Material surface treatment robot for submerged arc furnace

Abstract

The invention discloses a submerged arc furnace charge level treatment robot which is used for treating the charge level of a submerged arc furnace and comprises a large arm mechanism, a rotating mechanism, a walking mechanism, a first sensor assembly, a second sensor assembly and a controller. The slewing mechanism is installed on the walking mechanism, the big arm mechanism is installed on the slewing mechanism, the big arm mechanism drives a big arm to stretch out and draw back, the slewing mechanism drives the big arm mechanism to rotate on the horizontal plane, and the walking mechanism drives the slewing mechanism and the big arm mechanism to walk relative to the submerged arc furnace; the first sensor assembly and the second sensor are connected with the big arm mechanism, the slewing mechanism and the walking mechanism and used for detecting state data; the controller is connected with the first sensor assembly and the second sensor assembly and used for obtaining data of the first sensor assembly and / or the second sensor assembly to control actions of the large arm mechanism, the swing mechanism and the walking mechanism. The control reliability of all action parts is guaranteed, and the overall operation safety and economical efficiency of the submerged arc furnace are improved.

Description

Technical Field

[0001] The invention belongs to the field of intelligent robots, and in particular relates to a robot capable of automatically processing a submerged arc furnace charge surface. Background Art

[0002] At present, in the smelting industry, the surface treatment layer of the ore-fired furnace charge is also the combustion layer. During the combustion of raw materials in the furnace, they need to be processed by tamping, picking, pushing and adding to make the raw materials evenly distributed, expand the reaction zone, eliminate suspended materials, crush the slag, reduce crusting and surface fire, and increase the permeability of the charge to improve smelting efficiency and utilization rate.

[0003] Although the working environment and efficiency can be improved when the charge surface of the blast furnace is processed automatically under remote monitoring, uncontrollable situations are prone to occur due to the use of alternative manual operations. The operation of the charge surface of the blast furnace is of great importance. If improper operation is caused by inadequate automatic control, it will cause huge economic losses to the company and even cause accidents.

[0004] Therefore, how to improve the reliability of blast furnace charge surface treatment to improve overall operation safety and economy is a technical problem that the industry urgently needs to solve. Summary of the invention

[0005] A main purpose of the present invention is to provide a submersible arc furnace charge surface processing robot that can improve the reliability of submersible arc furnace charge surface processing to improve the overall operation safety and economy.

[0006] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme:

[0007] According to one aspect of the present invention, a robot for processing a charge surface of an ore-fired furnace is provided, which is used to process the charge surface of an ore-fired furnace, and comprises:

[0008] A boom mechanism, a slewing mechanism and a walking mechanism, wherein the slewing mechanism is mounted on the walking mechanism, and the boom mechanism is mounted on the slewing mechanism. The boom mechanism drives the boom to extend and retract forward and backward, the slewing mechanism drives the boom mechanism to rotate in a horizontal plane, and the walking mechanism drives the slewing mechanism and the boom mechanism to move relative to the ore-fired furnace;

[0009] A first sensor component, a second sensor component and a controller;

[0010] The first sensor assembly and the second sensor are connected to the arm mechanism, the slewing mechanism and the walking mechanism for detecting status data; the controller is connected to the first sensor assembly and the second sensor assembly for acquiring data of the first sensor assembly and / or the second sensor assembly to control the actions of the arm mechanism, the slewing mechanism and the walking mechanism.

[0011] As in one embodiment of the present invention, the controller is also used to obtain data from the second sensor component after failing to obtain data from the first sensor component, and control the movement of the arm mechanism, the slewing mechanism and the walking mechanism according to the data from the second sensor component; or, after failing to obtain data from the second sensor component, obtain data from the first sensor component to control the movement of the arm mechanism, the slewing mechanism and the walking mechanism.

[0012] As one embodiment of the present invention, the controller is used to simultaneously acquire data from the first sensor component and the second sensor component, and compare and judge the data from the first sensor component and the data from the second sensor component, and control the above-mentioned action with the calibrated data.

[0013] As in one embodiment of the present invention, the first sensor assembly and the second sensor assembly are selectively connected to any action components in the upper arm mechanism, the slewing mechanism and the walking mechanism. When the controller detects that the data connection between one of the sensor assemblies and any action component fails, the controller connects the other sensor assembly to the above-mentioned action component.

[0014] As in one embodiment of the present invention, the first sensor assembly and the second sensor assembly both include a propulsion sensor, a rotation sensor, and a walking sensor, the propulsion sensor is arranged corresponding to the upper arm mechanism, the rotation sensor is arranged corresponding to the rotation mechanism, and the walking sensor is arranged corresponding to the walking mechanism.

[0015] As in one embodiment of the present invention, the upper arm mechanism includes a propulsion motor, and a motor synchronous wheel is installed at the shaft end of the propulsion motor. The motor synchronous wheel is respectively connected to the propulsion sensor in the first sensor assembly and the propulsion sensor in the second sensor assembly through two synchronous belts.

[0016] As shown in one embodiment of the present invention, the upper arm mechanism includes a propulsion motor, and a motor synchronous wheel is installed on the shaft end of the propulsion motor. The motor synchronous wheel is connected to the propulsion sensor in the first sensor assembly or the propulsion sensor in the second sensor assembly through a synchronous belt drive, and the two propulsion sensors are connected through a tensioner compression belt.

[0017] As in one embodiment of the present invention, the slewing mechanism includes a slewing platform, a slewing ring gear, a driver and a driving gear, the slewing ring gear is installed on the walking mechanism, the slewing platform rotates to cooperate with the slewing ring gear, the driver is installed on the slewing platform and is connected to the driving gear, the driving gear is meshed with the slewing ring gear, and the slewing sensors in the first sensor assembly and the second sensor assembly are both installed on the slewing platform and are meshed with the slewing ring gear through gears.

[0018] As in one embodiment of the present invention, the slewing mechanism includes a slewing platform, a slewing ring gear, a driver and a driving gear, the slewing ring gear is installed on the walking mechanism, the slewing platform rotates to cooperate with the slewing ring gear, the driver is installed on the slewing platform and is connected to the driving gear, the driving gear is meshed with the slewing ring gear, a slewing sensor in the first sensor assembly or the second sensor assembly is installed on the slewing platform and meshed with the slewing ring gear through a gear, and the other slewing sensor is connected to the telescopic cylinder and is detachably meshed with the slewing ring gear through a gear when the telescopic cylinder is actuated.

[0019] As in one embodiment of the present invention, the walking mechanism includes two parts that are symmetrical on the left and right, and the two parts are both installed at the lower part of the base. Either of the two parts includes a driving wheel, and the driving wheel cooperates with the track. The walking sensors in the first sensor assembly and the second sensor assembly are both installed on the base, and both cooperate with the track through guide wheels.

[0020] As in one embodiment of the present invention, the walking mechanism includes two parts that are symmetrical on the left and right, and the two parts are both installed at the lower part of the base. Either of the two parts includes a driving wheel, and the driving wheel cooperates with the track. The walking sensor in the first sensor assembly or the second sensor assembly is installed on the base and rolls with the track through a guide wheel. The other walking sensor is installed on the base through a cylinder and can detachably roll with the track through a guide wheel under the action of the cylinder.

[0021] It can be seen from the above technical solution that the advantages and positive effects of the ore-fired furnace charge surface processing robot of the present invention are:

[0022] In the present invention, dual insurance control is performed on the arm mechanism, the slewing mechanism and the walking mechanism through the first sensor assembly and the second sensor assembly, thereby ensuring the reliability of the control of each action component, improving the overall operating safety and economy of the electric arc furnace, and having a very great progressive significance. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained like these drawings without paying creative work.

[0024] Figure 1 It is a schematic diagram of the main structure of a specific embodiment of the electric arc furnace charge surface processing robot of the present invention.

[0025] Figure 2 It is a schematic diagram of the top view of a specific embodiment of the robot for processing charge surface of an electric arc furnace according to the present invention.

[0026] Figure 3 It is a side structural schematic diagram of a specific embodiment of the ore-fired furnace charge surface processing robot of the present invention.

[0027] Figure 4 It is a schematic diagram of the working structure of the propulsion sensor in a specific embodiment of the ore-fired furnace charge surface processing robot of the present invention.

[0028] Figure 5 The figure is a schematic diagram of the working structure of the rotary sensor in a specific embodiment of the ore-fired furnace charge surface processing robot of the present invention.

[0029] Description of the figure number:

[0030] 1. Arm mechanism; 2. Slewing mechanism; 3. Traveling mechanism; 41 / 42, propulsion sensor; 51 / 52, slewing sensor; 61 / 62, travel sensor; 11. Propulsion motor; 12. Motor synchronous wheel; 13. Synchronous belt; 14. Encoder synchronous wheel; 15. Encoder connecting shaft; 16. Coupling; 17. Propulsion encoder; 21. Slewing platform; 22. Slewing gear ring; 23. Encoder gear; 24. Encoder shaft; 25. Coupling; 26. Slewing encoder. DETAILED DESCRIPTION

[0031] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present invention will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted.

[0032] In the following description of different examples of the present invention, reference is made to the accompanying drawings, which form a part of the present invention and in which different exemplary structures, systems and steps that can implement multiple aspects of the present invention are shown by way of example. It should be understood that other specific schemes of components, structures, exemplary devices, systems and steps can be used, and structural and functional modifications can be made without departing from the scope of the present invention. Moreover, although the terms "top", "bottom", "front", "rear", "side", etc. may be used in this specification to describe different exemplary features and elements of the present invention, these terms are used herein only for convenience, such as the direction of the examples described in the accompanying drawings. Nothing in this specification should be construed as requiring a specific three-dimensional orientation of the structure to fall within the scope of the present invention.

[0033] Figure 1 It is a schematic diagram of the main structure of a specific embodiment of the electric arc furnace charge surface processing robot of the present invention.

[0034] Figure 2 It is a schematic diagram of the top view of a specific embodiment of the robot for processing charge surface of an electric arc furnace according to the present invention.

[0035] Figure 3 It is a side structural schematic diagram of a specific embodiment of the ore-fired furnace charge surface processing robot of the present invention.

[0036] like Figures 1 to 3 As shown, a specific embodiment of the ore-heating furnace charge surface processing robot of the present invention is used to process the charge surface of the ore-heating furnace. The ore-heating furnace is also called an arc furnace or a resistance furnace, which is mainly used for reducing and smelting ores to produce various ferroalloys, industrial silicon, calcium carbide and other products. The ore-heating furnace includes a furnace body, an electrode system, a charging system and a smoke exhaust system. The ore-heating furnace uses the arc heat generated by the electrodes and the resistance heat of the charge to melt the charge and cause a reduction reaction. The current is introduced into the furnace through the electrodes, and an arc is generated between the electrodes and the charge. The high temperature of the arc melts the charge. At the same time, the resistance of the charge itself also generates heat, which further promotes the melting and reaction of the charge. The ore-heating furnace is mainly used in ferroalloys, industrial silicon, calcium carbide and other industries. For example, in ferroalloy production, it can be used to produce ferrosilicon, ferromanganese, ferrochrome, etc.; in industrial silicon production, it is one of the main production equipment; in calcium carbide production, lime and coke are reacted in the ore-heating furnace to generate calcium carbide. Since a large amount of electrical energy is required to maintain high temperature, the energy consumption of the ore-heating furnace is relatively high. Submerged arc furnaces require professional operators to monitor and adjust to ensure the stability and safety of the production process.

[0037] The ore-fired furnace charge surface processing robot of this embodiment includes a large arm mechanism 1, a rotating mechanism 2, a walking mechanism 3, a first sensor component, a second sensor component and a controller (not shown in the figure).

[0038] in:

[0039] The slewing mechanism 2 is mounted on the walking mechanism 3, and the arm mechanism 1 is mounted on the slewing mechanism 2. The arm mechanism 1 drives the arm to extend and retract forward and backward, the slewing mechanism 2 drives the arm mechanism 1 to rotate in the horizontal plane, and the walking mechanism 3 drives the slewing mechanism 2 and the arm mechanism 1 to move relative to the ore-heating furnace. The ore-heating furnace charge surface processing robot of this embodiment is an intelligent device specially used for ore-heating furnace charge surface processing, which can process the ore-heating furnace charge surface quickly and accurately to improve production efficiency. The robot arm and various tools are used to monitor the charge surface condition and the position state of the robot in real time through sensors, and feedback is given to the control system to adjust the robot's action.

[0040] In this embodiment, the first sensor assembly and the second sensor are connected to the arm mechanism 1, the slewing mechanism 2 and the walking mechanism 3 for detecting status data; the controller is connected to the first sensor assembly and the second sensor assembly for obtaining data of the first sensor assembly and / or the second sensor assembly to control the actions of the arm mechanism 1, the slewing mechanism 2 and the walking mechanism 3. Through advanced sensors and control systems, precise action control is achieved to ensure the processing effect. The risk of manual operation in harsh environments such as high temperature and high dust is reduced, and production safety is improved. Autonomous operation and remote monitoring can be achieved to reduce labor costs.

[0041] In this embodiment, the controller is also used to obtain data from the second sensor component after the first sensor component fails to obtain data, and control the action of the arm mechanism 1, the slewing mechanism 2 and the walking mechanism 3 according to the data of the second sensor component; or, after the second sensor component fails to obtain data, obtain data from the first sensor component to control the action of the arm mechanism 1, the slewing mechanism 2 and the walking mechanism 3. Two independent data acquisition channels are operated simultaneously to monitor key system parameters or business data in real time. One data acquisition channel can be a sensor directly connected to the main control system, and the other channel can be an independent monitoring device to obtain the same physical parameters. When the data of one channel fluctuates abnormally or is interrupted, the other channel can continue to provide data, so that the system can detect the problem in time without immediate shutdown. Once a problem is detected in a data acquisition channel, the system can quickly switch to another normal channel. This switching is usually automatic and must be completed in a very short time to avoid major impact on production or business. At the same time, there is a backup mechanism to ensure that important data is not lost during the switching process. For example, the data being processed is temporarily stored and continued to be processed after the switching is completed to ensure business continuity. Dual data acquisition is not only used to avoid downtime, but also provides a basis for fault diagnosis. By comparing the data from the two channels, the location and nature of the fault can be determined more accurately. Without shutting down the system, technicians can continue to monitor the system operation status using the data from the normal channel while repairing the channel with the problem. This can minimize downtime and repair costs.

[0042] In another embodiment, the controller is used to simultaneously obtain data from the first sensor component and the second sensor component, and compare and judge the data from the first sensor component and the data from the second sensor component, and control the above-mentioned action with the calibrated data. Different types of sensors can be used to measure the same physical quantity. These sensors may be based on different technical principles and have different accuracy and error ranges. In data analysis, the same data can be obtained from multiple different databases or files. These data sources may be maintained by different institutions or departments and have different update frequencies and data quality. Compare the data from the two sources. If the two data are completely consistent, then the data can be considered reliable. If there is a difference, the cause of the difference needs to be further analyzed. Analyze the possible causes of the difference, such as measurement error, data transmission error, untimely update of the data source, etc. The source of the difference can be determined by checking the data acquisition device, data transmission channel, historical records of the data source, etc. According to the results of the difference analysis, the data is corrected. If the difference is caused by measurement error or data transmission error, the data can be corrected by using methods such as average value and weighted average. If the difference is caused by untimely update of the data source, the data source can be updated or the latest data can be used. The effect is to make the detection data more accurate and improve the control accuracy and automation level.

[0043] In another embodiment, the first sensor assembly and the second sensor assembly are selectively connected to any action component in the arm mechanism, the slewing mechanism and the walking mechanism. When the controller detects that the data connection between one of the sensor assemblies and any action component fails, the other sensor assembly is connected to the above-mentioned action component. Having two sets of equipment means that when one set of equipment fails, the other set of equipment can be put into use immediately, thereby ensuring the continuous operation of the system. This redundant design greatly improves the reliability of the system. Since there are spare equipment, even if one set of equipment fails, it will not cause the system to shut down, thereby reducing the number of additional maintenance times caused by emergency repairs. Setting only one detection operation can avoid duplication of work and waste of resources. Reducing the number of detection operations can make maintenance resources more concentrated, reduce maintenance costs, and extend the service life.

[0044] In the above embodiment of the present invention, the robot's arm mechanism 1, slewing mechanism 2 and walking mechanism 3 are monitored by the first sensor assembly and the second sensor assembly. When one of the sensor assemblies fails, the other sensor assembly can still ensure the safe operation of the robot. In this embodiment, an emergency braking system can also be used, equipped with a fast-response emergency braking device, which can immediately stop the robot's movement in abnormal situations, such as collision, loss of control, etc., to prevent the accident from further expanding.

[0045] In the above embodiment, by real-time monitoring of the robot's operating status and working environment, the software can promptly detect potential safety hazards and send out warning signals to remind the operator to take corresponding measures. In addition, through the judgment of the controller, the robot has a certain degree of autonomous decision-making ability and can automatically adjust its actions according to changes in the surrounding environment and initiate corresponding measures.

[0046] In this embodiment, the first sensor assembly and the second sensor assembly both include a propulsion sensor, a rotation sensor, and a walking sensor. The propulsion sensor is arranged corresponding to the big arm mechanism 1, the rotation sensor is arranged corresponding to the rotation mechanism 2, and the walking sensor is arranged corresponding to the walking mechanism 3.

[0047] The propulsion sensor can accurately measure the propulsion distance, accurately sense the displacement of the robot during the propulsion process, provide accurate data for the control system, and ensure the position accuracy of the robot during the material surface processing process. The propulsion sensor can also monitor the resistance and propulsion force encountered by the robot during propulsion, and help the control system adjust the propulsion force to avoid affecting the processing effect or damaging the robot due to excessive or insufficient propulsion force. When encountering abnormal resistance or obstacles during the propulsion process, the sensor can timely feedback the signal to stop the robot from propulsion or take corresponding risk avoidance measures to ensure the safety of the robot and the operator. The precise propulsion distance measurement of the propulsion sensor helps the robot to perform more delicate operations during material surface processing and improve the processing quality. It can also automatically adjust the propulsion force and speed according to different material surface conditions and processing requirements to improve the adaptability of the robot. And it can timely detect abnormal conditions during the propulsion process, providing strong guarantee for the safe operation of the robot.

[0048] The rotation sensor accurately senses the robot's rotation movement and provides accurate angle data to ensure that the robot can accurately position and operate when processing the material surface. The robot's rotation speed is monitored in real time, and the control system can adjust the acceleration and deceleration of the rotation based on this data to achieve smooth and efficient rotation operation. When an abnormal situation occurs during the rotation process, such as jamming or collision, the sensor can quickly feedback the signal to stop the robot from rotating or take corresponding safety measures. Accurate rotation angle measurement helps the robot perform fine operations in narrow spaces or complex environments and improve the effect of material surface processing. Enable the robot to flexibly adjust the direction and angle to adapt to different material surface processing requirements. Timely detect abnormal situations during the rotation process to ensure the safety of the robot and the operator.

[0049] The walking sensor accurately records the distance the robot has walked, providing data support for the robot's positioning and path planning. The robot's walking speed is fed back in real time, and the control system can adjust the walking power according to the speed information to ensure smooth and efficient walking. The walking direction of the robot is determined to help the robot accurately navigate in a complex working environment. When encountering obstacles or abnormal conditions during walking, the sensor can send a signal in time to stop the robot from walking or take risk avoidance measures. Accurate walking distance and direction measurement helps the robot to accurately locate around the submerged arc furnace and improve the accuracy of material surface processing. Enable the robot to walk autonomously according to the preset path or real-time environmental information, reducing human intervention. Timely detect dangers during walking to ensure the safety of the robot and staff. By reasonably controlling the walking speed and path, the robot's work efficiency can be improved and energy consumption can be reduced.

[0050] Figure 4 It is a schematic diagram of the working structure of the propulsion sensor in a specific embodiment of the ore-fired furnace charge surface processing robot of the present invention.

[0051] In this embodiment, if Figure 4 As shown, the arm mechanism 1 includes a propulsion motor 11, and a motor synchronous wheel 12 is installed at the shaft end of the propulsion motor 11. The motor synchronous wheel 12 is respectively connected to the propulsion sensor in the first sensor assembly and the propulsion sensor in the second sensor assembly through two synchronous belts 13. In this embodiment, the two propulsion sensors 41 and 42 each include an encoder synchronous wheel 14, an encoder connecting shaft 15, a coupling 16 and a propulsion encoder 17. The two synchronous belts 13 are respectively connected to the encoder synchronous wheels 14 in the two propulsion sensors 41 and 42, and the encoder synchronous wheel 14 is connected to the propulsion encoder 17 through the encoder connecting shaft 15 and the coupling 16. When the propulsion motor 11 is in motion, the propulsion encoder 17 is driven to move through the motor synchronous wheel 12, the synchronous belt 13, the encoder synchronous wheel 14, the encoder connecting shaft 15 and the coupling 16, so that the propulsion encoder 17 obtains the motion data of the propulsion motor 11. The two propulsion encoders 17 simultaneously obtain data and transmit it to the controller for judgment and processing. In other embodiments, other forms of sensors can also be used and are not described here.

[0052] In another embodiment, the arm mechanism includes a propulsion motor, and a motor synchronous wheel is installed at the shaft end of the propulsion motor. The motor synchronous wheel is connected to the propulsion sensor in the first sensor assembly or the propulsion sensor in the second sensor assembly through a synchronous belt transmission, and the two propulsion sensors are connected by a tensioner to tighten the belt. In this embodiment, one of the encoders is connected through the above-mentioned connection method, and the other encoder is connected in a detachable manner. When connection is required, the tensioner is actuated so that the other encoder is also connected through the tightened belt transmission. When connection is not required, the tensioner loosens the belt. Since there is no tension force, the other encoder does not obtain data from the propulsion motor. The tensioner is usually composed of a spring, a hydraulic device or an electric mechanism. The spring tensioner uses the elastic force of the spring to provide tension; the hydraulic tensioner adjusts the tension through the hydraulic system; and the electric tensioner uses a motor drive to adjust the tension. As mentioned above, when one fails, the other one directly takes over, reducing the maintenance frequency, improving work efficiency, and extending the service life.

[0053] Figure 5 It is a schematic diagram of the working structure of the rotation sensor in a specific embodiment of the ore-fired furnace charge surface processing robot of the present invention.

[0054] In this embodiment, if Figure 5 As shown, the slewing mechanism 2 includes a slewing platform 21, a slewing ring gear 22, a driver and a driving gear (not shown in the figure), the slewing ring gear 22 is installed on the base of the walking mechanism 3, the slewing platform 21 rotates to match the slewing ring gear 22, the driver is installed on the slewing platform 22, and is connected to the driving gear, the driving gear is meshed with the slewing ring gear 22, the driving gear is rotated by the driver, and the slewing platform 22 connected to the driver is driven to rotate relative to the slewing ring gear 22 through the action of the driving gear and the fixed slewing ring gear 22. In this embodiment, the slewing sensors in the first sensor assembly and the second sensor assembly are both installed on the slewing platform 21, and are meshed with the slewing ring gear 22 through gears. In this embodiment, the slewing sensor includes an encoder gear 23, an encoder shaft 24, a coupling 25 and a slewing encoder 26. The encoder gear 23 is meshed with the slewing ring gear 22, and is connected to the slewing encoder 26 through the encoder shaft 24 and the coupling 25. When the rotary platform 21 rotates, the encoder gear 23 meshes with the rotary gear ring 22, and the encoder shaft 24 and the coupling 25 drive the rotary encoder 26 to move, thereby acquiring data of the rotary mechanism 2. In other embodiments, other types of sensors may also be used, which will not be described in detail here.

[0055] In another embodiment, the slewing mechanism includes a slewing platform, a slewing ring gear, a driver and a driving gear. The slewing ring gear is installed on the walking mechanism, and the slewing platform rotates to match the slewing ring gear. The driver is installed on the slewing platform and is connected to the driving gear. The driving gear is meshed with the slewing ring gear. A slewing sensor in the first sensor assembly or the second sensor assembly is installed on the slewing platform and is meshed with the slewing ring gear through a gear. The other slewing sensor is connected and arranged on the telescopic cylinder. When the telescopic cylinder is in motion, it is detachably meshed with the slewing ring gear through a gear. In this embodiment, the setting of one of the sensors is the same as the above structure, and the other sensor is driven by the telescopic cylinder so that it can be connected and separated. The telescopic cylinder is composed of a cylinder barrel, a piston, a piston rod and other components. The piston is driven to move in the cylinder barrel by hydraulic pressure, pneumatic pressure or electric means, so that the piston rod is extended or retracted to realize the telescopic function. The telescopic cylinder can adjust the length quickly and accurately to meet the needs of different operating scenarios. When a sensor has a problem, another sensor is connected under the drive of the telescopic cylinder to avoid failure shutdown, reduce maintenance frequency, improve work efficiency and extend life.

[0056] In this embodiment, the walking mechanism 1 includes two symmetrical parts, both of which are installed at the lower part of the base, and each part includes a driving wheel, which cooperates with the track and can be hydraulically driven or electrically driven. The walking sensors in the first sensor assembly and the second sensor assembly are both installed on the base, and both cooperate with the track through the guide wheel rolling. In this embodiment, the walking sensor adopts an encoder, and the guide wheel is connected to the walking encoder through the encoder shaft and the coupling. The walking encoder is installed on the base of the walking mechanism, and the guide wheel rolls to cooperate with the track. When the walking mechanism is in motion, the guide wheel rotates accordingly, and the walking encoder is driven via the encoder shaft and the coupling, so that the walking encoder obtains the data of the walking mechanism. In other embodiments, other forms of sensors can also be used, which will not be repeated here.

[0057] In another embodiment, the walking mechanism 1 includes two symmetrical parts, both of which are installed at the bottom of the base, and each part includes a driving wheel, which cooperates with the track and can be hydraulically driven or electrically driven. The walking sensor in the first sensor assembly or the second sensor assembly is installed on the base and cooperates with the track through rolling of the guide wheel. The other walking sensor is installed on the base through the cylinder and can be detachably rolled with the track through the guide wheel under the action of the cylinder. When compressed air enters one end of the cylinder, it pushes the piston to move to the other end. By controlling the direction of intake and exhaust, the reciprocating motion of the piston can be achieved. The stroke and thrust of the cylinder can be designed and adjusted according to different needs. The structure of the cylinder is relatively simple, the cost is low, and it is easy to install and maintain. Under normal working conditions, the cylinder has high reliability and stability and can work continuously for a long time. It can be used in various harsh working environments, such as high temperature, high dust, etc.

[0058] In addition, the present invention can also be provided with a display and a human-computer interaction screen for displaying system status and parameter settings, so as to facilitate operator monitoring and operation.

[0059] In this embodiment, during operation, the coverage range of the material surface processing position is calibrated in advance. When the robot moves through the walking mechanism 3, the moving position is read by the sensor, and the robot stops walking after reaching the designated walking position. After the upper arm mechanism 1 rotates to one side of the set swing angle through the rotating mechanism 2, the upper arm mechanism 1 moves and uses the tamping rod to reciprocate. Through the alternation of rotation and reciprocating motion, the material surface processing in the fan-shaped area set by the sensor is realized; it walks to another set position again to perform the material surface processing work in the next set working area. In the specific embodiment of the above mechanism, a redundant encoder is used for design. The two encoders work at the same time and read the data of one of the encoders. Once an abnormality occurs, the data collection of the other channel can be changed at any time to ensure the normal operation of the equipment.

[0060] It can be seen from the above technical solution that the advantages and positive effects of the ore-fired furnace charge surface processing robot of the present invention are:

[0061] In the present invention, the motion position and speed information are detected in real time through the first sensor component and the second sensor component, and double insurance control is performed on the upper arm mechanism 1, the rotary mechanism 2 and the walking mechanism 3. The robot is controlled with high precision according to a preset control algorithm, thereby ensuring the reliability of the control of each action component, improving the overall operation safety and economy of the electric arc furnace, having a very huge progressive significance, and being conducive to market promotion.

[0062] Those skilled in the art should understand that the specific structures and processes shown in the above specific embodiments are only exemplary and not restrictive. Moreover, those skilled in the art can combine the various technical features shown above in various possible ways to form new technical solutions, or make other changes, which are all within the scope of the present invention.

Claims

1. A robot for processing the charge surface of an ore-fired furnace, used for processing the charge surface of an ore-fired furnace, characterized in that: include: A boom mechanism, a slewing mechanism and a walking mechanism, wherein the slewing mechanism is mounted on the walking mechanism, and the boom mechanism is mounted on the slewing mechanism. The boom mechanism drives the boom to extend and retract forward and backward, the slewing mechanism drives the boom mechanism to rotate in a horizontal plane, and the walking mechanism drives the slewing mechanism and the boom mechanism to move relative to the ore-fired furnace; A first sensor component, a second sensor component and a controller; The first sensor assembly and the second sensor are connected to the arm mechanism, the slewing mechanism and the walking mechanism for detecting status data; the controller is connected to the first sensor assembly and the second sensor assembly for acquiring data of the first sensor assembly and / or the second sensor assembly to control the actions of the arm mechanism, the slewing mechanism and the walking mechanism.

2. The ore-fired furnace charge surface processing robot according to claim 1, characterized in that: The controller is also used to obtain data from the second sensor component after failing to obtain data from the first sensor component, and control the actions of the arm mechanism, the slewing mechanism and the walking mechanism according to the data from the second sensor component; or, after failing to obtain data from the second sensor component, obtain data from the first sensor component to control the actions of the arm mechanism, the slewing mechanism and the walking mechanism.

3. The ore-fired furnace charge surface processing robot according to claim 1, characterized in that: The controller is used to simultaneously acquire data from the first sensor component and the second sensor component, and compare and judge the data from the first sensor component and the data from the second sensor component, so as to control the above-mentioned action with the calibrated data.

4. The ore-fired furnace charge surface processing robot according to claim 1, characterized in that: The first sensor assembly and the second sensor assembly are selectively connected to any action component in the arm mechanism, the slewing mechanism and the walking mechanism. When the controller detects that the data connection between one of the sensor assemblies and any action component fails, the controller connects another sensor assembly to the above-mentioned action component.

5. The ore-fired furnace charge surface processing robot according to any one of claims 1 to 4, characterized in that: The first sensor assembly and the second sensor assembly both include a propulsion sensor, a rotation sensor, and a walking sensor. The propulsion sensor is arranged corresponding to the upper arm mechanism, the rotation sensor is arranged corresponding to the rotation mechanism, and the walking sensor is arranged corresponding to the walking mechanism.

6. The ore-fired furnace charge surface processing robot according to claim 5, characterized in that: The large arm mechanism includes a propulsion motor, and a motor synchronous wheel is installed at the shaft end of the propulsion motor. The motor synchronous wheel is respectively connected to the propulsion sensor in the first sensor assembly and the propulsion sensor in the second sensor assembly through two synchronous belts.

7. The ore-fired furnace charge surface processing robot according to claim 5, characterized in that: The upper arm mechanism includes a propulsion motor, and a motor synchronous wheel is installed at the shaft end of the propulsion motor. The motor synchronous wheel is connected to the propulsion sensor in the first sensor assembly or the propulsion sensor in the second sensor assembly through a synchronous belt drive. The two propulsion sensors are connected through a tensioner compression belt.

8. The ore-fired furnace charge surface processing robot according to claim 5, characterized in that: The slewing mechanism includes a slewing platform, a slewing ring gear, a driver and a driving gear. The slewing ring gear is installed on the walking mechanism. The slewing platform rotates to cooperate with the slewing ring gear. The driver is installed on the slewing platform and is connected to the driving gear. The driving gear is meshed with the slewing ring gear. The slewing sensors in the first sensor assembly and the second sensor assembly are both installed on the slewing platform and are meshed with the slewing ring gear through gears.

9. The ore-fired furnace charge surface processing robot according to claim 5, characterized in that: The slewing mechanism includes a slewing platform, a slewing ring gear, a driver and a driving gear. The slewing ring gear is installed on the walking mechanism, and the slewing platform rotates to cooperate with the slewing ring gear. The driver is installed on the slewing platform and is connected to the driving gear. The driving gear is meshed with the slewing ring gear. A slewing sensor in the first sensor assembly or the second sensor assembly is installed on the slewing platform and is meshed with the slewing ring gear through a gear. The other slewing sensor is connected to the telescopic cylinder and is detachably meshed with the slewing ring gear through a gear when the telescopic cylinder is actuated.

10. The ore-fired furnace charge surface processing robot according to claim 5, characterized in that: The walking mechanism includes two parts that are symmetrical on the left and right, and the two parts are both installed at the lower part of the base. Either of the two parts includes a driving wheel, and the driving wheel cooperates with the track. The walking sensors in the first sensor assembly and the second sensor assembly are both installed on the base, and both cooperate with the track through guide wheels.

11. The ore-fired furnace charge surface processing robot according to claim 5, characterized in that: The walking mechanism includes two parts that are symmetrical on the left and right, and the two parts are both installed at the lower part of the base. Either of the two parts includes a driving wheel, and the driving wheel cooperates with the track. The walking sensor in the first sensor assembly or the second sensor assembly is installed on the base and cooperates with the track through a guide wheel. The other walking sensor is installed on the base through a cylinder, and can detachably roll with the track through a guide wheel under the action of the cylinder.

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