阅读说明：本技术 电炉操作组合机器人系统及操作方法 (Electric furnace operation combined robot system and operation method ) 是由 盛富春 于 2021-08-31 设计创作，主要内容包括：本发明公开了一种电炉操作组合机器人系统及操作方法。组合机器人系统包括轨道、载车、回转机构、机械臂、执行机构、金属包和伺服机器人；所述伺服机器人和金属包为两组,分别设置在电炉前侧的地坑中；所述伺服机器人用于驱动对应的金属包进行升降和前后移动；所述轨道沿前后方向铺设在第一电炉和第二电炉之间,并延伸至两个地坑之间；所述载车沿轨道前后移动；所述机械臂通过回转机构安装在载车上；所述机械臂的末端通过可拆卸方式安装有所述执行机构。本发明可以替代炉台、炉前及行车操作人员,提高操作效率和产品质量,节省时间、降低能耗,改善操作人员的作业环境。(The invention discloses an electric furnace operation combined robot system and an operation method. The combined robot system comprises a track, a vehicle carrier, a swing mechanism, a mechanical arm, an actuating mechanism, a metal bag and a servo robot; the servo robots and the metal bags are divided into two groups and are respectively arranged in a pit at the front side of the electric furnace; the servo robot is used for driving the corresponding metal bag to lift and move back and forth; the track is laid between the first electric furnace and the second electric furnace along the front-back direction and extends to a position between the two pits; the carrier vehicle moves back and forth along the track; the mechanical arm is arranged on the vehicle loader through a slewing mechanism; the tail end of the mechanical arm is provided with the executing mechanism in a detachable mode. The invention can replace furnace platforms, stokeholes and traveling operators, improve the operation efficiency and the product quality, save time, reduce energy consumption and improve the operation environment of the operators.)

1. The utility model provides an electric stove operation combination robot system, the electric stove includes first electric stove (1) and second electric stove (4) that control and set up side by side, its characterized in that: the robot system comprises a track (2), a vehicle carrier (3), a swing mechanism (6), a mechanical arm (8), an actuating mechanism (9), a metal bag (11) and a servo robot (12);

the servo robots (12) and the metal bags (11) are divided into two groups, correspond to the first electric furnace (1) and the second electric furnace (4) one by one, and are respectively arranged in a pit (5) on the front side of the electric furnaces; the servo robot (12) is used for driving the corresponding metal bag (11) to lift and move back and forth; the track (2) is laid between the first electric furnace (1) and the second electric furnace (4) along the front-back direction and extends to a position between the two pits (5); or the track (2) is paved on the outer side of one electric furnace in the front-back direction and extends to the side of the pit;

the vehicle carrier (3) moves back and forth along the track (2), and a melting operation station positioned beside the electric furnace, a furnace outlet operation station positioned beside a furnace mouth of the electric furnace and an in-bag operation station positioned beside the pit (5) are arranged on the track (2);

the mechanical arm (8) is arranged on the vehicle carrier (3) through a swing mechanism (6) to realize horizontal swing relative to the vehicle carrier (3); the tail end of the mechanical arm (8) is detachably provided with the actuating mechanism (9);

the actuating mechanism (9) comprises a melting operating mechanism, a furnace discharging operating mechanism and an in-package operating mechanism which can be replaced mutually.

2. The fire handling combination robot system of claim 1, wherein: the electric furnace is characterized by further comprising a dust cover (10), wherein the first electric furnace (1), the second electric furnace (4) and a metal bag (11) corresponding to the first electric furnace and the second electric furnace are arranged in the dust cover (10).

3. The fire handling combination robot system of claim 1 or 2, wherein: and a video acquisition device is arranged on the mechanical arm (8), the vehicle carrier (3) or the swing mechanism (6).

4. The fire handling combination robot system of claim 1 or 2, wherein: the vehicle carrier (3) is also provided with a loading container (7).

5. An electric furnace operation method is characterized by comprising the following steps:

step 1, a carrier vehicle (3) moves to a melting operation station along a track (2) laid between a first electric furnace (1) and a second electric furnace (4), and a mechanical arm (8) on the carrier vehicle (3) drives a melting operation mechanism to perform melting treatment operation on the first electric furnace (1) and the second electric furnace (4);

step 2, the electric furnace dumps liquid from a metal bag (11) in a front side pit (5), a vehicle loader (3) moves to a discharging operation station along a rail (2), and a mechanical arm (8) drives a discharging operation mechanism to perform discharging processing operation on the first electric furnace (1) and the second electric furnace (4);

and 3, returning the electric furnace to the original state, moving the carrier vehicle (3) to an in-package operation station along the track (2), and driving an in-package operation mechanism to perform in-package processing operation on the metal package (11) by the mechanical arm (8).

6. The method of operating an electric furnace according to claim 5, wherein: in the step 2, the metal bag (11) is driven by a bottom servo robot (12) to lift and move back and forth according to the pouring angle of the electric furnace, and the larger the pouring angle of the electric furnace is, the lower the height of the metal bag (11) is; the less the molten metal in the furnace, the more forward the position.

7. The method of operating an electric furnace according to claim 5, wherein: the vehicle carrying device (3), the mechanical arm (8) and the servo robot (12) are remotely controlled by a control center in the operation room, the control center is also connected with a video acquisition device and a sensor which are arranged on the mechanical arm (8) or the vehicle carrying device (3) or the swing mechanism (6), and a controller controls the vehicle carrying device according to a field video picture and a sensor signal indication.

Technical Field

The invention relates to a combined robot system for electric furnace molten metal, electric furnace liquid discharge and metal ladle operation, and also relates to an operation method based on the system.

Background

The operation of the furnace platform and the furnace front of the existing induction furnace for melting metal mainly depends on manpower. For example, tapping is performed manually on a work bench in front of the furnace. For the convenience of viewing, the manual operation table for tapping operation can only be arranged in front of the furnace table and is very close to the electric furnace and the metal ladle (container). The metal ladle is hoisted by a crane and rises and falls or moves back and forth under the command of an operator.

The problems with this approach are: 1. the operation environment of the furnace platform and the furnace front is poor, the high-temperature dangerous operation is realized, dust and heavy metal pollution exist, and the improvement of the working environment and the safe production are not facilitated; 2. because the operation process is complex, the distance between the driving operators is too long, and the noise and the smoke of a workshop are added, the communication is inconvenient, and the normal operation is influenced; 3. the traveling distance is not well controlled, so that the requirement on accurate position cannot be met, and the electric furnace is easy to collide, which causes unstable operation quality and influences product quality; 4. the labor intensity is high, the operation efficiency is low, the time is long, the integral energy consumption is high, and the efficiency is not favorably improved, the energy is saved, and the emission is reduced; 5. the fully-closed dust removal cannot be realized, the dust removal effect is poor, a better sight line needs to be kept for a traveling operator, the safety and ventilation of the operator on the furnace platform need to be considered, the influence that a lifting rope needs to penetrate through the dust removal cover and the like is also considered, and finally the dust removal cover has more air leakage, so that the dust removal effect is influenced, and a lot of energy is consumed; 6. is not beneficial to realizing automatic operation.

On the other hand, although mechanized mechanisms for furnace melting, temperature measurement, slag removal of metal ladles and the like have been proposed in the prior art, the mechanisms still rely on manual field operation or need to be driven by an independent mechanical arm, and the purpose of manual operation in front of a furnace platform cannot be achieved.

Disclosure of Invention

The invention provides an electric furnace operation combined robot system and an operation method, and aims to provide the following steps: the efficiency of the related operation of the electric furnace is improved, the product quality is ensured, the energy consumption is reduced, and the operating environment is improved.

The technical scheme of the invention is as follows:

an electric furnace operation combined robot system comprises a first electric furnace and a second electric furnace which are arranged side by side from left to right, and the robot system comprises a track, a vehicle, a swing mechanism, a mechanical arm, an actuating mechanism, a metal bag and a servo robot;

the servo robots and the metal bags are divided into two groups, are respectively in one-to-one correspondence with the first electric furnace and the second electric furnace and are respectively arranged in a pit on the front side of the electric furnaces; the servo robot is used for driving the corresponding metal bag to lift and move back and forth; the track is laid between the first electric furnace and the second electric furnace along the front-back direction and extends to a position between the two pits; or the track is paved on the outer side of one electric furnace in the front-back direction and extends to the side of the pit;

the vehicle carrying vehicle moves back and forth along a track, and the track is provided with a melting operation station positioned beside the electric furnace, a furnace discharging operation station positioned beside a furnace mouth of the electric furnace and an in-bag operation station positioned beside a pit;

the mechanical arm is arranged on the vehicle loader through a slewing mechanism to realize horizontal slewing relative to the vehicle loader; the tail end of the mechanical arm is detachably provided with the executing mechanism;

the actuating mechanism comprises a melting operating mechanism, a furnace discharging operating mechanism and an in-package operating mechanism which can be replaced mutually.

As a further improvement of the above robot system: the dust cover is further included, and the first electric furnace, the second electric furnace and the metal packages corresponding to the first electric furnace and the second electric furnace are all arranged in the dust cover.

As a further improvement of the above robot system: and the mechanical arm, the vehicle carrying mechanism or the slewing mechanism is provided with a video acquisition device.

As a further improvement of the above robot system: the vehicle carrier is also provided with a loading container.

The invention also discloses an electric furnace operation method, which comprises the following steps:

step 1, a carrier vehicle moves to a melting operation station along a track laid between a first electric furnace and a second electric furnace, and a mechanical arm on the carrier vehicle drives a melting operation mechanism to perform melting treatment operation on the first electric furnace and the second electric furnace;

step 2, dumping the electric furnace to a metal ladle in a front side pit to discharge liquid, moving a carrier vehicle to a discharging operation station along a rail, and driving a discharging operation mechanism to perform discharging processing operation on the first electric furnace and the second electric furnace by a mechanical arm;

and 3, returning the electric furnace to the original state, moving the carrier vehicle to an in-package operation station along the track, and driving the in-package operation mechanism to carry out in-package processing operation on the metal package by the mechanical arm.

As a further improvement of the above-described operation method: in the step 2, the metal bag is driven by a bottom servo robot to lift and move back and forth according to the pouring angle of the electric furnace, and the larger the pouring angle of the electric furnace is, the lower the height of the metal bag is; the less the molten metal in the furnace, the more forward the position.

As a further improvement of the above-described operation method: the vehicle, the mechanical arm and the servo robot are remotely controlled by a control center in the operation room, the control center is also connected with a video acquisition device and a sensor which are arranged on the mechanical arm or the vehicle or the swing mechanism, and a controller controls the vehicle according to a field video picture and a sensor signal indication.

Compared with the prior art, the invention has the following beneficial effects: (1) the invention realizes the mechanization of the operation in the furnace, the operation out of the furnace and the operation in the metal ladle through the movable all-round robot and the servo robot driving the metal ladle to move, can replace the operation personnel of a furnace platform, a furnace front and a travelling crane, improves the operation efficiency and the product quality, saves time, reduces energy consumption and improves the operation environment of the operation personnel; (2) the fully-closed dust cover efficiently shields dust generated by the electric furnace and the metal bag, so that the influence of the operation of the electric furnace on the health of operators is further reduced; (3) the positions of the tracks are reasonably distributed, and the swing mechanism is combined, so that the mechanical arm and the executing mechanism can consider the operation of two electric furnaces and two metal ladles, the efficiency is improved, and the investment cost is reduced; (4) the height and the position of the metal bag can be adjusted according to the pouring angle of the electric furnace, so that the metal liquid is effectively prevented from splashing, wasting and the like; (5) remote operation is realized under the assistance of a field video and a sensor, the control difficulty is reduced, and the automation operation degree is improved.

Drawings

FIG. 1 is a schematic structural view of a combined robot system when a carrier vehicle moves to a melting operation station;

FIG. 2 is a schematic structural diagram of a combined robot system when a carrier vehicle moves to a tapping operation station;

FIG. 3 is a schematic structural diagram of the combined robot system when the carrier vehicle moves to an operating station in the bag;

FIG. 4 is a schematic view showing the positional relationship among the electric furnace, the pit, the metal bag, the servo robot and the dust cover;

FIG. 5 is a schematic diagram showing the comparison of the heights of the metal ladle when the electric furnace is used for discharging liquid at different pouring angles.

Detailed Description

The technical scheme of the invention is explained in detail in the following with the accompanying drawings:

referring to fig. 1 to 4, a combined robot system for operating electric furnaces includes a first electric furnace 1 and a second electric furnace 4 arranged side by side in the left and right direction. The first electric furnace 1 and the second electric furnace 4 are located in a hearth region, and the front side thereof is a furnace front region.

The robot system comprises a track 2, a vehicle 3, a swing mechanism 6, a mechanical arm 8, an executing mechanism 9, a metal bag 11 and a servo robot 12.

The servo robots 12 and the metal bags 11 are two groups, are respectively in one-to-one correspondence with the first electric furnace 1 and the second electric furnace 4, and are respectively arranged in the pit 5 on the front side of the electric furnaces. The servo robot 12 is used for driving the corresponding metal bag 11 to lift and move back and forth. The lifting and the translation actions are respectively realized by a set of hydraulic or electric push rod or a motor-lead screw-guide rail structure.

The track 2 is laid between the first electric furnace 1 and the second electric furnace 4 in the furnace platform area along the front-back direction and extends to the front of the furnace to be between two pits 5 (the track 2 can also be arranged on one side of the electric furnaces). The vehicle carrying 3 moves back and forth along the track 2, and a melting operation station positioned between the first electric furnace 1 and the second electric furnace 4, a furnace discharging operation station positioned between a furnace opening of the first electric furnace 1 and a furnace opening of the second electric furnace 4 and an in-package operation station positioned between the two pits 5 are arranged on the track 2.

The mechanical arm 8 is arranged on the vehicle 3 through the swing mechanism 6 so as to horizontally swing relative to the vehicle 3. The turning mechanism 6 may be a hydraulic motor or a motor driving a gear ring, or a worm and gear. The mechanical arm 8 can be driven to rotate for 360 degrees through the rotating mechanism 6.

The end of the mechanical arm 8 is detachably provided with the actuating mechanism 9. Specifically, the executing mechanism 9 includes a melting operating mechanism, a tapping operating mechanism and an in-pack operating mechanism which can be replaced with each other, and corresponds to the three stations one by one. The interchangeable operation means that the existing operation mechanism is removed from the end of the arm 8 and replaced with a new operation mechanism according to the operation to be performed at present. The operating mechanism is provided with a driving unit, and can complete replacement through mechanical connection, cable and pipeline connection.

The vehicle carrier 3 is also provided with a loading container 7, wherein the loading container 7 can be a loading hopper, a slag receiving disc and the like and is used for containing materials taken out or needed by the operating mechanism and can also contain an executing mechanism 9.

As shown in fig. 4, the system further comprises a dust cover 10, and the first electric furnace 1, the second electric furnace 4 and the corresponding metal bag 11 are all arranged in the dust cover 10, so as to prevent the generated dust from affecting the operators at the outer side. Or the metal bag and the furnace pit are respectively positioned in the dust cover, and the switch doors are arranged at the positions where the dust cover, the electric furnace iron outlet nozzle and the mobile all-purpose robot enter.

And a video acquisition device and a position sensor are arranged on the mechanical arm 8, the vehicle carrier 3 or the slewing mechanism 6. The mechanical arm 8 is also provided with a plurality of detection devices such as position sensors and angle sensors, and the detection devices are used for detecting the poses of the mechanical arm 8 and the tail end operating mechanism. The system also comprises a controller, a driving unit and a communication unit, wherein the controller controls the robot and the operating mechanism at the tail end through the driving unit and receives the sensor signals. The communication unit is used for realizing the communication between the field controller and the remote operation room and returning the field video signal to the operation room and the management department.

The operation method of the combined robot system comprises the following steps:

step 1, as shown in fig. 1, a vehicle carrier 3 moves to a melting operation station along a track 2 laid between a first electric furnace 1 and a second electric furnace 4, a mechanical arm 8 on the vehicle carrier 3 drives a melting operation mechanism to perform melting processing operation on the first electric furnace 1 and the second electric furnace 4, and the operation comprises charging through a charging manipulator, and also comprises slag removal, temperature measurement, sample taking and risk elimination and the like.

And 2, as shown in fig. 2, the electric furnace dumps the discharged liquid to a metal ladle 11 in a front side pit 5, the vehicle loader 3 moves to a discharging operation station along the track 2, and the mechanical arm 8 drives a discharging operation mechanism to perform discharging processing operation on the first electric furnace 1 and the second electric furnace 4.

Specifically, as shown in fig. 5, the metal ladle 11 is driven by a bottom servo robot 12 to lift and move back and forth according to the pouring angle of the electric furnace and the amount of molten metal in the furnace, and the larger the pouring angle of the electric furnace is, the lower the height of the metal ladle 11 is; the less the molten metal in the furnace, the more forward the position. The change of metal liquid level and furnace mouth position in the cooperation stove prevents that the metal liquid from splashing, causes the waste, injures operating personnel.

And 3, as shown in figure 3, the electric furnace returns to the original state, the carrier vehicle 3 moves to an in-package operation station along the track 2, the mechanical arm 8 drives the in-package operation mechanism to carry out in-package processing operation on the metal package 11, and the operation comprises the steps of cleaning dross on the surface of the molten metal (using a dross salvaging manipulator), adding alloy, stirring, measuring the temperature, sampling and the like.

In the process, the vehicle carrying 3, the mechanical arm 8 and the servo robot 12 are remotely controlled by a control center in an operation room, and a controller controls according to a field video picture, so that field unmanned operation is realized. Furthermore, the intelligent and unmanned operation can be realized through a program by combining the data of the field sensor.