JPH0447001B2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a method for closing a blast furnace taphole by press-fitting a mud into the blast furnace taphole with a mudgun. This paper proposes a method of closing a blast furnace taphole that can save manpower by automatically loading mud into the mouth using a mud loading robot.

[Prior Art] Generally, after the blast furnace taphole is tapped, a cylindrical mud mixed with fine coke, powdered coke, clay powder, etc. is forced into the hole using a mudge gun with the injection port facing the hole, and the taphole is closed.

Conventionally, in order to load the mats into the muzzle gun prior to such a press-fitting process, the worker himself would take out the mats arranged and stacked in large numbers from a pallet (box-shaped container) that was transported to the vicinity of the muzzle gun. This was done by loading this into the matsudo inlet provided at the top of the matsudo gun.

Incidentally, the muzzle is heavy, the muzzle inlet of the muzzle gun is located high, and furthermore, the atmosphere in front of the blast furnace is high temperature, which poses the problem of severe worker fatigue and extremely poor workability.

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 an object of the present invention to automatically carry out the process of loading a muzzle into a muzzle gun using a muzzle loading robot.
It is an object of the present invention to provide a method for closing a blast furnace taphole that can efficiently and safely perform blast furnace taphole closing work and can be applied even when the space in front of the blast furnace is limited.

[Structure of the invention]

A method for closing a blast furnace tap port according to the present invention is a method of filling a mud inlet of a mud gun installed in the vicinity of a blast furnace tap hole with mud, and then blocking the blast furnace tap port by press-fitting the mud into the blast furnace tap port. A multi-jointed muzzle loading robot is placed near the muzzle gun, and a box-shaped pallet containing a plurality of muzzles formed to have the same size and shape arranged in an array is placed inside the muzzle loading robot's working area. After the muzzle in the pallet is grasped by the manipulator part of the muzzle filling robot, the joint part is rotated and the mud is loaded into the muzzle inlet of the muzzle gun a predetermined number of times, and the muzzle loading robot stops at a predetermined position, The method is characterized in that the injection port of the matudo gun faces the blast furnace taphole and the matudo is press-fitted.

〔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 showing the implementation state of the blast furnace taphole closing method according to the present invention, Fig. 2 is a structural diagram showing a partially crushed robot frame A used in the implementation, and Fig. 3 is a Partially fragmented enlarged view of the manipulator part 10 viewed from the direction of FIG. 2, FIG. 9
The figure is an enlarged view taken from the direction of arrows, with the muzzle gun main body 2b positioned at the position indicated by the two-dot chain line in FIG.

A matsudogan 2 is installed on the foundation 1 near the blast furnace 30. The muzzle gas main body 2b into which the muzzle 4 is to be loaded is supported by a rotating portion 2f, and is capable of horizontally turning around the rotating portion 2f. Also,
The muzzle gun main body 2b can be rotated up and down by a tilting lever 2e provided on the horizontal connecting shaft of both, and in the muzzle loading position shown by the solid line in Fig. 1, the injection port 2d is tilted slightly downward. Take a posture,
Injection port 2d is at the Matsud 4 press-in position shown by the two-dot chain line.
is placed in a greatly inclined position so as to face the blast furnace tap hole 30a.

Pallets 3, in which a large number of mats 4 are arranged and stacked, are alternately transported from the mat gun 2 to two fixed positions spaced a suitable distance apart in the direction opposite to the blast furnace installation position. When all of the mounds 4 in the pallet 3 have been fed into the mound inlet 2a of the muzzle gun main body 2b, 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.
It consists of an arm body 8, a manipulator part 10, etc., and each hydraulic motor receives input from the control part B,
Each hydraulic cylinder drive command signal causes a hydraulic cylinder 61 for raising and lowering the body part 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 holding 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, which detects entry of the clamping sections 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 configured to close at a required angle in conjunction with the retraction of the rod 102, and the mat 4 is held with a predetermined clamping pressure at the time of closing. Next, the robot body A drives the hydraulic cylinder 91 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 and 81 are driven as required to rotate the first arm 7 and the second arm 8 in the opposite direction to that described above, and
At the same time, the hydraulic cylinder 61 is driven to raise the manipulator section 10, and the manipulator knee section 10 is placed in a standby position Y 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 advance signal to the manipulator section 10, causes the rod 102 to advance to the maximum, opens the clamping members 109, 109, and also causes the pusher 103 to discharge the extruded rod 4 to the input port 2a. and load it.

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, 22b, etc. more direct matsudo 4
Processing such as _calculating the standby position Then, the frame A is driven and controlled in order to load the required number of mounds 4 from the pallet 3 into the mound gun 2.

Next, the muzzle gun 2 loaded with a predetermined number of muzzles 4 is horizontally rotated around a pivot shaft 2c with the muzzle gun main body 2b provided in the main body rotating portion 2f to the position shown by the two-dot chain line in FIG. 1, and the tilting lever 2e is operated. The injection port 2d is inserted into the blast furnace tap port 30a, and the mud 4 is injected from the injection port 2d to close the tap port 30a.

Next, the structure of each part of the robot body A will be explained. The body section 6 is for raising and lowering the first arm section 7, the twenty-second arm section 8, and the manipulator section 10.

That is, in the center of the mounting base 5, a cylindrical guide tube 68 with a bottom is provided upright. A cylindrical lifting shaft 63 having a length approximately twice that of the guide cylinder 68 and having a closed upper end is slidably and concentrically inserted into the guide cylinder 68.
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 rod 6 located above the hydraulic cylinder 61
The upper end of 2 is connected to a bracket 65 attached to the upper side of the lifting shaft 63. hydraulic cylinder 6
Reference numeral 1 is of a double-acting type, and a lifting shaft 63 is raised and lowered by advancing and retracting a rod 62 using pressure oil supplied from a pressure oil supply source 11 (see FIG. 5).

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.
6 is set to be shorter than the dimension between the upper and lower sides, so as not to impede 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 corresponds to the rotational angular displacement of the output shaft 71a of the hydraulic motor 71, in other words, the first
It emits a number of pulses corresponding to the rotation angle displacement of the arm body 7, and outputs them 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 upper and lower ends are 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 distal 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 clamping 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 stacked in four layers within the pallet 3.
(See Fig. 8).For example, the limit switch 192
are the clamping members 109, 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, 140a, clamping members 109, 109 that are attached to the cam plates 104, 104 and perform opening/closing operations, and a hydraulic cylinder 101.
It is attached to the lower part of the housing 100 and the like and surrounds and protects the above-mentioned elements. The mat 4 is released by the movement 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 diameter smaller than the cylindrical pusher main 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 clamping 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 by an extrusion section 103d provided at the tip of the pusher 103.

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 suspension height of the detection unit 120 is the third
As shown in the figure, it is set at approximately the same height as the tips of the clamping 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 clamping 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, and the clamping members 109,
The tip of the detection material 120 protrudes below and enters 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 109,
This means that the entry of 109 into Matsudo 4 has been detected. This detection result is reported to the main control circuit 21.

Next, the hydraulic circuit of the robot body A will be described 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.

Solenoid valves 171, 172...177 are 4 ports 3
It is a position switching type directional control valve, and its solenoids 171a, 172a...177a (or 171b,
172b...177b) is excited, solenoid valve 1
71, 172...177 are in position a (or b), pressure oil is supplied to one oil port of the hydraulic motors 71, 81, and each hydraulic motor 71, 81 is rotated forward (or reversed), Output shaft 71a of each hydraulic motor,
81a in the normal direction (or in the reverse direction), in other words, the first arm body 7 and the second arm body 8 are respectively rotated in the normal direction (or in the reverse direction),
Further, pressure 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 retracted), in other words, the body portion 6 is raised ( In addition, the rods 92, 102 located below the hydraulic cylinders 91, 101 are advanced (or retracted), in other words, the manipulator section 10 is lowered (or raised), and the clamping members 109, 109 are open (or close) 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
Locking circuits 13, 13 consisting of check valves 13a, 13b to which pilot oil pressure is applied, respectively, and variable check valve flow rate regulating valve 1
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 clamping members 109, 109, and the control signal is sent to the main control circuit 2.
Given from 1.

In addition, the hydraulic system 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.
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 with the three electromagnetic valves 174, 175, 176 set to the b (or a) side. 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'b are connected between the two oil chambers of the hydraulic cylinder 91.
If 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 body A 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, etc., 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
The rotor 102 of No. 01 is positioned at an intermediate position, and the clamping members 109, 109 are kept in a parallel state.

Next, the input section 24 inputs into the main control circuit 21 the 22 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. 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 A necessary signal is output to the relay circuit 25a, and the solenoid 171a (or 1
71b) to rotate the hydraulic motor 71 in a desired direction. Along with this, rotary encoder 7
5 emits a pulse, and this pulse is transmitted to the sub control circuit 22.
a as a feedback signal, and when the sub-control circuit 22a confirms with this feedback signal that the required rotation of the hydraulic motor 71 has been carried out, it issues a predetermined signal to the relay circuit 25a to activate the solenoid 171a of the electromagnetic valve 171 ( or 171b)
Demagnetize. On the other hand, the sub-control circuit 22a issues a rotational speed control signal for the hydraulic motor 71 to the power amplifier 26a, and sends an electric signal corresponding to the content to the flow rate adjustment unit 1.
5, thereby controlling the rotational speed of the hydraulic motor 71. The above configuration is the same for the hydraulic motor 81, 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, 176b) 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 this entry is detected 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 to the above-mentioned direction, and the manipulator section 10 is activated.
is positioned at a standby position Y facing the input port 2a of the muzzle gun 2. The first corresponding to this position
The positions of the arm body 7 and the second arm body 8 themselves are detected by the sub-control circuits 22a, 22b based on feedback signals given to the sub-control circuits 22a, 22b from the rotary encoders 75, 85, and 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 move the clamping members 109, 10
9 is opened, and the mat 4 is pushed out by the extrusion part 103d, 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 moves the manipulator section 1 to the standby position _X2 .
Control is performed to position 0.

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, if the number of muzzles 4 to be loaded into the muzzle gun 2 is sufficient until the residual muzzle 4 in the pallet 3 from which the muzzle 4 is taken out becomes zero, the main control circuit 21 moves the manipulator section 10 to the standby position _X1. to be located.

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 longitudinal sides are inclined downward inward, mats 4 are placed, for example, in n rows and m columns in the first and third tiers, and in the second and fourth tiers. It is assumed that n rows and m-1 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. The allocation is performed in the same manner for the second and subsequent rows. Note that the n×m+1th 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 part 10 is lowered by a predetermined amount from
The position is calculated so that it enters the first position). Further, if the fixed number of mats 4 input 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.

Next, use Matsudo gun 2 to move Matsudo 4 to blast furnace tap port 3.
The process of press-fitting into 0a will be explained based on FIG. 9. When a predetermined number of muzzles 4 are loaded into the input port 2a, the muzzle gun 2 drives a rotating shaft drive device (not shown) provided in the rotating portion 2f, and moves the muzzle gun body 2b as shown by the two-dot chain line in FIG. The injection port 2d is rotated around the pivot shaft 2c, and the injection port 2d is further tilted downward by operating the tilting lever 2e to insert the injection port 2d into the blast furnace tap port 30a. Next, the main body 2b
Hydraulic cylinder 2g for press-fitting Matsudo 4 installed inside
The rod 2h is advanced, the rod 4 is injected from its tip, and the rod 4 is press-fitted into the tap hole 30a. When all the rods 4 loaded into the charging port 2a have been completely press-fitted, and the blast furnace tap port 30a is still not completely blocked, the pivot shaft 2c is reversed from the above-mentioned position and the bottom frame is re-opened. The muzzle 4 is loaded by step A, and after the loading is completed, the muzzle 4 is press-fitted again.

〔effect〕

As described in detail above, the blast furnace taphole closing method according to the present invention automatically carries out the process of loading mud into the mud gun using a mud loading robot, which saves labor and makes the closing work more efficient. Can be done well and safely. Further, the present invention has excellent effects, such as being applicable even when the installation space in front of the blast furnace is limited.

[Brief explanation of the drawing]

The drawings show embodiments of the present invention.
The figure is a schematic plan view showing the implementation state of the method of the present invention, Figure 2 is a structural diagram showing a partially fractured robot frame used in the implementation, and Figure 3 is an arrow in the direction of enlargement of the partially fractured part of Figure 2. Fig. 4 is a perspective view showing the clamping member entering the mat, Fig. 5 is a hydraulic circuit diagram, and Fig. 6 is a perspective view showing the insertion of the clamping member into the mat.
The figure is a block diagram of the control system, Figure 7 is a flowchart showing the control contents, Figure 8 is an explanatory diagram of the relationship between the muzzle and the standby position, and Figure 9 is an enlarged view of the muzzle gun as seen from the direction. . 2...Matsudo gun, 2a...Matsudo input port, 3
...Pallet, 4...Matsudo, A...Robot body.

Claims (1)

[Scope of Claims] 1. A method of filling a mud inlet of a mud gun installed in the vicinity of a blast furnace taphole with mud, and filling the mud into the blast furnace taphole by press-fitting the mud into the blast furnace taphole, the method comprising: A multi-jointed mat loading robot is installed, and a box-shaped pallet containing a plurality of mats formed to have the same size and shape arranged in a row is placed in the working area of the mat loading robot. The muzzle is grasped by the manipulator part of the matsudo filling robot, the operation of rotating the joint part and loading the matsudo into the matsudo inlet of the matsudo gun is repeated a predetermined number of times, and after the matsudo loading robot stops at a predetermined position, the matsudo gun is inserted into the injection port of the matsudo gun. A method for closing a blast furnace taphole, characterized by press-fitting mud into the blast furnace with the metal facing the blast furnace taphole.