Blast furnace tuyere inspection robot

Abstract

The blast furnace tuyere inspection robot comprises a main supporting table, an electric telescopic rod, main supporting legs, a cross rod connecting sliding block, a detection camera, a side moving wheel mounting block, an upper driving motor, a lower driving motor, an upper Mecanum wheel, a lower Mecanum wheel and a middle bearing block, the bottom of the main supporting table is connected with the detection camera, and a side bearing table is arranged on the side face of the main supporting table; the four side bearing tables are symmetrically arranged on the side face of the main supporting table, supporting leg mounting tables are arranged at the tops of the side bearing tables, lower telescopic rod mounting tables are arranged at the bottoms of the side bearing tables, main supporting legs are arranged on the side face of the main supporting table, and supporting leg connecting blocks are arranged on one sides of the main supporting legs and rotationally connected with the supporting leg mounting tables. And a cross-shaped positioning rod is arranged on the other side of the main supporting leg.

Description

Technical Field

[0001] The utility model relates to the field of blast furnace tuyere inspection, in particular to a blast furnace tuyere inspection robot. Background Art

[0002] An existing patent (publication number: CN115420424B) proposes an inspection robot, which includes an assembly platform with a groove that matches the appearance of a blast furnace tuyere pipe fitting, a guide rail installed on the side of the assembly platform away from the blast furnace tuyere, and an outer protective rod vertically arranged in the axial direction of the blast furnace tuyere. By continuously turning the screw handle, the fixed end metal strap and the movable end metal strap can be gradually tightened to firmly fix the assembly platform on the outer wall of the blast furnace tuyere pipe fitting. However, this device "can be replaced with support rods of different lengths for blast furnace tuyeres of different lengths, and matched with assembly platforms of corresponding lengths." The length of the support rod is limited, which limits the depth that this device can inspect during inspection operations, thereby affecting the detection range of this device. Summary of the Invention

[0003] In response to the above-mentioned deficiencies in the prior art, the utility model provides a blast furnace tuyere inspection robot. When performing blast furnace tuyere inspection operations, the telescopic length of an electric telescopic rod can be adjusted according to the inner diameter of the blast furnace tuyere, thereby changing the spacing between each side moving wheel mounting block, so that the device can adapt to inspection operations of blast furnace tuyere with different radii. At the same time, the side moving wheel mounting blocks on one side are connected to an upper Mecanum wheel and a lower Mecanum wheel. Through the coordinated movement of all the upper Mecanum wheels and the lower Mecanum wheels, the device can rise or fall freely in the blast furnace tuyere and can also rotate left and right. Therefore, the device has an unlimited detection depth during inspection and a wider detection range.

[0004] The purpose of this utility model is achieved through the following technical solutions:

[0005] A blast furnace tuyere inspection robot comprises a main support platform, an electric telescopic rod, a main support leg, a cross rod connecting slider, a detection camera, a side moving wheel mounting block, an upper drive motor, a lower drive motor, an upper Mecanum wheel, a lower Mecanum wheel, and a middle bearing block. The bottom of the main support platform is connected to the detection camera, the side of the main support platform is provided with a side bearing platform, four side bearing platforms are symmetrically arranged on the side of the main support platform, the top of the side bearing platform is provided with a leg mounting platform, the bottom of the side bearing platform is provided with a lower telescopic rod mounting platform, the side of the main support platform is provided with a main support leg, one side of the main support leg is provided with a leg connecting block, the leg connecting block is rotatably connected to the leg mounting platform, the other side of the main support leg is provided with a cross positioning rod, the cross rod connecting slider is adapted to the cross positioning rod, the cross rod connecting slider is connected to the cross positioning rod, the cross rod connecting slider slides on the outside of the cross positioning rod, the bottom of the cross rod connecting slider is provided with an upper telescopic rod mounting platform, and the bottom of the electric telescopic rod is rotatably connected to the lower telescopic rod mounting platform.

[0006] The top telescopic rod of the electric telescopic rod is rotatably connected to the upper telescopic rod mounting platform, the inside of the cross positioning rod is provided with an inner slide rod mounting groove, the end of the cross positioning rod is provided with an outer slide rod mounting platform, the end of the cross positioning rod is provided with a middle bearing block, the middle bearing block has a mounting slide rod on the side facing the cross positioning rod, the mounting slide rod is adapted to the inner slide rod mounting groove, the mounting slide rod is connected to the inner slide rod mounting groove, the mounting slide rod slides inside the inner slide rod mounting groove, the top of the middle bearing block is provided with an outer positioning slide rod, the outer positioning slide rod is adapted to the outer slide rod mounting platform, and the outer positioning slide rod is connected to the outer slide rod mounting platform.

[0007] Beneficial effects: 1. When the utility model is used for blast furnace tuyere inspection, the telescopic length of the electric telescopic rod can be adjusted according to the inner diameter of the blast furnace tuyere, thereby changing the spacing between the side moving wheel mounting blocks, so that the device can adapt to the inspection of blast furnace tuyere with different radii. At the same time, the side moving wheel mounting blocks on one side are connected to the upper Mecanum wheel and the lower Mecanum wheel. Through the movement coordination of all the upper Mecanum wheels and the lower Mecanum wheels, the device can rise or fall at will in the blast furnace tuyere, and can also rotate left and right, so that the detection depth of the device is not restricted during detection, and the detection range is wider.

[0008] 2. The spring connecting block of the utility model is connected to the outer slide rod mounting platform through a spring, so that when the device encounters some obstacles during inspection inside the blast furnace tuyere, the spring can be extended, so that the device can cross over some obstacles, thereby ensuring the detection effect of the device when facing complex situations.

[0009] 3. The utility model has a single-sided side wheel mounting block connected to both the upper and lower Mecanum wheels. When the upper and lower Mecanum wheels move in the same direction, the resulting lateral force on the side wheel mounting block is zero, and the side wheel mounting block is subject to only a longitudinal force. When the upper and lower Mecanum wheels move in opposite directions, the resulting longitudinal force on the side wheel mounting block is zero, and the side wheel mounting block is subject to only a lateral force. This ensures that the forces on each side wheel mounting block are equal when the device is raised or lowered, and when it is rotated, preventing the device from tipping over due to unbalanced forces during movement, making the operation of the device more stable.

[0010] 4. The electric telescopic rod of the utility model drives the main support legs to lift and lower through a cross rod connecting the slider. The main support platform, the electric telescopic rod and the main support legs form a triangular structure, which has stronger overall stability and better support effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a schematic structural diagram of the blast furnace tuyere inspection robot described in the present utility model.

[0012] Figure 2This is the front view of the blast furnace tuyere inspection robot described in the utility model.

[0013] Figure 3 This is a partially enlarged view of the blast furnace tuyere inspection robot described in the present invention.

[0014] Figure 4 This is a structural schematic diagram of the main support platform described in the present utility model.

[0015] Figure 5 This is a schematic diagram of the main support leg structure described in the present utility model.

[0016] Figure 6 This is a schematic diagram of the middle bearing block structure described in the present utility model. DETAILED DESCRIPTION

[0017] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments:

[0018] Example 1:

[0019] A blast furnace tuyere inspection robot comprises a main support platform 1, an electric telescopic rod 5, a main support leg 6, a cross rod connecting slider 9, a detection camera 11, a side moving wheel mounting block 12, an upper drive motor 17, a lower drive motor 18, an upper Mecanum wheel 19, a lower Mecanum wheel 20, and a middle bearing block 24. The bottom of the main support platform 1 is connected to the detection camera 11, the side of the main support platform 1 is provided with a side bearing platform 2, four side bearing platforms 2 are symmetrically arranged on the side of the main support platform 1, the top of the side bearing platform 2 is provided with a leg mounting platform 3, the bottom of the side bearing platform 2 is provided with a lower telescopic rod mounting platform 4, the side of the main support platform 1 is provided with a main support leg 6, one side of the main support leg 6 is provided with a leg connecting block 7, the leg connecting block 7 is rotatably connected to the leg mounting platform 3, the other side of the main support leg 6 is provided with a cross positioning rod 8, the cross rod connecting slider 9 is adapted to the cross positioning rod 8, the cross rod connecting slider 9 is connected to the cross positioning rod 8, and the cross rod connecting slider 9 slides on the outside of the cross positioning rod 8. The movable telescopic rod 5 drives the main support leg 6 to be lifted and lowered through the cross rod connecting slider 9. The main support platform 1, the electric telescopic rod 5, and the main support leg 6 form a triangular structure with stronger overall stability and better support effect. The bottom of the cross rod connecting slider 9 is provided with an upper telescopic rod mounting platform 27, and the bottom of the electric telescopic rod 5 is rotatably connected to the lower telescopic rod mounting platform 4. When the blast furnace tuyere inspection operation is performed, the telescopic length of the electric telescopic rod 5 can be adjusted according to the inner diameter of the blast furnace tuyere, thereby changing the spacing between each side moving wheel mounting block 12, so that this device can adapt to the inspection operation of blast furnace tuyere with different radii. At the same time, the side moving wheel mounting block 12 on one side is connected to the upper Mecanum wheel 19 and the lower Mecanum wheel 20. Through the movement coordination of all the upper Mecanum wheels 19 and the lower Mecanum wheels 20, this device can rise or fall at will in the blast furnace tuyere, and can also rotate left and right, so that the detection depth of this device is not limited during detection and the detection range is wider.

[0020] Example 2:

[0021] The top telescopic rod of the electric telescopic rod 5 of the present invention is rotatably connected to the upper telescopic rod mounting platform 27, the cross positioning rod 8 is provided with an inner slide rod mounting groove 22, the end of the cross positioning rod 8 is provided with an outer slide rod mounting platform 21, the end of the cross positioning rod 8 is provided with a middle bearing block 24, the middle bearing block 24 has a mounting slide rod 23 on the side facing the cross positioning rod 8, the mounting slide rod 23 is adapted to the inner slide rod mounting groove 22, the mounting slide rod 23 is connected to the inner slide rod mounting groove 22, the mounting slide rod 23 slides inside the inner slide rod mounting groove 22, the top of the middle bearing block 24 is provided with an outer positioning slide rod 29, the outer positioning slide rod 29 is adapted to the outer slide rod mounting platform 21, and the outer positioning slide rod 29 is connected to the outer slide rod mounting platform 21.

[0022] Example 3:

[0023] The outer positioning slide bar 29 of the utility model slides inside the outer slide bar mounting platform 21, and the end of the outer positioning slide bar 29 is provided with a spring connecting block 28, and the spring connecting block 28 is connected to the outer slide bar mounting platform 21 by a spring. The spring connecting block 28 is connected to the outer slide bar mounting platform 21 by a spring, so that when this device encounters some obstacles during inspection inside the blast furnace tuyere, the spring can be extended, so that this device can cross over when facing some obstacles, ensuring the detection effect of this device when facing complex situations, the other side of the middle bearing block 24 has an inner rotating connecting column 25, and the side of the middle bearing block 24 is provided with a side moving wheel mounting block 12, and the middle part of the side moving wheel mounting block 12 has an inner rotating connecting ring 26, and the single-side side moving wheel mounting block 12 is simultaneously connected to the upper Mecanum wheel 19 and the lower Mecanum wheel 20 When the upper Mecanum wheels 19 and the lower Mecanum wheels 20 move in the same direction, the resultant lateral force on the side moving wheel mounting block 12 is zero, and the side moving wheel mounting block 12 is subjected to only a longitudinal force. When the upper Mecanum wheels 19 and the lower Mecanum wheels 20 move in opposite directions, the resultant longitudinal force on the side moving wheel mounting block 12 is zero, and the side moving wheel mounting block 12 is subjected to only a lateral force. This ensures that the forces on each side moving wheel mounting block 12 are equal when the device is raised or lowered and rotated, preventing the device from tipping over due to unbalanced forces during movement and making the operation of the device more stable. The inner rotating connecting ring 26 is rotatably connected to the inner rotating connecting column 25. The upper Mecanum wheel mounting platform 13 is provided on the top of the side moving wheel mounting block 12, and the detection camera 11 is connected to the data processor 10 on the top of the main support platform 1.

[0024] Example 4:

[0025] The upper Mecanum wheel mounting platform 13 of the present invention is rotatably connected to the upper Mecanum wheel 19. The upper Mecanum wheel mounting platform 13 has an upper motor mounting platform 15 on the side. The upper drive motor 17 is inserted into the upper motor mounting platform 15 and fixed therein. The drive shaft of the upper drive motor 17 is fixedly connected to the upper Mecanum wheel 19. The bottom of the side moving wheel mounting block 12 has a lower Mecanum wheel mounting platform 14, which is rotatably connected to the lower Mecanum wheel 20.

[0026] Example 5:

[0027] The lower Mecanum wheel mounting platform 14 of the present invention has a lower motor mounting platform 16 on the side, and a lower drive motor 18 is inserted into the lower motor mounting platform 16 and fixed therein. The transmission shaft of the lower drive motor 18 is fixedly connected to the lower Mecanum wheel 20, and the rollers of the upper Mecanum wheel 19 and the lower Mecanum wheel 20 face opposite directions.

[0028] Example 6:

[0029] The installation steps of the utility model are as follows: connect the top of the main support platform 1 with the data processor 10, connect the bottom of the main support platform 1 with the detection camera 11, rotate and connect the leg connecting block 7 of the main support leg 6 with the leg mounting platform 3 of the main support platform 1, put the cross rod connecting slider 9 on the outside of the cross positioning rod 8 of the main support leg 6, rotate and connect the bottom of the electric telescopic rod 5 with the lower telescopic rod mounting platform 4 of the main support platform 1, rotate and connect the top of the telescopic rod of the electric telescopic rod 5 with the upper telescopic rod mounting platform 27 of the cross rod connecting slider 9, insert the mounting slide bar 23 of the middle bearing block 24 into the inner slide bar mounting groove 22 of the main support leg 6, insert the outer positioning slide bar 29 of the middle bearing block 24 into the outer slide bar mounting platform 21 of the main support leg 6, and make the spring of the middle bearing block 24 The connecting block 28 is connected to the outer slider mounting platform 21 through a spring. The inner rotating connecting ring 26 of the side moving wheel mounting block 12 is rotatably connected to the inner rotating connecting column 25 of the middle bearing block 24. The upper Mecanum wheel mounting platform 13 of the side moving wheel mounting block 12 is rotatably connected to the upper Mecanum wheel 19. The upper drive motor 17 is inserted into the upper motor mounting platform 15 of the side moving wheel mounting block 12 and fixed. The drive shaft of the upper drive motor 17 is fixedly connected to the upper Mecanum wheel 19. The lower Mecanum wheel mounting platform 14 of the side moving wheel mounting block 12 is rotatably connected to the lower Mecanum wheel 20. The lower drive motor 18 is inserted into the lower motor mounting platform 16 of the side moving wheel mounting block 12 and fixed. The drive shaft of the lower drive motor 18 is fixedly connected to the lower Mecanum wheel 20. The installation of this device is complete.

[0030] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A blast furnace tuyere inspection robot, characterized by : It includes a main support platform (1), an electric telescopic rod (5), a main support leg (6), a cross rod connecting slider (9), a detection camera (11), a side moving wheel mounting block (12), an upper drive motor (17), a lower drive motor (18), an upper Mecanum wheel (19), a lower Mecanum wheel (20), and a middle bearing block (24). The bottom of the main support platform (1) is connected to the detection camera (11). The side of the main support platform (1) has a side bearing platform (2). The four side bearing platforms (2) are symmetrically arranged on the side of the main support platform (1). The top of the side bearing platform (2) has a leg mounting platform (3). The bottom of the side bearing platform (2) has a lower telescopic A rod mounting platform (4) is provided on the side of the main supporting platform (1), a main supporting leg (6) is provided on one side of the main supporting leg (6), a leg connecting block (7) is provided on one side of the main supporting leg (6), the leg connecting block (7) is rotatably connected to the leg mounting platform (3), a cross positioning rod (8) is provided on the other side of the main supporting leg (6), a cross rod connecting slider (9) is adapted to the cross positioning rod (8), the cross rod connecting slider (9) is connected to the cross positioning rod (8), the cross rod connecting slider (9) slides on the outside of the cross positioning rod (8), an upper telescopic rod mounting platform (27) is provided at the bottom of the cross rod connecting slider (9), and the bottom of the electric telescopic rod (5) is rotatably connected to the lower telescopic rod mounting platform (4).

2. The blast furnace tuyere inspection robot according to claim 1 is characterized in that The top telescopic rod of the electric telescopic rod (5) is rotatably connected to the upper telescopic rod mounting platform (27), the inner portion of the cross positioning rod (8) is provided with an inner slide rod mounting groove (22), the end of the cross positioning rod (8) is provided with an outer slide rod mounting platform (21), the end of the cross positioning rod (8) is provided with a middle bearing block (24), the middle bearing block (24) has a mounting slide rod (23) on the side facing the cross positioning rod (8), the mounting slide rod (23) is adapted to the inner slide rod mounting groove (22), the mounting slide rod (23) is connected to the inner slide rod mounting groove (22), the mounting slide rod (23) slides inside the inner slide rod mounting groove (22), the top of the middle bearing block (24) is provided with an outer positioning slide rod (29), the outer positioning slide rod (29) is adapted to the outer slide rod mounting platform (21), and the outer positioning slide rod (29) is connected to the outer slide rod mounting platform (21).

3. The blast furnace tuyere inspection robot according to claim 2 is characterized in that The outer positioning slide bar (29) slides inside the outer slide bar mounting platform (21), and the end of the outer positioning slide bar (29) has a spring connection block (28), and the spring connection block (28) is connected to the outer slide bar mounting platform (21) through a spring. The other side of the middle bearing block (24) has an inner rotating connection column (25), and the side of the middle bearing block (24) is provided with a side moving wheel mounting block (12). The middle part of the side moving wheel mounting block (12) has an inner rotating connection ring (26), and the inner rotating connection ring (26) is rotatably connected to the inner rotating connection column (25). The top of the side moving wheel mounting block (12) has an upper Mecanum wheel mounting platform (13), and the detection camera (11) is connected to the data processor (10) on the top of the main support platform (1).

4. The blast furnace tuyere inspection robot according to claim 3 is characterized in that The upper Mecanum wheel mounting platform (13) is rotatably connected to the upper Mecanum wheel (19), and the upper Mecanum wheel mounting platform (13) has an upper motor mounting platform (15) on the side, and the upper drive motor (17) is inserted into the upper motor mounting platform (15) and fixed therein. The upper drive motor (17) has a transmission shaft fixedly connected to the upper Mecanum wheel (19), and the bottom of the side moving wheel mounting block (12) has a lower Mecanum wheel mounting platform (14), and the lower Mecanum wheel mounting platform (14) is rotatably connected to the lower Mecanum wheel (20).

5. The blast furnace tuyere inspection robot according to claim 1 is characterized in that The side of the lower Mecanum wheel mounting platform (14) is provided with a lower motor mounting platform (16), the lower drive motor (18) is inserted into the lower motor mounting platform (16) and fixed therein, and the transmission shaft of the lower drive motor (18) is fixedly connected to the lower Mecanum wheel (20).

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