阅读说明：本技术 全自动捅风眼装置 (Full-automatic wind-hole poking device ) 是由 赵建军 李传伟 王庆凯 周成 田锐 严凡涛 邓方针 尹丰丰 王志民 崔岩 于 2020-12-15 设计创作，主要内容包括：本发明提供了一种全自动捅风眼装置,涉及金属冶炼技术领域,本发明提供的全自动捅风眼装置包括行走装置、二次定位装置以及捅风眼装置,捅风眼装置安装于行走装置上,行走装置用于带动捅风眼装置初步对准待捅风眼,二次定位装置设置在行走装置与运行平台之间,二次定位装置用于调节行走装置相对于待捅风眼的位置。本发明提供的全自动捅风眼装置能够实现捅风眼装置的精确定位,无需布设轨道,且不工作时不占用炉前空间,安装及工作时占用空间小,不但适用于转炉,还适用于炉前空间狭小的侧吹炉,有效减轻工人劳动强度。(The invention provides a full-automatic poking wind eye device, which relates to the technical field of metal smelting and comprises a traveling device, a secondary positioning device and a poking wind eye device, wherein the poking wind eye device is arranged on the traveling device, the traveling device is used for driving the poking wind eye device to be preliminarily aligned with a wind eye to be poked, the secondary positioning device is arranged between the traveling device and a running platform, and the secondary positioning device is used for adjusting the position of the traveling device relative to the wind eye to be poked. The full-automatic poking wind eye device provided by the invention can realize the accurate positioning of the poking wind eye device, does not need to arrange a track, does not occupy the space in front of the converter when not working, occupies small space when being installed and working, is suitable for not only a converter, but also a side-blown converter with narrow space in front of the converter, and effectively lightens the labor intensity of workers.)

1. The utility model provides a full-automatic wind eye poking device, its characterized in that includes running gear (1), secondary positioner (2) and pokes wind eye device (3), poke wind eye device (3) install in on running gear (1), running gear (1) is used for driving poke wind eye device (3) preliminary alignment and treat to poke wind eye (4), secondary positioner (2) set up between running gear (1) and operation platform (5), secondary positioner (2) are used for adjusting running gear (1) for treat to poke the position of wind eye (4).

2. The full-automatic poking eye device according to claim 1, wherein the walking device (1) comprises a trolley body and a controller, the poking eye device (3) is installed on the trolley body, and the secondary positioning device (2) is installed between the trolley body and the running platform (5);

the trolley body, the secondary positioning device (2) and the poking wind eye device (3) are all connected with the controller, and the controller is used for controlling the trolley body, the secondary positioning device and the poking wind eye device (3) to act.

3. A fully automatic poking eye device according to claim 2, wherein the walking device (1) further comprises a battery for providing electric energy to the trolley body, the controller, the secondary positioning device (2) and the poking eye device (3), and a charging module for cooperating with a charging post (6) to charge the battery.

4. A full automatic poking eye device according to claim 1, wherein the secondary positioning device (2) comprises at least two limiting mechanisms (21), the limiting mechanisms (21) comprise a first plugging component (211) and a first plugged part (212), the first plugging component (211) is arranged on the walking device (1), the first plugged part (212) is arranged on the running platform (5), and the first plugging component (211) can move at least partially in the vertical direction to realize or cancel plugging with the first plugged part (212).

5. A fully automatic barrel-eye device according to claim 4, wherein said first plugged portion (212) comprises a slot for opening on said running platform (5);

the first plug-in assembly (211) comprises a driver (2111) and a plug pin (2112) connected with the driver (2111), the driver (2111) is connected with the walking device (1), and the driver (2111) is used for driving the plug pin (2112) to extend into or out of the slot along the vertical direction.

6. A fully automatic barrel-eye device according to claim 4, wherein when the secondary positioning device (2) comprises two limiting mechanisms (21), the first plug-in components (211) of the two limiting mechanisms (21) are respectively arranged at two opposite corners of the walking device (1).

7. The full-automatic poking wind eye device according to claim 1, characterized in that the secondary positioning device (2) comprises a positioning mechanism (22) and a locking mechanism (23), the positioning mechanism (22) and the locking mechanism (23) are both arranged between the walking device (1) and the running platform (5), the positioning mechanism (22) is used for adjusting the position of the walking device (1) relative to the wind eye (4) to be poked, and the locking mechanism (23) is used for locking the position of the walking device (1) relative to the wind eye (4) to be poked.

8. A full automatic wind-poking eye device according to claim 7, characterized in that the positioning mechanism (22) comprises a guide wheel (221) and a guide piece (222), the guide wheel (221) is arranged on the walking device (1), the guide piece (222) is used for being arranged on the running platform (5), the guide piece (222) is provided with a guide groove used for being matched with the guide wheel (221), and the inlet of the guide groove faces to the front end of the walking device (1).

9. A fully automatic barrel-eyed device as claimed in claim 7, characterised in that said locking mechanism (23) comprises a second plug-in component arranged at said walking device (1) and a second plugged-in part for arrangement at said running platform (5), said second plug-in component being at least partially movable in a vertical direction to enable or disable plugging with said second plugged-in part.

10. A fully automatic poking-eye device according to any one of claims 1-9, wherein the poking-eye device (3) comprises a driving mechanism (31), a poking rod (32) and a locking mechanism (33), the driving mechanism (31) and the locking mechanism (33) are both connected with the poking rod (32), the driving mechanism (31) is used for driving the poking rod (32) to enter or exit the to-be-poking eye (4), and the locking mechanism (33) is used for locking the poking rod (32).

Technical Field

The invention relates to the technical field of metal smelting, in particular to a full-automatic poking wind eye device.

Background

A poking wind eye machine is a matched special device on a nonferrous smelting furnace, and mainly solves the problems of large labor intensity, high danger coefficient, severe environment and the like in the manual poking wind eye process. At present, the wind poking eye machine and the technology thereof in the market at home and abroad mainly have two types: a kind of manual operation disclose the wind eye machine, there are cabs or report controllers on the wind eye machine, enter the cab or remote control operation wind eye machine on the spot manually; the other type is an automatic poking wind eye machine which is provided with a positioning device and a control system and can automatically position the wind eye position, so that full-automatic poking wind eye operation is realized.

The existing wind eye poking equipment and the technology have the following problems:

1. the common air hole machine needs manual field operation and cannot realize automation.

2. The positioning accuracy and reliability of the automatic air hole machine are not high. For example, the invention patent with the application number of CN201710708163.9, the first publication date of which is 2017, 11 and 17, protects a full-automatic unmanned wind poking eye machine, the wind eye position is positioned by an encoder, the encoder captures the position of the wind poking eye machine in real time, the number of rotation turns of a speed reduction motor is recorded by the encoder, and the position of the wind poking eye machine is further calculated. The encoder is an open-loop positioning mode, positioning accuracy is greatly influenced by a mechanical device, accurate positioning cannot be achieved, large accumulated deviation exists after the encoder is used for a long time, accuracy cannot be guaranteed after the encoder is used for a long time, the full-automatic poking eye machine is difficult to realize productization and industrial application, and at present, the encoder is not a mature product of the full-automatic poking eye machine in China.

In addition, the technical scheme and products of the current air hole machine are designed for the converter, and the air hole machine needs a large space when being implemented, and is difficult to be applied to occasions with insufficient front space, such as a side-blown converter. For example: the installation and operation of the wind eye machine require that a fixed rail is arranged in front of the smelting furnace, the wind eye machine runs on the fixed rail by walking, and the walking operation of the wind eye machine requires that cables such as cables and air pipes are connected; the operation space required in the operation process is larger, and a stokehold operation platform is occupied.

Disclosure of Invention

The invention aims to provide a full-automatic poking wind eye device, which can realize the accurate positioning of the poking wind eye device, does not occupy the space in front of a furnace when not working, has wide applicability and effectively reduces the labor intensity of workers.

In order to achieve the purpose, the invention provides the following technical scheme:

the invention provides a full-automatic poking wind eye device which comprises a traveling device, a secondary positioning device and a poking wind eye device, wherein the poking wind eye device is arranged on the traveling device, the traveling device is used for driving the poking wind eye device to initially align to a to-be-poked wind eye, the secondary positioning device is arranged between the traveling device and a running platform, and the secondary positioning device is used for adjusting the position of the traveling device relative to the to-be-poked wind eye.

Furthermore, the walking device comprises a trolley body and a controller, the poking eye device is mounted on the trolley body, and the secondary positioning device is mounted between the trolley body and the running platform;

the trolley body, the secondary positioning device and the poking wind eye device are all connected with the controller, and the controller is used for controlling the actions of the trolley body, the secondary positioning device and the poking wind eye device.

Furthermore, running gear still includes battery and charging module, the battery is used for dolly body, the controller, secondary positioner and disclose the wind eye device and provide the electric energy, charging module is used for with fill electric pile cooperation in order to the battery charges.

Further, the secondary positioning device comprises at least two limiting mechanisms, each limiting mechanism comprises a first plug-in component and a first plugged part, the first plug-in component is arranged on the walking device, the first plugged part is used for being arranged on the running platform, and at least part of the first plug-in component can move in the vertical direction to realize or cancel the plugging with the first plugged part.

Furthermore, the first part to be plugged comprises a slot which is used for being arranged on the running platform;

the first plug-in assembly comprises a driver and a plug pin connected with the driver, the driver is connected with the walking device, and the driver is used for driving the plug pin to extend into or out of the slot along the vertical direction.

Further, when the secondary positioning device comprises two limiting mechanisms, the first plug-in assemblies of the two limiting mechanisms are respectively arranged at two opposite corners of the walking device.

Further, the secondary positioning device comprises a positioning mechanism and a locking mechanism, the positioning mechanism and the locking mechanism are both arranged between the traveling device and the operating platform, the positioning mechanism is used for adjusting the position of the traveling device relative to the to-be-poked wind eye, and the locking mechanism is used for locking the position of the traveling device relative to the to-be-poked wind eye.

Furthermore, the positioning mechanism comprises a guide wheel and a guide piece, the guide wheel is arranged on the traveling device, the guide piece is arranged on the running platform, the guide piece is provided with a guide groove matched with the guide wheel, and an inlet of the guide groove faces to the front end of the traveling device.

Furthermore, the locking mechanism comprises a second plug-in component and a second plugged part, the second plug-in component is arranged on the walking device, the second plugged part is arranged on the running platform, and at least part of the second plug-in component can move in the vertical direction to realize or cancel the plug-in connection with the second plugged part.

Further, the poking eye device comprises a driving mechanism, a poking rod and a locking mechanism, the driving mechanism and the locking mechanism are connected with the poking rod, the driving mechanism is used for driving the poking rod to enter or exit the poking eye to be poked, and the locking mechanism is used for locking the poking rod.

The full-automatic poking wind eye device provided by the invention can produce the following beneficial effects:

when using above-mentioned full-automatic poking wind eye device, at first running gear moves before waiting to poke the wind eye for poking the wind eye device and tentatively aim at waiting to poke the wind eye, secondary positioner further adjusts and limits running gear for waiting to poke the position of wind eye afterwards, makes poking more accurate alignment of wind eye device and waiting to poke the wind eye, pokes the wind eye device afterwards and carries out poking the wind eye action, repeats above-mentioned process after finishing and can carry out poking of next wind eye. After poking of all the wind eyes is completed, the walking device can run aside to avoid the space before discharging.

Compared with the prior art, the full-automatic poking wind eye device provided by the invention realizes the accurate positioning of the poking wind eye device through the traveling device and the secondary positioning device, does not need to arrange a track, does not occupy the space in front of the furnace when not working, occupies small space when being installed and working, is suitable for not only a converter but also a side-blown furnace with narrow space in front of the furnace, reduces the labor intensity of workers, and realizes the reduction and the efficiency improvement of enterprises.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic three-dimensional structure diagram of a fully automatic wind-poking eye device provided by the invention;

FIG. 2 is a schematic structural diagram of a secondary positioning device in a first state according to the present invention;

FIG. 3 is a schematic structural diagram of a secondary positioning device in a second state according to the present invention;

FIG. 4 is a top view of a fully automatic wind-poking eye device provided by the present invention;

FIG. 5 is a top view of another fully automatic barrel eye device provided in accordance with the present invention;

FIG. 6 is a schematic three-dimensional structure of a barrel-type wind eye device provided by the present invention;

fig. 7 is a diagram of the application effect of the full-automatic wind poking eye device in the side-blown converter.

Icon: 1-a walking device; 2-a secondary positioning device; 21-a limiting mechanism; 211-a first plug assembly; 2111-driver; 2112-bolt; 212-a first plugged portion; 22-a positioning mechanism; 221-a guide wheel; 222-a guide; 23-a locking mechanism; 3-poking a wind eye device; 31-a drive mechanism; a 32-barrel; 33-a latching mechanism; 34-a guide rail; 35-a connecting member; 4-a wind hole to be poked; 5-operating the platform; 6-charging pile; 7-air pump air compressor.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

The embodiment lies in providing a full-automatic wind-eye poking device, as shown in fig. 1, including running gear 1, secondary positioning device 2 and poke wind-eye device 3, poke wind-eye device 3 and install on running gear 1, running gear 1 is used for driving poking wind-eye device 3 and tentatively aims at waiting to poke wind-eye 4, and secondary positioning device 2 sets up between running gear 1 and operation platform 5, and secondary positioning device 2 is used for adjusting and locking running gear 1 for waiting to poke the position of wind-eye 4.

The initial positioning of the walking device 1 can adopt a manual remote control mode or an encoder mode, and the parking positioning precision can be controlled to +/-5-10 mm usually by adopting the encoder mode, so that the rough positioning of the poking eye device 3 is realized. The secondary positioning device 2 can adjust and lock the position of the walking device 1, high-precision positioning of the walking device 1 is achieved, and it is guaranteed that the poking wind eye device 3 is aligned more accurately to the to-be-poked wind eye 4. And above-mentioned running gear 1 can directly drive to disclose the wind eye device 3 and tentatively aim at and wait to disclose the wind eye 4, need not cooperate the guide rail to use, when not using, can fully avoid stokehold space, and installation and during operation occupation space are little, and the suitability is wider.

It should be noted that after the position of the walking device 1 is adjusted, and before the wind poking eye is operated, the position of the walking device 1 can be locked by a self-locking mechanism, or by the secondary positioning device 2.

In at least one embodiment, the secondary positioning device 2 is used not only to adjust the position of the walking device 1 relative to the wind eye 4 to be poked, but also to lock the position of the walking device 1 relative to the wind eye 4 to be poked. Because disclose the wind eye in-process, disclose the wind eye device 3 and can export the impact force about 4000N, when the wind eye blocks up, this impact force can counteract on running gear 1, above-mentioned secondary positioning device 2 can lock the position of running gear 1, make the dynamic load impact act on secondary positioning device 2 simultaneously, guarantee disclose the stability of wind eye in-process running gear 1, avoided because running gear 1 self-locking mechanism can't bear the impact of this dynamic load, and lead to the phenomenon that running gear 1 removed.

In some embodiments, as shown in fig. 1, the walking device 1 comprises a trolley body and a controller, the poking wind eye device 3 is installed on the trolley body, and the secondary positioning device 2 is installed between the trolley body and the running platform 5; the trolley body, the secondary positioning device 2 and the poking wind eye device 3 are all connected with a controller, and the controller is used for controlling the actions of the trolley body, the secondary positioning device and the poking wind eye device 3.

The dolly body can drive and disclose wind eye device 3 and tentatively aim at treating disclosing wind eye 4, and the controller can be connected with the dispatch system signal to accept dispatch system's command control dolly body, secondary positioner 2 and disclose wind eye device 3 and make corresponding action, its concrete control process as follows:

the centralized control system sends a poking wind eye command to the traveling device dispatching system, the traveling device dispatching system transmits the command to the controller through the WIFI network, the controller controls the trolley body to move to the front of a wind eye 4 to be poked according to a fixed path, then the controller controls the secondary positioning device 2 to realize secondary high-precision positioning, the secondary positioning is successful, and the controller controls the poking wind eye device 3 to execute a poking wind eye action; when the wind poking eye device 3 feeds back an indication that the wind poking eye is successful; the centralized control system sends the next command to poke the next wind eye or the trolley body to return to the initial position.

In some embodiments, in order to facilitate the use of the walking device 1, the walking device 1 further comprises a battery for supplying electric energy to the trolley body, the controller, the secondary positioning device 2 and the wind poking eye device 3, and a charging module for cooperating with the charging pile 6 to charge the battery.

During operation, the battery is used for providing electric energy for the trolley body, the controller, the secondary positioning device 2 and the wind poking eye device 3, and an external power supply is not needed; when not disclosing the wind eye operation, the dolly body moves the position of charging on one side, utilizes to fill electric pile 6 and realizes the automatic charging of dolly body.

As shown in fig. 1, the cart has a plurality of wheels, which may have a self-locking function.

In at least one embodiment, the cart body is an AGV (Automated Guided Vehicle).

It should be noted that all the structures capable of adjusting the position of the walking device 1 relative to the wind hole 4 to be poked may be the secondary positioning device 2 mentioned in the above embodiments, and the following two embodiments are specifically described below.

The first embodiment is as follows:

in the first embodiment, as shown in fig. 2 to 4, the secondary positioning device 2 includes at least two limiting mechanisms 21, each limiting mechanism 21 includes a first plug-in component 211 and a first plugged part 212, the first plug-in component 211 is disposed on the walking device 1, the first plugged part 212 is configured to be disposed on the operation platform 5, and at least a part of the first plug-in component 211 is movable in a vertical direction to implement or cancel the plugging with the first plugged part 212.

Taking fig. 2 and fig. 3 as an example to specifically illustrate, when the walking device 1 drives the wind poking eye device 3 to initially align with the wind poking eye 4 to be poked, the parking deviation is e, then the first plugging component 211 partially moves downwards to realize plugging with the first plugged part 212, and in the plugging process, as shown in fig. 3, the first plugging component 211 and the first plugged part 212 forcibly correct the position of the walking device 1, so that the parking deviation e is reduced, and it is ensured that e is within the required error range of ± 2 mm. At this time, when the walking device 1 receives an impact force in the direction of the ground X, Y, the impact force can act on the first plug assembly 211 or the first plugged part 212 to prevent the walking device 1 from shifting, and has the function of locking the position of the walking device 1 relative to the wind hole 4 to be poked.

The first plug assembly 211 may have a pin inserted into the first plugged portion 212, or the first plug assembly 211 may have a groove for inserting the first plugged portion 212.

Preferably, as shown in fig. 2, the first plugged portion 212 includes a slot for opening on the operation platform 5; the first plug-in assembly 211 comprises a driver 2111 and a plug 2112 connected with the driver 2111, wherein the driver 2111 is connected with the walking device 1, and the driver 2111 is used for driving the plug 2112 to extend into or out of the slot along the vertical direction. The first plugged portion 212 and the first plug assembly 211 have simple structures, and can quickly lock the position of the walking device 1.

Facing in the direction of fig. 2, the actuator 2111 may effect up and down movement of the latch 2112 such that the latch 2112 extends into or out of a slot on the running platform 5. When the bolt 2112 extends into the slot, the bolt 2112 locks the position of the walking device 1 relative to the wind hole 4 to be poked, and when the bolt 2112 exits from the slot, the walking device 1 can move freely under the non-self-locking state.

Specifically, the end of the plug pin 2112 extending into the slot is inverted cone-shaped, so that the position of the running gear 1 is continuously corrected before the plug pin 2112 completely extends into the slot.

In addition, it should be noted that the maximum outer diameter of the insertion pin 2112 extending into the insertion slot is equal to the diameter of the insertion slot, so that the position of the walking device 1 can be accurately defined after the insertion pin 2112 is matched with the insertion slot.

The driver 2111 may be a hydraulic cylinder, a pneumatic cylinder, or a linear motor, and any structure that can drive the plug pin 2112 to extend into or out of the slot along the vertical direction may be the driver 2111 mentioned in the above embodiment. When the walking device 1 includes a battery, the power of the driver 2111 may be supplied from the battery.

The secondary positioning device 2 may in particular comprise two, three or four limiting mechanisms 21.

Preferably, as shown in fig. 4, the secondary positioning device 2 comprises two limiting mechanisms 21, and the first plug assemblies 211 of the two limiting mechanisms 21 are respectively arranged at two opposite corners of the walking device 1.

Compared with the arrangement that the two first plug-in components 211 are arranged on the same side of the walking device 1, the arrangement enables the position of the walking device 1 on the X, Y axis plane to be corrected more accurately, the position of the walking device 1 to be locked more stably, excessive limiting mechanisms 21 do not need to be arranged, and equipment cost is reduced.

Example two:

in the second embodiment, the secondary positioning device 2 includes a positioning mechanism 22 and a locking mechanism 23, both the positioning mechanism 22 and the locking mechanism 23 are disposed between the traveling device 1 and the operation platform 5, the positioning mechanism 22 is used for adjusting the position of the traveling device 1 relative to the wind hole 4 to be poked, and the locking mechanism 23 is used for locking the position of the traveling device 1 relative to the wind hole 4 to be poked.

The secondary positioning device 2 is provided with an adjusting function and a locking function independently, and after the position of the traveling device 1 is adjusted, the locking mechanism 23 locks the position of the traveling device 1 again, so that the locking effectiveness is improved.

As shown in fig. 5, in order to simplify the structure of the positioning mechanism 22, the positioning mechanism 22 includes a guide wheel 221 and a guide member 222, the guide wheel 221 is disposed on the running gear 1, the guide member 222 is disposed on the running platform 5, the guide member 222 has a guide groove for cooperating with the guide wheel 221, and an inlet of the guide groove faces the front end of the running gear 1.

When the walking device 1 drives the poking eye device 3 to initially align with the to-be-poked wind eye 4, the guide wheel 221 enters the inlet parts of the two guide grooves, then the walking device 1 continuously moves forwards along the guide grooves, and secondary accurate positioning of the walking device 1 is realized by utilizing the interaction of the guide grooves and the guide wheel 221.

Specifically, as shown in fig. 5, the caliber of the guide groove is gradually reduced along the entering direction of the guide wheel 221, and the arrangement enables the caliber of the opening at the entrance of the guide groove to be larger, thereby facilitating the guide wheel 221 to be guided into the guide groove.

In addition, the guide 222 may be mounted on the operation platform 5 by a coupling member such as a bolt.

The locking mechanism 23 includes a second plug-in component and a second plugged portion, the second plug-in component is disposed on the walking device 1, the second plugged portion is disposed on the operation platform 5, and at least a part of the second plug-in component can move in the vertical direction to achieve or cancel the plugging with the second plugged portion.

When the second plug-in component is plugged with the second plugged part, the locking mechanism 23 locks the position of the walking device 1 relative to the wind hole 4 to be poked, and when the second plug-in component is not matched with the second plugged part, the walking device 1 can move freely under the non-self-locking state.

The structure of the locking mechanism 23 may be similar to that of the limiting mechanism 21 in the first embodiment, the second plugged portion includes a groove for opening on the running platform 5, the second plugging assembly includes a driving member and a pin connected with the driving member, the driving member is connected with the running gear 1, the driving member is used for driving the pin to extend into or extend out of the groove along the vertical direction, and the structure of the locking mechanism 23 is not described in detail herein for the sake of brevity.

The secondary positioning device 2 may include one or more positioning mechanisms 22 and one or more locking mechanisms 23. Preferably, as shown in fig. 5, the secondary positioning device 2 includes two positioning mechanisms 22 and one locking mechanism 23. The guide wheels 221 of the two positioning mechanisms 22 are both arranged at the front end of the walking device 1, and the driving piece of the locking mechanism 23 is arranged at the tail end of the walking device 1.

In some embodiments, as shown in fig. 6, the barrel-eyed device 3 comprises a driving mechanism 31, a barrel 32 and a locking mechanism 33, the driving mechanism 31 and the locking mechanism 33 are both connected with the barrel 32, the driving mechanism 31 is used for driving the barrel 32 into or out of the barrel 4, and the locking mechanism 33 is used for locking the barrel 32.

The driving mechanism 31 drives the poking rod 32 to enter or exit the to-be-poked wind eye 4 so as to realize the wind eye poking operation. The locking mechanism 33 can realize the locking function of the poking rod 32, when the locking mechanism 33 is opened, the driving mechanism 31 can drive the poking rod to move in a reciprocating mode, and potential safety hazards caused by misoperation of the driving mechanism 31 in the movement process of the walking device 1 are avoided.

Wherein, actuating mechanism 31 is high-speed rodless cylinder, blocked mechanical system 33 is the shutting cylinder, high-speed rodless cylinder has the position feedback function, with the instruction action condition that targets in place, running gear 1 is last to be provided with the air pump air compressor machine 7 with actuating mechanism 31 and blocked mechanical system 33 intercommunication, air pump air compressor machine 7 provides high-pressure gas for actuating mechanism 31 and blocked mechanical system 33, disclose pole 32 accessible connecting component 35 and fix to rodless cylinder on, make things convenient for the dismantlement of disclosing pole 32, rodless cylinder drives disclosing pole 32 through connecting component 35 and discloses the eye action of poking.

The poking eye device 3 further comprises a guide rail 34 connected with the walking device 1, the connecting part 35 is in sliding connection with the guide rail 34, and the guide rail 34 can ensure that the connecting part 35 can stably drive the poking rod 32 to move back and forth.

In addition, when the running gear 1 includes a battery, the electric power of the air pump air compressor 7 may be supplied from the battery.

The operation process of the fully automatic poking eye device is explained in detail as follows:

1) full-automatic poking eye device mobile positioning: the centralized control system sends a poking wind eye command to the traveling device dispatching system, the traveling device dispatching system transmits the command to the controller through the WIFI network, the controller controls the trolley body to move to the front of a wind eye to be poked according to a fixed path, and then the controller controls the secondary positioning device 2 to realize secondary high-precision positioning. In the process, the controller can acquire the in-place information and the secondary positioning in-place information of the trolley body at any time so as to send out a positioning success signal or a fault signal on time.

2) Poking a wind eye: and after the secondary positioning is successful, the controller controls the poking eye device 3 to execute the poking eye action, and when the controller feeds back an indication that the poking eye is successful, the centralized control system sends a next command to poke a next eye or the full-automatic poking eye device returns to the charging position.

3) And (3) non-working state: as shown in fig. 7, when the full-automatic wind-hole poking device does not need to poke the wind-hole, the walking device 1 automatically moves to a charging position beside the fixed track, and the automatic charging of the AGV battery is realized by using the charging pile 6.

In summary, the fully automatic wind-poking eye device provided by the invention has the following advantages:

1) the high-precision positioning of the poking wind eye device can be realized, tracks are not required to be arranged, the stokehole space is not occupied when the poking wind eye device does not work, the occupied space is small when the poking wind eye device is installed and works, the poking wind eye device is not only suitable for a converter, but also suitable for a side-blown furnace with narrow stokehole space, the labor intensity of workers is reduced, and the personnel reduction and efficiency improvement of enterprises are realized;

2) the secondary positioning device 2 not only can secondarily adjust the position of the walking device 1, but also can lock the position of the walking device 1, and solves the problem of dynamic load impact on the walking device 1 in the process of poking a wind hole;

3) the equipment moves based on a trolley body, the trolley body can be an AGV, and the moving track can be flexibly changed according to the field condition;

4) the device can be provided with a power supply and an air pump air compressor 7, does not need to be connected with any power pipelines such as cables and air pipes, and is flexible to move and convenient to use;

5) this equipment follows functional design, structural design and all accords with smelting furnace technology current situation, can realize productization, really realizes full-automatic poking the wind eye, liberation workman's labour, cost reduction increase.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.