CN112539415B - Robot device for drawing out furnace - Google Patents
Robot device for drawing out furnace Download PDFInfo
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- CN112539415B CN112539415B CN202011344339.5A CN202011344339A CN112539415B CN 112539415 B CN112539415 B CN 112539415B CN 202011344339 A CN202011344339 A CN 202011344339A CN 112539415 B CN112539415 B CN 112539415B
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- pipe
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- 239000003245 coal Substances 0.000 abstract description 20
- 238000004140 cleaning Methods 0.000 abstract description 2
- 239000000571 coke Substances 0.000 abstract description 2
- 230000001105 regulatory effect Effects 0.000 description 5
- 238000003756 stirring Methods 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23J—REMOVAL OR TREATMENT OF COMBUSTION PRODUCTS OR COMBUSTION RESIDUES; FLUES
- F23J3/00—Removing solid residues from passages or chambers beyond the fire, e.g. from flues by soot blowers
- F23J3/02—Cleaning furnace tubes; Cleaning flues or chimneys
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F23—COMBUSTION APPARATUS; COMBUSTION PROCESSES
- F23J—REMOVAL OR TREATMENT OF COMBUSTION PRODUCTS OR COMBUSTION RESIDUES; FLUES
- F23J1/00—Removing ash, clinker, or slag from combustion chambers
- F23J1/06—Mechanically-operated devices, e.g. clinker pushers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Actuator (AREA)
Abstract
The invention provides a furnace drawing robot device, and belongs to the field of coke oven cleaning equipment. The furnace drawing robot device comprises a frame, a support arm and a second oil cylinder. The top of frame is provided with the arc guide rail, and the support frame is suitable for along the arc guide rail removal on the horizontal plane, and the rear end of support arm and the rear end of support frame are articulated, are provided with first hydro-cylinder between support arm and the support frame, and first hydro-cylinder is suitable for driving the support arm and rotates on vertical face, and the second hydro-cylinder is fixed with the support arm, and the length direction of second hydro-cylinder is unanimous with the length direction of support arm, and the front end of second hydro-cylinder is suitable for connecting and draws the stove piece. Realizes the automatic furnace drawing action of the coal furnace.
Description
Technical Field
The invention relates to the field of coke oven cleaning equipment, in particular to a furnace drawing robot device.
Background
For some fields requiring large-scale coal stove devices, such as traditional thermal power generation, a large amount of coal is required to be burnt in the large-scale coal stove, and for other fields such as molten steel pouring, a large amount of coal is required to be burnt in the large-scale coal stove to melt steel.
However, since the coals are piled together, in order to enable the coals to burn fully, a worker usually takes steel pliers into the coal stove to stir the coals, and the action can be called as drawing the stove, so that time and labor are wasted, and because the surrounding temperature of the coal stove is high, a certain danger exists in manual drawing of the stove.
Disclosure of Invention
The invention aims to solve the problems that the existing manual furnace drawing is time-consuming and labor-consuming and has a danger to a certain extent.
In order to solve the above problems, the present invention provides a furnace drawing robot apparatus comprising:
The top of the frame is provided with an arc-shaped guide rail;
the support frame is suitable for moving along the arc-shaped guide rail on a horizontal plane;
the rear end of the support arm is hinged with the rear end of the support frame, a first oil cylinder is arranged between the support arm and the support frame, and the first oil cylinder is suitable for driving the support arm to rotate on a vertical surface; and
The second oil cylinder is connected with the supporting arm, the length direction of the second oil cylinder is consistent with the length direction of the supporting arm, and the front end of the second oil cylinder is suitable for being connected with a furnace drawing block.
Further, an accommodating groove is formed in the supporting arm, a furnace drawing arm is connected in the accommodating groove in a sliding mode, the furnace drawing arm is suitable for reciprocating movement along the length direction of the supporting arm, and the front end of the furnace drawing arm is fixed with the furnace drawing block.
Further, the furnace drawing robot device further comprises a first hydraulic control system, the first hydraulic control system comprises a first oil tank, a first pipeline, a second pipeline and a first reversing valve, one end of the first pipeline is communicated with the first oil tank, the other end of the first pipeline is communicated with a rodless cavity oil port of the first oil cylinder, one end of the second pipeline is communicated with the first oil tank, the other end of the second pipeline is communicated with a rod cavity oil port of the first oil cylinder, one end of the first reversing valve is installed on the first pipeline, the other end of the first reversing valve is installed on the second pipeline, and a first oil pump is arranged on the first pipeline and is located between the first reversing valve and one end of the first pipeline.
Further, a first one-way throttle valve is arranged on the first pipeline, and a second one-way throttle valve is arranged on the second pipeline.
Further, the first hydraulic control system further comprises a first pressure relief pipeline, a first pressure relief valve, a second pressure relief pipeline and a second pressure relief valve, one end of the first pressure relief pipeline is communicated with the first oil tank, the other end of the first pressure relief pipeline is communicated with the position, close to the rodless cavity oil port of the first oil cylinder, of the first pipeline, the first pressure relief valve is arranged on the first pressure relief pipeline, one end of the second pressure relief pipeline is communicated with the first oil tank, the other end of the second pressure relief pipeline is communicated with the position, close to the rod cavity oil port of the first oil cylinder, of the second pipeline, and the second pressure relief valve is arranged on the second pressure relief pipeline.
Further, the first hydraulic control system further comprises a first overflow valve, a first overflow pipeline and a first pressure gauge, wherein the first pressure gauge is communicated with the first pipeline, one end of the first overflow pipeline is communicated with the first pipeline, the other end of the first overflow pipeline is communicated with the second pipeline, the first overflow valve is arranged on the first overflow pipeline, and the communication position of the first pressure gauge and the first pipeline and the communication position of the first overflow pipeline and the first pipeline are close to the oil outlet of the first oil pump.
Further, the first hydraulic control system further comprises a third pipeline, a fourth pipeline and a second reversing valve, one end of the third pipeline is communicated with the first pipeline, the communication position of the third pipeline and the first pipeline is located between the first reversing valve and an oil outlet of the first oil pump, the other end of the third pipeline is communicated with a rodless cavity oil port of the second oil cylinder, one end of the fourth pipeline is communicated with the second pipeline, the communication position of the fourth pipeline and the second pipeline is located between the first reversing valve and one end of the second pipeline, the other end of the fourth pipeline is communicated with a rod cavity oil port of the second oil cylinder, one end of the second reversing valve is installed on the third pipeline, the other end of the second reversing valve is installed on the fourth pipeline, and the second reversing valve and the first reversing valve are all three-position four-way electromagnetic valves.
Further, a plurality of travelling wheels are arranged at the bottom of the frame, a plurality of support leg oil cylinders are fixedly connected to the frame, and the support leg oil cylinders are vertically arranged.
Further, the furnace drawing robot device further comprises a second hydraulic control system, the second hydraulic control system comprises a second oil tank, a fifth pipeline, a sixth pipeline and a third reversing valve, one end of the fifth pipeline is communicated with the second oil tank, the other end of the fifth pipeline is divided into a plurality of fifth sub-pipelines, each fifth sub-pipeline is communicated with a rod cavity oil port of the corresponding supporting leg oil cylinder, one end of the sixth pipeline is communicated with the second oil tank, the other end of the sixth pipeline is divided into a plurality of sixth sub-pipelines, each sixth sub-pipeline is communicated with a corresponding rodless cavity oil port of the supporting leg oil cylinder, one end of the third reversing valve is arranged on the fifth pipeline, the other end of the third reversing valve is arranged on the sixth pipeline, a second oil pump is further arranged on the fifth pipeline, and the second oil pump is located between the third reversing valve and one end of the fifth pipeline.
Further, the fifth pipeline and the sixth pipeline are respectively provided with a hydraulic control one-way valve and a third one-way throttle valve, and the hydraulic control one-way valve is arranged between the third reversing valve and the third one-way throttle valve.
Compared with the prior art, the furnace drawing robot device provided by the invention has the following technical effects:
The second oil cylinder stretches to drive the furnace drawing block to stretch into the coal furnace, the support arm is made to do pitching motion in cooperation with the stretching and shrinking motion of the first oil cylinder, and then the up-and-down stirring of the furnace drawing block in the coal furnace is achieved, meanwhile, the support arm can rotate on a horizontal plane through cooperation with the reciprocating motion of the support frame on the arc-shaped guide rail, and then the horizontal stirring of the furnace drawing block in the coal furnace is achieved, the furnace drawing motion is completed, coal is fully combusted, and after the furnace drawing is completed, the coal furnace can be withdrawn through controlling the second oil cylinder to shrink. Solves the problems that the prior manual furnace drawing is time-consuming and labor-consuming and has a danger.
Drawings
FIG. 1 is a schematic front view of a furnace scooping robot apparatus in accordance with an embodiment of the present invention;
FIG. 2 is a schematic top view of a furnace scooping robot apparatus in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a first hydraulic control system according to an embodiment of the present invention;
Fig. 4 is a schematic diagram of a second hydraulic control system according to an embodiment of the present invention.
Marking:
1-a frame, 11-an arc guide rail, 12-a travelling wheel, 13-a supporting leg oil cylinder, 2-a supporting frame, 3-a supporting arm, 31-a furnace drawing arm, 32-a furnace drawing block, 4-a first oil cylinder, 5-a second oil cylinder, 61-a first pipeline, 611-a first oil pump, 612-a first pressure gauge, 613-a first overflow valve, 614-a two-position two-way electromagnetic directional valve, 62-a second pipeline, 63-a third pipeline, 64-a fourth pipeline, 65-a fifth pipeline, 651-a second oil pump, 652-a second pressure gauge, 653-a second overflow valve, 66-a sixth pipeline, 68-first oil tank, 69-second oil tank, 71-first reversing valve, 72-second reversing valve, 73-third reversing valve, 74-first one-way throttle valve, 75-second one-way throttle valve, 76-third one-way throttle valve, 77-balance valve, 78-pilot operated one-way valve, 81-first pressure relief valve, 82-second pressure relief valve, 83-third pressure relief valve, 84-fourth pressure relief valve, 85-fifth pressure relief valve, 86-sixth pressure relief valve, 91-air filter, 92-temperature control switch, 93-air cooler, 94-return oil filter, 95-liquid level gauge.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
It should be understood that the terms "upper," "lower," "front," "back," and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
Moreover, in the drawings, the Z-axis represents vertical, i.e., up-down position, and the positive direction of the Z-axis (i.e., the arrow of the Z-axis points) represents up, and the negative direction of the Z-axis represents down; the X-axis in the drawing represents the longitudinal direction of the horizontal plane, is perpendicular to the Z-axis, and the positive direction of the X-axis (i.e., the arrow of the X-axis points) represents the front side, and the negative direction of the X-axis represents the rear side; in the drawing, Y represents the lateral direction of the horizontal plane while being perpendicular to the Z axis and the X axis, and the positive direction of the Y axis (i.e., the arrow of the Y axis is directed) represents the left side and the negative direction of the Y axis represents the right side.
It should also be noted that the foregoing Z-axis, Y-axis, and X-axis are meant to be illustrative only and not indicative or implying that the apparatus or component in question must be oriented, configured or operated in a particular orientation, and therefore should not be construed as limiting the invention.
The terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "first," "second," etc. can include at least one such feature, either explicitly or implicitly.
Referring to fig. 1 and 2, the present embodiment provides a furnace drawing robot apparatus including a frame 1, a support frame 2, a support arm 3, and a second cylinder 5. The top of frame 1 is provided with arc guide rail 11, and support frame 2 is suitable for along arc guide rail 11 removal on the horizontal plane (the face that is on a parallel with the XY plane), and the rear end of support arm 3 is articulated with the rear end of support frame 2, is provided with first hydro-cylinder 4 between support arm 3 and the support frame 2, and first hydro-cylinder 4 is suitable for driving support arm 3 and rotates on the vertical face, and second hydro-cylinder 5 is fixed with support arm 3, and the length direction of second hydro-cylinder 5 is unanimous with the length direction of support arm 3, and the front end of second hydro-cylinder 5 is suitable for connecting and draws stove piece 32.
Here, the second oil cylinder 5 stretches to drive the furnace drawing block 32 to stretch into the coal furnace, the support arm 3 performs pitching motion in cooperation with the stretching and shrinking motion of the first oil cylinder 4, so that up-and-down stirring of the furnace drawing block 32 in the coal furnace is realized, meanwhile, the support arm 3 can rotate on a horizontal plane through cooperation with the reciprocating motion of the support frame 2 on the arc-shaped guide rail 11, so that horizontal stirring of the furnace drawing block 32 in the coal furnace is realized, furnace drawing motion is completed, coal is fully combusted, and after furnace drawing is completed, the coal furnace can be withdrawn through controlling the second oil cylinder 5 to shrink. No manual operation, time saving and labor saving, and safety accidents are avoided.
It will be appreciated that the movement of the support frame 2 on the arcuate guide rail 11 may be by a gear drive and the power source may be by a motor. Of course, the movement of the support frame 2 on the arc-shaped guide rail 11 can also be driven by an oil cylinder.
Referring to fig. 1 and 2, preferably, the support arm 3 is internally provided with a receiving slot, a furnace drawing arm 31 is slidably connected in the receiving slot, the furnace drawing arm 31 is adapted to reciprocate along the length direction of the support arm 3, and a furnace drawing block 32 is fixed at the front end of the furnace drawing arm 31.
Here, the second cylinder 5 is extended to drive the furnace drawing arm 31 and the furnace drawing block 32 at the front end of the furnace drawing arm 31 to enter the coal furnace for furnace drawing. Preferably, the front end of the piston rod of the second oil cylinder 5 and the furnace drawing block 32 can be detachably connected, and the furnace drawing block 32 and the furnace drawing arm 31 are of an integrated structure, so that the second oil cylinder 5 can be conveniently detached for maintenance. Of course, the front end of the piston rod of the second oil cylinder 5 can be detachably connected with the furnace drawing arm 31, a certain distance is reserved between the front end of the piston rod of the second oil cylinder 5 and the furnace drawing block 32, and materials of the furnace drawing arm 31 and the furnace drawing block 32 are optimized to ensure that only the furnace drawing arm 31 and the furnace drawing block 32 enter the coal furnace for furnace drawing operation and no piston rod of the second oil cylinder 5 exist, so that the piston rod is prevented from being deformed at high temperature for a long time.
Referring to fig. 3, preferably, the furnace drawing robot apparatus further includes a first hydraulic control system including a first oil tank 68, a first pipe 61, a second pipe 62, and a first reversing valve 71, one end of the first pipe 61 being communicated with the first oil tank 68, the other end of the first pipe 61 being communicated with a rodless cavity port of the first cylinder 4, one end of the second pipe 62 being communicated with the first oil tank 68, the other end of the second pipe 62 being communicated with a rod cavity port of the first cylinder 4, one end of the first reversing valve 71 being mounted on the first pipe 61, the other end of the first reversing valve 71 being mounted on the second pipe 62, a first oil pump 611 being provided on the first pipe 61, the first oil pump 611 being located between the first reversing valve 71 and one end of the first pipe 61.
Here, the first oil pump 611 supplies oil to the first oil cylinder 4, and the first reversing valve 71 switches the oil inlet of the first oil cylinder 4 to the rod-cavity-provided oil port or the rod-cavity-free oil port.
Referring to fig. 2, preferably, the first and second pipelines 61 and 62 are provided with first and second one-way throttle valves 74 and 75, respectively, and the first hydraulic control system further includes a balance valve 77, one end of the balance valve 77 being mounted on the first pipeline 61, and the other end of the balance valve 77 being mounted on the second pipeline 62.
Here, when the rodless cavity oil port of the first oil cylinder 4 is an oil inlet, the oil passes through the first one-way throttle valve 74 and the oil passes through the second one-way throttle valve 75 when returning; when the rod cavity of the first oil cylinder 4 is an oil inlet, the oil passes through the second one-way throttle valve 75, and when the oil returns, the oil passes through the one-way valve in the first one-way throttle valve 74. In general, the first oil cylinder 4 is throttled in oil feeding, and the speed of the extension or contraction of the piston rod of the first oil cylinder 4 can be adjusted through the flow adjustment of oil feeding. In addition, by providing the balance valve 77, the pressure balance of the oil fed and returned from the first cylinder 4 can be adjusted.
Referring to fig. 2, preferably, the first hydraulic control system further includes a first pressure relief pipeline, a first pressure relief valve 81, a second pressure relief pipeline and a second pressure relief valve 82, one end of the first pressure relief pipeline is communicated with the first oil tank 68, the other end of the first pressure relief pipeline is communicated with a position of the first pipeline 61, which is close to the rodless cavity oil port of the first oil cylinder 4, the first pressure relief valve 81 is disposed on the first pressure relief pipeline, one end of the second pressure relief pipeline is communicated with the first oil tank 68, the other end of the second pressure relief pipeline is communicated with a position of the second pipeline 62, which is close to the rod cavity oil port of the first oil cylinder 4, and the second pressure relief valve 82 is disposed on the second pressure relief pipeline.
Here, when other hydraulic components in the first hydraulic control system fail, the oil in the first oil cylinder can smoothly return to the first oil tank by opening the first relief valve or the second relief valve.
Referring to fig. 3, preferably, the first hydraulic control system further includes a first overflow valve 613, a first overflow line and a first pressure gauge 612, the first pressure gauge 612 is communicated with the first line 61, one end of the first overflow line is communicated with the first line 61, the other end of the first overflow line is communicated with the second line 62, the first overflow valve 613 is disposed on the first overflow line, and both a communication portion of the first pressure gauge 612 with the first line 61 and a communication portion of the first overflow line with the first line 61 are close to an oil outlet of the first oil pump 611.
Here, the first one-way throttle valve 74 and the second one-way throttle valve 75 are simple flow control valves, and in the hydraulic system of the constant displacement pump, the throttle valve and the overflow valve are matched to form three throttle speed regulating systems, namely an oil inlet way throttle speed regulating system, an oil return way throttle speed regulating system and a bypass throttle speed regulating system, so that the speed regulating effect is better.
Here, the first relief valve 613 may be a pilot relief valve, which is combined with a two-position two-way electromagnetic directional valve 614 to form an electromagnetic relief valve, and it is understood that as long as at least one of the first cylinder and the second cylinder is in an operating state, 5dt on the left side of the two-position two-way electromagnetic directional valve 614 is always in an electricity-getting state, which is more convenient for control and adjustment of the relief valve.
Referring to fig. 3, preferably, the first hydraulic control system further includes a third pipe 63, a fourth pipe 64, and a second reversing valve 72, one end of the third pipe 63 is communicated with the first pipe 61, a communication position of the third pipe 63 with the first pipe 61 is located between the first reversing valve 71 and an oil outlet of the first oil pump 611, the other end of the third pipe 63 is communicated with a rodless chamber oil port of the second oil cylinder 5, one end of the fourth pipe 64 is communicated with the second pipe 62, a communication position of the fourth pipe 64 with the second pipe 62 is located between the first reversing valve 71 and one end of the second pipe 62, the other end of the fourth pipe 64 is communicated with a rod chamber oil port of the second oil cylinder 5, one end of the second reversing valve 72 is installed on the third pipe 63, the other end of the second reversing valve 72 is installed on the fourth pipe 64, and both the second reversing valve 72 and the first reversing valve 71 are three-position four-way electromagnetic reversing valves.
It will be appreciated that when the spool of the first reversing valve 71 is in the left position (i.e., a position close to the first electromagnet (1 dt)), the rodless cavity port of the first cylinder 4 is an oil inlet, the rodless cavity port is an oil return port, when the spool of the first reversing valve 71 is in the right position (i.e., a position close to the second electromagnet (2 dt)), the rodless cavity port of the first cylinder is an oil inlet, the rodless cavity port is an oil return port, when the spool of the first reversing valve 71 is in the middle position, the oil paths of the oil inlet and the oil return of the first cylinder 4 are closed, when the spool of the second reversing valve 72 is in the left position (i.e., a position close to the third electromagnet (3 dt)), the rodless cavity port of the second cylinder 5 is an oil inlet, the rodless cavity port of the second reversing valve 72 is in the right position (i.e., a position close to the fourth electromagnet (4 dt)), the rodless cavity port is an oil inlet, and the oil inlet and the oil paths of the second cylinder 5 are closed when the spool of the second reversing valve 72 is in the middle position.
Preferably, referring to fig. 2, the first hydraulic control system further includes a third pressure relief pipeline, a third pressure relief valve 83, a fourth pressure relief pipeline and a fourth pressure relief valve 84, one end of the third pressure relief pipeline is communicated with the first oil tank 68, the other end of the third pressure relief pipeline is communicated with a position of the third pipeline 63 close to the rodless cavity oil port of the second oil cylinder 5, the third pressure relief valve 83 is disposed on the third pressure relief pipeline, one end of the fourth pressure relief pipeline is communicated with the first oil tank 68, the other end of the fourth pressure relief pipeline is communicated with a position of the fourth pressure relief pipeline 64 close to the rod cavity oil port of the second oil cylinder 5, and the fourth pressure relief valve 84 is disposed on the fourth pressure relief pipeline.
Here, when the other hydraulic components in the first hydraulic control system fail, the oil in the second cylinder 5 can be smoothly returned to the first tank 68 by opening the third relief valve 83 or the fourth relief valve 84.
Referring to fig. 1 and 2, preferably, a plurality of travelling wheels 12 are installed at the bottom of the frame 1, and a plurality of support leg oil cylinders 13 are fixedly connected to the frame 1, wherein the support leg oil cylinders 13 are vertically arranged.
Here, through setting up a plurality of walking wheels 12 for the whole removal of being convenient for of device, simultaneously, through setting up a plurality of landing leg hydro-cylinders 13, after the device wholly removes the settlement position, lift frame 1 through landing leg hydro-cylinder 13 extension, make walking wheel 12 break away from ground, and then avoid drawing the stove action time, the device wholly is by the reverse thrust backward movement.
Referring to fig. 4, preferably, the furnace drawing robot apparatus further includes a second hydraulic control system including a second oil tank 69, a fifth pipe 65, a sixth pipe 66, and a third reversing valve 73, one end of the fifth pipe 65 being communicated with the second oil tank 69, the other end of the fifth pipe 65 being branched into a plurality of fifth sub-pipes, each of the fifth sub-pipes being communicated with a rod chamber port of the corresponding leg cylinder 13, one end of the sixth pipe 66 being communicated with the second oil tank 69, the other end of the sixth pipe 66 being branched into a plurality of sixth sub-pipes, each of the sixth sub-pipes being communicated with a rodless chamber port of the corresponding leg cylinder 13, one end of the third reversing valve 73 being mounted on the fifth pipe 65, the other end of the third reversing valve 73 being mounted on the sixth pipe 66, the fifth pipe 65 being further provided with a second oil pump 651, the second oil pump 651 being located between the third reversing valve 73 and one end of the fifth pipe 65.
It can be understood that when the valve core of the third reversing valve 73 is in the left position, the rodless cavity oil port of the supporting leg oil cylinder 13 is an oil inlet, the rod cavity oil port is an oil return port, and when the valve core of the third reversing valve 73 is in the right position, the rod cavity oil port of the supporting leg oil cylinder 13 is an oil inlet, and the rodless cavity oil port is an oil return port.
Preferably, as with the first and second pipelines 61 and 62, a third one-way throttle valve 76 may be provided on each of the fifth and sixth pipelines 65 and 66, and a second pressure gauge 652 and a second overflow valve 653 may be provided on the fifth pipeline. In addition, the fifth pipeline 65 and the sixth pipeline 66 may be both provided with a hydraulic check valve 78, the hydraulic check valve 78 is disposed between the third reversing valve 73 and the third one-way throttle valve 76, and the two hydraulic check valves 78 form a hydraulic lock, so that the piston rod of the leg cylinder 13 is ensured not to shrink due to the existence of oil leakage after being extended to a required length.
Preferably, the second hydraulic control system further includes a fifth pressure relief pipeline, a fifth pressure relief valve 85, a sixth pressure relief pipeline and a sixth pressure relief valve 86, one end of the fifth pressure relief pipeline is communicated with the second oil tank 69, the other end of the fifth pressure relief pipeline is communicated with a position of the sixth pipeline 66, which is close to the rodless cavity oil port of the support leg oil cylinder 13, the fifth pressure relief valve 85 is arranged on the fifth pressure relief pipeline, one end of the sixth pressure relief pipeline is communicated with the second oil tank 69, the other end of the sixth pressure relief pipeline is communicated with a position of the fifth pipeline 65, which is close to the rodless cavity oil port of the support leg oil cylinder 13, and the sixth pressure relief valve 86 is arranged on the sixth pressure relief pipeline. In the event of a failure of other hydraulic components in the second hydraulic control system, the oil in the leg cylinder 13 can be smoothly returned to the second oil tank 69 by opening the fifth relief valve 85 or the sixth relief valve 86.
It can be understood that when the spool of the third reversing valve 73 is in the left position (i.e., a position close to the sixth electromagnet (6 dt)), the rodless cavity oil port of the leg cylinder 13 is an oil inlet, the rod cavity oil port is an oil return port, when the spool of the third reversing valve 73 is in the right position (i.e., a position close to the seventh electromagnet (7 dt)), the rodless cavity oil port of the leg cylinder 13 is an oil inlet, the rod cavity oil port is an oil return port, and when the spool of the third reversing valve 73 is in the middle position, the oil inlet and oil return paths of the leg cylinder 13 are closed.
It should be noted that the first oil tank and the second oil tank may be the same oil tank.
Although the present disclosure is disclosed above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the disclosure.
Claims (8)
1. A furnace drawing robot apparatus, comprising:
The top of the frame (1) is provided with an arc-shaped guide rail (11);
-a support (2) adapted to move along said curved guide (11) on a horizontal plane;
the rear end of the support arm (3) is hinged with the rear end of the support frame (2), a first oil cylinder (4) is arranged between the support arm (3) and the support frame (2), and the first oil cylinder (4) is suitable for driving the support arm (3) to rotate on a vertical surface; and
The second oil cylinder (5) is connected with the supporting arm (3), the length direction of the second oil cylinder (5) is consistent with the length direction of the supporting arm (3), and the front end of the second oil cylinder (5) is suitable for being connected with a furnace drawing block (32);
The support arm (3) is internally provided with a containing groove, the containing groove is connected with a furnace drawing arm (31) in a sliding manner, the furnace drawing arm (31) is suitable for reciprocating movement along the length direction of the support arm (3), and the front end of the furnace drawing arm (31) is fixed with the furnace drawing block (32);
The furnace drawing robot device further comprises a first hydraulic control system, the first hydraulic control system comprises a first oil tank (68), a first pipeline (61), a second pipeline (62) and a first reversing valve (71), one end of the first pipeline (61) is communicated with the first oil tank (68), the other end of the first pipeline (61) is communicated with a rodless cavity oil port of the first oil cylinder (4), one end of the second pipeline (62) is communicated with the first oil tank (68), the other end of the second pipeline (62) is communicated with a rod cavity oil port of the first oil cylinder (4), one end of the first reversing valve (71) is installed on the first pipeline (61), the other end of the first reversing valve (71) is installed on the second pipeline (62), a first oil pump (611) is arranged on the first pipeline (61), and the first oil pump (611) is located between the first reversing valve (71) and the first pipeline (61).
2. The furnace drawing robot device according to claim 1, characterized in that a first one-way throttle valve (74) is provided on the first pipeline (61), and a second one-way throttle valve (75) is provided on the second pipeline (62).
3. The furnace drawing robot device according to claim 1, wherein the first hydraulic control system further comprises a first pressure relief pipeline, a first pressure relief valve (81), a second pressure relief pipeline and a second pressure relief valve (82), one end of the first pressure relief pipeline is communicated with the first oil tank (68), the other end of the first pressure relief pipeline is communicated with a position, close to a rodless cavity oil port of the first oil cylinder (4), of the first pipeline (61), the first pressure relief valve (81) is arranged on the first pressure relief pipeline, one end of the second pressure relief pipeline is communicated with the first oil tank (68), the other end of the second pressure relief pipeline is communicated with a position, close to a rod cavity oil port of the first oil cylinder (4), of the second pipeline (62), and the second pressure relief valve (82) is arranged on the second pressure relief pipeline.
4. The furnace drawing robot device according to claim 1, characterized in that the first hydraulic control system further comprises a first overflow valve (613), a first overflow pipe and a first pressure gauge (612), the first pressure gauge (612) is communicated with the first pipe (61), one end of the first overflow pipe is communicated with the first pipe (61), the other end of the first overflow pipe is communicated with the second pipe (62), the first overflow valve (613) is arranged on the first overflow pipe, and the communication between the first pressure gauge (612) and the first pipe (61) and the communication between the first overflow pipe and the first pipe (61) are both close to the oil outlet of the first oil pump (611).
5. The furnace-drawing robot device according to claim 1, wherein the first hydraulic control system further comprises a third pipeline (63), a fourth pipeline (64) and a second reversing valve (72), one end of the third pipeline (63) is communicated with the first pipeline (61), a communication position of the third pipeline (63) and the first pipeline (61) is located between the first reversing valve (71) and an oil outlet of the first oil pump (611), the other end of the third pipeline (63) is communicated with a rodless cavity oil port of the second oil cylinder (5), one end of the fourth pipeline (64) is communicated with the second pipeline (62), a communication position of the fourth pipeline (64) and the second pipeline (62) is located between the first reversing valve (71) and one end of the second pipeline (62), the other end of the fourth pipeline (64) is communicated with a rod cavity oil port of the second oil cylinder (5), the second reversing valve (72) is mounted on the fourth pipeline (64), and the other end of the fourth pipeline (64) is mounted on the fourth reversing valve (72).
6. The furnace drawing robot device according to any one of claims 1 to 5, wherein a plurality of travelling wheels (12) are mounted at the bottom of the frame (1), the frame (1) is further fixedly connected with a plurality of support leg oil cylinders (13), and the support leg oil cylinders (13) are vertically arranged.
7. The furnace-drawing robot device according to claim 6, further comprising a second hydraulic control system including a second oil tank (69), a fifth pipe (65), a sixth pipe (66) and a third reversing valve (73), one end of the fifth pipe (65) being in communication with the second oil tank (69), the other end of the fifth pipe (65) being split into a plurality of fifth sub-pipes, each of the fifth sub-pipes being in communication with a rod chamber port of the corresponding leg cylinder (13), one end of the sixth pipe (66) being in communication with the second oil tank (69), the other end of the sixth pipe (66) being split into a plurality of sixth sub-pipes, each of the sixth sub-pipes being in communication with a rod-free chamber port of the corresponding leg cylinder (13), one end of the third reversing valve (73) being mounted on the fifth pipe (65), the other end of the third pipe (651) being further provided with the fifth reversing valve (65) being in communication with the fifth pipe (65).
8. The furnace drawing robot device according to claim 7, characterized in that a hydraulically controlled one-way valve (78) and a third one-way throttle valve (76) are arranged on the fifth pipeline (65) and the sixth pipeline (66), and the hydraulically controlled one-way valve (78) is arranged between the third reversing valve (73) and the third one-way throttle valve (76).
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| CN202011344339.5A CN112539415B (en) | 2020-11-26 | 2020-11-26 | Robot device for drawing out furnace |
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| CN202011344339.5A CN112539415B (en) | 2020-11-26 | 2020-11-26 | Robot device for drawing out furnace |
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| CN112539415B true CN112539415B (en) | 2024-07-12 |
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| CN101476733A (en) * | 2009-01-19 | 2009-07-08 | 天津大学 | Mechanical ash cleaner for heat medium heater |
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| CN214581151U (en) * | 2020-11-26 | 2021-11-02 | 哈尔滨通用液压机械制造有限公司 | Furnace drawing robot device |
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| CN2133766Y (en) * | 1992-01-08 | 1993-05-19 | 冶金工业部长沙黑色冶金矿山设计研究院 | Double layer ash unloading device |
| JP3329397B2 (en) * | 1993-04-20 | 2002-09-30 | 古河機械金属株式会社 | Valve block for hydraulic cylinder |
| CN103010976B (en) * | 2012-12-17 | 2014-12-24 | 中联重科股份有限公司 | Hydraulic system for controlling oil cylinders to sequentially stretch, horizontal supporting leg system and engineering machinery |
| CN207905797U (en) * | 2018-01-02 | 2018-09-25 | 中国神华能源股份有限公司 | A kind of mining channeling machine of hydraulic pressure |
| CN110118083B (en) * | 2019-05-24 | 2024-02-13 | 北京天地华泰矿业管理股份有限公司 | Method for recycling coal pillar on fully-mechanized coal mining face |
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| CN101476733A (en) * | 2009-01-19 | 2009-07-08 | 天津大学 | Mechanical ash cleaner for heat medium heater |
| CN104863366A (en) * | 2014-12-04 | 2015-08-26 | 北汽福田汽车股份有限公司 | Arm frame control system of concrete pumping device |
| CN214581151U (en) * | 2020-11-26 | 2021-11-02 | 哈尔滨通用液压机械制造有限公司 | Furnace drawing robot device |
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