A stove front operation robot system and a modular design method thereof

Abstract

The application provides a furnace front operation robot system and a modular design method thereof, and relates to the technical field of metallurgical industry robots. The furnace front 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 damping assembly and a working assembly, and the working assembly comprises at least one of an eye opening mechanism, an eye pulling mechanism or an eye plugging mechanism. The support module comprises a travelling crane support assembly, a rotating support assembly and a bottom plate assembly. The motion control module comprises a hydraulic component or a motor, and is used for controlling the motion and operation of the robot system. The guide module is installed on the travelling crane support assembly, and precise positioning of the robot during operation is ensured by setting motion constraints and providing alignment references. The protection module is installed on the surfaces of the execution module and the support module, and a corrosion-resistant coating is arranged on the protection module. The connection module comprises a shaft and a bearing seat, and is used for connecting and supporting various functional modules.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of metallurgical industry robots, and particularly to a furnace front operation robot system and a modular design method thereof. BACKGROUND

[0002] With the increasing requirements of production efficiency and equipment flexibility in the metallurgical industry, furnace front operation robots play an important role in the fields of steel smelting, silicon-manganese alloy, industrial silicon, and calcium carbide. Traditional furnace front operation robots are mostly fixed and integrated, which have strong structural rigidity but insufficient flexibility, making it difficult to adapt to the process differences of different furnace types or multi-station production requirements. For example, silicon-manganese silicon-iron furnace front operation robots need to perform opening assembly, eye drawing, and eye plugging work, while industrial silicon furnace front operation robots and calcium carbide furnace front operation robots only need to complete part of the work. When the furnace type is switched or the process is adjusted, the traditional robots need to be mechanically modified or redesigned on a large scale, resulting in a sharp increase in production cost, an extension of downtime, and a serious impact on production efficiency.

[0003] In the prior art, although there have been some attempts to improve the flexibility and maintainability of furnace front operation robots through modular design, the existing modular division methods lack systematic scientific basis and mostly rely on manual experience or single-dimensional indicators to highly integrate each functional module. Once a local fault occurs, the entire machine often needs to be disassembled for maintenance, resulting in a complex and time-consuming maintenance process and further exacerbating production losses. Although modular design has the potential to improve flexibility, customizability, and maintainability in the field of robots, due to the challenges of complex structure, high load, high temperature, and other special working environments of furnace front operation robots, the implementation of modular design still faces technical obstacles.

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

[0005] In order to solve the problems of insufficient flexibility, high modification cost, and difficult maintenance of the fixed and integrated structure of traditional furnace front operation robots when dealing with multiple furnace types and multi-station production requirements, and the technical problem that existing technologies cannot achieve a high-flexibility, low-cost, and easy-to-maintain furnace front operation robot system through modular design, the present application provides a furnace front operation robot system and a modular design method thereof.

[0006] The technical solutions provided by the embodiments of the present application are as follows:

[0007] First aspect:

[0008] The furnace front operation robot system provided by the embodiment of the present application comprises an execution module, a support module, a motion control module, a guiding module, a protection module and a connecting module.

[0009] The execution module comprises a sliding assembly, a damping assembly and a working assembly, and the working assembly comprises at least one of an eye opening mechanism, an eye pulling mechanism or an eye plugging mechanism.

[0010] The support module comprises a travelling crane support assembly, a slewing support assembly and a bottom plate assembly.

[0011] The motion control module comprises a hydraulic component or a motor, which is used for controlling the motion and operation of the robot system.

[0012] The guiding module is installed on the travelling crane support assembly, and through setting motion constraints and providing alignment references, the accurate positioning of the robot during operation is ensured.

[0013] The protection module is installed on the surface of the execution module and the support module, and a corrosion-resistant coating is arranged on the protection module.

[0014] The connecting module comprises a shaft and a bearing seat, which are used for connecting and supporting various functional modules.

[0015] The second aspect is:

[0016] The modular design method of the furnace front operation robot system provided by the embodiment of the present application is applied to the furnace front operation robot system of the first aspect, and the modular design method comprises the following steps:

[0017] S1: determining the specific requirements of the furnace front operation robot in different furnace front operation application scenarios, determining the operation process of the furnace front operation robot, defining the task target to be completed by the robot, and the task target comprises completing the opening of a furnace eye, the pulling of a furnace eye and the plugging of a furnace eye.

[0018] S2: according to the task target, the overall task is decomposed into a plurality of subtasks, the function required by each subtask is deduced, the mapping relationship between the function and the execution mechanism is established, the function component information table is obtained, and the standard fastener is eliminated.

[0019] S3: taking the function correlation, the structure correlation and the assembly correlation as clustering dimensions, an inter-mechanism relationship matrix composed of mechanism correlation degrees is obtained, the execution mechanism is clustered through a dynamic clustering algorithm, and a modular division scheme is generated.

[0020] S4: based on the modular division scheme, a three-dimensional parameterized model is constructed, physical field simulation is performed in a virtual environment, verification is performed, and different functional module combinations are configured according to the scene requirements of calcium carbide furnaces, blast furnaces and submerged arc furnaces.

[0021] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following:

[0022] In this invention, a highly flexible, low-cost, and easy-to-maintain furnace-front operation robot system is achieved through modular design, which simplifies and shortens the robot design process. The modular design method enables the robot to quickly adapt to different furnace-front operation environments and multiple scenarios by replacing modules, and flexibly supports multi-station configuration. Based on the modular division method of function-structure-assembly, combined with virtual simulation verification, not only is the design efficiency improved, but the reliability of the structure is also enhanced. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of a furnace-front operation robot system provided in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of a single-station furnace front operation robot system provided in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of a dual-station furnace front operation robot system provided in an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of a three-station furnace front operation robot system provided in an embodiment of the present invention;

[0028] Figure 5 A flowchart illustrating a modular design method for a furnace-front operation robot system provided in an embodiment of the present invention;

[0029] Figure 6 A heatmap of part correlation matrix provided in an embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram of a modularly partitioned community network provided in an embodiment of the present invention.

[0031] Reference numerals: 1-Actuation module; 11-Sliding component; 12-Vibration damping component; 13-Working component; 2-Support module; 21-Traffic support component; 22-Slewing support component; 23-Base plate component; 3-Motion control module; 4-Guiding module; 5-Protection module; 6-Connection module. DETAILED DESCRIPTION

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

[0033] In the embodiments of the present application, the words such as "example", "for example" are used to represent an example, illustration or description. Any embodiment or design scheme described as "example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the word "example" is intended to present the concept in a specific manner. In addition, in the embodiments of the present application, the meaning expressed by "and / or" can be both, or can be one of the two.

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

[0035] Referring to the drawings attached Figure 1 , a structural schematic diagram of a furnace front operation robot system provided by an embodiment of the present application is shown.

[0036] An embodiment of the present application provides a furnace front operation robot system, comprising: an execution module 1, a support module 2, a motion control module 3, a guide module 4, a protection module 5 and a connection module 6.

[0037] The execution module 1 comprises a sliding assembly 11, a damping assembly 12 and a working assembly 13, and the working assembly 13 at least comprises one of an eye opening mechanism, an eye pulling mechanism or an eye plugging mechanism.

[0038] Optionally, the sliding assembly 11 preferably adopts a combination of guide rails and driving devices such as servo motors or hydraulic motors, to ensure that the working assembly moves smoothly and accurately between different workstations.

[0039] Optionally, the damping assembly 12 adopts a spring combined with a mass block structure, and the mass block comprises multiple weight specifications. 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 in the furnace front operation process.

[0040] Optionally, the working assembly 13 comprises a replaceable functional mechanism library, and the functional mechanism library comprises the eye opening mechanism, the eye pulling mechanism and the eye plugging mechanism. The bottom end of each functional mechanism is connected with the sliding assembly 11 through an interface, to realize the execution of various tasks such as opening of the furnace eye, pulling of the furnace eye and plugging of the furnace eye in the furnace front operation process.

[0041] The support module 2 comprises a travelling crane support assembly 21, a slewing support assembly 22 and a bottom plate assembly 23.

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

[0043] Referring to the drawings accompanying the specification Figure 2 , a structural schematic diagram of a single-station furnace front operation robot system provided by an embodiment of the present application is shown.

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

[0045] Referring to the drawings accompanying the specification Figure 3 , a structural schematic diagram of a double-station furnace front operation robot system provided by an embodiment of the present application is shown.

[0046] When a double-station configuration is adopted, the base plate assembly is type II. Two working assemblies and two sliding assemblies are installed on the base plate assembly of this type, and the damping assembly can be flexibly configured according to actual work requirements. For example, in the application of a furnace front operation robot in a silicon-manganese smelting scene, one working unit can be provided for plugging operation, and another working unit can be provided for opening operation, so as to realize parallel operation of the double stations.

[0047] Referring to the drawings accompanying the specification Figure 4 , a structural schematic diagram of a three-station furnace front operation robot system provided by an embodiment of the present application is shown.

[0048] For the case of needing to process three operation units at the same time, the base plate assembly is selected to be type III. The base plate assembly of this type is provided with three working assemblies and three sliding assemblies, and the damping assembly can also be flexibly configured according to actual work requirements. Three stations operate in parallel and do not interfere with each other, thereby greatly shortening the overall operation cycle.

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

[0050] The motion control module 3 includes a hydraulic component or a motor 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 a combined drive mode of the two according to specific application requirements, so as to take into account the stability, accuracy and adaptability of power output. Specifically, it includes but is not limited to a hydraulic cylinder, a rotary support and a hydraulic motor. The selection can be optimized according to the load requirements, running accuracy and operation environment of the system to realize stable and efficient motion control.

[0052] The guide module 4 is installed on the travelling support assembly 21, and by setting motion constraints and providing alignment references, the accurate positioning of the robot during operation is ensured, motion errors are reduced, and the operation accuracy of the system is improved.

[0053] The protection module 5 is installed on the surface of the execution module 1 and the support module 2, and a corrosion-resistant coating is arranged on the protection module 5, so that the robot system is protected from the erosion of the harsh external environment, and the adaptability of the robot system in high-temperature and strong-corrosion environments is enhanced.

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

[0055] The connection module 6 includes a shaft and a bearing seat for connecting and supporting the various functional modules.

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

[0057] The technical scheme provided by the embodiment of the present application has at least the following beneficial effects:

[0058] In the present application, a high-flexibility, low-cost and easy-maintenance furnace operation robot system is realized through modular design, the design process of the robot is simplified and shortened, and through the modular design method, the robot can quickly adapt to different furnace operation working environments and multiple scenes through module replacement, flexible support for multi-station configuration is realized, and based on the modular division method of function-structure-assembly, combined with virtual simulation verification, the design efficiency is improved, and the reliability of the structure is enhanced.

[0059] Referring to the accompanying drawings Figure 5 , a flowchart of a modular design method of a furnace operation robot system provided by an embodiment of the present application is shown.

[0060] The embodiment of the present application provides a modular design method of a furnace operation robot system, which is applied to the above-mentioned furnace operation robot system, and the method can be realized by a modular design device.

[0061] S1: Determine the specific requirements of the furnace operation robot under different furnace operation application scenarios, determine the operation process of the furnace operation robot, define the task target to be completed by the robot, and the task target includes completing the opening of the furnace eye, the pulling of the furnace eye and the plugging of the furnace eye.

[0062] For example, for the calcium carbide furnace scene, the furnace robot first collects scene parameters: the diameter of the calcium carbide furnace mouth (example: Φ600mm), the discharge temperature (example: 1600℃-1800℃), the operation cycle (example: every 2 hours), and the impact load (example: peak 8 tons); and the robot needs to complete three core tasks of opening the furnace eye, pulling the furnace eye, and plugging the furnace eye.

[0063] S2: According to the task target, the whole task is decomposed into several subtasks, the function required by each subtask is derived, the mapping relationship between the function and the execution mechanism is established, the function information table is obtained, and the standard fastener is removed.

[0064] Referring to Table 1 of the specification, a function information table is shown.

[0065] Table 1 Function Information Table

[0066]

[0067] S3: Taking the function correlation, the structure correlation and the assembly correlation as the clustering dimensions, an inter-mechanism relationship matrix composed of mechanism correlation degrees is obtained, the execution mechanisms are clustered through a dynamic clustering algorithm, and a modular division scheme is generated.

[0068] Optionally, the weights of the function correlation, the structure correlation and the assembly correlation are obtained through the analytic hierarchy process.

[0069] Starting from the three dimensions of function correlation, structure correlation and assembly correlation, the importance index is valued, and the judgment matrix is obtained as follows:

[0070]

[0071] Wherein, A represents the judgment matrix.

[0072] The rationality of the judgment matrix needs to be verified. The normalized column vector of the judgment matrix is obtained, the matrix eigenvalue is calculated to obtain the normalized vector of each column, and the average value is calculated according to the row to obtain the weight vector ω=(0.558, 0.320, 0.122) T . According to (m=3, order of the matrix) calculation matrix maximum eigenvalue λ=3.018, then calculate the consistency index Finally, the consistency ratio is calculated Wherein, 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 can be accepted, that is, the judgment matrix is reasonable.

[0073] Table 2 Random Consistency Index RI and Matrix Order Correspondence

[0074]

[0075] In the present application, the weights of the function correlation, the structure correlation and the assembly correlation are determined by the analytic hierarchy process, so that the importance of each dimension can be quantified scientifically in multi-factor decision-making, and the importance scale value of the judgment matrix is assigned according to the rules in Table 3. This avoids the subjective bias caused by complete reliance on experience. This method introduces consistency check to ensure the logical consistency and reliability of the judgment matrix, so that the module division process is more objective and systematic, which helps to improve the rationality, stability and universality of module design, and provides a solid data foundation for subsequent clustering analysis and module combination.

[0076] Table 3 Importance scale value

[0077]

[0078] A relationship matrix between the actuators is constructed. Each element in the matrix is assigned a value of 1 if the preset condition is met, and a value of 0 otherwise, for quantitative description, so as to objectively reflect the correlation degree between the actuators.

[0079] Optionally, the correlation degree of the mechanism is specifically:

[0080]

[0081] wherein, R ij represents the correlation degree of the mechanism between the i th function unit and the j th function unit, represents whether the i th function unit and the j th function unit meet the k th correlation condition, when the i th function unit and the j th function unit meet the k th correlation condition, when the i th function unit and the j th function 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: function correlation condition, structure correlation condition and assembly correlation condition.

[0082] For example, the correlation degree of the hydraulic valve group and the drive motor of the traveling crane is calculated,

[0083] Function correlation: the hydraulic valve group controls the drive motor of the traveling crane to provide power → meets the condition → assigns a value of 1.

[0084] Structure correlation: there is no structural relationship between the two parts → does not meet the condition → assigns a value of 0.

[0085] Assembly correlation: there is a same direction relationship between the two parts → meets the condition → assigns a value of 1.

[0086] The correlation degree R ij= 1 x 0.558 + 0 x 0.320 + 1 x 0.122 = 0.680.

[0087] In the present application, by constructing the relationship matrix between actuators and introducing the weighted actuator correlation, the correlation of function, structure and assembly can be quantitatively integrated, so as to comprehensively and objectively reflect the coupling relationship between actuators. Compared with single dimension analysis, this method can more accurately capture the internal relationship between modules, avoid missing key interaction factors, help the subsequent clustering algorithm to realize more scientific and reasonable module division, improve the independence between modules and the collaboration within modules, and provide a solid basis for efficient and flexible robot system design.

[0088] Referring to Table 4 of the specification, an actuator correlation table is shown.

[0089] Table 4 Actuator Correlation Table

[0090]

[0091] Further, based on the constructed relationship matrix, a dynamic clustering algorithm is used to analyze each actuator to determine the module division scheme.

[0092] Optionally, the termination condition of the dynamic clustering algorithm is that the function correlation within the module is greater than or equal to 0.6, and the structure coupling degree between the modules is less than or equal to 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 minimum distance are gradually merged according to the distance between the clusters until the set number of clusters is reached. In the initial setting, the 36 core actuators are regarded as independent modules. By using the clustering algorithm to merge the actuators with Rij≥0.6 (such as the traveling support mechanism and the rotary support bottom plate), the coupling degree between the modules is detected, and if the coupling degree is greater than 0.3, the actuators are split (such as the hydraulic valve group and the execution module with a coupling degree of 0.35, which need to be separated into independent modules); and the termination condition is outputted. In the calcium carbide outlet scene, 6 functional modules are formed, including an execution module, a support module, a motion control module, a guide module, a protection module and a connection module, and a basic type system of a furnace front operation robot is established.

[0094] The dynamic clustering analysis method ensures that the functions within the module are highly integrated, while reducing the structure coupling degree between different modules. By using the clustering algorithm to divide the above correlation matrix, the results are shown in Figure 6 and 7 The accompanying drawings of the specification Figure 6 show a part correlation matrix thermogram provided by an embodiment of the present application. The accompanying drawings of the specification Figure 7 show a modular division community network schematic diagram provided by an embodiment of the present application.

[0095] S4: Constructing a three-dimensional parameterized model based on a modular division scheme, performing physical field simulation in a virtual environment, verifying, and configuring different functional module combinations according to the scene requirements of calcium carbide furnaces, blast furnaces, and submerged arc furnaces.

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

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

[0098] In the calcium carbide furnace front operation scene, a three-dimensional simulation model of the furnace front operation robot system is established in the simulation software ANSYS Workbench, including key execution mechanisms, support structures, and connecting components, etc. The material 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. The impact conditions that the furnace front operation robot is subjected to in the actual operation process are simulated, a static load of 80000N is applied to the execution end of the robot, all degrees of freedom of the robot base are constrained, and the stress analysis is accurate. After the simulation calculation is completed, the maximum equivalent stress distribution cloud diagram is extracted, and the stress response of the key parts of the robot is analyzed. The robot execution mechanism, connecting component, and support structure do not appear in the area exceeding the material yield strength, meeting the structural safety requirements. 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 impact condition requirements.

[0099] The technical scheme provided by the embodiment of the application has at least the following beneficial effects:

[0100] In the present application, a furnace front operation robot system with high flexibility, low cost, and easy maintenance is realized through modular design, simplifying and shortening the design process of the robot. Through the modular design method, the robot can quickly adapt to different furnace front operation working environment scenes by replacing the modules, supporting flexible configuration of multiple stations, and realizing the modular division method based on function-structure-assembly, combined with virtual simulation verification, which not only improves the design efficiency, but also enhances the reliability of the structure.

[0101] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A furnace-front operation robot system, characterized in that, include: Execution module, support module, motion control module, guidance module, protection module, and connection module; The execution module includes a sliding component, a vibration damping component, and a working component, wherein the working component includes at least one of an eye-opening mechanism, an eye-pulling mechanism, or an eye-plugging mechanism. The support module includes a traveling support assembly, a slewing support assembly, and a base plate assembly; The motion control module includes hydraulic components or a motor, used to control the motion and operation of the robot system; The guiding module is installed on the trolley support assembly and ensures the robot's accurate positioning during operation by setting motion constraints and providing alignment references. The protective module is installed on the surface of the execution module and the support module, and the protective module is provided with a corrosion-resistant coating; The connection module includes a shaft and a bearing housing, which are used to connect and support the various functional modules.

2. The furnace-front operation robot system according to claim 1, characterized in that, The working component includes a library of replaceable functional mechanisms, which includes an eye-opening mechanism, an eye-pulling mechanism, and an eye-blocking mechanism. The bottom of each functional mechanism is connected to the sliding component via an interface.

3. The furnace-front operation robot system according to claim 1, characterized in that, The base plate assembly includes Type I, Type II and Type III specifications, corresponding to single-station, double-station and triple-station configurations, respectively.

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

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

6. A modular design method for a furnace-front operation robot system, applied to the furnace-front operation robot system according to any one of claims 1 to 5, wherein the modular design method comprises: S1: Determine the specific requirements of the furnace front operation robot in different furnace front operation application scenarios, determine the operation process of the furnace front operation robot, and define the task objectives to be completed by the robot. The task objectives include completing the opening of the furnace hole, pulling of the furnace hole, and blocking of the furnace hole. S2: Based on the task objective, the overall task is broken down into several sub-tasks. The required function of each sub-task is derived, a mapping relationship between the function and the execution mechanism is established, a functional component information table is obtained, and standard fasteners are eliminated. S3: Using functional relevance, structural relevance, and assembly relevance as clustering dimensions, an inter-mechanism relationship matrix composed of mechanism relevance is obtained. The actuators are clustered using a dynamic clustering algorithm to generate a modular partitioning scheme. S4: Construct a three-dimensional parametric model based on the modular partitioning scheme, perform 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.

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

3.

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

9. The modular design method for the furnace-front operation robot system according to claim 8, characterized in that, The specific institutional relevance is as follows: Among them, R ij This represents the structural correlation between the i-th functional unit and the j-th functional unit. This indicates whether the i-th functional unit and the j-th functional unit satisfy the k-th correlation condition. When the i-th functional unit and the j-th functional unit satisfy the k-th correlation condition... When the i-th functional unit and the j-th functional unit do not satisfy the k-th related condition. w k Let represent the weight of the k-th relevance condition, and satisfy . The relevant conditions include: functional relevance conditions, structural relevance conditions, and assembly relevance conditions.

10. The modular design method for the furnace-front operation robot system according to claim 6, characterized in that, S4 specifically includes: A simulation model was established on the simulation platform, load boundary conditions were set, and the overall structure was verified to meet the strength requirements.

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