JPS5974203A - Method for automatically charging mud - Google Patents

Abstract

PURPOSE:To carry out automatically and accurately mud charging work by placing a self-travelling dolly having a lifting table and a robot set combinedly thereon over a mud charging gun, and charging mud on the table into the gun in order with the robot. CONSTITUTION:A mud charging gun 2 is attached to the iron discharging hole of a blast furnace 1 in a detachable state, a floor 3 is formed over the gun 2, and a railway 4 is laid on the floor 3. A self-travelling dolly 11 which is freely movable back and forth is mounted on the railway 4, and a lifting table 12 and a robot 13 are combinedly set on the dolly 11. Many pieces of mud (m) are piled up on the table 12 in lines, and they are successively grasped from the top by the holder of the robot 13. The grasped mud (m) is moved to a position just above the opening in a shoot 5 and charged into the shoot 5. Thus, mud can be charged efficiently without requiring a worker to enter the charging site.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic loading method for loading mud into a charging gun one by one, which is used when closing a taphole or the like of a blast furnace.

The work of feeding the mud stored on the trolley into the feeding gun is done directly by hand by field workers.
The work site near the taphole of the blast furnace is under extremely high temperatures (80
℃), the working environment is extremely poor and there are problems with work efficiency.Moreover, the mud weighs 7.
~8~ It was inevitable that the work would be hard work.

Therefore, the present invention is intended to provide a new method for completely automatically loading mud by using a self-propelled trolley and a robot attached to the trolley. However, a track was constructed above the mud injection gun used to block the tap hole of the blast furnace, and on this track, an automatically controlled lifting platform and a cart equipped with a robot could be freely reciprocated. The robot runs and stacks the mud in line on the lifting platform, one by one, using a gripping tool on the robot to pick up the mud, starting from the top layer.The gripping tool is then moved vertically and horizontally to feed the picked up mud into the charging gun. It is in.

The present invention will be described below with reference to embodiments shown in the accompanying drawings.A well-known charging gun 2 is detachably attached to the tap hole (not shown) of a blast furnace 1. A track 4 is constructed on a floor surface 3 provided above. A chute 5 for feeding mud (a refractory made of clay) into the charging gun is connected to the charging gun 2, and the upper end of this chute 5 is a passageway through which a robot grip (chuck) described later moves. There is an opening 6 on the floor 3 directly below.

A reciprocating self-propelled trolley 11 is placed on the track 4, and a lifting platform 12 and a robot 13 are installed on the trolley 11.
The lifting platform 12 is raised and lowered by ordinary automatic control means, and the gripping tool 14 of the robot 13 can be moved in the vertical and horizontal directions. That is, the grip 14 is provided on the arm 16 of the robot 13, which is rotatably attached to the machine stand 15, so as to be able to move forward and backward, and 17 is its support. Support 1
7 is attached to an endless running chain 18 attached to the arm 16. The running chain 18 is moved forward and backward by a fixed distance by a drive motor 19 provided on the machine base 15, and the grip 14 is moved forward and backward by the running chain 18. can reciprocate in the vertical direction, and can also move in the lateral direction by the above-mentioned pivoting action of the arm 16. A large number of mud m are arranged and stacked on the lifting platform 12, and the topmost mud m is sequentially grabbed from the corner by the gripping tool 14 by the operation of the robot 13. The tool 14 is moved directly above the opening 6 of the sheet 5, and the mud m is dropped into the chute 5.

After the necessary amount of mud m has been added, the trolley 11 is driven toward the retreat position a shown by the imaginary line in FIG. become. When all the mud m on the top tier is grabbed during this automatic loading operation, the lifting platform 12 is controlled to automatically rise to a height where the next tier of mud m can be grabbed by the gripping device 14. . Also,
If you use a robot that can raise and lower its arm 16, seat 5
Mud m can be directly charged into the charging gun 2 without using the .

In the figure, 21 is the wheel of the truck 11, 22 is its drive motor, 23 and 24 are endless chains for power transmission, 25 is a rod for turning the arm 16, 26 is an operating cylinder of the rod 25, and 27 is a support body 17. Connectors 28, 29, 31 and 32 which connect the running chain 18 to the running chain 18 are sprocket wheels.

The present invention is as described above, and the mud loading operation can be carried out completely automatically and correctly through a series of synchronized movements of the robot, the lifting platform, and the trolley, so there is no need for the worker to enter the loading site. Not only can work efficiency be further improved, but it is also extremely effective in terms of safety and rationalization.

[Brief explanation of the drawing]

The drawings show an embodiment of the method of the present invention, and FIG. 1 is a plan view, FIG. 2 is a side view, FIG. 3 is a plan view of the main part, and FIG. 4 is a front view of the same. In the figure, 1 is the blast furnace, 2 is the charging gun, 3 is the floor, 4 is the track,
5 is a seat, 6 is an opening, 11 is a trolley, 12 is a lifting platform,
13 is a robot, 14 is a grip, and m is a mud.

Claims (2)

[Claims] (1) A track is constructed above the mud charging gun used to block the tap hole of the blast furnace, and a trolley equipped with an automatically controlled lifting platform and a robot can be freely reciprocated on this track. The mud is stacked in line on the lifting platform, and the mud is picked up one by one by the robot's grip, starting from the top one.The grip is moved vertically and horizontally, and the picked mud is thrown into the charging gun. An automatic mud feeding method characterized by the following. (2) A patented method characterized in that mud is introduced into the injection gun via a seat connected to the injection gun.