| 摘要 |
At present, the flash furnace due to an increase in fusion forms accretions in the burner which causes that the "air umbrella" does not develop and in order to clean it manually the load must be lowered for safety reasons. One of the major disadvantages of all the tasks associated to the cleaning process is the exposure of the personnel to harsh environmental conditions. This in the medium and long term could generate serious occupational diseases to the operators in charge of carrying out such activity. Due to the above, a robot system and method have been developed for the automated cleaning of the burner thus minimizing the decrease of the load. The robotic system is composed mainly of an anthropomorphous robotic manipulator of at least 5 degrees of freedom, and a gripping mechanism which allows to take, manipulate and release several tools from a tool holder to carry out the cleaning process of the smelting furnace.
|
