Converter fettling feeding device

Abstract

The utility model relates to a converter fettling technology in steel plant production, in particular to a converter fettling feeding device. The fettling device can be used for fettling any point in the furnace, and fettling is free of dead points. Comprising a driving mechanism, a feeding mechanism installed on the driving mechanism and a spraying executing mechanism connected with the feeding mechanism. The driving mechanism comprises a walking mechanism and a U-shaped stand column located on the walking mechanism, a telescopic mechanism is arranged on the top of the U-shaped stand column, and a spraying executing mechanism is arranged at the telescopic end of the telescopic mechanism. The spraying executing mechanism comprises a six-axis industrial mechanical arm connected with the telescopic end, and a spraying gun is installed at the tail end of the six-axis industrial mechanical arm.

Description

Technical Field

[0001] The utility model relates to a converter repair technology in steelmaking plant production, in particular to a converter repair feeding device. Background Art

[0002] During the smelting process of the converter, the lining is damaged due to high temperature, erosion of molten steel and erosion of slag, and furnace maintenance is necessary. The traditional method is to manually put the repair material (hand-thrown) into the furnace where it needs to be repaired. During the manual filling process, it is difficult to maintain the bottom and ear shaft of the converter, and the material after manual filling will be uneven, affecting the converter shape, and then bringing a certain impact on the blowing control. At the same time, manual filling must be carried out in high dust and poor working conditions, with high labor intensity, and the filling time is long, and the filling quality is subject to certain restrictions.

[0003] In addition, most of the existing automatic furnace repair devices use non-standard rectangular coordinate manipulators, which have poor flexibility and are difficult to reach most areas of the furnace for furnace repair. Summary of the invention

[0004] The utility model aims at the defects in the prior art and provides a converter replenishing and feeding device.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme, including a driving mechanism, a feeding mechanism installed on the driving mechanism, and a spraying actuator connected to the feeding mechanism; the driving mechanism includes a walking mechanism, a U-shaped column located above the walking mechanism, a telescopic mechanism is arranged on the top of the U-shaped column, and a spraying actuator is arranged at the telescopic end of the telescopic mechanism; the spraying actuator includes a six-axis industrial robot arm connected to the telescopic end, and a spray gun is installed at the end of the six-axis industrial robot arm.

[0006] A preferred solution of the robotic arm, the base of the six-axis industrial robotic arm is fixed to the telescopic end, an adapter plate is installed at the end of the six-axis industrial robotic arm, and a spray gun is fixed on the adapter plate.

[0007] In the preferred scheme of the driving mechanism, the bottom of the U-shaped column is fixed on the walking mechanism, the opening of the U-shaped column faces upward, and the telescopic mechanism is rotatably connected with the opening of the U-shaped column through a rotating shaft.

[0008] Furthermore, the telescopic mechanism includes an outer sleeve connected to the U-shaped column, an inner telescopic sleeve with one end extending into the outer sleeve, and the inner telescopic sleeve can slide freely along the outer sleeve, and the other end of the inner telescopic sleeve is connected to the spray actuator as a telescopic end; a push rod cylinder is provided on the outer wall of the bottom of the outer sleeve, the cylinder seat of the push rod cylinder is fixed on the outer sleeve, and the cylinder rod of the push rod cylinder is connected to the bottom of one end of the inner telescopic sleeve away from the outer sleeve, which is used to drive the inner telescopic tube to extend and retract along the outer sleeve.

[0009] Furthermore, a limit block is provided at the end of the outer sleeve to prevent the inner telescopic sleeve from slipping out.

[0010] Furthermore, a counterweight block for counterweighting the spraying actuator is provided at one end of the outer sleeve away from the inner telescopic sleeve.

[0011] Furthermore, a rotating shaft is welded on both sides of the middle of the outer sleeve, and the outer sleeve is rotatably connected to the U-shaped column through the rotating shaft; and a motor for driving the rotating shaft to rotate is installed on each side of the U-shaped column, and each motor is equipped with a reducer.

[0012] Furthermore, the feeding mechanism includes an upper hopper installed on the top of the outer sleeve, the bottom of the upper hopper is connected to a hopper feeding pipe, the hopper feeding pipe is connected to a retractable feeding pipe, the retractable feeding pipe is connected to a robot feeding pipe, and the robot feeding pipe is connected to the spray gun.

[0013] Furthermore, the hopper feed pipe is connected to the telescopic feed pipe via a diaphragm pump, the inlet of the diaphragm pump is connected to the hopper feed pipe, and the outlet of the diaphragm pump is connected to the telescopic feed pipe.

[0014] Furthermore, a gate valve for controlling the discharge of materials is provided at the bottom of the upper hopper.

[0015] Furthermore, the diaphragm pump is installed on the top wall of the outer sleeve, the first end of the telescopic feed pipe is fixed to the outer sleeve by a fixed pipe clamp, and the second end of the telescopic feed pipe is fixed to the top of the inner telescopic feed pipe by a fixed pipe clamp.

[0016] Compared with the prior art, the utility model has beneficial effects.

[0017] After the utility model is put into use, the places that cannot be repaired by manual furnace repair can be accurately repaired, and the spray can be accurately and evenly sprayed to the designated repairing parts. The operation process is flexible and convenient, and the purpose of accurate furnace repair is achieved. At the same time, the life of the converter is improved, the consumption of refractory materials is reduced, the operation time is shortened by 20-30 minutes, and the labor intensity of employees in furnace repair can be reduced, thereby achieving a good furnace protection effect.

[0018] The utility model can repair the furnace at any point in the furnace with the cooperation of the external telescopic arm (telescopic mechanism), so as to realize the repair without dead points. In addition, the external telescopic arm (telescopic mechanism) of the furnace repair feeding device can be adjusted up and down by a motor to a certain angle, which is conducive to adapting to the furnace repair when the positioning posture of the converter cannot be horizontal. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The utility model is further described below in conjunction with the accompanying drawings and specific implementation methods. The protection scope of the utility model is not limited to the following descriptions.

[0020] Figure 1 This is the front view of the converter replenishment and feeding device.

[0021] Figure 2 This is the main view of the converter replenishment feeding device and the converter.

[0022] Figure 3 It is a three-dimensional view of the converter feeding device drive system.

[0023] Figure 4 This is the main view of the converter replenishment and feeding device drive system.

[0024] Figure 5 It is a connection diagram of the spray actuator of the converter replenishment feeding device.

[0025] In the figure, 1 is a driving mechanism, 2 is a feeding mechanism, 3 is a spraying actuator, and 4 is a converter;

[0026] 101 is a traveling wheel, 102 is a vehicle body, 103 is a U-shaped column, 104 is a counterweight, 105 is an outer sleeve, 106 is an inner telescopic sleeve, 107 is a right motor, 108 is a right reducer, 109 is a left motor, and 110 is a left reducer;

[0027] 201 is a hopper, 202 is a feed pipe, 203 is a diaphragm pump, 204 is a retractable feed pipe, 205 is a fixed pipe clamp, and 206 is an oil cylinder;

[0028] 301 is the robot material pipe, 302 is the spray gun, 303 is the adapter plate 3, 304 is the robot base 4, and 305 is the robot arm;

[0029] 401 is the center line of the converter. DETAILED DESCRIPTION

[0030] The embodiment aims at the problems of low efficiency and poor working environment of manual furnace repair. Figure 1-5 As shown, a converter 4 feeding device is provided; it includes a driving mechanism 1, a feeding mechanism 2 installed on the driving mechanism 1, and a spraying actuator 3 connected to the feeding mechanism 2; the driving mechanism 1 includes a walking mechanism, for example: a mobile trolley, and a U-shaped column 103 located on the walking mechanism, a telescopic mechanism is arranged on the top of the U-shaped column 103, and a spraying actuator 3 is arranged at the telescopic end of the telescopic mechanism; the spraying actuator 3 includes a mechanical arm 305 connected to the telescopic end, and a spray gun 302 is installed at the end of the six-axis industrial mechanical arm 305. The six-axis industrial mechanical arm 305 has high flexibility and six degrees of freedom, can reach various points within the operating range, and the posture can be adjusted.

[0031] Specifically, the base of the six-axis industrial robot arm 305 is fixed to the telescopic end, and an adapter plate 303 is installed at the end of the six-axis industrial robot arm 305, and a spray gun 302 is fixed on the adapter plate 303.

[0032] Embodiment 1: The bottom of the U-shaped column 103 is fixed on the walking mechanism, the opening of the U-shaped column 103 faces upward, the telescopic mechanism is located in the opening, and is rotatably connected to the U-shaped column 103 through a rotating shaft. The setting of the U-shaped column 103 has a stable bottom and a material-saving shape, and can better support the rotating shaft.

[0033] Embodiment 2, the telescopic mechanism comprises an outer sleeve 105 connected to the U-shaped column 103, an inner telescopic sleeve 106 with one end extending into the outer sleeve 105, and the inner telescopic sleeve 106 can slide freely along the outer sleeve 105, and the other end of the inner telescopic sleeve 106 is connected to the spray actuator 3 as a telescopic end; a push rod oil cylinder 206 is arranged on the outer wall at the bottom of the outer sleeve 105, the cylinder seat of the push rod oil cylinder 206 is fixed on the outer sleeve 105, and the cylinder rod of the push rod oil cylinder 206 is connected to the bottom of one end of the inner telescopic sleeve 106 away from the outer sleeve 105, and is used to drive the inner telescopic tube to extend and retract along the outer sleeve 105. A limit stopper is arranged at the end of the outer sleeve 105 to prevent the inner telescopic sleeve 106 from slipping out. A counterweight block 104 is arranged at one end of the outer sleeve 105 away from the inner telescopic sleeve 106 for counterweighting the spray actuator 3. The cooperation between the outer sleeve 105 and the inner telescopic sleeve 106 realizes adjustable telescopic movement, which is beneficial to extending the furnace repair operation distance. The setting of the counterweight block 104 can effectively ensure the level of the telescopic mechanism.

[0034] Preferred solution: A rotating shaft is welded on both sides of the middle of the outer sleeve 105, and the outer sleeve 105 is rotatably connected to the U-shaped column 103 through the rotating shaft; and a motor for driving the rotating shaft is installed on both sides of the U-shaped column 103, and each motor is equipped with a reducer. In order to prevent the motor torque from being insufficient, two driving motors are set. The outer telescopic arm (telescopic mechanism) of the furnace replenishment feeding device can be adjusted up and down by a certain angle through the motor, which is conducive to adapting to the furnace replenishment when the positioning posture of the converter 4 cannot be horizontal.

[0035] Embodiment 3, the feeding mechanism 2 includes an upper hopper 201 installed on the top of the outer sleeve 105, the bottom of the upper hopper 201 is connected to a feeding pipe, the feeding pipe is connected to a telescopic feeding pipe 204, the telescopic feeding pipe 204 is connected to a robot feeding pipe 301, and the robot feeding pipe 301 is connected to the spray gun 302. The telescopic feeding pipe 204 can be a stainless steel telescopic pipe. The robot feeding pipe 301 can be fixed to the robot arm 305 by a fixing clamp, and the specific fixing frame can be set at the joint of the robot arm 305.

[0036] The feed pipe is connected to the telescopic feed pipe 204 through a diaphragm pump 203, the inlet of the diaphragm pump 203 is connected to the feed pipe, and the outlet of the diaphragm pump 203 is connected to the telescopic feed pipe 204. The diaphragm pump 203 is provided to realize autonomous feeding and feeding. A gate valve for controlling the discharge of materials is provided at the bottom of the upper hopper 201. The diaphragm pump 203 is installed on the top wall of the outer sleeve 105, the first end of the telescopic feed pipe 204 is fixed to the outer sleeve 105 by a fixed pipe clamp 205, and the second end of the telescopic feed pipe 204 is fixed to the top of the inner telescopic feed pipe by a fixed pipe clamp 205.

[0037] The present invention is an automated furnace repairing equipment device. After being put into use, it can accurately repair places that cannot be repaired by manual furnace repair, and can accurately and evenly spray to the designated repairing parts. The operation process is flexible and convenient, and the purpose of accurate furnace repair is achieved. At the same time, the service life of the converter is increased by 4, the consumption of refractory materials is reduced, the operation time is shortened by 20-30 minutes, and the labor intensity of employees in furnace repair can be reduced, thereby achieving a good furnace protection effect.

[0038] The working process of this technical solution is described according to the accompanying drawings:

[0039] First, the required furnace supplement material (viscous) is added into the upper hopper 201 in the feeding system, and the diaphragm pump 203 is started to transport the furnace supplement material to the end of the spray gun 302 through the feeding pipe.

[0040] When the furnace needs to be repaired, the damaged parts of the converter 4 lining caused by high temperature, molten steel scouring and slag erosion are shaken out of the smoke hood, and the converter 4 is placed horizontally to facilitate the injection device to enter the converter 4.

[0041] Transfer the body (i.e. the travelling mechanism) of the furnace feeding device to the 4th position of the converter, adjust the position and posture of the body (i.e. the travelling mechanism), and fix the body.

[0042] The inclination angle of the outer sleeve 105 is determined by driving the left motor 109 and the right motor 107. The optimal inclination angle is when the angle coincides with the center line 401 of the converter.

[0043] Then the oil cylinder 206 is driven to extend, and the oil cylinder 206 drives the inner telescopic sleeve 106 to extend, and the inner telescopic sleeve 106 carries the end robot body into the inner side of the converter 4.

[0044] According to the damaged lining position in the furnace, the operating procedure and posture of the industrial robot (i.e., the robot arm 305) are adjusted so that the spray gun 302 carried by the end of the industrial robot is aimed at the damaged surface for spraying. There will be a certain error in the spraying operation surface, so in general, the spraying area should be larger than the damaged area.

[0045] After completing the furnace repair operation, the robot is adjusted to the best state (convenient for exiting the furnace), and then the oil cylinder 206 is controlled to be retracted, and the retractable feeding pipe 204 is retracted, so that the robot body as a whole exits the converter 4.

[0046] Then the entire furnace feeding device is moved away (by driving the running wheels of the feeding device).

[0047] This process achieves accurate furnace repair of converter 4 and achieves the purpose of furnace repair and protection, and plays a certain role in increasing the service life of converter 4 and reducing the consumption of refractory materials.

[0048] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. Therefore, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope defined by the claims of the present invention.

Claims

1. A converter feeding device, comprising a driving mechanism, a feeding mechanism mounted on the driving mechanism, and a spraying actuator connected to the feeding mechanism; characterized in that: The driving mechanism comprises a walking mechanism and a U-shaped column located on the walking mechanism, a telescopic mechanism is arranged on the top of the U-shaped column, and a spraying actuator is arranged at the telescopic end of the telescopic mechanism; The spraying actuator comprises a six-axis industrial robot arm connected to a telescopic end, and a spray gun is installed at the end of the six-axis industrial robot arm.

2. A converter feeding device according to claim 1, characterized in that: The base of the six-axis industrial robot arm is fixed to the telescopic end, and an adapter plate is installed at the end of the six-axis industrial robot arm, and a spray gun is fixed on the adapter plate.

3. The converter feeding device according to claim 1, characterized in that: The bottom of the U-shaped column is fixed on the walking mechanism, the opening of the U-shaped column faces upward, and the telescopic mechanism is rotatably connected with the opening of the U-shaped column through a rotating shaft.

4. A converter feeding device for replenishing the converter according to claim 1, characterized in that: The telescopic mechanism includes an outer sleeve connected to the U-shaped column, an inner telescopic sleeve with one end extending into the outer sleeve, and the inner telescopic sleeve can slide freely along the outer sleeve, and the other end of the inner telescopic sleeve is connected to the spray actuator as a telescopic end; a push rod cylinder is provided on the outer wall at the bottom of the outer sleeve, and the cylinder seat of the push rod cylinder is fixed on the outer sleeve, and the cylinder rod of the push rod cylinder is connected to the bottom of one end of the inner telescopic sleeve away from the outer sleeve, which is used to drive the inner telescopic tube to extend and retract along the outer sleeve.

5. A converter feeding device for replenishing the converter according to claim 4, characterized in that: The end of the outer sleeve is provided with a limit stopper to prevent the inner telescopic sleeve from slipping out.

6. A converter feeding device for replenishing the converter according to claim 4 or 5, characterized in that: A counterweight is arranged at one end of the outer sleeve away from the inner telescopic sleeve.

7. A converter feeding device for replenishing a converter according to claim 4 or 5, characterized in that: A rotating shaft is welded on both sides of the middle of the outer sleeve, and the outer sleeve is rotatably connected to the U-shaped column through the rotating shaft; and a motor for driving the rotating shaft to rotate is installed on both sides of the U-shaped column, and each motor is equipped with a reducer.

8. The converter feeding device according to claim 4, characterized in that: The feeding mechanism includes an upper hopper installed on the top of the outer sleeve, the bottom of the upper hopper is connected to a hopper feeding pipe, the hopper feeding pipe is connected to a telescopic feeding pipe, the telescopic feeding pipe is connected to a robot feeding pipe, and the robot feeding pipe is connected to the spray gun.

9. A converter feeding device for replenishing the converter according to claim 8, characterized in that: The hopper feed pipe is connected to the telescopic feed pipe through a diaphragm pump, the inlet of the diaphragm pump is connected to the hopper feed pipe, and the outlet of the diaphragm pump is connected to the telescopic feed pipe.

10. A converter feeding device according to claim 9, characterized in that: A gate valve is provided at the bottom of the upper hopper, the diaphragm pump is installed on the top wall of the outer sleeve, the first end of the telescopic feed pipe is fixed to the outer sleeve by a fixed pipe clamp, and the second end of the telescopic feed pipe is fixed to the top of the inner telescopic feed pipe by a fixed pipe clamp.

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