Abstract: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.