body, 20...Rotary bucket, 26...Operation unit, 30...Lance for Bethsemerizing, 32...Heating burner, 4
2...Kotkupitsuto, 45...TV camera, 4
6...Lance for cutting, 48...Lance for measurement, 50...Lance for sampling, 64...
cable holder.

Claims (1)

[Scope of Claims] 1. A main body 10 with wheels 12 that is movable, a television camera 45 for viewing the furnace, a rotary bucket 20 attached to the tip of a telescopic arm 24, and a Bethsemer that can be raised and lowered. Lance 3 for rising
0 and a heating burner 32, and a lance 4 for cutting that can be elevated and retracted.
6, a lance 48 for measurement, and a lance 50 for sampling. 2. Claim 1, wherein the wheeled main body 10 is provided with an operation unit 26 that can be raised and lowered at the front part.
A robot for working in front of a furnace as described in . 3. The furnace front work robot according to claim 2, wherein the operating unit 26 includes a cockpit 42 with a monitor television connected to the television camera 45. 4. The cockpit 42 is connected to the unit 26.
Claim 3 located on both front sides of
A robot for working in front of a furnace as described in . 5. The bucket 20, Bethsemerizing lance 30, and heating burner 32 are arranged at the center of the front of the unit 26, and the cutting lance 46 and measurement and sampling lances 48, 50 are arranged on both sides of the front of the unit 26. A robot for working in front of a furnace according to claim 2 is provided.