Stokehole operation robot system and modular design method thereof

Abstract

The invention provides a stokehole operation robot system and a modular design method thereof, and relates to the technical field of metallurgical industry robots, the stokehole operation robot system comprises an execution module, a support module, a motion control module, a guide module, a protection module and a connection module; the execution module comprises a sliding assembly, a vibration reduction assembly and a working assembly. The working assembly at least comprises one of a hole opening mechanism, a hole pulling mechanism and a hole blocking mechanism. The supporting module comprises a traveling crane supporting assembly, a rotation supporting assembly and a bottom plate assembly. The motion control module comprises a hydraulic part or a motor and is used for controlling motion and operation of the robot system. The guide module is mounted on the travelling crane supporting assembly, and accurate positioning of the robot in the operation process is ensured by setting motion constraint and providing an alignment reference; the protection module is mounted on the surfaces of the execution module and the supporting module, and a corrosion-resistant coating is arranged on the protection module; the connecting module comprises a shaft and a bearing seat and is used for connecting and supporting all the functional modules.

Description

Technical Field

[0001] The invention relates to the technical field of metallurgical industrial robots, and in particular to a furnace front operation robot system and a modular design method thereof. Background Art

[0002] As the metallurgical industry's requirements for production efficiency and equipment flexibility increase, furnace operation machines play an important role in the fields of steel smelting, silicon-manganese alloy, industrial silicon and calcium carbide. Traditional furnace operation robots mostly adopt a fixed integrated design. Their structure is rigid but not flexible enough, making it difficult to adapt to the process differences of different furnace types or multi-station production requirements. For example, silicon-manganese-ferrosilicon furnace operation machines need to open eye components, pull eyes and plug eyes, while industrial silicon furnace operation machines and calcium carbide furnace operation robots only need to complete part of the work. When switching furnace types or adjusting processes, traditional robots need to undergo large-scale mechanical transformation or redesign, resulting in a surge in production costs and extended downtime, which seriously affects production efficiency.

[0003] In the existing technology, although there are some attempts to improve the flexibility and maintainability of furnace operation robots through modular design, the existing module division method lacks a systematic scientific basis and relies on manual experience or single-dimensional indicators to highly integrate various functional modules. Once a local failure occurs, the entire machine often needs to be disassembled for repair, resulting in a complex and time-consuming repair process, further exacerbating production losses. Although modular design has the potential to improve flexibility, customizability and maintainability in the field of robots, there are still technical barriers to the implementation of modular design due to the challenges of furnace operation robots in special working environments such as structural complexity and high load and high temperature.

[0004] Therefore, the fixed integrated structure of the traditional furnace-front operation robot has problems such as insufficient flexibility, high transformation cost, and difficult maintenance when dealing with various furnace types (such as calcium carbide furnaces, blast furnaces, and submerged arc furnaces) and multi-station production needs. How to achieve a highly flexible, low-cost, and easy-to-maintain furnace-front operation robot system through modular design has become a key issue that needs to be urgently solved. Summary of the invention

[0005] In order to solve the problems of insufficient flexibility, high modification cost, and difficult maintenance of the traditional furnace-front operation robot fixed integrated structure when dealing with various furnace types and multi-station production needs, and the technical problem that it is difficult for the prior art to achieve a highly flexible, low-cost, and easy-to-maintain furnace-front operation robot system through modular design, the present invention provides a furnace-front operation robot system and a modular design method thereof.

[0006] The technical solution provided by the embodiment of the present invention is as follows:

[0007] First aspect:

[0008] A robot system for front - of - furnace operations provided by an embodiment of the present invention includes: an execution module, a support module, a motion control module, a guiding module, a protection module, and a connection module;

[0009] The execution module includes a sliding component, a vibration - damping component, and a working component, and the working component includes at least one of an eye - opening mechanism, an eye - pulling mechanism, or an eye - plugging mechanism;

[0010] The support module includes a traveling crane support component, a slewing support component, and a bottom plate component;

[0011] The motion control module includes hydraulic components or motors for controlling the movement and operation of the robot system;

[0012] The guiding module is installed on the traveling crane support component. By setting motion constraints and providing a positioning reference, it ensures the precise positioning of the robot during operation;

[0013] The protection module is installed on the surfaces of the execution module and the support module, and a corrosion - resistant coating is provided on the protection module;

[0014] The connection module includes a shaft and a bearing housing for connecting and supporting each functional module.

[0015] Second aspect:

[0016] A modular design method for a robot system for front - of - furnace operations provided by an embodiment of the present invention is applied to the robot system for front - of - furnace operations described in the first aspect. The modular design method includes:

[0017] S1: Determine the specific requirements of the front - of - furnace operation robot in different front - of - furnace operation application scenarios, determine the operation process of the front - of - furnace operation robot, and define the task objectives to be completed by the robot. The task objectives include opening furnace eyes, pulling furnace eyes, and plugging furnace eyes;

[0018] S2: According to the task objectives, break down the overall task into several sub - tasks, derive the required functions according to each sub - task, establish a mapping relationship between the functions and the execution mechanisms, obtain a functional component information table, and eliminate standard fasteners;

[0019] S3: Using functional relevance, structural relevance, and assembly relevance as clustering dimensions, obtain an inter - mechanism relationship matrix composed of mechanism relevance degrees, and cluster the execution mechanisms through a dynamic clustering algorithm to generate a modular division scheme;

[0020] S4: Based on the modular division scheme, construct a three - dimensional parametric model, conduct physical field simulation in a virtual environment for verification, and configure different functional module combinations according to the requirements of calcium carbide furnace, blast furnace, and submerged - arc furnace scenarios.

[0021] The beneficial effects brought by the technical solution provided in the embodiment of the present invention at least include:

[0022] In the present invention, a robot system for pre-furnace operations with high flexibility, low cost, and easy maintenance is realized through modular design, which simplifies and shortens the design process of the robot. Through the modular design method, it is realized that the robot can quickly adapt to different working environments of pre-furnace operations through module replacement, and can be quickly adapted to multiple scenarios, flexibly supporting the configuration of multiple workstations. Based on the modular division method of function-structure-assembly and combined with virtual simulation verification, not only the design efficiency is improved, but also the reliability of the structure is enhanced. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 It is a schematic structural diagram of a robot system for pre-furnace operations provided by an embodiment of the present invention;

[0025] Figure 2 It is a schematic structural diagram of a single-station robot system for pre-furnace operations provided by an embodiment of the present invention;

[0026] Figure 3 It is a schematic structural diagram of a double-station robot system for pre-furnace operations provided by an embodiment of the present invention;

[0027] Figure 4 It is a schematic structural diagram of a three-station robot system for pre-furnace operations provided by an embodiment of the present invention;

[0028] Figure 5 It is a schematic flow diagram of a modular design method for a robot system for pre-furnace operations provided by an embodiment of the present invention;

[0029] Figure 6 It is a heat map of a part correlation matrix provided by an embodiment of the present invention;

[0030] Figure 7 It is a schematic diagram of a modular division community network provided by an embodiment of the present invention.

[0031] Reference numerals: 1 - execution module; 11 - sliding component; 12 - damping component; 13 - working component; 2 - support module; 21 - traveling crane support component; 22 - slewing support component; 23 - bottom plate component; 3 - motion control module; 4 - guiding module; 5 - protection module; 6 - connection module. Detailed implementation manners

[0032] The technical solutions in the present invention will be described below with reference to the accompanying drawings.

[0033] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as an "example" in the present invention should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, the use of the word "example" is intended to present concepts in a specific manner. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one of the two can be selected.

[0034] To make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

[0035] Refer to the attached drawings of the specification Figure 1 , which shows a schematic structural diagram of a robot system for in-front-of-furnace operations provided by an embodiment of the present invention.

[0036] The embodiments of the present invention provide a robot system for in-front-of-furnace operations, including: an execution module 1, a support module 2, a motion control module 3, a guiding module 4, a protection module 5, and a connection module 6.

[0037] The execution module 1 includes a sliding component 11, a damping component 12, and a working component 13. The working component 13 includes at least one of an eye-opening mechanism, an eye-pulling mechanism, or an eye-blocking mechanism.

[0038] Optionally, the sliding component 11 preferably adopts a combination of a guide rail and a driving device such as a servo motor or a hydraulic motor to ensure the smooth and precise movement of the working component between different workstations.

[0039] Optionally, the damping component 12 adopts a spring combined with a mass block structure. The mass block includes various weight specifications, and the weight of the mass block can be adjusted according to the actual weight of the workpiece, so as to effectively absorb the impact and vibration during in-front-of-furnace operations.

[0040] Optionally, the working component 13 includes a replaceable functional mechanism library. The functional mechanism library includes an eye-opening mechanism, an eye-pulling mechanism, and an eye-blocking mechanism. The bottom ends of the respective functional mechanisms are connected to the sliding component 11 through interfaces to implement the execution of various tasks during in-front-of-furnace operation processes, such as opening furnace eyes, pulling furnace eyes, and blocking furnace eyes.

[0041] The support module 2 includes a traveling crane support component 21, a slewing support component 22, and a bottom plate component 23.

[0042] Optionally, the bottom plate component 23 includes type I, type II, and type III specifications, corresponding to single-station, double-station, and triple-station configurations respectively.

[0043] Refer to the attached drawings of the specification Figure 2 , which shows a schematic structural diagram of a single-station in-front-of-furnace operation robot system provided by an embodiment of the present invention.

[0044] When a single-station configuration is adopted, the bottom plate assembly is of type I. In this configuration, only one working component, one sliding component and one vibration damping component are provided on the bottom plate assembly to meet the requirements of a single operation unit for stability and accuracy.

[0045] Refer to the attached drawings of the specification Figure 3 , which shows a schematic structural diagram of a double-station in-front-of-furnace operation robot system provided by an embodiment of the present invention.

[0046] When a double-station configuration is adopted, the bottom plate assembly is of type II. Two working components and two sliding components are installed on this type of bottom plate assembly, and the vibration damping component can be flexibly configured according to actual working requirements. For example, in the application of an in-front-of-furnace operation robot in the silicomanganese smelting scenario, one working unit can be set for plugging the tuyere operation, and the other working unit can be set for opening the tuyere operation, so as to realize the parallel operation of the double stations.

[0047] Refer to the attached drawings of the specification Figure 4 , which shows a schematic structural diagram of a triple-station in-front-of-furnace operation robot system provided by an embodiment of the present invention.

[0048] For the situation that three operation units need to be processed simultaneously, the bottom plate assembly of type III is selected. Three working components and three sliding components are installed on this type of bottom plate assembly, and the vibration damping component can also be flexibly configured according to actual working requirements. The triple stations operate in parallel without interference, thus greatly shortening the overall operation cycle.

[0049] Optionally, each specification of the bottom plate assembly 23 is provided with a standardized mounting hole array, and positioning pin holes are provided on the connection surface between the bottom plate assembly 23 and the execution module 1 to ensure accurate docking with the execution module.

[0050] The motion control module 3 includes hydraulic components or motors for controlling the motion and operation of the robot system.

[0051] Optionally, the motion control module 3 can select hydraulic drive, servo motor drive, or adopt a combined composite drive mode according to specific application requirements to balance the stability, accuracy and adaptability of power output. Specifically, it includes but is not limited to hydraulic cylinders, slewing bearings, and hydraulic motors. Its selection can be optimized according to the load requirements, operating accuracy and working environment of the system to achieve stable and efficient motion control.

[0052] The guiding module 4 is installed on the traveling support assembly 21. By setting motion constraints and providing alignment references, it ensures the precise positioning of the robot during operation, reduces motion errors, and improves the operating accuracy of the system.

[0053] The protection module 5 is installed on the surfaces of the execution module 1 and the support module 2. The protection module 5 is provided with a corrosion-resistant coating to protect the robot system from the erosion of the harsh external environment, thereby enhancing the adaptability of the robot system in high-temperature and strongly corrosive environments.

[0054] Optionally, the structure and size of the protection module 5 can be parametrically optimized according to different operating environments and station requirements to meet the protection requirements under different working conditions.

[0055] The connection module 6 includes a shaft and a bearing seat and is used to connect and support each functional module.

[0056] Optionally, under different working conditions, the specifications and parameters of the shaft and bearings can be adjusted according to actual application requirements.

[0057] The beneficial effects brought by the technical solution provided by the embodiments of the present invention at least include:

[0058] In the present invention, a high-flexibility, low-cost, and easy-to-maintain robot system for in-front-of-furnace operations is realized through modular design, which simplifies and shortens the design process of the robot. Through the modular design method, the robot can quickly adapt to different in-front-of-furnace operation working environments through module replacement, enabling multi-scenario rapid adaptation and flexibly supporting the configuration of multiple stations. Based on the modular division method of function-structure-assembly and combined with virtual simulation verification, not only the design efficiency is improved, but also the reliability of the structure is enhanced.

[0059] Refer to the attached Figure 5 , which shows a schematic flow chart of a modular design method for a robot system for in-front-of-furnace operations provided by the embodiments of the present invention.

[0060] The embodiments of the present invention provide a modular design method for a robot system for in-front-of-furnace operations, which is applied to the above-mentioned robot system for in-front-of-furnace operations. This method can be implemented by a modular design device, and the modular design device can be a terminal or a server. The processing flow of the modular design method can include the following steps:

[0061] S1: Determine the specific requirements of the robot for in-front-of-furnace operations in different application scenarios, determine the operation process of the robot for in-front-of-furnace operations, and define the task objectives to be completed by the robot. The task objectives include opening the furnace eye, pulling the furnace eye, and plugging the furnace eye.

[0062] For example, for the electric arc furnace scenario, the tapping robot is first defined to collect scenario parameters: collect the diameter of the electric arc furnace opening (example: Φ600mm), tapping temperature (example: 1600°C to 1800°C), operation cycle (example: once every 2 hours), and impact load (example: peak value of 8 tons); clarify that the robot needs to complete three core tasks: opening the furnace eye, pulling the furnace eye, and plugging the furnace eye.

[0063] S2: According to the task objectives, break down the overall task into several sub-tasks, derive the required functions for each sub-task, establish the mapping relationship between the functions and the actuators, obtain the functional component information table, and eliminate the standard fasteners.

[0064] Referring to Table 1 in the specification, a functional component information table is shown.

[0065] Table 1 Functional Component Information Table

[0066]

[0067] S3: Using functional relevance, structural relevance, and assembly relevance as the clustering dimensions, obtain the inter-institutional relationship matrix composed of institutional relevance degrees, and cluster the actuators through the dynamic clustering algorithm to generate a modular division plan.

[0068] Optionally, the weights of functional relevance, structural relevance, and assembly relevance are obtained through the analytic hierarchy process.

[0069] Starting from the three dimensions of functional relevance, structural relevance, and assembly relevance, assign values according to the importance indicators to obtain the judgment matrix as:

[0070]

[0071] Among them, A represents the judgment matrix.

[0072] It is necessary to verify the rationality of the judgment matrix. Normalize the column vectors of the judgment matrix, calculate the matrix eigenvalues to obtain the normalized vectors of each column, and then calculate the average value by row to obtain the weight vector ω=(0.558, 0.320, 0.122) T . According to (m = 3, the order of the matrix) calculate the maximum eigenvalue λ = 3.018 of the matrix, and then calculate the consistency index Finally, calculate the consistency ratio Among them, RI is the random consistency index. When m = 3, RI = 0.58 (see Table 2). When CR < 0.1, the consistency of the judgment matrix is acceptable, that is, the judgment matrix is reasonable.

[0073] Table 2 Corresponding Relationship between Random Consistency Index RI and Matrix Order

[0074]

[0075] In the present invention, by using the analytic hierarchy process to determine the weights of functional relevance, structural relevance, and assembly relevance, the importance of each dimension can be scientifically quantified in multi-factor decision-making. The importance scale values of the judgment matrix are assigned from 1 to 9 according to the rules in Table 3. This can avoid the subjective deviation caused by completely relying on empirical judgment. This method introduces a consistency test to ensure the logical consistency and reliability of the judgment matrix, thereby making the module division process more objective and systematic, helping to improve the rationality, stability, and versatility of module design, and providing a solid data foundation for subsequent clustering analysis and module combination.

[0076] Table 3 Importance scale values

[0077]

[0078] Construct a relationship matrix between actuators. Among them, each element in the matrix is quantitatively described by assigning 1 when the preset judgment condition is met and 0 otherwise, so as to objectively reflect the degree of association between each actuator.

[0079] Optionally, the mechanism relevance is specifically:

[0080]

[0081] Wherein, R ij represents the mechanism relevance between the i-th functional unit and the j-th functional unit, represents whether the i-th functional unit and the j-th functional unit meet the k-th relevant condition. When the i-th functional unit and the j-th functional unit meet the k-th relevant condition, When the i-th functional unit and the j-th functional unit do not meet the k-th relevant condition, w k represents the weight of the k-th relevant condition, and satisfies The relevant conditions include: functional relevance condition, structural relevance condition, and assembly relevance condition.

[0082] For example, the mechanism relevance example is calculated by taking a hydraulic valve group and a vehicle driving motor.

[0083] Functional relevance: The hydraulic valve group controls the vehicle driving motor to provide power → meets the condition → assigns 1.

[0084] Structural relevance: There is no structural relationship between two components → does not meet the condition → assigns 0.

[0085] Assembly relevance: There is a same-direction relationship between two components → meets the condition → assigns 1.

[0086] Relevance R ij= 1×0.558 + 0×0.320 + 1×0.122 = 0.680。

[0087] In the present invention, by constructing a relationship matrix between actuators and introducing a weighted mechanism correlation degree, the correlations in terms of function, structure, and assembly can be quantitatively integrated, so as to comprehensively and objectively reflect the coupling relationship between each actuator. Compared with single-dimensional analysis, this method can more accurately capture the internal connections between modules, avoid missing key interaction factors, contribute to a more scientific and reasonable module division by subsequent clustering algorithms, improve the independence between modules and the cooperation within modules, and provide a solid basis for the design of an efficient and flexible robot system.

[0088] Referring to Table 4 in the specification, a mechanism correlation degree table is shown.

[0089] Table 4 Mechanism Correlation Degree Table

[0090]

[0091] Furthermore, based on the constructed relationship matrix, a clustering algorithm (the specific algorithm is not limited) is used to perform dynamic clustering analysis on each actuator to determine the module division scheme.

[0092] Optionally, the termination condition of the dynamic clustering algorithm is: the functional correlation within the module ≥ 0.6, and the structural coupling degree between modules ≤ 0.3.

[0093] For example, the hierarchical clustering method is used to divide the nodes into communities. In the initial stage, each node is regarded as an independent cluster, and then the cluster pairs with the smallest distance are gradually merged according to the distance between clusters until the set number of clusters is reached. In the initial setting, 36 core mechanisms are regarded as independent modules. By the clustering algorithm, the mechanisms with Rij ≥ 0.6 are merged (such as the traveling support mechanism and the slewing support bottom plate), and the coupling degree between modules is detected. If the coupling degree > 0.3, they are split (for example, the coupling degree between the hydraulic valve group and the execution module is 0.35, and it needs to be separated into an independent module); after reaching the termination condition, the output is obtained. In the calcium carbide outlet scenario, 6 functional modules are formed, including the execution module, the support module, the motion control module, the guiding module, the protection module, and the connection module, and a basic type system of the robot for furnace front operation is established.

[0094] The dynamic clustering analysis method ensures a high degree of integration of functions within the module, while reducing the structural coupling degree between different modules. The above-mentioned correlation matrix is divided by the clustering algorithm, and the results are as Figure 6 and 7 shown. The appendix of the specification Figure 6 shows a heat map of the part correlation matrix provided by the embodiment of the present invention. The appendix of the specification Figure 7 shows a schematic diagram of the modular division community network provided by the embodiment of the present invention.

[0095] S4: Build a 3D parametric model based on the modular division scheme, conduct physical field simulation in a virtual environment for verification, and configure different combinations of functional modules according to the requirements of the calcium carbide furnace, blast furnace, and submerged arc furnace scenarios.

[0096] It should be noted that during the simulation process, by setting working conditions such as loads, it is verified that the maximum stress of the overall structure does not exceed the material yield strength to ensure safety and reliability under high-temperature and high-load working conditions. At the same time, according to the scenario requirements of different furnace types such as calcium carbide furnaces, blast furnaces, and submerged arc furnaces, flexible combination and configuration of the execution, support, motion control, guiding, and protection modules of each functional module are realized.

[0097] Optionally, S4 specifically includes: establishing a simulation model on the simulation platform, setting load boundary conditions, and verifying that the overall structure must meet the strength requirements.

[0098] In the scenario of working in front of the calcium carbide furnace, a three-dimensional simulation model of the robot system for working in front of the furnace is established in the simulation software ANSYS Workbench, including modules such as key execution mechanisms, support structures, and connectors. The material selected is Q345B structural steel, with a yield strength of 345 MPa, an elastic modulus of 2.06×105 MPa, and a Poisson's ratio of 0.3. Simulate the impact working conditions suffered by the robot for working in front of the furnace during actual operation. In this embodiment, a static load of 80,000 N is applied to the execution end of the robot, and all degrees of freedom of the robot base are constrained to ensure accurate force analysis. After the simulation calculation is completed, extract the maximum equivalent stress distribution nephogram and analyze the stress response of the key parts of the robot. No areas exceeding the material yield strength appear in the robot execution mechanism, connectors, and support structure, meeting the requirements of structural safety. The stress distribution is uniform, and there is no obvious stress concentration area, indicating that the module division is reasonable and the overall structure design meets the requirements of the impact working conditions.

[0099] The beneficial effects brought by the technical solution provided by the embodiment of the present invention at least include:

[0100] In the present invention, through modular design, a robot system for working in front of the furnace with high flexibility, low cost, and easy maintenance is realized, simplifying and shortening the design process of the robot. Through the modular design method, it is possible to quickly adapt the robot to different working environments of working in front of the furnace through module replacement, quickly adapt to multiple scenarios, flexibly support the configuration of multiple workstations. Based on the modular division method of function-structure-assembly, combined with virtual simulation verification, not only the design efficiency is improved, but also the reliability of the structure is enhanced.

[0101] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims described above.

Claims

1. A robot system for in-front-of-furnace operations, characterized in that, Including: An execution module, a support module, a motion control module, a guiding module, a protection module, and a connection module; The execution module includes a sliding component, a damping component, and a working component, and the working component includes at least one of an eye-opening mechanism, an eye-pulling mechanism, or an eye-blocking mechanism; The support module includes a traveling support component, a slewing support component, and a base plate component; The motion control module includes a hydraulic component or a motor for controlling the movement and operation of the robot system; The guiding module is installed on the traveling support component. By setting motion constraints and providing alignment references, it ensures the precise positioning of the robot during operation; The protection module is installed on the surfaces of the execution module and the support module, and a corrosion-resistant coating is provided on the protection module; The connection module includes a shaft and a bearing housing for connecting and supporting each functional module.

2. The forehearth operation robot system according to claim 1, characterized in that, The working component includes a replaceable functional mechanism library. The functional mechanism library includes an eye-opening mechanism, an eye-pulling mechanism, and an eye-blocking mechanism. The bottom ends of each functional mechanism are connected to the sliding component through interfaces.

3. The robot system for in-front-of-furnace operations according to claim 1, characterized in that, The base plate component includes specifications of type I, type II, and type III, corresponding to single-station, double-station, and triple-station configurations respectively.

4. The front-of-furnace operation robot system according to claim 3, characterized in that, Each specification of the base plate component is provided with a standardized mounting hole array, and positioning pin holes are provided on the connection surface between the base plate component and the execution module.

5. The front-of-furnace operation robot system according to claim 1, wherein The damping component (12) adopts a spring combined with a mass block structure, and the mass block includes various weight specifications.

6. A modular design method for a robot system for pre-furnace operations, applied to the robot system for pre-furnace operations according to any one of claims 1 to 5. The modular design method includes: S1: Determine the specific requirements of the robot for pre-furnace operations in different pre-furnace operation application scenarios, determine the operation process of the robot for pre-furnace operations, and define the task objectives to be completed by the robot. The task objectives include opening furnace eyes, pulling furnace eyes, and blocking furnace eyes; S2: According to the task objectives, break down the overall task into several sub-tasks, derive the required functions according to each sub-task, establish a mapping relationship between the functions and the execution mechanisms, obtain a functional component information table, and eliminate standard fasteners; S3: Using functional relevance, structural relevance, and assembly relevance as clustering dimensions, obtain an inter-institutional relationship matrix composed of institutional relevance degrees, and cluster the execution mechanisms through a dynamic clustering algorithm to generate a modular division plan; S4: Based on the modular division plan, construct a three-dimensional parametric model, conduct physical field simulation in a virtual environment for verification, and configure different functional module combinations according to the scenario requirements of calcium carbide furnaces, blast furnaces, and ferrosilicon furnaces.

7. The modular design method of the robot system for pre-furnace operations according to claim 6, characterized in that, The termination condition of the dynamic clustering algorithm is: the functional relevance within the module ≥ 0.6, and the structural coupling degree between modules ≤ 0.

3.

8. The modular design method of the robot system for front-of-furnace operations according to claim 6, characterized in that, The weights of the functional relevance, the structural relevance, and the assembly relevance are obtained through the analytic hierarchy process.

9. The modular design method of the robot system for in-front-of-furnace operations according to claim 8, wherein, The specific institutional relevance degree is: Among them, R ij represents the mechanism correlation between the i-th functional unit and the j-th functional unit. represents whether the i-th functional unit and the j-th functional unit meet the k-th correlation condition. When the i-th functional unit and the j-th functional unit meet the k-th correlation condition, When the i-th functional unit and the j-th functional unit do not meet the k-th correlation condition, w k represents the weight of the k-th correlation condition and satisfies The correlation conditions include: functional correlation conditions, structural correlation conditions, and assembly correlation conditions.

10. The modular design method of the robot system for pre-furnace operations according to claim 6, characterized in that, The S4 specifically includes: Establish a simulation model on a simulation platform, set load boundary conditions, and verify that the overall structure must meet the strength requirements.

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