A hydraulic control system for an ironmaking blast furnace maintenance and disassembly robot

Abstract

The present invention discloses a hydraulic control system for an ironmaking blast furnace maintenance and disassembly robot, comprising a pressure supply mechanism, a first control mechanism, a second control mechanism and a heat extraction device, wherein the pressure supply mechanism comprises a shunt element; the input end of the first control mechanism is connected to an output end of the shunt element to control the movement of the vehicle body; the input end of the second control mechanism is connected to another output end of the shunt element to control the movement of the first disassembly and assembly robot, the second control mechanism comprises a plurality of control components arranged in parallel, at least one control component comprises a pressure holding element; the output ends of the first control mechanism and the second control mechanism are both connected to the heat extraction device, and the output end of the heat extraction device is connected to the pressure supply mechanism. The present invention discloses a hydraulic control system, which can perform integrated control on the robot, maintain the pressure in the system stable through the pressure holding element, ensure the robot's stable and reliable movement, and realize the recycling of hydraulic oil.

Description

Technical Field

[0001] The invention relates to special equipment for disassembling and assembling a blast furnace, and in particular to a hydraulic control system of a robot for repairing and disassembling an ironmaking blast furnace. Background Art

[0002] In steel mill blast furnaces, in addition to the air supply branch pipe, air supply branch bellows, and tuyere sleeves, there are also tuyere sleeves and other components that often need to be replaced and repaired. At present, blast furnace maintenance and disassembly operations are generally carried out manually, requiring several workers to operate at the same time, with high labor intensity and low efficiency. In addition, since the weight of the blast furnace air sleeve is generally several hundred kilograms, personal injury accidents are very likely to occur during disassembly. In addition, when disassembling the blast furnace air sleeve, the air sleeve may be smelted into one piece by the molten iron in the furnace, which is equivalent to the air sleeve being welded. In this case, the difficulty of manual work is increased.

[0003] There are some blast furnace air jacket disassembly equipment, but these equipment are often single-function, and can only repair and disassemble one of the air supply branch pipe straight blowing pipe, air supply branch pipe bellows, tuyere small jacket, and tuyere middle jacket. At the same time, these equipment still need manual assistance in actual operation, and cannot achieve integrated and automated operation.

[0004] In addition, due to the heavy weight of the blast furnace air jacket, if it tilts or overturns during the disassembly process, it will cause serious damage to the operators and the disassembly equipment. Therefore, when using machinery and equipment to repair and disassemble them, it is necessary to keep the machinery and equipment stable and reliable to prevent accidents.

[0005] Therefore, it is currently necessary to design a new type of hydraulic control system for an ironmaking blast furnace maintenance and disassembly robot to at least solve or alleviate one or more technical problems in the prior art, or at least provide a beneficial option. Summary of the invention

[0006] In view of the above shortcomings, an embodiment of the present invention provides a hydraulic control system for an ironmaking blast furnace maintenance and disassembly robot. The hydraulic control system of the ironmaking blast furnace maintenance and disassembly robot of the present application can realize integrated control of the ironmaking blast furnace maintenance and disassembly robot, and ensure the stability and reliability of the robot's movements. At the same time, it can realize the recycling of oil in the hydraulic control system and reduce costs.

[0007] To achieve the above-mentioned purpose, an embodiment of the present invention provides a hydraulic control system of an ironmaking blast furnace maintenance and disassembly robot, wherein the ironmaking blast furnace maintenance and disassembly robot comprises a vehicle body and a first disassembly and assembly manipulator, wherein the hydraulic control system comprises:

[0008] A pressure supply mechanism, the pressure supply mechanism comprising a flow diversion element;

[0009] A first control mechanism, wherein an input end of the first control mechanism is connected to an output end of the shunt element, and is used to control the movement of the vehicle body;

[0010] A second control mechanism, wherein an input end of the second control mechanism is connected to another output end of the diverter element, and is used to control the movement of the first assembly and disassembly robot, and the second control mechanism comprises a plurality of control components arranged in parallel, and at least one of the control components comprises a pressure-maintaining element;

[0011] A heat extraction device, wherein the output ends of the first control mechanism and the second control mechanism are both connected to the heat extraction device, and the output end of the heat extraction device is connected to the pressure supply mechanism.

[0012] In a preferred implementation, the pressure supply mechanism further includes:

[0013] The oil tank and hydraulic pump are connected in sequence.

[0014] Furthermore, the hydraulic pump is a one-way variable hydraulic pump, and the diverter element is a monostable diverter valve.

[0015] In a preferred implementation, the first control mechanism includes:

[0016] a first electromagnetic reversing valve, wherein the first electromagnetic reversing valve is connected to an output end of the diverting element;

[0017] A first traveling assembly, the first traveling assembly is connected to the first electromagnetic reversing valve, and the first traveling assembly comprises a first electromagnetic two-way valve and a first traveling hydraulic cylinder which are connected in sequence;

[0018] a second walking assembly, the second walking assembly being arranged in parallel with the first walking assembly and connected to the first electromagnetic reversing valve, the second walking assembly comprising a second electromagnetic two-way valve and a second walking hydraulic cylinder connected in sequence, a two-position four-way valve being arranged between the second electromagnetic two-way valve and the first electromagnetic two-way valve;

[0019] An adjustable flow valve, the output ends of the first traveling component and the second traveling component are both connected to the adjustable flow valve, and the output end of the adjustable flow valve is connected to the heat extraction device.

[0020] In a preferred implementation, the first control mechanism further includes:

[0021] A first one-way valve, wherein the first one-way valve is arranged between the pressure supply mechanism and the first electromagnetic reversing valve;

[0022] A pressure gauge is disposed between the pressure supply mechanism and the first electromagnetic reversing valve and before the first one-way valve.

[0023] In a preferred implementation, the control assembly includes a steering assembly, a lifting assembly, a forward movement assembly, a tilting assembly, a rotating assembly, a clamping assembly and a translation assembly; wherein,

[0024] The steering assembly includes a second electromagnetic reversing valve and a steering hydraulic cylinder connected in sequence;

[0025] The lifting assembly includes a first two-way stop valve, a second one-way valve, a sequence valve, a lifting hydraulic cylinder, a second two-way stop valve and a proportional throttle valve connected in sequence;

[0026] The forward moving assembly comprises a third electromagnetic reversing valve, a first hydraulic lock and a forward moving hydraulic cylinder connected in sequence;

[0027] The tilting assembly includes a fourth electromagnetic reversing valve, a second hydraulic lock and a tilting hydraulic cylinder connected in sequence;

[0028] The rotating assembly includes a fifth electromagnetic reversing valve, a third hydraulic lock and a rotating hydraulic cylinder connected in sequence;

[0029] The clamping assembly includes a sixth electromagnetic reversing valve, a fourth hydraulic lock and a clamping hydraulic cylinder connected in sequence;

[0030] The translation assembly includes a seventh electromagnetic reversing valve, a fifth hydraulic lock and a translation hydraulic cylinder which are connected in sequence.

[0031] In a preferred implementation, the ironmaking blast furnace maintenance and disassembly robot further includes a second disassembly and assembly manipulator, and the hydraulic control system further includes:

[0032] A third control mechanism, the input end of the third control mechanism can be connected to the second control mechanism through a connector, and the output end of the third control mechanism can be connected to the heat extraction device through a connector, so as to control the movement of the second disassembly and assembly robot.

[0033] In a preferred implementation, the third control mechanism includes:

[0034] A pulling assembly, the pulling assembly comprising an eighth electromagnetic reversing valve and a pulling hydraulic cylinder connected in sequence;

[0035] A rapping assembly, wherein the rapping assembly comprises an overflow valve, a third two-way stop valve and a rapping hydraulic cylinder which are connected in sequence.

[0036] In a preferred implementation, the hydraulic control system further includes:

[0037] An oil suction filter is arranged between the oil tank and the hydraulic pump of the pressure supply mechanism.

[0038] In a preferred implementation, the heat extraction device adopts an air-cooled radiator.

[0039] The technical solution of the embodiment of the present invention can achieve the following beneficial effects:

[0040] (1) The hydraulic control system of the iron-making blast furnace maintenance and disassembly robot illustrated in the embodiment of the present application can realize integrated control of the robot's walking and movement by setting a first control mechanism and a second control mechanism, and setting a plurality of control components in the second control mechanism; and by setting a pressure-maintaining element in the control component, the oil pressure in the control component is kept stable, thereby ensuring the stability and reliability of the robot's movement; and by setting a heat extraction device, the oil in the hydraulic control system can be cooled by heat exchange, so that the oil can be recycled.

[0041] (2) The hydraulic control system of the iron-making blast furnace maintenance and disassembly robot illustrated in the embodiment of the present application can control the steering of the robot, the lifting, forward movement, tilting, rotation, clamping and translation of the manipulator, and realize the functions of disassembling and assembling the air supply branch straight blowing pipe, the air supply branch bellows, etc. by setting a steering assembly, a lifting assembly, a forward movement assembly, a tilting assembly, a rotating assembly, a clamping assembly and a translation assembly in the second control mechanism.

[0042] (3) The hydraulic control system of the iron-making blast furnace maintenance and disassembly robot in the embodiment of the present application can control the robot manipulator to perform pulling, vibrating and other actions by setting a pulling component and a vibrating component in the third control mechanism, thereby realizing functions such as disassembly and assembly of the tuyere middle sleeve and the tuyere small sleeve. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings described herein are used to provide a further understanding of the present invention and constitute a part 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:

[0044] Figure 1 A structural schematic diagram of a schematic implementation of a hydraulic control system of an ironmaking blast furnace maintenance and disassembly robot in one embodiment of the present application is depicted;

[0045] Figure 2 A three-dimensional structural schematic diagram of an exemplary embodiment of the assembly of a vehicle body and a second disassembly and assembly manipulator (second clamp) in an ironmaking blast furnace maintenance and disassembly and assembly robot in one embodiment of the present application is depicted;

[0046] Figure 3 A three-dimensional structural schematic diagram of an illustrative implementation of the assembly of a car body and a second disassembly and assembly manipulator (first clamp) in an ironmaking blast furnace maintenance and disassembly robot in one embodiment of the present application is depicted, including a tuyere middle sleeve.

[0047] in:

[0048] 11- oil tank, 12- hydraulic pump, 13- flow divider, 14- oil suction filter,

[0049] 21-first electromagnetic reversing valve, 22-first electromagnetic two-way valve, 23-first travel hydraulic cylinder, 24-second electromagnetic two-way valve, 25-second travel hydraulic cylinder, 26-two-position four-way valve, 27-adjustable flow valve, 28-first one-way valve, 29-pressure gauge,

[0050] 311-second electromagnetic reversing valve, 312-steering hydraulic cylinder,

[0051] 321-first two-way stop valve, 322-second one-way valve, 323-sequence valve, 324-lifting hydraulic cylinder, 325-second two-way stop valve, 326-proportional throttle valve,

[0052] 331-the third electromagnetic reversing valve, 332-the first hydraulic lock, 333-the forward hydraulic cylinder,

[0053] 341-the fourth electromagnetic reversing valve, 342-the second hydraulic lock, 343-the tilting hydraulic cylinder,

[0054] 351-fifth electromagnetic reversing valve, 352-third hydraulic lock, 353-rotating hydraulic cylinder,

[0055] 361-sixth electromagnetic reversing valve, 362-fourth hydraulic lock, 363-clamping hydraulic cylinder,

[0056] 371-seventh electromagnetic reversing valve, 372-fifth hydraulic lock, 373 translation hydraulic cylinder,

[0057] 411-eighth electromagnetic reversing valve, 412-pull hydraulic cylinder,

[0058] 421- overflow valve, 422- third two-way stop valve, 423- vibrating hydraulic cylinder;

[0059] 50-heat extraction device,

[0060] 801-car body, 802-driving device, 803-first clamp, 804-second clamp,

[0061] 901-In the air outlet. DETAILED DESCRIPTION

[0062] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit and scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0063] First of all, the technical concept of the technical solution disclosed in the present invention is explained. In steel mills, the blast furnace often needs to replace and repair the air supply branch pipe straight blowing pipe, air supply branch pipe corrugated pipe, tuyere small sleeve, tuyere middle sleeve and other components. At present, there are some blast furnace air sleeve disassembly and assembly equipment, but these devices often have relatively simple functions and can only disassemble and assemble a single blast furnace air sleeve component, and cannot realize the unified and automated maintenance and disassembly of the air supply branch pipe straight blowing pipe, air supply branch pipe corrugated pipe, tuyere small sleeve, tuyere middle sleeve and other components. At the same time, these devices still need manual assistance during actual operation. In addition, due to the heavy weight of the blast furnace air sleeve, if tilting, overturning, etc. occur during the disassembly and assembly process, it will cause serious damage to the operator and the disassembly and assembly equipment. Therefore, when using machinery and equipment to repair and disassemble them, it is necessary to maintain the stability and reliability of the machinery and equipment to prevent accidents.

[0064] Considering the above problems of the existing equipment, the embodiment of the present invention provides a hydraulic control system of an ironmaking blast furnace maintenance and disassembly robot. The ironmaking blast furnace maintenance and disassembly robot comprises a vehicle body 801 and a first disassembly and assembly manipulator.

[0065] like Figure 1 As shown, the hydraulic control system of the iron-making blast furnace maintenance and disassembly robot includes a pressure supply mechanism, a first control mechanism, a second control mechanism and a heat extraction device 50. Among them, the pressure supply mechanism includes a shunt element 13; the input end of the first control mechanism is connected to an output end of the shunt element 13, so as to control the movement of the vehicle body 801 of the iron-making blast furnace maintenance and disassembly robot; the input end of the second control mechanism is connected to another output end of the shunt element 13, so as to control the movement of the first disassembly and assembly manipulator of the iron-making blast furnace maintenance and disassembly robot, the second control mechanism includes a plurality of control components arranged in parallel, at least one control component includes a pressure-maintaining element; the output ends of the first control mechanism and the second control mechanism are both connected to the heat extraction device 50, and the output end of the heat extraction device 50 is connected to the pressure supply mechanism.

[0066] The hydraulic control system of the ironmaking blast furnace maintenance and disassembly robot can transport the oil in the system to the first control mechanism and the second control mechanism respectively by setting a diverter element 13 in the pressure supply mechanism. The first control mechanism is set to control the robot body 801 to move, and the second control mechanism is set and a plurality of control components are set in the second control mechanism to control the movement of the first disassembly and assembly manipulator of the robot, thereby realizing integrated control of the robot, so that the robot can automatically complete the maintenance and disassembly work of the components in the blast furnace air jacket.

[0067] At the same time, in order to prevent the blast furnace air sleeve components from tilting, overturning, etc. during the disassembly and assembly process, a pressure-maintaining component is provided in the control component. The pressure-maintaining component can stabilize the oil pressure in the control component, thereby ensuring the stability and reliability of the robot during operation. In this embodiment, the pressure-maintaining component adopts a hydraulic lock. Of course, it is understandable that, according to different design requirements, the pressure-maintaining component can also adopt an accumulator pressure-maintaining circuit, a one-way valve pressure-maintaining circuit, a reversing valve pressure-maintaining circuit, an automatic oil-replenishing pressure-maintaining circuit, etc.

[0068] In addition, by providing the heat extraction device 50, the oil in the hydraulic control system can be cooled by heat exchange, so that the oil can be recycled. In this embodiment, the heat extraction device 50 adopts an air-cooled radiator. Of course, it can be understood that according to different design requirements, the heat extraction device 50 can also adopt other structures or forms, as long as it can effectively cool the oil in the oil return pipeline of the hydraulic control system.

[0069] In this embodiment, the pressure supply mechanism also includes an oil tank 11 and a hydraulic pump 12 connected in sequence. The hydraulic pump 12 can be a one-way variable hydraulic pump 12, and the flow diverter element 13 in the pressure supply mechanism can be a monostable flow diverter valve, which is commonly found in compound gear pumps and is used in engineering machinery equipment with a full hydraulic system to provide a set of stable flow oil circuits and a set of main oil circuits. Of course, the hydraulic pump 12 and the flow diverter element 13 can adopt other structures or forms according to different design requirements.

[0070] In this embodiment, the first control mechanism includes a first electromagnetic reversing valve 21, a first walking assembly, a second walking assembly and an adjustable flow valve 27. Among them, the first electromagnetic reversing valve 21 is connected to an output end of the diverter element 13; the first walking assembly is connected to the first electromagnetic reversing valve 21, and the first walking assembly includes a first electromagnetic two-way valve 22 and a first walking hydraulic cylinder 23 connected in sequence; the second walking assembly is arranged in parallel with the first walking assembly and connected to the first electromagnetic reversing valve 21, and the second walking assembly includes a second electromagnetic two-way valve 24 and a second walking hydraulic cylinder 25 connected in sequence, and a two-position four-way valve 26 is arranged between the second electromagnetic two-way valve 24 and the first electromagnetic two-way valve 22; the output ends of the first walking assembly and the second walking assembly are both connected to the adjustable flow valve 27, and the output end of the adjustable flow valve 27 is connected to the heat extraction device 50.

[0071] In this embodiment, the first control mechanism further includes a first one-way valve 28 and a pressure gauge 29 , which are disposed between the pressure supply mechanism and the first electromagnetic reversing valve 21 , and the pressure gauge 29 is located before the first one-way valve 28 .

[0072] In this embodiment, the control assembly includes a steering assembly, a lifting assembly, a forward movement assembly, a tilt assembly, a rotation assembly, a clamping assembly and a translation assembly; wherein the steering assembly includes a second electromagnetic reversing valve 311 and a steering hydraulic cylinder 312 connected in sequence; the lifting assembly includes a first two-way stop valve 321, a second one-way valve 322, a sequence valve 323, a lifting hydraulic cylinder 324, a second two-way stop valve 325 and a proportional throttle valve 326 connected in sequence; the forward movement assembly includes a third electromagnetic reversing valve 331, a first hydraulic The pressure lock 332 and the forward hydraulic cylinder 333; the tilting assembly includes the fourth electromagnetic reversing valve 341, the second hydraulic lock 342 and the tilting hydraulic cylinder 343 connected in sequence; the rotating assembly includes the fifth electromagnetic reversing valve 351, the third hydraulic lock 352 and the rotating hydraulic cylinder 353 connected in sequence; the clamping assembly includes the sixth electromagnetic reversing valve 361, the fourth hydraulic lock 362 and the clamping hydraulic cylinder 363 connected in sequence; the translation assembly includes the seventh electromagnetic reversing valve 371, the fifth hydraulic lock 372 and the translation hydraulic cylinder 373 connected in sequence. Among them, the steering hydraulic cylinder 312 adopts a double-acting double-piston rod oil cylinder, the lifting hydraulic cylinder 324 adopts a single-acting single-piston rod oil cylinder, the forward hydraulic cylinder 333 adopts a double-acting single-piston rod oil cylinder, the tilting hydraulic cylinder 343 adopts a double-acting single-piston rod oil cylinder, and the translation hydraulic cylinder 373 adopts a double-acting single-piston rod oil cylinder. In the lifting assembly, the second one-way valve 322 and the sequence valve 323 form a balancing valve, which can prevent the load from descending at an excessive speed due to its own weight in a hydraulic system with a vertical descent condition.

[0073] A steering assembly, a lifting assembly, a forward movement assembly, a tilting assembly, a rotating assembly, a clamping assembly and a translation assembly are arranged in the second control mechanism, which can control the robot to turn, and the first disassembly and assembly manipulator performs actions such as lifting, forward movement, tilting, rotating, clamping and translation, thereby realizing functions such as disassembly and assembly of the air supply branch pipe straight blowing pipe, the air supply branch pipe corrugated pipe and the like.

[0074] In this embodiment, the ironmaking blast furnace maintenance and disassembly robot also includes a second disassembly and assembly manipulator, and the hydraulic control system also includes a third control mechanism. The input end of the third control mechanism can be connected to the second control mechanism through a joint, and the output end of the third control mechanism can be connected to the heat extraction device 50 through a joint. The third control mechanism includes a pulling component and a rapping component, wherein the pulling component includes an eighth electromagnetic reversing valve 411 and a pulling hydraulic cylinder 412 connected in sequence; the rapping component includes an overflow valve 421, a third two-way stop valve 422 and a rapping hydraulic cylinder 423 connected in sequence. Among them, the pulling hydraulic cylinder 412 adopts a double-acting oil cylinder, and the rapping hydraulic cylinder 423 adopts a single-acting single-piston rod oil cylinder.

[0075] By setting a pulling component and a vibrating component in the third control mechanism, the second disassembly and assembly manipulator of the robot can be controlled to perform pulling, vibrating and other actions, thereby realizing functions such as disassembly and assembly of the middle sleeve and small sleeve of the tuyere.

[0076] In this embodiment, the hydraulic control system further includes an oil suction filter 14, which is disposed between the oil tank 11 of the pressure supply mechanism and the hydraulic pump 12. The oil suction filter 14 can effectively filter impurities in the oil in the oil inlet pipeline of the hydraulic control system, so that the oil can be better recycled in the hydraulic control system.

[0077] The ironmaking blast furnace maintenance and disassembly robot uses wireless signals to control various components. After the signal is received by the receiver, it can instruct the hydraulic control system to drive the corresponding mechanical parts to complete various actions. The wireless remote control handle uses a Hall analog joystick. Through the magnetic field sensor at the bottom, it detects the magnetic field strength at different positions emitted by the permanent magnet at the bottom of the joystick, thereby calculating the current joystick position.

[0078] The blast furnace maintenance, disassembly and rapping robot in the example of the embodiment of the present application can realize the following functions as a whole through the hydraulic control system and the remote wireless remote control device: disassembly and assembly of the air supply branch pipe straight blowing pipe, disassembly and assembly of the air supply branch pipe bellows, disassembly and assembly of the air inlet small sleeve, disassembly and assembly of the air inlet middle sleeve (two sets), receiving 4G5G signals and wireless remote control, etc. In addition, the blast furnace maintenance, disassembly and rapping robot in the example of the embodiment of the present application can also lift and lower objects below 5 tons.

[0079] In order to more clearly illustrate the overall concept of the present invention, a detailed description is given below in an exemplary manner in conjunction with the accompanying drawings.

[0080] The iron-making blast furnace maintenance and disassembly robot includes a vehicle body 801. The vehicle body 801 includes a frame, and a rear wheel arranged at the rear end of the bottom of the frame, and a retractable wheel assembly is arranged at the front end of the bottom of the frame. Among them, the retractable wheel assembly includes an outer leg, an inner leg, a retractable drive cylinder and a front wheel. The outer leg is fixedly arranged at the bottom of the frame, the retractable drive cylinder is arranged in the outer leg, the drive rod of the retractable drive cylinder is fixed on the inner leg, the front wheel is arranged at the front end of the inner leg, and the retractable drive cylinder can drive the inner leg to drive the front wheel to retract relative to the frame.

[0081] When the iron-making blast furnace maintenance and disassembly robot is repairing and disassembling the air supply branch pipe straight blowing pipe, air supply branch pipe bellows, tuyere small sleeve and middle sleeve, the weight of the above parts is relatively large. In order to ensure the stability of the iron-making blast furnace maintenance and disassembly robot under load, the telescopic drive cylinder can drive the inner leg to drive the front wheel to extend forward relative to the frame. When the body 801 is unloaded, the telescopic drive cylinder drives the front wheel to retract, which can reduce the space occupied by the robot and make it more adaptable to the complex environment of the steel plant.

[0082] In this embodiment, the front wheels are set as driving wheels, and the two front wheels are respectively provided with a first travel hydraulic cylinder 23 and a second travel hydraulic cylinder 25. The rear wheels are set as steering wheels, and the rear wheels are provided with a steering hydraulic cylinder 312. The vehicle body 801 adopts a reach forklift. The reach forklift has a smaller turning radius and can work better in a steel plant.

[0083] The body 801 of the iron-making blast furnace maintenance and disassembly robot is also provided with a connection component for connecting the manipulator. The connection component includes an outer gantry, an inner gantry and a connection piece. The outer gantry is arranged on the frame, the inner gantry is arranged on the outer gantry, and the connection piece is arranged on the inner gantry. The outer gantry includes a fixed frame, a sliding frame and a lifting hydraulic cylinder 324. The first roller group is arranged on both sides of the lower end of the fixed frame. The first roller group cooperates with the first slide groove on the frame and can be driven by the forward hydraulic cylinder 333 to enable the outer gantry to move forward and backward on the frame. The second roller group is arranged on both sides of the upper end of the fixed frame, and the sliding frame is provided with a second slide groove adapted to the second roller group. The lifting hydraulic cylinder 324 is fixed on the fixed frame, and the lifting rod of the lifting hydraulic cylinder 324 is connected to the sliding frame. The sliding frame can move up and down on the fixed frame along the second slide groove under the drive of the lifting hydraulic cylinder 324. In addition, the sliding frame is also provided with components such as a winding drum.

[0084] Through the fixed frame, the sliding frame, the lifting hydraulic cylinder 324, the forward hydraulic cylinder 333 and the cooperation between them, the connecting component can be moved up and down, forward and backward on the vehicle body 801, thereby driving the manipulator connected thereto to move up and down, forward and backward.

[0085] The ironmaking blast furnace maintenance and disassembly robot also includes a first disassembly and assembly manipulator. The first disassembly and assembly manipulator can be connected to the connecting piece on the car body 801 to realize the function of disassembling and assembling the air supply branch pipe and the direct blowing pipe. The first disassembly and assembly manipulator includes a rotary drive device, a slide plate, a left clamp body, a right clamp body, a clamping hydraulic cylinder 363 and a translation hydraulic cylinder 373. The rotary drive device includes a rotary hydraulic cylinder 353 and a rotary fixed plate, and the rotary hydraulic cylinder can drive the slide plate to rotate 360°. The left and right clamp bodies are both provided with an upper slide rail, a lower slide rail and a tight fixed plate. The upper and lower slide rails of the left and right clamp bodies are respectively connected to the upper and lower slide grooves. The left and right clamp bodies can be driven by the clamping hydraulic cylinder 363 to move left and right along the upper and lower slide grooves relative to the main beam synchronously; or the left and right clamp bodies can be driven by the translation hydraulic cylinder 373 to move left and right along the upper and lower slide grooves relative to the main beam respectively. The first disassembling and assembling robot is also provided with a fork, and the fork is provided with a tilting hydraulic cylinder 343, which can drive the fork to adjust the angle of the fork to ensure that the direct blowing pipe can be stably fixed on the fork when disassembling and assembling the air supply branch pipe. The fork can also be used to carry the second disassembling and assembling robot, etc.

[0086] A bellows disassembly assembly can also be mounted on the first disassembly and assembly robot. An assembly cavity is provided in the bellows disassembly and assembly assembly so that it can be mounted on the fork of the first disassembly and assembly robot to realize the function of disassembling and assembling the bellows of the air supply branch pipe. The bellows disassembly and assembly assembly includes a pair of disassembly and assembly accessories, each of which includes a limiter, a stopper and a support. The limiter is arranged on the disassembly and assembly accessory body, through which the flange of the air supply branch pipe bellows can pass and the upper surface of the bellows flange can be pressed by the limiter bolts, so that the bellows can be reliably and firmly fixed on the bellows disassembly and assembly assembly. The stopper is convexly arranged on the disassembly and assembly accessory body to limit the position of the bellows. The support is arranged on the disassembly and assembly accessory body and is located on the side close to the stopper. The support is used to support the tube body of the bellows to avoid the bellows from tilting and the like, and to prevent the bellows from colliding with the ironmaking blast furnace maintenance and disassembly robot during disassembly and assembly.

[0087] The iron-making blast furnace maintenance and disassembly robot also includes a second disassembly and assembly robot. The second disassembly and assembly robot includes a drive device 802, a first clamp 803 and a second clamp 804. Among them, the drive device 802 can be set on the fork of the first disassembly and assembly robot through a support seat, and the hydraulic control system in the drive device 802 can be connected to the hydraulic control system of the robot through a joint to control the action of the first clamp 803 or the second clamp 804 connected thereto. The drive device 802 includes a support seat, a pulling drive device and a vibrating drive device. The first clamp 803, such as Figure 3 As shown, it can be installed on the driving device 802 to disassemble and assemble the air outlet sleeve. Figure 2 As shown, it can also be installed on the driving device 802 to disassemble and assemble the air outlet sleeve.

[0088] The driving device 802 includes a support seat, a pulling driving device and a vibrating driving device. Among them, the pulling driving device is provided with a pulling hydraulic cylinder 412, and the pulling hydraulic cylinder 412 adopts a double-acting oil cylinder. The pulling driving device can drive the first clamp 803 or the second clamp 804 installed on the driving device 802 to pull the tuyere middle sleeve or the tuyere small sleeve, thereby completing the disassembly work.

[0089] However, in the actual disassembly process, there may be a situation where the tuyere middle sleeve or the tuyere small sleeve is smelted into one by the molten iron in the furnace, and it is necessary to vibrate it. The vibrating drive device includes a vibrating block, a vibrating plate and an elastic component. Among them, the elastic component can drive the vibrating plate to hit the vibrating block to drive the first clamp 803 or the second clamp 804 to vibrate the tuyere middle sleeve or the tuyere small sleeve, so as to better complete the disassembly work. The elastic component includes a vibrating hydraulic cylinder 423 and a spring, and the vibrating hydraulic cylinder 423 adopts a single-acting single-piston rod oil cylinder.

[0090] The driving device 802 also includes at least two locking rods, one end of which is connected to the support seat, and the other end can abut against the blast furnace. The locking rod abuts against the blast furnace, so that the position of the ironmaking blast furnace maintenance and disassembly robot and the blast furnace is relatively fixed, reducing the reaction force generated by the blast furnace when the robot removes the tuyere middle sleeve or the tuyere small sleeve. Controlling the reaction force can better protect the tuyere and is not likely to cause damage to the tuyere or the inside of the blast furnace.

[0091] The driving device 802 further comprises a clamp connection member, which is arranged at one end of the piston rod of the pulling hydraulic cylinder 412 extending out of the front cover of the device. The clamp connection member is used to connect the driving device 802 with the first clamp 803 or the second clamp 804.

[0092] The first clamp 803 includes a first connecting rod, a first hook, a second hook, a locking bolt, a pin, etc. The second clamp 804 includes a second connecting rod, a third hook arranged on the second connecting rod, an axial stopper, etc.

[0093] The iron-making blast furnace maintenance and disassembly robot illustrated in the embodiment of the present application is also provided with a wireless signal transmission device and a wireless remote control device, which can transmit 4G5G signals and perform wireless remote control.

[0094] The iron-making blast furnace maintenance and disassembly robot illustrated in the embodiment of the present application can realize the following functions as a whole through the above-mentioned mechanical structure, hydraulic control system and remote wireless remote control device: the robot can lift objects weighing less than 5 tons, and perform actions such as walking, retreating, lifting, moving left and right, moving forward, moving backward, leaning forward, leaning backward, and rotating; it can disassemble and assemble the small air vent cover with a hydraulic pulling force of 60 tons and a vibration force of 20 tons; it can disassemble and assemble the middle air vent cover by pulling and vibrating; it can repair and disassemble various types of air supply curved pipes; it can repair and disassemble various types of air supply straight pipe bellows; it uses 4G5G signals to remotely transmit operation data, current and voltage data, fault warning and wireless remote control and other functions.

[0095] Anything not described in the present invention can be achieved by adopting or drawing on existing technologies.

[0096] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

[0097] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0098] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0099] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0100] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "towards" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0101] The disclosure above provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described above. Of course, they are merely examples, and the purpose is not to limit the present invention. In addition, the present invention may repeat reference numerals and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art may appreciate the application of other processes and / or the use of other materials.

Claims

1. A robot for repairing and disassembling an ironmaking blast furnace, characterized in that: It includes a vehicle body, a first disassembly and assembly robot and a hydraulic control system; the hydraulic control system includes: A pressure supply mechanism, the pressure supply mechanism comprising a flow diversion element; A first control mechanism, wherein an input end of the first control mechanism is connected to an output end of the shunt element, and is used to control the movement of the vehicle body; A second control mechanism, wherein an input end of the second control mechanism is connected to another output end of the diverter element, and is used to control the movement of the first assembly and disassembly robot, and the second control mechanism comprises a plurality of control components arranged in parallel, and at least one of the control components comprises a pressure-maintaining element; A heat extraction device, the output ends of the first control mechanism and the second control mechanism are both connected to the heat extraction device, and the output end of the heat extraction device is connected to the pressure supply mechanism; The first disassembly and assembly robot is provided with a bellows disassembly and assembly component; The ironmaking blast furnace maintenance and disassembly robot also includes a second disassembly and assembly manipulator, and the second disassembly and assembly manipulator includes a driving device, a first clamp and a second clamp; The driving device includes a supporting seat, a pulling driving device and a vibrating driving device; The rapping drive device includes a rapping block, a rapping plate and an elastic component; wherein the elastic component can drive the rapping plate to impact the rapping block, so as to drive the first clamp or the second clamp to rap the tuyere middle sleeve or the tuyere small sleeve; The pulling drive device can drive the first clamp or the second clamp installed on the driving device to pull the tuyere middle sleeve or the tuyere small sleeve; The hydraulic control system further comprises: A third control mechanism, wherein an input end of the third control mechanism can be connected to the second control mechanism through a joint, and an output end of the third control mechanism can be connected to the heat extraction device through a joint, so as to control the movement of the second assembly and disassembly robot; The third control mechanism comprises: A pulling assembly, the pulling assembly comprising an eighth electromagnetic reversing valve and a pulling hydraulic cylinder connected in sequence; A rapping assembly, wherein the rapping assembly comprises an overflow valve, a third two-way stop valve and a rapping hydraulic cylinder which are connected in sequence.

2. The ironmaking blast furnace maintenance and disassembly robot according to claim 1, characterized in that: The pressure supply mechanism also includes: The oil tank and hydraulic pump are connected in sequence.

3. The ironmaking blast furnace maintenance and disassembly robot according to claim 2 is characterized in that: The hydraulic pump is a one-way variable hydraulic pump, and the diverter element is a monostable diverter valve.

4. The ironmaking blast furnace maintenance and assembly robot according to claim 1, characterized in that: The first control mechanism comprises: a first electromagnetic reversing valve, wherein the first electromagnetic reversing valve is connected to an output end of the diverting element; A first traveling assembly, the first traveling assembly is connected to the first electromagnetic reversing valve, and the first traveling assembly comprises a first electromagnetic two-way valve and a first traveling hydraulic cylinder which are connected in sequence; a second walking assembly, the second walking assembly being arranged in parallel with the first walking assembly and connected to the first electromagnetic reversing valve, the second walking assembly comprising a second electromagnetic two-way valve and a second walking hydraulic cylinder connected in sequence, a two-position four-way valve being arranged between the second electromagnetic two-way valve and the first electromagnetic two-way valve; An adjustable flow valve, the output ends of the first traveling component and the second traveling component are both connected to the adjustable flow valve, and the output end of the adjustable flow valve is connected to the heat extraction device.

5. The iron-making blast furnace maintenance and assembly robot according to claim 4, characterized in that: The first control mechanism also includes: A first one-way valve, wherein the first one-way valve is arranged between the pressure supply mechanism and the first electromagnetic reversing valve; A pressure gauge is disposed between the pressure supply mechanism and the first electromagnetic reversing valve and before the first one-way valve.

6. The ironmaking blast furnace maintenance and assembly robot according to claim 1, characterized in that: The control assembly includes a steering assembly, a lifting assembly, a forward moving assembly, a tilting assembly, a rotating assembly, a clamping assembly and a translation assembly; wherein, The steering assembly includes a second electromagnetic reversing valve and a steering hydraulic cylinder connected in sequence; The lifting assembly includes a first two-way stop valve, a second one-way valve, a sequence valve, a lifting hydraulic cylinder, a second two-way stop valve and a proportional throttle valve connected in sequence; The forward moving assembly comprises a third electromagnetic reversing valve, a first hydraulic lock and a forward moving hydraulic cylinder connected in sequence; The tilting assembly includes a fourth electromagnetic reversing valve, a second hydraulic lock and a tilting hydraulic cylinder connected in sequence; The rotating assembly includes a fifth electromagnetic reversing valve, a third hydraulic lock and a rotating hydraulic cylinder connected in sequence; The clamping assembly includes a sixth electromagnetic reversing valve, a fourth hydraulic lock and a clamping hydraulic cylinder connected in sequence; The translation assembly includes a seventh electromagnetic reversing valve, a fifth hydraulic lock and a translation hydraulic cylinder which are connected in sequence.

7. The ironmaking blast furnace maintenance and disassembly robot according to claim 1, characterized in that: The hydraulic control system further comprises: An oil suction filter is arranged between the oil tank and the hydraulic pump of the pressure supply mechanism.

8. The ironmaking blast furnace maintenance and assembly robot according to claim 1, characterized in that: The heat extraction device adopts an air-cooled radiator.

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