Automatic batter bashing and testing robot

Abstract

The application provides an automatic batter measuring robot, which comprises a batter measuring hammer, a pin shaft sensor, a traction rope, a winch, a winch encoder and an electric control system, the first end of the traction rope is connected with the winch, the second end is connected with the batter measuring hammer, the batter measuring hammer is arranged opposite to the electrode shell, the winch drives the traction rope to be retracted and released under the control of the electric control system, the winch encoder sends the length information of the traction rope to the electric control system, the batter measuring hammer is lifted under the driving of the winch and then falls to hammer the upper surface of the electrode batter by gravity, the pin shaft sensor senses the in-place information of the batter measuring hammer in the process of repeated hammering, the length of the traction rope is determined through repeated measurement of the winch, the electric control system calculates the position information of the upper surface of the electrode batter through the length of the traction rope, so that the distance is automatically measured in the process of automatic batter hammering. The application can realize automatic batter measuring while automatic batter hammering.

Description

Technical Field

[0001] This invention generally relates to the field of robotics, and more specifically, to a robot capable of automatically breaking up and measuring the electrode paste during the operation of an electric arc furnace electrode paste. Background Technology

[0002] In the smelting industry of electric arc furnaces (calcium carbide, ferroalloys, etc.), the electrode paste column of the electric arc furnace may experience swelling during operation. Electrode paste column swelling is a serious anomaly in the production of electric arc furnaces. The expansion of the electrode paste in the electrode shell will cause gaps and voids to form inside the paste column, preventing the paste column from descending and causing yellow smoke to be emitted. It will also exacerbate uneven sintering, leading to the electrode paste layering, voids, and suspension in the electrode shell. The core hazards are electrode structure damage, paste leakage, paste flow, hard breakage, and soft breakage, resulting in loss of furnace control and causing significant risks to personnel and equipment.

[0003] In existing technologies, operators typically climb to a height within the electrode shell to visually observe the electrode paste. They then measure the height of the paste column using a rope suspended by a weight, manually calculating the paste column height. Data from measurements at different intervals is compared with the usual consumption of electrode paste to determine if paste swelling has occurred. To prevent this, the weight attached to the rope is manually raised to a certain height and allowed to fall freely, impacting the electrode paste. This method of operation makes furnace work extremely dangerous, and the high dust and high concentration of CO gases also pose significant challenges to the equipment itself.

[0004] When the machine is performing paste testing, it is very close to the ring layer of the electric arc furnace. The ring layer produces a lot of smoke and dust when it is feeding into the furnace and unloading from the first floor. It is often in a mixed gas environment with high concentrations of CO and other gases. This means that the electrical components and mechanical moving parts of the equipment need to be equipped with gas explosion-proof measures of ExⅡCT4 level.

[0005] Moreover, in the existing technology, smashing and measuring are two different processes that need to be carried out separately. This work is not only dangerous and laborious, but also extremely inefficient.

[0006] Therefore, it is of great significance to develop a device that can overcome the above-mentioned shortcomings and automatically measure the paste while breaking it up, thereby improving safety, convenience and work efficiency. Summary of the Invention

[0007] A primary objective of this invention is to overcome at least one of the deficiencies of the prior art and to provide an automatic paste-smashing and paste-measuring robot capable of automatically smashing paste while simultaneously measuring its consistency.

[0008] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0009] According to one aspect of the present invention, an automatic paste-tamping and measuring robot is provided for use in submerged arc furnace production. Positioned above an electrode shell, it simultaneously and automatically tamps and measures the distance of the electrode paste within the shell. The robot includes a measuring hammer, a pin sensor, a traction rope, a winch, a winch encoder, and an electrical control system. The first end of the traction rope is connected to the winch, and the second end is connected to the measuring hammer, which is positioned directly opposite the electrode shell. Under the control of the electrical control system, the winch retracts and extends the traction rope. The winch encoder sends the traction rope length information to the electrical control system. Driven by the winch, the measuring hammer is lifted and then falls under its own weight to hammer the top of the electrode paste. During repeated hammering, the pin sensor detects the position of the measuring hammer and determines the length of the traction rope through repeated measurements by the winch. The electrical control system calculates the position information of the top of the electrode paste based on the length of the traction rope, thereby automatically measuring the distance during the automatic paste-tamping process.

[0010] According to one embodiment of the present invention, the automatic paste-smashing and measuring robot further includes a column and a support. The support is installed on the upper part of the column, and the paste-measuring hammer, shaft pin sensor, traction rope, winch, and winch encoder are all installed on the support.

[0011] According to one embodiment of the present invention, the automatic paste-smashing and measuring robot further includes a rotating body and a rotating body sensor. The rotating body drives the support to rotate, and the rotating body sensor determines the planar position of the paste-measuring hammer to operate according to different electrode shells.

[0012] According to one embodiment of the present invention, the mass of the measuring hammer is 20 kg, and the drop height of the measuring hammer is 1 meter.

[0013] According to one embodiment of the present invention, the measuring hammer is dropped 3-5 times in each round.

[0014] According to one embodiment of the present invention, the automatic paste-smashing and measuring robot includes a fixed pulley, the fixed pulley is rotatably mounted on a pin shaft, a pin shaft sensor is mounted on the pin shaft, the fixed pulley is located above the electrode housing, and the traction rope is wound around the fixed pulley and connected to the paste-measuring hammer.

[0015] According to one embodiment of the present invention, the pin sensor outputs a current output signal of 0-40mA to the electronic control system according to the different pressures it receives. The electronic control system receives the change in the pin sensor signal and determines whether the position of the measuring hammer has fallen onto the electrode paste surface.

[0016] According to one embodiment of the present invention, the winch encoder is an absolute encoder.

[0017] As can be seen from the above technical solution, the advantages and positive effects of the automatic paste-smashing and paste-measuring robot of the present invention are as follows:

[0018] This invention uses a pin-shaft sensor to detect position information, and then uses a winch to drive a measuring hammer to repeatedly strike the electrode paste to achieve paste striking. At the same time, the winch encoder measures the length of the traction rope, and the electrical control system calculates the position information of the top surface of the electrode paste, thereby realizing electrode paste distance measurement, improving safety, convenience and work efficiency. Attached Figure Description

[0019] Various objects, features, and advantages of the invention will become more apparent from the following detailed description of preferred embodiments of the invention, taken in conjunction with the accompanying drawings. The drawings are merely illustrative of the invention and are not necessarily drawn to scale. In the drawings, the same reference numerals always denote the same or similar parts. Wherein:

[0020] Figure 1 This is a schematic diagram of the automatic paste-smashing and paste-measuring robot structure of the present invention, shown in an exemplary embodiment. Detailed Implementation

[0021] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that the invention will be thorough and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0022] In the following description of various examples of the invention, reference is made to the accompanying drawings, which form part of the invention, and in which different exemplary structures, systems, and steps that can implement various aspects of the invention are shown by way of example. It should be understood that other specific embodiments of the components, structures, exemplary devices, systems, and steps may be used, and structural and functional modifications may be made without departing from the scope of the invention. Furthermore, while the terms “top,” “bottom,” “front,” “rear,” “side,” etc., may be used in this specification to describe various exemplary features and elements of the invention, these terms are used herein only for convenience, such as the orientation according to the examples shown in the drawings. Nothing in this specification should be construed as requiring a specific three-dimensional orientation of the structure to fall within the scope of the invention.

[0023] An automatic paste-tamping and measuring robot according to an embodiment of the present invention is used in the production of submerged arc furnaces. It is set above the electrode shell and simultaneously and automatically tamps and measures the distance of the electrode paste in the electrode shell.

[0024] like Figure 1As shown, the automatic paste-smashing and measuring robot of this embodiment includes a paste-measuring hammer 1, a shaft pin sensor 2, a traction rope 3, a winch 4, a winch encoder 5, an electrical control system 6, a rotating body 7, and a rotating body sensor 8.

[0025] In this embodiment, the measuring paste hammer 1 is a cylinder with a traction rope 3 connected to the top. The measuring paste hammer 1 is suspended directly above the electrode shell and moves up and down under the action of the traction rope 3. When it is at a high position, it falls freely under its own weight and hammers the top surface of the electrode paste in the electrode shell to realize the paste-smashing operation.

[0026] In this embodiment, the pin sensor 2 is mounted on a pin, which is the pivot of the fixed pulley 13. The fixed pulley 13 is mounted on a wheel frame 12, and the wheel frame 12 is mounted on a bracket 11. The traction rope 3 passes around the fixed pulley 13 and connects to the measuring hammer 1. In this embodiment, the pin sensor 2 can be a gravity sensor.

[0027] In this embodiment, the traction rope 3 is connected to the output end of the winch 4 and is tensioned by multiple tensioners 14. The tensioners 13 are mounted on the bracket 11. The other end of the traction rope 3 passes over the fixed pulley 13 and is connected to the measuring hammer 1. The measuring hammer 1 is suspended at the end of the traction rope 3 and is located below the fixed pulley 13.

[0028] In this embodiment, the winch 4 is mounted on the bracket 11, and the output end is connected to the traction rope 3. A winch encoder 5 is mounted on the winch 4. In this embodiment, the winch encoder 5 is an absolute encoder.

[0029] In this embodiment, the electronic control system 6 is remotely configured and communicates with the winch 4, winch encoder 5, pin sensor 2, slewing body 7, and slewing body sensor 8. Remote control via the electronic control system 6 enhances safety. Additionally, a camera can be installed for video monitoring of the operating status, enabling visual operation.

[0030] In this embodiment, the rotating body 7 is connected to the rotating platform 10, which is connected to the support 11. The rotating platform 10 works in conjunction with the column 9. Under the action of the rotating body 7, the rotating platform 10 rotates relative to the top of the column 9, thereby driving the support 11 to rotate. Since a submerged arc furnace is typically equipped with three electrodes, and sometimes two or more, the operation of different electrodes can be switched by operating the rotating body 7. The rotating body sensor 8 can determine the position of the support 11 to identify its corresponding electrode for recording and operation.

[0031] In this embodiment, the first end of the traction rope 3 is connected to the winch 4, and the second end is connected to the measuring hammer 1, which is positioned directly opposite the electrode shell. Under the control of the electronic control system 6, the winch 4 drives the traction rope 3 to wind up and down. The winch encoder 5 sends the traction rope length information to the electronic control system 6. Driven by the winch 4, the measuring hammer 1 is lifted and falls by its own weight to hammer the top of the electrode paste. During the repeated hammering process, the pin sensor 2 senses the position information of the measuring hammer 1, and determines the length of the traction rope 3 through repeated adjustments and measurements by the winch 4 and the winch encoder 5. The electronic control system 6 calculates the position information of the top of the electrode paste based on the length of the traction rope 3, thereby automatically measuring the distance during the automatic paste-pounding process.

[0032] In this embodiment, when the paste is being pounded, the measuring hammer 1 is lifted into position by the winch 4 and the traction rope 3. Then the winch 4 is released, and the measuring hammer 1 falls by its own weight, which drives the winch 4 and its traction rope 3 to move. The winch encoder 5 records the data in real time and transmits it to the electrical control system 6.

[0033] In this embodiment, the mass of the measuring hammer 1 is 20 kg, the drop height of the measuring hammer 1 is 1 meter, and the measuring hammer 1 is dropped 3-5 times in each round.

[0034] In this embodiment, the weight of the measuring hammer 1 is set to 20 kg. In the standby position, it is raised to the measurement zero point according to a set time. It is then automatically lowered into the electrode housing using the measuring traction rope 3. When the measuring hammer 1 contacts the electrode paste surface, the measuring traction rope is not affected by the weight of the hammer and therefore does not exert force on the shaft pin sensor 2. The shaft pin sensor 2 outputs a current signal of 0-40 mA depending on the pressure applied (0-20 kg). The electronic control system 6 receives the change in the signal from the shaft pin sensor 2 and determines whether the measuring hammer 1 has landed on the electrode paste surface. Simultaneously, the encoder 5 on the winch 4, which drives the measuring traction rope 3, automatically records and calculates the stroke length of the measuring traction rope 3. The electronic control system 6 program calculates the height of the electrode paste column inside the electrode housing according to the measurement algorithm and uploads it to the system. Then, the winch 4 restarts and performs 3-5 more paste-smashing actions. The traction rope 3 raises the measuring hammer 1 to a height of 1 meter. The winch is then powered off, and the measuring hammer 1 falls freely from a height of 1 meter. The average impact force generated is:

[0035] F≈mgh / Δh

[0036] m=20Kg

[0037] h=1m

[0038] g≈9.8 m / s2

[0039] Depending on the surface condition of the electrode paste, the value of Δh in the formula ranges from 0.01m to 0.005m.

[0040] F≈19800-39400N (2 tons - 4 tons)

[0041] The paste measuring hammer 1 impacts the paste column 3-5 times with gravity. Then, the height of the paste column is remeasured and the remeasured data is uploaded. The system compares the remeasured data with the initial measurement data to determine whether the electrode paste inside the electrode shell has expanded, whether electrode paste needs to be added, and how much electrode paste to add.

[0042] As can be seen from the above technical solution, the advantages and positive effects of the automatic paste-smashing and paste-measuring robot of the present invention are as follows:

[0043] This invention uses a pin-shaft sensor 2 to sense position information, and then uses a winch 4 to drive a measuring hammer 1 to repeatedly strike the electrode paste to achieve paste striking. At the same time, the winch encoder 5 measures the length of the traction rope 3, and the electrical control system 6 calculates the position information of the top surface of the electrode paste, thereby realizing electrode paste distance measurement, improving safety, convenience and work efficiency.

[0044] Compared to the existing technology of manual paste measurement, which carries the risk of CO gas poisoning and is labor-intensive, the automatic paste measurement device measures and records the paste column height at set times. At the same time, a paste measuring hammer can be used to smash the paste to prevent it from swelling and getting stuck in the electrode shell. This reduces the labor intensity of workers, prevents the risk of poisoning caused by high-risk gases, and avoids the risks of furnace loss of control, personal injury, and equipment damage.

[0045] Those skilled in the art should understand that the specific structures and processes shown in the above detailed embodiments are merely exemplary and not restrictive. Furthermore, those skilled in the art can combine the various technical features described above in various possible ways to form new technical solutions or make other modifications, all of which fall within the scope of this invention.

Claims

1. An automatic paste-smashing and paste-measuring robot, characterized in that, Used in the production of electric arc furnaces, this automatic paste-tamping and measuring robot is positioned above the electrode shell to simultaneously and automatically compact and measure the distance of the electrode paste within the shell. The robot includes a measuring hammer, a pin sensor, a traction rope, a winch, a winch encoder, and an electrical control system. The first end of the traction rope is connected to the winch, and the second end is connected to the measuring hammer, which is positioned directly opposite the electrode shell. Under the control of the electrical control system, the winch retracts and extends the traction rope. The winch encoder sends the traction rope length information to the electrical control system. Driven by the winch, the measuring hammer is lifted and then falls under its own weight to hammer the top of the electrode paste. During repeated hammering, the pin sensor detects the position of the measuring hammer, and the length of the traction rope is determined through repeated measurements by the winch. The electrical control system calculates the position information of the top of the electrode paste based on the length of the traction rope, thus automatically measuring the distance during the automatic paste-tamping process.

2. The automatic paste-smashing and paste-measuring robot according to claim 1, characterized in that: The automatic paste-smashing and measuring robot also includes a column and a support. The support is installed on the upper part of the column, and the paste-measuring hammer, shaft pin sensor, traction rope, winch, and winch encoder are all installed on the support.

3. The automatic paste-smashing and paste-measuring robot according to claim 2, characterized in that: The automatic paste-smashing and measuring robot also includes a rotating body and a rotating body sensor. The rotating body drives the support to rotate, and the rotating body sensor determines the planar position of the paste-measuring hammer to operate according to different electrode shells.

4. The automatic paste-smashing and paste-measuring robot according to claim 1, characterized in that: The mass of the measuring hammer is 20 kg, and the drop height of the measuring hammer is 1 meter.

5. The automatic paste-smashing and paste-measuring robot according to claim 4, characterized in that: The measuring hammer is dropped 3-5 times in each round.

6. The automatic paste-smashing and paste-measuring robot according to claim 1, characterized in that: The automatic paste-smashing and measuring robot includes a fixed pulley, which is rotatably mounted on a pin shaft. A pin shaft sensor is mounted on the pin shaft. The fixed pulley is located above the electrode housing. The traction rope is wound around the fixed pulley and then connected to the paste-measuring hammer.

7. The automatic paste-smashing and paste-measuring robot according to claim 6, characterized in that: The pin sensor outputs a 0-40mA current signal to the electronic control system according to the different pressures it receives. The electronic control system receives the changes in the pin sensor signal and determines whether the measuring hammer has fallen onto the electrode paste surface.

8. The automatic paste-smashing and paste-measuring robot according to claim 1, characterized in that: The winch encoder is an absolute encoder.

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