JPH0440421B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention proposes a mud loading robot that loads a mud into a mud gun that closes a blast furnace tap hole with a mud.

[Prior art]

Generally, after the blast furnace taphole is tapped, it is filled with a cylindrical mud mixed with fine coke, powdered coke, clay powder, etc. using a muzzle gun with the injection port directed, and the hole is closed.

Conventionally, the loading of matsu into the matsudo gun was carried out by the worker himself, who took out a large number of matsudo stacked in a row from a pallet (box-shaped container) that was transported to the vicinity of the matsudo gun, and placed this on top of the matsudo gun. This was done by loading into the matsudo inlet.

By the way, Matsudo is heavy as a loading target,
In addition, the position of the Matsudo gun's Matsudo inlet is high,
Furthermore, there is a high temperature atmosphere in front of the blast furnace, which poses a problem in that workers are extremely fatigued and work efficiency is extremely poor.

In recent years, development of automatic loading devices has been progressing in order to solve the above-mentioned problems. As a device of this type, a conveying slicer device is known which is configured to convey matt by a belt conveyor and load it into a mat inlet.

However, in the case of this device, it is necessary to secure a vast installation space in front of the blast furnace in order to install the device, and it cannot be applied when the space in front of the blast furnace is limited and cannot be put to practical use.

〔the purpose〕

The present invention has been made in view of the above circumstances, and it is possible to automatically load matudo into the matudo gun, thereby saving manpower, and it can also be applied even when the space in front of the blast furnace is limited. The purpose is to provide a mat loading robot that can be put to practical use.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below based on drawings showing embodiments thereof. FIG. 1 is a schematic plan view for explaining the operation of the mat loading robot according to the present invention, and FIG. 2 is a structural diagram of the robot body A partially broken.
FIG. 3 is a partially fragmented enlarged view of the manipulator section 10 viewed from the direction of FIG. 2. As shown in FIG.

In the vicinity of the blast furnace (not shown), a pin gun 2 for closing the blast furnace tap hole is placed on the foundation 1 with its injection port facing the blast furnace tap hole. There are a number of mats 4 inside the two fixed positions spaced apart from the matsudgun 2 by a suitable length in the direction opposite to the blast furnace installation position.
Pallets 3 in which pallets are arranged and stacked are alternately transported, and the robot of the present invention transfers all of the muds 4 in one of the pallets 3 to the mud inlet 2 of the muzzle gun 2.
When the mounds 4 in the other pallet 3 are finished being fed into the pallet a, the mounds 4 in the other pallet 3 are fed. Note that the drawing shows only the pallet 3 at one position.

A horizontally articulated robot body A is fixed on the foundation 1 via a mounting base 5 at a position between the muzzle gun 2 and the pallet 3 and closer to the pallet 3. Also,
A control section B of the robot body A is installed at a position that does not interfere with the horizontal rotation area of the robot body A and the transport area of the pallet 3.

The robot body A consists of a body part 6, a first arm part 7, and a second arm part 7.
Each hydraulic motor is composed of an arm body 8, a manipulator part 10, etc., and receives input from the control part B,
Each hydraulic cylinder drive command signal causes a hydraulic cylinder 61 for raising and lowering the body 6, a hydraulic motor 71 for rotating the first arm 7, and a hydraulic motor 8 for rotating the second arm 8.
1 and the hydraulic cylinder 91 for raising and lowering the manipulator part 10 are respectively driven by the required amount, and the manipulator part 10 located at the tip thereof is moved to the standby position (home position) shown by the broken line in FIG.
Position it at X ₁ .

Next, the robot body A is operated by a hydraulic motor 71 for rotating the first arm 7 and a hydraulic motor 8 for rotating the second arm 8.
1 by the required amount, the manipulator section 10
is rotated toward the pallet 3 side, and the manipulator section 10 is set at a standby _position
to be located. Next, the hydraulic cylinder 91 is driven by the required amount to lower the manipulator section 10,
The clamping members 109, 109 provided at the lower part thereof are inserted into the mat 4. A proximity switch 123 is attached to the lower part of the manipulator section 10, detects entry of the holding members 109, 109 into the mat 4, and inputs an entry detection signal to the control section B. The control section B, which has received this detection signal, issues a command signal for retracting the rod 102 to the hydraulic cylinder 101 provided in the manipulator section 10, thereby causing the rod 102 to retract. In this case, the clamping members 109, 109 are closed at a required angle in conjunction with the retraction of the rod 102, and the mat 4 is held with a predetermined clamping force when closed. Next, robot body A
The hydraulic cylinder 91 is driven by a required amount to raise the manipulator section 10 back to the standby position _X2 . Then, from the position _X2 , the hydraulic motors 71, 8
1 by a required amount to rotate the first arm 7 and second arm 8 in the opposite directions as described above, and at the same time, the hydraulic cylinder 61 is driven to raise the manipulator section 10. , the manipulator section 10 is at a standby position Y located above the input port 2a of the muzzle gun 2, as shown by the two-dot chain line. Then, the control section B issues a rod advancement signal to the manipulator section 10 to advance the rod 102 to the maximum extent and release the clamping members 109, 109, and also,
Extrude the mat 4 with the pusher 103 into the input port 2a.
Eject and load.

After discharging the mound 4, the manipulator section 10 is positioned at a standby position _X2 for the next mound 4 calculated by the control section B in order to load the next mound 4 in the pallet 3.

As shown in FIG. 6, the control section B consists of an input section 24, a main control circuit 21, sub-control circuits 22a and 22b, etc.
Based on the input information related to the number of muzzles 4 (or more direct position information of matsudos 4) and the number of muzzles loaded into the matsudo gun 2, etc., and the number of matsudos 4 taken out and the number of matsudos loaded into the matsudog gun 2, which are counted by yourself. , calculates the standby position _X2 , etc., and drives and controls the frame A in order to load the required number of mounds 4 from the pallet 3 into the mound gun 2.

Next, the body portion 6 of the robot body A will be explained. At the center of the mounting base 5 is a cylindrical guide tube 6 with a bottom.
8 has been erected. Approximately 2 of them are inside the guide tube 68.
A cylindrical lifting shaft 63 having double the length and a closed upper end is slidably inserted concentrically. A hydraulic cylinder 61 is attached to a hydraulic cylinder mounting member 64 provided on the lower side surface of the guide cylinder 68, and the upper end of the rod 62 located above the hydraulic cylinder 61 is attached to a bracket 65 attached to the upper side surface of the lifting shaft 63. It is connected. The hydraulic cylinder 61 is of a double-acting type, and moves the rod 62 forward and backward using pressure oil supplied from the pressure oil supply source 11 (see FIG. 5), thereby raising and lowering the lifting shaft 63.

Two limit switches 161 and 162 are provided in the vertical direction on the upper part of the lifting shaft 63 facing the lifting area. Limit switches 161 and 162 detect the highest and lowest positions of the lifting shaft 63, that is, the highest and lowest positions of the body section 6, and the detection signals are input to the main control circuit 21, which will be described later.

A U-shaped hydraulic motor 71 mounting member 66 that protrudes toward the bracket 65 is horizontally attached to the upper surface of the lifting shaft 63.
is attached to the output shaft 71a of the hydraulic motor 71.
protrudes downward and is rotatably supported at the upper and lower sides of the mounting member 66.

Next, the first arm body 7 will be explained. First arm body 7
is formed into a rectangular tube shape, and the hydraulic motor 71
is rotated around its output shaft 71a, and
It supports the second arm 8 which is rotated in a horizontal plane by a hydraulic motor 81 attached to its tip. A vertical shaft cylinder provided at the base end of the first arm body 7 is externally fitted and fixed onto the output shaft 71a of the hydraulic motor 71. The vertical dimension of the base end is the mounting member 6.
It is set shorter than the dimension between the upper and lower sides of 6,
It is designed so as not to hinder the rotation of the first arm body 7. A rotary encoder 75 is attached to an appropriate position on the output shaft 71a. The rotary encoder 75 emits a number of pulses corresponding to the rotational angular displacement of the output shaft 71a of the hydraulic motor 71, in other words, the rotational angular displacement of the first arm 7 rotated thereby,
The signal is output to a sub-control circuit 22a, which will be described later.

A hydraulic motor mounting member 72 having a U-shape in side view with an open end is fixed to the distal end of the first arm 7, and a hydraulic motor 81 is mounted on the upper side thereof. The output shaft 81a of the hydraulic motor 81 projects downward, and its lower end is rotatably supported on the upper and lower sides of the mounting member 72.

Next, the second arm body 8 will be explained. Second arm body 8
is formed into a rectangular tube shape similar to the first arm 7, and rotates in a horizontal plane by the rotation of the hydraulic motor 81, and is raised and lowered by driving a hydraulic cylinder 91 attached to the end thereof. It also supports the manipulator section 10.

The second arm body 8 is attached to the output shaft 81a of the hydraulic motor 81.
A vertical shaft tube provided at the base end of the tube is fixedly fitted onto the outside.
The vertical dimension of the base end is set to be shorter than the dimension between the upper and lower sides of the mounting member 72 so as not to hinder the rotation of the second arm body 8. A rotary encoder 85 is attached to an appropriate position on the output shaft 81a of the hydraulic motor 81. The rotary encoder 85 corresponds to the rotational angular displacement of the output shaft 81a of the hydraulic motor 81, in other words, the second
It emits a number of pulses corresponding to the rotational angle displacement of the arm body 8, and outputs them to a sub-control circuit 22b, which will be described later.

A hydraulic cylinder 9 is mounted on the upper surface of the tip end of the second arm body 8.
1 is mounted with the rod 92 facing downward, and the lower end of the rod 92 is connected via a connecting member 93 to the upper end of a hydraulic cylinder 101 for opening and closing holding members 109 and 109 of the manipulator section 10.

The hydraulic cylinder 101 is a double-acting type, and its rod 9 is operated by pressure oil supplied from a pressure oil supply source 11.
The manipulator part 10 is raised and lowered by advancing and retracting the manipulator part 2. There are five limit switches 19 in the vertical direction on the part facing the lifting area of the rod 92.
1,192,193,194,195 are attached. Each limit switch operates sequentially according to the amount of movement of the rod 92, detects the movement position of the rod 92, that is, the vertical position of the manipulator section 10, and sends a detection signal to the main control circuit 21, which will be described later.

The mounting position of the uppermost limit switch 191 is determined so that it is activated when the rod 92 is at the maximum retracted position.

Additionally, the limit switches 192 to 195 are installed at the mat 4 which is stacked in four layers within the pallet 3.
(See Fig. 8).For example, the limit switch 192
are the clamping members 109 and 10 of the manipulator section 10
9 is at a height that extends into the topmost mat 4.

Next, the manipulator section 10 will be explained.
The manipulator unit 10 includes a double-acting hydraulic cylinder 101 connected to a rod 92 of a hydraulic cylinder 91 of the second arm body 8 via a connecting member 93, and pressurized oil supplied to this hydraulic cylinder 101 from a pressure oil supply source 11. The rod 10 that is forced to enter and exit by
2. A pusher 103 that is connected to the tip of the rod 102 and performs reciprocating motion; notches 103b formed at predetermined positions of the pusher 103;
cam plates 104, 104 that rotate in a vertical plane by engaging their followers 140a, 104a, clamping members 109, 109 attached to the cam plates 104, 104 to perform opening/closing operations, and a hydraulic cylinder 10.
The housing 100 is attached to the lower part of the housing 1 and surrounds and protects the above-mentioned elements. The mat 4 is released by the opening operation and the advance of the pusher 103. In this manipulator section 10, the pusher 1
A cam device is constructed in which 03 is the original part and the clamping members 109, 109 are the followers, but in the middle of the pusher 103, which is the original part of the cam device, there is a part with a diameter smaller than that of the cylindrical pusher body 103a. A slide shaft portion 103b is formed, and the pusher 1
03 performs reciprocating motion with a stroke amount commensurate with the axial length of this slide shaft portion 103c, and as shown in FIG.
09 in parallel, and in this state, the holding members 109,
109 is pushed into the mat 4, closed at a predetermined angle sufficient to grip the mat 4 at its limit retracted position, and the clamping members 109, 1 are inserted at its limit extended position.
09 is opened at a predetermined angle, and the mat 4 can be pushed out and released.

In addition, the limit retreat position, intermediate position, and limit advance position of the rod 102 or pusher 103 are the rod 9.
This is detected by limit switches 131, 132, and 133 provided at three positions above and below the advance/retreat area of No. 2, respectively, and is reported to the main control circuit 21.

At the bottom of the housing 100 is a mat detection material 120 made of a metal plate bent vertically on one side in the longitudinal direction.
is suspended, and clamping members 109, 1 are inserted into square holes 120a, 120a of appropriate size opened therein.
09 is inserted so as not to interfere with rotation. Note that the height of the suspension support of the detection material 120 is the third
As shown in the figure, it is set at approximately the same height as the tips of the holding members 109, 109. An arm 12 is attached to the side surface of the housing 100 located on the side of the bending part of the detection material 120.
2, a proximity switch 123 is mounted slightly above the detection plate 121. The proximity switch 123 is for detecting entry of the holding members 109, 109 into the mat 4. That is, as shown in FIG. 4, when the rod 92 of the hydraulic cylinder 91 is advanced and the manipulator section 10 is lowered, the detection material 120 first comes into contact with the mat 4, and then the detection material 1
20 is pushed up by the mat 4, and the holding member 10
The tips of 9 and 109 protrude below the detection material 120 and are forced into the mat 4. During this time, the proximity switch 123 detects the bent portion of the detection material 120 and operates, so that the clamping member 1
09,109 entering Matsudo 4 will be detected. This detection result is reported to the main control circuit 21.

As described above, the manipulator section 10 configured in this manner is first positioned at the standby position _X1 , and then moved to the standby position _X2 by the rotation of the first arm 7 and the second arm 8 and by the movement of the rod 92. be positioned. At this time, rod 102 or pusher 10
3 is in an intermediate position, and the holding members 109, 109 are in a parallel state. And the holding members 109, 109
If it enters Matsudo 4, proximity switch 12
3 reports an intrusion detection signal to a main control circuit 21, which will be described later. Next, the manipulator section 10 retracts the pusher 103 to the limit retraction position in response to a rod retraction signal given from the main control circuit 21, closes the clamping members 109, and grips the rod 4 with a predetermined clamping force. . After the manipulator unit 10 is _returned to the standby position The muzzle 4 is ejected by pushing out the muzzle 4 with the extrusion part 103d, and the muzzle gun 2 is inserted into the inlet 2 of the muzzle gun 2.
Load Matsudo 4 into a.

Next, the hydraulic circuit of the robot of the present invention will be explained in detail based on the hydraulic circuit diagram shown in FIG.

Pressure oil supplied from the pressure oil supply source 11 is supplied to the solenoid valve 1
Hydraulic motor 7 via 71, 172,...177
1, 81 and hydraulic cylinders 61, 91, 101.

The solenoid valves 171, 172...177 are four-port, three-position switching type directional control valves, and the solenoid 1
71a, 172a...177a (or 171b, 1
72b...177b) is excited, the solenoid valve 17
1, 172...177 are in position a (or b), pressure oil is supplied to one oil port of the hydraulic motors 71, 81, each hydraulic motor 71, 81 is rotated forward (or reversed), and each Hydraulic motor output shaft 71a, 81
a in the normal direction (or in the reverse direction), in other words, the first arm body 7
and the second arm body 8 are rotated forward (or reversed), and pressurized oil is supplied to one of the oil ports of the hydraulic cylinders 61, 91, 101, and the rod 62 located above the hydraulic cylinder 61 is advanced. (or leave)
In other words, the body section 6 is raised (or lowered), and the rods 92, 102 located below the hydraulic cylinders 91, 101 are advanced (or withdrawn), in other words, the manipulator section 10 is lowered (or raised). ) to open (or close) the holding members 109, 109. The pressure oil discharged from the other oil ports of the hydraulic motors 71, 81 and the hydraulic cylinders 61, 91, 101 is returned to the tank 16.

In addition, the hydraulic motors 71 and 81 and the solenoid valve 171,
172, there are relief valves 14a, 14a, respectively.
The hydraulic system is protected from a large inertial load that is applied when the first arm 7 and the second arm 8, which are rotated by the hydraulic motors 71 and 81, are stopped. Also,
The flow rate adjustment unit 15 provided in the middle of the oil path of each hydraulic motor 71, 81 controls the rotational speed of each hydraulic motor 71, 81, that is, the rotation speed of the first arm 7, second arm 8, by its micropressure control. The control signal is applied from the sub-control circuits 22a and 22b.

In addition, the hydraulic cylinders 61, 101 and the solenoid valve 17
3 and 177, there are locking circuits 13 and 13 consisting of check valves 13a and 13a to which pilot oil pressure is applied, respectively, and a flow rate regulating valve 1 with a variable check valve.
Flow rate adjusting section 15', 1 consisting of 5'a, 15'a
5' are provided respectively. In the former case, when the hydraulic cylinders 61, 101 are stopped, the respective rods 62,
92 and stops the rods 62, 92 accurately at the desired stop position.
1,101, that is, the vertical speed of the body section 6 and the opening/closing speed of the holding members 109, 109, and the control signal is sent to the main control circuit 2.
Given from 1.

In addition, the hydraulic type connected to the hydraulic cylinder 91 is one in which three hydraulic systems similar to the hydraulic systems of the hydraulic cylinders 61 and 101 are provided in parallel, and the solenoid valve 17
It is equipped with 4,175,176.

When the manipulator section 10 is raised, one solenoid valve 174 (or 175, 176) is closed to a (or b).
When the manipulator section 10 is lowered, the rod 92 of the hydraulic cylinder 91 is caused to move forward, and the three electromagnetic valves 174, 175, 176 are set to the b (or a) side, and the rod 92 of the hydraulic cylinder 91 is moved forward. let In other words, when the mat 4 is gripped, the rising speed is suppressed to prevent it from falling. A relief valve 14'a and check valves 14'b, 14' are connected between the two oil chambers of the hydraulic cylinder 91.
b, so that when excessive pressure is applied to the oil chamber on the rod retraction/retraction drive side, this pressure can be released to the tank 16.

Next, the structure of the control section B will be explained. FIG. 6 is a block diagram schematically showing the structure of the control section B.
Input section 2 for the operator to input operation information
4. A main control circuit 21 which is the control center of the robot of the present invention and also controls the hydraulic cylinders 61, 91, 101, a memory 23 which stores the system program and the calculation results of the main control circuit 21, a hydraulic motor 71, It consists of sub-control circuits 22a, 22b, etc. that control each of the sub-control circuits 81.

FIG. 7 is a flowchart showing the calculation contents of the control section B mentioned above. When the start button of the robot body A is turned on, the main control circuit 21
5c and 25d respectively to excite the solenoids 173a, 174a, 175a, 176a of the solenoid valves 173, 174, 175, 176, and the rods 62, 92 of the hydraulic cylinders 61, 91.
is retracted, and the body portion 6 is placed at the lowest position and the manipulator portion 10 is placed at the highest position. Then, the sub control circuits 22a and 22b issue predetermined signals to the relay circuits 25a and 25b, respectively.
Solenoids 171a, 1 of electromagnetic valves 171, 172
72a is excited, the hydraulic motors 71 and 81 are driven by a required amount, the first arm 7 and the second arm 8 are rotated, and the manipulator section 10 is positioned at the standby position _X1 . During this control, the main control circuit 21 issues a predetermined signal to the relay circuit 25e, and the solenoid valve 17
7 solenoid 177a is energized and the hydraulic cylinder 1
01, and the holding members 109, 109 are placed in a parallel state.

Next, the input section 24 inputs into the main control circuit 21 the two positions of the pallet 3 from which the mats 4 are to be taken out and the number of mats 4 stored in the pallet 3. The main control circuit 21 determines the order of taking out a large number of mats 4 according to a predetermined algorithm and the input number of mats 4, and determines the standby position Perform operation ₂ . and,
The results of this calculation are processed into position information related to the standby positions _X2 of the first arm 7 and second arm 8, and are provided to the sub-control circuits 22a and 22b. Information regarding this standby position _X2 is updated each time one muzzle 4 is transferred from the pallet 3 to the muzzle gun 2. Incidentally, in order to simplify the algorithm, the mats 4 that are stacked and stored in the pallet 3 are stored in a form that follows a predetermined rule. In addition, in this example, palette 3
The number of mats 4 in the mat 4 is inputted in the input unit 24, and the position of each mat ₄ or the corresponding standby position It is also possible to input the representative mat 4 corresponding to the position or stacking form.

Next, control of the sub-control circuits 22a and 22b will be explained using the sub-control circuit 22a as an example. When _the position information of _the standby position The signal necessary for
Rotate 1. Along with this, the rotary encoder 75 emits a pulse, and this pulse is given to the sub-control circuit 22a as a feedback signal, and the sub-control circuit 22a uses this feedback signal to confirm that the required rotation of the hydraulic motor 71 has been performed. When the solenoid 171a (or 171
b) Demagnetize. On the other hand, the sub-control circuit 22a transmits the rotational speed control signal of the hydraulic motor 71 to the power amplifier 26.
a, and gives an electric signal corresponding to the content to the flow rate adjustment section 15, thereby controlling the rotational speed of the hydraulic motor 71. The above configuration is the hydraulic motor 8
The same applies to 1, and the sub control circuit 22b is controlled in the same manner. Regarding the speed control of the hydraulic motor, the speed is set to be high for movements where the amount of movement is large, and the speed is set to be low for movements where the amount of movement is small.

As mentioned above, the manipulator part ₁ is placed in the standby position
0 is positioned, the main control circuit 21 then outputs a signal necessary for lowering the manipulator section 10 to the relay circuit 25d, and the solenoid valves 174, 175,
176 solenoids 174a, 175a, 176
a (or 174b, 175b, 176b) is excited to advance the rod 92 of the hydraulic cylinder 91. When the manipulator section 10 is positioned at the height of the mat 4 to be gripped at this time, the limit switch 192 (or 193, 194, 195) is activated.
detects the advanced position of the rod 92 and reports a detection signal to the main control circuit 21.

The main control circuit 21 receives this, and the relay circuit 25
d by emitting a predetermined signal to the solenoid valves 174, 175, 1.
76 solenoids 174a, 175a, 176a
(or 174b, 175b, 175b) to stop driving the hydraulic cylinder 91.

When the manipulator section 10 is at the stop position, the clamping members 109, 109 enter into the mat 4, but detection of this entry is performed by the nearby switch 123 as described above, and the main control circuit 2
1 will be reported. Then, the main control circuit 21 issues a predetermined signal to the relay circuit 25e, causing the rod 102 of the hydraulic cylinder 101 to retract and remove the clamping member 1.
Grip and hold Matsudo 4 between 09 and 109. At this time, the pusher 103 rises. This gripping is detected by the limit switch 131 and the main control circuit 2
1 will be reported. In response to this, the main control circuit 21 issues a predetermined signal to the relay circuit 25d, and the rod 92
and move the manipulator section 10 to the standby position.
Return to X ₂ . Then, the limit switch 191 moves to the standby position of the manipulator section 10.
It detects the return to X ₂ and reports this to the main control circuit 21. In response to this, the main control circuit 21 issues predetermined signals to the relay circuit 25c and the power amplifier 26c, respectively, to raise the rod 62 of the hydraulic cylinder 61, and accordingly, the sub control circuits 22a, 22
b is activated, a predetermined signal is issued to the relay circuits 25a and 25b, and the hydraulic motors 71 and 81 are reversed as described above to position the manipulator section 10 at the standby position Y where it is opposed to the input port 2a of the muzzle gun 2. The positions of the first arm body 7 and the second arm body 8 themselves corresponding to this position are determined by feedback signals given to the sub control circuits 22a and 22b from the rotary encoders 75 and 85 to the sub control circuit 2.
2a and 22b, and is reported to the main control circuit 21. Further, the height position of the manipulator section 10 is reported by a detection signal from the limit switch 161. In response to this, the main control circuit 21 issues predetermined signals to the relay circuit 25e and the power amplifier 26e, respectively, to advance the rod 92 of the hydraulic cylinder 91 to the limit advancing position, and to close the clamping members 109, 109.
is released, and the mat 4 is opened at the extrusion part 103d.
is pushed out, and the mat 4 is loaded into the input port 2a.
The limit switch 133 detects this and reports it to the main control circuit 21. The main control circuit 21 receives this detection signal and performs control to position the manipulator section 10 at the standby position _X2 .

In the process of control as described above, if the number of mats 4 in the pallet 3 from which mats 4 are taken out becomes zero (according to the count of the main control circuit 21), the main control circuit 21 controls the sub control circuits 22a and 22b. A control signal is issued to move the manipulator section 10 to a predetermined position, for example, to the first standby position _X2 for the other pallet 3.
Furthermore, when the number of muzzles 4 to be loaded into the muzzle gun 2 is sufficient until the residual moulds 4 in the pallet 3 from which the muzzles 4 are taken out becomes zero, the main control circuit 21 moves the manipulator section 10 to the standby position.
Position it at X ₁ .

Next, the contents of the standby position _X2 will be explained based on FIG. Inside the box-shaped pallet 3 whose lower portions on both sides in the longitudinal direction are inclined downward inward, there are mats 4, for example, n rows and m columns in the top and third tiers, and n in the second and fourth tiers. It is assumed that rows and columns are stacked and stored in a staggered manner. Then, the mat 4 located in one corner of the top row is the first mat, and the second mat in the horizontal direction...
Assign the m-th mat, and then set the 1st-side mat 4 in the second row as the m+1 mat, and move m+2 in the same direction.
No. Matsudo... Assign to No. 2m Matsudo, and then assign Matsudo 4 on the top row in the same manner. Then, the allocation is performed in the same manner for the second and subsequent stages.
Note that the n×m+1st mat is the mat 4 directly below the 1st mat. In the same way, the bottom row of Matsudo 4
For n (3m-1) + 1st to 2n (2m-1)
A number will be assigned.

Then, when the number of mats inputted from the input unit 24 is 2n (2m-1) [corresponding to the total number], the first standby position X ₂ is the position corresponding to the first mat (the position X ₂ When the manipulator unit 10 is lowered by a predetermined amount from the position (calculated position), the holding members 109, 109 will most plunge into the mat. Further, if the number of mats 4 inputted from the input unit 24 is, for example, n(3m-1) [corresponding to the number up to the third stage], the first standby position X ₂
is the position corresponding to the n×m+1 mat.

〔effect〕

As described above, the robot according to the present invention is a muzzle loading robot that loads mats aligned and stacked in a container into a muzzle inlet of a muzzle gun that closes a blast furnace taphole with a cylindrical mat. A horizontal multi-jointed robot body, which is equipped with a manipulator part at the tip that holds the muzzle and can be raised and lowered by a lifting shaft provided at the base end, and a lifting amount detector that detects the lifting amount of the lifting shaft. , a plurality of rotation amount detectors for detecting the amount of horizontal rotation of each joint of the horizontal multi-joint part, a detector for detecting entry of the manipulator part into the mat, and means for inputting position information of the mat in the container. and drives the robot body to load the muds in the container one by one into the muzzle inlet of the muzzle gun based on the position information of the muzzle and the outputs of the elevation amount detector, the rotation amount detector, and the detector. Since it is designed as such, it is possible to automatically load matudo into the matudo gun, which saves manpower.It also requires a small installation space, and is applicable even when the installation space in front of the blast furnace is limited. can. In addition, since it has a horizontal multi-joint structure, the inertial force acting on the rotating part is small, making it easy to control, and the load on the drive system is small, allowing the structure to be simplified.

Furthermore, in the case of the manipulator part as in the above-mentioned embodiment, the clamping member is pushed into the mat without applying an impact and is held under pressure, so that the clamping member can be held without causing the mat to lose its shape. ,
The present invention has excellent effects, such as lowering the risk of the mat falling because it is raised slowly after being gripped.

[Brief explanation of drawings]

The drawings show embodiments of the present invention.
The figure is a schematic plan view for explaining the operation of the robot of the present invention, FIG. 2 is a structural diagram of the robot body shown partially broken, and FIG. 3 is a partially broken enlarged view of FIG. Figure 4 is a perspective view showing the insertion of the clamping member into the mat, Figure 5 is a hydraulic circuit diagram, Figure 6 is a block diagram of the control system, Figure 7 is a flow chart showing the control details, and Figure 8 is a diagram of the mat. It is an explanatory view of the relationship with a standby position. 2...Matsudo gun, 2a...Matsudo input port, 3
...Pallet, 4...Matsudo, 6...Body part, 7
...First arm body, 8... Second arm body, 10... Manipulator section, 61, 91, 101... Hydraulic cylinder, 71, 81... Hydraulic motor, 75, 85...
Rotary encoder, 123...proximity switch,
131-133, 161, 162, 191-19
5...Limit switch, A...Robot body,
B...Control unit

Claims (1)

[Scope of Claims] 1. A mud loading robot that loads mud aligned and stacked in a container into a mud inlet of a mud gun that closes a blast furnace taphole with a cylindrical mud, the mud in the container being held. A horizontally articulated robot body that is equipped with a manipulator part at the tip and can be raised and lowered by a lifting shaft provided at the base end, a lifting amount detector that detects the lifting amount of the lifting shaft, a plurality of rotation amount detectors for detecting the amount of horizontal rotation of each joint of the manipulator, a detector for detecting entry of the manipulator into the rod, and input means for inputting position information of the rod in the container, The robot body is driven to load the muds in the container one by one into the muzzle inlet of the muzzle gun based on the position information of the muzzle and the outputs of the lifting amount detector, the rotation amount detector, and the detector. A Matsudo loading robot characterized by: 2. A patent claim characterized in that the manipulator section includes two clamping members separated by a length that allows them to protrude into the mat, and the distal ends of the clamping members are configured to be rotatable in a direction toward each other. The Matsudo-loading robot according to item 1.