Converter sliding plate replacement robot and replacement method

Abstract

The invention provides a converter sliding plate replacement robot and a replacement method, and relates to the technical field of converter sliding plate maintenance intelligent equipment.The converter sliding plate replacement robot comprises a tapping hole robot and a sliding plate robot which are used for cooperatively processing a tapping hole and a sliding plate. Compared with the prior art that the prior preparation needs to be completed depending on manual assistance, the two robots are used for treating the sliding plate replacement task on the tapping hole side and the door opening side correspondingly, the posture is adjusted through the rotating platform, efficient labor division is achieved, and automation of the whole process from residue cleaning, old sliding plate dismounting, mounting face grinding and cleaning to new sliding plate mounting is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent equipment for maintaining a converter slide, and in particular to a converter slide replacement robot and a replacement method. Background Art

[0002] Slides are used to block converter slag, preventing it from flowing into the ladle. These slides require regular replacement and maintenance. Existing technology uses a pulley system to remove and install these slides. However, this process requires multiple people to collaborate, and the slides' location at the furnace mouth creates certain risks, resulting in high labor costs and significant safety risks.

[0003] To this end, the prior art discloses a converter slide quick-change robot, which is mainly composed of a forklift base, a servo rotation platform, a bolt disassembly and assembly robot, a backplate bracket, a hydraulic cylinder, an xyz three-axis displacement bracket, a slag stop slide positioning cylinder, a visual positioning camera and a displacement sensor. To a certain extent, it solves the problems of high risk and difficulty in operation during the replacement process of the slag stop slide.

[0004] However, the above-mentioned robot adopts a single robot + symmetrical bracket design, which requires manual switching of the working surface. It is unable to simultaneously process the slides on the steel outlet side and the door opening side, which prolongs the replacement time. At the same time, it only focuses on the disassembly, assembly and positioning of the slides, and does not cover key preliminary processes such as oxygen spraying to clean residues and polishing the installation surface. Cleaning and pretreatment need to be completed manually, resulting in interruption of the overall process and reduced efficiency. Summary of the Invention

[0005] In view of this, one of the purposes of the present invention is to provide a converter skateboard replacement robot to solve the technical problems that the existing technology adopts a single robot + symmetrical bracket design, which requires manual switching of the working surface, cannot synchronously process the skateboards on the steel outlet side and the door opening side, and prolongs the replacement time. At the same time, it only focuses on the disassembly, assembly and positioning of the skateboard, and does not cover key preliminary processes such as oxygen spraying to clean residues and polishing the installation surface. It needs to rely on manual cleaning and pretreatment, resulting in interruption of the overall process and reduced efficiency.

[0006] A second object of the present invention is to provide a converter slide replacement method using a converter slide replacement robot.

[0007] In order to achieve one of the above-mentioned purposes, the present invention provides a converter slide replacement robot, comprising a taphole robot and a slide robot that collaboratively handle the taphole and the slide; The tapping port robot includes a mobile trolley, a rotating platform, a working platform, a dustproof slide, a visual positioning module, a cleaning mechanism and a tapping port disassembly and assembly mechanism. The rotating platform is rotatably arranged on the mobile trolley, the working platform is arranged on the rotating platform, the dustproof slide is arranged on the working platform, the visual positioning module, the cleaning mechanism and the tapping port disassembly and assembly mechanism are all arranged on the dustproof slide, and the dustproof slide drives the visual positioning module, the cleaning mechanism and the tapping port disassembly and assembly mechanism to undergo spatial displacement. The visual positioning module is used to locate the tapping port, the cleaning mechanism is used to clean the tapping port, and the tapping port disassembly and assembly mechanism is used to disassemble and assemble the tapping port joint. The skateboard robot includes a mobile cart, a rotating platform, a dustproof slide, a working platform, a visual positioning module, a grinding mechanism and a skateboard disassembly and assembly mechanism. The rotating platform is rotatably arranged on the mobile cart, the working platform is arranged on the rotating platform, the dustproof slide is arranged on the working platform, the visual positioning module, the grinding mechanism and the skateboard disassembly and assembly mechanism are all arranged on the dustproof slide, and the dustproof slide drives the visual positioning module, the grinding mechanism and the skateboard disassembly and assembly mechanism to undergo spatial displacement. The visual positioning module is used to position the skateboard, the grinding mechanism is used to grind the skateboard mounting surface, and the skateboard disassembly and assembly mechanism is used to disassemble and assemble the skateboard.

[0008] Optionally, the dustproof slide includes multiple, and each includes a Z-axis dustproof slide and an X-axis dustproof slide, the X-axis dustproof slide is installed on the working platform, the Z-axis dustproof slide is installed on the X-axis dustproof slide, the visual positioning module, the cleaning mechanism and the steel outlet disassembly and assembly mechanism are all installed on different or the same Z-axis dustproof slide, and the visual positioning module is located above the Z-axis dustproof slide.

[0009] Optionally, the cleaning mechanism includes an oxygen spray pipe, an oxygen spray stepper motor and an oxygen spray feed cylinder. The oxygen spray stepper motor is arranged on the oxygen spray feed cylinder and is connected to the oxygen spray pipe for rotation driving. The oxygen spray feed cylinder drives the oxygen spray pipe to feed back and forth.

[0010] Optionally, the cleaning mechanism further includes a slag blocking plate, the slag blocking plate includes a plate body and an extended convex plate, the extended convex plate is arranged in the circumference of one side of the plate body, and the oxygen injection pipe passes through the plate body.

[0011] Optionally, the tapping port disassembly and assembly mechanism includes a three-jaw chuck, a tapping port stepper motor and a tapping port feed cylinder. The tapping port stepper motor is arranged on the tapping port feed cylinder and is connected to the three-jaw chuck for rotational driving. The tapping port feed cylinder drives the three-jaw chuck to feed back and forth.

[0012] Optionally, the dustproof slide includes multiple, and each includes a Z-axis dustproof slide and an X-axis dustproof slide, the X-axis dustproof slide is installed on the working platform, the Z-axis dustproof slide is installed on the X-axis dustproof slide, the visual positioning module, the cleaning mechanism and the slide disassembly and assembly mechanism are all installed on different or the same Z-axis dustproof slide, and the visual positioning module is located above the Z-axis dustproof slide.

[0013] Optionally, the grinding mechanism includes a grinding disc, a grinding stepping motor and a grinding feed cylinder, wherein the grinding stepping motor is provided on the grinding feed cylinder and is connected to the grinding disc for rotational driving, and the grinding feed cylinder drives the grinding disc to feed forward and backward; The polishing mechanism further includes an air nozzle, which is arranged on the circumference of the polishing disc and is connected to a copper air pipe for air supply.

[0014] Optionally, the slide disassembly and assembly mechanism includes a plate-taking assembly and a plate-loading assembly, and the plate-taking assembly and the plate-loading assembly are both arranged on the corresponding Z-axis dust-proof slide. The plate-taking assembly includes one, which is used to remove the old slide on the steel outlet surface and the old slide on the door opening side. The plate-loading assembly includes two, one of which is used to install the steel outlet surface slide, and the other is used to install the door opening side slide.

[0015] Optionally, the disc-taking assembly includes a disc-taking claw disc, a disc-taking stepping motor and a disc-taking feeding cylinder, wherein the disc-taking stepping motor is provided on the disc-taking feeding cylinder and is connected to the disc-taking claw disc for rotational driving, and the disc-taking feeding cylinder drives the disc-taking claw disc to feed forward and backward; The loading assembly includes a three-jaw chuck, a loading plate, a servo motor and a loading feed cylinder. The loading feed cylinder is installed on the Z-axis dustproof slide and is connected to the loading plate drive to drive the loading plate to feed back and forth. The outer surface of the loading plate is provided with an inwardly concave slide slot. The three-jaw chuck is arranged in the slide slot and is connected to the servo motor provided on the other side of the slide slot for rotation.

[0016] In order to achieve the second objective above, the present invention provides a converter slide replacement method using any of the above converter slide replacement robots, comprising the following steps: S1: Oxygen spray to clean the tapping hole residue; S2: dismantling the old skateboard; S3: Clean the skateboard installation surface; S4: Installation of new slide plate on the tapping port side; S5: Installation of new sliding plate on the door opening side; S6: tapping area identification; S7: Replacement of tapping port joint; S8: The replacement operation is completed.

[0017] The converter slide replacement robot and replacement method provided by the present invention have the following technical effects: This type of robot includes a steel outlet robot and a skateboard robot that collaboratively handle the steel outlet and the skateboard. Compared with the robots in the prior art that focus on the rapid positioning and bolt disassembly and assembly of the skateboard, and rely on manual assistance to complete the preliminary preparations, the two groups of robots of the present invention respectively handle the skateboard replacement tasks on the steel outlet side and the door opening side, and adjust the posture by rotating the platform to achieve efficient division of labor, realizing the full process automation from residue cleaning, disassembly of the old skateboard, polishing and cleaning of the installation surface to installation of the new skateboard. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention 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 of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of a preferred embodiment of the converter slide replacement robot of the present invention; Figure 2 yes Figure 1 Schematic diagram of the three-dimensional structure of the taphole robot of the converter slide replacement robot; Figure 3 yes Figure 2 Main view of the middle tapping port robot; Figure 4 yes Figure 2 Rear view of the middle tapping port robot; Figure 5 yes Figure 2 Side view of the middle tapping port robot; Figure 6 yes Figure 1 Schematic diagram of the three-dimensional structure of the skateboard robot of the converter skateboard replacement robot; Figure 7 yes Figure 6 The main view of the skateboard robot; Figure 8 yes Figure 6 Side view of the skateboard robot; Figure 9 yes Figure 6 Rear view of the skateboard robot; Figure 10 yes Figure 6 A top view of the skateboard robot; Figure 11 yes Figure 1 Diagram of the operating status of the converter slide replacement robot; Figure 12 It is a flow chart of the converter slide replacement method of the present invention.

[0020] in, Figures 1-12 : 10. Mobile trolley; 20. Rotating platform; 30. Working platform; 40. Dust-proof slide; 401. X-axis dust-proof slide; 402. Z-axis dust-proof slide; 50. Vision positioning module; 1. Taphole robot; 11. Cleaning mechanism; 111. Oxygen injection pipe; 112. Oxygen injection stepping motor; 113. Oxygen injection feed cylinder; 114. Slag baffle; 12. Taphole disassembly and assembly mechanism; 121. Three-jaw chuck; 122. Taphole stepping motor; 123. Taphole feed cylinder; 2. Slide robot; 21. Grinding mechanism; 211. Grinding disc; 212. Grinding stepper motor; 213. Grinding feed cylinder; 214. Air nozzle; 22. Disk retrieval assembly; 221. Removal claw disc; 222. Removal stepper motor; 223. Removal feed cylinder; 23. Disk loading assembly; 231. Three-jaw chuck; 232. Loading plate; 2321. Slide slot; 233. Servo motor; 234. Loading feed cylinder; 3. Converter. DETAILED DESCRIPTION

[0021] To make the objectives, technical solutions, and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other implementations obtained by those of ordinary skill in the art without inventive effort are within the scope of protection of the present invention.

[0022] Existing technology requires frequent replacement of slides for converter slag blocking operations. Traditional pulley assembly hoisting methods rely on multiple people working together, posing safety risks and inefficiencies. While existing robots utilize a single, symmetrical bracket design, manual switching of work surfaces is required, preventing simultaneous processing of slides on both the tapping and door sides. Furthermore, these robots lack pre-treatment capabilities such as oxygen spraying to clean residue and polishing the mounting surface, disrupting the replacement process and impacting overall operational efficiency.

[0023] To address these issues, the inventors discovered that existing single-robot systems struggled to coordinate multiple processes, necessitating the separation of tapping point handling and slide replacement. By designing a split robot system, each equipped with an independent mobile platform and operating modules, the system could sequentially execute different processes. Furthermore, the system integrates visual positioning, cleaning and polishing, and assembly and disassembly mechanisms to form a continuous operation chain, eliminating manual intervention and achieving full automation.

[0024] Therefore, if Figure 1-11As shown, the present application proposes a converter slide replacement robot comprising a tapping hole robot 1 and a slide robot 2, which are installed near the furnace mouth of a converter 3. The tapping hole robot 1 comprises a mobile trolley 10, a rotating platform 20, a working platform 30, a dustproof slide 40, a visual positioning module 50, a cleaning mechanism 11, and a tapping hole disassembly and assembly mechanism 12, and the dustproof slide 40 drives the spatial displacement of the working module. The slide robot 2 comprises a mobile trolley 10, a rotating platform 20, a dustproof slide 40, a visual positioning module 50, a grinding mechanism 21, and a tapping hole disassembly and assembly mechanism 12, and the dustproof slide 40 drives the spatial displacement of the working module.

[0025] Specifically, the tapping hole robot 1 moves to the bottom of the tapping hole of the converter 3 via the mobile carriage 10. The rotating platform 20 drives the working platform 30 to adjust the working angle. The dustproof slide 40 moves vertically and horizontally, allowing the visual positioning module 50 to capture the tapping hole's position coordinates. The cleaning mechanism 11 then sprays oxygen and removes slag along a predetermined trajectory. The tapping hole robot 1 then leaves the converter 3 tapping hole via the mobile carriage 10. The skateboard robot 2 moves to the skateboard installation area. The disassembly and assembly mechanism removes the old skateboard. The dustproof slide 40 drives the polishing mechanism 21 to perform surface treatment on the installation surface. The visual positioning module 50 corrects the working position in real time. The disassembly and assembly mechanism completes the installation of the new skateboard. The skateboard robot 2 leaves the skateboard installation area. The tapping hole robot 1 again moves to the bottom of the tapping hole of the converter 3 via the mobile carriage 10. The disassembly and assembly mechanism removes the old tapping hole joint and installs the new joint. The two robots achieve process integration through a collaborative control system, avoiding time loss during work surface switching.

[0026] The mobile carriage 10 carries a rotating platform 20, driven by a servo motor 233 to rotate the platform 20 between 0 and 360 degrees. This allows the taphole robot 1 and the slide robot 2 to flexibly adjust their operating postures within the confined furnace opening. Compared to the linear slides used on conventional forklift platforms, this system avoids the space limitations of the forklift chassis, making it particularly suitable for navigating the complex terrain surrounding the converter 3 and enabling rapid switching between the taphole-side and door-opening-side working surfaces.

[0027] Compared to existing technologies, the split-robot architecture enables coordinated taphole handling and slide replacement. The dual-mobile platform configuration overcomes the space limitations of a single machine, enabling simultaneous handling of slides on both sides of converter 3, significantly improving operational efficiency compared to traditional single-robot configurations. Integrated functional modules cover pretreatment processes such as oxygen spray cleaning and surface treatment, enabling fully automated operation.

[0028] Through the above technical solution, this application realizes the full mechanization of the converter 3 slide replacement operation, eliminating the need for manual entry into the high-temperature dangerous area. The dual-robot collaborative working mechanism shortens the process connection time and improves overall operation efficiency.

[0029] As a preferred embodiment, Figure 2-Figure 5 As shown, the dustproof slide 40 of the steel outlet includes multiple, and each includes a Z-axis dustproof slide 402 and an X-axis dustproof slide 401. The X-axis dustproof slide 401 is installed on the working platform 30, and the Z-axis dustproof slide 402 is installed on the X-axis dustproof slide 401. The visual positioning module 50, the cleaning mechanism 11 and the steel outlet disassembly and assembly mechanism 12 of the steel outlet are all installed on different or the same Z-axis dustproof slide 402, and the visual positioning module 50 is located above the Z-axis dustproof slide 402.

[0030] Specifically, the X-axis dustproof slide 401 is driven horizontally along the track by an electric push rod, driving the mounted Z-axis dustproof slide 402 to the target station. When visual positioning is required, the Z-axis dustproof slide 402 is vertically raised and lowered by a servo motor 233, driving the ball screw. This allows the visual positioning module 50 to precisely focus on the tapping area. The high-positioned layout of the visual positioning module 50 allows it to preferentially capture panoramic images during the slide's raising and lowering process, providing a spatial coordinate reference for subsequent cleaning and assembly / disassembly.

[0031] For details, see Figure 2-Figure 5 As shown, the cleaning mechanism 11 includes an oxygen injection pipe 111, an oxygen injection stepper motor 112, an oxygen injection feed cylinder 113 and a slag retaining plate 114. The slag retaining plate 114 includes a plate body and an extended convex plate. The extended convex plate is arranged in the circumference of one side of the plate body. The oxygen injection pipe 111 passes through the plate body. The oxygen injection stepper motor 112 is arranged on the oxygen injection feed cylinder 113 and is connected to the oxygen injection pipe 111 for rotational driving. The oxygen injection feed cylinder 113 drives the oxygen injection pipe 111 to feed back and forth.

[0032] The oxygen injection pipe 111 is a tubular structure used to transport oxygen for high-temperature cleaning. Specifically, it can be made of a high-temperature resistant metal material, such as a 316L stainless steel pipe. It uses oxygen injection to generate a high-temperature oxidation reaction to remove residues on the surface of the steel outlet. The oxygen injection stepper motor 112 is a driving component that drives the oxygen injection pipe 111 to rotate. Specifically, a two-phase hybrid stepper motor can be used. By precisely controlling the rotation angle, it ensures that the oxygen injection pipe 111 evenly covers the working area. The oxygen injection feed cylinder 113 is an actuator that controls the axial movement of the oxygen injection pipe 111. Specifically, a double-acting single-piston rod cylinder can be used. Through pneumatic transmission, the oxygen injection pipe 111 can be accurately positioned forward and backward inside the steel outlet. The slag baffle 114 is a protective structure that prevents the spread of splashes during the cleaning process. The extended convex plate and the plate body form a semi-enclosed shape. For example, a high-temperature resistant ceramic plate is used to cover the outside of the oxygen injection pipe 111 to prevent molten residue from splashing outward.

[0033] Specifically, the oxygen injection stepper motor 112 is mounted on the cylinder body of the oxygen injection feed cylinder 113 and connected to the oxygen injection pipe 111 via a coupling. When the cleaning operation is initiated, the oxygen injection feed cylinder 113 pushes the oxygen injection pipe 111 axially into the interior of the steel tapping hole. Simultaneously, the stepper motor drives the oxygen injection pipe 111 to rotate at a preset speed, ensuring that the oxygen injection hole evenly covers the working surface. The extended protrusion of the slag retaining plate 114 abuts against the outer edge of the steel tapping hole, forming a physical barrier. The oxygen injection pipe 111 passes through the central through-hole of the plate body to operate. The slag is blocked by the slag retaining plate 114 and falls into a collection device.

[0034] For details, see Figure 2-5 As shown, the tapping port disassembly and assembly mechanism 12 includes a three-jaw chuck 121, a tapping port stepper motor 122 and a tapping port feed cylinder 123. The tapping port stepper motor 122 is arranged on the tapping port feed cylinder 123 and is connected to the three-jaw chuck 121 for rotational driving. The tapping port feed cylinder 123 drives the three-jaw chuck 121 to feed back and forth.

[0035] Among them, the three-jaw chuck 121 is a clamping device with three synchronously movable jaws, which can be implemented by a mechanical linkage structure or a hydraulic drive structure, and is used to stably grasp the steel outlet joint and transmit the rotational torque. The steel outlet stepper motor 122 is a driving element that can accurately control the rotation angle and speed. It can be implemented by a hybrid stepper motor or a closed-loop stepper motor. It is built into the feed cylinder to achieve a compact layout and directly drive the three-jaw chuck 121 to perform the rotation action. The steel outlet feed cylinder 123 is an actuator that provides linear motion power. It can be implemented by a double-acting cylinder or a servo electric cylinder. The three-jaw chuck 121 is pushed axially by pneumatic or electric drive to achieve precise positioning during the disassembly and assembly process.

[0036] Specifically, when the taphole joint needs to be removed or installed, the taphole feed cylinder 123 first pushes the three-jaw chuck 121 axially to the target position. A stepper motor then drives the three-jaw chuck 121 to rotate, tightening or loosening the joint. The contact surface between the three-jaw chuck 121 and the joint can be coated with wear-resistant material to enhance clamping stability. The rotation angle of the stepper motor is precisely adjusted by a controller to ensure the reliability of the threaded connection during assembly and disassembly. The stroke of the taphole feed cylinder 123 can be adjusted based on the actual installation depth of the taphole joint, for example, through stroke control using a built-in displacement sensor or limit switch.

[0037] As a preferred embodiment, Figure 6-10As shown, the dustproof slide 40 includes multiple, and each includes a Z-axis dustproof slide 402 and an X-axis dustproof slide 401. The X-axis dustproof slide 401 is installed on the working platform 30, and the Z-axis dustproof slide 402 is installed on the X-axis dustproof slide 401. The visual positioning module 50, the grinding mechanism 21 and the slide disassembly and assembly mechanism are all installed on different or the same Z-axis dustproof slide 402, and the visual positioning module 50 is located above the Z-axis dustproof slide 402.

[0038] Among them, the Z-axis dustproof slide 402 is a dustproof structure that moves in the vertical direction. Specifically, a ball screw and a linear guide rail combination can be used to achieve vertical lifting, and is used to adjust the height position of the visual positioning module 50, the grinding mechanism 21 and the disassembly and assembly mechanism to adapt to the operating requirements of skateboards of different sizes and heights. The X-axis dustproof slide 401 is a dustproof structure that moves in the horizontal direction. Specifically, a synchronous belt transmission mechanism driven by a servo motor 233 can be used to achieve lateral displacement, and is used to expand the working coverage of the skateboard processing device. The visual positioning module 50 is located above the Z-axis dustproof slide 402, which means that the module is arranged at the top of the Z-axis moving component. Specifically, a high-resolution industrial camera can be used in conjunction with a ring fill light to achieve this. The precise coordinate data of the skateboard mounting surface can be obtained from a bird's-eye view to guide subsequent grinding and disassembly operations.

[0039] Specifically, the X-axis dustproof slide 401 and the Z-axis dustproof slide 402 form a composite motion mechanism. When the skateboard robot 2 moves to the target workstation, the X-axis dustproof slide 401 drives the Z-axis dustproof slide 402 to move horizontally to directly above the skateboard mounting surface. The Z-axis dustproof slide 402 then drives the visual positioning module 50 to rise or descend to a preset height for image acquisition. After positioning is completed, the skateboard disassembly mechanism removes the old skateboard, and the polishing mechanism 21 rises or descends along the Z-axis dustproof slide 402 to the skateboard mounting surface to perform the polishing operation. The skateboard disassembly mechanism then installs the new skateboard.

[0040] Detailed, such as Figure 6-10 As shown, the grinding mechanism 21 includes a grinding disc 211, a grinding stepper motor 212 and a grinding feed cylinder 213. The grinding stepper motor 212 is arranged on the grinding feed cylinder 213 and is connected to the grinding disc 211 for rotation. The grinding feed cylinder 213 drives the grinding disc 211 to feed back and forth. The grinding mechanism 21 also includes an air nozzle 214. The air nozzle 214 is arranged in the circumference of the grinding disc 211 and is connected to the copper air pipe for air supply.

[0041] The grinding disc 211 refers to a disc-shaped tool with a rotary cutting function. Specifically, it can be made of alloy steel with a diamond coating on the surface, and is used for high-speed rotary grinding of the sliding plate mounting surface. The grinding stepper motor 212 is a power device that controls the rotation speed of the grinding disc 211. Specifically, it can be implemented by a closed-loop control stepper motor. The rotation speed of the grinding disc 211 is controlled by adjusting the pulse frequency to adapt to different grinding requirements. The grinding feed cylinder 213 is an actuator that drives the grinding disc 211 to move along the axial direction. Specifically, it can be implemented by a double-acting single-piston rod cylinder. The forward and backward feed movement of the grinding disc 211 is achieved by air pressure control. The air nozzle 214 is a tubular structure for spraying compressed gas. Specifically, it can be implemented by a copper nozzle arranged in a ring array. It is connected to an external air source through a copper air pipe to simultaneously blow away metal debris during the grinding process.

[0042] Specifically, a grinding stepper motor 212 drives the grinding disc 211 to rotate at high speed, generating cutting power. A grinding feed cylinder 213 pushes the grinding disc 211 axially into contact with the slide mounting surface. This speed regulation of the grinding stepper motor 212 and displacement control of the grinding feed cylinder 213 enable precise grinding. Air nozzles 214 are spaced around the circumference of the grinding disc 211 and continuously emit high-pressure gas during the grinding process, removing generated metal debris and dust from the work area. The copper air pipe can withstand high temperatures and ensures a stable air supply.

[0043] Detailed, such as Figure 6-10 As shown, the slide disassembly and assembly mechanism includes a plate-taking assembly 22 and a plate-loading assembly 23. Both the plate-taking assembly 22 and the plate-loading assembly 23 are arranged on the corresponding Z-axis dust-proof slide 402. The plate-taking assembly 22 includes one, which is used to remove the old slide on the steel outlet surface and the old slide on the door opening side. The plate-loading assembly 23 includes two, one of which is used to install the steel outlet surface slide, and the other is used to install the door opening side slide.

[0044] The disc picking assembly 22 includes a disc picking claw disc 221, a disc picking stepping motor 222 and a disc picking feeding cylinder 223. The disc picking stepping motor 222 is arranged on the disc picking feeding cylinder 223 and is connected to the disc picking claw disc 221 for rotational driving. The disc picking feeding cylinder 223 drives the disc picking claw disc 221 to feed back and forth.

[0045] The claw plate 221 is a multi-claw gripping component, specifically a mechanical chuck with adjustable claw arms. The claw arms' synchronous contraction and expansion enable the old skateboard to be grasped and released. The claw plate feed cylinder 223 drives the claw plate 221 axially. For example, a double-acting cylinder can be used to achieve bidirectional motion control, allowing the claw plate 221 to precisely approach or move away from the skateboard's mounting position.

[0046] The loading assembly 23 includes a three-jaw chuck 231, a loading plate 232, a servo motor 233 and a loading feed cylinder 234. The loading feed cylinder 234 is installed on the Z-axis dustproof slide 402 and is driven by the loading plate 232, driving the loading plate 232 to feed back and forth. The outer surface of the loading plate 232 is provided with an inwardly concave slide slot 2321. The three-jaw chuck 231 is arranged in the slide slot 2321 and is rotationally driven by the servo motor 233 arranged on the other side of the slide slot 2321.

[0047] The slide slot 2321 is a positioning structure that matches the slide's shape. Specifically, it can be implemented as a groove with an elastic pad. The sidewalls of the slot secure the new slide in place. The servo motor 233 controls the rotation angle of the three-jaw chuck 231, for example, using a closed-loop control motor to achieve precise angle adjustment.

[0048] Specifically, the disc removal assembly 22 uses the disc removal feed cylinder 223 to push the claw plate 221 axially to the position of the old slide. The disc removal stepper motor 222 drives the claw plate 221 to rotate to lock the edge of the slide. The cylinder then retracts to move the old slide off the installation surface. The disc loading assembly 23 uses the disc loading feed cylinder 234 to push the loading plate 232 to move the new slide to the installation position. The servo motor 233 drives the three-jaw chuck 231 to rotate, completing the installation.

[0049] In some specific embodiments, the disc-taking stepper motor 222 can be replaced with a servo motor 233 to improve the rotation accuracy; the cross-sectional shape of the skateboard slot 2321 can be designed to be rectangular or circular according to the type of skateboard; the feed cylinder of the disc loading plate 232 can adopt a multi-stage cylinder to adapt to different stroke requirements.

[0050] The present invention also provides a method for replacing the converter 3 slide plate, such as Figure 11 and 12 As shown, the following steps are included: spray oxygen to clean the residue at the tapping port; remove the old slide; clean the slide mounting surface; install a new slide on the tapping port side; install a new slide on the door opening side; identify the tapping port area; replace the tapping port joint; and complete the replacement operation.

[0051] Oxygen spray cleaning of taphole residue: A camera mounted on the taphole joint replacement work surface first takes a picture of the taphole, visually identifying and locating its spatial position. The rotating platform 20 then rotates to face the oxygen spray cleaning surface to clean the interior of the taphole. This involves using an oxygen spray pipe 111 to perform high-temperature combustion in the taphole area to remove residual slag. This is achieved by using an oxygen spray stepper motor 112 to drive the oxygen spray pipe 111's rotation and an oxygen spray feed cylinder 113 to control its axial movement. This step eliminates the need for manual labor to clean residue by automating oxygen spraying.

[0052] Disassembling the old skateboard: clamp the skateboard through the disc assembly 22 and cooperate with the feed cylinder to realize the axial disengagement of the skateboard. Specifically, it can be achieved by linking the claw disc 221 with the disc stepping motor 222. This step is achieved by coordinating the mechanical clamping and positioning system to avoid manual contact with high-temperature components.

[0053] Cleaning of the skateboard mounting surface: After the old skateboard is replaced, the surface of the skateboard mounting area is treated using a grinding disc 211. Specifically, this can be achieved by using a grinding stepper motor 212 to drive the grinding disc 211 to rotate and an air nozzle 214 to simultaneously clean debris. This step eliminates the risk of interruption of the pretreatment process by integrating grinding and cleaning functions.

[0054] Installation of a new slide plate on the tapping port side: Based on the image processing results of the tapping port area by the visual positioning module 50, the tapping port is spatially positioned, and then the slide plate is aligned with the installation position, the slide plate is pushed in, the three-jaw chuck 231 is released, and the installation of the new slide plate is completed.

[0055] Installation of the new slide on the door opening side: The rotating platform 20 rotates to adjust its working position, aligning the working surface of the vision positioning module 50 with the door opening side. The spatial position of the door opening slide's mounting surface is identified. The rotating platform 20 rotates and adjusts the position of the new slide, aligning the working surface of the mounting slide with the door opening side. This completes the installation of the new slide on the door opening side. The two robot groups exit the workspace, and the worker closes the tapping door.

[0056] Taphole area identification: The taphole robot 1 enters the working area and uses the visual positioning module 50 to calibrate the three-dimensional coordinates of the taphole joint position. This can be achieved by using multi-angle image acquisition and feature point matching algorithm. This step ensures the accuracy of subsequent disassembly and assembly operations through high-precision positioning.

[0057] Replacement of the tapping port joint: Based on the information processed by the visual positioning module 50, the three-jaw chuck 231 is positioned at the tapping port, the locking disk is removed first, and then the working platform 30 is translated along the Y-axis to another three-jaw chuck 231 aligned with the tapping port position, the tapping port joint is removed, and the rotating platform 20 is rotated to the working surface equipped with the new joint and the new locking disk to install the new joint.

[0058] In the description of the present invention, it should be noted that, unless otherwise specified, "plurality" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific direction, be constructed, or operate in a specific direction, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0059] It should also be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention depending on the specific circumstances.

[0060] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A converter slide replacement robot, characterized in that: Includes a taphole robot and a slide robot that collaboratively handle the taphole and slide; The tapping port robot includes a mobile trolley, a rotating platform, a working platform, a dustproof slide, a visual positioning module, a cleaning mechanism and a tapping port disassembly and assembly mechanism. The rotating platform is rotatably arranged on the mobile trolley, the working platform is arranged on the rotating platform, the dustproof slide is arranged on the working platform, the visual positioning module, the cleaning mechanism and the tapping port disassembly and assembly mechanism are all arranged on the dustproof slide, and the dustproof slide drives the visual positioning module, the cleaning mechanism and the tapping port disassembly and assembly mechanism to undergo spatial displacement. The visual positioning module is used to locate the tapping port, the cleaning mechanism is used to clean the tapping port, and the tapping port disassembly and assembly mechanism is used to disassemble and assemble the tapping port joint. The skateboard robot includes a mobile cart, a rotating platform, a dustproof slide, a working platform, a visual positioning module, a grinding mechanism and a skateboard disassembly and assembly mechanism. The rotating platform is rotatably arranged on the mobile cart, the working platform is arranged on the rotating platform, the dustproof slide is arranged on the working platform, the visual positioning module, the grinding mechanism and the skateboard disassembly and assembly mechanism are all arranged on the dustproof slide, and the dustproof slide drives the visual positioning module, the grinding mechanism and the skateboard disassembly and assembly mechanism to undergo spatial displacement. The visual positioning module is used to position the skateboard, the grinding mechanism is used to grind the skateboard mounting surface, and the skateboard disassembly and assembly mechanism is used to disassemble and assemble the skateboard.

2. The converter slide replacement robot according to claim 1, characterized in that: The dustproof slide includes multiple, and each includes a Z-axis dustproof slide and an X-axis dustproof slide. The X-axis dustproof slide is installed on the working platform, and the Z-axis dustproof slide is installed on the X-axis dustproof slide. The visual positioning module, the cleaning mechanism and the steel outlet disassembly and assembly mechanism are all installed on different or the same Z-axis dustproof slide, and the visual positioning module is located above the Z-axis dustproof slide.

3. The converter slide replacement robot according to claim 2, characterized in that: The cleaning mechanism includes an oxygen spray pipe, an oxygen spray stepping motor and an oxygen spray feeding cylinder. The oxygen spray stepping motor is arranged on the oxygen spray feeding cylinder and is connected to the oxygen spray pipe for rotational driving. The oxygen spray feeding cylinder drives the oxygen spray pipe to feed back and forth.

4. The converter slide replacement robot according to claim 3, characterized in that: The cleaning mechanism further comprises a slag blocking plate, which comprises a plate body and an extended convex plate. The extended convex plate is arranged in the circumference of one side of the plate body, and the oxygen injection pipe passes through the plate body.

5. The converter slide replacement robot according to claim 2, characterized in that: The tapping port disassembly and assembly mechanism includes a three-jaw chuck, a tapping port stepper motor and a tapping port feed cylinder. The tapping port stepper motor is arranged on the tapping port feed cylinder and is connected to the three-jaw chuck for rotational driving. The tapping port feed cylinder drives the three-jaw chuck to feed back and forth.

6. The converter slide replacement robot according to claim 1, characterized in that: The dustproof slide includes multiple, and each includes a Z-axis dustproof slide and an X-axis dustproof slide. The X-axis dustproof slide is installed on the working platform, and the Z-axis dustproof slide is installed on the X-axis dustproof slide. The visual positioning module, the cleaning mechanism and the slide disassembly and assembly mechanism are all installed on different or the same Z-axis dustproof slide, and the visual positioning module is located above the Z-axis dustproof slide.

7. The converter slide replacement robot according to claim 6, characterized in that: The grinding mechanism includes a grinding disc, a grinding stepping motor and a grinding feed cylinder. The grinding stepping motor is arranged on the grinding feed cylinder and is connected to the grinding disc for rotational driving. The grinding feed cylinder drives the grinding disc to feed forward and backward. The polishing mechanism further includes an air nozzle, which is arranged on the circumference of the polishing disc and is connected to a copper air pipe for air supply.

8. The converter slide replacement robot according to claim 6, characterized in that: The slide disassembly and assembly mechanism includes a plate-taking assembly and a plate-loading assembly. Both the plate-taking assembly and the plate-loading assembly are arranged on the corresponding Z-axis dust-proof slide. The plate-taking assembly includes one, which is used to remove the old slide on the steel outlet surface and the old slide on the door opening side. The plate-loading assembly includes two, one of which is used to install the steel outlet surface slide, and the other is used to install the door opening side slide.

9. The converter slide replacement robot according to claim 8, characterized in that: The disc taking assembly includes a disc taking claw plate, a disc taking stepping motor and a disc taking feeding cylinder. The disc taking stepping motor is arranged on the disc taking feeding cylinder and is connected to the disc taking claw plate for rotation driving. The disc taking feeding cylinder drives the disc taking claw plate to feed forward and backward. The loading assembly includes a three-jaw chuck, a loading plate, a servo motor and a loading feed cylinder. The loading feed cylinder is installed on the Z-axis dustproof slide and is connected to the loading plate drive to drive the loading plate to feed back and forth. The outer surface of the loading plate is provided with an inwardly concave slide slot. The three-jaw chuck is arranged in the slide slot and is connected to the servo motor provided on the other side of the slide slot for rotation.

10. A method for replacing a converter slide using the converter slide replacement robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: Oxygen spray to clean the tapping hole residue; S2: dismantling the old skateboard; S3: Clean the skateboard installation surface; S4: Installation of new slide plate on the tapping port side; S5: Installation of new sliding plate on the door opening side; S6: tapping area identification; S7: Replacement of tapping port joint; S8: The replacement operation is completed.

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