A kind of automatic calcium carbide furnace unloading robot

Abstract

The present invention discloses an automatic calcium carbide furnace-out robot, comprising a walking track, a trolley chassis, a slewing drive, a slewing support, a boom support, a boom and a pitch cylinder, wherein the boom support is located at the top of the slewing support, is pivotally connected to the slewing support through a horizontal pivot, and is directly driven by the pitch cylinder, the boom comprises a middle arm that can move forward and backward in the boom support and a forearm that can rotate around its own axis, and the forearm of the boom is provided with a clamp for grabbing a drill. The automatic calcium carbide furnace-out robot has one less degree of freedom than the existing furnace-out robot, and is easy to realize remote control of the robot. In addition, the middle arm of the furnace-out robot and the boom support are driven by gear rack meshing, and the stroke of the boom can be long enough to meet the furnace-out robot's requirement of pulling a drill to the maximum furnace depth.

Description

Technical Field

[0001] The invention relates to a calcium carbide furnace unloading process, in particular to an automatic calcium carbide furnace unloading robot. Background Art

[0002] Calcium carbide, also known as calcium carbide, has a chemical formula of CaC2. It is a colorless crystal with a garlic smell. Its industrial product is a black block with a purple or gray end face. It will immediately undergo a violent chemical reaction when it comes into contact with water, generating acetylene and releasing a large amount of heat. Calcium carbide is not only an important raw material for the production of acetylene, but can also be used to produce lime ammonia and can also be used as a desulfurization agent for steel. It is an important chemical raw material.

[0003] At present, countries around the world generally adopt the method of heating limestone and coke in a closed high-temperature reactor to produce calcium carbide. my country's energy reserves are characterized by "more coal and less oil", and the calcium carbide method of producing acetylene can fully utilize the advantage of abundant domestic coal reserves.

[0004] The process of calcium carbide out of the furnace refers to the whole operation process of making the molten calcium carbide flow smoothly from the calcium carbide furnace until it cools into calcium carbide blocks. The temperature of molten calcium carbide is very high, about 2000 degrees Celsius. In the process of calcium carbide flowing out of the calcium carbide furnace and cooling, a large amount of heat will be released through conduction, convection and radiation. The environment of the calcium carbide production workshop will become very bad due to high temperature and dust. In addition, calcium carbide is a dangerous chemical substance. It will undergo violent chemical reactions when it comes into contact with water, and even explode in serious cases.

[0005] Due to the late start of the domestic calcium carbide industry, the calcium carbide furnace equipment is very simple, and most of the work relies on manual operation (4 to 5 people per group) of the calcium carbide furnace equipment to carry out the furnace operation.

[0006] The traditional calcium carbide furnace discharge system mainly consists of a burn-through busbar system and burn-through device, a furnace front exhaust system, a furnace discharge track and winch, a furnace front screen, a plugging machine, a furnace discharge trolley and a calcium carbide pot. There are three furnace discharge ports on the calcium carbide furnace, which are evenly distributed at 120 degrees. There is a working platform in front of each furnace discharge port for operators to perform furnace discharge operations. The furnace discharge trolley carrying the calcium carbide pot is arranged on the furnace front track and is pulled by the winch at the end of the track to pull the steel wire.

[0007] The whole process of the traditional calcium carbide furnace system is introduced as follows:

[0008] 1) The operator in front of the furnace closes the contactor circuit breaker in the burn-through busbar system corresponding to the furnace mouth to direct the current to the burn-through device. The burn-through device is pushed to the working position and the eye opening operation is performed in time. Before burning through the furnace mouth, the air volume switch valve on the smoke exhaust system in front of the furnace corresponding to the furnace mouth is opened, and the smoke exhaust system starts to work. When the calcium carbide flows smoothly into the calcium carbide pot, the burn-through device is removed and the contactor circuit breaker is closed.

[0009] 2) When the molten calcium carbide flows out of the furnace outlet, it will solidify when it encounters cold, blocking the flow of calcium carbide. There are two situations: the first is that the calcium carbide solidifies at the furnace outlet, and the second is that the calcium carbide solidifies at the furnace tongue. In both cases, the operator needs to hold a steel chisel or a steel shovel to poke open the solidified calcium carbide at the furnace outlet and the furnace tongue.

[0010] 3) After the calcium carbide is discharged, the plugging operation is carried out. There are two ways to plug the hole: one is that the worker uses furnace plugging tools (such as plugging shovels, plugging push rods, etc.) to block the furnace outlet; the other is that the worker moves the plugging machine to the working position and starts the pneumatic conveying device above to plug. The two methods use different media. The former uses yellow mud, while the latter uses fine-grained calcium carbide.

[0011] 4) Finally, close the air volume switch valve to end the furnace operation.

[0012] The unloading operation of the traditional calcium carbide unloading system is not only labor-intensive for workers, but also has low calcium carbide production efficiency. Since calcium carbide production is accompanied by a large amount of dust, light and heat radiation, and splashing of molten calcium carbide, the working environment of workers is poor, and there are also great safety hazards (the burner is connected to high voltage during the burn-through process of the calcium carbide furnace). Therefore, it is necessary to automate the unloading process of the transmission.

[0013] An earlier Chinese patent document (document number CN 103307885 A) disclosed a robot automatic furnace eye opening and blocking device, which includes a guide rail, a mobile base, a special robot, a cable transfer mechanism, a combined tool rack, and a heat shield, wherein the guide rail is arranged on the ground along the axis of the furnace eye, a heat shield is provided between the furnace eye and the guide rail, the mobile base can move forward and backward along the guide rail, a special robot is provided on the mobile base, a cable transfer mechanism is provided on the front side of the guide rail, the cable transfer mechanism is located behind the heat shield, and a combined tool rack is provided on the rear side of the guide rail. The device can realize the automation of calcium carbide furnace unloading operation.

[0014] A recently published Chinese patent document (document number CN 106403617 A) discloses a method and device for automatically unloading calcium carbide from a furnace, which method includes the following steps: (1) burning the furnace eye; (2) cleaning the flow channel; (3) pulling the steel bar out of the furnace; (4) scraping the slag with the steel bar; (5) soaking the steel bar in water; (6) returning the steel bar to the rack; (7) blocking the furnace eye; (8) maintaining the furnace eye. The device using this method includes a furnace unloading robot, a combined tool rack, a power supply mechanism for the burn-through device, a steel bar soaking tank, a movable baffle, a fixed baffle, and a slag scraping mechanism.

[0015] In the electric automatic furnace unloading process, the furnace unloading robot cooperates with the combined tool rack to frequently change tools.

[0016] In the above-mentioned robot automatic furnace eye plugging device, the combination of the tool holder and the special robot is not reasonable. The tool axis is 90 degrees to the furnace eye axis and is arranged obliquely upward. In the process of grabbing the tool, the robot needs to adjust more than two degrees of freedom, resulting in a long time for grabbing the tool. At the same time, in order to ensure the strength of the supporting structure of the forearm, an unconventional robot structure design such as a parallelogram mechanism is adopted. At the same time, the extension length of the forearm is short, and it is impossible to pull the drill deep into the furnace.

[0017] In the above-mentioned calcium carbide automatic furnace unloading device, the combination of the tool rack and the furnace unloading robot is not entirely reasonable. The tool axis is parallel to the furnace eye axis, so it is necessary to configure the robot with the degree of freedom of lateral deviation for grabbing the tool, and the robot needs to have a different posture when grabbing each tool. In addition, the number of tools placed on the top layer of the tool rack is limited. Increasing the number of tools placed by arranging the upper and lower layers will increase the difficulty of tool grabbing. If the robot posture accuracy is insufficient, motion interference is likely to occur. In addition, a steel bar immersion tank is introduced into the furnace unloading process. Calcium carbide will react violently with water to produce acetylene gas, which may bring potential risks to the furnace unloading operation. At the same time, the extension length of the horizontal arm of the furnace unloading robot is short, and it is impossible to pull the bar to the depth of the furnace. Summary of the invention

[0018] The purpose of the present invention is to provide a calcium carbide automatic furnace-out robot to meet the requirements of deep furnace-drawing operations.

[0019] To this end, the present invention provides an automatic calcium carbide furnace-discharging robot, comprising a walking track, a trolley chassis, a slewing support, a slewing bearing, a boom support, a boom, and a pitch cylinder, wherein the boom support is located at the top of the slewing bearing, is pivotally connected to the slewing bearing through a horizontal pivot, and is directly driven by the pitch cylinder, the boom comprises a middle arm that can move forward and backward in the boom support and a forearm that can rotate around its own axis, and the forearm of the boom is provided with a clamp for grasping a chisel.

[0020] Furthermore, a driving gear is provided on the above-mentioned boom support, and a rack is provided on the middle arm of the boom, wherein the middle arm of the boom and the boom support are driven by gear and rack meshing.

[0021] Furthermore, the end of the middle arm is provided with an inner rotating flange, and the end of the forearm has an outer rotating flange, wherein the sleeve portion of the outer rotating flange is inserted into the sleeve portion of the inner rotating flange and can rotate relative to the inner insulating flange.

[0022] Furthermore, the forearm is a segmented structure, including a clamp sleeve, a transition sleeve, an insulating sleeve, and an external rotating flange in order from front to back along the axial direction, wherein the front and rear ends of the insulating sleeve are electrically isolated from adjacent components by the external insulating flange.

[0023] Furthermore, a main shaft capable of rotation and axial movement is provided in the middle arm, wherein the main shaft extends from the sleeve portion of the outer rotating flange and the two are connected in synchronous rotation via a sliding key.

[0024] Furthermore, a clamper connecting shaft for manipulating the opening and closing of a pair of mechanical clamping jaws is provided in the clamper sleeve, and the main shaft and the clamper connecting shaft are electrically isolated from each other by an inner insulating flange.

[0025] Furthermore, the above-mentioned boom also includes a drive box, which includes a box body, a plurality of horizontal guide rods located in the box body, a slide supported on the horizontal guide rods, a bearing seat fixedly connected to the slide, a hydraulic motor arranged on the slide, and a hydraulic cylinder drivingly connected to the slide, wherein the end of the main shaft is supported on the bearing seat and drivingly connected to the hydraulic motor.

[0026] Furthermore, a through hole is provided on the rear wall of the box body, and the second hydraulic motor extends out of the box body through the through hole.

[0027] Furthermore, the above-mentioned slewing support is a worm gear slewing support mechanism.

[0028] Furthermore, the above-mentioned automatic calcium carbide furnace discharging robot also includes a hydraulic pump station and a field control cabinet arranged on the chassis of the trolley.

[0029] The present automatic calcium carbide furnace unloading robot has one less degree of freedom than the existing furnace unloading robot, so it is easy to realize remote control of the robot. In addition, the middle arm and the upper arm support of the furnace unloading robot are driven by gear rack meshing, and the stroke of the upper arm can be long enough to meet the requirement of the furnace unloading robot to pull the fiber to the full furnace depth (the furnace chamber depth of the calcium carbide furnace is 1.5m).

[0030] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0032] Figure 1 is a flow chart of a method for automatically discharging calcium carbide from a furnace according to the present invention;

[0033] Figure 2 It is a structural schematic diagram of the automatic calcium carbide discharging device according to the present invention;

[0034] Figure 32 is a schematic diagram of the structure of the automatic calcium carbide furnace discharging robot according to the present invention;

[0035] Figure 4 yes Figure 2 The structural principle diagram of the automatic calcium carbide furnace discharging robot shown;

[0036] Figure 5 2 is a schematic structural diagram of a large arm of a carbide automatic furnace discharging robot according to an embodiment of the present invention;

[0037] Figure 6 It is a schematic diagram of the layout of the control room console of the automatic calcium carbide furnace unloading robot according to the present invention;

[0038] Figure 7 is a schematic structural diagram of a large arm of a calcium carbide automatic furnace unloading robot according to another embodiment of the present invention;

[0039] Figure 8 yes Figure 7 A schematic diagram of the external structure of the forearm of the upper arm shown;

[0040] Fig. 9 yes Figure 7 A schematic diagram of the internal structure of the forearm of the upper arm shown; and

[0041] Fig.10 yes Figure 7 Schematic diagram of the structure of the drive box of the boom shown. DETAILED DESCRIPTION

[0042] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0043] Figures 1 to 10 Some embodiments according to the invention are shown.

[0044] like Figure 1 As shown, the calcium carbide furnace tapping method of the present invention comprises the following steps:

[0045] S1. Burn through the furnace eye: Use the furnace unloading robot to grab the burn-through device placed on the left side and equipped with a carbon rod, then send the burn-through device to the furnace mouth and burn through the blocked calcium carbide furnace eye, so that the calcium carbide solution inside the calcium carbide furnace flows out;

[0046] S2, pull the steel bar out of the furnace: use the furnace-out robot to grab the eye opener placed on the right tooling rack, then extend the long steel bar into the calcium carbide furnace and quickly pull out the long steel bar to bring out the calcium carbide flow, while making the long steel bar rotate around its own axis continuously, while ensuring the efficiency of calcium carbide out of the furnace, reducing the time the long steel bar stays in the furnace, thereby reducing the amount of calcium carbide condensed on the long steel bar;

[0047] S3. Scraping slag from steel chisel: After the chisel is pulled out of the furnace, the long steel chisel is pulled out of the calcium carbide furnace and placed on a slag scraper. The slag scraper is used to remove a small amount of calcium carbide solidified on the long steel chisel. At the same time, the eye opener is straightened to a certain extent, thereby extending the service life of the eye opener.

[0048] S4. Slag removal at the furnace mouth: When a large amount of semi-solidified calcium carbide is accumulated at the furnace mouth, the furnace unloading robot needs to grab the slag remover placed on the right tooling rack, and use the slag remover to remove the calcium carbide accumulated at the furnace mouth, so that the molten calcium carbide can flow out more easily;

[0049] S5. Blocking the furnace eye: When all the transport pots are filled with calcium carbide, the furnace unloading robot grabs the eye plugger placed on the right tooling rack, and uses compressed gas to spray calcium carbide powder into the furnace eye, thereby blocking the furnace eye;

[0050] S6. Cleaning the furnace tongue: When the furnace eye is blocked, the furnace tongue cleaner placed on the right tooling rack is grabbed by the furnace unloading robot to clean the calcium carbide adhered to the furnace tongue so as to facilitate the next unloading;

[0051] S7. Furnace eye maintenance: After the furnace tongue is cleaned, use the burner to maintain the outside of the blocked furnace eye into an external trumpet shape.

[0052] The furnace discharging device for realizing the above-mentioned automatic calcium carbide discharging method of the present invention comprises: a furnace discharging robot 1, a movable fire door 4, a fire door retaining wall 5, a burner bracket 6, a burner 7, an eye opener 10, a slag scraper 11, an eye plugger 9, a furnace tongue cleaner 12, a slag scraper 13 and a tooling bracket 8.

[0053] like Figure 2 As shown, the furnace-outlet robot 1 is arranged along the axial direction of the furnace eye of the calcium carbide furnace 2, the burner 7 is placed on the burner bracket 6 and arranged on the left side of the furnace-outlet robot, the eye opener 10, the slag scraper 11, the eye plugger 9, and the furnace tongue cleaner 12 are placed on the tooling bracket 8 and arranged on the right side of the furnace-outlet robot together with the slag scraper.

[0054] In the present invention, three eye openers 10 are configured, and the eye opener 10, the slag scraper 11, the eye plugger 9, and the furnace tongue cleaner 12 are arranged in parallel on the tooling bracket 8, and their axial directions are arranged at a first angle, such as 40°, to the center line of the calcium carbide furnace eye, and the axial direction of the burner 7 is arranged at a second angle, such as 30°, to the center line of the calcium carbide furnace eye, and the tails of the eye opener 10, the slag scraper 11, the eye plugger 9, the furnace tongue cleaner 12 and the burner 7 all have clamping parts with the same appearance, and the central axes of the eye opener 10, the slag scraper 11, the eye plugger 9, the furnace tongue cleaner 12 and the burner 7 are on the same plane with the center line of the calcium carbide furnace eye.

[0055] The burn-through device 7 can repair the inner wall of the furnace mouth neatly on the one hand to facilitate material discharge, and can also burn the furnace eye thin or burn through on the other hand to facilitate eye opening.

[0056] The eye opener 10, on the one hand, knocks the furnace eye open to allow the material to flow out of the combustion furnace; on the other hand, it uses a long rod to reciprocate at the furnace eye to allow the viscous material around the furnace eye to flow out.

[0057] The eye plugger 9 is used to plug the furnace eye by sending the material out of the furnace through the pulse valve through compressed air.

[0058] The furnace tongue cleaner 12 is a long rod with a shovel-shaped head, which is used to clean the furnace tongue after it comes out of the furnace.

[0059] The scraper 13 is used to remove a small amount of calcium carbide solidified on the long steel drill.

[0060] The slag scraper 11 is a long rod with a round pancake-shaped head. On the one hand, the solidified material at the furnace tongue is cleaned so that the material flows into the material pot through the furnace tongue. On the other hand, it can also be used to squeeze the outer mouth material of the furnace eye to the furnace mouth position for compaction after the eye is blocked.

[0061] like Figure 3 and Figure 4 As shown, the furnace-discharging robot 1 mainly includes a walking track 101 , a trolley chassis 102 , a slewing support 103 , a slewing support 104 , a large arm support 105 , and a large arm 106 .

[0062] The trolley chassis 102 is provided with running wheels and a running motor for driving the running wheels.

[0063] The furnace-discharging robot 1 further includes a hydraulic pump station cover 109 , a boom drag chain 110 , a trolley drag chain 111 , a front end baffle 112 , a field control cabinet baffle 113 , and a pitch cylinder 114 .

[0064] The present furnace discharging robot 1 further comprises a hydraulic pump station 107 and a field control cabinet 108 arranged on the trolley chassis 102. Compared with the existing arrangement in which the hydraulic pump station and the field control cabinet are far away from the robot, the present furnace discharging robot adopts an integrated structural design, integrating the hydraulic system and the electric control box with the furnace discharging machine body, and its overall structure is compact, and there is no need to arrange hydraulic pipelines and multiple power lines at the work site, which reduces the installation workload on site and shortens the installation and commissioning time of the furnace discharging robot.

[0065] The slewing support 103 is used to realize the slewing motion of the big arm of the intelligent furnace unloading robot around the Z axis, so as to ensure that the big arm can grab the steel chisels arranged in different directions.

[0066] Preferably, a worm gear type rotary drive is adopted. The worm gear type slewing support adopts a combination of a slewing support body and an annular surface enveloping worm to achieve multi-tooth contact. It has the characteristics of large reduction ratio, large transmission torque, and smooth operation. At the same time, it can withstand large radial and axial loads and strong overturning moments, and also reduces the requirements for installation space and the difficulty of designing the installation structure.

[0067] The slewing support 104 is connected to the slewing support 103 and can rotate around the Z axis relative to the trolley chassis 102. While bearing the power output of the slewing support, the slewing action of the boom is realized. Preferably, the slewing support 104 is designed in the form of a welded flange structure to meet the rigidity and strength requirements.

[0068] A pitch support is provided on the side of the slewing support 104, and the cylinder barrel of the pitch oil cylinder 114 is pivotally supported on the pitch support. The boom support 105 is pivotally connected to the slewing support 104 through a pivot, and the piston rod end of the pitch oil cylinder 114 is hinged to the boom support 105.

[0069] The pitch support and the pitch cylinder constitute the pitch mechanism of the boom, which realizes the pitch action of the boom by driving the rotation of the boom support 105 through the extension and contraction of the pitch cylinder 114. The realization of the pitch action of the boom effectively guarantees the realization of the avoidance and cleaning action of the furnace tongue of the intelligent furnace robot during the brazing process.

[0070] The boom support 105 mainly bears the load on the boom and provides power output for the movement of the boom. The boom support is mainly welded from two left and right steel plates, on which two sets of upper and lower guide wheels are installed. The upper and lower guide wheels form a boom slideway, allowing the boom to slide back and forth therein, providing support and limit for the forward and backward movement of the boom.

[0071] The big arm is the main component that carries the steel chisel, and it uses the steel chisel to open the furnace eye. The big arm of the intelligent furnace robot can automatically grab the steel chisel, so that the intelligent furnace robot can automatically replace the steel chisel.

[0072] like Figure 5 As shown, the upper arm 106 is mainly composed of three parts: a forearm 1061 , a middle arm 1062 and a rear arm 1063 .

[0073] The forearm 1061 mainly includes a mechanical gripper 1064, and the forearm is rotatable around its axis relative to the middle arm.

[0074] The middle arm 1062 is sandwiched between two sets of guide wheels on the boom support, including a rack 1065 located on the middle arm shell. The boom support 105 is also provided with a gear meshing with the rack and a motor for driving the gear to rotate. The gear meshes with the rack on the boom to provide power for the forward and backward movement of the boom. The middle arm 1062 also includes a rotary shaft (not shown in the figure) located in the inner cavity of the middle arm shell.

[0075] The rear arm 1063 is mainly equipped with a poking eye rotating motor and a drill rod grabbing cylinder (not shown in the figure), which are used to drive the rotating shaft to rotate and reciprocate. When the rotating shaft rotates, it drives the front arm to rotate, and when the rotating shaft moves, it pulls the mechanical clamp to open and close. Its main function is to grab various tooling for opening and blocking furnace eyes.

[0076] Through the above structural design, the furnace-unloading robot 1 can realize the following 6 actions, namely, the linear motion X1 of the trolley along the X-axis direction, the linear motion X2 of the upper arm along the X-axis direction, the circular rotation ω1 of the upper arm along the Z-axis direction, the circular motion γ of the upper arm along the Y-axis direction, the circular motion ω2 of the forearm of the upper arm along the center of the upper arm, and the opening and closing motion of the gripper.

[0077] This furnace robot adopts hydraulic power control, which has greater power than electric power and faster furnace opening speed, saving energy and reducing consumption. The large arm of this furnace robot adopts gear rack transmission, which has the advantages of stable movement, accurate positioning, and large load bearing. In addition, the cable connector of the furnace robot adopts the structure of aviation plug, which reduces the workload of on-site installation of equipment cables and facilitates on-site installation and commissioning of the equipment and later equipment maintenance.

[0078] In one embodiment, some design parameters of the furnace-exiting robot are as follows:

[0079] 1. The maximum running speed of the trolley is 0.75m / s, and the normal running speed is 0.5m / s; 2. The left and right rotation angle of the boom is ±40°; 3. The pitch swing angle of the boom is 10° upward and 15° downward; 4. The maximum moving speed of the boom is 1.5m / s, and the normal moving speed is 1.2m / s; 5. The forward and backward moving distance of the boom is not more than 1.5m; 6. The rotation speed of the boom is not more than 3r / min; 7. The maximum load of the boom mechanical claw is 400kg (mainly the weight of the steel chisel); 8. The diameter of the steel chisel used for opening the furnace eye is not more than 50mm, and the length is not less than 2.5m; 9. The time for automatically replacing the tooling for opening and blocking the furnace eye is not more than 2min; 10. The maximum opening depth can reach 4m; 11. The maximum depth of the burning eye can reach 2.4m; 12. Automatic operation with chisel can be realized.

[0080] The following is an explanation of the brazing action of the furnace-exiting robot.

[0081] When the furnace robot performs the drill rod grabbing action, the trolley starts to move forward at a certain speed, and stops when the trolley moves to the predetermined position (drill rod grabbing mark positioning). After the trolley runs into place, the arm rotates at a certain angular velocity, and stops when the arm rotates to the predetermined position. After the arm rotates and positions, the arm extends at a certain speed, and when the forearm of the arm and the clamping part of the tool are plugged into place, the drill rod clamping action is performed. After the drill rod is grabbed, the arm is lifted up by a certain angle to prevent collision with the tooling frame during the rotation process. After that, the arm rotation mechanism rotates to the system preset zero point, and the drill rod grabbing work is completed.

[0082] The slag scraping action of the furnace-discharging robot is explained below.

[0083] The trolley chassis starts to move backward at a certain speed, stops after the trolley chassis moves into place, and then the boom rotates around the Z axis at a certain angular velocity, stops when the boom rotates into place, and extends at a certain speed, stops when the boom is extended into place, and then the boom is pressed down to a predetermined angle, so that the drill rod of the eye opener 10 falls into the groove of the scraper, and the boom moves back and forth to achieve scraping.

[0084] The unloading process of the automatic unloading device for calcium carbide is described below.

[0085] 1) First, the movable fire door 4 is moved horizontally to expose the gap on the fire door base 5 to facilitate the subsequent furnace unloading operation.

[0086] 2) The furnace unloading robot 1 is controlled to grab the burner 7 placed on the left burner bracket 6, and the axis of the burner is basically coincident with the axis of the furnace eye. Then the furnace unloading robot 1 moves toward the furnace eye with the burner 7. When the front end of the carbon rod on the burner 7 reaches the vicinity of the furnace eye, the power-on device is turned on to energize the carbon rod on the burner 7, thereby burning through the blocked furnace eye.

[0087] 3) After the blocked furnace eye is burned through, the furnace-out robot 1 is operated to move backwards, and the burner 7 is placed on the burner support 6 at the same time.

[0088] 4) Control the furnace-discharging robot 1 to grab the eye opener 10 placed on the right tooling bracket 8, and make the axis of the eye opener basically coincide with the axis of the furnace eye, then extend the eye opener into the calcium carbide furnace and quickly pull out the eye opener to bring out the calcium carbide flow, and at the same time make the eye opener rotate around its own axis continuously, while ensuring the efficiency of calcium carbide discharging, reduce the time the eye opener stays in the furnace, thereby reducing the amount of calcium carbide condensed on the eye opener.

[0089] 5) After the eye opener has completed 3-4 times of pulling the rod out of the furnace, pull the eye opener out of the calcium carbide furnace and place it on a scraper, and use the scraper to remove the small amount of calcium carbide solidified on the long steel rod.

[0090] 6) To ensure the service life of the eye opener, it is necessary to put the eye opener back on the tooling bracket and replace it with a new one for the next brazing operation.

[0091] 7) After 2-3 times of pulling operations, a large amount of semi-solidified calcium carbide will accumulate at the furnace mouth. At this time, the furnace unloading robot 1 is controlled to grab the slag scraper 11 placed on the right tooling bracket 8, and then the calcium carbide at the furnace mouth is removed.

[0092] 8) Repeat the above steps 5)-7) until the transport cart is filled with calcium carbide.

[0093] 9) When all the transport pots are filled with calcium carbide, the furnace unloading robot 1 grabs the eye plugger placed on the right tooling rack, and uses compressed gas to spray calcium carbide powder into the furnace eye to plug the furnace eye.

[0094] 10) When the furnace eye is blocked, use the furnace unloading robot to grab the furnace tongue cleaner placed on the right tooling rack to clean the calcium carbide stuck on the furnace tongue so that it can be unloaded next time;

[0095] 11) After the furnace tongue is cleaned, use the burner to maintain the outside of the blocked furnace eye into an external trumpet shape.

[0096] 12) Finally, the furnace unloading robot is returned to a safe position, and the movable fire door 4 is moved laterally to block the gap on the fire door base 5 to prevent the high temperature in the calcium carbide furnace from having an adverse effect on the furnace unloading device.

[0097] In order to facilitate the staff to observe the working status of the equipment and the production status of the furnace mouth, this automatic calcium carbide discharge device is also equipped with a high-definition digital visual monitoring system for on-site monitoring. It can obtain high-definition video images even if it is installed away from the high-temperature area of ​​the furnace eye. There is no need for an additional cooling system, which effectively increases the life of the camera. Compared with analog video signals, the video image has high clarity and strong anti-interference ability.

[0098] The automatic calcium carbide discharging device has a remote control mode, and the staff can realize real-time control of the equipment only in the remote control room.

[0099] like Figure 6 As shown in the figure, the control console in the control room is equipped with various control buttons, which can conveniently realize the start and stop of the equipment, manual and automatic switching, working mode switching, and drill rod grabbing sequence switching. There are industrial control handles on the left and right ends of the control panel, through which the staff can adjust the operation and speed of each mechanism of the equipment. The top of the handle is equipped with a manual fine-tuning button, which can fine-tune the position of each mechanism of the equipment. The touch screen is arranged in the middle of the control panel, which is used to save the positioning parameters of each system, modify the control parameters, and display the system status parameters.

[0100] This furnace-outlet robot adopts a program modular control method, and each action process of the furnace-outlet operation is program modularized: automatic brazing program module, automatic zeroing program module, automatic burning eye program module, automatic brazing program module, and automatic eye plugging program module. The staff only needs to select the corresponding program module to complete the corresponding operation action, thereby simplifying the control program of the furnace-outlet robot and reducing the operating difficulty of the furnace-outlet robot.

[0101] This automatic calcium carbide furnace unloading device enables the operator to remotely control it through the human-computer interaction control platform in the control room, thereby completing a series of calcium carbide furnace unloading operations such as automatic power-on, automatic burn-through, automatic eye opening, automatic brazing, and cleaning of the furnace tongue. It not only improves production efficiency and reduces production costs, but also frees calcium carbide furnace unloading workers from a working environment with high risk factors, high labor intensity, and harsh working conditions, thereby ensuring the personal safety of workers and improving their working environment.

[0102] Combined with reference Figures 7 to 10 In this embodiment, the boom 106 is mainly composed of a forearm 1061, a middle arm 1062, and a drive box 1066. Compared with the boom of the previous embodiment, the drive box 1066 is used instead of the rear arm, which can greatly shorten the length occupied by the rear arm, that is, reduce the swing range of the rear arm.

[0103] The forearm 1061 of the upper arm 106 is a segmented structure, which includes a clamp sleeve 202, a transition sleeve 203, an insulating sleeve 205, and an outer rotating flange 206 from front to back along the axial direction, wherein the front and rear ends of the insulating sleeve 205 are electrically isolated from adjacent components (the outer rotating flange 206 and the transition sleeve 203) by an outer insulating flange 204 respectively.

[0104] An inner rotating flange 207 is provided at the end of the middle arm 1062 , wherein the sleeve portion 2061 of the outer rotating flange 206 at the forearm end is inserted into the sleeve portion 2071 of the inner rotating flange 207 at the middle arm end and can rotate relative to the inner rotating flange 207 .

[0105] The main shaft 216 can rotate and move axially in the middle arm. The front end of the main shaft 216 extends out from the sleeve portion 2061 of the outer rotating flange 206 , and the two are connected to rotate synchronously via the sliding key 30 .

[0106] A clamper connecting shaft 220 for manipulating the opening and closing of a pair of mechanical clamping jaws is provided in the clamper sleeve 222 , and a rotating flange 18 is provided at the end of the main shaft. The rotating flange 18 and the clamper connecting shaft 220 are electrically isolated from each other by an inner insulating flange 19 .

[0107] The inner insulating flange 19 has a larger outer diameter and is disposed in an insulating sleeve 205 with a larger inner diameter. A sliding bushing 221 is disposed in the transition sleeve 203 to support a clamping connecting shaft 220. The clamping connecting shaft 220 is connected to a pair of clamping connecting rods 223 through a clamping connecting block 222. The pair of clamping connecting rods 223 are connected to a pair of mechanical clamping claws 201.

[0108] The drive box 1066 includes a box body 210, a plurality of horizontal guide rods 224 located in the box body, a slide 209 supported on the horizontal guide rods, a hydraulic motor 213 arranged on the slide 209, and a hydraulic cylinder 214 driven and connected to the slide 209 via connecting bolts 215.

[0109] A connecting sleeve 212 is formed at the lower end of the slide seat 209 , and a bearing seat 211 is provided at one end of the connecting sleeve 212 . The end of the main shaft is supported on the bearing seat by a thrust ball bearing assembly 227 and is connected to the hydraulic motor 213 by a coupling 228 .

[0110] A through hole 226 is provided on the rear wall of the box body 210, and the hydraulic motor 213 extends out of the box body through the through hole to reduce the volume of the box body.

[0111] There are two degrees of freedom on the upper arm, one is the rotational movement of the upper arm forearm around its own axis, and the other is the opening and closing movement of the upper arm clamp.

[0112] The power source for opening and closing the big arm clamping jaws is the telescopic movement of the hydraulic cylinder 214. When the hydraulic rod of the hydraulic cylinder 214 extends forward, the power is transmitted to the connecting sleeve 212 and the bearing seat 211 through the connecting bolt 215, and the bearing seat 211 drives the big arm main shaft 216 to move forward through the thrust ball bearing assembly 227, thereby driving the pair of clamping jaws 201 to open.

[0113] When the hydraulic rod of the hydraulic cylinder 214 retracts backward, power is transmitted to the connecting sleeve 212 and the bearing seat 211 through the connecting bolt 215, and then the main shaft 216 of the upper arm moves backward, thereby driving the pair of clamping jaws 201 to close.

[0114] The rotation power of the boom forearm comes from the rotation movement of the hydraulic motor 213. When the hydraulic shaft of the hydraulic motor 213 rotates, the power is transmitted to the boom main shaft 216 through the coupling 228, and the boom main shaft 2216 then drives the outer rotating flange 206 to rotate through the sliding key 230. Since the insulating sleeve 205, the outer insulating flange 204, the transition sleeve 203 and the clamp sleeve 202 are connected to the outer rotating flange 206, they also rotate.

[0115] At the same time, the main shaft 16 of the boom also drives the rotating flange 18, the inner insulating flange 19, the clamp connecting shaft 20, the clamp connecting block 22 and the clamp connecting rod 23 to rotate, and finally realizes the rotation movement of the front end of the boom around its own axis.

[0116] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A calcium carbide automatic furnace unloading robot, characterized in that: It includes a walking track, a trolley chassis, a slewing drive, a slewing support, a boom support, a boom and a pitch cylinder, wherein the boom support is located at the top of the slewing support, is pivotally connected to the slewing support through a horizontal pivot, and is directly driven by the pitch cylinder, the boom includes a middle arm that can move forward and backward in the boom support and a forearm that can rotate around its own axis, and the forearm of the boom is provided with a clamp for grabbing a drill, The boom support is provided with a driving gear, and the middle arm of the boom is provided with a rack, wherein the middle arm of the boom and the boom support are meshed with each other through a gear rack transmission. The end of the middle arm is provided with an inner rotating flange, and the end of the forearm is provided with an outer rotating flange, wherein the sleeve portion of the outer rotating flange is inserted into the sleeve portion of the inner rotating flange and can rotate relative to the inner insulating flange. The forearm is a segmented structure, including a clamp sleeve, a transition sleeve, an insulating sleeve, and an outer rotating flange from front to back in the axial direction, wherein the front and rear ends of the insulating sleeve are electrically isolated from adjacent components by the outer insulating flanges. The middle arm is provided with a main shaft capable of rotation and axial movement, wherein the main shaft extends from the sleeve portion of the outer rotating flange and the two are connected to rotate synchronously via a sliding key. The clamp sleeve is provided with a clamp connection shaft for operating the opening and closing of a pair of mechanical clamping claws, and the main shaft and the clamp connection shaft are electrically isolated from each other through an inner insulating flange.

2. The automatic calcium carbide furnace discharging robot according to claim 1 is characterized in that: The boom also includes a drive box, which includes a box body, a plurality of horizontal guide rods located in the box body, a slide supported on the horizontal guide rods, a bearing seat fixedly connected to the slide, a hydraulic motor arranged on the slide, and a hydraulic cylinder drivingly connected to the slide, wherein the end of the main shaft is supported on the bearing seat and drivingly connected to the hydraulic motor.

3. The automatic calcium carbide furnace discharging robot according to claim 2 is characterized in that: A through hole is provided on the rear wall of the box body, and the hydraulic motor extends out of the box body from the through hole.

4. The automatic calcium carbide furnace discharging robot according to claim 1 is characterized in that: The rotary drive is a worm gear type rotary drive mechanism.

5. The automatic calcium carbide furnace unloading robot according to claim 1 is characterized in that: It also includes a hydraulic pump station and a field control cabinet arranged on the chassis of the trolley.

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