A full-automatic mechanical arm for blast furnace spraying and a lining spraying method for blast furnace

Abstract

The application discloses a full-automatic mechanical arm for blast furnace spraying and a blast furnace lining spraying method, and belongs to the technical field of blast furnace spraying. The device comprises a hoisting machine and a spraying unit. The spraying unit comprises a first rotating disc fixed on the hoisting machine. The central axis of the first rotating disc coincides with the central axis of the blast furnace. A folding adjusting frame is arranged on the first rotating disc. Two rotating spraying mechanisms are symmetrically arranged on the folding adjusting frame. The rotating spraying mechanism comprises a rotating plate and a spray head mounted on the rotating plate. The spray head is connected with a communication channel in the rotating plate. The communication channel is connected with a feeding pipe of a feeding mechanism through a rotating joint. The rotating spraying is performed while lifting and horizontally rotating. The full-automatic mechanical arm for blast furnace spraying and the blast furnace lining spraying method are adopted. The spraying is more uniform and has a cleaning function. The rotating spraying mechanism is arranged through the folding adjusting frame. The distance between the rotating spraying mechanism and the inner wall of the blast furnace is adjustable. The construction is convenient.

Description

Technical Field

[0001] This invention relates to the field of blast furnace spraying technology, and in particular to a fully automated robotic arm for blast furnace spraying and a method for spraying blast furnace linings. Background Technology

[0002] Blast furnaces are smelting equipment that operate at continuous high temperatures for extended periods. The lining must withstand the scouring and chemical erosion of the high-temperature gas flow. Therefore, a protective coating is typically sprayed onto the inner wall of the blast furnace. During long-term operation, the blast furnace lining suffers corrosion and peeling, resulting in localized or large-area damage, affecting the normal operation of the blast furnace. Existing spraying technologies employ suspended telescopic spraying devices to coat the inner wall of the blast furnace. For example, patent number 202021423540.8 discloses an adjustable-distance blast furnace lining fireproof layer spraying device, which achieves coating by horizontally moving the spray gun and using a process of simultaneous lifting and rotating spraying. Existing technologies also use telescopic rods to move the spray gun to coat blast furnace inner walls of different diameters. However, these spraying devices and processes still have the following technical problems:

[0003] (1) Due to the small spraying area, the spraying efficiency is low, and the overall trajectory is a spiral upward, which makes it easy to miss the coating. For wet or semi-dry spraying, solidification takes a certain amount of time. If the coating is too thick at one time, the paint will flow easily and affect the spraying quality.

[0004] (2) High-pressure water cleaning is required before spraying. A separate cleaning device needs to be hoisted, and the water cannot be recycled when cleaning with water.

[0005] (3) Although a camera is set up to collect images before, during and after spraying, the spraying process will generate spray that affects the collection of images. Summary of the Invention

[0006] The purpose of this invention is to provide a fully automated robotic arm for blast furnace spraying and a method for spraying blast furnace linings, thereby solving the aforementioned technical problems.

[0007] To achieve the above objectives, the present invention provides a fully automatic blast furnace spraying robot, including a hoist and a spraying unit. The spraying unit includes a first turntable fixed on the hoist, the central axis of the first turntable coinciding with the central axis of the blast furnace. A folding adjustment frame is provided on the first turntable, and two rotating spraying mechanisms are symmetrically arranged on the folding adjustment frame. Each rotating spraying mechanism includes a rotating plate and a nozzle mounted on the rotating plate. The nozzle is connected to a communicating channel inside the rotating plate, and the communicating channel is connected to the feeding pipe of the feeding mechanism through a rotary joint.

[0008] Preferably, the folding adjustment frame includes a fixed plate fixed to the first turntable, a hinge plate in the middle of the fixed plate, and support arms symmetrically hinged to the hinge plate. The support arms are telescopic cylinders, and the support arms are connected to the fixed plate through the telescopic cylinders. The top of the support arms is connected to a fixed track through a swing assembly, and a telescopic assembly is provided on the fixed track. The telescopic assembly is fixedly connected to the rotation drive motor of the rotating plate.

[0009] Preferably, the swing assembly includes a swing drive motor fixed to the top of the support arm, and the output shaft of the swing drive motor is connected to the fixed rail via a connector;

[0010] The telescopic assembly includes a telescopic arm that is slidably mounted on a fixed track. A rack is fixed to one side of the telescopic arm. A fixed groove is provided in the middle of the fixed track. A telescopic drive motor is installed in the fixed groove. A drive gear is fixed to the output shaft of the telescopic drive motor. The drive gear meshes with the rack.

[0011] Preferably, there are two nozzles, which are mounted on a rotating plate via a spacing adjustment assembly. The spacing adjustment assembly includes an adjustment drive motor, a drive plate is mounted on the output shaft of the adjustment drive motor, and connecting plates are connected to both ends of the drive plate. The two connecting plates are respectively connected to the two nozzles. The nozzles are slidably mounted on the rotating plate and are connected to a connecting channel via flexible hoses.

[0012] Preferably, a first camera and a second camera are mounted on the fixed plate via a height adjustment assembly. The height adjustment assembly includes a winch fixed to the fixed plate, a first camera fixed to the top of the steel belt of the winch, the cross-section of the steel belt being arc-shaped, a second camera mounted on the steel belt via a fixing ring, at least two ball-head plungers mounted on the fixing ring, a guide ring mounted on the winch, and a release electromagnet mounted on the guide ring, the release electromagnet being positioned opposite to the fixing ring. A first ranging sensor and a second ranging sensor are respectively mounted on the first camera and the second camera.

[0013] Preferably, the other side of the telescopic arm is provided with several suction nozzles and several air blowing nozzles, which are arranged alternately. Several suction nozzles are connected to the suction pipe through one of the ventilation channels inside the telescopic arm, and several air blowing nozzles are connected to the air blowing pipe through another ventilation channel inside the telescopic arm. The suction pipe and the air blowing pipe are connected to the air inlet pipe and air outlet pipe of the vacuum pump respectively through a rotary joint. A filter device is provided on the air inlet pipe, and a switching pipe is provided between the filter device and the air outlet pipe. The switching pipe is connected to the air outlet pipe through a three-way valve. The air outlet pipe is connected to an exhaust pipe, and an exhaust valve is provided on the exhaust pipe.

[0014] A method for spraying blast furnace lining based on the above-mentioned fully automated blast furnace spraying robot includes the following specific steps:

[0015] Step S1: Lifting equipment; The fully automatic blast furnace spraying robot in its folded state is placed inside the blast furnace using a lifting machine, with the central axis of the first turntable coinciding with the central axis of the blast furnace;

[0016] Step S2: Deploy the equipment and adjust the position of the components; unfold the folding adjustment frame by deploying the telescopic cylinder, and initially adjust the position of the telescopic arm by using the swing assembly and telescopic assembly so that the dust suction nozzle and the air blowing nozzle are positioned opposite the inner wall of the blast furnace; at the same time, adjust the height of the first camera and the second camera by using the height adjustment assembly;

[0017] Step S3: Lowering high-pressure gas to clean the inner wall of the blast furnace; while the hoisting machine drives the fully automatic blast furnace spraying robot arm to continuously descend, it starts the vacuum pump and the first turntable, and adjusts the tilt angle of the telescopic arm in real time according to the images collected by the first and second cameras and the inner diameter data of the blast furnace, to clean the inner wall of the blast furnace with high-pressure air blowing, and at the same time to suck up dust through the dust suction nozzle.

[0018] Step S4: Lifting and spraying; Adjust the position of the telescopic arm initially through the swing component and telescopic component so that the spraying mechanism is set relative to the inner wall of the blast furnace. As the hoisting machine drives the fully automatic blast furnace spraying robot arm to rise continuously, the tilt angle and extension length of the telescopic arm are adjusted in real time according to the inner diameter data so that the rotating plate is parallel to the tangent of the inner wall of the blast furnace. The spray nozzle performs spraying when the first turntable and the rotating plate rotate simultaneously.

[0019] Preferably, in step S3, the first camera and the second camera respectively acquire images of the blast furnace inner wall before and after cleaning, and the first distance sensor and the second distance sensor respectively acquire the inner diameter of the blast furnace before and after cleaning. The tilt angle of the telescopic arm is adjusted in real time according to the inner diameter of the blast furnace before cleaning, so that the telescopic arm is parallel to the inner wall of the blast furnace. The formula for the tilt angle of the telescopic arm is as follows:

[0020]

[0021] Where θ is the tilt angle of the telescopic arm, L is the vertical distance between the first camera and the second camera, d1 is the inner diameter of the blast furnace at the position of the first camera, and d2 is the inner diameter of the blast furnace at the position of the second camera.

[0022] Preferably, in step S4, the tilt angle and extension length of the telescopic boom are adjusted in real time based on the cleaned blast furnace inner diameter data, so that the rotating plate is parallel to the tangent of the blast furnace inner wall. The rotation speed of the first turntable, the rotation speed of the rotating plate, and the lifting speed of the hoist are adjusted according to the difference between the cleaned blast furnace inner diameter data and the set data.

[0023] During the spraying process, the switching pipe simultaneously opens the exhaust valve to exhaust air, connecting the air blowing pipe and the air intake pipe to draw out the mist-like paint from the air.

[0024] Preferably, during the spraying process, the first turntable adopts a forward and reverse working mode with a rotation angle of 180°, while the second turntable adopts a working mode of continuous rotation in the same direction.

[0025] Therefore, the present invention, employing the aforementioned fully automated blast furnace spraying robot and blast furnace lining spraying method, has the following beneficial effects:

[0026] (1) During the lifting and horizontal rotation process, the spraying mechanism rotates and sprays along the inner wall of the blast furnace, resulting in more uniform spraying and overlapping spraying trajectories, enabling multiple sprayings in small quantities and achieving better spraying results.

[0027] (2) The spraying device not only has the function of spraying, but also has the function of cleaning the inner wall of the blast furnace, realizing cleaning, spraying and testing in one hoisting.

[0028] (3) While cleaning the inner wall of the blast furnace with high-pressure gas, the dust is removed. By switching the exhaust valve and the three-way valve, the mist material is removed during the spraying process, making the image acquisition clearer during the cleaning and spraying process.

[0029] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0030] Figure 1 A schematic diagram of the structure of a fully automated robotic arm for blast furnace spraying in the existing technology;

[0031] Figure 2 This is a schematic diagram of the structure of a fully automated robotic arm for blast furnace spraying according to the present invention;

[0032] Figure 3 This is a schematic diagram of the structure of a fully automatic robotic arm for cleaning blast furnace spraying according to the present invention;

[0033] Figure 4 This is a schematic diagram of the folding structure of a fully automatic robotic arm for blast furnace spraying according to the present invention;

[0034] Figure 5 This is a schematic diagram of the rotary spraying mechanism of the present invention;

[0035] Figure 6 This is a schematic diagram of the fixing ring structure of the present invention;

[0036] Figure 7 This is a schematic diagram of the winch structure of the present invention;

[0037] Figure 8 This is a coating path diagram for one of the nozzles of the present invention;

[0038] Figure 9 This is a schematic diagram of the telescopic arm structure of the present invention;

[0039] Figure 10 This is a partial view of the interior of the fixed track of the present invention;

[0040] Figure 11 This is a schematic diagram of the vacuum pump connection of the present invention.

[0041] Figure Labels

[0042] 1. Hoisting machine; 2. First turntable; 3. Fixed plate; 4. Hinge plate; 5. Support arm; 6. Telescopic cylinder; 7. Swing assembly; 701. Swing drive motor; 702. Connecting piece; 8. Fixed track; 801. Rack; 802. Fixed groove; 9. Telescopic arm; 901. Ventilation channel; 902. Mounting port; 10. Rotary spraying mechanism; 1001. Rotary plate; 1002. Rotary drive motor; 1003. Spray nozzle; 1004. Drive plate; 1005. Adjustment drive... 1006. Drive motor; 1007. Connecting plate; 1008. Hose; 11. Air nozzle; 12. Dust suction nozzle; 13. Winch; 1301. Steel belt; 14. First camera; 1401. First distance sensor; 15. Second camera; 16. Lighting lamp; 17. Fixing ring; 18. Ball plunger; 19. Guide ring; 20. Release electromagnet; 21. Telescopic drive motor; 22. Drive gear; 23. Filter device; 24. Vacuum pump; 25. Exhaust valve; 26. Three-way valve. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0045] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0046] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0047] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0048] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0049] like Figure 2-4 As shown, a fully automated blast furnace spraying robot includes a hoisting machine 1 and a spraying unit. The hoisting machine 1 uses four steel chains to lift and lower the spraying unit. Figure 1 This is a schematic diagram of the structure of a conventional spraying device.

[0050] The spraying unit includes a first turntable 2 fixed on the hoist 1. The central axis of the first turntable 2 coincides with the central axis of the blast furnace. A folding adjustment frame is provided on the first turntable 2, and two rotating spraying mechanisms 10 are symmetrically arranged on the folding adjustment frame. The folding adjustment frame can realize folding and adjustment of the position of corresponding components. The folding adjustment frame includes a fixed plate 3 fixed to the first turntable 2. A hinge plate 4 is provided in the middle of the fixed plate 3. Two support arms 5 are symmetrically hinged to the hinge plate 4. In this embodiment, the support arms 5 are telescopic cylinders. The support arms 5 are connected to the fixed plate 3 through an extension telescopic cylinder 6. The opening and closing of the support arms 5 are realized by controlling the extension and retraction of the extension telescopic cylinder 6. In the closed state ( Figure 4 The diameter of the fully automatic blast furnace spraying robot is less than 2m, which allows it to enter the blast furnace through the maintenance port and then open the doors inside the furnace. Figure 2 and Figure 3The working diameter can reach 12 meters. This facilitates the rotary spraying mechanism 10 and cleaning components to approach the blast furnace arm for spraying and cleaning. A fixed rail 8 is connected to the top of the support arm 5 via a swing assembly 7. The swing assembly 7 includes a swing drive motor 701 fixed to the top of the support arm 5, and the output shaft of the swing drive motor 701 is connected to the fixed rail 8 via a connector 702. By controlling the swing drive motor 701, the tilt angle of the fixed rail 8 can be adjusted, ensuring that the rotary spraying mechanism 10 is parallel to the inner wall of the blast furnace, and that the nozzle 1003 of the rotary spraying mechanism 10 is as perpendicular to the inner wall of the blast furnace as possible, ensuring a good spraying effect. A telescopic component is installed on the fixed rail 8, such as... Figure 10 As shown, the telescopic assembly includes a telescopic arm 9 slidably mounted on a fixed track 8. A rack 801 is fixed to one side of the telescopic arm 9. A fixed groove 802 is provided in the middle of the fixed track 8. A telescopic drive motor 21 is installed in the fixed groove 802. A drive gear 22 is fixed to the output shaft of the telescopic drive motor 21. The drive gear 22 meshes with the rack 801. By controlling the telescopic drive motor 21 to drive the drive gear 22 to rotate, the telescopic arm 9 can be extended or retracted, thereby adjusting the extension length of the telescopic arm 9. Combined with the support arm 5, the extension length can be adjusted in two stages.

[0051] The rotary spraying mechanism 10 includes a rotating plate 1001 and a spray head 1003. The rotation drive motor 1002 of the rotating plate 1001 is fixed to the top of the telescopic arm 9. In this embodiment, two spray heads 1003 are provided, and the two spray heads 1003 are mounted on the rotating plate 1001 via a spacing adjustment assembly. Figure 5 As shown, the spraying range is adjusted by adjusting the spacing between the two nozzles 1003 using a spacing adjustment assembly. The spacing adjustment assembly includes an adjustment drive motor 1005, on the output shaft of which a drive plate 1004 is mounted. Both ends of the drive plate 1004 are connected to connecting plates 1006, which are respectively connected to the two nozzles 1003. The nozzles 1003 are slidably mounted on a rotating plate 1001 and are connected to a communicating channel within the rotating plate 1001 via a flexible hose 1007. The communicating channel is connected to the feeding pipe of the feeding mechanism via a rotary joint.

[0052] In this embodiment, a first camera 14 and a second camera 15 are installed on the fixed plate 3 via a height adjustment assembly to capture images of the blast furnace inner wall. The height adjustment assembly includes a winch 13 fixed to the fixed plate 3. The cross-section of the steel strip 1301 of the winch 13 is arc-shaped, and the surface is provided with an anti-slip layer (rubber material) to maintain a certain vertical position when extended. The first camera 14 is fixed at the top, and the second camera 15 is installed on the steel strip 1301 via a fixing ring 17. Figure 6-7As shown, the fixing ring 17 is equipped with at least two ball-head plungers 18 to facilitate the fixation of the second camera 15 on the steel strip 1301. The winch 13 is equipped with a guide ring 19, and the guide ring is equipped with a release electromagnet 20. The release electromagnet 20 is positioned opposite to the fixing ring 17. The first camera 14 is equipped with a first ranging sensor 1401. The first camera 14 and the second camera 15 have the same structure. The second ranging sensor on the second camera 15 is used to detect the actual inner diameter of the blast furnace.

[0053] When not in use, the first camera 14 and the second camera 15 are retracted by the winch 13. During spraying, the electromagnet and the winch 13 are activated to release the first camera 14 to a set position, so that the position of the second camera 15 does not change under the action of the electromagnet during the descent of the steel belt 1301. When the steel belt 1301 is released to the position of the second camera 15, the electromagnet is turned off, the second camera 15 is released, and the winch 13 continues to descend a certain distance before stopping, so that the first camera 14 and the second camera 15 are on the same vertical line.

[0054] like Figure 9 As shown, the telescopic arm 9 has several staggered mounting ports 902 on its other side. These ports 902 are used to mount dust suction nozzles 12 and several air blowing nozzles 11. The dust suction nozzles 12 and air blowing nozzles 11 are staggered. The telescopic arm 9 has two ventilation channels 901, which are connected to the dust suction nozzles 12 and air blowing nozzles 11 respectively. These channels are connected to a dust suction pipe and an air blowing pipe, respectively. The dust suction pipe and air blowing pipe are connected to the inlet and outlet pipes of the vacuum pump 24 via rotary joints. A filter device 23 is installed on the inlet pipe, and a switching pipe is installed between the filter device 23 and the outlet pipe. The switching pipe is connected to the outlet pipe via a three-way valve 26. The outlet pipe is connected to an exhaust pipe, which is equipped with an exhaust valve 25. This provides high-pressure gas for cleaning the blast furnace inner wall, while simultaneously absorbing fly dust and filtering it through the filter device 23 before it enters the vacuum pump 24, achieving gas circulation. During the spraying process, the switching pipe and exhaust valve 25 are connected to enable both the suction nozzle 12 and the air blowing nozzle 11 to perform suction operations.

[0055] A blast furnace lining spraying method based on the above-mentioned device includes the following specific steps:

[0056] Step S1: Lifting equipment; The fully automatic blast furnace spraying robot in its folded state is placed inside the blast furnace using the lifting machine 1, and the central axis of the first turntable 2 coincides with the central axis of the blast furnace.

[0057] Step S2: Open the equipment and adjust the position of the components.

[0058] The folding adjustment frame is unfolded by the telescopic cylinder 6, and the position of the telescopic arm 9 is initially adjusted by the swing assembly 7 and the telescopic assembly, so that the dust suction nozzle 12 and the air blowing nozzle 11 are positioned opposite the inner wall of the blast furnace. At the same time, the height of the first camera 14 and the second camera 15 is adjusted by the height adjustment assembly, so that the height of the first camera 14 and the second camera 15 exceeds the two ends of the telescopic arm 9, for collecting image data before and after cleaning.

[0059] Step S3: Lower the high-pressure gas to clean the inner wall of the blast furnace.

[0060] While the hoisting machine 1 drives the fully automatic blast furnace spraying robot arm to descend, it simultaneously activates the vacuum pump 24 and the first turntable 2. The first turntable 2 operates in a forward and reverse rotation mode, with a rotation angle of 180°. The first camera 14 and the second camera 15 respectively capture images of the blast furnace inner wall before and after cleaning, facilitating observation of the cleaning status. The position of the telescopic arm 9 is adjusted in real time via the hoisting machine 1 and the first turntable 2. The inner diameter of the blast furnace before and after cleaning is collected by the first distance sensor 1401 and the second distance sensor, respectively. Based on the inner diameter of the blast furnace before cleaning, the tilt angle of the telescopic arm 9 is adjusted in real time to ensure that the telescopic arm 9 is parallel to the inner wall of the blast furnace. The formula for the tilt angle of the telescopic arm 9 is as follows:

[0061]

[0062] Where θ is the tilt angle of the telescopic arm 9, L is the vertical distance between the first camera 14 and the second camera 15, d1 is the inner diameter of the blast furnace at the position of the first camera 14, and d2 is the inner diameter of the blast furnace at the position of the second camera 15.

[0063] The tilt angle of the telescopic boom 9 is adjusted in real time to clean the inner wall of the blast furnace with high-pressure air blowing, while dust is sucked up through the dust suction nozzle 12.

[0064] Step S4: Lift spraying.

[0065] After cleaning, the fully automatic blast furnace spraying robot is positioned at the bottom of the furnace. The position of the telescopic arm 9 is initially adjusted via the swing assembly 7 and the telescopic assembly, ensuring the spraying mechanism is aligned with the inner wall of the blast furnace. As the hoisting machine 1 drives the fully automatic blast furnace spraying robot to rise, the tilt angle and extension length of the telescopic arm 9 are adjusted in real time based on the cleaned inner diameter data, ensuring the rotating plate 1001 is parallel to the tangent of the blast furnace inner wall. Simultaneously, the first turntable 2 and the rotating plate 1001 rotate, and the lower spray nozzle 1003 performs spraying. Figure 8 As shown, the spraying trajectory of one of the nozzles 1003 is more uniform than linear spraying, reducing the chance of missed coating.

[0066] The telescopic boom 9 is perpendicular to the rotating plate 1001. The tilt angle and extension length of the telescopic boom 9 are adjusted in real time based on the cleaned blast furnace inner diameter data, ensuring that the rotating plate 1001 is parallel to the tangent of the blast furnace inner wall. This adjustment is based on the actual diameter data curve of the blast furnace inner wall. The rotation speed of the first turntable 2, the rotational speed of the rotating plate 1001, and the lifting speed of the hoist 1 are adjusted according to the difference between the cleaned blast furnace inner diameter data and the set data. Simultaneously, the difference detected by the first distance sensor 1401 and the second distance sensor determines the coating thickness. When the difference exceeds the set value, the position of the rotating plate 1001 is adjusted promptly by controlling the hoist 1 and the telescopic boom 9 to perform timely re-spraying.

[0067] During the spraying process, the first turntable 2 operates in both forward and reverse rotation modes, with a rotation angle of 180°, while the second turntable operates in a continuous rotation mode in the same direction. Simultaneously, the switching pipe is activated and the exhaust valve 25 is opened to exhaust air, connecting the air blowing pipe and the air intake pipe to draw out the mist-like paint from the air. To facilitate image acquisition during spraying, lighting lamps 16 are added to the first turntable 2 or other locations for image acquisition.

[0068] It should be noted that the control of components such as the motor, telescopic cylinder, solenoid valve, and winch 13 in this application is a conventional setting in the field of electrical engineering and will not be described in detail here.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A fully automatic mechanical hand for blast furnace spraying, comprising a hoist, characterized in that: It also includes a spraying unit, which includes a first turntable fixed on the hoisting machine. The central axis of the first turntable coincides with the central axis of the blast furnace. A folding adjustment frame is provided on the first turntable. Two rotating spraying mechanisms are symmetrically arranged on the folding adjustment frame. The rotating spraying mechanism includes a rotating plate and a nozzle installed on the rotating plate. The nozzle is connected to a connecting channel inside the rotating plate. The connecting channel is connected to the feeding pipe of the feeding mechanism through a rotary joint. The folding adjustment frame includes a fixed plate fixed to the first turntable, a hinge plate in the middle of the fixed plate, and support arms symmetrically hinged to the hinge plate. The support arms are telescopic cylinders, and the support arms are connected to the fixed plate through the telescopic cylinders. The top of the support arms is connected to a fixed rail through a swing assembly, and a telescopic assembly is set on the fixed rail. The telescopic assembly is fixedly connected to the rotation drive motor of the rotating plate. The swing assembly includes a swing drive motor fixed to the top of the support arm, and the output shaft of the swing drive motor is connected to the fixed rail via a connector; The telescopic assembly includes a telescopic arm that is slidably mounted on a fixed track. A rack is fixed to one side of the telescopic arm. A fixed groove is provided in the middle of the fixed track. A telescopic drive motor is installed in the fixed groove. A drive gear is fixed to the output shaft of the telescopic drive motor. The drive gear meshes with the rack. On the other side of the telescopic arm, there are several suction nozzles and several air blowing nozzles, which are arranged alternately. Several suction nozzles are connected to the suction pipe through one of the ventilation channels inside the telescopic arm, and several air blowing nozzles are connected to the air blowing pipe through another ventilation channel inside the telescopic arm. The suction pipe and the air blowing pipe are connected to the air inlet pipe and air outlet pipe of the vacuum pump respectively through a rotary joint. A filter device is installed on the air inlet pipe, and a switching pipe is installed between the filter device and the air outlet pipe. The switching pipe is connected to the air outlet pipe through a three-way valve. The air outlet pipe is connected to an exhaust pipe, and an exhaust valve is installed on the exhaust pipe.

2. The fully automatic blast furnace spraying robot according to claim 1, characterized in that: There are two nozzles, which are mounted on a rotating plate via a spacing adjustment assembly. The spacing adjustment assembly includes an adjustment drive motor, on the output shaft of which a drive plate is mounted. Both ends of the drive plate are connected to connecting plates, which are respectively connected to the two nozzles. The nozzles are slidably mounted on the rotating plate and are connected to a connecting channel via flexible hoses.

3. The fully automatic blast furnace spraying robot according to claim 2, characterized in that: A first camera and a second camera are mounted on the fixed plate via a height adjustment assembly. The height adjustment assembly includes a winch fixed to the fixed plate. The cross-section of the steel strip is arc-shaped. The first camera is fixed to the top of the steel strip of the winch. The second camera is mounted on the steel strip via a fixing ring. At least two ball-head plungers are mounted on the fixing ring. A guide ring is mounted on the winch. A release electromagnet is mounted on the guide ring. The release electromagnet is positioned opposite to the fixing ring. A first ranging sensor and a second ranging sensor are respectively mounted on the first camera and the second camera.

4. A method for spraying blast furnace linings using a fully automated robotic arm as described in claim 3, characterized in that, The specific steps are as follows: Step S1: Lifting equipment; The fully automatic blast furnace spraying robot in its folded state is placed inside the blast furnace using a lifting machine, with the central axis of the first turntable coinciding with the central axis of the blast furnace; Step S2: Deploy the equipment and adjust the position of the components; unfold the folding adjustment frame by deploying the telescopic cylinder, and initially adjust the position of the telescopic arm by using the swing assembly and telescopic assembly so that the dust suction nozzle and the air blowing nozzle are positioned opposite the inner wall of the blast furnace; at the same time, adjust the height of the first camera and the second camera by using the height adjustment assembly; Step S3: Lowering high-pressure gas to clean the inner wall of the blast furnace; while the hoisting machine drives the fully automatic blast furnace spraying robot arm to continuously descend, it starts the vacuum pump and the first turntable, and adjusts the tilt angle of the telescopic arm in real time according to the images collected by the first and second cameras and the inner diameter data of the blast furnace, to clean the inner wall of the blast furnace with high-pressure air blowing, and at the same time to suck up dust through the dust suction nozzle. Step S4: Lifting and spraying; Adjust the position of the telescopic arm initially through the swing component and telescopic component so that the spraying mechanism is set relative to the inner wall of the blast furnace. As the hoisting machine drives the fully automatic blast furnace spraying robot arm to rise continuously, the tilt angle and extension length of the telescopic arm are adjusted in real time according to the inner diameter data so that the rotating plate is parallel to the tangent of the inner wall of the blast furnace. The spray nozzle performs spraying when the first turntable and the rotating plate rotate simultaneously.

5. A method for spraying blast furnace lining according to claim 4, characterized in that: In step S3, the first camera and the second camera respectively capture images of the blast furnace inner wall before and after cleaning, and the first and second ranging sensors respectively capture the inner diameter of the blast furnace before and after cleaning. The tilt angle of the telescopic arm is adjusted in real time according to the inner diameter of the blast furnace before cleaning, so that the telescopic arm is parallel to the inner wall of the blast furnace. The formula for the tilt angle of the telescopic arm is as follows: in, The tilt angle of the telescopic boom. The vertical distance between the first camera and the second camera. The inner diameter of the blast furnace at the location of the first camera. The inner diameter of the blast furnace at the location of the second camera.

6. A method for spraying blast furnace lining according to claim 5, characterized in that: In step S4, the tilt angle and extension length of the telescopic boom are adjusted in real time based on the cleaned blast furnace inner diameter data, so that the rotating plate is parallel to the tangent of the blast furnace inner wall. The rotation speed of the first turntable, the rotation speed of the rotating plate, and the lifting speed of the hoist are adjusted according to the difference between the cleaned blast furnace inner diameter data and the set data. During the spraying process, the switching pipe simultaneously opens the exhaust valve to exhaust air, connecting the air blowing pipe and the air intake pipe to draw out the mist-like paint from the air.

7. A method for spraying blast furnace lining according to claim 6, characterized in that: During the spraying process, the first turntable adopts a forward and reverse working mode with a rotation angle of 180°, while the rotating plate adopts a working mode of continuous rotation in the same direction.

Images