底吹炉下料口炉结智能化处理机器人系统研究与应用  

Research and Application of Robot System for Intelligent Treatment of Bottom-Blowing Smelting Furnace Accretion

作　　者：闫友 胡卫文 申群友 刘辉[1] 马双 谭傲峰 阳自霖 杨正华[1] YAN You;HU Weiwen;SHEN Qunyou;LIU Hui;MA Shuang;TAN Aofeng;YANG Zilin;YANG Zhenghua(Hunan Shuikoushan Nonferrous Metals Group Co.,Ltd.,Hengyang 421116,Hunan,China;Beijing Wattman Intelligent Co.,Ltd.,Beijing 100001,China)

机构地区：[1]湖南水口山有色金属集团有限公司,湖南衡阳421116 [2]北京瓦特曼智能科技有限公司,北京100001

出　　处：《有色金属（冶炼部分）》2024年第7期46-54,96,共10页Nonferrous Metals（Extractive Metallurgy)

基　　金：国家自然科学基金资助项目(22025304)。

摘　　要：富氧底吹熔炼是国际先进的一种主流熔炼技术,底吹熔炼炉在熔化过程中,炉膛内的跳渣会导致下料口处形成炉结,影响物料进入炉体的流动。现有的炉结处理方法是人工根据运行情况不定期地对入料口进行清理,现场作业环境温度高、粉尘大、工人劳动强度大。阐述了一种机器人系统,能完成底吹炉下料口炉结的智能化处理,系统基于视觉AI感知、三维建模和力控传感等多技术融合的特种机器人清理技术,通过自主研发设计的末端力控风镐完成下料口炉结的清理作业,并已在湖南某铅冶炼厂现场运行。本系统对于底吹炉下料口炉结的识别准确率高,处理炉结的效率快、一致性好,有效减少了炉结的形成及下料口堵塞,提高了富氧底吹熔炼的整体效能和作业的安全性。Oxygen-rich bottom blow smelting is an advanced international mainstream smelting technology.In the melting process of bottom-blown smelting furnace,the slag jump in the furnace chamber will lead to formation of furnace agglomeration at the inlet,which will affect the flow of materials into the furnace body.The existing treatment method of furnace agglomeration is to manually clean the inlet from time to time according to the operation condition,which results in high ambient temperature,high dust concentration and high labor intensity of workers.A robot system was designed to complete the intelligent treatment of the furnace accretion at the feeding opening.Based on the specialized robot cleaning technology integrating visual AI perception,three-dimensional modeling and force control sensing,the system completes the cleaning operation of the furnace agglomeration at the bottom blow furnace through the self-developed and designed end force control air pick,and has been put into operation in a lead smelter in Hunan Province.The system has high identification accuracy,fast efficiency and good consistency of the furnace agglomeration treatment,effectively reduces the formation of the furnace agglomeration and the clogging of the feeding port,and improves the overall efficiency and operation safety of the oxygen-rich bottom blow smelting.

关 键 词：底吹熔炼炉 下料口 堵塞 机器人 视觉感知 力控风镐 

分 类 号：TF06[冶金工程—冶金物理化学] TF812