CN211170725U - Manipulator equipment for maintaining and disassembling blast furnace - Google Patents

Abstract

The utility model discloses a blast furnace maintenance dismouting manipulator equipment, including automobile body and first manipulator dismouting device, wherein the automobile body includes the frame and sets up dismouting device coupling assembling on the frame; the first manipulator dismounting device comprises a fixed seat, and the fixed seat is connected with the dismounting device connecting assembly; the driving device is arranged in the fixed seat; one end of the telescopic rod is connected with the fixed seat, the other end of the telescopic rod is provided with a first axial clamping and stopping piece, the first axial clamping and stopping piece is matched with one end face of the wind sleeve, and the telescopic rod is driven by the driving device; the second axial clamping part and the first axial clamping part are arranged on the telescopic rod at intervals, and the second axial clamping part is matched with the other end face of the wind sleeve; at least two bracing pieces, bracing piece one end fixing base is connected, and the bracing piece other end can butt on the blast furnace. Damage to the human body caused by impact or striking can be avoided; the disassembly and assembly of the air sleeve and the disassembly and assembly of the air pipe are matched to work, so that the blast furnace rush repair is quickly completed; is more suitable for the complex road conditions of steel mills.

Description

Manipulator equipment for maintaining and disassembling blast furnace

Technical Field

The utility model relates to a blast furnace dismouting maintenance professional equipment, concretely relates to blast furnace maintenance dismouting manipulator equipment.

Background

The blast furnace of the steel mill comprises an air pipe, an air sleeve and other parts. The blast furnace tuyere sleeve comprises a large sleeve, a middle sleeve and a small sleeve, wherein the blast furnace tuyere sleeve comprises a blast pipe which is positioned at the outermost side in the blast furnace, the large sleeve is connected with a furnace shell and sleeved on the middle sleeve, and the middle sleeve is sleeved on the tuyere small sleeve. The air jacket is an important device in a blast furnace air inlet system, and has the function of feeding hot air into the blast furnace, and along with the large-scale blast furnace and the continuous improvement of the air temperature level, the temperature of the front end of the air jacket is close to 2000 ℃, and the temperature of the slag iron melt is more than 1400 ℃. In the working process, the blast furnace air sleeve not only needs to bear the high-speed scouring of high-temperature hot air and the scouring of liquid iron slag, but also needs to bear the impact of high-temperature coke and the high-speed abrasion of coal dust during coal injection. Meanwhile, the high temperature points in the blast furnace air pipe are increased, and the blast furnace air pipe is easy to crack and the like.

At present, the operation of installation, dismantlement, maintenance change of blast furnace windband is generally adopted to be that the manual mode goes on, and the windband of installation dismantlement needs the simultaneous operation of digital workman, because windband weight generally is several hundred kilograms, need during the dismantlement to use the manual work to stimulate the smooth hammer striking extracting tool of dozens of kilograms repeatedly just can accomplish, and dismantlement work intensity of labour is big, and low in labor efficiency very easily takes place the bodily injury accident.

In addition, some windband disassembling equipment mechanically impacts or strikes the windband to complete the disassembly work of the windband, but the equipment adopting the mode of impacting or striking the windband is very easy to cause the damage of the windband or the tuyere of the blast furnace at high temperature, thereby causing unnecessary economic loss. Meanwhile, due to the complex working environment and road conditions of the steel mill, the equipment working in a mechanical impact or striking mode is often large in size and is not suitable for the complex road conditions of the steel mill.

On the other hand, at present, the blast furnace air pipe replacing equipment is also available, but the equipment can only be used for air pipe disassembling operation and cannot be used for air sleeve disassembling and replacing operation. During the rush-repair work of a blast furnace hot air port, an air pipe or an air sleeve is replaced singly, or different devices are adopted for disassembly and replacement, so that the problems of untimely rush-repair, delayed rush-repair time and the like are often caused, and unnecessary time and economic loss are generated.

Meanwhile, as the working environment of a steel mill is complex and the road condition is poor, the problems that the power is insufficient, the device cannot be used on a complex road surface, tires are easy to slip, the road condition in front can be observed, the operation is inconvenient and the like generally exist in the common disassembling and maintaining equipment for the blast furnace air sleeve or the air pipe, so that the device cannot be suitable for the complex road condition of the steel mill.

The above description is included in the technical recognition scope of the utility model, and does not necessarily constitute the prior art.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model provides a blast furnace maintenance dismouting manipulator equipment.

The utility model discloses a realize through following technical scheme:

blast furnace maintenance dismouting manipulator equipment includes: automobile body and first manipulator dismouting device, the automobile body includes: the frame is connected with a dismounting device connecting component arranged on the frame; first manipulator dismouting device includes: the fixed seat is connected with the dismounting device connecting assembly; the driving device is arranged in the fixed seat; one end of the telescopic rod is connected with the fixed seat, the other end of the telescopic rod is provided with a first axial clamping and stopping piece, the first axial clamping and stopping piece is matched with one end face of the wind sleeve, and the telescopic rod is driven by the driving device; the second axial clamping part and the first axial clamping part are arranged on the telescopic rod at intervals, and the second axial clamping part is matched with the other end face of the wind sleeve; one end of each support rod is connected with the fixing seat, and the other end of each support rod can be abutted against the blast furnace.

The working environment of a steel mill is complex, the blast furnace air duct is arranged in the deep inside of the blast furnace, wherein the blast furnace air duct is wrapped by the large sleeve, the large sleeve is connected with the furnace shell and is sleeved outside the middle sleeve, the middle sleeve is sleeved outside the tuyere small sleeve, the working environment temperature of the blast furnace air duct is extremely high, and the front end temperature can reach about 2000 ℃. Therefore, when the blast furnace air jacket is maintained, disassembled and replaced, an operator can only carry out the maintenance under the condition that the blast furnace air jacket cannot be seen, and an auxiliary positioning tool is not easy to adopt. Firstly, adopt first manipulator dismouting device in blast furnace maintenance dismouting manipulator equipment, can make things convenient for operating personnel to carry out quick, efficient location to the blast furnace windbox and snatch under the blind condition through setting up telescopic link, first axial clamping part and second axial clamping part. Under operating condition, the telescopic link can drive first axial and stop piece and second axial and stop the piece and extend to the windband position in blast furnace inside, and first axial stops the end-face fit of piece and windband, and second axial stops the piece and cooperates with another end-face of windband, realizes the location and the snatching of windband. Under idle state, the telescopic link can also contract to less length, reduces the whole size of blast furnace maintenance dismouting manipulator equipment, makes its complex environment and the road conditions that are applicable to the steel mill more. Secondly, adopt the bracing piece in blast furnace maintenance dismouting manipulator equipment, the bracing piece can the butt on the blast furnace, makes blast furnace maintenance dismouting manipulator equipment and the relative fixed in position of blast furnace, and the reaction force that the blast furnace produced when reducing equipment and plucking the windband is difficult for causing windband or blast furnace internal damage like this, controls the reaction force and protects the windband better. Thirdly, first manipulator dismouting device is through setting up the telescopic link, the bracing piece, first axial clamping piece, second axial clamping piece and first axial clamping piece interval set up and the cooperation between the above-mentioned part is used, can realize stable from the blast furnace with the mode of dragging and draw the wind jacket, safe dismantlement, such design has been avoided through the impact, the problem of damage of wind jacket or blast furnace wind gap department is easily caused to the wind jacket of plucking in violent modes such as strike, the part of wind jacket and blast furnace wind gap department has greatly been protected, it is more convenient to make the wind jacket dismantle the maintenance, and is steady, and is safe, the maintenance and disassembly cost is reduced.

Further, first manipulator dismouting device still includes: the telescopic rod safety cover, telescopic rod safety cover set up in the telescopic link and the drive arrangement junction outside, and telescopic rod safety cover one end sets up in the fixing base front end, the other end and the contact of the telescopic rod body of rod. Because the working environment temperature of the blast furnace windband is extremely high, and the disassembly operation needs to be carried out under the blind condition, the telescopic rod protection cover is also arranged in the first manipulator disassembly and assembly device. The telescopic link safety cover can protect the telescopic link in high temperature environment, drive arrangement and connection structure between them does not receive the influence of slag iron fuse-element and high temperature environment, makes parts such as telescopic link be difficult for taking place high temperature deformation, gluing, creep scheduling problem, has strengthened the high temperature resistance ability of parts such as telescopic link, has avoided the damage of parts such as telescopic link, the effectual life and the operation precision that have increased first manipulator dismouting device.

Furthermore, a support is arranged at the front end of the fixed seat, the support rod is hinged on the support, and the support rod can rotate around the hinge shaft; the support is further provided with a limiting rod, the limiting rod is located at the rear portion of the supporting rod and can limit the supporting rod to rotate towards the direction far away from the telescopic rod. The support is arranged at the front end of the fixing seat, the limiting rod is arranged on the support, and the supporting rod is hinged to the support, so that the supporting rod can be effectively fixed, the rotating angle of the supporting rod can be effectively limited, the whole machine of the blast furnace maintenance, disassembly and assembly mechanical arm equipment is smaller, and the blast furnace maintenance, disassembly and assembly mechanical arm equipment is suitable for the complex environment of a steel mill.

Furthermore, the rear end of the fixing seat is also provided with a clamping block, and the clamping block can be detachably connected with a clamp body of the second manipulator dismounting device, so that the first manipulator dismounting device and the second manipulator dismounting device are matched for use. The clamping block is arranged at the rear end of the fixing seat and can be clamped by the clamp body on the second manipulator dismounting device, so that the first manipulator dismounting device can be detachably connected to the second manipulator dismounting device, and the first manipulator dismounting device and the second manipulator dismounting device can be matched for use. In the blast furnace hot blast hole rush-repair operation, can install first manipulator dismouting device and second manipulator dismouting device on same automobile body fast to accomplish the operation of dismantling tuber pipe and windband fast, avoided the waste in time that single equipment change caused, better realization blast furnace maintenance dismouting automation, time of having practiced thrift and economic cost.

Further, frame bottom rear end is provided with the rear wheel, and frame bottom front end is provided with scalable wheel subassembly, and scalable wheel subassembly includes outer landing leg, interior landing leg, flexible actuating cylinder and front wheel, and the fixed setting in the frame bottom of outer landing leg, flexible actuating cylinder set up in the outer landing leg, and the actuating lever of flexible actuating cylinder is fixed on the landing leg including, and the landing leg front end including the front wheel setting, flexible actuating cylinder can drive the relative frame of front wheel and stretch out and draw back. Because the blast furnace windshields or air pipes are heavy, when the blast furnace windshields or air pipes are disassembled and assembled, the balance weight of the whole equipment is often unbalanced when the blast furnace windshields or air pipes are loaded on a common vehicle body; and the steel mill operating environment and road conditions are complicated, and the car body can not be balanced in a larger space by taking measures, so that the problem of unbalanced balance weight is solved. By arranging the telescopic wheel assembly, namely by matching the outer support leg, the inner support leg, the telescopic driving cylinder and the front wheel and the rear wheel, when a blast furnace air sleeve or an air pipe is loaded on the vehicle body, the inner support leg is driven to drive the front wheel to extend forwards relative to the vehicle frame, so that the problem of counterweight can be effectively solved without occupying more space; when the vehicle body is unloaded, the front wheels are driven to retract backwards, so that the space occupied by the whole machine of the blast furnace maintenance, disassembly and assembly mechanical arm equipment can be reduced, and the complex environment of a steel mill is adapted.

Preferably, the front wheels are driving wheels, the rear wheels are steering wheels, and the vehicle body is a forward-moving forklift. The turning radius of the forward forklift is smaller, and the forward forklift can better adapt to the complex environment of a steel mill.

Further, dismouting device coupling assembling includes: the outer portal frame, the outer portal frame sets up on the frame, the outer portal frame includes the mount, carriage and lift jar, mount lower extreme both sides are provided with first roller train, first spout cooperation on first roller train and the frame can make the outer portal frame control about on the frame, mount upper end both sides are provided with the second roller train, be provided with the second spout with second roller train adaptation on the carriage, the lift jar is fixed on the mount, the pole of lifting of lift jar is connected with the carriage, the carriage can follow the second spout and reciprocate on the mount under the drive of lift jar. Through setting up mount, carriage and lifting cylinder and the cooperation relation between them, can realize the upper and lower, back-and-forth movement of dismouting device coupling assembling on the automobile body to drive the first manipulator dismouting device of connection above that and carry out upper and lower, seesaw.

Further, dismouting device coupling assembling still includes: the inner gantry is arranged on the sliding frame, and a double-acting cylinder is arranged on the inner gantry; the device connecting piece sets up including on the portal, the device connecting piece can be connected with first manipulator dismouting device detachably, and the device connecting piece passes through the journal stirrup to be connected with interior portal, still is provided with on the device connecting piece and bumps the piece, bumps piece and two effect jar contacts.

Further, blast furnace maintenance dismouting manipulator equipment still includes: second manipulator dismouting device, second manipulator dismouting device can be connected with dismouting device coupling assembling component and/or first manipulator dismouting device detachably, and second manipulator dismouting device includes: rotary drive device, chute board, left side clamp, right side clamp, control cylinder and bidirectional control jar, rotary drive device includes: the rotary driver is arranged on one side of the rotary fixing plate, a rotating shaft of the rotary driver penetrates through the rotary fixing plate to be connected with the sliding groove plate, and the rotary driver can drive the sliding groove plate to rotate by 360 degrees; an upper chute and a lower chute are arranged on the chute plate, a first upper chute guide rail, a first lower chute guide rail and a left clamping fixing plate are arranged on the left side clamp body, the left side clamp body is respectively connected with the upper chute and the lower chute through the first upper chute guide rail and the first lower chute guide rail, a second upper chute guide rail, a second lower chute guide rail and a right clamping fixing plate are arranged on the right side clamp body, and the right side clamp body is respectively connected with the upper chute and the lower chute through the second upper chute guide rail and the second lower chute guide rail; one end of the control cylinder is fixed on the sliding chute plate through the first fixed support lug, the other end of the control cylinder is connected with the bidirectional control cylinder, one end of the bidirectional control cylinder is connected with the left clamp body through the second fixed support lug I, and the other end of the bidirectional control cylinder is connected with the right clamp body through the second fixed support lug II. The left clamp body and the right clamp body are driven by a control cylinder to synchronously move left and right relative to the main beam along the guide unit; the left clamp body and the right clamp body can respectively move left and right along the guide unit relative to the main beam through the drive of the bidirectional control cylinder.

Further, the left side clamp body clamping surface and the right side clamp body clamping surface both adopt a tongue and groove structure, the left side clamp body and/or the right side clamp body further comprise a cushion block of at least one type, a tongue and groove structure matched with the tongue and groove structure is arranged on the cushion block, and the cushion block is detachably connected to the left side clamp body and/or the right side clamp body. On one hand, the clamping surface adopts a concave-convex groove structure, so that the friction force between the air pipe and the left and right clamping bodies can be increased, and the reliable clamping of the air pipe is ensured. On the other hand, through setting up the cushion of different models, can press from both sides tightly not unidimensional tuber pipe by second manipulator dismouting device.

Drawings

The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it. In the drawings:

fig. 1 is a schematic structural diagram illustrating an exemplary implementation of a first manipulator dismounting device according to an embodiment of the present invention;

fig. 2 is a side view of an exemplary embodiment of a first robot assembly and disassembly apparatus according to an embodiment of the present invention;

FIG. 3 is a schematic view of an exemplary embodiment of a vehicle frame according to an embodiment of the present invention;

fig. 4 is a schematic structural view of an exemplary embodiment of a frame and dismounting device connecting assembly according to an embodiment of the present invention;

fig. 5 is a schematic structural view of an exemplary embodiment of an outer door frame according to an embodiment of the present invention;

fig. 6 is a schematic structural view of an exemplary embodiment of an inner gantry according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of an exemplary embodiment of a device connector according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram illustrating an exemplary implementation of the second robot disassembling and assembling device according to an embodiment of the present invention;

fig. 9 is a side view of an exemplary embodiment of a second robot assembly and disassembly apparatus according to an embodiment of the invention;

fig. 10 is a schematic structural view of an exemplary embodiment of a clamping fixture plate and a spacer according to an embodiment of the present invention;

FIG. 11 shows an enlarged view of the spacer of FIG. 10;

fig. 12 is a schematic structural diagram illustrating an exemplary embodiment of an assembly of the vehicle body, the first robot mounting/dismounting device, and the second robot mounting/dismounting device according to an embodiment of the present invention.

Wherein:

1-a vehicle body, 2-a first manipulator dismounting device and 3-a first manipulator dismounting device;

11-frame, 12-rear wheel, 13-outer leg, 14-inner leg, 15-front wheel, 16-outer gantry, 17-inner gantry, 18-device link;

161-fixed frame, 162-sliding frame, 163-lifting cylinder, 164-first roller group, 165-second roller group and 166-second sliding groove;

171-double acting cylinder;

181-support ear, 182-bump block;

21-a fixed seat, 22-a driving device, 23-a telescopic rod, 24-a first axial clamping part, 25-a second axial clamping part, 26-a supporting rod, 27-a telescopic rod protective cover, 28-a support and 29-a clamping block;

281-a limiting rod;

31-a rotary driving device, 32-a sliding groove plate, 33-a left clamp body, 34-a right clamp body, 35-a control cylinder, 36-a bidirectional control cylinder, 37-a positioning block and 38-a pallet fork;

311-rotary drive, 312-rotary fixed plate;

321-an upper chute and 322-a lower chute;

331-first upper chute guide, 332-first lower chute guide, 333-left clamp fixing plate, 334-spacer block.

Detailed Description

In order to more clearly explain the overall concept of the present invention, the following detailed description is given by way of example in conjunction with the accompanying drawings.

It should be noted that in the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.

In addition, in the description of the present invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. However, the direct connection means that the two bodies are not connected to each other by the intermediate structure but connected to each other by the connecting structure to form a whole. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

First, the technical concept of the present invention will be explained. At present, the maintenance, disassembly and assembly operation of the blast furnace tuyere generally adopts a manual mode, and can be completed only by simultaneously working by digital operators during operation, so that the labor intensity of the disassembly operation is high, the efficiency is low, and accidents are easy to happen. Although devices for disassembling the windband are available, most of the devices adopt mechanical impact or striking modes for operation, are often large in size and are not suitable for complex road conditions of steel mills. Meanwhile, some blast furnace air pipe dismounting devices exist, but the devices can only be singly used for air pipe dismounting or air sleeve dismounting operation, cannot be used in a matched mode, and often cause time waste in blast furnace hot air port rush repair work. On the other hand, the working environment of a steel mill is complex, the road condition is poor, and the problems that the power is insufficient, the road condition is not easy to pass through a complex road surface, tires slip, the road condition is inconvenient to observe, the operation is inconvenient and the like usually exist in the common blast furnace air sleeve or air pipe dismounting equipment, so that the blast furnace air sleeve or air pipe dismounting equipment cannot adapt to the complex environment of the steel mill.

In view of the above problems of the existing blast furnace maintenance and disassembly equipment, the utility model provides a novel blast furnace maintenance and disassembly manipulator equipment.

The specific scheme is as follows:

example one

As shown in fig. 1 and 2, the blast furnace maintenance disassembling and assembling robot apparatus includes: automobile body 1 and first manipulator dismouting device 2, automobile body 1 includes: the frame 11 and the dismounting device connecting component arranged on the frame 11; the first manipulator attaching and detaching device 2 includes: the fixed seat 21 is connected with the dismounting device connecting assembly; a driving device 22 disposed in the fixing base 21; one end of the telescopic rod 23 is connected with the fixed seat 21, the other end of the telescopic rod 23 is provided with a first axial clamping and stopping piece 24, the first axial clamping and stopping piece 24 is matched with one end face of the windband, and the telescopic rod 23 is driven by the driving device 22; a second axial clamping part 25, wherein the second axial clamping part 25 and the first axial clamping part 24 are arranged on the telescopic rod 23 at intervals, and the second axial clamping part 25 is matched with the other end surface of the windband; at least two support rods 26, one end of each support rod 26 is connected with the fixing seat 21, and the other end of each support rod 26 can be abutted to the blast furnace.

In this embodiment, the first manipulator attaching and detaching device is used for maintenance, attaching and detaching, and replacing operations of the blast furnace tuyere. Wherein, fixing base 21 is formed by the welding of panel, and drive arrangement 22 adopts the lead screw speed reducer, and telescopic link 23 adopts high temperature resistant alloy member, passes through flange joint between telescopic link 23 and the drive arrangement 22, and first axial clamping part 24 adopts high temperature resistant alloy gib head, and second axial clamping part 25 adopts the fender dish. In the process that the telescopic rod 23 moves towards the direction of the blast furnace windband, the baffle disc is in contact with the outer edge of the windband and is used for controlling the stroke of the lead screw speed reducer. The distance between the catch plate and the high-temperature-resistant alloy hook head can be set according to the size of the wind sleeve, and the hook head is in contact with the inner edge of the wind sleeve when the catch plate is in contact with the outer edge of the wind sleeve, so that the wind sleeve is positioned and grabbed. Such design can make operating personnel do not adopt other appurtenance under the blind condition in high temperature environment, snatch fast, efficient location to blast furnace windpipe. In idle state, telescopic link 23 can also contract to less length, reduces the whole size of equipment, makes it adapt to the complicated environment of steel mill and road conditions more.

On the other hand, the bracing piece 26 adopts the rigidity member that has the couple in the front end, and the couple is used for catching on the blast furnace border, makes the position relatively fixed of blast furnace maintenance dismouting manipulator equipment and blast furnace, and the reaction force that the blast furnace produced when reducing equipment and plucking the windband is difficult for causing windband or blast furnace internal damage like this, can protect the windband better.

In this embodiment, through setting up the telescopic link 23, the bracing piece 26, first axial clamping part 24, second axial clamping part 25 and the cooperation between the above-mentioned part is used, can realize steadily in following the hot wind gap of blast furnace with the windband with the mode of dragging, safe dismantlement gets off, avoided adopting the impact, take the problem that the windband caused windband or blast furnace wind gap department to damage easily in violent modes such as strike, the part of windband and blast furnace wind gap department has greatly been protected, it is more convenient to make the windband dismantle the maintenance, steady, safety, maintenance dismouting cost has been reduced.

Of course, it is understood that the driving device 22 of the present embodiment may be a driving device such as a hydraulic driving device, a pneumatic driving device, or an electric driving device, as well as a screw speed reducer. The first axial locking piece 24 may be a high temperature alloy hook, an axial protrusion, a steel claw, or the like, as long as it can be locked at the inner edge of the windband. The second axial clamping stop 25 can be in the form of a baffle plate, a baffle frame or the like, and can be used for controlling the stroke of the telescopic rod 23 as long as the second axial clamping stop can be blocked at the outer edge of the windband. Meanwhile, the support rod 26 is not a rigid rod with a hook at the front end, so long as the support fixation can be formed between the blast furnace maintenance disassembly and assembly manipulator device and the blast furnace.

As shown in fig. 1, the first robot attaching and detaching device 2 further includes: telescopic link safety cover 27, telescopic link safety cover 27 set up in the telescopic link 23 and the drive arrangement 22 junction outside, and telescopic link safety cover 27 one end sets up in the fixing base 21 front end, the other end and the contact of the telescopic link 23 body of rod. In the present embodiment, the extension rod 23 is connected to the extension rod protection cover 27 by a pin and is tightened by a bolt. Blast furnace windband operational environment temperature is high, has set up telescopic link safety cover 27 and can protect parts such as telescopic link 23 not receive the influence of slag iron fuse-element and high temperature environment in high temperature environment, makes parts such as telescopic link 23 be difficult for taking place high temperature deformation, gluing even, creep scheduling problem, strengthens the high temperature resistance ability of part, has avoided the damage of part, has effectively increased first manipulator dismouting device 2's life and operation precision.

As shown in fig. 1, a support 28 is arranged at the front end of the fixing seat 21, the support rod 26 is hinged on the support 28, and the support rod 26 can rotate around a hinge shaft; the support 28 is further provided with a limiting rod 281, and the limiting rod 281 is located at the rear portion of the support rod 26 and can limit the support rod 26 to rotate towards a direction away from the telescopic rod 23. The front end of the fixing seat 21 is provided with the support 28, the support 28 is provided with the limiting rod 281, and the supporting rod 26 is hinged on the support 28, so that the supporting rod 26 can be effectively fixed, the rotation angle of the supporting rod 26 can be effectively limited, the whole machine of the blast furnace maintenance, disassembly and assembly mechanical arm equipment is smaller and more exquisite, and the blast furnace maintenance, disassembly and assembly mechanical arm equipment is suitable for the complex environment of a steel mill.

As shown in fig. 2, a clamp block 29 is further provided at the rear end of the fixed base 21, and the clamp block 29 is detachably connected to the clamp body of the second manipulator attaching and detaching device 3, so that the first manipulator attaching and detaching device 2 and the second manipulator attaching and detaching device 3 are used in cooperation. The clamp body of the second manipulator dismounting device 3 may include a left clamp body and a right clamp body. Of course, it is understood that the clamp body of the second manipulator attaching and detaching device 3 may be not only a left and right clamp body, but also other clamp body forms as long as it can be clamped and fixed with the clamping block 29. A clamp block 29 is provided at the rear end of the fixed base 21, and the first robot attaching and detaching device 2 can be detachably connected to the second robot attaching and detaching device 3. Make first manipulator dismouting device 2 and second manipulator dismouting device 3 can cooperate the use, in the operation is salvageed in blast furnace hot blast hole, accomplish fast and dismantle tuber pipe and windband operation, avoided the waste in time that single equipment caused, better realization blast furnace maintenance dismouting automation, time of having practiced thrift and economic cost.

As shown in fig. 3, a rear wheel 12 is disposed at the rear end of the bottom of the frame 11, a retractable wheel assembly is disposed at the front end of the bottom of the frame 11, the retractable wheel assembly includes an outer leg 13, an inner leg 14, a retractable driving cylinder and a front wheel 15, the outer leg 13 is fixedly disposed at the bottom of the frame 11, the retractable driving cylinder is disposed in the outer leg 13, a driving rod of the retractable driving cylinder is fixed to the inner leg 14, the front wheel 15 is disposed at the front end of the inner leg 14, and the retractable driving cylinder can drive the inner leg 14 to drive the front wheel 15 to extend and retract relative to the frame 11. By arranging the telescopic wheel assembly, when the blast furnace air sleeve or the air pipe is loaded on the vehicle body 1, the telescopic driving cylinder drives the inner supporting legs 14 to drive the front wheels 15 to extend forwards relative to the vehicle frame 11, so that the stability of the equipment in loading can be ensured; when the vehicle body 1 is in no-load, the telescopic driving cylinder drives the front wheels 15 to retract backwards, so that the occupied space of the whole equipment can be reduced, and the device is suitable for the complex environment of a steel mill.

In this embodiment, the front wheels 15 are provided as driving wheels, the rear wheels 12 are provided as steering wheels, and the vehicle body 1 is a reach truck having a small turning radius and capable of better working in a steel mill.

As shown in fig. 4, the mounting and dismounting device connecting assembly includes an outer mast 16, an inner mast 17, and a device connecting member 18, the outer mast 16 being disposed on the frame 11, the inner mast 17 being disposed on the carriage 162 of the outer mast 16, and the device connecting member 18 being disposed on the inner mast 17.

As shown in fig. 5, the outer gantry 16 includes a fixed frame 161, a sliding frame 162 and a lifting cylinder 163, wherein two sides of the lower end of the fixed frame 161 are provided with a first roller set 164, the first roller set 164 is matched with a first sliding groove on the frame 11 to enable the outer gantry 16 to move left and right on the frame 11, two sides of the upper end of the fixed frame 161 are provided with a second roller set 165, the sliding frame 162 is provided with a second sliding groove 166 matched with the second roller set 165, the lifting cylinder 163 is fixed on the fixed frame 161, a lifting rod of the lifting cylinder 163 is connected with the sliding frame 162, and the sliding frame 162 can move up and down on the fixed frame 161 along the second sliding groove 166 under the driving of the lifting cylinder. In the present embodiment, the carriage 162 is further provided with a bobbin or the like. By arranging the fixing frame 161, the sliding frame 162, the lifting cylinder 163 and the matching relationship therebetween, the dismounting device connecting assembly can move up and down and back and forth on the vehicle body 1, so that the first manipulator dismounting device 2 connected to the dismounting device can be driven to move up and down and back and forth.

As shown in fig. 6, the frame of the inner gantry 17 is formed by welding plates, the double-acting cylinder 171 is arranged inside the frame, the inner gantry is further provided with a threading plate, a roller and other components, wherein the threading plate is provided with a threading hole, the threading plate is divided into two parts from the center of the hole (or other positions), one part of the threading plate is welded on the frame, and the other part of the threading plate is fixed by a bolt after an oil pipe penetrates through the threading plate.

As shown in fig. 7, the device connecting member 18 is provided with a support lug 181 and a stopper 182. The device connecting piece 18 is connected with the inner door frame 17 through a support lug 181 and a pin shaft, a collision block 182 on the device connecting piece 18 is contacted with the double-acting cylinder 171, and the contact surface between the two is arc-shaped. The device connector 18 is detachably connectable to the first robot attaching and detaching device 2.

In this embodiment, when the windband needs to be repaired and disassembled, the following steps can be adopted:

①, when the blast furnace is blowing down, the vehicle body 1 of the blast furnace maintenance and disassembly manipulator equipment is well connected with the first manipulator disassembly and assembly device 2;

② moving the said blast furnace maintenance disassembling and assembling manipulator equipment to the vicinity of the blast furnace edge;

③ controlling the driving device 22 to make the hook head of the first axial clamping part 24 extend into the tuyere copper bush until the baffle disc of the second axial clamping part 25 contacts with the outer edge of the copper bush and the supporting rod 26 is hooked on the furnace edge;

④ the button is operated to draw the windband as the drive 22 extends and retracts the lead screw reducer.

The mounting process is the reverse of the dismounting process.

The manipulator equipment of dismouting is maintained to blast furnace of this embodiment example can help operating personnel in high temperature environment under the blind condition, carries out quick, accurate location to blast furnace windbox and snatchs. The damage of the reaction force generated when the equipment picks up the air jacket to the air jacket and other parts at the hot blast tuyere of the blast furnace is effectively reduced, and the air jacket and other parts at the hot tuyere of the blast furnace are better protected. Through various designs, the overall size of the equipment is reduced, and the equipment car body is more suitable for the complex road conditions of a steel mill. Meanwhile, the matching use of the blast furnace maintenance disassembling and assembling manipulator equipment and the air pipe maintenance disassembling and assembling equipment becomes possible, and the time can be saved during the blast furnace hot air port rush-repair operation.

Example two

The same features of this embodiment and the first embodiment are not described again, and the different features of this embodiment and the first embodiment are:

as shown in fig. 8, 9 and 10, the blast furnace maintenance disassembly and assembly robot apparatus according to the present embodiment further includes a second robot disassembly and assembly device 3. As shown in fig. 12, the second robot attaching and detaching device 3 can be connected to the vehicle body 1 and the first robot attaching and detaching device 2. The second manipulator attachment/detachment device 3 includes: a rotation driving device 31, a chute plate 32, a left clamp 33, a right clamp 34, a control cylinder 35 and a bidirectional control cylinder 36. The rotation driving device 31 includes a rotation driver 311 and a rotation fixing plate 312, the rotation driver 311 is disposed on one surface of the rotation fixing plate 312, a rotation shaft of the rotation driver 311 penetrates through the rotation fixing plate 312 to be connected with the chute plate 32, and the rotation driver 311 can drive the chute plate 32 to rotate 360 °. The chute plate 32 is provided with an upper chute 321 and a lower chute 322, the left clamp 33 is provided with a first upper chute guide rail 331, a first lower chute guide rail 332 and a left clamping fixing plate 333, and the left clamp 33 is connected with the upper chute 321 and the lower chute 322 through the first upper chute guide rail 331 and the first lower chute guide rail 332 respectively. A second upper chute guide rail, a second lower chute guide rail and a right clamping fixing plate are arranged on the right clamp body 34, and the right clamp body 34 is respectively connected with the upper chute 321 and the lower chute 322 through the second upper chute guide rail and the second lower chute guide rail. One end of the control cylinder 35 is fixed on the chute plate 32 through a first fixed support lug, the other end of the control cylinder is connected with the bidirectional control cylinder 36, one end of the bidirectional control cylinder 36 is connected with the left clamp body 33 through a second fixed support lug I, and the other end of the bidirectional control cylinder 36 is connected with the right clamp body 34 through a second fixed support lug II. Still be provided with locating piece 37 and fork 38 on the second manipulator dismouting device 3, the position of locating piece 37 can be adjusted according to the width of fork, guarantees that the fork is closely fixed. When the second manipulator dismounting device 3 is connected to the vehicle body 1 and the first manipulator dismounting device 2, the fixing base 21 of the first manipulator dismounting device 2 can be placed on the fork 38, and the fork 38 can play a better role in stabilizing the first manipulator dismounting device 2.

In the embodiment, the left clamp body 33 and the right clamp body 34 can synchronously move left and right along the guide unit relative to the main beam by being driven by the control cylinder 35; the left clamp body 33 and the right clamp body 34 can respectively move left and right along the guide unit relative to the main beam by being driven by a bidirectional control cylinder 36.

As shown in fig. 10 and 11, the clamping surfaces of the left clamp body 33 and the right clamp body 34 are both in a tongue-and-groove structure. The clamping surface adopts a concave-convex groove structure, so that the friction force between the air pipe and the left and right clamping bodies can be increased, and the reliable clamping of the air pipe is ensured. The left clamp body 33 and/or the right clamp body 34 further comprise a cushion block 334 with at least one type, a concave-convex groove structure matched with the concave-convex groove structure is arranged on the cushion block 334, and the cushion block 334 is detachably connected to the left clamp body 33 and/or the right clamp body 34. Clamping of different sized air ducts can be achieved by the spacer 334.

In this embodiment, when the air duct needs to be disassembled, the following steps may be adopted:

① before the blast furnace is stopped, the manipulator equipment is moved to the lower part of the blast furnace air pipe, and the left clamp 33 and the right clamp 34 are matched with the safe and reliable air pipe by adjusting each oil cylinder;

② when the blast furnace stops blowing down, removing the connecting bolts at the flanges of the air pipes;

③ the blast furnace maintenance disassembly and assembly manipulator device retreats, the air duct is disassembled, and the air duct is transported to other positions;

the air pipe is mounted in the reverse process of disassembly.

The current single blast furnace air pipe dismounting device or air sleeve dismounting device can not meet the requirement of blast furnace hot air port rush repair work, often causes untimely rush repair and causes loss of time and economy. The blast furnace maintenance dismouting manipulator equipment of this embodiment example can make tuber pipe dismouting and windband dismouting cooperation use, accomplishes blast furnace hot air port fast and salvagees the operation, and the customer service has above-mentioned problem, has improved the work efficiency that blast furnace hot air port was salvageed, save time and cost.

The utility model can be realized by adopting or using the prior art for reference in places which are not mentioned in the utility model.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (10)

1. Blast furnace maintenance dismouting manipulator equipment, its characterized in that includes:

the vehicle body and the first manipulator dismounting device,

the vehicle body includes:

the frame is provided with a front wheel and a rear wheel,

the dismounting device connecting assembly is arranged on the frame; the first manipulator dismounting device includes:

the fixed seat is connected with the dismounting device connecting assembly;

the driving device is arranged in the fixed seat;

one end of the telescopic rod is connected with the fixed seat, the other end of the telescopic rod is provided with a first axial clamping and stopping piece, the first axial clamping and stopping piece is matched with one end face of the windband, and the telescopic rod is driven by the driving device;

the second axial clamping part is arranged on the telescopic rod at intervals from the first axial clamping part and is matched with the other end face of the wind sleeve;

and one end of each support rod is connected with the fixing seat, and the other end of each support rod can be abutted against the blast furnace.

2. The blast furnace maintenance disassembly and assembly robot apparatus of claim 1, wherein the first robot disassembly and assembly device further comprises:

the telescopic rod safety cover, the telescopic rod safety cover set up in the telescopic rod with the drive arrangement junction outside, telescopic rod safety cover one end set up in the fixing base front end, the other end with the contact of the telescopic rod body of rod.

3. The blast furnace maintenance disassembly and assembly manipulator apparatus of claim 1, wherein a support is provided at a front end of the fixing base, the support rod is hinged to the support, and the support rod is rotatable around a hinge shaft; the support is further provided with a limiting rod, the limiting rod is located at the rear portion of the supporting rod and can limit the supporting rod to rotate in the direction away from the telescopic rod.

4. The blast furnace maintenance disassembly and assembly manipulator apparatus of claim 1, wherein a clamping block is further disposed at the rear end of the fixing base, and the clamping block can be detachably connected with a clamp body of the second manipulator disassembly and assembly device, so that the first manipulator disassembly and assembly device and the second manipulator disassembly and assembly device can be used together.

5. The blast furnace maintenance dismouting manipulator equipment of claim 1, characterized in that frame bottom rear end is provided with the rear wheel, frame bottom front end is provided with scalable wheel subassembly, scalable wheel subassembly includes outer landing leg, inner leg, flexible actuating cylinder and front wheel, the outer landing leg is fixed to be set up in the frame bottom, flexible actuating cylinder sets up in the outer landing leg, the actuating lever of flexible actuating cylinder is fixed on the inner landing leg, the front wheel sets up in the inner landing leg front end, flexible actuating cylinder can drive the inner landing leg drives the front wheel is flexible relative the frame.

6. The blast furnace maintenance disassembly and assembly manipulator apparatus of claim 5, wherein the front wheels are driving wheels, the rear wheels are steering wheels, and the car body is a reach truck.

7. The blast furnace maintenance disassembly and assembly robot apparatus of claim 1, wherein the disassembly and assembly device connection assembly comprises:

outer portal, outer portal sets up on the frame, outer portal includes mount, carriage and lift jar, mount lower extreme both sides are provided with first roller train, first roller train with first spout cooperation on the frame can make outer portal remove about on the frame, mount upper end both sides are provided with the second roller train, be provided with on the carriage with the second spout of second roller train adaptation, it fixes to lift the jar on the mount, lift the pole of jar with the carriage is connected, the carriage is in can follow under the jar drive of lifting the second spout is in reciprocate on the mount.

8. The blast furnace service disassembly and assembly robot apparatus of claim 7, wherein the disassembly and assembly device connection assembly further comprises:

an inner door frame and a device connecting piece,

the inner gantry is arranged on the sliding frame, and a double-acting cylinder is arranged on the inner gantry;

the device connecting piece sets up on the interior portal, the device connecting piece can with first manipulator dismouting device detachably connects, the device connecting piece pass through the journal stirrup with interior portal is connected, still be provided with on the device connecting piece and bump the piece, bump the piece with two effect jar contacts.

9. The blast furnace maintenance disassembly robot apparatus of claim 1, further comprising:

a second manipulator assembly and disassembly device that is detachably connectable with the assembly and disassembly device connection assembly and/or the first manipulator assembly and disassembly device,

the second manipulator dismouting device includes: a rotary driving device, a chute plate, a left clamp body, a right clamp body, a control cylinder and a bidirectional control cylinder,

the rotation driving device includes: the rotary driver is arranged on one surface of the rotary fixing plate, a rotating shaft of the rotary driver penetrates through the rotary fixing plate to be connected with the chute plate, and the rotary driver can drive the chute plate to rotate for 360 degrees;

the left clamp body is respectively connected with the upper chute and the lower chute through the first upper chute guide rail and the first lower chute guide rail, the right clamp body is provided with a second upper chute guide rail, a second lower chute guide rail and a right clamp fixing plate, and the right clamp body is respectively connected with the upper chute and the lower chute through the second upper chute guide rail and the second lower chute guide rail;

control jar one end is fixed through first fixed journal stirrup on the chute board, the other end is connected with the bidirectional control jar, the left side clamp is connected through the fixed journal stirrup I of second to bidirectional control jar one end, the right side clamp is connected through the fixed journal stirrup II of second to the bidirectional control jar other end.

10. The blast furnace maintenance disassembly and assembly manipulator device of claim 9, wherein the left clamp clamping surface and the right clamp clamping surface are both in a tongue and groove structure, the left clamp and/or the right clamp further comprises at least one type of cushion block, the cushion block is provided with a tongue and groove structure matched with the tongue and groove structure, and the cushion block is detachably connected to the left clamp and/or the right clamp.

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