Discharging robot system of submerged arc furnace

Abstract

The invention discloses a submerged arc furnace discharging robot system, which is used for discharging operation of a submerged arc furnace and is characterized by comprising a moving mechanism, a robot and a tool library, the moving mechanism comprises a moving track and a moving platform, the moving track extends along the periphery of the submerged arc furnace, the moving platform and the moving track walk in a matched mode, and a walking track is arranged at the top of the moving platform; the robot is matched with the walking track to walk and can clamp an operation tool from the tool library so as to be used for achieving discharging operation on the submerged arc furnace; the tool magazine is arranged at one end of the walking track and used for providing more than one operation tool used by the robot. Automatic stokehole operation can be performed by using independent equipment, so that the cost and the danger are reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the field of robot manufacturing, and in particular relates to a robot system which can automatically perform multiple operations in front of a submerged arc furnace. Background Art

[0002] At present, the application of robots is becoming more and more extensive, especially in high temperature and harsh environment, and robots are more needed to replace manual operation. In the field of industrial silicon smelting, it is necessary to carry out furnace front operations for furnace discharge, such as opening eyes, pulling eyes, plugging eyes, etc. The submerged arc furnace is usually very large in size, and the position of the furnace eye is relatively high, and even needs to be set up in layers. Whether it is operated manually or by machine, it is necessary to build an operating platform and perform corresponding furnace front operations on the operating platform. Under the current circumstances, manufacturers will build two-layer concrete or steel structure furnace discharge platforms while building furnace discharge equipment. The first layer is used for smelting bag walking, and the second layer is used to place the furnace discharge machine for industrial silicon furnace discharge. This kind of two-layer platform, whether it is a concrete or steel platform, requires a large cost to build, and the construction platform needs to occupy a large space. In addition, the furnace discharge equipment can only be manufactured on the platform, the space is relatively small, and the site is also dangerous, so it is very inconvenient.

[0003] Therefore, how to use separate equipment to automate furnace operations, thereby reducing costs and risks and improving work efficiency, is a technical problem that the industry urgently needs to solve. Summary of the invention

[0004] A main object of the present invention is to provide a submerged arc furnace unloading robot system that can use a single device to perform automated furnace operations, thereby reducing costs and risks and improving work efficiency.

[0005] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme:

[0006] As one aspect of the present invention, a submerged arc furnace unloading robot system is provided, which is used for unloading operation of the submerged arc furnace, and comprises: a moving mechanism, a robot and a tool library;

[0007] The moving mechanism includes a moving track and a moving platform, the moving track is extended along the outer circumference of the ore furnace, the moving platform moves in coordination with the moving track, and the top of the moving platform is provided with a moving track;

[0008] The robot moves in coordination with the walking track and can clamp operating tools from the tool library to perform furnace-out operation on the ore-fired furnace;

[0009] The tool library is arranged at one end of the walking track, and is used to provide one or more operating tools used by the robot.

[0010] As in one embodiment of the present invention, the movable track includes two parallel arc-shaped first guide rails and a second guide rail, the center point of the arc is located in the electric arc furnace, and the diameter of the first guide rail is larger than that of the second guide rail; an active drive structure and a passive drive structure are respectively provided on both sides of the bottom of the movable platform, the active drive structure is in rolling cooperation with the first guide rail, and the passive drive structure is in rolling cooperation with the second guide rail.

[0011] As in one embodiment of the present invention, a step structure is provided at one or both ends of the mobile platform, and a protective structure is provided on a side of the mobile platform close to the submerged arc furnace to isolate the heat of the submerged arc furnace.

[0012] As in one embodiment of the present invention, a power supply track is arranged above the moving track, and the power supply track is arranged corresponding to the moving track. The moving mechanism includes a first power supply structure, and the first power supply structure is slidably arranged on the power supply track and connected to the moving platform for supplying power to the moving platform;

[0013] As an embodiment of the present invention, the robot includes a second power supply structure, which is slidably disposed on the power supply track and connected to the robot for supplying power to the robot.

[0014] As in one embodiment of the present invention, the power supply track includes a sliding track and a busbar, the busbar is arranged along the sliding track, and the first power supply structure and the second power supply structure are both slidably matched with the sliding track and electrically connected to the busbar.

[0015] As in one embodiment of the present invention, the first power supply structure and the second power supply structure both include a power supply trolley and a connecting rod, the power supply trolley cooperates with the sliding track, the connecting rod is connected to the power supply trolley, and is respectively connected to the mobile platform and the robot; the mobile platform is also provided with a trailer for connecting to the connecting rod;

[0016] As in one embodiment of the present invention, the connecting rod includes a first rod, a second rod and a fixing member, the first rod and the second rod are telescopically sleeved, and the fixing member is used to lock the relative movement between the first rod and the second rod.

[0017] As in one embodiment of the present invention, the power supply track further includes a power supply copper busbar, and a burn-through device and a power supply mechanism are provided in the tool library, and the burn-through device is connected to the power supply copper busbar via the power supply mechanism.

[0018] As in one embodiment of the present invention, the power-taking mechanism includes a mounting bracket, a power-taking bracket and a telescopic cylinder. The mounting bracket is arranged on the mobile platform, the power-taking bracket is connected to the telescopic cylinder, the telescopic cylinder is arranged on the mounting bracket, and the telescopic rod of the telescopic cylinder pushes the power-taking bracket to make the power-taking bracket electrically connected to the power supply copper busbar, and the power-taking bracket is connected to the burner power-taking mechanism, the power-taking mechanism, the power-taking bracket, the telescopic cylinder, the power-taking bracket, the telescopic cylinder, the power-taking bracket, the power-taking bracket, and the power-taking bracket through a cable.

[0019] As in one embodiment of the present invention, the electric arc furnace unloading robot system also includes a furnace body rotation detection device and a control system. The furnace body rotation detection device is fixed on the rotating furnace body of the electric arc furnace, measures the rotation angle of the rotating furnace body, and feeds back to the control system. The control system controls the robot movement and provides furnace eye position compensation control for the operation of the robot.

[0020] It can be seen from the above technical solution that the advantages and positive effects of the submerged arc furnace unloading robot system of the present invention are:

[0021] In the present invention, a mobile mechanism is provided with a mobile platform, and a robot is provided on the mobile platform. The robot uses operating tools from a tool library on the mobile platform to automatically operate the electric arc furnace in front of the furnace, without the need to build a separate platform. In addition, the mobile mechanism has the ability to move, so it is very convenient to manufacture and move. Therefore, a separate device can be used to perform automated operations in front of the furnace, thereby reducing costs and risks and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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.

[0023] Figure 1 It is a three-dimensional structural schematic diagram of the working state of a specific embodiment of the electric arc furnace unloading robot system of the present invention.

[0024] Figure 2 The figure is a schematic diagram of the working state of a top view of a specific embodiment of a submerged arc furnace unloading robot system of the present invention.

[0025] Figure 3 It is a schematic diagram of the three-dimensional structure of a specific embodiment of the electric arc furnace unloading robot system of the present invention.

[0026] Figure 4 It is a schematic diagram of the three-dimensional structure of the power supply track in a specific embodiment of the ore-forming furnace unloading robot system of the present invention.

[0027] Figure 5 It is a three-dimensional structural schematic diagram of the power supply mechanism in a specific embodiment of the electric arc furnace unloading robot system of the present invention.

[0028] Description of the figure number:

[0029] 1. Submerged arc furnace;

[0030] 2. Mobile mechanism;

[0031] 21. Mobile track;

[0032] 211, first guide rail;

[0033] 212, second guide rail;

[0034] 22. Mobile platform;

[0035] 221, walking track;

[0036] 222. Ladder structure;

[0037] 223. Trailer;

[0038] 3. Robots;

[0039] 4. Tool library;

[0040] 41. Operating tools;

[0041] 5. Power supply mechanism;

[0042] 51. Install the bracket;

[0043] 52. Power supply bracket;

[0044] 53. Telescopic cylinder;

[0045] 6. Power supply track;

[0046] 61. The first power supply structure;

[0047] 611, the first power-collecting trolley;

[0048] 612, first connecting rod;

[0049] 62. Second power supply structure;

[0050] 621, the second power-collecting trolley;

[0051] 622, second connecting rod;

[0052] 63. Sliding track;

[0053] 64. Busbar;

[0054] 65. Shield;

[0055] 7. Power supply copper busbar;

[0056] 8. Burn-through device. DETAILED DESCRIPTION

[0057] 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.

[0058] 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.

[0059] Figure 1 It is a three-dimensional structural schematic diagram of the working state of a specific embodiment of the electric arc furnace unloading robot system of the present invention.

[0060] Figure 2 The figure is a schematic diagram of the working state of a top view of a specific embodiment of a submerged arc furnace unloading robot system of the present invention.

[0061] Figure 3 It is a schematic diagram of the three-dimensional structure of a specific embodiment of the electric arc furnace unloading robot system of the present invention.

[0062] Figure 4 It is a schematic diagram of the three-dimensional structure of the power supply track in a specific embodiment of the ore-forming furnace unloading robot system of the present invention.

[0063] Figure 5 It is a three-dimensional structural schematic diagram of the power supply mechanism in a specific embodiment of the electric arc furnace unloading robot system of the present invention.

[0064] like Figures 1 to 5As shown, the submerged arc furnace unloading robot system of the present invention is applied to the unloading operation of the submerged arc furnace 1. The submerged arc furnace 1 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 submerged arc furnace 1 includes a furnace body, an electrode system, a charging system and a smoke exhaust system. The submerged arc furnace uses the arc heat generated by the electrode 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 electrode, and an arc is generated between the electrode and the charge, and 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 submerged arc furnace 1 is mainly used in ferroalloy, 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 submerged arc furnace to generate calcium carbide. Since a large amount of electrical energy is required to maintain high temperature, the energy consumption of the submerged arc furnace is relatively high. Submerged arc furnaces require professional operators to monitor and adjust to ensure the stability and safety of the production process.

[0065] The furnace front operation of the ore-fired furnace includes multiple processes such as eye opening, eye pulling, cleaning, and eye plugging. Among them, eye opening: use an eye opening machine or steel chisel and other tools to open the furnace outlet so that the liquid metal and slag in the furnace can flow out smoothly. This requires controlling the size and angle of the opening. Eye pulling: Sometimes oxygen or other flux is needed to help the liquid product flow out smoothly, especially when the slag or metal liquid has poor fluidity. Cleaning: After the furnace is discharged, the residues and nodules around the furnace mouth should be cleaned to ensure the next furnace discharge operation is carried out smoothly. Eye plugging: After the furnace discharge operation is completed, the furnace outlet should be sealed in time. Generally, special plugging materials, such as refractory mud, are used to ensure the stability of the furnace environment and prevent excessive heat loss and leakage of materials in the furnace.

[0066] The electric arc furnace unloading robot system of the present invention comprises: a mobile mechanism 2, a robot 3 and a tool library 4. Among them, the mobile mechanism 2 comprises a mobile track 21 and a mobile platform 22. The mobile track 21 is extended along the outer periphery of the electric arc furnace 1 to form an annular or circular walking channel to facilitate the movement of the mobile platform 22 along the periphery of the electric arc furnace 1. In this embodiment, the mobile track 21 comprises two parallel arc-shaped first guide rails 211 and second guide rails 212, the center point of the arc is located in the electric arc furnace 1, and the diameter of the first guide rail 211 is larger than the second guide rail 212, so that the electric arc furnace 1, the second guide rail 212, and the first guide rail 211 sequentially form three concentric circles from the inside to the outside. The first guide rail 211 and the second guide rail 212 can be set on the ground, and the foundation must be solid and flat to withstand the weight of the track and the running object. In addition, the track interface should have a smooth transition to avoid the situation of height difference or excessive gap.

[0067] In this embodiment, the mobile platform 22 forms a two-layer structure to facilitate the operator and the robot 3 to be at the same height as the furnace eye of the ore-heating furnace 1. The lower layer cooperates with the mobile track 21 to move, and the upper layer is provided with the robot 3 to facilitate the robot 3 to operate the ore-heating furnace 1 in front of the furnace. The two sides of the bottom of the mobile platform 22 are respectively provided with an active drive structure and a passive drive structure, wherein the active drive structure rolls with the first guide rail 211, and the passive drive structure rolls with the second guide rail 212, forming an external active drive and an internal passive drive form. Because the external walking distance of the mobile platform 22 is greater than the internal walking distance, the active drive is placed outside to ensure the accuracy of the driving distance and facilitate detection and control. In addition, a walking track 221 is provided on the top of the mobile platform 22. The walking track 221 can be two parallel straight tracks, and in other embodiments, it can also be set as an arc track to adapt to the outer structure of the ore-heating furnace 1. The robot 3 can walk on it stably and reliably to adjust the lateral position of the robot 3 relative to the ore-heating furnace 1.

[0068] In this embodiment, a step structure 222 is provided at one or both ends of the mobile platform 22. Usually, the step structure 222 can be provided at both ends to facilitate the operator to go up and down. In this embodiment, a protective structure is provided on the side of the mobile platform 22 close to the ore-heating furnace 1 to isolate the heat of the ore-heating furnace 1. A heat insulation board can be used to completely block the side close to the ore-heating furnace 1. It can also be set as a double-layer partition structure with ventilation to improve its heat insulation effect. A tow frame 223 and an electric control box are provided on the mobile platform 22. The tow frame 223 can be connected to a power supply and electrically connected to the electric control box to supply power to the electric control box. The electric control box controls various actions of the platform and supplies power to the above-mentioned drive structure. A power-taking shaft that is convenient for matching with the power transmission structure is provided on the upper part of the tow frame 223. A groove or a frame can be provided on the power-taking shaft to match the ball head of the first connecting rod 612 (which will be described in detail below and will not be repeated here).

[0069] In this embodiment, the mobile platform 22 should ensure that the connections between the components are firm, especially when it may be vibrated or impacted during movement. During the movement, the speed should be kept low and stable, and sudden acceleration, sudden braking or sharp turns should be avoided. The operator should pay close attention to the status of the platform and the surrounding environment to prevent accidental collisions with equipment or personnel. When placing tools and materials on the mobile platform 22, care should be taken to keep the load even and avoid shifting the center of gravity. For example, a large amount of heavy objects should not be piled on one side of the mobile platform 22.

[0070] In this embodiment, the robot 3 cooperates with the walking track 221 to walk, and can clamp the operating tool 41 from the tool library 4 to realize the furnace discharge operation of the ore-heating furnace 1. The robot 3 integrates the functions of multiple ore-heating furnace discharge equipment, including eye opening equipment and eye blocking equipment. Eye opening equipment is a commonly used equipment that opens the discharge port of the ore-heating furnace by mechanical impact or rotation. Its power source can be electric or pneumatic. For example, by using a motor to drive the drill bit to rotate and apply a certain pressure, it can quickly and effectively penetrate the condensate at the furnace mouth and open the channel to allow the liquid product in the furnace to flow out. Steel chisels can also be used, which are still used in some small ore-heating furnaces or special circumstances. Use the discharge equipment to automatically knock the steel chisel to break the hard blocks at the furnace mouth and open the channel. The eye blocking equipment is mainly used to block the discharge port after the discharge operation is completed. It can accurately control the amount and position of the plugging material (such as refractory mud) so that the furnace mouth can be quickly and firmly sealed. The plugging material can be injected into the furnace mouth by extrusion, or the material can be sprayed into the furnace mouth like a spray gun. Mud gun is also a method for plugging the furnace, especially suitable for large-scale submerged arc furnaces. It can generate a large thrust to forcefully push the plugging material into the furnace mouth, ensure the tightness of the furnace mouth plugging, and prevent leakage of materials in the furnace. In addition, when the fluidity of liquid products (such as molten iron, calcium carbide, etc.) is poor, an oxygen gun can be used to spray oxygen into the furnace outlet or the furnace. Oxygen reacts with high-temperature furnace charge to generate heat to enhance the fluidity of slag or molten metal, which helps to smoothly discharge the furnace.

[0071] In this embodiment, the robot 3 includes a walking part, a chassis, a driving part and an operating arm. Among them, the walking part is installed at the lower part of the chassis, cooperates with the walking track 221, and can include multiple pairs of walking wheels, anti-tilting wheels and guide wheels to realize the lateral walking of the robot 3 to adjust its lateral position. The chassis is the supporting structure of the robot, which is used to support the driving part. It needs to have sufficient strength. The electric control structure and hydraulic structure can be set on it, and corresponding protection is performed. The driving part mainly realizes various adjustment actions, specifically protecting lifting, rotation, pitching, etc., which can be a combination of one or two functions. The operating arm is installed on the driving part to realize the corresponding furnace front operation. The operating arm is mainly a telescopic action to cooperate with the use of the operating tool 41 to perform furnace front operation on the furnace eye of the ore-heating furnace 1. Since the operating arm is close to the ore-heating furnace 1, it must be directly roasted by the high temperature of the ore-heating furnace 1. Therefore, a high temperature protection structure must be added to provide necessary protection for the operating arm itself and the electro-hydraulic structure on the operating arm.

[0072] In this embodiment, the tool library 4 is arranged at one end of the walking track 221, and is used to provide one or more operating tools 41 used by the robot 3. The operating tool 41 may include, but is not limited to, a drill rod, a burner, a mud gun barrel, etc. Among them, the drill rod can be used to poke the furnace eye of the ore-heating furnace 1, and needs to have a high strength, and the diameter needs to match the furnace eye size. The drill rod is mainly used to drill into the furnace eye of the ore-heating furnace 1, which can be either an eye-opening operation, or an eye-pulling and eye-expanding operation, and the corresponding furnace front operation is performed through mechanical drilling force. The burner is to melt the material in the furnace eye by using a large current. When using the burner, you need to pay attention to safety, which will produce bursts and need to take necessary protection. The mud gun barrel is mainly used to block the furnace eye of the ore-heating furnace 1. The mud gun is sent into the furnace eye through the mud gun barrel to block the furnace eye. In this embodiment, the robot 3 needs to adjust its position relative to the ore-heating furnace 1 through the walking track 221 to align with the furnace eye that needs to be operated.

[0073] In this embodiment, a power supply track 6 is provided above the mobile track 21, and the power supply track 6 is provided corresponding to the mobile track 21 to supply power to the mobile platform 22 and the robot 3. Among them, the mobile mechanism 2 includes a first power supply structure 61, which is slidably provided on the power supply track 6 and connected to the mobile platform 22 to supply power to the mobile platform 22. In this embodiment, the robot 3 includes a second power supply structure 62, which is slidably provided on the power supply track 6 and connected to the robot 3 to supply power to the robot 3. The first power supply structure 61 and the second power supply structure 62 are both slidably connected to the power supply track 6 to supply power to the mobile platform 22 and the robot 3 respectively. A distance needs to be maintained between the first power supply structure 61 and the second power supply structure 62 to avoid connection and interference, so the positions of the settings are separated. When the mobile platform 22 walks along the mobile track 21, the first power supply structure 61 and the second power supply structure 62 can move on the power supply track 6 to keep the power supply state at all times.

[0074] In this embodiment, the power supply track 6 includes a sliding track 63 and a busbar 64. The busbar 64 is arranged along the sliding track 63, and the first power-taking structure 61 and the second power-taking structure 62 are both slidably matched with the sliding track 63 and electrically connected to the busbar 64. The busbar is a device for powering a mobile device, including a conductor part, an insulating material and a collector. The conductor part is the core part of the busbar, which is usually made of materials with good conductivity such as copper or aluminum. For example, the copper busbar has good conductivity and low resistance, which can effectively reduce power loss. It has various shapes, including monopolar and multipolar types, and the multipolar busbar can transmit a variety of different electrical signals at the same time. The insulating material is wrapped around the outside of the conductor to play an insulating role. Common insulating materials include plastics, rubber, etc. These materials must not only be able to withstand a certain voltage, but also be wear-resistant and aging-resistant to ensure the safety of the busbar during long-term use. The collector is installed on the mobile device and contacts the conductor of the busbar to obtain electrical energy. It is generally made of materials such as graphite and copper alloy. For example, the graphite current collector is soft in texture, can be in good contact with the busbar, and has less wear on the busbar during sliding. The installation of the busbar must ensure horizontality and straightness. If the installation is not smooth, the current collector and the busbar will have poor contact, causing electric sparks, power outages, etc. Therefore, in this embodiment, a shield 65 is provided on the outside of the busbar 64 to protect the busbar 64 and the moving track 63.

[0075] In this embodiment, the first power supply structure 61 and the second power supply structure 62 both include a power supply trolley and a connecting rod. Among them, the first power supply structure 61 includes a first power supply trolley 611 and a first connecting rod; the second power supply structure 62 includes a second power supply trolley 621 and a second connecting rod 622. The first power supply trolley 611 and the second power supply trolley 621 are both matched with the sliding track 63, and are arranged at intervals and move thereon. One end of the first connecting rod 612 is connected to the first power supply trolley 611 through a ball joint, and the other end is electrically connected to the trailer 223, thereby supplying power to the mobile platform 22. One end of the second connecting rod 622 is connected to the second power supply trolley 621 through a ball joint, and the other end is electrically connected to the robot 3, thereby supplying power to the robot 3. Among them, the length of the first connecting rod 622 is greater than the length of the first connecting rod 612, and they are separated from each other.

[0076] In this embodiment, the first connecting rod 612 and the second connecting rod 622 can both be set as telescopic rods, or only one of them can be set as a telescopic rod. The telescopic rod may include a first rod, a second rod and a fixing member, the first rod and the second rod are telescopically connected, and the fixing member is used to lock the relative movement between the first rod and the second rod. Moreover, the fixing member can have a certain preset force, and when the relative force on the first rod and the second rod reaches a certain preset value, the relative position between the two can change, and telescopic movement can be achieved. When the force does not reach the preset value, the relative position of the first rod and the second rod is locked by the fixing member, so that the first connecting rod 612 and / or the second connecting rod 622 does not telescope. This telescopic structure can facilitate the adjustment of the mobile platform 22 when the distance changes and the angle changes, so as to ensure the stable power supply of the mobile platform 22 and the robot 3.

[0077] In this embodiment, the power supply track 6 also includes a power supply copper bar 7, and a burn-through device 8 and a power supply mechanism 5 are provided in the tool library, and the burn-through device 8 is connected to the power supply copper bar 7 through the power supply mechanism 5. The power supply copper bar 7 is arranged in parallel with the sliding track 63 and the busbar 64, and both are structures surrounding the ore-forming furnace 1, wherein the sliding track 63 and the busbar 64 are located on the outside, and the power supply copper bar 7 is located on the inside, and the center of the ore-forming furnace 1 is also used as the center point to form a circular or arc structure. The power supply copper bar is a common electrical equipment, mainly used for transmitting electric energy. The main component is copper, which has good electrical conductivity, and its electrical conductivity is second only to silver, which can effectively reduce the loss of electric energy during transmission. Moreover, copper has good corrosion resistance and can work stably for a long time under certain environmental conditions. Compared with electric wires, copper bars can carry larger currents. This is because the cross-sectional area of ​​copper bars is larger. According to the current calculation formula (I=U / R, where R is related to the cross-sectional area of ​​the conductor), under the same material and voltage, conductors with large cross-sectional areas can allow more current to pass.

[0078] In this embodiment, the tool library 4 includes a plurality of support frames to support different operating tools 41, and the types and quantities of the operating tools 41 are determined according to the actual needs on site. In this embodiment, the tool library 4 also includes a power supply mechanism 5 and a burn-through device 8. The power supply mechanism 5 is installed on the upper part of the mobile platform 22 and on the side of the walking track 221 away from the trailer 223. In this embodiment, the power supply mechanism 5 includes a mounting bracket 51, a power supply bracket 52, a telescopic cylinder 53 and a mounting leg. Among them, the mounting bracket 51 is arranged on the mobile platform 22 through the mounting leg, and a transverse movement structure is arranged between the mounting leg and the mounting bracket 51. By adjusting the hand wheel of the transverse movement structure, the mounting bracket 51 can be made to move transversely relative to the mounting leg, thereby adjusting the position of the power supply bracket 52. A fixed seat is arranged on one side of the upper part of the mounting bracket 51, and the middle part of the power supply bracket 52 is fixed to the fixed seat. One end of the mounting bracket 51 is located above the mounting bracket 51, and the other end extends to the outside and downward, and is connected to the burn-through device 8 through a cable. The telescopic cylinder 53 is arranged at the top of the mounting bracket 51, and the telescopic rod of the telescopic cylinder 53 pushes the power-taking bracket 52 upward, and the power-taking bracket 52 is deformed so that the power-taking bracket 52 is electrically connected to the power supply copper bus 7. Figure 5 As shown, the telescopic rod of the telescopic cylinder 53 is extended, and the power supply bracket 52 has been deformed. The power supply bracket 52 is raised or lowered by the telescopic cylinder 53. When it is raised, the upper part abuts against the power supply copper bar 7, thereby achieving electrical connection and supplying power to the burner 8 through the cable, so that the burner 8 remains powered when operated by the robot 3, so as to perform furnace front operation on the furnace eye of the ore arc furnace 1.

[0079] In this embodiment, the ore-fired furnace unloading robot system further includes a furnace body rotation detection device and a control system (not shown in the figure). The furnace body rotation detection device is fixed on the rotating furnace body of the ore-fired furnace 1, measures the rotation angle of the rotating furnace body, and feeds back to the control system. The control system controls the action of the robot 3 and provides furnace eye position compensation control for the operation of the robot 3. Components such as speed sensors and angle encoders can be used for detection. The control system analyzes and judges the collected data. In order to accurately control the action of the robot 3, it is also necessary to monitor the position of the mobile platform 22 on the mobile track 21, the position of the robot 3 on the walking track 221, and various actions of the robot 3. The control system needs to comprehensively analyze various data to determine the position and state of the robot 3, so as to send action instructions to the robot for intelligent operation.

[0080] In this embodiment, the mobile platform 22 is installed on the mobile track 21, the on-site electric control box provides emergency stop, start, parameter display, etc. for the equipment, the annular copper bar 7 is fixed on the copper bar track, and the busbar 64 provides power for the robot 3 and the mobile platform 22. The robot 3 provides the industrial silicon ore heating furnace 1 with furnace unloading and eye plugging operations, and can be remotely controlled. The furnace body rotation detection device is fixed on the rotating furnace body, measures the rotation angle of the furnace body, and feeds back to the control system to provide furnace eye position compensation for the operation of the robot 3. The walking track 221 is laid on the mobile platform 22, and two electric drive wheels are installed at the bottom of the mobile platform 22, which are arranged on the outside, and two driven wheels are arranged on the inside. The mobile platform 22 walks along the arc on the mobile track 21 through the walking wheels. One end of the second connecting rod 622 is connected to the robot 3, and the other end is connected to the second power-taking trolley 621. The burner 8 is a burner tool used by the robot 3. The burner is usually placed on the tool rack. When the industrial silicon ore furnace needs to be taken out of the furnace, the robot runs to the burner tool library 4, takes the burner 8, and performs the eye-burning action. The power-taking bracket 52 is connected to the burner 8. When power is needed, the telescopic cylinder 53 is pushed up, and the power-taking bracket 52 is connected to the power supply copper bus 7 to complete the power supply of the burner 8. The tool library 4 is used to place other tools for the robot 3 to use and perform furnace eye operations. The trailer 223 is connected to the first connecting rod 612, on which a transmission line is laid to provide walking power for the mobile platform 22. The busbar 64 is connected to an external 380V power supply to provide power for the entire system.

[0081] In the present invention, a mobile mechanism 2 is provided with a mobile platform 22, and a robot 3 is provided on the mobile platform 22. The robot 3 uses an operating tool 41 from a tool library 4 on the mobile platform 22 to automatically operate the electric arc furnace 1 in front of the furnace, without having to build a separate platform. In addition, the mobile mechanism 2 has the ability to move, so it is very convenient to manufacture and move, so that a separate device can be used to perform automated furnace operations, thereby reducing costs and risks and improving work efficiency.

[0082] In addition, compared with the prior art, the present invention has the following beneficial effects:

[0083] Compared with traditional steel structures or concrete two-story buildings, the mobile platform is compact, cost-saving, and takes up less space; the mobile platform is easy to install and detachable; the robot 3 and the mobile platform 22 are powered on the same busbar 64, which reduces high-temperature damage and mechanical folding damage compared to the long-distance and long-drag chain transmission lines in the past; the robot 3 is arranged on the mobile platform 22, and only a short-distance walking track 221 is arranged, which reduces the robot operation a lot compared to the long track walking in the past; the robot 3 track is shortened, and the distance for grabbing the operating tool 41 and the burner 8 is shortened, which is more convenient and saves more time than before. Compared with the double-track electric power-on trolley, the fixed power-on structure of the mobile platform 22 reduces the track and motor, simplifies the power-on mechanism, has a simple structure, and is not prone to failure; the direct-connected sliding contact power-on structure is simple, which reduces high-temperature damage, mechanical folding damage, and cost compared to the long-distance and long-drag chain oil pipelines in the past.

[0084] 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 submerged arc furnace unloading robot system, used for the unloading operation of the submerged arc furnace, characterized in that: include: Mobile mechanisms, robots and tool libraries; The moving mechanism includes a moving track and a moving platform, the moving track is extended along the outer circumference of the ore furnace, the moving platform moves in coordination with the moving track, and the top of the moving platform is provided with a moving track; The robot moves in coordination with the walking track and can clamp operating tools from the tool library to perform furnace-out operation on the ore-fired furnace; The tool library is arranged at one end of the walking track, and is used to provide one or more operating tools used by the robot.

2. The submerged arc furnace unloading robot system according to claim 1, characterized in that: The movable track includes two parallel arc-shaped first guide rails and a second guide rail, the center point of the arc is located in the ore-arc furnace, and the diameter of the first guide rail is larger than that of the second guide rail; an active drive structure and a passive drive structure are respectively arranged on both sides of the bottom of the movable platform, the active drive structure is in rolling cooperation with the first guide rail, and the passive drive structure is in rolling cooperation with the second guide rail.

3. The submerged arc furnace unloading robot system according to claim 1, characterized in that: One end or both ends of the mobile platform are provided with a step structure, and a protective structure is provided on a side of the mobile platform close to the submerged arc furnace for isolating the heat of the submerged arc furnace.

4. The submerged arc furnace unloading robot system according to claim 1, characterized in that: A power supply track is arranged above the moving track, and the power supply track is arranged corresponding to the moving track. The moving mechanism includes a first power supply structure, which is slidably arranged on the power supply track and connected to the moving platform for supplying power to the moving platform.

5. The submerged arc furnace unloading robot system according to claim 4, characterized in that: The robot includes a second power supply structure, which is slidably disposed on the power supply track and connected to the robot for supplying power to the robot.

6. The submerged arc furnace unloading robot system according to claim 5, characterized in that: The power supply track includes a sliding track and a busbar, the busbar is arranged along the sliding track, and the first power taking structure and the second power taking structure are both slidably matched with the sliding track and electrically connected to the busbar.

7. The submerged arc furnace unloading robot system according to claim 6, characterized in that: The first power supply structure and the second power supply structure both include a power supply trolley and a connecting rod. The power supply trolley cooperates with the sliding track, and the connecting rod is connected to the power supply trolley and is respectively connected to the mobile platform and the robot. A trailer is also provided on the mobile platform for connecting to the connecting rod.

8. The submerged arc furnace unloading robot system according to claim 7, characterized in that: The connecting rod comprises a first rod, a second rod and a fixing member, the first rod and the second rod are telescopically sleeved, and the fixing member is used to lock the relative movement between the first rod and the second rod.

9. The submerged arc furnace unloading robot system according to claim 6, characterized in that: The power supply track also includes a power supply copper busbar. A burn-through device and a power supply mechanism are provided in the tool library. The burn-through device is connected to the power supply copper busbar through the power supply mechanism.

10. The submerged arc furnace unloading robot system according to claim 9, characterized in that: The power-taking mechanism includes a mounting bracket, a power-taking bracket and a telescopic cylinder. The mounting bracket is arranged on the mobile platform. The power-taking bracket is connected to the telescopic cylinder. The telescopic cylinder is arranged on the mounting bracket. The telescopic rod of the telescopic cylinder pushes the power-taking bracket to electrically connect the power supply copper busbar. The power-taking bracket is connected to the burner through a cable.

11. The submerged arc furnace unloading robot system according to claim 1, characterized in that: The electric arc furnace unloading robot system also includes a furnace body rotation detection device and a control system. The furnace body rotation detection device is fixed on the rotating furnace body of the electric arc furnace, measures the rotation angle of the rotating furnace body, and feeds back to the control system. The control system controls the robot movement and provides furnace eye position compensation control for the operation of the robot.

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