CN106715049A - Apparatus and method for grinding carbonaceous materials - Google Patents

Apparatus and method for grinding carbonaceous materials Download PDF

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Publication number
CN106715049A
CN106715049A CN201580038929.6A CN201580038929A CN106715049A CN 106715049 A CN106715049 A CN 106715049A CN 201580038929 A CN201580038929 A CN 201580038929A CN 106715049 A CN106715049 A CN 106715049A
Authority
CN
China
Prior art keywords
robot
furnace bottom
blast furnace
height
grinding
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201580038929.6A
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Chinese (zh)
Inventor
尼克·布雷简达尔
马库斯·安东尼厄斯·约翰尼斯·玛利亚·罗宾
贾恩·索尼奥斯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pull Out Carbon Grinding Co
Original Assignee
Pull Out Carbon Grinding Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pull Out Carbon Grinding Co filed Critical Pull Out Carbon Grinding Co
Publication of CN106715049A publication Critical patent/CN106715049A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
    • B24B7/10—Single-purpose machines or devices
    • B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0038—Other grinding machines or devices with the grinding tool mounted at the end of a set of bars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28D—WORKING STONE OR STONE-LIKE MATERIALS
    • B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
    • B28D1/003—Multipurpose machines; Equipment therefor
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21B—MANUFACTURE OF IRON OR STEEL
    • C21B7/00—Blast furnaces
    • C21B7/04—Blast furnaces with special refractories
    • C21B7/06—Linings for furnaces
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21C—PROCESSING OF PIG-IRON, e.g. REFINING, MANUFACTURE OF WROUGHT-IRON OR STEEL; TREATMENT IN MOLTEN STATE OF FERROUS ALLOYS
    • C21C5/00—Manufacture of carbon-steel, e.g. plain mild steel, medium carbon steel or cast steel or stainless steel
    • C21C5/28—Manufacture of steel in the converter
    • C21C5/42—Constructional features of converters
    • C21C5/44—Refractory linings
    • C21C5/441—Equipment used for making or repairing linings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F27—FURNACES; KILNS; OVENS; RETORTS
    • F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
    • F27D1/00—Casings; Linings; Walls; Roofs
    • F27D1/0043—Floors, hearths
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F27—FURNACES; KILNS; OVENS; RETORTS
    • F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
    • F27D1/00—Casings; Linings; Walls; Roofs
    • F27D1/04—Casings; Linings; Walls; Roofs characterised by the form, e.g. shape of the bricks or blocks used
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F27—FURNACES; KILNS; OVENS; RETORTS
    • F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
    • F27D1/00—Casings; Linings; Walls; Roofs
    • F27D1/16—Making or repairing linings increasing the durability of linings or breaking away linings
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45058—Grinding, polishing robot

Abstract

Apparatus (1) for grinding material such as present in a blast furnace (3) hearth bottom (2), which apparatus comprises a grinder (4) for carbonaceous materials such as carbon blocks and/or bricks, which apparatus further comprises a robot (5) comprising a robot pedestal (6) on which a movable robot arm (7) is mounted, wherein the grinder (4) is mounted on an extremity of said movable robot arm (7) distant from the robot pedestal (6), and wherein the robot arm (7) and the grinder (4) mounted thereon are connected to a controller (8) for controlling the movement of the robot arm (7) and the operation of the grinder (4). The apparatus (1) is used by providing the displaceable robot (5) on the blast furnace hearth bottom (2); measuring the actual blast furnace hearth bottom surface level; measuring the position and altitude of the displaceable robot (5); calculating from a desired hearth bottom surface level and the measured actual hearth bottom surface level, the level of the hearth bottom surface that has to be removed by grinding; and controlling the operation of the displaceable robot (5) and the grinder (4) mounted thereon to remove said calculated level of the hearth bottom surface.

Description

Apparatus and method for grinding carbonaceous material
The present invention relates to a kind of device for grinding Blast Furnace Bottom or single carbonaceous material block or brick, the device includes Mill.The invention further relates to a kind of method that Blast Furnace Bottom or single carbonaceous material block or brick are ground with mill.Grinding Device is suitable to grind all types of carbonaceous materials, such as carbon block or brick, and microporous carbon, graphite and schungite block or brick.
Such dress is understood from " mechanization of the bottom grinding in blast furnace overhaul " text of E.N.Bushinskii et al. Put and method, it can be obtained from internet, as from Metallurg, No. 8, the 16-17 pages, the text of nineteen eighty-three August translation Chapter.According to this article, inner surface and the periphery carbon block of the high-alumina part of bottom are smoothed by small grinding machine.Here, in block Projection and depression should not with horizontal direction have more than 2mm deviation.The horizontal path for grinding bottom is difficult operation, Because it is carried out under conditions of crowded and in the closing space of last furnace shell.
It is further known that SGL Carbon group companies have developed and using radial direction milling machine in radial direction process operation In the bottom oven bottom of blast furnace is ground with the speed that is ground higher than traditional manual.However, this known radial direction milling machine is due to it Huge and use pretty troublesome, and the precision of bottom surface of burner hearth level processed still needs improvement.
Generally, robot is known, but not related to grinding operation on the carbonaceous material due to good, special It is not to be not used in grinding Blast Furnace Bottom.As already mentioned, the horizontal path of grinding blast furnace bottom is difficult operation, because its Carried out under conditions of crowded and in the closing of last furnace shell and limited space.
There is many to be related to the reference of robot, some typical examples are as follows.
US 2013/0273818 discloses a kind of executor, and it includes controlling seat, robots arm's component and polishing mechanism. Polishing mechanism is arranged on robots arm's component and for removing the burr on metal works.It is this to be redesigned and weighed The device for removing the burr on metal works built, be not suitable for grinding Blast Furnace Bottom or single carbonaceous material block or Brick.
US 2013/0226340 discloses a kind of mobile robot, its wheeled support of omnidirectional for including supporting robots arm Vehicle, and including being designed to the positioner of positioning robot's arm, the robots arm can automatically move relative to support vehicle It is dynamic.This known mobile robot can automatically process workpiece, the rotor blade of such as wind turbine or the wing of aircraft. Then, mobile robot can perform the profile grinding at edge and/or prune, for this purpose, can be attached proper implements To robots arm.Mobile robot is equipped with the control device for robots arm and vehicle.Redesigned and rebuild The known machine people for performing contour grinding or finishing to the edge of the rotor blade or aircraft wing of wind turbine, Be not suitable for grinding Blast Furnace Bottom or single carbonaceous material block or brick.
WO2007/141320 discloses a kind of for processing the sand milling of surface, particularly ceiling, and can be applied to wall The equipment of the joint between wall or wall and ceiling.Robot includes movable socket, carries the radial type of polishing unit Manipulator arm, the arm by that can extend vertically and be shelved on the elevator support on movable socket.The equipment be designed for core and Building field, therefore redesigned and the equipment rebuild is not suitable for grinding Blast Furnace Bottom or single carbonaceous material Block or brick.
According to the invention it is proposed that one or more apparatus and method.
According to the first aspect of the invention, described device includes the robot with robot base, in the robot Mobile robot arm is installed on pedestal, and wherein described mill be arranged on the mobile robot arm away from institute The end of robot base is stated, and wherein described robots arm and mill mounted thereto are connected to for controlling machine The motion of robot arm and the controller of the operation of mill, and wherein, it is included for measuring diverse location in a horizontal plane The monitoring device of the furnace bottom apparent height of the furnace bottom at place, the controller is configured to according to needed for the furnace bottom of the blast furnace Apparent height moves the robots arm.Therefore, the method for the present invention has following characteristics：
- in Blast Furnace Bottom, displaceable robot is set；
The actual Blast Furnace Bottom apparent height of-measurement；
The position of the movable robot of-measurement and height；
- being calculated from the actual furnace bottom apparent height of required furnace bottom surface level and measurement must be by grinding removal The height on furnace bottom surface；With
The operation of-control displaceable the robot and mill mounted thereto, to remove the stove for calculating The height of basal surface.
Practice have shown that, using apparatus and method of the present invention, can rapidly and accurately complete the grinding of furnace bottom.With it is existing The apparatus and method of technology were compared, corresponding to the blast furnace operating of at least two days, it is possible to reduce 2/3rds process time.Averagely The one day monetary value of operation of the blast furnace of size is equivalent to about 1,000,000 Euros.
The method of the independent block or brick of the carbonaceous material placed for neighbouring blast furnace hub plate layer the present disclosure additionally applies for grinding, Wherein the described method comprises the following steps：
The shape and size of the actual blast furnace lining of-measurement；
The operation of the displaceable robot of-control and mill mounted thereto, it is measured to match with processing block or brick Blast furnace hub plate layer shape and size.Operation by this way drastically increases the precision of the fragment of brick work in blast furnace, and The cooling of this brick is correspondingly improved, this energetically have impact on life of the blast furnace expection.
In the apparatus of the present, robot base is displaceable.Although this means for being ground the removable of furnace bottom The operation of position robot is limited near the robot limited by the coverage area of robots arm, but can be the whole stove of processing Bottom.Near the robot, controller is arranged to apparent height according to needed for furnace bottom come mobile robot arm.For this purpose, Wish that robots arm up and down and can move back and forth.
It is also expected to the method for the present invention is comprised the following steps：
- complete the grinding operation near the displaceable robot；
- reposition the displaceable robot；With
The step of position of displaceable robot described in-duplicate measurements and height；
- and Repetitive controller described in displaceable robot and mill mounted thereto operation the step of, to remove In the height on the vicinity limited by the coverage area of the robots arm furnace bottom surface for calculating.
In order to realize the grinding completely to furnace bottom surface, the step of displaceableing robot, the displaceable machine of measurement are relocated The position of device people and the operation of height and the displaceable robot of control and mill mounted thereto, continue until blast furnace Whole furnace bottom surface is ground to required furnace bottom apparent height.
Preferably, the fixing point relative to blast furnace measures furnace bottom apparent height.Suitably, relative to the height of blast-furnace tuyere To measure furnace bottom apparent height.
It is also contemplated that, monitoring device is configured to position and the height of robot measurement.Preferably, these monitoring devices The fixing point being arranged to reference to blast furnace carrys out position and the height of robot measurement.Suitably, relative to the height of blast-furnace tuyere Carry out position and the height of robot measurement.
Hereinafter, this will be further elucidated with reference to the accompanying drawing of the apparatus according to the invention and the exemplary embodiment of method Invention, the apparatus and method are not limited to protection scope of the present invention.
In figure：
- Fig. 1 shows the device on the furnace bottom being arranged in blast furnace of the invention with side view；
- Fig. 2 is shown by according to a series of occupied continuous positions in blast furnace of the device of Fig. 1 with top view；With
- Fig. 3 shows to process the single block of carbonaceous material or brick with side view (left side) and top view (right side).
Whenever the application identical reference in figure, these references represent identical part.
In fig. 1 it is shown that the device 1 of the furnace bottom 2 for grinding blast furnace 3.Furnace bottom 2 includes carbon block and/or brick, and fills Putting 1 has mill 4, for grinding furnace bottom 2 to required apparent height.It is likely to grind the block or brick of other carbonaceous materials, Such as microporous carbon, graphite or schungite.
Device of the invention 1 has robot 5, and robot 5 includes robot base 6, and mobile robot arm 7 is arranged on In robot base 6.The mill 4 of device 1 is mounted remotely from the end of mobile robot arm 7 of robot base 6.Machine Device robot arm 7 and mill 4 mounted thereto are all connected to controller 8, movement for robotic arm and for controlling The operation of mill 4.In the embodiment shown in fig. 1 (and below in reference to Fig. 3 discuss embodiment in), robots arm 7, Connection between mill 4 and controller 8 is wireless, as shown in arrow A and C.However, it is also possible in robots arm 7, grinding Wired connection is provided between device 4 and controller 8, although this is not preferred.
Controller 8 is arranged to mobile robot arm 7 and operates grinding according to the required apparent height of the furnace bottom 2 of blast furnace 3 Device 4.Therefore, robots arm 7 and the mill 4 being subsequently mounted thereon are can to move up and down and move back and forth.
Fig. 1 also show monitoring device 9, and the surface of furnace bottom 2 for various location measurement furnace bottom 2 in a horizontal plane is high Degree.This uses streak line D, E and F to represent.Monitoring arrangement 9 is also arranged to measure the position of its own relative to the fixing point of blast furnace 3 Put.Using the latter information, monitoring arrangement 9 can be properly implemented so as to the such fixing point measurement relative to blast furnace 3 The apparent height of furnace bottom 2.Appropriate level altitude in blast furnace 3 is relevant with the height of blast-furnace tuyere 10, and 2 are only shown in Fig. 1 It is individual.However, one skilled in the art will appreciate that around a series of circumferentially disposed air ports 10 of the wall of blast furnace 3.Suitably, then measure Level altitude can be related to the level of the mean heart line in all air ports 10.
Preferably, monitoring device 9 is also arranged to measure position and the height of the robot 5 in blast furnace 3, such as with being labeled as What the streak line of H was represented.Preferably, carried out with reference to the identical level altitude of blast furnace 3, particularly the height of blast-furnace tuyere 10.
According to another aspect of the present invention, device 1 can be used to implement using installed in displaceable robot 5 of the invention Mill 4 on mobile robot arm 7 is come the method for grinding the furnace bottom 2 of blast furnace 3.Following steps are applied in the method：
- displaceable robot 5 is provided on the furnace bottom 2 of blast furnace 3；
The actual apparent height of 3 furnace bottom of blast furnace 2 of-measurement；
The position of the displaceable robot 5 of-measurement and height；
- being calculated from the actual apparent height of furnace bottom bottom 2 of the required apparent height of furnace bottom 2 and measurement must be by grinding The height on the surface of furnace bottom 2 of removal；
The operation of the displaceable robot 5 of-control and mill 4 mounted thereto, to remove the furnace bottom 2 for calculating The height on surface.
It will be clear that the operation of the displaceable robot 5 for grinding furnace bottom 2 is limited in by machine from Fig. 1 The vicinity of the robot that the coverage area of device robot arm 7 is limited.In connection with this, robot base 6 is moveable, so as to occupy A series of positions on the furnace bottom 2 of blast furnace 3, with the whole furnace bottom 2 of Landfill covering blast furnace 3.Therefore, in the method for the invention, Preferably include following steps：
- grinding operation is completed near displaceable robot 5；
- reposition displaceable robot 5；With
The step of position of the displaceable robot 5 of-duplicate measurements and height；
- and the step of the operation of the displaceable robot 5 of Repetitive controller and mill 4 mounted thereto, with remove by The computed altitude on the surface of furnace bottom 2 of the vicinity that the coverage area of robots arm 7 is limited.Reposition displaceable robot 5 The step of, position and the height of displaceable robot 5 are measured, and control displaceable robot 5 and grinding mounted thereto The operation of device 4, so as to the surface of whole furnace bottom 2 for being continued until blast furnace 3 is ground to the required apparent height of furnace bottom 2.This causes Sequence of operations position, as shown in Figure 2.
As described in the method in the grinding furnace bottom 2 of blast furnace 3, robots arm 7 suitably up and down and moves back and forth, so as in stove The correct position at bottom 2 provides correct amount of grinding, all these to be all based on using the table of the measurement actual furnace of monitoring device 9 bottom 2 Position and the height of face height and robot 5.Due to the removed carbon unclamped from furnace bottom 2, the ash produced in blast furnace 3 Dirt is preferably offset by dust arrester simultaneously.Its mode that can implement is well known by persons skilled in the art, and not further Illustrate.
Advantages of the present invention is realized especially by the such feature of arrangement, i.e. various location in a horizontal plane The apparent height of furnace bottom 2 is measured, and especially, relative to the apparent height that the fixing point of blast furnace 3 measures the furnace bottom 2.This is same Sample is applied to position and the height of the such fixing point robot measurement on blast furnace 3.Although being preferably applied to relative to height The measurement of the height in stove air port 10, but this is not unique possibility.Robot can also be provided using other fixing points Position and height and must by grind removal the surface of furnace bottom 2 required height accurate measurement.
As already mentioned, device of the invention 1 can be used in many different applications.A kind of particularly advantageous application Figure 3 illustrates, and be directed to use with the grinding of mill 4 be arranged in displaceable robot for being placed on blast furnace hub plate layer The method of the independent block 11 or brick of neighbouring carbonaceous material, in the method, first with the actual furnace shell high of appropriate measurement device The shape and size of lining.For example, the monitoring device 9 or other suitable devices shown in Fig. 1 can be used for the purpose.Measurement The shape and size of blast furnace hub plate layer are stored in controller 8, and for controlling robot 1 and the He of arm 7 mounted thereto The operation of mill 4, with processing block 11 or brick, to match the shape and size of the measurement of blast furnace hub plate layer.Referring to the half of block 11 Footpath 12, the right part of such as Fig. 3 is clearly shown that, there is provided described piece 11 of top view.
Although the exemplary embodiment by reference to apparatus and method of the present invention discusses the present invention, the present invention is not It is limited to the specific embodiment, can be varied in many ways without departing from the present invention.Therefore, what is discussed shows Example property embodiment will not be used to strictly explain appended claims according to it.Conversely, embodiment is only intended to explain appended The wording of claim, and be not intended to for claim to be limited to the exemplary embodiment.Therefore, protection scope of the present invention will Explained according only to appended claims, wherein the possible uncertainty in the wording of claim will use the exemplary reality Example is applied to solve.

Claims (19)

1. it is used to grind the device (1) of carbonaceous material, the independent block (11) or brick of such as Blast Furnace Bottom (2) or carbonaceous material, institute Stating device (1) includes the mill (4) for this carbonaceous material, it is characterised in that also including robot (5), the machine People (5) including being provided with the robot base (6) of mobile robot arm (7) thereon, wherein the mill (4) is installed in institute State end of the mobile robot arm (7) away from the pedestal (6), and wherein robots arm (7) and mounted thereto grind Grinder (4) is connected to the controller (8) for the motion of robotic arm (7) and the operation of mill (4), wherein, also wrap Include the monitoring device (9) of the furnace bottom apparent height that the furnace bottom (2) is measured for various location in a horizontal plane, and institute State the required apparent height movement robots arm (7) that controller (8) is arranged to the furnace bottom (2) according to blast furnace (3).
2. the device (1) for grinding carbonaceous material according to claim 1, it is characterised in that the robot base (6) it is moveable.
3. the device (1) for grinding carbonaceous material according to claim 1 and 2, it is characterised in that the robots arm (7) can be up and down and movable.
4. the device (1) for grinding carbonaceous material according to any one of claim 1-3, it is characterised in that described The fixing point (10) that monitoring device (9) is disposed relative to the blast furnace (3) measures the furnace bottom apparent height.
5. the device (1) for grinding carbonaceous material according to any one of claim 1-4, it is characterised in that described Monitoring device (9) is disposed relative to the elevation carrection furnace bottom apparent height of the blast-furnace tuyere (10).
6. the device (1) for grinding carbonaceous material according to any one of claim 1-5, it is characterised in that described Monitoring device (9) is arranged to measure position and the height of the robot.
7. the device (1) for grinding carbonaceous material according to any one of claim 1-6, it is characterised in that described Monitoring device (9) is configured to be measured with reference to the fixing point (10) of the blast furnace (3) position and the height of the robot.
8. the device (1) for grinding carbonaceous material according to any one of claim 1-7, it is characterised in that described Monitoring device (9) is disposed relative to the position of robot and height described in the elevation carrection of the blast-furnace tuyere (10).
9. a kind of method of grinding Blast Furnace Bottom (2), uses the mobile robot arm (7) installed in displaceable robot (5) On mill (4), it is characterised in that the described method comprises the following steps：
- the displaceable robot (5) is provided on the Blast Furnace Bottom (2)；
The actual Blast Furnace Bottom apparent height of-measurement；
The position of-measurement displaceable the robot (5) and height；
- being calculated from the actual furnace bottom apparent height of required furnace bottom apparent height and measurement must be by grinding the furnace bottom for removing The height on surface；
- operation of the displaceable robot (5) and mill (4) mounted thereto is controlled, with what is calculated described in removing The height on furnace bottom surface.
10. it is according to claim 9 grinding Blast Furnace Bottom (2) method, it is characterised in that for grinding the furnace bottom (2) operation of described displaceable robot (5) is limited to the robot limited by the coverage area of the robots arm (7) Vicinity.
11. according to claim 9 and 10 grind Blast Furnace Bottom (2) methods, it is characterised in that methods described also include with Lower step：
- complete the grinding operation near the displaceable robot (5)；
- reposition the displaceable robot (5)；With
The step of position of displaceable robot (5) described in-duplicate measurements and height；
- and Repetitive controller described in displaceable robot (5) and mill (4) mounted thereto operation the step of, with shifting Except the height on the furnace bottom surface for calculating in the vicinity limited by the coverage area of the robots arm (7).
12. methods that Blast Furnace Bottom (2) is ground according to claim 11, it is characterised in that reposition described displaceable Robot (5), measures the position of the displaceable robot (5) and height and the displaceable robot (5) of control and is arranged on The operation of mill (4) thereon, continues until that the whole furnace bottom surface of blast furnace (3) is ground to required furnace bottom apparent height Untill.
13. methods that Blast Furnace Bottom (2) is ground according to any one of claim 9-12, it is characterised in that in grinding institute State in the method for Blast Furnace Bottom (2), the robots arm (7) is upper and lower and moves back and forth.
14. methods that Blast Furnace Bottom (2) is ground according to any one of claim 9-13, it is characterised in that in horizontal plane In various location measure the furnace bottom apparent height of the furnace bottom (2).
15. methods that Blast Furnace Bottom (2) is ground according to claim 14, it is characterised in that relative to the blast furnace (3) Fixing point (10) measures the furnace bottom apparent height.
16. methods that Blast Furnace Bottom (2) is ground according to claims 14 or 15, it is characterised in that relative to the blast furnace The height in air port (10) measures the furnace bottom apparent height.
17. methods that Blast Furnace Bottom (2) is ground according to any one of claim 9-16, it is characterised in that the machine The fixing point (10) of blast furnace (3) described in the position of people and elevation references is measured.
18. methods that Blast Furnace Bottom bottom (2) is ground according to claim 17, it is characterised in that relative to the blast furnace The height in air port (10) measures position and the height of the robot.
A kind of 19. methods for grinding the block (11) or brick of the carbonaceous material that neighbouring blast furnace hub plate layer is placed, using for pacifying The mill of this carbonaceous material on the mobile robot arm (7) of displaceable robot (5), it is characterised in that institute The method of stating is comprised the following steps：
- the described displaceable robot (5) with the mill (4) is provided；
The shape and size of the actual blast furnace lining of-measurement；
- control the operation of the displaceable robot (5) and mill (4) mounted thereto, with process described piece (11) or Brick, to match the shape and size of measured blast furnace hub plate layer.
CN201580038929.6A 2014-07-15 2015-07-10 Apparatus and method for grinding carbonaceous materials Pending CN106715049A (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
NL2013192A NL2013192B1 (en) 2014-07-15 2014-07-15 Apparatus and method for grinding carbonaceous materials.
NL2013192 2014-07-15
PCT/NL2015/050504 WO2016010422A1 (en) 2014-07-15 2015-07-10 Apparatus and method for grinding carbonaceous materials

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Publication Number Publication Date
CN106715049A true CN106715049A (en) 2017-05-24

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EP (1) EP3169481A1 (en)
JP (1) JP2017523059A (en)
KR (1) KR20170031211A (en)
CN (1) CN106715049A (en)
BR (1) BR112017000837A2 (en)
NL (1) NL2013192B1 (en)
WO (1) WO2016010422A1 (en)

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CN113386152B (en) * 2021-06-29 2022-09-23 重庆大学 Six-axis polishing robot

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NL2013192B1 (en) 2016-07-14
WO2016010422A1 (en) 2016-01-21

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Application publication date: 20170524