Calcium carbide furnace discharging robot operation control system and operation control method

Abstract

The invention relates to a calcium carbide furnace discharging robot operation control system and method. The operation control system for the calcium carbide furnace discharging robot is applied to the technical field of ore smelting and comprises a remote console for generating a control instruction; the hydraulic transmission system is used for controlling the calcium carbide discharging robot to move on the ground track based on the first control instruction and adjusting the pitching angle and / or the rotation angle of a gripper assembly of the calcium carbide discharging robot based on the first control instruction; and the servo transmission system is used for controlling the gripper assembly to move to a designated position on the large arm track based on the second control instruction, detecting the stress state of the operation tool when the gripper assembly operates at the designated position, and adjusting the position of the gripper assembly on the large arm track based on the stress state of the operation tool. The problem that when the working tool is suddenly stressed, the working tool is prone to being broken is solved, and therefore the working efficiency and the working safety are effectively improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of ore smelting, and in particular to a calcium carbide furnace tapping robot operation control system, a calcium carbide furnace tapping robot operation control method, a storage medium and an electronic device. Background Art

[0002] my country's energy structure is characterized by being rich in coal, poor in oil, and limited in natural gas, necessitating the development of a coal chemical industry. Calcium carbide is a key intermediate product in the coal chemical industry and a raw material for producing acetylene, the "mother of synthetic fuels." The development of coal chemical industry has also led to rapid growth in the calcium carbide industry in recent years.

[0003] Currently, my country's submerged arc furnace calcium carbide smelting industry faces hazardous and labor-intensive production environments. Unloading and tamping operations are primarily performed manually or semi-automatically, posing significant safety risks and posing a serious threat to the lives of workers. Therefore, there is an urgent need for intelligent robotic production and control systems that can replace frontline workers in unloading and tamping operations, reducing labor intensity and safety risks. Summary of the Invention

[0004] In view of this, the embodiments of the present disclosure hope to provide a calcium carbide furnace robot operation control system, a calcium carbide furnace robot operation control method, a storage medium and an electronic device.

[0005] The technical solution of the present disclosure is achieved as follows:

[0006] In a first aspect, the present disclosure provides a calcium carbide furnace tapping robot operation control system.

[0007] The calcium carbide furnace tapping robot operation control system provided by the embodiment of the present disclosure includes:

[0008] Remote control console, used to generate control instructions according to the operation tasks of calcium carbide furnace;

[0009] a hydraulic transmission system, communicatively connected to the remote control console, for controlling the calcium carbide furnace tapping robot to move on the ground track based on a first control instruction among the control instructions, and adjusting a pitch angle and / or a rotation angle of a gripper assembly of the calcium carbide furnace tapping robot based on the first control instruction;

[0010] a servo drive system, communicatively connected to the remote control console, for controlling the gripper assembly to move to a specified position on the boom track based on a second control instruction in the control instructions, detecting a force state of a working tool when the gripper assembly is operating at the specified position, and adjusting the position of the gripper assembly on the boom track based on the force state of the working tool;

[0011] The video monitoring system is connected to the remote control console for obtaining the operation screen of the calcium carbide furnace robot and feeding back the operation screen of the calcium carbide furnace robot to the remote control console so that the operator can adjust the operation task based on the operation screen of the calcium carbide furnace robot.

[0012] In some embodiments, the servo drive system includes

[0013] A servo motor is used to drive the gripper assembly to move on the boom track;

[0014] an absolute position encoder, communicatively connected to the remote control console, for detecting the position of the gripper assembly moving on the boom track;

[0015] a three-dimensional mechanical sensor, in communication with the remote control console, for detecting a force state of the working tool when the gripper assembly is operating at the designated position;

[0016] An impact force sensor is communicatively connected to the remote control console and is used to detect the impact force applied to the working tool when the gripper assembly is operating at the designated position.

[0017] In some embodiments, the servo drive system is specifically used for

[0018] If the three-dimensional mechanical sensor detects that the force state of the working tool is a sudden force change in any direction in the three-dimensional coordinate system, the position of the gripper assembly on the boom track is adjusted to move away from the calcium carbide furnace.

[0019] In some embodiments, the hydraulic transmission system is specifically used for

[0020] If the force applied to the working tool in any direction in the three-dimensional coordinate system exceeds a predetermined value, after adjusting the position of the gripper assembly on the boom track through the servo transmission system, the pitch angle and / or rotation angle of the gripper assembly of the calcium carbide furnace robot are adjusted based on the force change in the three-dimensional coordinate system generated by the working tool.

[0021] In some embodiments, the hydraulic transmission system is specifically used for

[0022] If the force applied to the working tool in the Z direction in the three-dimensional coordinate system exceeds the predetermined value, the pitch angle of the gripper assembly of the calcium carbide furnace unloading robot is adjusted in the Z positive direction or the Z negative direction;

[0023] If the force applied to the working tool in the Y direction in the three-dimensional coordinate system exceeds the predetermined value, the rotation angle of the gripper assembly of the calcium carbide furnace unloading robot is adjusted in the Y positive direction or the Y negative direction; wherein, the X direction in the three-dimensional coordinate system is the arm extension direction, the Y direction is the arm rotation adjustment direction, and the Z direction is the arm pitch adjustment direction.

[0024] In some embodiments, the servo drive system is specifically used for

[0025] If the three-dimensional mechanical sensor detects that the force state of the working tool is that the force applied to the working tool in any direction in the three-dimensional coordinate system exceeds the predetermined value, and / or the impact force sensor detects that the force state of the working tool is that the working tool is subjected to an impact force in the X direction of the three-dimensional coordinate system, the position of the gripper assembly on the boom track is adjusted to move back away from the calcium carbide furnace.

[0026] In some embodiments, the remote console is specifically used to

[0027] Based on the working picture of the calcium carbide out-of-furnace robot fed back by the video monitoring system and the force changes in the three-dimensional coordinate system generated by the working tool, working instructions are sent to the calcium carbide out-of-furnace robot to adjust the pitch angle and / or rotation angle of the gripper assembly of the calcium carbide out-of-furnace robot.

[0028] In some embodiments, at least one operation task applied to the calcium carbide furnace;

[0029] The tasks of calcium carbide furnace unloading include burning through, opening holes, drilling, plugging holes and cleaning the furnace tongue;

[0030] The three-dimensional mechanical sensor is used to detect the stress state of the burn-through device when the gripper assembly is performing a burn-through operation;

[0031] The impact force sensor is used to detect the impact force applied to the working tool when the gripper assembly is performing an eye opening operation.

[0032] In a second aspect, the present disclosure provides a method for controlling a carbide furnace tapping robot operation, comprising:

[0033] Generate control instructions on the remote control console according to the operation task of calcium carbide furnace;

[0034] Based on a first control instruction among the control instructions, the calcium carbide furnace unloading robot is controlled to move on the ground track through a hydraulic transmission system, and a pitch angle and / or rotation angle of a gripper assembly of the calcium carbide furnace unloading robot is adjusted based on the first control instruction;

[0035] Based on a second control instruction in the control instructions, controlling the gripper assembly to move to a specified position on the boom track through a servo transmission system, detecting a force state of a working tool when the gripper assembly is operating at the specified position, and adjusting the position of the gripper assembly on the boom track based on the force state of the working tool;

[0036] The operation screen of the calcium carbide furnace discharging robot is obtained through the video monitoring system, and the operation screen of the calcium carbide furnace discharging robot is fed back to the remote control console so that the operator can adjust the operation task based on the operation screen of the calcium carbide furnace discharging robot.

[0037] In some embodiments, adjusting the position of the gripper assembly on the boom track based on the force state of the working tool includes:

[0038] If the three-dimensional mechanical sensor detects that the force state of the working tool is a sudden force change in any direction in the three-dimensional coordinate system, the position of the gripper assembly on the boom track is adjusted to move away from the calcium carbide furnace.

[0039] In some embodiments, if the working tool generates a sudden change in force in any direction in the three-dimensional coordinate system, after adjusting the position of the gripper assembly on the boom track by the servo transmission system, the method includes:

[0040] Based on the force changes in the three-dimensional coordinate system generated by the working tool, the pitch angle and / or rotation angle of the gripper assembly of the calcium carbide furnace tapping robot are adjusted.

[0041] In some embodiments, adjusting the pitch angle and / or rotation angle of the gripper assembly of the calcium carbide furnace tapping robot based on the force change in the three-dimensional coordinate system generated by the working tool includes:

[0042] If the force applied to the working tool in the Z direction in the three-dimensional coordinate system exceeds the predetermined value, the pitch angle of the gripper assembly of the calcium carbide furnace unloading robot is adjusted in the Z positive direction or the Z negative direction;

[0043] If the force applied to the working tool in the Y direction in the three-dimensional coordinate system exceeds the predetermined value, the rotation angle of the gripper assembly of the calcium carbide furnace unloading robot is adjusted in the Y positive direction or the Y negative direction; wherein, the X direction in the three-dimensional coordinate system is the arm extension direction, the Y direction is the arm rotation adjustment direction, and the Z direction is the arm pitch adjustment direction.

[0044] In a third aspect, the present disclosure provides a computer-readable storage medium on which a calcium carbide furnace discharging robot operation control program is stored. When the calcium carbide furnace discharging robot operation control program is executed by a processor, the calcium carbide furnace discharging robot operation control method described in the second aspect above is implemented.

[0045] In the fourth aspect, the present disclosure provides an electronic device comprising a memory, a processor, and a calcium carbide furnace robot operation control program stored in the memory and runnable on the processor. When the processor executes the calcium carbide furnace robot operation control program, the calcium carbide furnace robot operation control method described in the second aspect above is implemented.

[0046] According to the embodiment of the present invention, the operation control system of the calcium carbide out-of-furnace robot includes: a remote control console, which is used to generate control instructions according to the operation task of the calcium carbide out-of-furnace; a hydraulic transmission system, which is communicated with the remote control console, and is used to control the calcium carbide out-of-furnace robot to move on the ground track based on the first control instruction in the control instruction, and adjust the pitch angle and / or rotation angle of the gripper assembly of the calcium carbide out-of-furnace robot based on the first control instruction; a servo transmission system, which is communicated with the remote control console, and is used to control the gripper assembly to move to a specified position on the boom track based on the second control instruction in the control instruction, and detect the force state of the working tool when the gripper assembly is operating at the specified position, and adjust the position of the gripper assembly on the boom track based on the force state of the working tool; a video monitoring system, which is communicated with the remote control console, and is used to obtain the operation screen of the calcium carbide out-of-furnace robot, and feed back the operation screen of the calcium carbide out-of-furnace robot to the remote control console, so that the operator can adjust the operation task based on the operation screen of the calcium carbide out-of-furnace robot. In this application, based on the second control instruction in the control instruction, the gripper assembly is controlled to move to the specified position on the boom track through the servo transmission system, and the force state of the working tool when the gripper assembly is operating at the specified position is detected, and the position of the gripper assembly on the boom track is adjusted based on the force state of the working tool. While replacing manual operations, it solves the problem that the working tool may break when it is suddenly subjected to force, thereby effectively improving operating efficiency, stabilizing production processes and improving operating safety.

[0047] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 1 is a schematic structural diagram of a control system for a carbide furnace unloading robot according to an exemplary embodiment;

[0049] Figure 2 The structure of the calcium carbide furnace robot is shown according to an exemplary embodiment. Figure 1 ;

[0050] Figure 3 is a schematic diagram of the structure of a large arm in a calcium carbide furnace unloading robot according to an exemplary embodiment;

[0051] Figure 4The structure of the calcium carbide furnace robot is shown according to an exemplary embodiment. Figure 2 ;

[0052] Figure 5 is a schematic diagram of force detection by a three-dimensional mechanical sensor according to an exemplary embodiment;

[0053] Figure 6 is a schematic diagram of an intelligent control system according to an exemplary embodiment;

[0054] Figure 7 The present invention is a flow chart of a method for controlling the operation of a calcium carbide furnace-discharging robot according to an exemplary embodiment. DETAILED DESCRIPTION

[0055] The following describes in detail embodiments of the present disclosure, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0056] Currently, my country's submerged arc furnace calcium carbide smelting industry faces hazardous and labor-intensive production environments. Unloading and tamping operations are primarily performed manually or semi-automatically, posing significant safety risks and posing a serious threat to the lives of workers. Therefore, there is an urgent need for intelligent robotic production and control systems that can replace frontline workers in unloading and tamping operations, reducing labor intensity and safety risks.

[0057] In view of the above situation, the present disclosure provides a calcium carbide furnace tapping robot operation control system. Figure 1 FIG. 1 is a schematic diagram of a control system structure of a carbide furnace unloading robot according to an exemplary embodiment. Figure 1 As shown, the calcium carbide furnace robot operation control system includes:

[0058] The remote control console 10 is used to generate control instructions according to the operation task of calcium carbide furnace;

[0059] a hydraulic transmission system 11, which is in communication with the remote control console and is used to control the calcium carbide furnace tapping robot to move on the ground track based on a first control instruction among the control instructions, and to adjust the pitch angle and / or rotation angle of the gripper assembly of the calcium carbide furnace tapping robot based on the first control instruction;

[0060] a servo drive system 12, communicatively connected to the remote control console, for controlling the gripper assembly to move to a specified position on the boom track based on a second control instruction in the control instructions, detecting a force state of a working tool when the gripper assembly is operating at the specified position, and adjusting the position of the gripper assembly on the boom track based on the force state of the working tool;

[0061] The video monitoring system 13 is connected to the remote control console for obtaining the operation screen of the calcium carbide furnace robot and feeding back the operation screen of the calcium carbide furnace robot to the remote control console so that the operator can adjust the operation task based on the operation screen of the calcium carbide furnace robot.

[0062] In an exemplary embodiment, Figure 2 The structure of the calcium carbide furnace robot is shown according to an exemplary embodiment. Figure 1 .like Figure 2 As shown, the gripper assembly 4 moves on the arm track 5 driven by the servo motor 3; the arm 41 of the gripper assembly 4 is used to install various working tools.

[0063] The carbide furnace unloading robot can perform various tasks associated with the unloading of the carbide furnace, including direct busbar connection, burn-through, eyelet opening, inserting a pick, plugging an eyelet, and cleaning the furnace tongue. The gripper assembly can change tools to suit different tasks. For example, during burn-through, the gripper assembly installs a carbon rod for burn-through operations; during eyelet opening, the gripper assembly installs a steel pick for eyelet opening.

[0064] In the exemplary embodiment, the hydraulic power and hydraulic control system of the calcium carbide furnace robot utilizes a distributed design. The hydraulic power station is located in the machine room, while the hydraulic control valve assembly is located within the robot itself. Three oil pipes connect the hydraulic power station and the hydraulic control valves, facilitating installation and maintenance. The hydraulic station is equipped with a cooling system that efficiently controls the hydraulic oil temperature, achieving excellent heat dissipation and maintaining optimal hydraulic oil temperature.

[0065] In an exemplary embodiment, the video surveillance system may have multiple cameras to obtain video information of the scene from different angles to assist the operator in performing remote control operation and manual operation.

[0066] For example, when a burnout is required, the operator in the main control room remotely controls the carbide unloading robot, which automatically grabs the burnout tool and waits for the automatic program to complete. The robot then moves to the programmed position, automatically aligning the carbon rod near the center of the furnace eye. The robot is manually moved forward, aligning the carbon rod with the center of the screen, and adjusting the height to align it with the center of the furnace eye. When the carbon rod is nearing the furnace eye, the burnout power button is pressed, automatically powering on the burnout tool and commencing the burnout operation.

[0067] During the burn-through operation, to prevent the carbon rod from breaking, large-scale rotation and boom pitching operations are strictly prohibited. Use the micro-button on the top of the handle to make small position adjustments, and try to keep the boom back to the rear to reduce the shaking of the burn-through device. By observing the discharge arc and shaking of the carbon rod, you can judge whether the gap between the carbon rod and the calcium carbide is appropriate. At the same time, compare the data fed back by the three-dimensional mechanical sensor displayed on the host computer to determine the force on the carbon rod and adjust the position accordingly to prevent the carbon rod from breaking.

[0068] During the burn-through operation, the outer opening can be burned to a certain shape in the early stage, and then the inner hole shape can be gradually burned through in the later stage. During the burn-through operation, the position data of the trolley can be observed on the human-machine interface. Based on the experience gained from each position data, the operator can control the burn-through process based on the experience value.

[0069] For example, when a furnace eye needs to be opened, the operator in the main control room remotely controls the calcium carbide furnace robot, which automatically grabs the eye opening tool and waits for the automatic program to complete. The robot then moves to the programmed position. The robot is manually moved forward to align the steel chisel with the center of the screen, adjusting its height to align it with the furnace eye. The robot then advances, gradually inserting the chisel into the furnace eye. A handle controls the boom, rapidly extending and retracting it, to open the eye.

[0070] When the drilling process is completed, manually control the calcium carbide furnace robot to the appropriate position to clean the calcium carbide on the steel drill. Manually control the calcium carbide furnace robot to retreat to the rear limit, with the arm basically in the center position, to ensure that the drill does not touch other objects during the process of returning to the tool rack.

[0071] When the eye opening is completed, observe the tool number prompt on the human-machine interface, operate the knob to automatically return the drill, and execute the automatic program.

[0072] For example, when a steel bar is needed to introduce material, the operator in the main control room remotely controls the carbide furnace unloading robot, which automatically grabs the long steel bar and waits for the automatic program to complete. The robot then moves to the programmed position. The robot is manually moved forward to align the steel bar with the center of the screen, adjusting its height to align it with the center of the furnace eye. The robot then advances, gradually inserting the steel bar into the furnace eye, and uses a handle to rapidly reciprocate its arm back and forth to introduce material.

[0073] After the charging process is completed, manually control the carbide furnace robot to the appropriate position to clean the carbide on the steel drill. Manually control the carbide furnace robot to retreat to the rear limit, with the arm basically in the center position, to ensure that the drill does not touch other objects when it is returned to the tool rack.

[0074] When the drill is finished, observe the tool number prompt on the human-machine interface, operate the knob to automatically return the drill, and execute the automatic program.

[0075] For example, when a furnace eye needs to be plugged, the operator in the main control room checks whether the plugging device hopper is full. The operator remotely controls the calcium carbide discharge robot, which automatically grabs the plugging device and aligns it with the furnace eye. The robot is manually moved forward to check whether the plugging device is properly positioned. When the plugging device's muzzle is 30 to 50 centimeters from the furnace eye, the robot adjusts the muzzle up, down, left, and right to align it with the center of the furnace eye. The slag spray button is manually controlled to adjust the frequency and duration of the spraying according to actual needs.

[0076] When the plugging process is completed, the calcium carbide furnace robot is manually controlled to retreat until the plugger is completely out of the protective screen, and the upper arm is basically in the center position, ensuring that the plugger will not touch other objects when it is put back into the tool rack.

[0077] For example, when the furnace tongue needs to be cleaned, the operator in the main control room remotely controls the calcium carbide unloading robot to automatically grab the furnace tongue cleaning tool and automatically align it with the furnace eye position, and manually operate the equipment to clean the calcium carbide adhered to the furnace tongue.

[0078] When the discharge is completed, the operator can use the furnace eye cleaning tool to clean the furnace eye, maintain the shape of the furnace eye, ensure smooth flow when discharging again and reduce the burning time.

[0079] According to the embodiment of the present invention, the operation control system of the calcium carbide out-of-furnace robot includes: a remote control console, which is used to generate control instructions according to the operation task of the calcium carbide out-of-furnace; a hydraulic transmission system, which is communicated with the remote control console, and is used to control the calcium carbide out-of-furnace robot to move on the ground track based on the first control instruction in the control instruction, and adjust the pitch angle of the gripper assembly of the calcium carbide out-of-furnace robot based on the first control instruction; a servo transmission system, which is communicated with the remote control console, and is used to control the gripper assembly to move to a specified position on the boom track based on the second control instruction in the control instruction, and detect the force state of the working tool when the gripper assembly is operating at the specified position, and adjust the position of the gripper assembly on the boom track based on the force state of the working tool; a video monitoring system, which is communicated with the remote control console, and is used to obtain the operation screen of the calcium carbide out-of-furnace robot, and feed back the operation screen of the calcium carbide out-of-furnace robot to the remote control console, so that the operator can adjust the operation task based on the operation screen of the calcium carbide out-of-furnace robot. In this application, based on the second control instruction in the control instruction, the gripper assembly is controlled to move to the specified position on the boom track through the servo transmission system, and the force state of the working tool when the gripper assembly is operating at the specified position is detected, and the position of the gripper assembly on the boom track is adjusted based on the force state of the working tool. While replacing manual operations, it solves the problem that the working tool may break when it is suddenly subjected to force, thereby effectively improving operating efficiency, stabilizing production processes and improving operating safety.

[0080] In some embodiments, the servo drive system includes

[0081] A servo motor is used to drive the gripper assembly to move on the boom track;

[0082] an absolute position encoder, communicatively connected to the remote control console, for detecting the position of the gripper assembly moving on the boom track;

[0083] a three-dimensional mechanical sensor, in communication with the remote control console, for detecting a force state of the working tool when the gripper assembly is operating at the designated position;

[0084] An impact force sensor is communicatively connected to the remote control console and is used to detect the impact force applied to the working tool when the gripper assembly is operating at the designated position.

[0085] In an exemplary embodiment, the carbide furnace unloading robot's arm is controlled by a servo system, with an absolute position encoder providing feedback on its precise position, accurate to less than 0.1mm. During use, combined with feedback data from a three-dimensional mechanical sensor, the servo output position can be fine-tuned to better advance and retract the carbon rods, preventing them from being broken by excessive force during the burnout process. This unique advantage, coupled with flexible transmission, high power-to-weight ratio, high control accuracy, and fast response speed, makes it suitable for widespread application in industrial control. Figure 3 FIG. 1 is a schematic diagram of the arm structure of a carbide furnace unloading robot according to an exemplary embodiment. Figure 3 As shown, the three-dimensional force sensor can be installed in Figure 3 7 locations are shown.

[0086] In some embodiments, the servo drive system is specifically used for

[0087] If the three-dimensional mechanical sensor detects that the force state of the working tool is a sudden force change in any direction in the three-dimensional coordinate system, the position of the gripper assembly on the boom track is adjusted to move away from the calcium carbide furnace.

[0088] In an exemplary embodiment, a three-dimensional mechanical sensor can output force data in three directions in a three-dimensional coordinate system. When the force data in one direction suddenly increases, it indicates a sudden change in force in that direction. When the working tool generates a sudden change in force in any direction in the three-dimensional coordinate system, it indicates that the position of the working tool in the calcium carbide furnace is not aligned, and the position or direction of the working tool needs to be adjusted. Therefore, the position of the gripper assembly on the boom track can be adjusted to move away from the calcium carbide furnace so that the working tool is temporarily out of contact with the calcium carbide furnace to avoid the working tool breaking due to force.

[0089] In this application, a sudden change in force generated by the working tool in any direction in the three-dimensional coordinate system can be understood as a sudden change in force generated by the working tool in a certain direction in the three-dimensional coordinate system when the gripper assembly is operating. This means that the force is uneven, with the force in a certain direction suddenly increasing and being significantly greater than the force in other directions within the cross-section of the working tool. In this case, it can be understood that the working tool generates a sudden change in force in any direction in the three-dimensional coordinate system.

[0090] In some embodiments, the hydraulic transmission system is specifically used for

[0091] If the force applied to the working tool in any direction in the three-dimensional coordinate system exceeds a predetermined value, after adjusting the position of the gripper assembly on the boom track via the servo drive system, the pitch angle and / or rotation angle of the gripper assembly of the carbide tapping robot are adjusted based on the force change generated by the working tool in the three-dimensional coordinate system. The predetermined value may be an average force applied to the working tool during operation, determined based on accumulated experience.

[0092] In an exemplary embodiment, when a working tool generates a sudden force change in any direction in a three-dimensional coordinate system, after adjusting the position of the gripper assembly on the boom track via the servo drive system, the pitch angle of the gripper assembly of the calcium carbide furnace unloading robot can be adjusted based on the sudden force change in any direction in the three-dimensional coordinate system generated by the working tool. For example, when the working tool temporarily breaks away from contact with the calcium carbide furnace, the pitch angle of the gripper assembly of the calcium carbide furnace unloading robot can be adjusted to correct the working tool angle so that the working tool and the calcium carbide furnace are aligned, thereby avoiding breakage caused by uneven force on the working tool.

[0093] In some embodiments, the hydraulic transmission system is specifically used for

[0094] If the force applied to the working tool in the Z direction in the three-dimensional coordinate system exceeds the predetermined value, the pitch angle of the gripper assembly of the calcium carbide furnace unloading robot is adjusted in the Z positive direction or the Z negative direction;

[0095] If the force applied to the working tool in the Y direction in the three-dimensional coordinate system exceeds the predetermined value, the rotation angle of the gripper assembly of the calcium carbide furnace unloading robot is adjusted in the Y positive direction or the Y negative direction; wherein, the X direction in the three-dimensional coordinate system is the arm extension direction, the Y direction is the arm rotation adjustment direction, and the Z direction is the arm pitch adjustment direction.

[0096] In an exemplary embodiment, the servo drive system is specifically used for

[0097] If the three-dimensional mechanical sensor detects that the force state of the working tool is that the force applied to the working tool in any direction in the three-dimensional coordinate system exceeds the predetermined value, and / or the impact force sensor detects that the force state of the working tool is that the working tool is subjected to an impact force in the X direction of the three-dimensional coordinate system, the position of the gripper assembly on the boom track is adjusted to move back away from the calcium carbide furnace.

[0098] In an exemplary embodiment, Figure 5 FIG. 1 is a schematic diagram of force detection of a three-dimensional mechanical sensor according to an exemplary embodiment. Figure 5 As shown, in the three-dimensional coordinate system, the X direction is the extension direction of the boom, the Y direction is the rotation adjustment direction of the boom, and the Z direction is the pitch adjustment direction of the boom. The three-dimensional mechanical sensor can detect forces in the positive Z direction, the negative Z direction, the positive Y direction, and the negative Y direction. When the data in the positive Z direction suddenly increases, it indicates that the working tool is suddenly subjected to force in the positive Z direction. At this time, the pitch angle of the gripper assembly of the calcium carbide furnace robot can be adjusted in the positive Z direction. Similarly, if the data in the positive Y direction suddenly increases, it indicates that the working tool is suddenly subjected to force in the positive Y direction. At this time, the rotation angle of the gripper assembly of the calcium carbide furnace robot can be adjusted in the positive Y direction. In this way, by adjusting the rotation angle of the gripper assembly of the calcium carbide furnace robot, the working tool is aligned with the calcium carbide furnace to reduce the occurrence of working tool breakage caused by uneven force.

[0099] In an exemplary embodiment, the remote console is specifically used to

[0100] Based on the working picture of the calcium carbide out-of-furnace robot fed back by the video monitoring system and the force changes in the three-dimensional coordinate system generated by the working tool, working instructions are sent to the calcium carbide out-of-furnace robot to adjust the pitch angle and / or rotation angle of the gripper assembly of the calcium carbide out-of-furnace robot.

[0101] In an exemplary embodiment, a calcium carbide furnace tapping robot operation control system is applied to at least one operation task of the calcium carbide furnace tapping;

[0102] The tasks of calcium carbide furnace unloading include burning through, opening holes, drilling, plugging holes and cleaning the furnace tongue;

[0103] The three-dimensional mechanical sensor is used to detect the stress state of the burn-through device when the gripper assembly is performing a burn-through operation to prevent damage to the carbon rod of the burn-through device;

[0104] The impact force sensor is used to detect the impact force applied to the working tool when the gripper assembly is performing an eye-opening operation, so as to timely adjust the impact intensity applied to the working tool of the gripper assembly to avoid damage to the working tool.

[0105] In an exemplary embodiment, when performing various operating tasks, the operating screen of the calcium carbide out-of-furnace robot and the force changes in the three-dimensional coordinate system generated by the operating tool can be combined with each other through feedback from the video monitoring system, and operating instructions can be sent to the calcium carbide out-of-furnace robot to adjust the pitch angle and / or rotation angle of the gripper assembly of the calcium carbide out-of-furnace robot.

[0106] In some embodiments, the calcium carbide furnace robot operation control system further includes:

[0107] Intelligent control system.

[0108] Figure 6 FIG. 1 is a schematic diagram of an intelligent control system according to an exemplary embodiment. The intelligent control system includes: Figure 6 The on-site electric control box 41, the hydraulic electric control box 42, the servo electric control box 43, the vehicle-mounted electric control box 44, the sensor 45, and the solenoid valve 46 are shown. Among them, the on-site electric control box 41 is located near the calcium carbide furnace, the hydraulic electric control box 42, the servo electric control box 43, and the vehicle-mounted electric control box 44 are all integrated into the calcium carbide furnace robot, and the solenoid valve 46 can be a hydraulic valve of the hydraulic transmission system, which is used to control the power of each hydraulic component. The sensor 45 includes an absolute position encoder and a three-dimensional mechanical sensor. Among them, the instructions issued by the remote control console 10 can be conveyed to the hydraulic electric control box 42, the servo electric control box 43 and the vehicle-mounted electric control box 44, etc. through the on-site electric control box 41 based on CAN bus communication.

[0109] In this application, the intelligent control system can adopt a distributed design, consisting of a main control console, an onboard electronic control box, a field electronic control box, and a hydraulic electronic control box, all connected by a bus control method. A single control cable connects all control units, making installation and maintenance very convenient. The main control console has control buttons, human-machine interface software, and video screens.

[0110] like Figure 2 As shown, the robot body in this application consists of a trolley chassis 1, a boom rail beam 6, and a body cover, resulting in a simple structure. The transmission system is completely integrated into the boom rail beam 6, and the body has very few exposed hydraulic and electrical lines. This greatly reduces the number of failure points, ensures stable and reliable operation of the equipment, and significantly reduces maintenance costs. Figure 4 The structure of the calcium carbide furnace robot is shown according to an exemplary embodiment. Figure 2 .like Figure 4 As shown, the calcium carbide furnace unloading robot can move on the track 8. By moving the calcium carbide furnace unloading robot on the track 8, the calcium carbide furnace unloading operation can be performed close to the calcium carbide furnace.

[0111] Among them, the robot body mainly realizes the functions of multi-degree-of-freedom movement and tool clamping. Special tools with different functions need to be configured to realize the furnace-out operation process. Users can design tools by themselves based on furnace-out experience, so that the robot can simulate manual furnace-out operations, which is convenient, flexible, safe and reliable.

[0112] In this application, the tapping machine operator only needs to control the robot through the console in the remote control room to complete the entire tapping process of a calcium carbide furnace, including burning the eye, opening the eye, inserting the brazing rod, plugging the eye, repairing the eye, and cleaning the tongue. This eliminates the need for multiple people to continuously operate at the furnace mouth, reducing the risks of eye injury, burns, mechanical injuries, object impact, electric shock, and other operational risks.

[0113] The present invention provides a method for controlling the operation of a calcium carbide furnace tapping robot. Figure 7 FIG. 1 is a flow chart of a method for controlling the operation of a carbide furnace tapping robot according to an exemplary embodiment. Figure 7 As shown, the operation control method of the calcium carbide furnace tapping robot includes:

[0114] Step 50: Generate control instructions on the remote control console according to the operation task of calcium carbide furnace discharge;

[0115] Step 51: Based on a first control instruction among the control instructions, control the calcium carbide furnace unloading robot to move on the ground track through a hydraulic transmission system, and adjust the pitch angle and / or rotation angle of the gripper assembly of the calcium carbide furnace unloading robot based on the first control instruction;

[0116] Step 52: Based on the second control instruction in the control instructions, control the gripper assembly to move to a specified position on the boom track through the servo transmission system, detect the force state of the working tool when the gripper assembly is operating at the specified position, and adjust the position of the gripper assembly on the boom track based on the force state of the working tool;

[0117] Step 53: Obtain the operation screen of the calcium carbide furnace robot through the video monitoring system, and feed back the operation screen of the calcium carbide furnace robot to the remote control console so that the operator can adjust the operation task based on the operation screen of the calcium carbide furnace robot.

[0118] In an exemplary embodiment, the carbide furnace unloading robot can perform various tasks associated with the unloading of the carbide furnace, including busbar direct connection, burn-through, eyelet drilling, pick-and-sharpening, eyelet plugging, and tongue cleaning. The gripper assembly can change tools to perform different tasks. For example, during burn-through, the gripper assembly installs a carbon rod for the burn-through operation; during eyelet drilling, the gripper assembly installs a steel pick-and-sharpening tool for the eyelet drilling operation.

[0119] In the exemplary embodiment, the hydraulic power and hydraulic control system of the calcium carbide furnace robot utilizes a distributed design. The hydraulic power station is located in the machine room, while the hydraulic control valve assembly is located within the robot itself. Three oil pipes connect the hydraulic power station and the hydraulic control valves, facilitating installation and maintenance. The hydraulic station is equipped with a cooling system that efficiently controls the hydraulic oil temperature, achieving excellent heat dissipation and maintaining optimal hydraulic oil temperature.

[0120] In an exemplary embodiment, the video surveillance system may have multiple cameras to obtain video information of the scene from different angles to assist the operator in performing remote control operation and manual operation.

[0121] According to the embodiment of the present disclosure, the operation control method of the calcium carbide out-of-furnace robot includes: generating a control instruction on a remote control console according to the operation task of the calcium carbide out-of-furnace; based on the first control instruction in the control instruction, controlling the calcium carbide out-of-furnace robot to move on the ground track through a hydraulic transmission system, and adjusting the pitch angle of the gripper assembly of the calcium carbide out-of-furnace robot based on the first control instruction; based on the second control instruction in the control instruction, controlling the gripper assembly to move to a specified position on the boom track through a servo transmission system, detecting the force state of the working tool when the gripper assembly operates at the specified position, and adjusting the position of the gripper assembly on the boom track based on the force state of the working tool; obtaining the operation screen of the calcium carbide out-of-furnace robot through a video monitoring system, and feeding back the operation screen of the calcium carbide out-of-furnace robot to the remote control console, so that the operator can adjust the operation task based on the operation screen of the calcium carbide out-of-furnace robot. In this application, based on the second control instruction in the control instruction, the gripper assembly is controlled to move to the specified position on the boom track through the servo transmission system, and the force state of the working tool when the gripper assembly is operating at the specified position is detected, and the position of the gripper assembly on the boom track is adjusted based on the force state of the working tool. While replacing manual operations, it solves the problem that the working tool may break when it is suddenly subjected to force, thereby effectively improving operating efficiency, stabilizing production processes and improving operating safety.

[0122] In some embodiments, adjusting the position of the gripper assembly on the boom track based on the force state of the working tool includes:

[0123] If the three-dimensional mechanical sensor detects that the force state of the working tool is a sudden force change in any direction in the three-dimensional coordinate system, the position of the gripper assembly on the boom track is adjusted to move away from the calcium carbide furnace.

[0124] In an exemplary embodiment, a three-dimensional mechanical sensor can output force data in three directions in a three-dimensional coordinate system. When the force data in one direction suddenly increases, it indicates a sudden change in force in that direction. When the working tool generates a sudden change in force in any direction in the three-dimensional coordinate system, it indicates that the position of the working tool in the calcium carbide furnace is not aligned, and the position or direction of the working tool needs to be adjusted. Therefore, the position of the gripper assembly on the boom track can be adjusted to move away from the calcium carbide furnace so that the working tool is temporarily out of contact with the calcium carbide furnace to avoid the working tool breaking due to force.

[0125] In some embodiments, if the working tool generates a sudden change in force in any direction in the three-dimensional coordinate system, after adjusting the position of the gripper assembly on the boom track by the servo transmission system, the method includes:

[0126] Based on the force changes in the three-dimensional coordinate system generated by the working tool, the pitch angle and / or rotation angle of the gripper assembly of the calcium carbide furnace tapping robot are adjusted.

[0127] In an exemplary embodiment, when a working tool generates a sudden force change in any direction in a three-dimensional coordinate system, after adjusting the position of the gripper assembly on the boom track via the servo drive system, the pitch angle of the gripper assembly of the calcium carbide furnace unloading robot can be adjusted based on the sudden force change in any direction in the three-dimensional coordinate system generated by the working tool. For example, when the working tool temporarily breaks away from contact with the calcium carbide furnace, the pitch angle of the gripper assembly of the calcium carbide furnace unloading robot can be adjusted to correct the working tool angle so that the working tool and the calcium carbide furnace are aligned, thereby avoiding breakage caused by uneven force on the working tool.

[0128] In some embodiments, adjusting the pitch angle and / or rotation angle of the gripper assembly of the calcium carbide furnace tapping robot based on the force change in the three-dimensional coordinate system generated by the working tool includes:

[0129] If the force applied to the working tool in the Z direction in the three-dimensional coordinate system exceeds the predetermined value, the pitch angle of the gripper assembly of the calcium carbide furnace unloading robot is adjusted in the Z positive direction or the Z negative direction;

[0130] If the force applied to the working tool in the Y direction in the three-dimensional coordinate system exceeds the predetermined value, the rotation angle of the gripper assembly of the calcium carbide furnace unloading robot is adjusted in the Y positive direction or the Y negative direction; wherein, the X direction in the three-dimensional coordinate system is the arm extension direction, the Y direction is the arm rotation adjustment direction, and the Z direction is the arm pitch adjustment direction.

[0131] If the three-dimensional mechanical sensor detects that the force state of the working tool is that the force applied to the working tool in any direction in the three-dimensional coordinate system exceeds the predetermined value, and / or the impact force sensor detects that the force state of the working tool is that the working tool is subjected to an impact force in the X direction of the three-dimensional coordinate system, the position of the gripper assembly on the boom track is adjusted to move back away from the calcium carbide furnace.

[0132] In an exemplary embodiment, as Figure 5 As shown, the three-dimensional mechanical sensor can detect forces in the positive Z direction, negative Z direction, positive Y direction, and negative Y direction. At this point, the Z direction can be determined as the direction for the up-and-down pitch adjustment of the arm of the calcium carbide furnace robot. The Y direction is the direction for the left-and-right rotation adjustment of the arm of the calcium carbide furnace robot. When the data in the positive Z direction suddenly increases, it indicates that the working tool is suddenly subjected to force in the positive Z direction. At this time, the pitch angle of the gripper assembly of the calcium carbide furnace robot can be adjusted in the positive Z direction. Similarly, if the data in the positive Y direction suddenly increases, it indicates that the working tool is suddenly subjected to force in the positive Y direction. At this time, the pitch angle of the gripper assembly of the calcium carbide furnace robot can be adjusted in the positive Y direction. In this way, by adjusting the pitch angle of the gripper assembly of the calcium carbide furnace robot, the working tool is aligned with the calcium carbide furnace to reduce the occurrence of working tool breakage caused by uneven force.

[0133] The present disclosure provides a computer-readable storage medium on which a calcium carbide furnace tapping robot operation control program is stored. When the calcium carbide furnace tapping robot operation control program is executed by a processor, the calcium carbide furnace tapping robot operation control method of each of the above embodiments is implemented.

[0134] The present disclosure provides an electronic device, including a memory, a processor, and a calcium carbide furnace discharging robot operation control program stored in the memory and runnable on the processor. When the processor executes the calcium carbide furnace discharging robot operation control program, the calcium carbide furnace discharging robot operation control method of each of the above-mentioned embodiments is implemented.

[0135] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device), or in conjunction with such instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, apparatus, or device, or in conjunction with such instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion having one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing it in a suitable manner if necessary, and then storing it in a computer memory.

[0136] It should be understood that various parts of the present disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0137] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0138] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation to the present disclosure.

[0139] In addition, the terms "first" and "second" used in the embodiments of the present disclosure are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the embodiments. Therefore, the features defined in the embodiments of the present disclosure with terms such as "first" and "second" can explicitly or implicitly indicate that the embodiment includes at least one such feature. In the description of the present disclosure, the word "plurality" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0140] In this disclosure, unless otherwise clearly specified or limited in the embodiments, the terms "installed," "connected," "connect," and "fixed" appearing in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integral connection. It can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication between two elements, or the interaction between two elements. For those skilled in the art, the specific meanings of the above terms in this disclosure can be understood based on the specific implementation.

[0141] In the present disclosure, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0142] Although the embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are illustrative and are not to be construed as limitations on the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. A calcium carbide furnace robot operation control system, characterized in that: include: Remote control console, used to generate control instructions according to the operation tasks of calcium carbide furnace; a hydraulic transmission system, communicatively connected to the remote control console, for controlling the calcium carbide furnace tapping robot to move on the ground track based on a first control instruction among the control instructions, and adjusting a pitch angle and / or a rotation angle of a gripper assembly of the calcium carbide furnace tapping robot based on the first control instruction; a servo drive system, communicatively connected to the remote control console, for controlling the gripper assembly to move to a specified position on the boom track based on a second control instruction in the control instructions, detecting a force state of a working tool when the gripper assembly is operating at the specified position, and adjusting the position of the gripper assembly on the boom track based on the force state of the working tool; The video monitoring system is connected to the remote control console for obtaining the operation screen of the calcium carbide furnace robot and feeding back the operation screen of the calcium carbide furnace robot to the remote control console so that the operator can adjust the operation task based on the operation screen of the calcium carbide furnace robot.

2. The calcium carbide furnace tapping robot operation control system according to claim 1 is characterized in that: The servo transmission system comprises: A servo motor is used to drive the gripper assembly to move on the boom track; an absolute position encoder, communicatively connected to the remote control console, for detecting the position of the gripper assembly moving on the boom track; a three-dimensional mechanical sensor, in communication with the remote control console, for detecting a force state of the working tool when the gripper assembly is operating at the designated position; An impact force sensor is communicatively connected to the remote control console and is used to detect the impact force applied to the working tool when the gripper assembly is operating at the designated position.

3. The calcium carbide furnace tapping robot operation control system according to claim 2, characterized in that: The servo transmission system is specifically used for If the three-dimensional mechanical sensor detects that the force state of the working tool is a sudden force change in any direction in the three-dimensional coordinate system, the position of the gripper assembly on the boom track is adjusted to move away from the calcium carbide furnace.

4. The calcium carbide furnace tapping robot operation control system according to claim 3, characterized in that: The hydraulic transmission system is specifically used for If the force applied to the working tool in any direction in the three-dimensional coordinate system exceeds a predetermined value, after adjusting the position of the gripper assembly on the boom track through the servo transmission system, the pitch angle and / or rotation angle of the gripper assembly of the calcium carbide furnace robot are adjusted based on the force change in the three-dimensional coordinate system generated by the working tool.

5. The calcium carbide furnace tapping robot operation control system according to claim 4, characterized in that: The hydraulic transmission system is specifically used for If the force applied to the working tool in the Z direction in the three-dimensional coordinate system exceeds the predetermined value, the pitch angle of the gripper assembly of the calcium carbide furnace unloading robot is adjusted in the positive Z direction or the negative Z direction; If the force applied to the working tool in the Y direction in the three-dimensional coordinate system exceeds the predetermined value, the rotation angle of the gripper assembly of the calcium carbide furnace robot is adjusted in the positive Y direction or the negative Y direction; wherein, the X direction in the three-dimensional coordinate system is the extension direction of the upper arm, the Y direction is the rotation adjustment direction of the upper arm, and the Z direction is the pitch adjustment direction of the upper arm.

6. The calcium carbide furnace tapping robot operation control system according to claim 5, characterized in that: The servo transmission system is specifically used for If the three-dimensional mechanical sensor detects that the force state of the working tool is that the force applied to the working tool in any direction in the three-dimensional coordinate system exceeds the predetermined value, and / or the impact force sensor detects that the force state of the working tool is that the working tool is subjected to an impact force in the X direction of the three-dimensional coordinate system, the position of the gripper assembly on the boom track is adjusted to move back away from the calcium carbide furnace.

7. The calcium carbide furnace tapping robot operation control system according to claim 4, characterized in that: The remote console is specifically used for Based on the working picture of the calcium carbide out-of-furnace robot fed back by the video monitoring system and the force changes in the three-dimensional coordinate system generated by the working tool, working instructions are sent to the calcium carbide out-of-furnace robot to adjust the pitch angle and / or rotation angle of the gripper assembly of the calcium carbide out-of-furnace robot.

8. The calcium carbide furnace tapping robot operation control system according to any one of claims 2 to 7, characterized in that: At least one operation task applied to the calcium carbide furnace; The tasks of calcium carbide furnace unloading include burning through, opening holes, drilling, plugging holes and cleaning the furnace tongue; The three-dimensional mechanical sensor is used to detect the stress state of the burn-through device when the gripper assembly is performing a burn-through operation; The impact force sensor is used to detect the impact force applied to the working tool when the gripper assembly is performing an eye opening operation.

9. A method for controlling the operation of a carbide furnace tapping robot, characterized in that: include: Generate control instructions on the remote control console according to the operation task of calcium carbide furnace; Based on a first control instruction among the control instructions, the calcium carbide furnace unloading robot is controlled to move on the ground track through a hydraulic transmission system, and a pitch angle and / or rotation angle of a gripper assembly of the calcium carbide furnace unloading robot is adjusted based on the first control instruction; Based on a second control instruction in the control instructions, controlling the gripper assembly to move to a specified position on the boom track through a servo transmission system, detecting a force state of a working tool when the gripper assembly is operating at the specified position, and adjusting the position of the gripper assembly on the boom track based on the force state of the working tool; The operation screen of the calcium carbide furnace discharging robot is obtained through the video monitoring system, and the operation screen of the calcium carbide furnace discharging robot is fed back to the remote control console so that the operator can adjust the operation task based on the operation screen of the calcium carbide furnace discharging robot.

10. The method for controlling the operation of the calcium carbide furnace tapping robot according to claim 9, characterized in that: The adjusting the position of the gripper assembly on the boom track based on the force state of the working tool includes: If the three-dimensional mechanical sensor detects that the force state of the working tool is a sudden force change in any direction in the three-dimensional coordinate system, the position of the gripper assembly on the boom track is adjusted to move away from the calcium carbide furnace.

11. The method for controlling the operation of the calcium carbide furnace tapping robot according to claim 9, characterized in that: If the working tool generates a sudden change in force in any direction in the three-dimensional coordinate system, after adjusting the position of the gripper assembly on the boom track by the servo transmission system, the method includes: Based on the force changes in the three-dimensional coordinate system generated by the working tool, the pitch angle and / or rotation angle of the gripper assembly of the calcium carbide furnace tapping robot are adjusted.

12. The method for controlling the operation of the calcium carbide furnace tapping robot according to claim 11, characterized in that: The adjusting the pitch angle and / or rotation angle of the gripper assembly of the calcium carbide furnace tapping robot based on the force change in the three-dimensional coordinate system generated by the working tool includes: If the force applied to the working tool in the Z direction in the three-dimensional coordinate system exceeds a predetermined value, the pitch angle of the gripper assembly of the calcium carbide furnace unloading robot is adjusted in the positive Z direction or the negative Z direction; If the force applied to the working tool in the Y direction in the three-dimensional coordinate system exceeds the predetermined value, the rotation angle of the gripper assembly of the calcium carbide furnace robot is adjusted in the positive Y direction or the negative Y direction; wherein, the X direction in the three-dimensional coordinate system is the extension direction of the upper arm, the Y direction is the rotation adjustment direction of the upper arm, and the Z direction is the pitch adjustment direction of the upper arm.

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