Intelligent inspection robot and system for fiber testing of working end of electrode of calcium carbide furnace

Abstract

The invention relates to the technical field of intelligent inspection robots, and discloses an intelligent inspection robot and system for fiber testing of the working end of a calcium carbide furnace electrode, and the intelligent inspection robot comprises a moving mechanism and a feeding mechanism with one end fixed to the moving mechanism and the other end used for clamping an auxiliary testing rod. The feeding mechanism comprises a first rotating assembly of a first rotating motor and a lifting assembly with a linear air cylinder. The second rotating assembly is provided with a second rotating motor; the first rotating motor is vertically arranged, and an output shaft is fixedly connected with the bottom of the lifting assembly. The linear air cylinder and the first rotating motor are coaxially arranged, and the linear air cylinder comprises a piston with the top fixedly connected with the second rotating assembly. The intelligent inspection robot has the beneficial effects that the intelligent inspection robot can replace manual work to measure the length of the working end of the electrode of the calcium carbide furnace, manual operation is greatly reduced, the exposure risk of staff in a high-risk environment is reduced, the safety production level is improved, the labor cost of an enterprise is reduced, the production efficiency is improved, and the market competitiveness of the enterprise is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of patrol intelligent robots, and in particular to an intelligent patrol robot and system for measuring the working end of a calcium carbide furnace electrode. Background Art

[0002] Calcium carbide furnace is the main equipment for producing calcium carbide and is an important chemical production equipment. The electrode is continuously raised and lowered, and the length of the electrode extending into the calcium carbide furnace needs to be obtained in real time; in the prior art, the measurement and adjustment of the electrode length mostly rely on manual operation. Since the calcium carbide furnace works in a high temperature environment, the operators are exposed to great occupational health and safety risks, which can easily lead to personal injury accidents. At the same time, the manual measurement method is limited by the accuracy of the tool and the experience of the operator, which can easily lead to errors in the measurement results and cannot ensure the precise control of the electrode length; in addition, since the manual measurement method is to manually measure and adjust the electrode length, it has high labor intensity and low efficiency.

[0003] In the patent literature, for example, the invention application entitled "An Electrode Measuring Device for a Calcium Carbide Furnace" with application publication number CN118463888A discloses an electrode measuring device for a calcium carbide furnace, which includes a moving mechanism, an angle adjustment component mounted on the moving mechanism, and a measuring component mounted on the angle adjustment component for measuring the length of the electrode extending into the calcium carbide furnace in the calcium carbide furnace component; the components cooperate with each other to construct a right triangle, and the electrode length is calculated based on the determined parameters. This solution reduces the human error in the measurement process through an auxiliary measuring device, but the technical solution still relies on manual measurement, which has the problems of high risk and low efficiency of manual operation. Summary of the invention

[0004] In order to overcome the problems of high manual operation risk, insufficient measurement accuracy and low efficiency in the prior art of manually measuring the length of the working end of calcium carbide furnace electrodes, the present invention proposes an intelligent inspection robot for measuring the working end of calcium carbide furnace electrodes, which specifically includes the following technical solutions.

[0005] An intelligent inspection robot for measuring the working end of an electrode in a calcium carbide furnace comprises a moving mechanism, one end of which is fixed to the moving mechanism and the other end of which is used to clamp an auxiliary measuring rod, the feeding mechanism comprising a first rotating assembly of a first rotating motor and a lifting assembly with a linear cylinder; a second rotating assembly with a second rotating motor; the first rotating motor is vertically arranged and the output shaft is fixedly connected to the bottom of the lifting assembly; the linear cylinder is coaxially arranged with the first rotating motor and comprises a piston whose top is fixedly connected to the second rotating assembly; the second rotating assembly is horizontally arranged, one end of which is fixedly connected to the piston by the second rotating motor and the other end of which clamps the auxiliary measuring rod; the feeding mechanism can synchronously drive the auxiliary measuring rod to realize rotation along the output shaft direction of the first rotating motor, lifting and lowering along the axial direction of the piston and rotation along the output shaft direction of the second rotating motor.

[0006] Furthermore, the feeding mechanism also includes a clamping assembly; the clamping assembly includes a second shell fixedly connected to the second rotating assembly, a third rotating motor fixed inside the second shell, a cross bar connected to the third rotating motor through a gear transmission, and a clamping member fixed on the cross bar.

[0007] Furthermore, a driving wheel is fixed on the output shaft of the third rotating motor; and the number of the cross bars is three, each of which is fixed with a driven wheel meshing with the driving wheel.

[0008] Furthermore, the first rotating assembly includes a circular base whose bottom is fixedly connected to the moving mechanism, a first shell fixed to the upper surface of the base and having an installation space inside, and a first rotating motor located in the first shell and whose bottom is fixedly connected to the base; a through hole is opened on the top of the first shell, and the output shaft of the first rotating motor is located in the through hole and fixedly connected to the lifting assembly.

[0009] Furthermore, the lifting assembly includes a transmission member located at the bottom, a cylinder body whose bottom is fixedly connected to the transmission member, and a piston located in the cylinder body.

[0010] Furthermore, the bottom of the transmission member is located in the through hole of the first shell and is connected to the output shaft of the first rotating motor; an opening is also reserved at the bottom of the cylinder body; a hollow receiving chamber is provided inside the cylinder body, the bottom of the piston is located in the receiving chamber, and the top extends out of the cylinder body.

[0011] Furthermore, the second rotating assembly includes a second rotating motor fixedly connected to the lifting assembly, and a transmission shaft connected to an output shaft of the second rotating motor.

[0012] Furthermore, the moving mechanism includes a third shell and a moving component; the first rotating component is welded to the top of the third shell, and a power supply and a circuit board are arranged inside; the four corners of the bottom of the third shell are correspondingly connected to the moving component.

[0013] Furthermore, the moving assembly includes a fourth rotating motor and a roller transmission-connected to the fourth rotating motor.

[0014] A system includes a server, a display screen connected to the server, and the above-mentioned intelligent inspection robot.

[0015] According to any of the above embodiments, the present invention has at least the following beneficial effects: the intelligent inspection robot of the present invention can replace manual measurement of the length of the working end of the calcium carbide furnace electrode, greatly reducing manual operation, reducing the risk of exposure of employees in high-risk environments, improving the level of safe production, reducing the labor cost of the enterprise, improving production efficiency, and enhancing the market competitiveness of the enterprise. At the same time, the intelligent inspection robot can improve the accuracy of electrode length measurement, optimize production processes, and improve product quality and energy efficiency by carrying sensors and software control. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the intelligent inspection robot of the present invention.

[0017] Figure 2 It is a structural schematic diagram of the feeding mechanism of the present invention.

[0018] Figure 3 It is a structural schematic diagram of the first rotating component of the present invention.

[0019] Figure 4 It is a structural schematic diagram of the lifting assembly of the present invention.

[0020] Figure 5 It is a structural schematic diagram of the second rotating assembly of the present invention.

[0021] Figure 6 It is a cross-sectional view of the feeding mechanism of the present invention.

[0022] Figure 7 It is a structural schematic diagram of the clamping assembly of the present invention.

[0023] Figure 8 It is a schematic diagram of the movement principle of the clamping assembly of the present invention.

[0024] Fig. 9 It is a structural schematic diagram of the mobile mechanism of the present invention.

[0025] Fig.10 It is a top view of the mobile mechanism of the present invention.

[0026] Fig.11It is a schematic diagram of the principle of electrode measurement of the present invention.

[0027] Fig.12 It is a framework diagram of the system of the present invention.

[0028] in: 100—moving mechanism; 200—feeding mechanism; 300—auxiliary measuring rod; 110—third housing; 120—moving assembly; 210—first rotating assembly; 220—lifting assembly; 230—second rotating assembly; 240—clamping assembly; 211—base; 212—first housing; 213—first rotating motor; 221 - transmission member; 222 - cylinder body; 223 - piston; 231 - second rotating motor; 232 - transmission shaft; 233 - gripper; 241 - second housing; 242 - third rotating motor; 243 - crossbar; 244 - clamping member; 121 - rotating motor; 122 - roller 122 . DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] An intelligent inspection robot for measuring the working end of calcium carbide furnace electrodes, such as Figure 1 As shown, it includes a moving mechanism 100 and a feeding mechanism 200 with one end fixed to the moving mechanism 100 and the other end used to clamp the auxiliary measuring rod 300.

[0031] Feed mechanism 200 Figure 2 As shown, it includes a first rotating assembly 210, a lifting assembly 220, and a second rotating assembly 230 arranged in sequence from bottom to top. The bottom of the first rotating assembly 210 is fixedly connected to the upper surface of the shell of the moving mechanism 100, and the top is connected to the lifting assembly 220. A first rotating motor is arranged inside the first rotating assembly 210 to drive the feeding mechanism 200 to rotate around the vertical axis as a whole. The bottom of the lifting assembly 220 is connected to the first rotating assembly 210, and the top is connected to the second rotating assembly 230. A linear cylinder is arranged inside to adjust the height of the second rotating assembly 230. The second rotating assembly 230 is provided with a second rotating motor to drive the auxiliary measuring rod 300 to rotate in the horizontal axis direction.

[0032] More specifically, the structure of the first rotating assembly 210 is as follows: Figure 3 and Figure 6 As shown, it includes a circular base 211 whose bottom is fixedly connected to the moving mechanism 100, a first shell 212 fixed to the upper surface of the base 211 and having an installation space inside, and a first rotating motor located in the first shell 212 and whose bottom is fixedly connected to the base 211. The top output shaft of the first rotating motor is spaced apart from the inner side wall of the first shell 212. A circular through hole is opened at the top of the first shell 212, and the output shaft of the first rotating motor 213 is located in the through hole and is fixedly connected to the bottom of the lifting assembly 220.

[0033] The structure of the lifting assembly 220 is as follows: Figure 4 and Figure 6 As shown, it includes a transmission member 221 at the bottom, a cylinder body 222 fixedly connected to the transmission member 221 at the bottom, and a piston 223 located in the cylinder body 222. The bottom of the transmission member 221 is located in the through hole of the first housing 212 and is connected to the output shaft of the first rotating motor 213, which is used to drive the lifting assembly 220 to rotate as a whole. The bottom of the cylinder body 222 is also reserved with an opening for connecting to an external air source (not shown in the drawings). The cylinder body 222 is provided with a hollow receiving chamber inside. The bottom of the piston 223 is located in the receiving chamber, and the top can extend out of the cylinder body 222 and drive the second rotating assembly 230 to perform lifting and lowering movements as a whole. The rotation axis of the first rotating assembly 210 coincides with the axis of the lifting assembly 220.

[0034] The structure of the second rotating assembly 230 is as follows Figure 5 As shown, it includes a second rotary motor 231 fixedly connected to the lifting assembly 220, a transmission shaft 232 connected to the output shaft of the second rotary motor at one end, and a gripper 233 fixedly connected to the other end of the transmission shaft 232. The output shaft of the second rotary motor 231 is located in the horizontal direction, and the gripper 233 is driven by the transmission shaft 232 to realize the rotation in the horizontal axis direction. The gripper 233 includes three columns arranged in an equilateral triangle, and each column is provided with a circular component protruding outward for clamping the auxiliary measuring rod 300.

[0035] The feeding mechanism 200 is used to clamp the auxiliary measuring rod 300 and drive the auxiliary measuring rod 300 to realize rotation, lifting and lowering along the vertical axis, and rotation along the horizontal axis. Figure 6As shown, the bottom of the feeding mechanism 200 is fixed to the moving mechanism 100 through the base 211, and the first rotating motor 213 located in the first shell 212 drives the lifting assembly 220 to rotate; the piston 223 of the lifting assembly 220 is driven by an external air source to make a linear motion inside the cylinder body 222, thereby driving the second rotating assembly 230 to lift and lower as a whole; finally, the second rotating motor 231 of the second rotating assembly 230 drives the gripper 233 holding the auxiliary measuring rod 300 to rotate on the horizontal axis. As can be seen from the above, the feeding mechanism 200 can drive the auxiliary measuring rod 300 to realize rotation on the vertical axis, lifting and lowering in the vertical direction, and rotation on the horizontal axis.

[0036] Although the feeding mechanism 200 can achieve vertical lifting, the gripper only has the function of fixing the auxiliary measuring rod, and cannot fully simulate the action of "inserting into the calcium carbide furnace" during the measurement process. Therefore, it is necessary to make further improvements to the gripper 233. The applicant has designed a clamping assembly 240 to replace the original gripper 233. The structure of the clamping assembly 240 is as follows: Figure 7 As shown, it includes a second housing 241 fixedly connected to the transmission shaft 232 of the second rotating assembly 230, a third rotating motor 242 fixed inside the second housing 241, a cross bar 243 driven by the third rotating motor 242 through gears, and a clamping member 244 fixed on the cross bar 243. The clamping assembly 240 is used to clamp the auxiliary measuring rod 300 and drive the auxiliary measuring rod 300 to move linearly along its axis. The movement principle is as follows: Figure 8 As shown, a driving wheel is fixed on the output shaft of the third rotating motor 242, and a driven wheel meshing with the driving wheel is fixed on the cross bar 243. During the rotation of the third rotating motor 242, the driving wheel is driven to move in a clockwise or counterclockwise direction, and the driven wheel drives the cross bar 243 to rotate in the opposite direction. The clamping member 244 on the cross bar 243 rotates with the cross bar 243, and drives the auxiliary measuring rod to move linearly along its axis during the rotation. It should be noted that the three clamping members 244 are respectively located at the three vertices of an equilateral triangle, and there are two clamping members 244 on one side of the auxiliary measuring rod 300 and one clamping member 244 on the other side. The movement direction of the auxiliary measuring rod 300 is determined by the rotation direction of the two clamping members 244 rotating on the same side. Therefore, the improved feeding mechanism 200 cooperates with the clamping assembly 240 to simulate the "insertion-tilt-reinsertion" action during manual measurement.

[0037] The structure of the moving mechanism 100 is as follows: Fig. 9 and Fig.10As shown, it mainly includes a third shell 110 and a moving assembly 120. The top of the third shell 110 is flat, and is used to weld the base 211 of the feeding mechanism 200. The interior is hollow and divided by a partition, and a power supply (not shown in the drawings) and a circuit board (not shown in the drawings) are arranged inside. The third shell 110 is a rectangular parallelepiped structure as a whole, and the moving assembly 120 is correspondingly arranged at the four corners of the bottom. The third shell 110 is mainly used to provide installation space for the power supply and the circuit board, and can be equipped with corresponding sensors at a preset position to facilitate data collection. The moving assembly 120 mainly includes a fourth rotating motor 121 and a roller 122. The fourth rotating motor 121 rotates to drive the roller 122 fixed to the output shaft to rotate. The power supply is electrically connected to the circuit board, and the circuit board can receive an external control signal to correspondingly control the rotation of the first rotating motor 213, the second rotating motor 231, the third rotating motor 242 and the fourth rotating motor 121, and the lifting and lowering of the lifting assembly 220. The moving mechanism 100 can cooperate with the preset guide rail to move in a linear direction, and the on-site environmental conditions of the calcium carbide furnace can be collected during the movement.

[0038] In the process of measuring the length of the electrode working end, the contact point and angle of the auxiliary measuring rod are determined through the feedback of the sensor, and the length of the electrode working end is calculated in combination with the known electrode position information. More specifically, Fig.11 As shown, in Fig.11 In the figure, the left rectangle is the electrode, h is the length of the electrode to be measured extending into the calcium carbide furnace, α is the rotation angle of the auxiliary measuring rod after rotation compared to the initial state, and d is the distance between the intelligent inspection robot and the electrode. During measurement, the intelligent inspection robot maintains a certain distance d between the electrode and the periphery of the calcium carbide furnace and walks in a tracking circle. By extending the auxiliary measuring rod into the calcium carbide furnace and contacting the electrode, the rotation angle α can be measured by the encoder set on the second rotating component 230, and then the formula , and obtain h. By measuring h multiple times at different points, Xinger effectively obtains the actual length of the calcium carbide furnace into which the electrode extends.

[0039] An intelligent inspection system, such as Fig.12As shown, it includes an intelligent inspection robot and a server connected to the intelligent inspection robot. The intelligent inspection robot includes a power supply, a control module, a communication module, a camera, an environmental monitoring module, a feeding mechanism, a moving mechanism, and an obstacle avoidance module; wherein the camera is used to collect video data, the environmental monitoring module is used to collect environmental data, and the video data and environmental data are transmitted to the server through the communication module. The server includes an early warning module, an algorithm analysis module, a database, and a data processing module; the database is used to store video data and environmental data, the algorithm analysis module is used to analyze video data and environmental data, and send the analysis results to the early warning module and the data processing module, and the server also receives external control instructions, and transmits the control instructions to the communication module of the intelligent inspection robot, and then the control module receives and implements the control instructions. The server is also connected to a display for displaying radio frequency data, environmental data, and analysis results.

[0040] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent inspection robot for measuring the working end of a calcium carbide furnace electrode, comprising a moving mechanism, one end of which is fixed to the moving mechanism, and the other end of which is used to clamp a feeding mechanism for an auxiliary measuring rod, characterized in that: The feeding mechanism includes a first rotating assembly of a first rotating motor and a lifting assembly with a linear cylinder; A second rotating assembly with a second rotating motor; the first rotating motor is vertically arranged and the output shaft is fixedly connected to the bottom of the lifting assembly; the linear cylinder is coaxially arranged with the first rotating motor and includes a piston with a top fixedly connected to the second rotating assembly; the second rotating assembly is horizontally arranged, one end of which is fixedly connected to the piston through the second rotating motor, and the other end clamps the auxiliary measuring rod; the feeding mechanism can synchronously drive the auxiliary measuring rod to realize rotation along the output shaft direction of the first rotating motor, lifting and lowering along the axial direction of the piston and rotation along the output shaft direction of the second rotating motor.

2. The intelligent inspection robot for measuring the working end of calcium carbide furnace electrodes according to claim 1 is characterized in that: The feeding mechanism also includes a clamping assembly; the clamping assembly includes a second shell fixedly connected to the second rotating assembly, a third rotating motor fixed inside the second shell, a cross bar connected to the third rotating motor through a gear transmission, and a clamping member fixed on the cross bar.

3. The intelligent inspection robot for measuring the working end of calcium carbide furnace electrodes according to claim 2 is characterized in that: A driving wheel is fixed on the output shaft of the third rotating motor; there are three cross bars, each of which is fixed with a driven wheel meshing with the driving wheel.

4. The intelligent inspection robot for measuring the working end of calcium carbide furnace electrodes according to claim 1 is characterized in that: The first rotating assembly includes a circular base whose bottom is fixedly connected to the moving mechanism, a first shell fixed to the upper surface of the base and having an installation space inside, and a first rotating motor located in the first shell and whose bottom is fixedly connected to the base; a through hole is provided on the top of the first shell, and the output shaft of the first rotating motor is located in the through hole and fixedly connected to the lifting assembly.

5. The intelligent inspection robot for measuring the working end of calcium carbide furnace electrodes according to claim 4 is characterized in that: The lifting assembly comprises a transmission member located at the bottom, a cylinder body whose bottom is fixedly connected to the transmission member, and a piston located in the cylinder body.

6. The intelligent inspection robot for measuring the working end of calcium carbide furnace electrodes according to claim 5 is characterized in that: The bottom of the transmission member is located in the through hole of the first shell and is connected to the output shaft of the first rotating motor; an opening is also reserved at the bottom of the cylinder body; a hollow receiving chamber is arranged inside the cylinder body, the bottom of the piston is located in the receiving chamber, and the top extends out of the cylinder body.

7. The intelligent inspection robot for measuring the working end of calcium carbide furnace electrodes according to claim 6 is characterized in that: The second rotating assembly includes a second rotating motor fixedly connected to the lifting assembly, and a transmission shaft connected to an output shaft of the second rotating motor.

8. The intelligent inspection robot for measuring the working end of calcium carbide furnace electrodes according to claim 1 is characterized in that: The moving mechanism includes a third shell and a moving assembly; the first rotating assembly is welded to the top of the third shell, and a power supply and a circuit board are arranged inside; the four corners of the bottom of the third shell are correspondingly connected to the moving assembly.

9. The intelligent inspection robot for measuring the working end of calcium carbide furnace electrodes according to claim 8 is characterized in that: The moving assembly includes a fourth rotating motor and a roller transmission-connected to the fourth rotating motor.

10. A system comprising a server and a display screen connected to the server, characterized in that: It also includes the intelligent inspection robot described in any one of claims 1-9.

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