Submerged arc furnace unloading robot system

Abstract

The present invention discloses a submerged arc furnace tapping robot system for performing submerged arc furnace tapping operations. The system is characterized by comprising: a mobile mechanism, a robot, and a tool library. The mobile mechanism includes a mobile track and a mobile platform. The mobile track extends along the periphery of the submerged arc furnace, and the mobile platform cooperates with the mobile track for movement. The mobile platform is provided with a travel track on top. The robot cooperates with the travel track and can clamp operating tools from the tool library to perform submerged arc furnace tapping operations. The tool library is provided at one end of the travel track and is used to provide one or more operating tools used by the robot. The present invention can use a single device to perform automated furnace operations, reducing costs and risks while improving work efficiency.

Description

Technical Field

[0001] The present 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] Currently, the use of robots is becoming increasingly widespread, especially in harsh, high-temperature environments, where their use is increasingly replacing manual operations. In the industrial silicon smelting industry, furnace operations such as opening, pulling, and plugging the furnace are essential for tapping. Submerged arc furnaces are typically very large, with the furnace eye positioned high and sometimes requiring a multi-level setup. Whether operated manually or by machine, an operating platform is required to perform these operations. Currently, manufacturers construct a two-story concrete or steel platform alongside the tapping equipment: a first-story platform for the smelting ladle to move, and a second-story platform for the tapping machine to tap the industrial silicon. This two-story platform, whether constructed of concrete or steel, is costly and requires considerable space. Furthermore, tapping equipment can only be manufactured on the platform, which is confined and dangerous, making it 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 object of the invention, the present invention adopts the following technical solutions:

[0006] According to one aspect of the present invention, a submerged arc furnace unloading robot system is provided, which is used for unloading operations of the submerged arc furnace and includes: 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 periphery of the ore furnace. The moving platform moves in conjunction with the moving track. The top of the moving platform is provided with a moving track.

[0008] The robot moves in coordination with the travel track and can clamp operating tools from the tool library to perform furnace unloading operations on the submerged arc 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 stepped 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 for isolating the heat of the submerged arc furnace.

[0012] According to one embodiment of the present invention, a power supply track is provided above the movable track, and the power supply track is provided corresponding to the movable track. The movable mechanism includes a first power supply structure, which is slidably provided on the power supply track and connected to the movable platform for supplying power to the movable platform.

[0013] As in one 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 both slide with the sliding track and are electrically connected to the busbar.

[0015] According to one embodiment of the present invention, the first power supply structure and the second power supply structure each 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. The mobile platform is further 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 connected, 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 the tool library is provided with a burn-through device and a power extraction mechanism, and the burn-through device is connected to the power supply copper busbar via the power extraction 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 bus. 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 movement of the robot and provides furnace eye position compensation control for the operation of the robot.

[0020] From the above technical solution, it can be seen 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. Moreover, the mobile mechanism 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 front operations, 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained like these drawings without paying any creative work.

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

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

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

[0027] Figure 5 It is a schematic diagram of the three-dimensional structure 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. Moving 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. 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. Conductor rail;

[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 embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art. Like reference numerals in the figures represent like 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 are shown by way of example different exemplary structures, systems and steps that can implement aspects of the present invention. 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" and the like may be used in this specification to describe different exemplary features and elements of the present invention, these terms are used herein for convenience only, such as the orientation of the examples as 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 This is a schematic diagram of the three-dimensional structure of the working state of a specific embodiment of the submerged arc furnace unloading robot system of the present invention.

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

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

[0063] Figure 5 It is a schematic diagram of the three-dimensional structure 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 tapping robot system of the present invention is used for tapping operations in a submerged arc furnace 1. Submerged arc furnace 1, also known as an electric arc furnace or resistance furnace, is primarily used for reducing and smelting ore to produce various products, such as ferroalloys, industrial silicon, and calcium carbide. Submerged arc furnace 1 comprises a furnace body, an electrode system, a charging system, and a fume exhaust system. Submerged arc furnaces utilize arc heat generated by the electrodes and the resistance heat of the charge to melt the charge and initiate a reduction reaction. Current is introduced into the furnace through the electrodes, generating an arc between the electrodes and the charge. The high temperature of the arc melts the charge. Simultaneously, the charge's own resistance also generates heat, further promoting melting and reaction. Submerged arc furnace 1 is primarily used in industries such as ferroalloys, industrial silicon, and calcium carbide. For example, in ferroalloy production, it can be used to produce ferrosilicon, ferromanganese, and ferrochrome; in industrial silicon production, it is a key production facility; and in calcium carbide production, lime and coke react within the submerged arc furnace to produce calcium carbide. Because it requires a large amount of electrical energy to maintain high temperatures, submerged arc furnaces consume a relatively high amount of energy. Submerged arc furnaces require professional operators to monitor and adjust them to ensure the stability and safety of the production process.

[0065] The furnace-front operation of the electric arc 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 fluxes are 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 residue, nodules, etc. around the furnace mouth must 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 must 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 submerged arc furnace unloading robot system of the present invention comprises a mobile mechanism 2, a robot 3, and a tool library 4. The mobile mechanism 2 includes a mobile track 21 and a mobile platform 22. The mobile track 21 extends along the periphery of the submerged arc furnace 1, forming an annular or circular path to facilitate movement of the mobile platform 22 along the periphery of the submerged arc furnace 1. In this embodiment, the mobile track 21 comprises two parallel, arc-shaped first and second guide rails 211 and 212, with the arcs centered within the submerged arc furnace 1. The first guide rail 211 has a larger diameter than the second guide rail 212, thereby forming three concentric circles from the inside out of the submerged arc furnace 1, the second guide rail 212, and the first guide rail 211. The first and second guide rails 211 and 212 can be installed on the ground. The foundation must be solid and flat, capable of supporting the weight of the track and the moving object. Furthermore, the rail interfaces must have a smooth transition to avoid height differences or excessive gaps.

[0067] In this embodiment, the mobile platform 22 is constructed in two layers to facilitate the operator and robot 3 to be positioned at the same height as the furnace eye of the submerged arc furnace 1. The lower layer is coordinated with the mobile rails 21 for movement, while the upper layer houses the robot 3, facilitating furnace-front operations. An active drive structure and a passive drive structure are located on either side of the bottom of the mobile platform 22. The active drive structure rolls with the first guide rail 211, while the passive drive structure rolls with the second guide rail 212, creating an externally active, internally driven drive system. Because the external travel distance of the mobile platform 22 is greater than the internal travel distance, placing the active drive externally ensures accurate drive distance and facilitates monitoring and control. Furthermore, a travel track 221 is located on the top of the mobile platform 22. The travel track 221 can be two parallel straight rails, or in other embodiments, a curved track to accommodate the external structure of the submerged arc furnace 1. The robot 3 can travel stably and reliably on these tracks, allowing for adjustment of the robot's lateral position relative to the submerged arc furnace 1.

[0068] In this embodiment, a stepped structure 222 is provided at one or both ends of the mobile platform 22, typically at both ends, to facilitate ascending and descending. In this embodiment, a protective structure is provided on the side of the mobile platform 22 proximate to the ore-heating furnace 1 to insulate against the heat of the furnace 1. A heat shield can be used to completely shield the side proximate to the ore-heating furnace 1. Alternatively, a double-layered barrier structure with ventilation can be provided to enhance the insulation effect. A carriage 223 and an electrical control box are provided on the mobile platform 22. The carriage 223 can be connected to a power source and electrically connected to the electrical control box, supplying power to the control box, which controls various platform movements and supplies power to the aforementioned drive structure. A power supply shaft is provided on the upper portion of the carriage 223 to facilitate mating with the power supply structure. The power supply shaft can be provided with a groove or frame to mate with the ball head of the first connecting rod 612 (described in detail below and not detailed here).

[0069] In this embodiment, the mobile platform 22 must ensure secure connections between all components, especially if it is subject to vibration or impact during movement. During movement, the platform must be kept at a low, steady speed, avoiding sudden acceleration, braking, or sharp turns. Operators must closely monitor the platform's status and surroundings to prevent accidental collisions with equipment or personnel. When placing tools and materials on the mobile platform 22, ensure that the load is evenly distributed to avoid a shift in the center of gravity. For example, do not stack large quantities of heavy objects on one side of the mobile platform 22.

[0070] In this embodiment, the robot 3 travels in conjunction with the travel rails 221 and can grip an operating tool 41 from the tool library 4 to perform tapping operations on the submerged arc furnace 1. The robot 3 integrates the functions of multiple submerged arc furnace tapping equipment, including eye-opening and eye-blocking equipment. Eye-opening equipment is a commonly used device that opens the tapping port of a submerged arc furnace through mechanical impact or rotation. Its power source can be electric or pneumatic. For example, a motor-driven drill bit rotates and applies pressure, quickly and effectively penetrating condensate at the furnace port, opening a channel for the liquid product within. A steel chisel can also be used, which is still used in some small submerged arc furnaces or in special circumstances. The tapping equipment automatically strikes the chisel, breaking up any hard blocks at the furnace port and opening the channel. Eye-blocking equipment is primarily used to seal the tapping port after the tapping operation is completed. It precisely controls the amount and placement of blocking material (such as refractory clay) to ensure a quick and secure seal. The blocking material can be injected into the furnace port by extrusion or sprayed into the furnace port like a spray gun. Mud guns are also a method for plugging furnace openings, particularly suitable for large submerged arc furnaces. They generate a significant thrust, forcing the plugging material into the furnace opening, ensuring a tight seal and preventing leakage. Furthermore, when liquid products (such as molten iron or calcium carbide) exhibit poor fluidity, an oxygen gun can be used to inject oxygen into the furnace outlet or into the furnace. This oxygen reacts with the high-temperature charge, generating heat that enhances the fluidity of the slag or molten metal, facilitating smooth discharge.

[0071] In this embodiment, the robot 3 comprises a walking unit, a chassis, a drive unit, and an operating arm. The walking unit is mounted on the lower portion of the chassis and cooperates with the walking track 221. It can include multiple pairs of walking wheels, anti-tilt wheels, and guide wheels to enable lateral movement of the robot 3 and adjust its lateral position. The chassis is the robot's supporting structure, used to support the drive unit. It needs to be sufficiently strong and can be equipped with electrical control and hydraulic structures, as well as appropriate protection. The drive unit primarily performs various adjustment actions, specifically protecting lifting, rotation, and pitching, and can be one or a combination of these functions. The operating arm is mounted on the drive unit and is used to perform furnace-front operations. The operating arm primarily performs telescopic movements, facilitating furnace-front operations using the operating tool 41 to operate the furnace eye of the ore-heating furnace 1. Since the operating arm operates close to the ore-heating furnace 1 and is directly exposed to the high temperatures of the furnace 1, it must be equipped with a high-temperature protection structure to provide necessary protection for the operating arm itself and the electro-hydraulic structures on the operating arm.

[0072] In this embodiment, a tool library 4 is located at one end of the travel track 221 and is used to provide one or more operating tools 41 used by the robot 3. Operating tools 41 may include, but are not limited to, drill rods, drill pipes, burn-through tools, and mud gun barrels. The drill rod can be used to drill holes in the furnace eye of the submerged arc furnace 1 and requires high strength and a diameter that matches the furnace eye size. The drill rod is primarily used for drilling into the furnace eye of the submerged arc furnace 1, which can be used for opening, pulling, or expanding the hole, utilizing mechanical drilling force to perform corresponding furnace-front operations. The burn-through tool melts the material in the furnace eye by applying a high current. Safety precautions must be taken when using the burn-through tool, as it can cause ejection, requiring necessary protection. The mud gun barrel is primarily used for plugging the furnace eye of the submerged arc furnace 1. Mud gun barrels are used to insert a mud gun into the furnace eye to seal the hole. In this embodiment, the robot 3 needs to adjust its position relative to the submerged arc furnace 1 via the travel track 221 to align with the furnace eye 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. The mobile mechanism 2 includes a first power supply structure 61, which is slidably provided on the power supply track 6 and is 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 is 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, and therefore the positions of the settings are separated. When the mobile platform 22 moves 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. Both the first power extraction structure 61 and the second power extraction structure 62 slide in engagement with the sliding track 63 and are electrically connected to the busbar 64. A busbar is a device used to power mobile devices and consists of a conductor, insulating material, and a current collector. The conductor is the core of the busbar and is typically made of materials with good electrical conductivity, such as copper or aluminum. For example, copper busbars offer excellent conductivity and low resistance, effectively reducing power loss. They come in a variety of shapes, including single-pole and multi-pole types. Multi-pole busbars can simultaneously transmit multiple different electrical signals. Insulating material wraps around the conductor to provide insulation. Common insulating materials include plastic and rubber. These materials must not only withstand a certain voltage but also be wear-resistant and age-resistant to ensure the safety of the busbar during long-term use. The current collector is installed on the mobile device and contacts the busbar conductor to extract power. It is typically made of materials such as graphite and copper alloy. For example, graphite current collectors are soft, ensuring good contact with the busbar and minimizing wear during sliding. Busbar installation requires levelness and straightness. Improper installation can lead to poor contact between the current collector and busbar, causing sparks and power outages. Therefore, in this embodiment, a protective shield 65 is installed outside the busbar 64 to protect it 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. 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 both cooperate with the sliding rail 63 and are arranged at intervals to 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. 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 can 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. 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 achieve telescoping. 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 adjustment when the mobile platform 22 moves to produce changes in distance and angle, so as to ensure stable power supply to the mobile platform 22 and the robot 3.

[0077] In this embodiment, the power supply track 6 also includes a copper power busbar 7. A burn-through device 8 and a power extraction mechanism 5 are provided in the tool compartment. The burn-through device 8 is connected to the copper power busbar 7 via the power extraction mechanism 5. The copper power busbar 7 is arranged parallel to the sliding track 63 and the busbar 64. Both structures surround the submerged arc furnace 1. The sliding track 63 and busbar 64 are located on the outside, while the copper power busbar 7 is located on the inside. Similarly, the center of the submerged arc furnace 1 is used as the center point, forming a circular or arc-shaped structure. The copper power busbar is a common electrical device primarily used for transmitting electrical energy. Its main component is copper, which has excellent electrical conductivity, second only to silver, and can effectively reduce energy loss during transmission. Copper also has good corrosion resistance and can operate stably for long periods of time under certain environmental conditions. Compared to electrical wires, copper busbars can carry greater current. This is because the copper busbar has a larger cross-sectional area. According to the current calculation formula (I = U / R, where R is related to the conductor's cross-sectional area), under the same material and voltage, a conductor with a larger cross-sectional area can allow more current to flow.

[0078] In this embodiment, the tool magazine 4 includes multiple support frames to support different operating tools 41. The types and quantities of the operating tools 41 are determined according to actual on-site needs. In this embodiment, the tool magazine 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. The mounting bracket 51 is set on the mobile platform 22 through the mounting leg. A transverse movement structure is provided between the mounting leg and the mounting bracket 51. By adjusting the handwheel of the transverse movement structure, the mounting bracket 51 can be moved transversely relative to the mounting leg, thereby adjusting the position of the power supply bracket 52. A fixed seat is provided on one side of the upper part of the mounting bracket 51. 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 outward and downward and is connected to the burn-through device 8 via a cable. The telescopic cylinder 53 is set at the top of the mounting bracket 51, and the telescopic rod of the telescopic cylinder 53 pushes the power bracket 52 upward, and the power bracket 52 is deformed so that the power 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 raised, the upper portion of the power supply bracket 52 abuts against the power supply copper bus 7, thereby establishing an electrical connection and supplying power to the burner 8 via the cable. When the burner 8 is operated by the robot 3, it remains powered, allowing the burner 8 to perform furnace operations in front of the furnace eye of the submerged arc furnace 1.

[0079] In this embodiment, the ore-forming furnace unloading robot system also includes a furnace body rotation detection device and a control system (not shown). The furnace body rotation detection device is fixed to the rotating furnace body of the ore-forming furnace 1, measures the rotation angle of the rotating furnace body, and feeds this information back to the control system. The control system controls the movement 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 determines the collected data. To accurately control the movement 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 travel track 221, and various movements of the robot 3. The control system needs to comprehensively analyze various data to determine the position and status of the robot 3, thereby sending movement instructions to the robot for intelligent operation.

[0080] In this embodiment, the mobile platform 22 is mounted on the mobile track 21, the on-site electrical control box provides emergency stop, start, parameter display, etc. for the equipment, the annular copper busbar 7 is fixed on the copper busbar track, and the busbar 64 provides power for the robot 3 and the mobile platform 22. The robot 3 provides furnace unloading and eye plugging operations for the industrial silicon ore heating furnace 1 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. Two electric drive wheels are installed at the bottom of the mobile platform 22, arranged on the outside, and two driven wheels are arranged on the inside. The mobile platform 22 moves along an 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 trolley 621. Burner 8 is the burn-through tool used by robot 3. Normally, it is placed on a tool rack. When the industrial silicon ore furnace needs to be removed from the furnace, the robot travels to the burner tool library 4, retrieves burner 8, and performs the burn-through operation. The power supply bracket 52 is connected to burner 8. When power is required, the telescopic cylinder 53 pushes upward, and the power supply bracket 52 connects to the power supply busbar 7, completing the power supply of burner 8. The tool library 4 stores other tools for robot 3 to access and perform furnace eye operations. The trailer 223 is connected to the first connecting rod 612, on which the power transmission line is laid to provide 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 ore-arc furnace 1 in front of the furnace, without the need to build a separate platform. Moreover, 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-arc 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 to traditional steel structures or concrete two-story buildings, the mobile platform is compact, cost-effective, and takes up less space. The mobile platform is easy to install and disassemble. Robot 3 and mobile platform 22 draw power from the same busbar 64, reducing heat damage and mechanical folding damage compared to previous long-distance, drag-chain transmission lines. Robot 3 is located on mobile platform 22, requiring only a short-distance travel track 221, significantly reducing robot operation compared to previous long-track travel. The shorter track for robot 3 shortens the distance required to grasp operating tools 41 and burn-through tools 8, making it more convenient and time-saving. Compared to a dual-track electric power-on trolley, the mobile platform 22's fixed power-on structure eliminates the need for tracks and motors, resulting in a simplified power-on mechanism and a simpler structure that is less prone to failure. The direct-connected contactless power-on structure is simple, reducing heat damage, mechanical folding damage, and costs compared to previous long-distance, drag-chain oil pipelines.

[0084] Those skilled in the art will appreciate that the specific structures and processes described in the above detailed embodiments are merely illustrative and non-limiting. Furthermore, those skilled in the art may combine the various technical features described above in various possible ways to create new technical solutions or make other modifications, all of which fall within the scope of the present invention.

Claims

1. A submerged arc furnace unloading robot system, used for submerged arc furnace unloading operation, 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 periphery of the ore furnace. The moving platform moves in conjunction with the moving track. The top of the moving platform is provided with a moving track. The robot moves in coordination with the travel track and can clamp operating tools from the tool library to perform furnace unloading operations on the submerged arc furnace; The tool library is provided at one end of the walking track, and is used to provide one or more operating tools used by the robot; 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 mobile platform. The robot includes a second power supply structure, which is slidably arranged on the power supply track and connected to the robot for supplying power to the robot. The power supply track includes a sliding track and a bus bar, and the bus bar is arranged along the sliding track. The first power supply structure and the second power supply structure both slide with the sliding track and are electrically connected to the bus bar.

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-forming 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.

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: 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.

5. The submerged arc furnace unloading robot system according to claim 4, characterized in that: The connecting rod includes a first rod, a second rod and a fixing member. The first rod and the second rod are telescopically sleeved together. The fixing member is used to lock the relative movement between the first rod and the second rod.

6. The submerged arc furnace unloading robot system according to claim 1, characterized in that: The power supply track also includes a power supply copper busbar. A burn-through device and a power-taking mechanism are provided in the tool library. The burn-through device is connected to the power supply copper busbar through the power-taking mechanism.

7. The submerged arc furnace unloading robot system according to claim 6, characterized in that: The power supply mechanism includes a mounting bracket, a power supply bracket and a telescopic cylinder. The mounting bracket is arranged on the mobile platform. The power supply 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 supply bracket to electrically connect the power supply copper busbar. The power supply bracket is connected to the burner through a cable.

8. The submerged arc furnace unloading robot system according to claim 1, characterized in that: The submerged 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 submerged 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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