Opening and plugging robot for ferrosilicon heat furnace

Abstract

The invention discloses a plugging opening robot for a ferrosilicon heat furnace. The plugging opening robot comprises a transverse rail, a transversely-movable bearing vehicle, a hole opening unit and a hole plugging unit. Wherein the hole plugging unit is provided with a side-by-side double-stemming stock bin used for storing and rapidly switching feeding. The stock bin comprises a stock bin connecting box body and a built-in sliding feeding device, and two side-by-side U-shaped through grooves are machined in the sliding feeding device and used for storing pug. When the pug in one U-shaped groove is used up and needs to be supplemented for the second time, the driving mechanism can drive the sliding feeding device to transversely move in a short time, the other U-shaped groove full of the pug is rapidly aligned with the feeding channel of the hole plugging unit, and therefore rapid secondary feeding is achieved. According to the method, the whole machine does not need to be moved or a second device does not need to be used, secondary plugging can be completed only through rapid switching of the internal stock bins, the material supplementing interval is greatly shortened, the splashing risk of the furnace mouth is effectively restrained, and the continuity and safety of hole plugging operation are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial automation and metallurgical special equipment, and particularly relates to a smelting furnace opening and blocking robot. BACKGROUND

[0002] In the field of smelting of ferrosilicon and other smelting furnaces, full-automatic and high-reliability opening and blocking operation of the furnace eye is a core link for guaranteeing production continuity, reducing safety risks and improving smelting efficiency. Therefore, continuously improving the operation precision, stability and comprehensive efficiency of the opening and blocking robot is of great significance to the entire metallurgical industry.

[0003] At present, in the smelting production of the smelting furnace, some solutions are disclosed in the prior art, but the smelting furnace opening and blocking device of ferrosilicon has the following difficult-to-overcome technical bottlenecks in long-term use: 1. Complicated and dangerous secondary feeding process of plugging operation: the traditional mud gun is generally designed with a single bin, and the mud capacity is limited. When the furnace condition is poor, the furnace eye is expanded or deformed due to long-time scouring, and the single injection of mud is often insufficient to achieve safe and reliable plugging. At this time, “secondary feeding” must be carried out. In view of this problem, the existing Chinese utility model patent CN202522085U discloses an equipment for opening and blocking of a boiler, which adopts a double-machine redundancy scheme, that is, two independent blocking machines are arranged in front of the furnace. Although the efficiency is improved, the cost is greatly increased, the whole process is complicated and dangerous, the first blocking device needs to be retreated and withdrawn from the high-temperature area, and then the second blocking device needs to be translated, pitched and operated, and in this process, under the condition of the first sealing not being strict, the molten metal will be pressed out through the narrow gap of the residual furnace opening at high speed due to the pressure in the furnace, forming a high-speed jet, which continuously and locally threatens the surrounding environment (such as the operator, the equipment and the trolley).

[0004] 2. The stability and fine adjustment accuracy of the pitch adjustment system are insufficient: For example, the Chinese invention patent application publication CN112378258A discloses a mechanical discharge equipment with automatic adjustment function, which adopts a pitch adjustment scheme of "middle support and double cylinder jacking", that is, the opening and plugging device is placed on a platform, and the angle adjustment is realized by the jacking of two hydraulic cylinders in the middle of the platform. However, in practice, it is found that this scheme has two structural defects. First, the synchronization problem and equipment shaking. Under the condition that the load, oil temperature and internal friction of the two independent hydraulic cylinders are inconsistent, their extension and retraction speeds are almost impossible to be completely synchronized. This slight asynchronization will cause the carrying platform to produce obvious side deviation, torsion and shaking during lifting, making it difficult for the tool head (drill bit or mud plugging head) at the front end to accurately align the furnace eye. Second, the "over-adjustment" phenomenon caused by "short force arm". Since the support point is located in the middle of the platform, a lever structure of short force arm is formed, which means that the small stroke error of the hydraulic cylinder piston will be significantly amplified by the lever effect, eventually leading to a large angle deviation of the mud plugging head at the front end of the equipment. When fine angle alignment is required, it is easy to "over-adjust", increasing the operation difficulty and time consumption. SUMMARY

[0005] The main purpose of the present application is to solve the technical problem of complicated secondary feeding process of the existing technology of silicon-iron ore furnace opening and plugging device.

[0006] In order to solve the above main technical problem, the present application provides a silicon-iron ore furnace opening and plugging robot, which comprises a transverse track laid in front of the furnace, a transverse carrying vehicle movable on the transverse track, an eye opening unit for drilling the furnace eye and a plugging unit for plugging the furnace eye arranged on the transverse carrying vehicle, the plugging unit is provided with a side-by-side double mortar bin for storing and switching the feed, the side-by-side double mortar bin comprises a bin connecting box, a sliding feed device and a driving mechanism, two side-by-side U-shaped through grooves are slidingly arranged in the sliding feed device for storing mortar, when the mortar in one of the U-shaped through grooves is used up and needs to be replenished, the driving mechanism drives the sliding feed device to move transversely in the bin connecting box within a preset time, so as to align the U-shaped through groove containing mortar with the feed channel of the plugging unit, thereby realizing secondary feeding.

[0007] When the feed needs to be replenished, the robot does not need to move, but can switch to the standby bin within a few seconds through the internal sliding device, greatly shortening the furnace opening exposure time, eliminating the safety risk in the switching process, and significantly improving the operation continuity and efficiency.

[0008] Further, in order to solve the secondary technical problem of insufficient stability and fine adjustment precision of the pitch adjustment system in the prior art, as an improvement of the above-mentioned silicon iron ore smelting furnace opening and plugging robot, the head part of the opening unit and the plugging unit is respectively connected to the transverse moving carrier vehicle through a hinged mechanism to form a rotating fulcrum, and the tail part is respectively connected to the transverse moving carrier vehicle through a support oil cylinder to form a long force arm structure, which is used to adjust the pitch angle of the opening unit and the plugging unit; a connecting rod mechanism is arranged between the opening unit or the plugging unit and the transverse moving carrier vehicle, and the connecting rod mechanism and the opening unit or the plugging unit and the transverse moving carrier vehicle together form a parallelogram connecting rod structure, which is used to keep the posture of the opening unit or the plugging unit stable and avoid lateral deflection during the pitch process.

[0009] Through the "front end hinged and rear end supported" long force arm structure, the small stroke change of the support oil cylinder can be converted into the front end gentle and precise angle adjustment, and high-precision fine adjustment is realized. Through the parallelogram connecting rod, the geometric characteristics of the parallelogram connecting rod are used to constrain the movement of the unit body only in the vertical plane, and the lateral deflection and shaking are completely eliminated, and the absolute stability of the posture is ensured.

[0010] Further, in order to solve the problem of how to modularly integrate the double gun material bin with the existing plugging unit body, the plugging unit further comprises a plugging cylinder and a plugging head, and the side-by-side double gun material bin is arranged between the plugging cylinder and the plugging head and is connected and installed through the flanges connecting the front end and the rear end of the bin body and the plugging cylinder and the plugging head. Through the flange connection, the structure is stable and convenient to disassemble and assemble.

[0011] Further, in order to solve the problem of possible motion interference between the mud pushing plate of the plugging cylinder and the transversely switched sliding material bin during reciprocating motion, the plugging unit further comprises a hydraulic driving plugging cylinder, and the initial set position of the mud pushing plate of the plugging cylinder for each mud pushing is located in the plugging cylinder and does not interfere with the motion space of the sliding material feeding device. During the plugging operation, the plugging cylinder drives the mud pushing plate to advance and pass through the U-shaped through groove aligned with the plugging head, and pushes the mud in the groove into the plugging head, so that the two core actions of mud pushing and reversing do not affect each other, and the reliability of the mechanism operation is ensured.

[0012] Further, in order to solve the problem of moving jam, unsmooth or deflection of heavy load sliding feeder, support roller groups are arranged at both ends of the support shaft at the bottom of the sliding feeder to ensure smooth translation of the sliding feeder at the bottom of the bin connecting box. Guide roller groups are arranged at both ends of the support plate at the top of the sliding feeder to ensure that the sliding feeder will not deviate during translation of the bin connecting box. The support plate is also provided with a connecting trunnion for connection with the driving mechanism. The upper and lower roller groups ensure smooth, smooth and accurate horizontal switching action.

[0013] Further, in order to solve the problem of accurate control of switching stroke of the driving mechanism, the driving mechanism can be arranged in one or two groups. The starting point of the stroke of the driving mechanism is the abutting position of one of the U-shaped through grooves with the outlet of the bin connecting box, and the end point is the abutting position of the other U-shaped through groove with the outlet of the bin connecting box. The driving mechanism is a hydraulic cylinder or an electric cylinder.

[0014] Further, in order to solve the problem of how to conveniently and quickly fill the mud in the double bin, a detachable feeding cover is installed above the bin connecting box. The feeding cover is provided with two feeding ports corresponding to the openings of the two U-shaped through grooves in the initial position of the sliding feeder below. Each feeding port is provided with an inclined guide plate for assisting loading. By setting clear starting and ending points of the stroke, it is ensured that the U-shaped groove can be accurately aligned with the feeding channel center during each switching, avoiding misalignment.

[0015] Further, in order to solve the problem of how to realize low friction rotation of the front hinge support point, the hinge mechanism includes a movable seat and a fixed seat. The movable seats of the opening unit and the blocking unit head are connected to the corresponding fixed seats of the horizontal moving carrier through respective hinge shafts. The movable seat and the fixed seat are provided with a plurality of bearings for rotation support.

[0016] Further, in order to solve the problem of how to specifically and reliably assemble the parallelogram linkage mechanism in the opening unit, the linkage mechanism of the opening unit includes a main opening linkage and a secondary opening linkage. The main opening linkage is installed on the horizontal moving carrier through an opening connecting seat. The secondary opening linkage is directly installed on the support shafts on both sides of the opening unit support frame. The main opening linkage and the secondary opening linkage are connected by opening hinge pins.

[0017] Further, in order to solve the problem of how to assemble the main plugging rod of the parallelogram linkage mechanism, the linkage mechanism of the plugging unit comprises a main plugging rod and a secondary plugging rod, the main plugging rod is installed on the transverse moving carrier vehicle through a plugging connecting seat, the secondary plugging rod is installed below the plugging unit support frame body through a plugging movable seat, and the main plugging rod, the secondary plugging rod, the plugging connecting seat and the plugging movable seat are connected through plugging hinge pins.

[0018] The technical effect of the present application is: 1. In the prior art, secondary feeding must completely remove the first device and then move in the second device. The "switching interval" is the root cause of safety risk, because the unsealed furnace port will continue to splash high-temperature molten metal during this period. In the present application, the robot body of the plugging unit always remains in the working position in front of the furnace. The feeding action is completed by a "sliding feeding device" driven by a driving mechanism, that is, the standby U-shaped through slot is switched to the feeding channel in the material bin connecting box. Because the robot does not need to be removed, the "switching interval" is completely eliminated, thereby eliminating the risk of molten metal splashing and improving the safety of plugging operation.

[0019] 2. In the prior art, a series of complicated processes such as "machine retreats → transverse movement → machine advances → realignment" are required. In the present application, these processes are converted into a single action of "internal light load and short stroke translation". This action can be completed within a preset time (such as a few seconds). This conversion greatly shortens the response time and execution time of feeding. At the same time, the material bin connecting box is integrated between the plug and the plug head through the flange, and cooperates with the plug cylinder design which does not interfere with the sliding device, and the roller group which ensures smooth movement, to ensure the stability and reliability of this efficient switching action. Finally, the downtime of smelting is effectively reduced, and the production continuity is guaranteed.

[0020] 3. In the prior art, the "middle support" is used, the force arm is short, and according to the principle of lever, small oil cylinder stroke error will be significantly amplified, resulting in a large swing of the front end, that is, "over-adjustment". In the present application, the rotation support point (hinge mechanism) is placed at the front end of the unit, and the driving point (support cylinder) is placed at the tail end, greatly increasing the length of the force arm. Therefore, under the same oil cylinder stroke control accuracy, the front end angular displacement accuracy obtained by the present application will be multiplied, the movement will be more smooth, and the operator can easily fine-tune, thereby solving the "over-adjustment" problem.

[0021] 4、In the prior art, due to the differences in load, oil temperature, friction, etc., the two oil cylinders are almost impossible to be completely synchronized, and the speed difference will generate a torque, causing the platform to sway and deviate. In the scheme of the present application, the added "parallelogram linkage mechanism" fundamentally restricts the movement degree of freedom of the opening or plugging unit. During the pitching process, the parallelogram linkage structure only allows the unit body to make pure pitching movement in the vertical plane, and resists any force that may cause lateral deflection or torsion (such as the unbalanced load caused by the single oil cylinder support), thereby ensuring the absolute stability of the attitude. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a shaft side view of a mineral furnace opening and plugging robot provided by an embodiment of the present application; Figure 2 is a front view of a plugging device of a mineral furnace opening and plugging robot provided by an embodiment of the present application; Figure 3 is a front view of an opening device of a mineral furnace opening and plugging robot provided by an embodiment of the present application; Figure 4 is a shaft side view of a side-by-side double gunite material bin of a mineral furnace opening and plugging robot provided by an embodiment of the present application; Figure 5 is a shaft side view of the internal structure of a side-by-side double gunite material bin of a mineral furnace opening and plugging robot provided by an embodiment of the present application; Figure 6 is a shaft side view of a sliding feeding device of a mineral furnace opening and plugging robot provided by an embodiment of the present application; Figure 7 is a shaft side view of an opening device linkage mechanism of a mineral furnace opening and plugging robot provided by an embodiment of the present application; Figure 8 is a shaft side view of a plugging device linkage mechanism of a mineral furnace opening and plugging robot provided by an embodiment of the present application; In the figure: 1, transverse track; 2, transverse moving bearing vehicle; 3, opening unit; 4, plugging unit; 41, side-by-side double gunite material bin; 411, bin connecting box body; 4111, flange; 412, sliding feeding device; 4121, U-shaped through groove; 4122, support roller set; 4123, guide roller set; 4124, support shaft; 4125, support plate; 4126, connecting trunnion; 413, driving mechanism; 414, feeding cover; 4141, feeding port; 4142, inclined guide material plate; 42, gunite cylinder; 43, gunite barrel; 44, gunite head; 5, hinged mechanism; 51, movable seat; 52, fixed seat; 53, hinged shaft; 6, support oil cylinder; 7, connecting rod mechanism; 71, main connecting rod for opening; 72, auxiliary connecting rod for opening; 73, connecting seat for opening; 74, hinged pin for opening; 75, main connecting rod for plugging; 76, auxiliary connecting rod for plugging; 77, connecting seat for plugging; 78, movable seat for plugging; 79, hinged pin for plugging. DETAILED DESCRIPTION

[0023] The embodiments of the technical solutions of the present application will be described in detail below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application, and therefore only serve as examples, but cannot limit the protection scope of the present application.

[0024] Embodiment one In the existing ferrosilicon smelting furnace plugging operation, the single bin structure leads to limited capacity of the clay, and when the furnace eye forms an irregular channel due to high temperature scouring, single feeding cannot meet the plugging demand. At this time, the operation process needs to be interrupted, and the plugging unit 4 is removed as a whole from the high temperature area for replenishment. After the replenishment is completed, positioning, attitude adjustment and secondary plugging operation need to be performed again. This process not only prolongs the operation cycle, but also when the equipment is moving and repositioning, the furnace eye is in an incomplete plugging state, and the molten metal is easy to form a high temperature jet through the plugging gap under the driving of the pressure in the furnace.

[0025] When facing the above problems, the present application first analyzes the core contradiction of the traditional single bin structure leading to the complicated replenishment process, and finds that the key lies in that the equipment must be removed from the high temperature area during the replenishment process. For this, the present application tries to explore two improvement directions: one is to increase the single feeding amount without adding additional equipment, and the other is to optimize the replenishment method to avoid equipment removal. After evaluating the space in front of the furnace and the carrying capacity of the equipment, it is found that simply expanding the bin volume will cause the center of gravity to deviate, affecting the stability of horizontal movement. Instead, a double bin structure is considered to be set up in the existing space, and the design of the sliding switching mechanism becomes a key breakthrough point. By comparing the two schemes of horizontal translation and rotary switching, it is found that the horizontal translation mechanism has more advantages in sealing and structural strength, and finally the scheme of parallel double bin combined with linear drive mechanism is determined.

[0026] For this, the present application provides an implementation of a smelting furnace opening and plugging robot, as shown in Figures 1-2 The device includes a horizontal track 1 laid in front of the furnace and a horizontal moving carrying vehicle 2 movable on the horizontal track 1, and an opening unit 3 for drilling the furnace eye and a plugging unit 4 for plugging the furnace eye are arranged on the horizontal moving carrying vehicle 2, the plugging unit 4 is provided with a parallel double gunite bin 41 for storing and switching the feeding, as shown in Figures 4-6As shown, the side-by-side double gun mortar bin 41 includes a bin connecting box 411, a sliding feeding device 412, and a driving mechanism 413. The sliding feeding device 412 is processed with two side-by-side U-shaped through grooves 4121 for storing mortar. When the mortar in one of the U-shaped through grooves 4121 is used up and needs to be replenished, the driving mechanism 413 drives the sliding feeding device 412 to move horizontally in the bin connecting box 411 within a preset time, so as to align the other U-shaped through groove 4121 containing mortar with the feeding passage of the plugging unit 4, thereby realizing secondary feeding.

[0027] The lateral track 1 is a track structure laid in front of the electric arc furnace and horizontally parallel to the furnace mouth axis, which can be specifically implemented by combination installation of heavy steel rails and concrete foundation pre-embedded parts, and is used for bearing the lateral moving carrier 2 to move and position along the furnace mouth axis. The lateral moving carrier 2 is a steel structure moving platform with self-propelled function, which can be specifically implemented by a variable frequency motor driven chain wheel and chain transmission system, and is used for carrying the opening unit 3 and the plugging unit 4 to cooperate.

[0028] The opening unit 3 is a mechanical device provided with a rotary drill rod and a propulsion mechanism, which can be specifically implemented by a hydraulic rock drill screw drill rod cooperating with a linear guide rail sliding table structure, and is used for performing furnace eye drilling operation. The plugging unit 4 is an execution mechanism with mortar conveying and pressing functions, which can be specifically implemented by a hydraulic cylinder pushing a mortar pushing plate cooperating with a guide sleeve structure, and is used for performing furnace eye plugging operation.

[0029] The side-by-side double gun mortar bin 41 is specifically a combined structure of the bin connecting box 411, the sliding feeding device 412, and the driving mechanism 413, which is used for realizing the online secondary feeding function by switching the butt joint state of the two U-shaped through grooves 4121 and the feeding passage through horizontal displacement.

[0030] The sliding feeding device 412 is a translational storage mechanism with double U-shaped through grooves 4121, which can be specifically implemented by high wear-resistant alloy steel plate welding forming cooperating with a roller guide system, and is used for maintaining continuous feeding by switching the storage position through horizontal sliding. The driving mechanism 413 is a power unit for controlling the displacement of the sliding feeding device 412, which can be specifically implemented by a hydraulic cylinder or a servo cylinder cooperating with a displacement sensor closed-loop control system, and is used for completing the storage cavity switching action within a preset time.

[0031] The application adopts the side-by-side double gun mortar bin 41 structure, realizes the rapid switching of the two storage cavities through the horizontal displacement of the sliding feeding device 412, and completes the mortar replenishment without removing the equipment in a single plugging operation, thereby solving the technical bottleneck of low efficiency and high safety risk caused by the interruption of the traditional single bin for secondary feeding.

[0032] The specific working process of the present application is as follows: first, two U-shaped through grooves 4121 are filled with mud. When the plugging operation starts, one of the U-shaped through grooves 4121 is aligned with the feeding channel of the plugging unit 4. When the mud in the groove is used up, the driving mechanism 413 is started to drive the sliding feeding device 412 to move laterally, aligning the other U-shaped through groove 4121 full of mud with the feeding channel. This process is completed within a preset time without interrupting the plugging operation or removing the equipment.

[0033] Through the above embodiment, the present application solves the problem of complicated replenishment process caused by the traditional single-bin structure. The side-by-side double gunite material bin realizes quick switching of feeding without interrupting the plugging operation or removing the equipment. This significantly improves the continuity and efficiency of the plugging operation, reduces the exposure time of the furnace eye, and reduces the safety risk of high-temperature molten metal spatter.

[0034] Example Two The existing technology has the problems of synchronization difficulty and equipment shaking during the pitch angle adjustment process. The support point is located in the middle, forming a short force arm structure, which magnifies the stroke error of the hydraulic cylinder, causing angle deviation and adjustment difficulty.

[0035] Based on Example One, in order to solve the technical problems of insufficient stability and fine adjustment precision of the pitch adjustment system in the prior art, as a preferred implementation manner, as shown in Figures 1-3 The head parts of the eye-opening unit 3 and the plugging unit 4 are connected to the transverse moving carrier vehicle 2 through the hinge mechanism 5 to form a rotating support point, and the tail parts are connected to the transverse moving carrier vehicle 2 through the support oil cylinder 6 to form a long force arm structure, which is used to adjust the pitch angle of the eye-opening unit 3 and the plugging unit 4. The intermediate rear position is provided with a connecting rod mechanism 7, which is arranged between the eye-opening unit 3 or the plugging unit 4 and the transverse moving carrier vehicle 2. The connecting rod mechanism 7 and the eye-opening unit 3 or the plugging unit 4, the transverse moving carrier vehicle 2 together form a parallelogram connecting rod structure, which is used to keep the posture of the eye-opening unit 3 or the plugging unit 4 stable and avoid lateral deflection during the pitch process.

[0036] Through the above technical scheme, the present application realizes the accurate pitch angle adjustment of the eye-opening unit 3 and the plugging unit 4. Due to the adoption of the long force arm structure, the small stroke change of the support oil cylinder 6 can be converted into a small angle adjustment of the front end of the eye-opening unit 3 and the plugging unit 4, avoiding the over-adjustment phenomenon. At the same time, the parallelogram connecting rod structure ensures the stable posture of the eye-opening unit 3 and the plugging unit 4 during the pitch process, preventing lateral deflection. This design significantly improves the accuracy and efficiency of the eye-opening and plugging operation, reduces the operation difficulty and time consumption. In addition, this structure also enhances the overall stability of the equipment, reduces the risk of equipment shaking and lateral deflection, and improves the operation safety.

[0037] Example Three Based on Embodiment One, in some of the above-mentioned schemes of the present application, the side-by-side double gun mortar bunker 41 needs to be effectively connected with the plug cylinder 43 and the plug head 44, but the existing connection mode has the problems of insufficient installation positioning accuracy and poor sealing, which leads to easy leakage or blockage of the mortar during the mortar conveying process, affecting the reliability of continuous feeding.

[0038] As a preferred embodiment, as shown in Figure 2 , Figure 4 , the present application further proposes that the plugging unit 4 further comprises a plug cylinder 43 and a plug head 44, and the side-by-side double gun mortar bunker 41 is arranged between the plug cylinder 43 and the plug head 44, and is installed and connected with the plug cylinder 43 and the plug head 44 through the flanges 4111 at the front end and the rear end of the bunker connecting box body 411.

[0039] Among them, the front end flange 4111 of the bunker connecting box body 411 is fastened with the flange plate of the plug cylinder 43 by bolts, and the rear end flange 4111 is connected with the flange plate of the plug head 44 in the same way. The axis of the U-shaped through groove 4121 of the sliding feeding device 412 is coaxial with the center axis of the plug cylinder 43 and the plug head 44, and high-temperature-resistant sealing gaskets are arranged between the connecting surfaces of the flanges 4111. Positioning pin holes are arranged on both sides of the bunker connecting box body 411, and correspond to the positioning pins of the plug cylinder 43 and the plug head 44 to realize radial limiting.

[0040] Specifically, the bunker connecting box body 411 is rigidly connected with the plug cylinder 43 and the plug head 44 through the flanges 4111, ensuring the straightness and sealing of the feeding channel. When the driving mechanism 413 pushes the sliding feeding device 412 to move laterally, the flange 4111 connection structure can maintain the coaxiality between the plug cylinder 43 and the plug head 44, avoiding loosening of the connection due to vibration. When the U-shaped through groove 4121 switches to the feeding station, the sealing gasket at the flange 4111 connection can prevent high-temperature mortar from seeping out from the joint. The cooperation of the positioning pin and the pin hole further restricts the radial displacement of the bunker connecting box body 411, ensuring that the U-shaped through groove 4121 is always accurately aligned with the inlet of the plug head 44 during the translation of the sliding feeding device 412.

[0041] Through the above technical scheme, the present application realizes the compact connection of the side-by-side double gun mortar bunker 41 with the plug cylinder 43 and the plug head 44, simplifies the overall structure, and reduces the risk of mortar blockage and leakage. At the same time, the design scheme is convenient to disassemble and maintain, which is conducive to improving the service life and maintenance efficiency of the equipment.

[0042] In the above-mentioned embodiments of the present application, when the sliding feeding device 412 of the plugging unit 4 moves laterally to switch the feeding channel, if the sealing push plate overlaps with the movement space of the bunker, it will cause structural interference, hinder the smooth switching and pushing of the mortar, and affect the continuity and reliability of the secondary feeding.

[0043] As a preferred embodiment, as shown in Figures 4-6 The plugging unit 4 further comprises a hydraulic driven mud plugging cylinder 42, and the initial position of the mud plugging push plate of the mud plugging cylinder 42 is located in the mud plugging barrel 43 and does not interfere with the movement space of the sliding feeding device 412. During the plugging operation, the mud plugging cylinder 42 drives the mud plugging push plate to advance, pass through the U-shaped through groove 4121 aligned with the mud plugging head 44, and push the mud in the groove into the mud plugging head 44.

[0044] Specifically, the mud plugging cylinder 42 can be a double-acting hydraulic cylinder, and the piston rod is fixedly connected with the mud plugging push plate. The initial position of the mud plugging push plate is set at the rear end of the mud plugging barrel 43, and does not overlap with the U-shaped through groove 4121 of the sliding feeding device 412. When the plugging operation is needed, the hydraulic system supplies oil to the rodless chamber of the mud plugging cylinder 42 to drive the mud plugging push plate to move forward. The mud plugging push plate passes through the U-shaped through groove 4121 aligned with the mud plugging head 44, and pushes the mud in the groove into the mud plugging head 44. After the pushing is completed, the hydraulic system supplies oil to the rod chamber of the mud plugging cylinder 42 to make the mud plugging push plate retreat to the initial position, preparing for the next plugging operation.

[0045] Through the above technical scheme, the automatic pushing function of the plugging unit 4 is realized. Because the initial position of the mud plugging push plate does not interfere with the sliding feeding device 412, the side-by-side double gun mud material bin 41 can be freely switched. At the same time, the mud plugging push plate directly passes through the U-shaped through groove 4121 to push the mud into the mud plugging head 44, simplifying the structure of the traditional plugging device and improving the efficiency and reliability of the pushing.

[0046] Embodiment Four Based on embodiment one, in some schemes of the present application, when the sliding feeding device 412 moves horizontally in the bin connecting box 411, because the weight of the two bin mud is large and the movement stroke is long, there is a risk that the translation resistance is too large to cause jamming, and during the movement, the uneven stress may cause deviation, resulting in misalignment of the U-shaped through groove 4121 and the feeding channel.

[0047] As a preferred embodiment, as shown in Figures 4-6As shown, the application further proposes that the support rollers 4122 at both ends of the support shaft 4124 at the bottom of the sliding feeding device 412 are provided to ensure smooth translation of the sliding feeding device 412 at the bottom of the silo connecting box body 411. The guide roller set 4123 at both ends of the support plate 4125 at the top of the sliding feeding device 412 is provided to ensure that the sliding feeding device 412 does not deviate during translation in the silo connecting box body 411. The support plate 4125 is also provided with a connecting trunnion 4126 for connection with the driving mechanism 413. The support roller set 4122 can use four rollers, which are respectively installed at the front and rear positions at both ends of the support shaft 4124. The guide roller set 4123 can use two rollers, which are respectively installed above both ends of the support plate 4125. The connecting trunnion 4126 can be provided at the middle position of the support plate 4125 and connected with the end of the piston rod of the driving mechanism 413.

[0048] Among them, the support roller set 4122 adopts a symmetrical roller structure arranged in two groups, and as a preferred solution, the support roller set 4122 can be respectively embedded in the track grooves at both sides of the bottom of the silo connecting box body 411. The roller material is high-temperature-resistant alloy steel, and the surface is hardened. The guide roller set 4123 is composed of two columns of vertically arranged rollers, which are respectively in contact with the guide surfaces of the side walls at the top of the silo connecting box body 411. The connecting trunnion 4126 is hinged with the end of the piston rod of the driving mechanism 413 through a pin shaft, and the center line of the trunnion is in the same horizontal plane as the axis of the support roller set 4122.

[0049] Specifically, when the driving mechanism 413 pushes the sliding feeding device 412 to move laterally, the support roller set 4122 rolls in the track groove at the bottom of the silo connecting box body 411, converting sliding friction into rolling friction, so that the moving resistance of the sliding feeding device 412 carrying mud is reduced. The guide roller set 4123 maintains a constant gap with the side wall of the box during movement, and the lateral deviation is eliminated through the restraining action of the double-sided rollers, ensuring that the deviation between the U-shaped through groove 4121 and the feeding channel is less than 0.5 mm. This design balances the driving force action line and the movement resistance action line to avoid overturning during movement.

[0050] In the above-mentioned embodiments of the application, if the positioning accuracy of the stroke of the driving mechanism 413 is insufficient or the driving force redundancy is insufficient when the sliding feeding device 412 translates in the silo connecting box body 411, it may cause the U-shaped through groove 4121 to deviate from the feeding channel, causing the mud conveying to be interrupted or leaked.

[0051] As a preferred embodiment, as shown in Figures 4-6As shown, the application further proposes that the driving mechanism 413 can be arranged in one or two groups, the starting point of the stroke of the driving mechanism 413 is the abutting position of one of the U-shaped through grooves 4121 and the outlet of the bunker connecting box 411, and the ending point is the abutting position of the other U-shaped through groove 4121 and the outlet of the bunker connecting box 411, and the driving mechanism 413 is a hydraulic cylinder or an electric cylinder.

[0052] Among them, the driving mechanism 413 adopts single or double group configuration, and the double group driving can improve the thrust redundancy and ensure the stability of the sliding feeding device 412 during translation; the starting and ending points of the stroke are controlled by mechanical limiting or sensor, so as to ensure the accurate alignment of the U-shaped through groove 4121 and the feeding channel; the hydraulic cylinder is suitable for high load scene, and the electric cylinder is convenient for realizing accurate stroke control.

[0053] Specifically, when the driving mechanism 413 is a single hydraulic cylinder, the cylinder piston rod is hinged with the connecting ear shaft 4126 of the sliding feeding device 412, the piston rod is controlled to extend and retract through the hydraulic system, and the sliding feeding device 412 is pushed to move along the preset stroke in the bunker connecting box 411. When the driving mechanism 413 is a double electric cylinder, the two electric cylinders are symmetrically arranged on both sides of the sliding feeding device 412, and the synchronous controller is used to coordinate the action to avoid sticking or deviation during translation. The ending point of the stroke of the driving mechanism 413 is limited by the position sensor or the mechanical stopper, so as to ensure that after the U-shaped through groove 4121 is switched in place, the axis thereof is completely coincided with the feeding channel of the plug 44. For example, when the electric cylinder is used for driving, the encoder can be used to monitor the stroke position in real time, and the error is controlled within ±1mm, so as to ensure the reliability of continuous conveying of the mud.

[0054] Therefore, the application scheme can realize rapid and accurate feeding switching. The automatic feeding switching mechanism significantly improves the efficiency and safety of the plugging operation. Through the pre-set stroke of the driving mechanism 413, it is ensured that the U-shaped through groove 4121 can be accurately aligned with the feeding channel after each switching.

[0055] Embodiment five Based on embodiment one, in some schemes of the application, the two U-shaped through grooves 4121 of the side-by-side double mortar bunker 41 need to be frequently switched laterally during the feeding process. In order to solve the practical operation problem of how to conveniently and quickly add mud to the double bunker.

[0056] As a preferred embodiment, as shown in Figure 4 The application further proposes that a detachable upper feeding cover 414 is installed above the bunker connecting box 411, the upper feeding cover 414 is provided with two feeding ports 4141 corresponding to the opening positions of the two U-shaped through grooves 4121 of the sliding feeding device 412 in the initial position state, and each feeding port 4141 is provided with an inclined guide plate 4142 for assisting feeding.

[0057] Wherein, the detachable feeding cover 414 is fixed on the top of the bunker connecting box body 411 by bolts or buckles, the center axes of the two feeding ports 4141 respectively coincide with the center lines of the openings of the U-shaped through grooves 4121, and the inclined guide plates 4142 are welded with the feeding ports 4141 and have an inclination angle of 45° to 60°. The diameter of the feeding port 4141 is 5-10 mm larger than the width of the opening of the U-shaped through groove 4121 to form a tolerance space, and the end of the guide plate extends to 10-15 mm above the edge of the opening of the U-shaped through groove 4121.

[0058] Specifically, during the loading operation, the operator injects the mud through the two feeding ports 4141 into the corresponding U-shaped through grooves 4121. The inclined guide plates 4142 guide the mud to the central area of the U-shaped through grooves 4121, avoiding the accumulation of the material at the edge of the groove. When it is necessary to replace or maintain the feeding cover 414, the disassembly operation can be carried out during the non-operation period, without affecting the main structure of the bunker. The precise alignment design of the two feeding ports 4141 makes it unnecessary to manually adjust the position during the material supplement process, and the inclined structure of the guide plate makes the mud slide into the storage groove by gravity, improving the loading efficiency and reducing the amount of material falling.

[0059] Embodiment six Based on embodiment two, in some schemes of the present application, the traditional hinge structure is prone to wear, deformation or jamming of the rotation fulcrum after long-term use in high-temperature and high-load working environment, causing the eye opening unit 3 and the eye plugging unit 4 to shake or deflect during the pitch adjustment process, affecting the alignment accuracy.

[0060] As a preferred embodiment, as shown in Figures 2-3 The hinge mechanism 5 is composed of a movable seat 51 and a fixed seat 52. The movable seat 51 is welded to the front end of the head shell of the eye opening unit 3 and the eye plugging unit 4, and the fixed seat 52 is fixed to the mounting base on both sides of the transverse moving carrier 2 by high-strength bolts. A hinge shaft 53 is installed between the movable seat 51 and the fixed seat 52. The hinge shaft 53 is made of 42CrMo alloy steel material after quenching and tempering treatment, and its both ends are installed with tapered roller bearings through interference fit. The bearing outer ring is clearance fitted with the bearing seat hole of the fixed seat 52. A U-shaped clamping groove is processed at the bottom of the movable seat 51, which is clearance fitted with the hinge shaft 53, and a self-lubricating copper-based bushing is installed on the fitting surface. A dustproof end cover is arranged at the top of the movable seat 51 and fixed to the end of the hinge shaft 53 by a clasp spring to prevent dust from entering the bearing.

[0061] The active seat 51 is fixedly connected with the head of the hole opening unit 3 or the hole plugging unit 4, the fixed seat 52 is fixed on the transverse moving carrier 2, the hinge shaft 53 penetrates through the active seat 51 and the fixed seat 52, and relative rotation is realized through bearings. The bearings can be selected from ball bearings, tapered roller bearings or sliding bearings, and a plurality of bearings are distributed along the hinge shaft 53 in the axial direction to share the load. Wear-resistant lining plates can be arranged on the contact surfaces of the active seat 51 and the fixed seat 52 to further reduce friction loss.

[0062] Specifically, when the pitch angle is adjusted, the support oil cylinder 6 pushes the tail of the hole opening unit 3 or the hole plugging unit 4 to lift, the active seat 51 rotates around the hinge shaft 53, and the bearings reduce the rotation resistance and uniformly distribute the load. For example, double-row tapered roller bearings are used, the inner ring is interference-fitted with the hinge shaft 53, the outer ring is gap-fitted with the hole of the fixed seat 52, and the axial play is eliminated through pre-tightening force. A plurality of bearings are arranged along the length direction of the hinge shaft 53, forming a multi-point support structure to avoid deformation caused by single-point stress concentration. Dustproof sealing rings are arranged between the active seat 51 and the fixed seat 52 to prevent furnace dust from entering the inside of the bearings, prolonging the service life. This structure can still maintain flexibility in high-temperature environment, ensuring the stability of the tool head posture during pitch adjustment.

[0063] As a preferred embodiment, as shown in Figures 7-8 The application further proposes that the connecting rod mechanism 7 of the hole opening unit 3 and the hole plugging unit 4 has two specific types, which are as follows: ①As shown in Figure 7 The connecting rod mechanism 7 of the hole opening unit 3 includes a hole opening main connecting rod 71 and a hole opening auxiliary connecting rod 72. The hole opening main connecting rod 71 is installed on the transverse moving carrier 2 through a hole opening connecting seat 73, the hole opening auxiliary connecting rod 72 is directly installed on the support shafts on both sides of the support frame body of the hole opening unit 3, and the hole opening main connecting rod 71 is connected with the hole opening connecting seat 73 and the hole opening auxiliary connecting rod 72 through a hole opening hinge pin 74.

[0064] Specifically, when the pitch angle of the hole opening unit 3 is adjusted, the support oil cylinder 6 pushes the tail of the hole opening unit 4 to lift, the hole opening main connecting rod 71 and the hole opening auxiliary connecting rod 72 are respectively connected with the support shafts on both sides of the support frame body of the hole opening unit 3 through the hole opening connecting seat 73 to form linkage constraints at the upper and lower ends. The hole opening main connecting rod 71 bears the longitudinal load from the front end of the support frame body and transmits the force to the transverse moving carrier 2 through the hole opening connecting seat 73; the hole opening auxiliary connecting rod 72 limits the side displacement of the rear end of the support frame body through the support shafts on both sides of the support frame body of the hole opening unit 3. Because the two sides of the main and auxiliary connecting rods are connected with the support oil cylinder 6 in a three-point rigid manner, the left and right sides of the support frame body of the hole plugging unit 4 are both limited in freedom during the pitch process, so that the posture of the hole opening unit 3 remains stable even if it is subjected to the hole opening reaction force.

[0065] ②As shown in Figure 8As shown, the linkage mechanism 7 of the plugging unit 4 includes a plugging main link 75 and a plugging auxiliary link 76, the plugging main link 75 is installed on the transverse moving carrier 2 through a plugging connecting seat 77, the plugging auxiliary link 76 is installed below the plugging unit 4 support frame through a plugging movable seat 78, and the plugging main link 75, the plugging auxiliary link 76, the plugging connecting seat 77 and the plugging movable seat 78 are connected by plugging hinge pins 79.

[0066] Among them, the plugging main link 75 and the transverse moving carrier 2 form a fixed mounting point through the plugging connecting seat 77, the plugging auxiliary link 76 is rigidly connected with the plugging unit 4 support frame through the plugging movable seat 78. The plugging main link 75 and the plugging auxiliary link 76 are movably connected by double hinge pins. The plugging movable seat 78 and the support frame are provided with a plane contact surface to disperse the load. The plugging hinge pin 79 adopts a clearance fit shaft hole structure, and a lubricating grease injection hole is provided to realize low friction rotation.

[0067] Specifically, the linkage mechanism 7 of the plugging unit 4 is composed of a plugging main link 75 and a plugging auxiliary link 76. The plugging main link 75 is installed on the transverse moving carrier 2 through a plugging connecting seat 77, and the plugging auxiliary link 76 is installed on the frame below the plugging unit 4 support frame through a plugging movable seat 78. The plugging main link 75 adopts two parallel connecting rods and a middle connecting plate welded as a main frame, and the end thereof is connected with the plugging connecting seat 77 and the plugging auxiliary link 76 through the plugging hinge pin 79 to form a rotating pair. The plugging auxiliary link 76 is also composed of two parallel connecting rods and a middle connecting plate welded as a main frame, and the two ends thereof are connected with the plugging movable seat 78 and the plugging main link 75 through the plugging hinge pin 79. The plugging connecting seat 77 includes two groups of ear plate structures with self-lubricating bearings, which are respectively used for fixing the plugging main link 75 and the transverse moving carrier 2. The plugging movable seat 78 is provided with an adjustable gap shaft sleeve structure, and forms a detachable bolt connection with the mounting plate below the support frame.

[0068] Through the above technical scheme, the attitude stability problem in the pitch adjustment process is effectively solved. The parallelogram linkage structure automatically maintains the parallelism of the mechanism motion track during the lifting of the plugging unit 4, so that the plugging head 44 always maintains the vertical working attitude during the pitch angle adjustment. Through the synchronous constraint action of the rigid link, the lateral deviation and torsional moment caused by the different step movements of the hydraulic oil cylinder are eliminated, and the coaxial alignment accuracy of the plugging head 44 and the furnace eye is ensured. The symmetrical arrangement of the four hinge points further disperses the stress concentration in the movement process, and enhances the anti-deformation ability of the mechanism under high temperature and high load working conditions.

[0069] Finally, it should be noted that unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The description and drawings are to be regarded as illustrative in nature and embodiments of the application will be readily apparent to those skilled in the art, and various changes and modifications can be

[0070] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0071] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive or alternative embodiments. It will be explicitly understood by one of ordinary skill in the art that the embodiments described herein can be combined with other embodiments.

[0072] The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A siliceous ore smelting furnace unblocking robot, comprising a transverse track (1) laid in front of the furnace and a transverse carriage (2) movable on the transverse track (1), and an opening unit (3) for drilling a furnace eye and a blocking unit (4) for blocking the furnace eye arranged on the transverse carriage (2), characterized in that, The plugging unit (4) is provided with a parallel double-barrel mud silo (41) for storing and switching the supply. The parallel double-barrel mud silo (41) includes a silo connecting box (411), a sliding feeding device (412), and a driving mechanism (413). The sliding feeding device (412) has two parallel U-shaped through grooves (4121) for storing mud.

2. The ferrosilicon submerged arc furnace plugging robot according to claim 1, characterized in that, The head of the opening unit (3) and the plugging unit (4) are respectively provided with a hinge mechanism (5) connected to the transverse carrier (2) to form a rotation fulcrum. The tail of each is provided with a support cylinder (6) connected to the transverse carrier (2) to form a long lever arm structure. A linkage mechanism (7) is provided at the middle rear position of each of them, respectively between the opening unit (3) or the plugging unit (4) and the transverse carrier (2).

3. The ferrosilicon submerged arc furnace plugging robot according to claim 1, characterized in that, The plugging unit (4) also includes a plugging cylinder (43) and a plugging head (44). The parallel double-barreled mud silo (41) is located between the plugging cylinder (43) and the plugging head (44). The silo is connected to the plugging cylinder (43) and the plugging head (44) through the flanges (4111) at the front and rear ends of the silo connecting box (411).

4. The ferrosilicon submerged arc furnace plugging robot according to claim 3, characterized in that, The plugging unit (4) also includes a mud-blocking cylinder (42). The initial position of the mud-blocking cylinder (42) pushing mud each time is located in the mud-blocking cylinder (43) and does not interfere with the movement space of the sliding feeding device (412). During the plugging operation, the mud-blocking cylinder (42) drives its mud-blocking pusher to move forward, pass through the U-shaped through groove (4121) aligned with the mud-blocking head (44), and push the mud in the groove into the mud-blocking head (44).

5. The ferrosilicon submerged arc furnace plugging robot according to claim 1, characterized in that, The sliding feeding device (412) has support roller sets (4122) at both ends of the support shaft (4124) at the bottom, and guide roller sets (4123) at both ends of the support plate (4125) at the top of the sliding feeding device (412). The support plate (4125) is also provided with connecting trunnions (4126) for connecting to the drive mechanism (413).

6. The ferrosilicon submerged arc furnace plugging robot according to claim 5, characterized in that, The drive mechanism (413) is configured as one or two sets. The starting point of the stroke of the drive mechanism (413) is the docking position between the U-shaped through groove (4121) and the outlet of the hopper connecting box (411), and the ending point is the docking position between the other U-shaped through groove (4121) and the outlet of the hopper connecting box (411). The drive mechanism (413) is a hydraulic cylinder or an electric cylinder.

7. The ferrosilicon submerged arc furnace plugging robot according to claim 1, characterized in that, A detachable loading cover (414) is installed on the top of the hopper connecting box (411). The loading cover (414) has two inlets (4141) that correspond to the openings of the two U-shaped through slots (4121) of the sliding feeding device (412) below in their initial positions. Each inlet (4141) is provided with an inclined guide plate (4142) for assisting in loading.

8. The ferrosilicon submerged arc furnace plugging robot according to claim 2, characterized in that, The hinge mechanism (5) includes a movable seat (51) and a fixed seat (52). The movable seats (51) at the heads of the eye-opening unit (3) and the eye-blocking unit (4) are respectively connected to the corresponding fixed seats (52) of the transverse carrier (2) through their respective hinge shafts (53). The movable seats (51) and the fixed seats (52) are provided with rotational support through several bearings.

9. The ferrosilicon submerged arc furnace plugging robot according to claim 2, characterized in that, The linkage mechanism (7) of the opening unit (3) includes an opening main link (71) and an opening secondary link (72). The opening main link (71) is installed on the transverse carrier (2) through an opening connecting seat (73). The opening secondary link (72) is directly installed on the support shafts on both sides of the support frame of the opening unit (3). The opening main link (71) is connected to the opening connecting seat (73) and the opening secondary link (72) by an opening hinge pin (74).

10. The ferrosilicon submerged arc furnace plugging robot according to claim 2, characterized in that, The linkage mechanism (7) of the plugging unit (4) includes a plugging main link (75) and a plugging secondary link (76). The plugging main link (75) is installed on the transverse carrier (2) through a plugging connecting seat (77). The plugging secondary link (76) is installed below the support frame of the plugging unit (4) through a plugging movable seat (78). The plugging main link (75), the plugging secondary link (76), the plugging connecting seat (77), and the plugging movable seat (78) are all connected by plugging hinge pins (79).

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