| 摘要 |
PURPOSE:To obtain the titled small-sized robot capable of charging mud automatically into a mud gun and reducing labor by controlling the robot body on the basis of detected values of mud position information, the lift of a lifting shaft, and the rotation of an articulated part. CONSTITUTION:Mud which is regularly arranged and laminated in a vessel is taken out and charged into a mud gun for closing the tapping port of a blast furnace by a mud charging robot. The body A of the robot is constituted of a drum part 6 equipped with a lifting shaft 63 which is lifted by a hydraulic cylinder 61, a horizontal articulated part consisting of arms 7 and 8 which are connected to the drum part and rotated by hydraulic motors 71 and 81, and a manipulator part 10, fixed to the leading end of the articulated part, and equipped with a mud holding member 109 which is lifted up and down by a hydraulic cylinder 91. The lift of said lifting shaft 63 is detected by limit switches 161 and 162, the horizontal rotation of the articulated part by rotary encoders 75 and 85, and the plunge of the holding member 109 into the mud by a detector (not shown in the figure). Said robot body A is driven on the basis of the detected values and mud position information. |
