JPH0121843B2 - - Google Patents

Description

[Detailed description of the invention] [Industrial field of application] The present invention relates to an automatic working device in an electric furnace for steelmaking,
For details, see how to measure the temperature of molten steel in an electric furnace,
This invention relates to an automatic working device in an electric furnace for collecting samples for analysis or removing slag stuck to the slag outlet.

[Conventional technology]

Conventionally, when measuring the temperature of molten steel in an operating electric steelmaking furnace, for example, a worker inserts a temperature measuring rod of about 4 m in length into the molten steel in the furnace from the slag opening. A method of doing so is adopted.

In this method, since the inner diameter of the furnace is large, the angle at which the temperature measuring rod is inserted is shallow, and the insertion depth may not be sufficient, and it is difficult to maintain the same depth and position. , measurement conditions may vary. On the other hand, from a work perspective, it requires hard labor under high heat.
The degree of worker fatigue increases.

As a mechanized method to solve this problem, for example, a lance with a temperature meter attached to the tip is attached to a trolley so that it can be driven up and down, and the lance is parked near the slag outlet and the One method is to insert a lance diagonally from above into the molten steel in the furnace through the opening.

[Problem to be solved by the invention]

However, in the above device, the measuring device including the cart is bulky and large, and therefore requires a considerable amount of space not only during operation but also when stored. Since there are various auxiliary devices and equipment placed in front of the furnace, there is not enough space, so in order to be able to install it in such a small space, the above measuring device must be small and not bulky. It is desired that Furthermore, since the direction of movement of the lance is constant, the measuring device described above lacks versatility in the work it does, and cannot be used, for example, in tasks such as removing slag stuck to the slag outlet. There are also problems.

By the way, in Japanese Patent Publication No. 55-26400, two arms of the same length are connected in a flexible manner,
A supporting device having a link structure is described in which the ratio of the diameters of a sprocket provided at a bent portion and a sprocket provided at the base of one arm is 1:2, and a chain is stretched between these sprockets. Adopting such a mechanism has the advantage that the tip of the other arm can be linearly displaced, and the space occupied by the structure attached to the tip for moving the instrument forward and backward can be reduced.

Its structure uses two large and small sprockets, so even if one arm rotates twice as much in the opposite direction and the included angle of the two arms changes, the other arm will not move. The tip follows the desired straight line trajectory as described above. However, the direction of the tip changes from the initial position depending on the rotation angle of the arm. For example,
As described in Publication No. 26400, when a suction head, which is axially symmetrical with respect to a vertical line, is attached to the tip of a link body that bends in a horizontal plane, the rotation of the suction head is Although this is not a problem, in the case of a device that maintains a long lance horizontally and does not require swinging operation for the time being, this may cause an undesired change in the posture of the instrument attached to the tip. In such a case, complicated control is required to separately interlock an actuator and the like that follow and correct the posture of the instrument according to the degree of bending of the link body.

The present invention has been made to solve the above problems, and its purpose is to be able to be installed or transported effectively into the limited space in front of the furnace, without requiring space not only during operation but also when storing. In addition, regardless of the bending operation of the link body, the device attached to the tip of the link body can be used for the time being even if it has a mechanical structure with few failures, without actively sequentially controlling the actuator etc. It is a versatile steelmaking tool that can be used in a variety of operations, making it possible to move along a straight line without changing the direction or posture of the tool. An object of the present invention is to provide an automatic working device in an electric furnace.

[Means to solve the problem]

The automatic working device in an electric furnace for steelmaking of the present invention has a first
As shown in the figure, a base arm 1 whose one end 1a is pivotally attached to a shoulder pin 14 fixed to a base 4;
The proximal end 2 is connected to the other end 1b of the original arm 1 via the elbow pin 11 provided parallel to the shoulder pin 14.
By rotating the elbow pin 11 by the drive source 5 and the tip arm 2 of the same length to which the tip a is connected, the tip 2b of the tip arm 2 can be straightened while changing the angle between the tip arm 1 and the tip arm 2. The present invention is applied to a working device equipped with an increasing/decelerating transmission mechanism 10 with a rotation ratio of 1:2 for displacement on a line.

The feature is that the tip of the front arm 2
A wrist pin 15 parallel to the elbow pin 11 is rotatably supported on b, and a mounting member 15b for attaching various work equipment 6 (see FIG. 3a) to the wrist pin 15 and a wrist rotation Transmission body 15a
is fixed, and a wrist rotation transmission body 15a is fixed to each of the elbow pin 11 and the shoulder pin 14.
Elbow rotation transmission bodies 11b, 11c and shoulder rotation transmission bodies 14a, 14b having the same diameter are attached so that the wrist pin 15 does not rotate even if the included angle between the base arm 1 and the front arm 2 changes. To,
The rotating power transmission bodies 11b, 11c, 14 that are adjacent to each other by the rotational force taken out from the acceleration/deceleration transmission mechanism 10
A, 14b, 15a are provided with a constant velocity transmission mechanism 20 that interlocks them at a rotation ratio of 1:1, and the mounting member 15b is equipped with a cylinder 1 that swings various work equipment.
6 (see Figure 3a) is attached.

[Effect]

When the elbow pin 11 is rotated by the drive source 5, the acceleration/deceleration transmission mechanism 10 with a rotation ratio of 1:2,
The base arm 1 and the front arm 2, which have the same length, displace the tip 2b of the front arm 2 on a straight line while changing the included angle. At that time, the elbow rotation transmission bodies 11b and 11c, the shoulder rotation transmission bodies 14a and 14b, and the wrist rotation transmission body of the constant velocity transmission mechanism 20 with a rotation ratio of 1:1 provided on the base arm 1 and the front arm 2. 15a prevents the wrist pin 15 from rotating. Therefore, there is no change in the attitude or direction of the attachment member 15b fixed to the wrist pin 15, and the work equipment 6 attached to the attachment member 15b maintains its initial attitude and does not move in an undesired direction. It will never become. In order to swing the working equipment 6 that has been maintained at a desired position, the cylinder 16 attached to the mounting member 15b may be actuated.

〔Effect of the invention〕

According to the present invention, the base arm and the front arm are provided with an acceleration/deceleration transmission mechanism with a rotation ratio of 1:2, and the rotation transmission body that is interlocked with the rotation ratio of 1:1 by the constant velocity transmission mechanism is connected to the shoulder pin and the elbow pin. Since it is attached to the wrist pin, the tip of the tip of the tip of the tip of the tip of the tip of the tip of the tip of the tip of the tip arm moves only in a straight line even if the included angle between the base arm and the tip of the tip of the tip arm changes. The posture and direction of the mounting member will not change. Therefore, the work equipment can be moved to a predetermined position without causing any undesired movement of the work equipment. Then, the swinging operation by the cylinder provided on the mounting member is performed with extremely simple control, and it becomes possible to reliably move the tip of the work equipment to a desired position.
Therefore, remote control of work inside the electric furnace is realized with simple control operations, and the working conditions are improved because workers are no longer exposed to high temperatures and can handle various tasks with high precision. can be done. In addition, since no space is required for a measuring device or the like not only during operation but also during storage, it can be used even in the so-called limited space in front of the furnace.

〔Example〕

The present invention will be described in detail below based on examples thereof. FIG. 5 is a schematic diagram showing the working conditions of the example. As shown in the figure, the temperature of molten steel D in which scrap iron and the like are melted by electrodes in electric furnace A for steelmaking is as follows:
It is measured by an automated measuring device mounted on a trolley C that is stopped outside the reactor.

One end 1a of a base arm 1 is rotatably connected in a vertical plane to the upper end of a base 4 which is erected on the cart C and is driven to turn by a drive source 3. The base end 2a of the front arm 2 having the same length is connected to the end 1b so as to be rotatable in a vertical plane, and the two arms 1 and 2 are connected to the base arm 1.
They are rotated at the same angle by a drive source 5 such as an electric motor disposed at the other end 1b.

A lance 6 having a thermometer 7 attached to the tip thereof is attached to the other end 2b of the fore arm 2 so as to be rotatable in a vertical plane, and is raised and raised by air pressure. Therefore, such a cart C is installed at the slag outlet B.
The thermometer is parked near the furnace, the two arms 1 and 2 are expanded, and the lance 6 is inserted into the furnace through the slag discharge port B and raised up and down, and the thermometer can be placed at any measurement position in the molten steel D by remote control. 7 can be arranged to measure the temperature of the molten steel D.

FIG. 1 is a cross-sectional plan view showing the connection between the base arm 1 and the base 4 and the connection between the base arm 1 and the base arm 2 when the base arm 1 and the base arm 2 are horizontally expanded. One end 1a of 1 is the base 4
Shoulder pin 14 fixed horizontally to the upper end of
The gear 14 is pivotally connected to the shoulder pin 14.
a and sprocket 1, which is the shoulder rotation transmission body.
4b is fixed. The gear 14a is also a shoulder rotation transmission body, and the gear 13 is fixed to a planetary pin 13 that is pivotally supported on one end 1a of the base arm 1 in proximity to and parallel to the shoulder pin 14.
A sprocket 13b is fixed to the planetary pin 13 adjacent to the gear 13a.

At the other end 1b of the original arm 1, an elbow pin 11
is pivotally supported, one end of this elbow pin 11 is connected to a drive source 5 disposed at the other end 1b of the base arm 1 and rotationally driven, and the other end is fixed to the base end 2a of the front arm 2. There is. A gear 11a is fixed to the elbow pin 11, and a sleeve 11 is attached at the location where the base arm 1 and the front arm 2 are connected.
This sleeve 11d is rotatably fitted into the shaft holes 1c, 2c of the base arm 1 and the front arm 2, and a sprocket as an elbow rotation transmission body is attached to both ends of the sleeve 11d. 11
b, 11c are fixed. The gear 11a is a gear 12a fixed to a gear pin 12 that is close to the elbow pin 11 and is pivotally supported on the other end 1b of the base arm 1.
A sprocket 12b is fixed to the gear pin 12 adjacent to the gear 12a. These gears 11a, 12a, sprockets 12b, 13b and gears 13a, 1
4a, when the elbow pin 11 is rotated by the drive source 5, the tip 2b of the front arm 2 is rotated while changing the included angle between the base arm 1 and the front arm 2 (180°-β shown in FIG. 3b). It is configured to cause displacement on a straight line, and constitutes an increasing/decelerating transmission mechanism 10 with a rotation ratio of 1:2.

A wrist pin 15 is pivotally supported at the tip 2b of the fore arm 2 mentioned above, a sprocket 15a as a wrist rotation transmission body is fixed to this wrist pin 15, and a lance 6 is attached to the outer end of the wrist pin 15.
(See Figure 5) Mounting member 15 for mounting
b is fixed.

The sprockets 12b and 13b are chain 1
2c, the sprockets 11b and 14b are connected to the sprockets 11c and 14b through the chain 14c.
5a are connected via a chain 11f at a rotation ratio of 1:1. That is, the sprockets 11b, 11c, 14b, which are each rotation transmission body,
15a have the same diameter and are designed to have the same rotation angle, and constitute the constant velocity transmission mechanism 20.

As shown in Figures 1 and 2, both arms 1
and 2 are unfolded horizontally, the elbow pin 11 is moved by the drive source 5 at an angle θ in the direction of the arrow 11e.
When the elbow pin 11 is rotated by
The front arm 2 to which is fixed rotates by an angle θ with respect to the base arm 1 about the elbow pin 11 so that the front end 2b points downward in the plane of the paper (see arrow 31 in FIG. 2). On the other hand, the elbow pin 11 is connected to the gear pin 12 via gears 11a and 12a with a gear ratio of 1:2, and the gear pin 12 is connected to the sprocket 12.
b, the planetary pin 1 is connected to the planetary pin 13 via the chain 12c and the sprocket 13b.
3 is connected to the shoulder pin 14 via gears 13a and 14a, and since the shoulder pin 14 is fixed to the base 4, the gear 13a is connected to the arrow 1
While rotating in the direction of 3c, the angle around gear 14a is 1/2
It revolves by θ. Therefore, shoulder pin 1
4 as the center of rotation, the other end 1b of the base arm 1 rotates by an angle of 1/2θ in a direction upward relative to the plane of the paper (arrow 32 in FIG. 2).

In such an arm mechanism, the initial state is set so that the expanded state of both arms 1 and 2 is horizontal, and both arms 1 and 2 are rotated by the drive source 5. The base of the triangle formed by the triangle and the horizontal line that intersects it always remains on a fixed straight line, with both arms 1 and 2 as the hypotenuse, even during the operation of the acceleration/deceleration transmission mechanism 10, as will be described later. . In addition, the wrist pin 15 pivotally supported by the tip 2b of the front arm 2 connects the sprocket 15a, the chain 11f, and the sprocket 11.
c, 11b, chain 14c and sprocket 14b at a rotation ratio of 1:1, so that the shoulder pin 14
On the other hand, since the shoulder pin 14 is fixed to the base 4, the mounting member 15b is always in the same initial state regardless of the mutual rotation of the arms 1 and 2. held in angular orientation. Therefore, for example, if the initial state is set so that the lance 6 is horizontal as shown in FIG. 6 can be kept in a horizontal position at all times and can be moved back and forth.

The above operation will be explained in FIG. 3b. Considering the triangle whose vertices are the elbow pin 11, shoulder pin 14, and wrist pin 15, the rotation angle α of the base arm 1 with respect to the base 4 and the rotation angle β of the front arm 2 with respect to the base arm 1 are as described above. There is always a relationship β = 2α. Therefore, the angle γ between the front arm 2 and the horizontal line is always equal to α, so the above triangle becomes an isosceles triangle whose base always maintains the position as described above, and the wrist pin 1
5 is held constant, and as described above, the wrist pin 15 does not rotate relative to the shoulder pin 14, and the lance 6 is always held horizontally at the same height as the initial state. become. When performing the work in the state shown in FIG. 3d, in order to place the thermometer 7 in the proper position, the air cylinder 16 disposed on the mounting member 15b is driven, and the lance 6 is moved as shown by the imaginary line. Just look down. Note that in order to move the lance 6 backward, the driving source 5 may be reversed, and in order to store the lance 6, the cart C may be moved in the state shown in FIG.

Figure 4 is a cross-sectional view showing the installation state of the lance 6 and various work tools that can be detachably attached to the tip of the lance. A sample collection tool 27 with a built-in mold 27b for sample collection;
A sample collecting tool 37 having a built-in sample c is attached to the tip of each lance 6.

The above-mentioned lance 6 is a double pipe, and the inner pipe of the double pipe is the outgoing route for cooling air, and the outer pipe is the return route. During work, cooling air is constantly circulated inside the lance 6, and the lance 6 is kept inside. 6a.
During this time, cooling air is discharged from 6a so as to surround the outer periphery of the working equipment 7, 27, 37, cooling these equipment from the outside. In addition, in the thermometer 7, the conducting wire 7b housed in the inner pipe of the lance 6 is effectively cooled, and the above-mentioned cooling air released to the outer periphery of the thermometer 7 causes carbon powder droplets to adhere to it. This has the advantage of increasing the cooling effect. moreover,
Since the conducting wire 7b can be made to run along the inside of both arms 1 and 2 and can be kept at a constant length, damage to the conducting wire 7b due to slack etc. can be prevented. Although not shown, a cleaning tool such as a rake is similarly attached to the tip of the lance 6, and by moving the lance 6 back and forth or up and down using the air cylinder 16 whose tip is described above, the slag discharge port B can be removed. It is possible to remove slag etc. that have adhered to the surface.

Figures 6a and 6b show a different embodiment, and the sprockets 11b, 11 used in the previous embodiment.
c, 12b, 13b, 14b, 15a and chains 11f, 12c, 14c, bevel gears 11g to 1
1j, 12d, 12e, 13d, 13e, 14
d, 14e, 15c, 15d and axes 11k, 13
f, 14f. Note that in this example, the drive source 5 is attached to the gear pin 12.

In this case, in the previous embodiment, the elbow pin 11 is rotatably fitted at the connection part between the base arm 1 and the front arm 2, and the shaft holes 1c of both arms 1 and 2,
The sleeve 11d, which is rotatably fitted into the sleeve 2c, can be omitted, simplifying the structure of the rotating part and improving the durability of the device. In addition, since the mechanism is entirely composed of gears, it has the advantage of reducing the occurrence of play.

As explained in detail above, even if the included angle between the base arm and the front arm is changed, the tip of the front arm only moves in a straight line, but the attachment of the work equipment attached to the tip of the front arm only moves in a straight line. The posture and direction of the members do not change. As a result, even if the working equipment is long, undesired movement does not occur, and the working equipment can be moved to a predetermined position.
The swinging operation by the cylinder provided on the mounting member is performed with extremely simple control, and the tip of the work equipment can be reliably moved to a desired position. Therefore, remote control of work inside the electric furnace is possible with simple control operations. of course,
Workers will not get sore when exposed to high temperatures, and various tasks can be performed with high precision. When various work equipment is not in use,
It does not require a large space to store, and it can function in a limited space when used in front of the furnace.

[Brief explanation of drawings]

Fig. 1 is a cross-sectional plan view of essential parts in one embodiment of the present invention, Fig. 2 is a schematic side view of the same, Figs. 3a to 3d are operating state diagrams, and Figs. 4a to 4c are FIG. 5 is a sectional view showing various working tools attached to the lance, FIG. 5 is a working state diagram during temperature measurement of molten steel, and FIGS. 6 a and 6 b are sectional and side views of different embodiments. 1... Original arm, 1a... one end, 1b... other end, 2... tip arm, 2a... base end, 2b... tip, 4... base, 5... drive source (electric motor), 6 ，
7, 27, 37... Work equipment (lance, thermometer), 10... Acceleration/deceleration transmission mechanism, 11... Elbow pin, 11b, 11c, 11g, 11i... Elbow rotation transmission body (sprocket, gear), 14
...Shoulder pins, 14a, 14b, 14d...
…Shoulder rotation transmission body (gear, sprocket,
gear), 15...wrist pin, 15a, 15c...
...Wrist rotation transmission body (sprocket, gear), 1
5b...Mounting member, 16...Cylinder, 20...
Constant velocity transmission mechanism, A...Electric furnace for steelmaking.

Claims (1)

[Scope of Claims] 1. A base arm having one end pivotally connected to a shoulder pin fixed to a base, and a base end connected to the other end of the base arm via an elbow pin provided parallel to the shoulder pin. A rotation ratio of 1:2 that displaces the tip of the front arm in a straight line while changing the included angle between the base arm and the front arm by rotating the elbow pin using a drive source and a front arm of the same length. In a working device equipped with an acceleration/deceleration transmission mechanism, a wrist pin parallel to the elbow pin is rotatably supported at the tip of the fore arm, and mounting for attaching various work equipment to the wrist pin. The member and the wrist rotation transmission body are fixed, and an elbow rotation transmission body and a shoulder rotation transmission body having the same diameter as the wrist rotation transmission body are attached to each of the elbow pin and shoulder pin, and the above-mentioned original arm and the shoulder rotation transmission body are attached. In order to prevent the wrist pin from rotating even if the included angle with the front arm changes,
A constant velocity transmission mechanism is provided which interlocks each adjacent rotary transmission body at a rotation ratio of 1:1 using the rotational force taken out from the acceleration/deceleration transmission mechanism, and the mounting member is provided with a neck for various work equipment. An automatic working device in an electric furnace for steelmaking, characterized by being equipped with a swinging cylinder.