The manipulator is applied to the opening and plugging of the slag port in a copper smelting furnace. According to the copper smelting furnace slag port manual operation process and used tools, we developed hole digging robotic manipulator arm, which uses automatic control intelligent operation, instead of manual work in high risk and high pollution environment.

Introduction of Furnace Tap Hole Machine

The furnace tap hole machine is generally composed of gun tube device, advance and retreat device, rotation device and angle adjustment device etc. It is used for opening and plugging after smelting in copper anode furnace copper smelting furnace. There are three structural forms of furnace tapping machine: electric, hydraulic and pneumatic. The furnace tapping drilling machine developed by CIC adopts automatic control and intelligent operation, which can replace manual work in high-risk and high pollution environment. In the meantime, they are also can be applied in copper mining process.

The tapping device comprises a base, a track, strip teeth and meshing mobile gears; The upper part of the base is fixedly provided with a track, the strip teeth are fixedly arranged in the middle of the upper part of the base, and the strip teeth are provided with teeth; The meshing moving gear is arranged on the strip teeth, and the meshing moving gear engages with the strip teeth; The driven wheel is fixedly arranged at the right position of the meshing moving gear, the driving wheel is fixedly arranged at the upper position of the driven wheel, and the driving motor is fixedly arranged at the right position of the driving wheel; The support body is arranged on the track, and the support body moves in contact with the track.

The rotary mechanism is fixedly arranged on the support body, and the support column is fixedly arranged on the upper part of the rotary mechanism; The rotating shaft is fixedly arranged in the connecting body connecting the support column with the open arm support and the closed arm support as a whole; The bottom of the first hydraulic cylinder is fixedly connected with the support column, and the upper part is fixedly connected with the right end of the open arm support; The bottom of the second hydraulic cylinder is fixedly connected with the support column, and the upper part is fixedly connected with the right end of the plugging arm support; The mobile device is fixedly arranged on the open arm support and the closed arm support respectively; The opening arm is fixedly arranged on the opening arm support, and the plugging arm is fixedly arranged on the plugging arm support; The mud taking container is fixedly arranged at the rear side of the plugging arm, and the extrusion forming device is fixedly arranged at the front side of the plugging arm; There are two hydraulic pipe retracting and releasing wheels for retracting and releasing the hydraulic pipe, one is fixedly arranged at the upper position of the right end of the opening arm, and the other is fixedly arranged at the upper position of the right end of the plugging arm.