Intelligent dust discharging and precise positioning robot for circular cooler in sintering plant

Abstract

The utility model provides an intelligent dust discharging and precise positioning robot for a circular cooler in a sintering plant, and relates to the technical field of dust discharging of circular coolers in the sintering plant. The intelligent dust discharging and precise positioning robot comprises a circular cooler body, a moving frame is arranged on one side of the circular cooler body, and a dust discharging and intelligent positioning discharging assembly is arranged above the moving frame; the collecting box is fixedly installed between one sides of the moving frames, the discharging hopper is fixedly installed at the bottom of the collecting box, the feeding pipeline is driven to ascend through the arranged dust discharging intelligent positioning and discharging assembly and the electric telescopic rod, the feeding pipeline can jack up a stress block through a protruding block, and the stress block is driven to ascend through the discharging hopper. When the stress block is stressed, the discharging baffle can slide into the inner side of the containing groove, ash on the inner side of the ash discharging hopper and the inner side of the ash flow guide pipe can enter the inner side of the collecting box through the feeding pipeline and the corrugated hose to be collected, and after the ash on the inner side of the collecting box is collected, discharging can be conducted through cooperation of the motor, the driving shaft and the conveying auger.

Description

Technical Field

[0001] This utility model relates to the field of ash unloading technology for sintering plant annular coolers, and in particular to a precise positioning robot for intelligent ash unloading in sintering plant annular coolers. Background Technology

[0002] Sintered ore is a crucial component of blast furnace feedstock produced in steel sintering plants. During sintering, the ore temperature can reach over 1000℃. Cooling the sintered ore in a sintering ring cooler serves two purposes: lowering the temperature and recovering and reusing the waste heat. After being crushed, the sintered ore enters the sintering ring cooler, which rotates slowly, cooling it with natural air blown by a blower. Simultaneously, the hot air is recovered to the sintering ring cooler waste heat boiler for steam power generation. During the ring cooling process, smaller ore particles fall through a grate into an ash hopper below the sintering ring cooler. At this point, the temperature of the ore particles is around 100℃. A discharge trolley is installed below the ash hopper to collect the loose material. Currently, most loose material collection relies on manual judgment of the material level and manual control of the discharge trolley. This method is not very accurate in judging the material level on the discharge trolley, and furthermore, prolonged work in a high-temperature environment has adverse effects on workers' health.

[0003] The announcement number CN214407006U discloses an intelligent ash unloading and precision positioning robot for a sintering plant's annular cooler, which includes multiple ash unloading hoppers and a running ditch located below the ash unloading hoppers. An ash unloading vehicle is installed in the running ditch. A controller is also provided. A high-level material switch is provided on the upper side wall of each ash unloading hopper, a low-level material switch is provided on the lower side wall of each ash unloading hopper, and a discharge valve is provided at the bottom of each ash unloading hopper.

[0004] In use, the existing device moves horizontally below multiple unloading hoppers to receive materials. However, it controls the ash material to descend through valves, which can easily cause the ash material to splash during the descent, resulting in a lot of dust near the annular cooler and posing a significant risk to personnel's respiratory tract. Therefore, we have proposed an intelligent ash unloading and precise positioning robot for the annular cooler in sintering plants. Utility Model Content

[0005] In view of this, this application provides an intelligent ash unloading and precise positioning robot for the annular cooler in a sintering plant, which solves the above-mentioned technical problems to a certain extent.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A smart ash unloading and precision positioning robot for a sintering plant's annular cooler includes an annular cooler body, a movable frame on one side of the annular cooler body, and an intelligent ash unloading and positioning unloading component on top of the movable frame.

[0008] The intelligent positioning and unloading component for ash removal includes a collection box, a discharge hopper, a motor, a drive shaft, and a conveying auger. The collection box is fixedly installed on one side of the mobile frame, the discharge hopper is fixedly installed at the bottom of the collection box, the motor is fixedly installed on one side of the discharge hopper, the drive shaft is fixedly installed at the output end of the motor, and the conveying auger is fixedly installed on the outside of the drive shaft.

[0009] As a further improvement to the above solution, multiple ash discharge hoppers are fixedly installed on one side of the main body of the annular cooler, ash material guide pipes are fixedly installed at the bottom of the ash discharge hoppers, pulleys are rotatably installed on the outer side of the mobile frame, a circuit board is fixedly installed on one side of the mobile frame, a high-definition camera is fixedly installed on the top of the collection box, and an ash discharge precision positioning control component is set above the ash discharge intelligent positioning and feeding component, the ash material guide pipe, the circuit board and the high-definition camera.

[0010] As a further improvement to the above solution, the intelligent positioning and feeding assembly for ash unloading also includes a discharge pipe, an electric telescopic rod, a corrugated hose, and a feeding pipe. The discharge pipe is fixedly installed on one side of the discharge hopper, the electric telescopic rod is fixedly installed on the top of the collection box, the corrugated hose is fixedly installed on the top of the collection box, the feeding pipe is fixedly installed at the output end of the electric telescopic rod, and the feeding pipe is fixedly installed on the top of the corrugated hose.

[0011] By adopting the above technical solution, the electric telescopic rod drives the feeding pipe to rise. The feeding pipe can lift the force block through the protrusion. When the force block is under force, the discharge baffle can slide into the inside of the collection trough, so that the ash material inside the ash discharge hopper and ash material guide pipe can enter the inside of the collection box through the feeding pipe and corrugated hose for collection. After the ash material inside the collection box is collected, the material can be discharged through the cooperation of the motor, drive shaft and conveying auger.

[0012] As a further improvement to the above solution, the ash discharge precision positioning control component includes a receiving groove, a spring, a discharge baffle, a force-bearing block, and a protruding block. The receiving groove is opened inside the ash material guide pipe. The spring is fixedly installed on the top inner wall of the receiving groove. The discharge baffle is fixedly installed on the bottom of the spring. The force-bearing block is fixedly installed on one side of the discharge baffle. The protruding block is fixedly installed on the top of the feed pipe.

[0013] As a further improvement to the above solution, the ash unloading precision positioning control component also includes a microprocessor module, a laser distance sensor, an ultrasonic distance sensor, a drive module, a pulley control motor, and a direction adjustment module. The microprocessor module is fixedly installed on one side of the circuit board, the laser distance sensor and the ultrasonic distance sensor are fixedly installed on the top of the collection box, the drive module is electrically connected to the circuit board, and the pulley control motor and the direction adjustment module are electrically connected.

[0014] By adopting the above technical solution, the microprocessor module, as the core brain of the precision positioning component, uses a high-performance, low-power industrial-grade chip. It has powerful data processing capabilities and can quickly analyze and process data transmitted from other devices. It performs comprehensive calculations on the image information collected by the camera and the distance data fed back by the distance sensor, thereby accurately determining the spatial relationship between the robot and the unloading position. At the same time, based on these calculation results, it issues precise control commands to the pulley control motor and the direction adjustment structure, coordinating the work of each part to achieve precise positioning of the robot.

[0015] The pulley control motor uses a high-precision, high-torque DC motor, which is connected to each pulley of the robot. The motor can precisely adjust the speed of the pulley according to the control instructions issued by the microprocessor. When the microprocessor determines whether the robot needs to move forward, backward, turn left or right based on the data from the camera and distance sensor, it will send corresponding instructions to the pulley control motor. The motor precisely controls the movement of the pulley, so that the robot can move accurately in the horizontal direction and move accurately to the ash unloading position.

[0016] The direction adjustment module consists of a mechanical steering device and an angle sensor. The mechanical steering device is installed between the robot's chassis and wheels, and can flexibly change the direction of the wheels. The angle sensor monitors the steering angle of the wheels in real time and feeds the data back to the microprocessor. When the microprocessor needs to adjust the robot's direction of travel, it sends a command to the direction adjustment structure. The mechanical steering device changes the direction of the wheels according to the command, and the angle sensor ensures precise control of the steering angle, enabling the robot to accurately drive to the ash discharge port along the predetermined path, achieving precise positioning and steering.

[0017] As a further improvement to the above solution, the laser distance sensor, ultrasonic distance sensor, and high-definition camera are electrically connected to the microprocessor module.

[0018] As a further improvement to the above solution, a solenoid valve is fixedly installed on the outside of the discharge pipe, and the shape of the discharge hopper is wider at the top and narrower at the bottom.

[0019] As a further improvement to the above solution, the top of the collection box is provided with a feeding trough, and the corrugated hose is fixedly installed on the inner side of the feeding trough.

[0020] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0021] (1) The present invention provides a sintering plant ring cooler intelligent ash unloading precision positioning robot. Through the set ash unloading intelligent positioning and feeding component, the electric telescopic rod drives the feeding pipe to rise. The feeding pipe can lift the force block through the protrusion block. When the force block is under force, the discharge baffle can slide into the inner side of the collection trough, so that the ash material inside the ash unloading hopper and the ash material guide pipe can enter the inner side of the collection box through the feeding pipe and the corrugated hose for collection. After the ash material inside the collection box is collected, the material can be discharged through the cooperation of the motor, drive shaft and conveying auger.

[0022] (2) The present invention provides a precise positioning robot for ash unloading in a sintering plant ring cooler. Through the set precise positioning control components for ash unloading, high-definition cameras, laser distance sensors and ultrasonic distance sensors collect environmental information from different angles, providing rich data for the microprocessor module. The microprocessor module sends precise control commands to the pulley control motor and direction adjustment module through comprehensive analysis and processing of this data, thereby enabling the robot to quickly and accurately locate the position of the ash guide pipe in the complex working environment of the ring cooler, providing a reliable foundation for intelligent ash unloading operations.

[0023] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of an intelligent ash unloading and precise positioning robot for a sintering plant's annular cooler, as proposed in this utility model.

[0025] Figure 2 This diagram illustrates a three-dimensional view of a portion of the structure of an intelligent ash unloading and precision positioning robot for a sintering plant's annular cooler, according to an embodiment of this application.

[0026] Figure 3 This diagram shows a three-dimensional cross-sectional view of a precise positioning robot for unloading ash from an annular cooler in a sintering plant, according to an embodiment of this application.

[0027] Figure 4 for Figure 3 A magnified structural diagram of A in the middle;

[0028] Figure 5 This diagram shows a three-dimensional cross-sectional view of a precise positioning robot for unloading ash from an annular cooler in a sintering plant, according to an embodiment of this application.

[0029] Figure 6 A schematic diagram of the frame structure of an intelligent ash unloading and precise positioning robot for a sintering plant annular cooler, provided according to an embodiment of this application, is shown.

[0030] Figure label:

[0031] 1. Intelligent positioning and feeding component for ash unloading; 2. Precise positioning control component for ash unloading; 3. Main body of the annular cooler; 4. Ash unloading hopper; 5. Ash material guide pipe; 6. Moving frame; 7. Pulleys; 8. Circuit board; 9. High-definition camera;

[0032] 11. Collection box; 12. Discharge hopper; 13. Motor; 14. Drive shaft; 15. Conveying auger; 16. Discharge pipe; 17. Electric telescopic rod; 18. Corrugated hose; 19. Feed pipe;

[0033] 21. Storage slot; 22. Spring; 23. Discharge baffle; 24. Force block; 25. Protrusion block; 26. Microprocessor module; 27. Laser distance sensor; 28. Ultrasonic distance sensor; 29. ​​Drive module; 30. Pulley control motor; 31. Direction adjustment module. Detailed Implementation

[0034] To further understand the invention content, features and effects of this utility model, the following embodiments are provided, and detailed descriptions are given below in conjunction with the accompanying drawings;

[0035] The structure of this utility model will now be described in detail with reference to the accompanying drawings.

[0036] refer to Figure 1-6 A precise positioning robot for intelligent ash unloading of a ring cooler in a sintering plant includes a ring cooler body 3, a movable frame 6 on one side of the ring cooler body 3, and an intelligent ash unloading and positioning unloading component 1 on the top of the movable frame 6.

[0037] The intelligent positioning and unloading component 1 for ash removal includes a collection box 11, a discharge hopper 12, a motor 13, a drive shaft 14, and a conveying auger 15. The collection box 11 is fixedly installed on one side of the movable frame 6, the discharge hopper 12 is fixedly installed at the bottom of the collection box 11, the motor 13 is fixedly installed on one side of the discharge hopper 12, the drive shaft 14 is fixedly installed at the output end of the motor 13, and the conveying auger 15 is fixedly installed on the outside of the drive shaft 14.

[0038] In this embodiment, multiple ash discharge hoppers 4 are fixedly installed on one side of the main body 3 of the annular cooler. Ash material guide pipes 5 are fixedly installed at the bottom of the ash discharge hoppers 4. Pulleys 7 are rotatably installed on the outside of the moving frame 6. Circuit board 8 is fixedly installed on one side of the moving frame 6. High-definition camera 9 is fixedly installed on the top of the collection box 11. Ash discharge intelligent positioning and feeding component 1, ash material guide pipe 5, circuit board 8 and high-definition camera 9 are provided with ash discharge precision positioning control component 2.

[0039] In this embodiment, the intelligent positioning and feeding assembly 1 for ash unloading also includes a discharge pipe 16, an electric telescopic rod 17, a corrugated hose 18, and a feeding pipe 19. The discharge pipe 16 is fixedly installed on one side of the discharge hopper 12, the electric telescopic rod 17 is fixedly installed on the top of the collection box 11, the corrugated hose 18 is fixedly installed on the top of the collection box 11, and the feeding pipe 19 is fixedly installed at the output end of the electric telescopic rod 17 and at the top of the corrugated hose 18.

[0040] In this embodiment, the ash discharge precision positioning control component 2 includes a receiving groove 21, a spring 22, a discharge baffle 23, a force-bearing block 24, and a protrusion 25. The receiving groove 21 is opened inside the ash material guide pipe 5. The spring 22 is fixedly installed on the top inner wall of the receiving groove 21. The discharge baffle 23 is fixedly installed on the bottom of the spring 22. The force-bearing block 24 is fixedly installed on one side of the discharge baffle 23. The protrusion 25 is fixedly installed on the top of the feed pipe 19.

[0041] In this embodiment, the ash unloading precision positioning control component 2 also includes a microprocessor module 26, a laser distance sensor 27, an ultrasonic distance sensor 28, a drive module 29, a pulley control motor 30, and a direction adjustment module 31. The microprocessor module 26 is fixedly installed on one side of the circuit board 8, the laser distance sensor 27 and the ultrasonic distance sensor 28 are fixedly installed on the top of the collection box 11, the drive module 29 is electrically connected to the circuit board 8, and the pulley control motor 30 and the direction adjustment module 31 are electrically connected.

[0042] The pulley control motor 30 uses a high-precision, high-torque DC motor, which is connected to each pulley of the robot. The motor can precisely adjust the rotation speed of the pulley according to the control instructions issued by the microprocessor. When the microprocessor determines whether the robot needs to move forward, backward, turn left, or turn right based on the data from the camera and distance sensor, it sends corresponding instructions to the pulley control motor. The motor precisely controls the movement of the pulley, enabling the robot to move accurately in the horizontal direction and accurately drive to the ash discharge position. The direction adjustment module 31 consists of a mechanical steering device and an angle sensor. The mechanical steering device is installed between the robot's chassis and wheels, which can flexibly change the direction of the wheels. The angle sensor monitors the steering angle of the wheels in real time and feeds the data back to the microprocessor. When the microprocessor needs to adjust the robot's direction of travel, it sends instructions to the direction adjustment structure. The mechanical steering device changes the direction of the wheels according to the instructions, and the angle sensor ensures precise control of the steering angle, enabling the robot to accurately drive to the ash discharge port according to the predetermined path, achieving precise positioning and steering.

[0043] In this embodiment, the laser distance sensor 27, the ultrasonic distance sensor 28, and the high-definition camera 9 are electrically connected to the microprocessor module 26. The high-definition camera 9, the laser distance sensor 27, and the ultrasonic distance sensor 28 collect environmental information from different angles, providing rich data for the microprocessor module 26. Through comprehensive analysis and processing of this data, the microprocessor module 26 issues precise control commands to the pulley control motor 30 and the direction adjustment module 31, thereby enabling the robot to quickly and accurately locate the position of the ash guide pipe 5 in the complex working environment of the annular cooler, providing a reliable foundation for intelligent ash unloading operations.

[0044] In this embodiment, a solenoid valve is fixedly installed on the outside of the discharge pipe 16, and the shape of the discharge hopper 12 is wider at the top and narrower at the bottom. The design of being wider at the top and narrower at the bottom makes it easier for the conveying auger 15 to transport and discharge the ash material after rotation. The solenoid valve can close the discharge pipe 16, so that the ash material is not easy to leak during the movement of the device.

[0045] In this embodiment, a feeding trough is provided on the top of the collection box 11, and a corrugated hose 18 is fixedly installed on the inner side of the feeding trough. The feeding trough facilitates the installation of the corrugated hose 18. The corrugated hose 18 is made of hose material and can be extended. After the electric telescopic rod 17 drives the feeding pipe 19 to rise, the corrugated hose 18 can move along with it, so that the ash material inside the ash discharge hopper 4 and the ash material guide pipe 5 can enter the inner side of the collection box 11 for collection through the corrugated hose 18 and the feeding pipe 19.

[0046] Specifically, circuit board 8 can be electrically connected to the high-definition camera 9, laser distance sensor 27, and ultrasonic distance sensor 28 above. Circuit board 8 can work in conjunction with microprocessor module 26 to enable high-precision positioning of the ash discharge position of the sintering plant's annular cooler by the collection box 11 and the upper feed pipe 19. High-definition camera 9, laser distance sensor 27, and ultrasonic distance sensor 28 collect environmental information from different angles, providing rich data for microprocessor module 26. Through comprehensive analysis and processing of this data, microprocessor module 26 sends precise control commands to pulley control motor 30 and direction adjustment module 31, thereby realizing the machine... In the complex working environment of the annular cooler, the robot can quickly and accurately locate the position of the ash guide pipe 5, providing a reliable foundation for intelligent ash unloading operations. At this time, the electric telescopic rod 17 can be controlled to drive the feed pipe 19 to rise. The feed pipe 19 can lift the force block 24 through the protrusion 25. When the force block 24 is under force, the discharge baffle 23 can slide into the inside of the collection trough 21, so that the ash inside the ash hopper 4 and the ash guide pipe 5 can enter the inside of the collection box 11 through the feed pipe 19 and the corrugated hose 18 for collection. After the ash inside the collection box 11 is collected, the material can be discharged through the cooperation of the motor 13, the drive shaft 14 and the conveying auger 15.

[0047] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0048] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A smart ash unloading and precision positioning robot for a sintering plant's annular cooler, characterized in that, include: The main body (3) of the ring cooler is provided with a movable frame (6) on one side, and an intelligent positioning and feeding component (1) for unloading ash is provided above the movable frame (6); The intelligent positioning and feeding assembly (1) for unloading ash includes a collection box (11), a discharge hopper (12), a motor (13), a drive shaft (14), and a conveying auger (15). The collection box (11) is fixedly installed on one side of the moving frame (6). The discharge hopper (12) is fixedly installed at the bottom of the collection box (11). The motor (13) is fixedly installed on one side of the discharge hopper (12). The drive shaft (14) is fixedly installed at the output end of the motor (13). The conveying auger (15) is fixedly installed on the outside of the drive shaft (14).

2. The intelligent ash unloading and precise positioning robot for the sintering plant's annular cooler according to claim 1, characterized in that, Multiple ash discharge hoppers (4) are fixedly installed on one side of the main body (3) of the ring cooler. Ash material guide pipes (5) are fixedly installed at the bottom of the ash discharge hoppers (4). A pulley (7) is rotatably installed on the outside of the moving frame (6). A circuit board (8) is fixedly installed on one side of the moving frame (6). A high-definition camera (9) is fixedly installed on the top of the collection box (11). An ash discharge precision positioning control component (2) is set above the ash discharge intelligent positioning and feeding component (1), the ash material guide pipe (5), the circuit board (8) and the high-definition camera (9).

3. The intelligent ash unloading and precise positioning robot for the sintering plant's annular cooler according to claim 1, characterized in that, The intelligent positioning and feeding assembly (1) for ash unloading also includes a discharge pipe (16), an electric telescopic rod (17), a corrugated hose (18), and a feeding pipe (19). The discharge pipe (16) is fixedly installed on one side of the discharge hopper (12), the electric telescopic rod (17) is fixedly installed on the top of the collection box (11), the corrugated hose (18) is fixedly installed on the top of the collection box (11), the feeding pipe (19) is fixedly installed at the output end of the electric telescopic rod (17), and the feeding pipe (19) is fixedly installed on the top of the corrugated hose (18).

4. The intelligent ash unloading and precise positioning robot for the sintering plant's annular cooler according to claim 2, characterized in that, The ash discharge precision positioning control component (2) includes a receiving groove (21), a spring (22), a discharge baffle (23), a force-bearing block (24), and a protrusion (25). The receiving groove (21) is opened inside the ash material guide pipe (5). The spring (22) is fixedly installed on the top inner wall of the receiving groove (21). The discharge baffle (23) is fixedly installed at the bottom of the spring (22). The force-bearing block (24) is fixedly installed on one side of the discharge baffle (23). The protrusion (25) is fixedly installed on the top of the feed pipe (19).

5. The intelligent ash unloading and precise positioning robot for the sintering plant's annular cooler according to claim 2, characterized in that, The ash unloading precision positioning control component (2) also includes a microprocessor module (26), a laser distance sensor (27), an ultrasonic distance sensor (28), a drive module (29), a pulley control motor (30), and a direction adjustment module (31). The microprocessor module (26) is fixedly installed on one side of the circuit board (8). The laser distance sensor (27) and the ultrasonic distance sensor (28) are fixedly installed on the top of the collection box (11). The drive module (29) is electrically connected to the circuit board (8). The pulley control motor (30) and the direction adjustment module (31) are electrically connected.

6. The intelligent ash unloading and precision positioning robot for the sintering plant's annular cooler according to claim 5, characterized in that, The laser distance sensor (27), ultrasonic distance sensor (28), and high-definition camera (9) are electrically connected to the microprocessor module (26).

7. The intelligent ash unloading and precision positioning robot for the sintering plant's annular cooler according to claim 3, characterized in that, A solenoid valve is fixedly installed on the outside of the discharge pipe (16), and the discharge hopper (12) is wider at the top and narrower at the bottom.

8. The intelligent ash unloading and precision positioning robot for the sintering plant's annular cooler according to claim 3, characterized in that, The top of the collection box (11) is provided with a feeding trough, and the corrugated hose (18) is fixedly installed on the inside of the feeding trough.

Images