Protection device and protection method for furnace-front robot of submerged arc furnace and furnace-front robot

Abstract

The invention provides a submerged arc furnace stokehole robot protection device and method and a stokehole robot, and relates to the technical field of submerged arc furnace production. The submerged arc furnace stokehole robot protection device comprises a drill bit body; the drill bit body communicates with the fire-resistant oil conveying assembly, and the fire-resistant oil conveying assembly can convey fire-resistant oil and compressed gas to the drill bit body. A temperature sensor and a force feedback sensor are arranged on the drill bit body; a control assembly is arranged and is in signal connection with the fire-resistant oil conveying assembly, the temperature sensor and the force feedback sensor; wherein the drill bit body is provided with a plurality of micropore channels, and the micropore channels are communicated with the fire-resistant oil conveying assembly; the control assembly can control opening and closing of the fire-resistant oil conveying assembly according to a temperature signal and a feeding resistance signal, fed back by the temperature sensor and the force feedback sensor, of the drill bit body. The damage rate of the drill bit can be reduced, and the safety is improved.

Description

Technical Field

[0001] This invention relates to the field of submerged arc furnace production technology, specifically to a protective device, protection method, and robot in front of a submerged arc furnace. Background Technology

[0002] A submerged arc furnace is an industrial equipment used for smelting metals, widely applied in the production of ferroalloys, calcium carbide, ferrosilicon, and other metallic materials. The working principle of a submerged arc furnace is based on the conversion of electrical energy into heat energy. Its production process typically includes: 1. Raw material input: Raw materials such as ore and coke are added from the top of the furnace; 2. Electrical energy input: Electrical energy is input into the furnace through electrodes, heating the raw materials to a high temperature; 3. Chemical reaction: At high temperatures, the raw materials undergo a chemical reaction, reducing metal oxides to metals and simultaneously producing slag; 4. Product discharge.

[0003] With the development of technology, submerged arc furnaces are evolving towards larger scale, automation, and energy conservation and environmental protection. Some new submerged arc furnaces have adopted more efficient electrode systems and flue gas treatment technologies, improving production efficiency and reducing energy consumption and environmental pollution. Other new submerged arc furnaces have added more automated equipment, such as automatic hole-opening and plugging machines. Automatic hole-opening and plugging machines are automated devices used for product discharge operations in submerged arc furnaces. They can mechanize and automate operations such as hole opening, plugging, and slag removal. Through automated operation, these machines reduce manual labor intensity and improve production efficiency and safety. However, the drill bits of existing automatic hole-opening and plugging machines are very prone to damage under repeated instantaneous thermal shocks, affecting their service life and increasing consumption rates. This increases production costs and requires frequent replacement and reheating, which also seriously affects production efficiency. Summary of the Invention

[0004] This invention addresses the problem that the drill bits of automatic hole-opening and plugging machines for submerged arc furnaces are easily damaged, resulting in short service life, increased costs, and reduced production efficiency. It provides a protective device, method, and robot for a submerged arc furnace front-end robot that reduces the damage rate of the drill bits, avoids the release of highly toxic substances, and improves safety.

[0005] The technical solution adopted in this invention is: A protective device for a robot in front of a submerged arc furnace, comprising: Bit body; A fire-resistant oil delivery assembly is connected to the drill bit body; the fire-resistant oil delivery assembly is capable of delivering fire-resistant oil and compressed gas to the drill bit body. A temperature sensor is mounted on the drill bit body; A force feedback sensor is mounted on the drill bit body; The control component is signal-connected to the fire-resistant oil delivery component, the temperature sensor, and the force feedback sensor. The drill bit body is provided with a plurality of micro-hole channels, which are connected to the fire-resistant oil delivery assembly; the control assembly can control the opening and closing of the fire-resistant oil delivery assembly based on the temperature signal and feed resistance signal of the drill bit body fed back by the temperature sensor and the force feedback sensor.

[0006] Furthermore, the drill bit body has at least an installation section, a transition section, and a working section; a cooling medium interface is provided on the transition section; a plurality of micro-hole channels are provided on the working section; a fluid delivery channel is provided inside the working section and the transition section, and the fluid delivery channel is connected to the plurality of micro-hole channels and the cooling medium interface.

[0007] Furthermore, the fire-resistant oil delivery assembly includes at least a fire-resistant oil storage tank, a high-pressure gas source, and a delivery pipeline; the high-pressure gas source and the fire-resistant oil storage tank are installed on the automatic hole-opening and plugging equipment of the electric arc furnace; the delivery pipeline includes at least a main pipe section, which connects the high-pressure gas source and the interior of the drill bit body; a one-way valve is provided at one end of the main pipe section that connects to the interior of the drill bit body; and a branch pipe section connecting the fire-resistant oil storage tank is provided on the main pipe section.

[0008] Furthermore, a first shut-off valve is provided on the main pipe section; a second shut-off valve is provided on the branch pipe section.

[0009] Furthermore, the control component has at least the following features: The temperature rise curve analysis module can calculate the temperature gradient ΔT / Δt based on the real-time temperature T collected by the temperature sensor. When the temperature gradient ΔT / Δt ≥ the temperature gradient threshold, a temperature warning signal is generated. The resistance change curve analysis module can calculate the resistance change gradient ΔF / based on the real-time feed resistance F collected by the force feedback sensor. When the resistance change gradient ΔF / ≥ the resistance change gradient threshold, a resistance warning signal is generated. The fuzzy PID controller can control the opening and closing of the fire-resistant oil delivery component based on the temperature warning signal or the resistance warning signal.

[0010] Furthermore, the axial angle of the micro-channel relative to the axial angle of the drill bit body is 12°-25°.

[0011] A robot for operating a submerged arc furnace, comprising: track; A base is mounted on the track and is movable along the track; and a bracket is provided on the base. An eye-opening mechanism is mounted on the bracket; the bracket is capable of driving the eye-opening mechanism to move in a direction perpendicular to the track; A plugging mechanism is mounted on the bracket; the bracket is capable of driving the plugging mechanism to move in a direction perpendicular to the track; The opening mechanism is equipped with a robot protection device for the front of the submerged arc furnace as described above.

[0012] A method for protecting a robot in front of a submerged arc furnace, using the robot protection device for a submerged arc furnace as described above, includes the following steps: S10. When the automatic hole-opening and plugging device of the electric arc furnace is working, the real-time temperature T and real-time feed resistance F of the drill bit body are collected; S20. Calculate the temperature gradient ΔT / Δt and the resistance change gradient ΔF / based on the real-time temperature T and the real-time feed resistance F signal; S30. When the temperature gradient ΔT / Δt ≥ the temperature gradient threshold or the resistance change gradient ΔF / ≥ the resistance change gradient threshold, the fire-resistant oil delivery assembly is activated to input compressed gas and fire-resistant oil into the drill bit body for cooling protection.

[0013] Furthermore, in step S30, when the fire-resistant oil delivery assembly supplies compressed gas and fire-resistant oil to the drill bit body for cooling protection, it first releases the compressed gas and then pressurizes to release the fire-resistant oil.

[0014] Furthermore, in step S30, the fire-resistant oil comprises a phosphate ester-based liquid and nano-graphene.

[0015] The beneficial effects of this invention are: 1. The protection device of the present invention collects the real-time temperature T and real-time feed resistance F of the drill bit body by setting a temperature sensor and a force feedback sensor on the drill bit body of the automatic hole-opening and plugging machine of the submerged arc furnace; then it sets a fire-resistant oil delivery component, which, together with the micro-porous channel on the drill bit body, provides gas film protection for the drill bit body; and through the control component, the fire-resistant oil delivery component is opened and closed in a timely manner according to the temperature and resistance signals fed back by the temperature sensor and the force feedback sensor. This achieves rapid spraying of cooling medium at instantaneous high temperature to protect the drill bit body, with a short response time, and can cope with the instantaneous thermal shock when the drill bit body comes into contact with high-temperature molten material. This solves the problems of easy damage to the drill bit of the automatic hole-opening and plugging machine of the submerged arc furnace in the prior art, which affects the service life, increases costs and reduces production efficiency. 2. The furnace-front robot of the present invention collects the real-time temperature T and real-time feed resistance F of the drill bit body by setting temperature sensors and force feedback sensors on the opening mechanism of the furnace-front robot of the submerged arc furnace; and sets a fire-resistant oil delivery component, which, together with the micro-porous channel on the drill bit body, provides gas film protection for the drill bit body; and the control component opens and closes the fire-resistant oil delivery component in a timely manner according to the temperature and resistance signals fed back by the temperature sensor and force feedback sensor, so as to realize the rapid spraying of cooling medium at instantaneous high temperature to protect the drill bit body, with short response time, and can cope with the instantaneous thermal shock when the drill bit body comes into contact with high temperature molten material. This solves the problem that the drill bit of the automatic opening and plugging machine of the submerged arc furnace is easily damaged, resulting in short service life, increased cost and reduced production efficiency in the prior art. 3. The protection method of the present invention collects the real-time temperature T and real-time feed resistance F of the drill bit body; and through the control component, based on the temperature and resistance signals fed back by the temperature sensor and force feedback sensor, promptly opens and closes the fire-resistant fuel delivery component, and utilizes the fire-resistant fuel delivery component in conjunction with the microporous channels on the drill bit body to provide gas film protection for the drill bit body; it achieves rapid spraying of cooling medium at instantaneous high temperature to easily protect the drill bit body, with a short response time, and can cope with the instantaneous thermal shock when the drill bit body comes into contact with high-temperature molten material, solving the problems of easy damage to the drill bit in the existing automatic hole-opening and plugging machine of the electric arc furnace, which affects the service life, increases costs and reduces production efficiency. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a three-dimensional schematic diagram of the furnace-front robot according to Embodiment 3 of the present invention; Figure 2 This is a three-dimensional schematic diagram of the base of Embodiment 3 of the present invention; Figure 3 This is a three-dimensional schematic diagram of the eye-opening mechanism of Embodiment 3 of the present invention; Figure 4 This is a three-dimensional schematic diagram of the eye-blocking mechanism according to Embodiment 3 of the present invention; Figure 5 This is a perspective view of the protection device according to Embodiment 1 of the present invention; Figure 6 for Figure 5 Enlarged view of point A in the middle Figure 7 This is a three-dimensional schematic diagram of the installation section according to Embodiment 1 of the present invention; Figure 8 This is a partial sectional view of the working section of Embodiment 1 of the present invention; Figure 9 This is a schematic diagram of the fire-resistant oil delivery assembly according to Embodiment 1 of the present invention; Figure 10 This is a schematic diagram of the structure of the control component in Embodiment 1 of the present invention; Figure 11 This is a partial cross-sectional view of the working section of Embodiment 2 of the present invention; Figure 12 This is a flowchart of the protection method of Embodiment 4 of the present invention.

[0018] Reference numerals: 100-Tick body, 110-Mounting section, 112-Mounting flange, 120-Transition section, 122-Cooling medium interface, 130-Working section, 131-Infusion channel, 132-Micropore channel; 200-Fire-resistant oil delivery assembly, 210-Fire-resistant oil storage tank, 220-High-pressure gas source, 230-Delivery pipeline, 231-Main main section, 232-Branch section, 233-First shut-off valve, 234-Second shut-off valve, 235-Check valve; 300 - Temperature sensor; 400-Force Feedback Sensor; 500 - Control components, 510 - Temperature rise curve analysis module, 520 - Resistance change curve analysis module, 530 - Fuzzy PID controller; 600-track; 700-Base, 701-Roller, 710-Bracket, 712-Crawler drive unit, 720-Slide rail, 730-Control cabinet, 740-Drive motor, 750-Slide block; 800 - Opening mechanism, 810 - First linear module; 900 - Plugging mechanism, 910 - Plugging cylinder, 920 - Second linear module. Detailed Implementation

[0019] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0020] The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, these are merely examples and are not intended to limit the present invention.

[0021] The embodiments of the invention will now be described in detail with reference to the accompanying drawings.

[0022] Example 1

[0023] Existing automatic drill bit opening and plugging machines for submerged arc furnaces mostly rely on water or air cooling to protect the drill bit. However, the drill bit is very susceptible to damage under repeated instantaneous thermal shocks, affecting its service life and increasing the consumption rate. This increases production costs and requires frequent replacement and reheating, which also seriously affects production efficiency. Furthermore, water cooling can release highly toxic substances, making it difficult to meet the requirements for safe production.

[0024] To address the aforementioned problems in the prior art, this embodiment provides a robot protection device for the front of a submerged arc furnace (SAF), used to protect the automatic hole-opening and plugging machine of the SAF. This device can reduce the damage rate of the drill bit of the automatic hole-opening and plugging machine and prevent the release of highly toxic substances, thus improving safety. Please refer to... Figures 5-10 The robot protection device for the front of the submerged arc furnace mainly includes: a drill bit body 100, a fire-resistant oil conveying assembly 200, a temperature sensor 300, a force feedback sensor 400, and a control assembly 500, etc.

[0025] The drill bit body 100 is used to install on the body of the automatic hole-opening and plugging machine for electric arc furnaces. It performs hole-opening operations by punching and drilling, allowing the molten material inside the electric arc furnace to drain. For example... Figures 5-8As shown, the drill bit body 100 is roughly cylindrical in shape and can be mainly divided into an installation section 110, a transition section 120, and a working section 130 along the axial direction. The installation section 110 has a larger diameter and is equipped with an installation flange 112, which is used to align and fix the drill bit body to the flange ring on the automatic hole-opening and plugging machine body. The transition section 120 is connected to the other end of the installation section 110 that is not connected to the automatic hole-opening and plugging machine body. The transition section 120 is equipped with a cooling medium interface 122, which is used to connect to the fire-resistant oil delivery assembly 200 to inject fire-resistant oil into the drill bit body 100. The working section 130 is connected to the other end of the transition section 120 that is not connected to the installation section 110. The working section 130 and the transition section 120 are provided with a connected liquid delivery channel 131. The liquid delivery channel 131 is arranged along the axial direction of the drill bit body 100 and is connected to the cooling medium interface 122. Several micro-hole channels 132 are provided on the side wall of the working section 130. The micro-hole channels 132 are also connected to the liquid delivery channel 131. Thus, the micro-hole channels 132 can be connected to the fire-resistant oil delivery assembly 200. The cooling medium output by the fire-resistant oil delivery assembly 200 can be sprayed out through the several micro-hole channels 132 to form a protective gas film.

[0026] Research has revealed that existing water-cooling or air-cooling protection methods are prone to vaporization and failure of the cooling medium under instantaneous high temperatures (above 1200℃), and the response time exceeds 1 second, making them unable to cope with the instantaneous thermal shock when the drill bit body 100 comes into contact with high-temperature molten material. Furthermore, while boiler water-cooled wall gas film protection technology can form an insulation layer, the gas film duration is short (typically <0.5 seconds) and relies on a single medium (such as compressed gas), making it unsuitable for the complex operating conditions of molten slag splashing during the opening of an electric arc furnace. Therefore, this embodiment includes a fire-resistant oil delivery assembly 200. The fire-resistant oil delivery assembly 200 utilizes fire-resistant oil and compressed gas to form a high-pressure protective gas film, used to deliver fire-resistant oil and compressed gas to the drill bit body 100 for protection. The fire-resistant oil delivery assembly 200 mainly includes a fire-resistant oil storage tank 210, a high-pressure gas source 220, and a delivery pipeline 230, etc. The high-pressure gas source 220 is installed on the automatic hole-opening and plugging machine of the electric arc furnace outside the drill bit body 100, and is used to provide compressed gas. In this embodiment, the high-pressure gas source 220 is a compressed gas interface, which is connected to an external high-pressure gas generating device or a delivery pipeline. In one or more other embodiments, the high-pressure gas source 220 can also be a compressed gas storage tank. The fire-resistant oil storage tank 210 is installed on the automatic hole-opening and plugging machine of the electric arc furnace outside the drill bit body 100, and is used to provide fire-resistant oil. At the same time, the main pipe section 231 of the delivery pipeline 230 connects the high-pressure gas source 220 and the interior of the drill bit body 100; the branch pipe section 232 of the delivery pipeline 230 connects the fire-resistant oil storage tank 210 and the main pipe section 231; the delivery pipeline 230 is used to guide the compressed gas and fire-resistant oil into the interior of the drill bit body 100. Furthermore, a one-way valve 235 is provided on the end of the main section 231 of the delivery pipeline 230 that is connected to the inside of the drill bit body 100. The opening and closing of the fire-resistant oil delivery assembly 200 can be controlled by opening and closing the one-way valve 235.

[0027] Temperature sensor 300 is used to acquire real-time temperature T. In this embodiment, temperature sensor 300 is a thermocouple sensor, which is composed of two different metals. These two metals generate an electromotive force under a temperature gradient. This electromotive force is related to the temperature difference and can be used to determine the temperature after measurement. Temperature sensor 300 is installed at the connection between the working section 130 and the transition section 120 of the drill bit body 100. The connecting end of temperature sensor 300 is inserted into the transition section 120, and the measuring end of temperature sensor 300 abuts against the side wall of the working section 130. Temperature sensor 300 can monitor the surface temperature of drill bit body 100 in real time, and the sampling frequency of temperature sensor 300 is ≥100Hz.

[0028] The force feedback sensor 400 is used to collect the feed resistance F of the drill bit body 100. In this embodiment, the force feedback sensor 400 is a piezoelectric force sensor, which utilizes the characteristic that piezoelectric materials generate electric charge when subjected to force, measuring the change in charge to determine the magnitude of the force. Piezoelectric force sensors use piezoelectric crystals or piezoelectric ceramics as sensing elements and are suitable for dynamic force measurement, such as impact force and vibration detection. Therefore, they are very suitable for installation on the drill bit body 100 during dynamic operation. The force feedback sensor 400 is located at the connection between the mounting section 110 and the transition section 120 of the drill bit body 100, enabling real-time monitoring of the feed resistance experienced by the drill bit body 100. In one or more other embodiments, the force feedback sensor 400 may also be a strain gauge type force sensor, etc.

[0029] The control component 500 is signal-connected to the fire-resistant oil delivery component 200, the temperature sensor 300, and the force feedback sensor 400. The control component 500 can adjust the opening and closing of the fire-resistant oil delivery component 200 based on the temperature and force conditions of the drill bit body 100 fed back by the temperature sensor 300 and the force feedback sensor 400. Specifically, the control component 500 in this embodiment mainly includes a temperature rise curve analysis module 510, a resistance change curve analysis module 520, and a fuzzy PID controller 530. The temperature rise curve analysis module 510 can generate a temperature rise curve based on the real-time temperature T collected by the temperature sensor 300 and calculate the temperature gradient ΔT / Δt. When the temperature gradient ΔT / Δt ≥ a temperature gradient threshold, an early warning is triggered, generating a temperature warning signal. In this embodiment, the temperature gradient threshold is set to 50℃ / s. The resistance change curve analysis module 520 can generate a resistance curve based on the feed resistance F collected by the force feedback sensor 400 and calculate the resistance change gradient ΔF / (F*Δt). When the resistance change gradient ΔF / (F*Δt) ≥ the resistance change gradient threshold, an early warning is triggered, generating a resistance early warning signal. In this embodiment, the resistance change gradient threshold is set to 20% / s. In one or more other embodiments, the resistance change gradient threshold can be selected as 15% / s-25% / s. Furthermore, the fuzzy PID controller 530 can control the opening and closing sequence of the one-way valve 235 and other valves and other components of the fire-resistant oil delivery assembly 200 based on the temperature early warning signal or resistance early warning signal fed back by the temperature rise curve analysis module 510 and the resistance change curve analysis module 520, thereby quickly opening the fire-resistant oil delivery assembly 200 under instantaneous high temperature conditions to protect the drill bit body 100.

[0030] One specific working method of this embodiment is as follows: The drill bit body 100 is mounted on the automatic hole-opening and plugging machine body of the submerged arc furnace. The drill bit body 100 is controlled by the automatic hole-opening and plugging machine body to perform hole-opening operations. During the operation, the temperature sensor 300 and the force feedback sensor 400 collect the real-time temperature T and the real-time feed resistance F, respectively. Then, the control component 500 receives the collected real-time temperature T and real-time feed resistance F, and calculates the temperature gradient ΔT / Δt and the resistance change gradient ΔF / (F*Δt). When either the temperature gradient ΔT / Δt or the resistance change gradient ΔF / (F*Δt) is greater than the corresponding threshold, the control component 500 activates the fire-resistant oil delivery. The fire-resistant oil delivery component 200 opens several valves to deliver fire-resistant oil and high-pressure gas to the drill bit body 100. Then, the microporous channel 132 on the drill bit body 100 sprays fire-resistant oil and high-pressure gas to form a gas film, which provides rapid and timely protection for the drill bit body 100. When the temperature gradient ΔT / Δt and the resistance change gradient ΔF / (F*Δt) are both less than the corresponding thresholds, the control component 500 closes the fire-resistant oil delivery component 200, and the fire-resistant oil delivery component 200 closes several valves, indicating that the drill bit body 100 is now in a non-working state and does not need further protection.

[0031] In this embodiment, the robot protection device for the front of the submerged arc furnace (SAF) collects the real-time temperature T and real-time feed resistance F of the drill bit body 100 by setting a temperature sensor 300 and a force feedback sensor 400 on the drill bit body 100 of the automatic hole-opening and plugging machine of the SAF. A fire-resistant oil delivery component 200 is then set up to provide gas film protection for the drill bit body 100 in conjunction with the microporous channel 132 on the drill bit body 100. The control component 500 controls the timely opening and closing of the fire-resistant oil delivery component 200 based on the temperature and resistance signals fed back by the temperature sensor 300 and the force feedback sensor 400. This achieves rapid spraying of cooling medium at instantaneous high temperatures, effectively protecting the drill bit body 100. The device has a short response time and can cope with the instantaneous thermal shock when the drill bit body 100 comes into contact with high-temperature molten material. This solves the problems of easy damage to the drill bit in the existing automatic hole-opening and plugging machine of the SAF, which affects its short service life, increases costs, and reduces production efficiency.

[0032] Furthermore, in this embodiment, the micro-channels 132 on the working section 130 of the drill bit body 100 are generally cylindrical in shape, with a pore diameter of 0.3 mm. In one or more other embodiments, the pore diameter of the micro-channels 132 is preferably 0.2-0.5 mm. The pore depth of the micro-channels 132 is 6 mm. In one or more other embodiments, the pore depth of the micro-channels 132 is preferably 5-8 mm. Simultaneously, the micro-channels 132 are distributed in multiple groups at equal intervals along the axial direction, with each group uniformly distributed circumferentially. In one or more other embodiments, the distribution of the micro-channels 132 can also be a honeycomb hexagonal arrangement, etc. Additionally, the inner wall of the micro-channels 132 is coated with a ceramic coating, enabling it to withstand temperatures above 1500°C. Furthermore, the axial angle of the micro-channel 132 relative to the axial angle of the drill bit body 100 is 15°. In one or more other embodiments, the axial angle of the micro-channel 132 relative to the axial angle of the drill bit body 100 is preferably 12°-25°, which can ensure the formation of a uniform gas film.

[0033] Furthermore, in this embodiment, the fire-resistant oil delivery assembly 200 is equipped with a first shut-off valve 233 at the end of the main pipe section 231 of the delivery pipeline 230 connected to the high-pressure gas source 220; and a second shut-off valve 234 is equipped on the branch pipe section 232 of the delivery pipeline 230. In use, when a temperature warning signal or a resistance warning signal is received, the fuzzy PID controller 530 controls the one-way valve 235 to open, first opening the first shut-off valve 233 and closing the second shut-off valve 234, releasing high-pressure gas to ensure unobstructed gas flow; then the fuzzy PID controller 530 controls the simultaneous opening of the first shut-off valve 233 and the second shut-off valve 234, pressurizing and releasing the fire-resistant oil to form a high-pressure protective gas film. Specifically, the formation of the protective film includes three stages. The process consists of three phases: Phase 1 (0-0.3s): High-pressure gas clears the microporous channels, forming an initial gas film; Phase 2 (0.3-0.5s): Fire-resistant oil is injected, rapidly vaporizing at high temperature to form a stable gas film; Phase 3 (0.5-1.5s): The gas film is maintained, preventing high-temperature molten slag from contacting the surface of the drill bit body 100. This setup makes the entire cooling protection response process more stable and efficient.

[0034] Furthermore, the control component 500 in this embodiment is also signal-connected to the automatic hole-opening and plugging machine body of the submerged arc furnace. The control component 500 can input signals of the feed speed v and acceleration a of the automatic hole-opening and plugging machine body controlling the movement of the drill bit body 100. The resistance change gradient threshold of the production condition curve and resistance change curve analysis module 520 is a dynamically adjusted protection threshold, according to the following formula: G = K·(v / a)+C; Where G is the resistance change gradient threshold; K is the adjustment coefficient; and C is the base threshold.

[0035] The resistance change gradient threshold can be dynamically adjusted to adapt to different operating conditions of the automatic eye-closing machine. In this embodiment, the basic threshold C is 20% / s. In one or more other embodiments, the basic threshold C can be selected from 15% / s to 25% / s.

[0036] Preferably, in this embodiment, the fire-resistant fuel formulation can be further optimized: a phosphate ester-based liquid (flash point ≥300℃) combined with nano-graphene is used as the fire-resistant fuel, which can improve the thermal stability of the fire-resistant fuel under high pressure (15MPa) and reduce the risk of coking.

[0037] Example 2

[0038] Based on the above embodiments, a modified robot protection device for the front of a submerged arc furnace is proposed, and a second embodiment is provided below.

[0039] Please see Figure 11 The main difference between the robot protection device for the ferroelectric furnace in the second embodiment and the robot protection device for the ferroelectric furnace in the above embodiment lies in the structural difference of the drill bit body 100. The structure of the robot protection device for the ferroelectric furnace in the second embodiment is roughly the same as that of the robot protection device for the ferroelectric furnace in the above embodiment in parts such as the fire-resistant oil delivery component 200, temperature sensor 300, force feedback sensor 400, and control component 500.

[0040] like Figure 11 As shown, the drill bit body 100 of the second embodiment is mainly provided with microporous channels 132 of a different shape than those of the drill bit body 100 of the first embodiment. The microporous channels 132 of the second embodiment adopt a two-section irregular design. The section of the microporous channel 132 that connects to the liquid delivery channel 131 inside the drill bit body 100 is roughly cylindrical, while the section of the drill bit body 100 facing outwards is an outwardly expanding cone. Due to the expansion of the outlet, the exit velocity of the cooling jet is reduced, thereby weakening the velocity gradient of the jet boundary layer and the exit jet momentum. On the one hand, this directly weakens the intensity of the anti-vortex pairs in the flow field that adversely affect the film cooling effect; on the other hand, it reduces the jet momentum component normal to the wall, limiting the jet's separation from the wall. The expansion of the jet channel results in a smaller blowing ratio, lower aerodynamic mixing losses, and a larger side-mounted cooling range, all of which contribute to improved cooling efficiency and turbine efficiency. However, machining irregularly shaped holes is more difficult and costly than machining ordinary cylindrical holes, and it also has additional requirements for material thickness and hole spacing. Therefore, the easily machined cylindrical micro-hole channel 132 in the first embodiment also has application value. However, in this embodiment, the expansion section of the micro-hole channel 132 facing the outside of the drill bit body 100 is roughly conical in shape, which is easier to machine than expansion sections of other shapes.

[0041] Example 3

[0042] Based on the above embodiments, a third embodiment of a submerged arc furnace robot using the submerged arc furnace front robot protection device is further proposed.

[0043] Please see Figures 1-4 The submerged arc furnace robot in the third embodiment is used for opening and sealing holes in the submerged arc furnace, allowing the molten material inside the furnace to drain out, and the hole opening can be sealed promptly after the molten material drains out. This submerged arc furnace robot can reduce the damage rate of the drill bit of the automatic hole opening and sealing machine in the submerged arc furnace, and avoid the release of highly toxic substances, thus improving safety. The submerged arc furnace robot mainly includes a track 600, a base 700, an opening mechanism 800, and a sealing mechanism 900, etc., wherein the opening mechanism 800 includes the protective device for the submerged arc furnace robot in the above embodiment.

[0044] like Figure 1 , Figure 2 As shown, the track 600 is used to set the movement path of the base 700 and is set parallel to the worktable.

[0045] The base 700 supports the eye-opening mechanism 800 and the eye-plugging mechanism 900, and drives them to move along the track 600 to adjust their positions. The base 700 is roughly rectangular in shape, and its bottom is equipped with two rollers 701 adapted to the track 600. The rollers 701 are rolled on the upper part of the track 600. A control cabinet 730 is located on the side of the base 700 away from the working area of ​​the electric arc furnace. The control cabinet 730 houses the core control components of the entire electric arc furnace front robot. Simultaneously, drive motors 740 are located on both sides of the control cabinet 730 to drive the rollers 701, providing power for the base 700 to move on the track 600. Furthermore, a slide rail 720 is provided on the top of the base 700. The slide rail 720 is horizontally positioned and perpendicular to the track 600. A bracket 710 is slidably mounted on the slide rail 720. The bracket 710 is used to mount the eye-opening mechanism 800 and the eye-plugging mechanism 900. Two sets of drive components are provided on the upper and lower parts of the bracket 710. The drive component at the lower part of the bracket 710 is slidably mounted on the slide rail 720 and is used to control the movement of the bracket 710 in the direction perpendicular to the track 600, thereby driving the eye-opening mechanism 800 and the eye-plugging mechanism 900 to move in the direction perpendicular to the track 600, thus allowing switching between eye-opening and eye-plugging operations at the melt discharge port of the electric arc furnace. The drive component at the upper part of the bracket 710 is a track-type drive component 712, which is used to control the stepping movement of the eye-opening mechanism 800 and the eye-plugging mechanism 900 along the track 600, and to apply the impact force for eye-opening and the pressure for eye-plugging.

[0046] The opening mechanism 800 is used for opening holes in the submerged arc furnace. The opening mechanism 800 mainly includes the submerged arc furnace front robot protection device and the first linear module 810 as described in the above embodiments. The first linear module 810 is slidably mounted on the tracked drive component 712 and is driven by the tracked drive component 712; the submerged arc furnace front robot protection device is embedded in the first linear module 810, moves synchronously with the first linear module 810, directly contacts the discharge port of the submerged arc furnace, and impacts the discharge port to perform the opening operation.

[0047] The plugging mechanism 900 is used for plugging the holes in the electric arc furnace. The plugging mechanism 900 mainly includes a plugging cylinder 910 and a second linear module 920. The second linear module 920 is slidably mounted on the tracked drive component 712 and is driven by the tracked drive component 712; the plugging cylinder 910 is embedded in the first linear module 810 and moves synchronously with the first linear module 810. In use, a plugging head is installed on the end of the plugging cylinder 910 facing the working area of ​​the electric arc furnace. The plugging head directly contacts the discharge port of the electric arc furnace and presses the discharge port to perform the plugging operation.

[0048] One specific working method of this embodiment is as follows: When there is too much molten material in the electric arc furnace and it needs to be discharged, the base 700 moves on the track 600 and the bracket 710 moves on the slide rail 720 until it reaches the opening mechanism 800, with the end of the working section 130 of the drill bit body 100 aligned with the discharge port; then the tracked drive component 712 is driven to control the opening mechanism 800 to impact the discharge port to open it, allowing the molten material to be discharged. When there is too little molten material in the electric arc furnace and it needs to be sealed, firstly, the base 700 moves on the track 600 to pull the end of the opening mechanism 800 out of the discharge port; then the bracket 710 moves on the slide rail 720 to align the plugging head of the plugging mechanism 900 with the discharge port; then the tracked drive component 712 is driven to control the plugging mechanism 900 to press against the discharge port to plug it, causing the molten material to solidify and block the discharge port.

[0049] In this embodiment, the protection device for the electric arc furnace front robot collects the real-time temperature T and real-time feed resistance F of the drill bit body 100 by setting a temperature sensor 300 and a force feedback sensor 400 on the opening mechanism 800 of the electric arc furnace front robot; then, a fire-resistant oil delivery component 200 is set up to provide gas film protection for the drill bit body 100 in conjunction with the microporous channel 132 on the drill bit body 100; the control component 500 opens and closes the fire-resistant oil delivery component 200 in a timely manner according to the temperature and resistance signals fed back by the temperature sensor 300 and the force feedback sensor 400, realizing the rapid spraying of cooling medium under instantaneous high temperature to protect the drill bit body 100, with a short response time, and can cope with the instantaneous thermal shock when the drill bit body 100 comes into contact with high temperature molten material. This solves the problem that the drill bit of the automatic opening and plugging machine of the electric arc furnace is easily damaged, resulting in a short service life, increased cost and reduced production efficiency in the prior art.

[0050] Meanwhile, the robot protection device in front of the submerged arc furnace in this embodiment also achieves automated and rapid switching between opening and plugging operations by setting up an automatically controlled moving base 700 and an automatically controlled moving bracket 710 on the base 700, and cooperating with the tracked drive component 712 set on the bracket 710. This improves the efficiency of the operation on the one hand, and reduces the safety risk of workers using hand tools to open and plug the holes on the other hand.

[0051] Furthermore, in this embodiment, each of the four bottom corners of the base 700 is provided with a slide block 750, which slides on the track 600 below, thereby restricting the movement trajectory of the roller 701 so that it can roll along the track 600 and avoid derailment.

[0052] Example 4

[0053] Based on the above embodiments, a method for protecting the robot in front of a submerged arc furnace using the robot protection device for the furnace front is further proposed, and the fourth embodiment is provided below.

[0054] Please see Figure 12 The fourth embodiment of the submerged arc furnace robot protection method is used to protect the automatic hole-opening and plugging machine of the submerged arc furnace. This method can reduce the damage rate of the drill bit of the automatic hole-opening and plugging machine and avoid the release of highly toxic substances, thus improving safety. The submerged arc furnace robot protection method mainly includes the following steps: S10. During the operation of the automatic hole-opening and plugging machine for the electric arc furnace, the real-time temperature T and real-time feed resistance F of the drill bit body 100 are collected by the temperature sensor 300 and the force feedback sensor 400, respectively. S20. The control component 500 receives real-time temperature T and real-time feed resistance F signals, and calculates the temperature gradient ΔT / Δt and the resistance change gradient ΔF / (F*Δt). S30. When the temperature gradient ΔT / Δt ≥ the temperature gradient threshold or the resistance change gradient ΔF / (F*Δt) ≥ the resistance change gradient threshold, the control component 500 controls the fire-resistant oil delivery component 200 to start, and inputs high-pressure gas and fire-resistant oil into the drill bit body 100 for cooling protection. In this embodiment, the robot protection device at the front of the submerged arc furnace collects the real-time temperature T and real-time feed resistance F of the drill bit body 100; and through the control component 500, based on the temperature and resistance signals fed back by the temperature sensor 300 and the force feedback sensor 400, it promptly opens and closes the anti-fuel delivery component 200. The anti-fuel delivery component 200, in conjunction with the microporous channel 132 on the drill bit body 100, provides gas film protection for the drill bit body 100. This achieves rapid spraying of cooling medium at instantaneous high temperatures to easily protect the drill bit body 100, with a short response time. It can cope with the instantaneous thermal shock when the drill bit body 100 comes into contact with high-temperature molten material, solving the problems of easy damage to the drill bit of the automatic hole-opening and plugging machine of the submerged arc furnace in the prior art, which affects the short service life, increases costs, and reduces production efficiency.

[0055] Furthermore, in S30 of this embodiment, when the fire-resistant oil delivery assembly 200 inputs high-pressure gas and fire-resistant oil to the drill bit body 100 for cooling protection, the high-pressure gas is first released to ensure unobstructed gas flow; then the fire-resistant oil is pressurized and released to form a high-pressure protective gas film. Specifically, the formation of the protective film includes three stages. Among them, stage 1 (0-0.3s): high-pressure gas clears the microporous channels and forms an initial gas film; stage 2 (0.3-0.5s): fire-resistant oil is injected and rapidly vaporizes at high temperature to form a stable gas film; stage 3 (0.5-1.5s): the gas film is maintained, preventing high-temperature molten slag from contacting the surface of the drill bit body 100.

[0056] Furthermore, in S30 of this embodiment, a phosphate ester-based liquid (flash point ≥300℃) is combined with nano-graphene as a fire-resistant oil, which can improve the thermal stability of the fire-resistant oil under high pressure (15MPa) and reduce the risk of coking.

[0057] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot protection device for the front of a submerged arc furnace, characterized in that, Include: Bit body (100); Fire-resistant oil delivery assembly (200) is connected to the drill bit body (100); the fire-resistant oil delivery assembly (200) is capable of delivering fire-resistant oil and compressed gas to the drill bit body (100); A temperature sensor (300) is disposed on the drill bit body (100); A force feedback sensor (400) is disposed on the drill bit body (100); The control component (500) is signal-connected to the fire-resistant oil delivery component (200), the temperature sensor (300), and the force feedback sensor (400); The drill bit body (100) is provided with a plurality of micro-hole channels (132), which are connected to the fire-resistant oil delivery assembly (200); the control assembly (500) can control the opening and closing of the fire-resistant oil delivery assembly (200) based on the temperature signal and feed resistance signal of the drill bit body (100) fed back by the temperature sensor (300) and the force feedback sensor (400).

2. The robot protection device for the front of the submerged arc furnace as described in claim 1, characterized in that, The drill bit body (100) has at least an installation section (110), a transition section (120) and a working section (130); a cooling medium interface (122) is provided on the transition section (120); a plurality of micro-hole channels (132) are provided on the working section (130); a connected infusion channel (131) is provided inside the working section (130) and the transition section (120), and the infusion channel (131) is connected to the plurality of micro-hole channels (132) and the cooling medium interface (122).

3. The robot protection device for the front of the submerged arc furnace as described in claim 2, characterized in that, The fire-resistant oil delivery assembly (200) has at least a fire-resistant oil storage tank (210), a high-pressure gas source (220), and a delivery pipeline (230); the high-pressure gas source (220) and the fire-resistant oil storage tank (210) are installed on an automatic hole-opening and plugging device for an electric arc furnace; the delivery pipeline (230) has at least a main pipe section (231), which connects the high-pressure gas source (220) and the inside of the drill bit body (100); a one-way valve (235) is provided on one end of the main pipe section (231) that connects to the inside of the drill bit body (100); and a branch pipe section (232) that connects to the fire-resistant oil storage tank (210) is provided on the main pipe section (231).

4. The robot protection device for the front of the submerged arc furnace as described in claim 3, characterized in that, The main pipe section (231) is provided with a first shut-off valve (233); the branch pipe section (232) is provided with a second shut-off valve (234).

5. The robot protection device for the front of the submerged arc furnace as described in claim 1, characterized in that, The control component (500) has at least the following features: The temperature rise curve analysis module (510) can calculate the temperature gradient ΔT / Δt based on the real-time temperature T collected by the temperature sensor (300). When the temperature gradient ΔT / Δt ≥ the temperature gradient threshold, a temperature warning signal is generated. The resistance change curve analysis module (520) can calculate the resistance change gradient ΔF / (F*Δt) based on the real-time feed resistance F collected by the force feedback sensor (400). When the resistance change gradient ΔF / (F*Δt) ≥ the resistance change gradient threshold, a resistance warning signal is generated. The fuzzy PID controller (530) is capable of controlling the opening and closing of the fire-resistant oil delivery assembly (200) based on the temperature warning signal or the resistance warning signal.

6. The robot protection device for the front of the submerged arc furnace as described in claim 1, characterized in that, The axial angle of the micro-channel (132) relative to the axial angle of the drill bit body (100) is 12°-25°.

7. A robot for operating a submerged arc furnace, characterized in that, Include: Track (600); A base (700) is disposed on the track (600), and the base (700) is movable along the track (600); and a bracket (710) is disposed on the base (700). An eye-opening mechanism (800) is disposed on the bracket (710); the bracket (710) is capable of driving the eye-opening mechanism (800) to move in a direction perpendicular to the track (600); A plugging mechanism (900) is disposed on the bracket (710); the bracket (710) is capable of driving the plugging mechanism (900) to move in a direction perpendicular to the track (600); The opening mechanism (800) is equipped with a robot protection device for the front of the blast furnace as described in any one of claims 1-6.

8. A method for protecting a robot in front of a submerged arc furnace, characterized in that, Using the ferroelectric furnace front robot protection device as described in any one of claims 1-6, the ferroelectric furnace front robot protection method includes the following steps: S10. When the automatic hole-opening and plugging device of the electric arc furnace is working, the real-time temperature T and real-time feed resistance F of the drill bit body (100) are collected; S20. Calculate the temperature gradient ΔT / Δt and the resistance change gradient ΔF / (F*Δt) based on the real-time temperature T and the real-time feed resistance F signal. S30. When the temperature gradient ΔT / Δt ≥ the temperature gradient threshold or the resistance change gradient ΔF / (F*Δt) ≥ the resistance change gradient threshold, the fire-resistant oil delivery assembly (200) is activated to input compressed gas and fire-resistant oil into the drill bit body (100) for cooling protection.

9. The method for protecting the front of a submerged arc furnace using a robot as described in claim 8, characterized in that, In step S30, when the fire-resistant oil delivery assembly (200) inputs compressed gas and fire-resistant oil into the drill bit body (100) for cooling protection, it first releases the compressed gas and then pressurizes to release the fire-resistant oil.

10. The method for protecting the front of a submerged arc furnace using a robot as described in claim 8, characterized in that, In step S30, the fire-resistant oil comprises a phosphate ester-based liquid and nano-graphene.

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