Bottom blowing furnace automatic deslagging robot and device

Abstract

The utility model belongs to the technical field of iron and steel smelting, and discloses an automatic slag removal robot and device for a bottom blowing furnace, the automatic slag removal robot is used for clamping an air pick to clean slag on the bottom blowing furnace, the automatic slag removal robot comprises a robot body and a clamp assembly, and the clamp assembly comprises a connecting disc and a force control sensor. An installation space is formed in the middle of the connecting disc, one face of the connecting disc is connected with the tail end of the robot body, the other face of the connecting disc is provided with a connecting sleeve used for fixing an air pick, and the force control sensor is fixed in the installation space to sense the force when the air pick impacts slag. According to the technical scheme, the slag in the bottom blowing furnace can be automatically recognized and automatically cleaned, and the slag removal efficiency of the bottom blowing furnace is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of steel smelting, and in particular to an automatic slag removal robot and device for a bottom blowing furnace. Background Art

[0002] SKS lead smelting method is a direct lead smelting method with oxygen bottom blowing developed by my country, which belongs to the category of molten pool smelting. The materials are put into the furnace and the heating, melting, oxidation, slag making and matte making processes are completed at the same time. The materials are added from the top of the bottom-blown furnace, and oxygen-rich air is sent from the bottom to stir the molten pool. The materials put into the furnace complete the smelting process in the molten pool, and the crude lead, high-lead slag and flue gas produced are discharged from the lead discharge port, slag discharge port and smoke exhaust port respectively.

[0003] The bottom blowing furnace will cause slag to form at the inlet due to slag jumping in the furnace, which will affect the logistics falling into the furnace body. At present, the slag at the inlet is cleaned manually from time to time. Due to the high concentration of dust and toxic gases, strong noise and vibration, the working environment is relatively harsh, which is not conducive to the health of the operators. In view of this, the utility model is proposed. Utility Model Content

[0004] In order to solve the problem that manual cleaning of slag at a material inlet affects the health of operators, the utility model provides an automatic slag removal robot and device for a bottom blowing furnace.

[0005] In order to solve the above-mentioned technical problems, the utility model provides an automatic slag removal robot for a bottom blowing furnace, which is used for clamping a pneumatic pick to clean the slag on the bottom blowing furnace. The automatic slag removal robot comprises a robot body and a clamp assembly. The clamp assembly comprises a connecting disk and a force control sensor. An installation space is formed in the middle of the connecting disk, and one side of the connecting disk is connected to the end of the robot body, and the other side is provided with a connecting sleeve for fixing the pneumatic pick. The force control sensor is fixed in the installation space to sense the force of the pneumatic pick when impacting the slag.

[0006] In an embodiment of the utility model, the connecting plate includes a first connecting plate and a second connecting plate, and the clamp assembly also includes a buffer component, the first connecting plate is connected to the end of the robot body, and the second connecting plate is connected to the end of the robot body through the first connecting plate, the installation space is located between the first connecting plate and the second connecting plate, and the buffer component is installed in the installation space.

[0007] In an embodiment of the utility model, the clamp assembly also includes a transition flange arranged in the installation space, the transition flange is connected to the first connecting plate and the second connecting plate, and divides the installation space into a first accommodating area and a second accommodating area, the buffer is located in the first accommodating area and fits with the transition flange, and the force control sensor is located in the second accommodating area and fits with the transition flange.

[0008] In an embodiment of the utility model, at least two first connection holes are opened around the first connection plate, at least two second connection holes are opened around the second connection plate, and at least two transition connection holes are opened around the transition flange. The first connection hole, the second connection hole and the transition connection hole are arranged in a corresponding manner so that bolts can pass through the second connection hole and the transition connection hole in sequence and connect with the first connection hole.

[0009] In an embodiment of the utility model, the automatic slag removal robot also includes an image acquisition component, which is installed on the connecting plate to dynamically acquire image data of the bottom blowing furnace under the movement of the robot body; or the image acquisition component is installed on the top of the bottom blowing furnace workshop to statically acquire image data of the bottom blowing furnace.

[0010] In an embodiment of the utility model, the first connecting plate extends out to have a mounting area in a direction perpendicular to the pneumatic pick, and the image acquisition component is fixed on the mounting area.

[0011] In an embodiment of the utility model, the image acquisition component includes a shell and an image collector disposed in the shell, and the image collector includes any one or more of a camera, a laser radar and a thermal imager.

[0012] In an embodiment of the utility model, the shell is fixed on the installation area; or the shell is fixed just above the inlet of the bottom blowing furnace.

[0013] In an embodiment of the present utility model, the automatic slag removal robot further comprises a protective shell, the protective shell is mounted on the end of the robot body, and the clamp assembly passes through the protective shell and is connected to the end of the robot body.

[0014] In order to solve the technical problems in the prior art, the utility model also provides an automatic slag removal device for a bottom blowing furnace, characterized in that the automatic slag removal device includes a ground rail, a base and the above-mentioned automatic slag removal robot, the automatic slag removal robot is fixed on the base, and the base is slidably connected to the ground rail.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. The automatic slag removal robot is arranged in the bottom blowing furnace workshop, and one side of the connecting plate is connected to the robot body and the other side is connected to the pneumatic pick, and the force control sensor is installed in the installation space in the connecting plate, so that the operator can control the robot body to drive the pneumatic pick to mechanically clean the slag in the furnace, and the slag removal force of the pneumatic pick is sensed by the force control sensor, so that the operator can adjust the slag removal angle of the robot body according to the force sensed by the force control sensor to improve the slag removal efficiency. Compared with the manual slag cleaning method, the automatic slag removal robot of this practical information effectively avoids the noise pollution, air pollution, heat radiation and other factors suffered by the operators in the bottom blowing furnace workshop, and is more conducive to the health of the operators.

[0017] 2. By setting a transition flange between the first connecting plate and the second connecting plate, and dividing the installation space into two accommodating areas through the transition flange, the force control sensor and the buffer can be installed in different accommodating areas respectively. When the robot body is removing slag, the buffer absorbs the vibration of the pneumatic pick during slag removal, thereby avoiding high-intensity vibration from affecting the accuracy and service life of the robot body.

[0018] 3. By setting up the image acquisition component to obtain the image data in the bottom blowing furnace workshop, it is possible to detect and analyze from the image data whether slagging occurs in the bottom blowing furnace and the severity of the slagging, so that the robot body can judge whether the current bottom blowing furnace needs to be cleaned according to the degree of slagging, thereby improving the slagging intelligence of the automatic slag removal robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the embodiments of the present utility model and constitute a part of the specification. Together with the following specific implementation methods, they are used to explain the embodiments of the present utility model, but do not constitute a limitation on the embodiments of the present utility model. In the accompanying drawings:

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the automatic slag removal robot provided by the embodiment of the utility model;

[0021] Figure 2 This is a schematic diagram of the exploded structure of an automatic slag removal robot provided by an embodiment of the utility model;

[0022] Figure 3 yes Figure 2 A in the enlarged view;

[0023] Figure 4 It is a schematic diagram of the exploded structure of the image acquisition component in the automatic slag removal robot provided by one embodiment of the utility model;

[0024] Figure 5 It is a module schematic diagram of an automatic slag removal system provided by an embodiment of the utility model;

[0025] Figure 6 It is a three-dimensional structural schematic diagram of an automatic slag removal device provided by an embodiment of the utility model installed in a bottom blowing furnace workshop;

[0026] Figure 7 It is a three-dimensional structural schematic diagram of the position of the industrial control computer relative to the bottom blowing furnace in the automatic slag removal device provided by one embodiment of the utility model;

[0027] Figure 8 It is a schematic diagram of the three-dimensional structure of an automatic slag removing robot relative to a ground rail in an automatic slag removing device provided by one embodiment of the utility model.

[0028] Description of Reference Numerals

[0029] 1. Automatic slag removal robot; 2. Automatic slag removal system; 3. Automatic slag removal device; 4. Bottom blowing furnace workshop; 5. Control room; 6. Pneumatic pick; 7. Bottom blowing furnace;

[0030] 11. Robot body; 12. Image acquisition component; 13. Fixture component; 14. Protective shell;

[0031] 121. housing; 122. image collector;

[0032] 131. first connection plate; 132. second connection plate; 133. buffer; 134. force control sensor; 135. transition flange;

[0033] 21. Image acquisition module; 22. Recognition module; 23. Analysis module; 24. Decision module; 25. Timing module; 26. Human-computer interaction module;

[0034] 31. Industrial computer; 32. Ground rail; 33. Base; 34. Maintenance station; 35. Dust removal mechanism;

[0035] 1311, installation area;

[0036] 1321. Connecting sleeve. DETAILED DESCRIPTION

[0037] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0038] See also Figure 1-Figure 6 , Figure 1 It is a schematic diagram of the three-dimensional structure of the automatic slag removal robot provided by the embodiment of the utility model; Figure 2 This is a schematic diagram of the exploded structure of an automatic slag removal robot provided by an embodiment of the utility model; Figure 3 yes Figure 2A in the enlarged view; Figure 4 The figure is an exploded structural diagram of an image acquisition component in an automatic slag removal robot provided by an embodiment of the utility model. The automatic slag removal robot 1 is used to clamp a pneumatic pick 6 to clean the slag on the bottom blowing furnace 7. The automatic slag removal robot 1 includes a robot body 11, an image acquisition component 12 and a clamp component 13. The clamp component 13 includes a connecting disk, one side of the connecting disk is connected to the end of the robot body 11, and the other side is provided with a connecting sleeve 1321 for fixing the pneumatic pick 6. The image acquisition component 12 is installed on the connecting disk to dynamically collect the image data of the bottom blowing furnace under the movement of the robot body 11.

[0039] The robot body 11 is arranged in the bottom blowing furnace workshop, and connected to the end of the robot body 11 by using a connecting disk, and a connecting sleeve 1321 for fixing the pneumatic pick 6 is set on the other side of the connecting disk, so that the connecting sleeve 1321 can be fixed on the robot body 11 through the connecting disk, so that the robot body 11 can drive the pneumatic pick 6 to move in the bottom blowing furnace workshop, and the image acquisition component 12 is installed on the connecting disk, so that the image acquisition component 12 can collect image data of the bottom blowing furnace, so that the operator can view the slagging situation in the bottom blowing furnace through a remote image display device, and when the slagging situation in the bottom blowing furnace reaches a level that requires cleaning, the robot body 11 is controlled to drive the pneumatic pick 6 to extend into the bottom blowing furnace for slagging operations, and at the same time, the image acquisition component 12 obtains image data during slagging in real time, so that the operator can view the slagging effect of the bottom blowing furnace through a remote image display device, and after the cleaning is completed, the robot body 11 is controlled to end the slagging, that is, the robot body 11 is controlled to drive the pneumatic pick 6 to move out of the bottom blowing furnace.

[0040] It can be understood that the image display device is connected with the image acquisition component 12 by signal, and the signal connection method includes any one of wired signal connection and wireless signal connection. The method of controlling the robot body 11 to drive the pneumatic pick 6 to remove slag can be to use the robot controller to perform real-time control on the robot body 11, such as controlling the robot body 11 to drive the pneumatic pick 6 to turn left or right through the robot controller. It can also be to use a programming language to perform complex and repetitive control on the robot body 11, such as controlling the robot body 11 to drive the pneumatic pick 6 to move to the top of the bottom blowing furnace through the programming language, and then adjusting the angle of the pneumatic pick 6 and extending the pneumatic pick 6 into the bottom blowing furnace.

[0041] Among them, the image acquisition component 12 dynamically acquires the bottom blowing furnace image data, that is, the image data acquired by the image acquisition component 12 moves with the movement of the robot body 11, thereby forming the first-perspective image data of the robot body 11, which improves the slag cleaning sense of the operator when remotely viewing the image data.

[0042] In an embodiment of the utility model, the connection method between the connecting disk and the end of the robot body 11 includes any one of a pneumatic expansion connection and a bolt connection, and the pneumatic pick 6 and the connecting sleeve 1321 are fixed by a plug-in connection and a bolt is used to support the pneumatic pick 6 from the side of the connecting sleeve 1321 for fixing.

[0043] The automatic slag removal robot 1 of the utility model can replace manual labor to perform slag removal operations in harsh bottom blowing furnace workshops, effectively avoiding noise pollution, air pollution, heat radiation and other pollution factors that workers suffer in the bottom blowing furnace workshop. The workers can remotely check the slag removal status of the automatic slag removal robot 1 and the slag status of the bottom blowing furnace, which is more beneficial to the health of the workers and realizes automatic cleaning of the slag of the bottom blowing furnace. Compared with manual cleaning methods, the use of the automatic slag removal robot 1 for slag cleaning is more efficient.

[0044] In another embodiment of the present invention, the image acquisition component 12 is installed on the top of the bottom blowing furnace workshop to statically acquire the image data of the bottom blowing furnace.

[0045] In the above embodiment, the image acquisition component 12 statically acquires the image data of the bottom blowing furnace, that is, the viewing angle of the image data acquired by the image acquisition component 12 remains unchanged, thereby forming image data, so that the operator can control the overall situation in the bottom blowing furnace workshop when remotely viewing the image data.

[0046] In an embodiment of the utility model, the connecting plate includes a first connecting plate 131 and a second connecting plate 132, and the clamp assembly 13 also includes a buffer 133. The first connecting plate 131 is connected to the end of the robot body 11, and the second connecting plate 132 is connected to the end of the robot body 11 through the first connecting plate 131 and forms an installation space between the second connecting plate 132 and the first connecting plate 131, and the buffer 133 is installed in the installation space.

[0047] By connecting the first connecting disk 131 to the end of the robot body 11, connecting the second connecting piece to the first connecting disk 131, and forming an installation space between the first connecting disk 131 and the second connecting disk 132, the pneumatic pick 6 is fixed in the connecting sleeve 1321 on the second connecting disk 132. When the robot body 11 drives the pneumatic pick 6 to perform slag removal operations, the vibration generated by the pneumatic pick 6 is reduced through the installation space, thereby avoiding long-term high-intensity vibration from affecting the accuracy and service life of the robot body 11.

[0048] By arranging the buffer member 133 in the installation space, the vibration of the pneumatic pick 6 can be further decomposed and absorbed, thereby preventing the high-intensity vibration from affecting the accuracy and service life of the robot body 11.

[0049] It can be understood that the buffer member 133 includes any one or more of a buffer rubber pad, a buffer leather pad, and a buffer cotton pad, and the buffer member 133 is installed in the installation space in a manner including any one of a bolt connection, an adhesive connection, and a bare rod connection.

[0050] In an embodiment of the present invention, the clamp assembly 13 further includes a force control sensor 134 , which is installed between the buffer 133 and the first connecting plate 131 to sense the force of the pneumatic pick 6 when impacting the slag.

[0051] By installing a force control sensor 134 between the buffer 133 and the first connecting plate 131, when the robot body 11 drives the pneumatic pick 6 to perform slag removal operations, the force control sensor 134 can sense the slag removal force of the pneumatic pick 6, so that the operator can adjust the slag removal angle of the robot body 11 according to the force sensed by the force control sensor 134, so as to remove stubborn slag and improve the slag removal efficiency.

[0052] In the above embodiment, the pneumatic pick 6 is mainly powered by compressed air provided by an air compressor, causing the hammer inside it to reciprocate and hit the shovel. The force control sensor 134 uses a six-dimensional force sensor to monitor in real time the size of the six-dimensional force applied to the end of the robot body 11 of the pneumatic pick 6 during the slag removal process, and adjusts the robot body 11 to perform the slag removal action accordingly, searches for the best slag removal position and angle, and improves the stability and reliability of the slag removal operation.

[0053] In an embodiment of the utility model, the clamp assembly 13 also includes a transition flange 135 arranged in the installation space, the transition flange 135 is connected to the first connecting plate 131 and the second connecting plate 132, and divides the installation space into a first accommodating area and a second accommodating area, the buffer member 133 is located in the first accommodating area and fits with the transition flange 135, and the force control sensor 134 is located in the second accommodating area and fits with the transition flange 135.

[0054] By connecting the transition flange 135 with the first connecting plate 131 and the second connecting plate 132, the installation space is divided into two accommodating areas under the action of the transition flange 135, wherein the first accommodating area is located between the second connecting plate 134 and the transition flange 135 for the installation of the buffer 133, and the second accommodating area is located between the first connecting plate 131 and the transition flange 135 for the installation of the force control sensor 134, so that the robot body 11 can drive the pneumatic pick 6 to transfer the reaction force received by the pneumatic pick 6 to the buffer 133 when removing slag, so as to reduce the reaction force received by the robot body 11, and then, the reaction force absorbed by the buffer 133 is directly sensed by the force control sensor 134, so that the robot body 11 can adjust the slag removal position and slag removal angle according to the reaction force sensed by the force control sensor 134, so as to improve the slag removal efficiency.

[0055] In the above embodiment, the connection method between the transition flange 135 and the second connecting plate 132 is any one of bolt connection and light rod connection. At least two first connecting holes are opened around the first connecting plate 131, and at least two second connecting holes are opened around the second connecting plate 132. At least two transition connecting holes are opened around the transition flange 135. The first connecting hole, the second connecting hole and the transition connecting hole are arranged in a corresponding manner so that the bolt or the light rod can pass through the second connecting hole and the transition connecting hole in sequence and connect with the first connecting hole, so that the first connecting plate 131 and the second connecting plate 132 are relatively fixed, and the installation space is divided into left and right sides under the action of the transition flange 135. The two sides of the transition flange 135 are respectively fitted with the buffer 133 and the force control sensor 134 to provide buffering and transition effects for the force perception of the force control sensor 134, thereby reducing the impact of the high-intensity vibration of the pneumatic pick 6 on the force control sensor 134.

[0056] In the embodiment of the utility model, the first connection plate 131 extends to have a mounting area 1311 in a direction perpendicular to the pneumatic pick 6 , and the image acquisition component 12 is fixed on the mounting area 1311 .

[0057] By setting an installation area 1311 on the first connecting disk 131 and extending the installation area 1311 in a direction perpendicular to the pneumatic pick 6, the image acquisition component 12 can be installed on the installation area 1311, so that the image acquisition component 12 can collect image data containing the pneumatic pick 6 in real time from a first-person perspective, making it convenient for remote operators to know the cleaning progress of the bottom blowing furnace slag through image data.

[0058] In an embodiment of the present utility model, the image acquisition component 12 includes a shell 121 and an image acquisition device 122 disposed in the shell 121 . The image acquisition device 122 includes any one or more of a camera, a laser radar and a thermal imager.

[0059] By arranging any one or more of the camera, laser radar, and thermal imager in the shell 121, the image acquisition component 12 can collect the plane image data of the bottom blowing furnace through the camera, collect the point cloud image data of the bottom blowing furnace through the laser radar, and collect the thermal image data of the bottom blowing furnace through the thermal imager when collecting the image data of the bottom blowing furnace. Then, by analyzing the above image data, the slag information such as the slag shape, slag position, and slag temperature in the bottom blowing furnace can be obtained, which makes it convenient for the robot body 11 to automatically clean the slag in the bottom blowing furnace according to the above slag information, thereby improving the slag removal efficiency and slag removal effect of the automatic slag removal robot 1.

[0060] In the above embodiment, after the laser radar scans the inside of the bottom blowing furnace to obtain point cloud image data, the point cloud image data is filtered and calculated to obtain the slag position and distribution in the bottom blowing furnace, so that the robot body 11 can drive the pneumatic pick 6 to clean the slag according to the coordinate data of the slag position.

[0061] In an embodiment of the utility model, the shell 121 is fixed on the installation area 1311, so that the image collector 122 can collect image data of the pneumatic pick 6 from a first-person perspective. When performing slag removal operations, image data of the pneumatic pick 6 during slag removal is collected from a first-person perspective, thereby improving the automatic slag removal accuracy of the automatic slag removal robot 1.

[0062] In other embodiments, the shell 121 is fixed directly above the inlet of the bottom blowing furnace, so that the image collector 122 can collect image data of the automatic slag removal robot 1, thereby improving the safety of the automatic slag removal robot 1 during slag removal.

[0063] In an embodiment of the present utility model, the automatic slag removal robot 1 further includes a protective shell 14 , which is mounted on the end of the robot body 11 , and the clamp assembly 13 passes through the protective shell 14 and is connected to the end of the robot body 11 .

[0064] By installing the protective shell 14 at the end of the robot body 11, when the automatic slag removal robot 1 performs slag removal operations, the protective shell 14 can prevent the liquid metal in the bottom blowing furnace from splashing onto the robot body 11 from the feed port, thereby avoiding damage to the robot body 11 by the high-temperature liquid metal and improving the durability and service life of the automatic slag removal robot 1.

[0065] In an embodiment of the present utility model, the automatic slag removal robot 1 further comprises a protective suit wrapped around the robot body 11 , and the protective suit comprises any one of aramid fiber protective suit, acrylic fiber protective suit and alloy protective suit.

[0066] By wrapping the protective clothing over the robot body 11, the dust and high temperature in the bottom blowing furnace workshop can be isolated under the protection of the protective clothing, preventing dust from entering the robot body 11 and causing an increase in the failure rate of the robot body 11 or even damaging the robot body 11. At the same time, it can also prevent the high temperature in the bottom blowing furnace from being transmitted to the robot body 11 and causing a high temperature alarm in the robot body 11.

[0067] See also Figure 5 , Figure 5The present invention is a schematic diagram of a module of an automatic slag removal system provided by an embodiment of the present invention. In order to solve the technical problems in the prior art, the present invention also provides an automatic slag removal system 2 for a bottom blowing furnace. The automatic slag removal system 2 is connected to the automatic slag removal robot 1 by signal. The automatic slag removal system 2 includes an image acquisition module 21, a recognition module 22, an analysis module 23 and a decision module 24.

[0068] The image acquisition module 21 is configured to: acquire image data of at least two bottom blowing furnaces in real time;

[0069] The identification module 22 is configured to: acquire image data of at least two bottom blowing furnaces in real time, and identify slagging information in each bottom blowing furnace from the image data;

[0070] The analysis module 23 is configured to: calculate the slagging area in each bottom blowing furnace according to the identified slagging information;

[0071] The decision module 24 is configured to compare the calculated slagging area with a preset value, and trigger a slagging removal signal when the slagging area is larger than the preset value, so as to control the automatic slagging removal robot to automatically clean the slag in each bottom blowing furnace according to the slagging information.

[0072] The image acquisition module 21 is used to collect image data of at least two bottom blowing furnaces in the bottom blowing furnace workshop in real time, and the recognition module 22 recognizes the slag information in the furnace from the image data, so that the analysis module 23 can calculate the slag area of ​​each bottom blowing furnace according to the slag information, and then the decision module 24 can compare the calculated slag area with the preset value, so that the decision module 24 can judge whether it is necessary to clean the slag in each bottom blowing furnace at the current moment according to the comparison result. Specifically, when the slag area is larger than the preset value, a slag removal signal is triggered to control the automatic slag removal robot to automatically clean the slag in each bottom blowing furnace according to the slag information. Otherwise, the recognition module continues to collect image data in the bottom blowing furnace and recognize the slag information, and the analysis module continues to calculate the slag area according to the slag information, until the decision module compares that the slag area is larger than the preset value and triggers the slag removal signal, and the slag in the bottom blowing furnace is automatically cleaned in this cycle.

[0073] The automatic slag removal system 2 of the utility model is used to clean the slag in each bottom blowing furnace in the bottom blowing furnace workshop, so that when slag appears in the furnace, the image data of each bottom blowing furnace can be collected by the image acquisition module 21, and the recognition module 22 can recognize the slag information in the image data, and the analysis module 23 can analyze the slag information and calculate the slag area. Finally, when the calculated slag area is greater than the preset value, the automatic slag removal robot 1 is controlled to automatically clean the slag in the furnace to prevent the slag that is not cleaned in time from sticking to the furnace mouth and solidifying, thereby affecting the subsequent smelting raw materials from entering the bottom blowing furnace from the feed port, thereby improving the smelting efficiency of the bottom blowing furnace.

[0074] In the embodiment of the present invention, the automatic slag removal system 2 further includes a timing module 25 , and the timing module 25 is configured to trigger the decision module 24 to send a slag removal signal at a preset time point.

[0075] By setting the timing module 25 to periodically trigger the decision module 24 to send a slag removal signal, the automatic slag removal robot 1 can automatically remove slag according to the timing time of the timing module 25. For example, the timing module 25 is set to trigger the decision module 24 to send a slag removal signal at 2 o'clock in the afternoon every day, so that the automatic slag removal robot 1 automatically removes slag at 2 o'clock in the afternoon every day, thereby improving the slag removal flexibility of the automatic slag removal system 2.

[0076] In an embodiment of the present invention, the automatic slag removal system 2 further includes a human-computer interaction module 26 , and the human-computer interaction module 26 is configured to modify the preset time point in the timing module 25 .

[0077] The preset time point in the timing module 25 is modified through the human-computer interaction module 26, so that the automatic slag removal robot 1 can automatically remove slag at the modified time point, which is convenient for operators to flexibly adjust the slag removal time of the automatic slag removal robot 1 according to work requirements.

[0078] In other embodiments, the human-computer interaction module 26 is configured to directly trigger the decision module 24 to send a slag removal signal, so that the automatic slag removal robot 1 directly performs the slag removal operation, thereby improving the slag removal efficiency of the automatic slag removal system 2.

[0079] In an embodiment of the utility model, the decision module 24 is signal-connected with the automatic slag removal robot 1 to control the automatic slag removal robot 1 to automatically clean the slag in the furnace after issuing a slag removal signal, wherein the signal connection method between the decision module 24 and the automatic slag removal module includes any one of a wired signal connection and a wireless signal connection, so that the decision module 24 controls the automatic slag removal robot 1.

[0080] See also Figure 6-Figure 7 , Figure 6 It is a three-dimensional structural schematic diagram of an automatic slag removal device provided by an embodiment of the utility model installed in a bottom blowing furnace workshop; Figure 7 It is a three-dimensional structural schematic diagram of the position of the industrial computer in the automatic slag removal device relative to the bottom blowing furnace provided by an embodiment of the utility model. In order to solve the technical problems in the prior art, the utility model also provides an automatic slag removal device 3 for a bottom blowing furnace. The automatic slag removal hardware device includes an industrial computer 31 and an automatic slag removal robot 1. The automatic slag removal robot 1 is connected to the industrial computer 31 by signal. The industrial computer 31 is integrated with the above-mentioned automatic slag removal system 2. The automatic slag removal robot 1 is arranged in the bottom blowing furnace workshop 4 and performs slag removal operations in response to slag removal signals.

[0081] By integrating the above-mentioned automatic slag removal system 2 in the industrial computer 31, the automatic slag removal robot 1 is arranged in the bottom blowing furnace workshop 4, and the industrial computer 31 is connected to the signal of the automatic slag removal robot 1, so that the operator can control the decision module 23 through the industrial computer 31 to send a slag removal signal to control the automatic slag removal robot 1 to perform automatic slag removal.

[0082] In the embodiment of the utility model, a control room 5 is built outside the bottom blowing furnace workshop 4, and the industrial computer 31 is arranged in the control room 5, so that the operator can control the automatic slag removal robot 1 through the industrial computer 31 in the control room 5 to perform automatic slag removal operations, so as to avoid the high temperature and high dust in the bottom blowing furnace workshop 4 from causing harm to the operator's body and adversely affecting the performance of the industrial computer 31. Among them, the industrial computer 31 is connected to an electronic display screen, so that the operator can view the current operating status of the automatic slag removal robot in real time, such as viewing the position, angle, and temperature of the robot body 11, viewing the operating status of the image acquisition component 12, and providing an automatic alarm function when the automatic slag removal robot has an abnormal operation.

[0083] In an embodiment of the utility model, the automatic slag removal robot 1 includes a robot body 11, an image acquisition component 12 and a clamp component 13. A force control sensor 134 is arranged in the clamp component 13. The decision module 23 and the robot body 11 communicate with each other by means of Socket. The recognition module 21 communicates with the camera, lidar and thermal imager by means of Socket. The human-computer interaction module 26 and the force control sensor 134 communicate at high speed by means of EGM.

[0084] See also Figure 8 , Figure 8 The figure is a three-dimensional structural diagram of an automatic slag removal robot relative to a ground rail in an automatic slag removal device provided by an embodiment of the utility model. In the embodiment of the utility model, the automatic slag removal device 3 includes a ground rail 32 and a base 33, and the automatic slag removal robot 1 is fixed on the base 33, and the base 33 is slidably connected to the ground rail 32.

[0085] By fixing the automatic slag removal robot 1 on the base 33 and slidably connecting the base 33 to the ground rail 32, the automatic slag removal robot 1 can move along the ground rail 32 to automatically clean the slag in the bottom blowing furnace 7 from different angles and positions, thereby improving the slag removal effect of the automatic slag removal robot 1.

[0086] In an embodiment of the utility model, three feeding ports of bottom blowing furnaces 7 are arranged side by side in the bottom blowing furnace workshop 4, and the automatic slag removal robot 1 slides on the ground rail 32 through the base 33, so that one automatic slag removal robot 1 can simultaneously meet the slag removal operations of three bottom blowing furnaces 7, thereby improving the utilization rate of the automatic slag removal robot 1 and reducing the slag removal cost.

[0087] In other embodiments, the base 33 and the ground rail 32 may be omitted, and it is only necessary to set the arm span of the robot body 11 to satisfy the slag removal operation in multiple bottom blowing furnaces 7 .

[0088] In an embodiment of the present utility model, the ground rail 32 extends from the outside of the bottom blowing furnace workshop 4 to the inside of the bottom blowing furnace workshop 4 , and the base 33 can drive the automatic slag removal robot 1 to enter and exit the bottom blowing furnace workshop 4 .

[0089] By setting the ground rail 32 to extend from the outside of the bottom blowing furnace workshop 4 to the inside of the workshop, the automatic slag removal robot 1 can enter and exit the bottom blowing furnace workshop 4 under the sliding connection of the ground rail 32, so as to control the automatic slag removal robot 1 to slide out of the bottom blowing furnace workshop 4 when the temperature in the bottom blowing furnace workshop 4 is too high, thereby avoiding the high temperature in the bottom blowing furnace workshop 4 from adversely affecting the performance of the automatic slag removal robot 1.

[0090] In the embodiment of the utility model, a maintenance position 34 is arranged on the ground rail 32 , and the maintenance position 34 is arranged outside the bottom blowing furnace workshop 4 .

[0091] By setting a maintenance position 34 outside the bottom blowing furnace workshop 4, the automatic slag removal robot 1 can slide out of the bottom blowing furnace workshop 4 along the ground rail 32 and reach the maintenance position 34, which makes it convenient for operators to maintain the automatic slag removal robot 1 at the maintenance position 34. There is no need for operators to enter the bottom blowing furnace workshop 4 to maintain the automatic slag removal robot 1, thereby improving the maintenance flexibility of the automatic slag removal robot 1.

[0092] In an embodiment of the utility model, the automatic slag removal device 3 also includes a dust removal mechanism 35, the dust removal mechanism 35 includes a dust removal pipe and a dust removal fan arranged in the dust removal pipe, the dust removal pipe is installed on the top of the bottom blowing furnace workshop 4 and is arranged in alignment with the feeding port of the bottom blowing furnace 7.

[0093] By setting a dust removal duct on the top of the bottom blowing furnace workshop 4 and setting a dust removal fan in the dust removal duct, when the smoke or dust in the bottom blowing furnace workshop 4 is large and affects the field of vision during operation, the dust removal fan can be turned on to remove the smoke and dust in the bottom blowing furnace workshop 4 from the dust removal duct, thereby improving the visibility in the bottom blowing furnace workshop 4 and facilitating the automatic slag removal robot 1 to perform slag identification and automatic slag removal operations.

[0094] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0095] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited thereto. Within the technical concept of the present invention, the technical solution of the present invention can be subjected to a variety of simple modifications, including the combination of various specific technical features in any appropriate manner. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations. However, these simple modifications and combinations should also be regarded as the contents disclosed by the present invention and belong to the protection scope of the present invention.

[0096] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An automatic slag removal robot for a bottom-blown furnace, used for clamping a pneumatic pick to clean the slag on the bottom-blown furnace, characterized in that: The automatic slag removal robot includes a robot body and a clamp assembly, the clamp assembly includes a connecting plate and a force control sensor, an installation space is formed in the middle of the connecting plate, one side of the connecting plate is connected to the end of the robot body, and the other side is provided with a connecting sleeve for fixing a pneumatic pick, and the force control sensor is fixed in the installation space to sense the force of the pneumatic pick when impacting the slag.

2. The automatic slag removal robot for bottom blowing furnace according to claim 1, characterized in that: The connecting plate includes a first connecting plate and a second connecting plate, and the clamp assembly also includes a buffer component. The first connecting plate is connected to the end of the robot body, and the second connecting plate is connected to the end of the robot body through the first connecting plate. The installation space is located between the first connecting plate and the second connecting plate, and the buffer component is installed in the installation space.

3. The automatic slag removal robot for bottom blowing furnace according to claim 2, characterized in that: The clamp assembly also includes a transition flange arranged in the installation space, the transition flange is connected to the first connecting plate and the second connecting plate, and divides the installation space into a first accommodating area and a second accommodating area, the buffer is located in the first accommodating area and fits with the transition flange, and the force control sensor is located in the second accommodating area and fits with the transition flange.

4. The automatic slag removal robot for bottom blowing furnace according to claim 3 is characterized in that: At least two first connection holes are formed on the first connection plate, at least two second connection holes are formed on the second connection plate, and at least two transition connection holes are formed on the transition flange. The first connection hole, the second connection hole and the transition connection hole are arranged in a corresponding manner so that bolts can pass through the second connection hole and the transition connection hole in sequence and connect with the first connection hole.

5. The automatic slag removal robot for bottom blowing furnace according to claim 4, characterized in that: The automatic slag removal robot also includes an image acquisition component, which is installed on the connecting plate to dynamically acquire image data of the bottom blowing furnace under the movement of the robot body; or the image acquisition component is installed on the top of the bottom blowing furnace workshop to statically acquire image data of the bottom blowing furnace.

6. The automatic slag removal robot for bottom blowing furnace according to claim 5, characterized in that: The first connection plate extends out with a mounting area in a direction perpendicular to the pneumatic pick, and the image acquisition component is fixed on the mounting area.

7. The automatic slag removal robot for bottom blowing furnace according to claim 6, characterized in that: The image acquisition component includes a shell and an image collector arranged in the shell, and the image collector includes any one or more of a camera, a laser radar and a thermal imager.

8. The automatic slag removal robot for bottom blowing furnace according to claim 7, characterized in that: The shell is fixed on the installation area; or the shell is fixed just above the inlet of the bottom blowing furnace.

9. The automatic slag removal robot for bottom blowing furnace according to claim 1, characterized in that: The automatic slag removal robot also includes a protective shell, which is installed at the end of the robot body, and the clamp assembly passes through the protective shell and is connected to the end of the robot body.

10. An automatic slag removal device for a bottom blowing furnace, characterized in that: The automatic slag removal device comprises a ground rail, a base and the automatic slag removal robot as described in any one of claims 1 to 9, wherein the automatic slag removal robot is fixed on the base, and the base is slidably connected to the ground rail.

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