EA036217B1 - Automated refractory lining method and robotic center for implementing the same - Google Patents

Abstract

An automatic refractory lining method and robotic center for implementing the same relate to the field of refractory lining of iron and steel industry equipment with refractory materials to be used directly for production and treatment processes, and may be used for installation of a new refractory lining directly inside the equipment or for replacement of a damaged lining. The technical result of the claimed invention is automated refractory lining of iron and steel industry equipment without direct human involvement in the working area during lining activities, lining process automation and mechanization, reduced lining time, provision of high quality lining in order to significantly reduce equipment downtime during lining activities, including installation of a new refractory lining.

Description

The claimed invention relates to the field of refractory lining of metallurgical industry equipment with refractory materials, mainly to the lining of steel-pouring ladles, oxygen converters of the vertical type, electric arc steelmaking and blast furnaces, ladle-furnace units and other vertically oriented equipment and units used directly for production and technological processes, and can be used to install a new refractory lining directly inside the equipment or to replace a failed lining.

There is a known method of replacing a refractory lining, which consists in the fact that the analysis of a failed lining and the installation of a new lining on it is carried out without removing the roof directly inside the furnace. To do this, the furnace is stopped, cooled, scaffolding is installed and the old lining is dismantled. Then the surface is prepared and the installation of a new refractory lining is performed manually in order (see the book by A.I.Vashchenko, M.A.Glinkov and others. Metallurgical furnaces. 1964, pp. 197-208).

The disadvantage of this method is the lack of automation and mechanization during its implementation, which significantly increases the time for replacing the lining and does not ensure its stable quality.

There is a known method for replacing the lining (see patent RU 2260756, IPC F27D 1/16, published on September 20, 2005), which includes removing the roof section from the furnace together with a metal frame and refractory lining, installing it on fixed supports, removing and removing the destroyed lining, laying a new lining in place of the removed one and installing the section on the furnace, and before removing and removing the destroyed lining, the section together with the lining is turned over relative to the supports in such a way that after installing the section on the supports, its refractory lining is on top, and the metal frame is on the bottom In this case, the laying of the new lining is carried out from above in relation to the section, and after the laying of the new lining, the section is re-turned to its original position.

The main disadvantage of the known method is the impossibility of its use for furnaces in which the outer casing is non-separable (there is no possibility of dismantling and subsequent re-assembly of the roof sections). In addition, in the known method, the installation of a new lining is carried out manually, increasing the stopping time of the furnace for repair, and at the joints of the sections, additional work is required to seal the ends of the lining (otherwise, the joints will quickly fail).

A device for the automated lining of vertical converter furnaces and a lining method carried out with its help are known (see patent EP 2199719, IPC F27D 1/16, published on 23.06.2010). The device is a platform with the possibility of its vertical movement, a manipulator installed on the platform for installation in the horizontal plane of masonry elements, made with the possibility of rotation around its vertical axis, and a mortar unit, a conveyor connected at one end to the platform, and by the other to the supply point elements of masonry, as well as a laser device (scanner) installed separately in the upper part of the converter for measuring and controlling its dimensions. The control of the elements of the device and their interaction with each other is carried out by the control unit. Lining using this device is as follows. The platform is installed inside the converter (through the disassembled side wall or a specially provided hole in it). The scanner of the condition of the inner surface of the converter, pre-installed in its upper part, determines the parameters of the surface (its irregularities, curvature) and transmits the data to the control unit. The control unit analyzes the received data and issues a command to load certain standard sizes of masonry elements (hereinafter referred to as bricks) onto the conveyor, which are fed to the platform in the area of the mortar unit, where a binder solution is applied to them, after which they are installed by a manipulator on the inner surface of the converter. Installation is carried out sequentially along the circumference, row by row from bottom to top. In this case, the installation of each subsequent brick is carried out with a rotation of the manipulator at a certain angle, and as the masonry rises, the platform rises so that each row of masonry is carried out in the horizontal plane of the manipulator.

The disadvantage of the known device and method is the low quality of the lining due to the fact that the orientation of the device manipulator relative to the inner surface of the furnace is not monitored, since the scanner is installed separately and monitors only the walls of the furnace, and the positioning of the brick is carried out by the manipulator, therefore, the laying is performed at several, not directly connected mechanisms (separately height, angle of rotation and extension relative to the central vertical axis of the converter). There is no possibility to control the actual size of the bricks used for the lining.

Known adopted as the closest analogue of the method of changing the furnace lining (see patent RU 2274659, IPC F27D 1/16, published on 20.04.2006), including cooling the furnace, gaining access to the inside of the furnace through the furnace inlets by isolating the furnace from the sources of feed materials , removing the lances and opening the inlets, directly removing the old lining from the inner walls of the furnace and then installing a new lining using a movable platform for removing and lifting the lining elements.

- 1 036217

In the known method, a lining device is used, made with the possibility of holding, as well as lifting and lowering the lining elements, which makes it possible to partially mechanize the process of replacing the furnace lining. The disadvantage of such a device is the impossibility of its independent use in the lining process (it allows you to perform only auxiliary actions).

Known adopted as the closest analogue device for laying the lining of furnaces (see patent RU 2561547, IPC F27D 1/16, published on August 27, 2015), containing a working platform, at least one robot for performing masonry, located at least one sector or segment-shaped working area 1 of the robot, while the working area 1 of the robot contains the first peripheral section of the working platform, and at least one working area 2 for performing work in it by the workers, while the working area 2 is made on the working platform in the form sector or segment and contains at least one second peripheral section of the working platform, characterized in that the working platform is rotary, the robot with the working area 1 is located on the rotating working platform and the working area 1 of the robot and the working area 2 are made on the rotary working platform on the same height, and a safety device in the form of a protective fence separating the work I sense the zone 1 of the robot from the working zone 2 with the possibility of safely staying in the working zone 2 when the robot is working in the working zone 1, or in the form of a protective means of electronics, respectively, in the form of a security software module for instantly turning off the robot when the worker approaches.

The known device provides a faster replacement of the lining in comparison with non-automated methods and allows visual control of its quality, but has disadvantages.

Thus, the rate of lining replacement at each stage (without changing the vertical position of the device and its angular position inside the furnace) is tied simultaneously to the speed of laying the lining elements by the robot and the speed of control and rework by people who are inside the furnace on a separate isolated platform. The very accuracy of laying the device by the robot is conditional and low (in fact, the robot performs preliminary laying), which requires constant participation in the process of lining a person and, accordingly, reduces the degree and level of automation and complicates the technological process. In addition, the constant presence of people in the working area of the manipulator robot creates a risk of the threat of accidents.

On January 29, 2018, the applicants filed an application No. 2017145100/102 (077226) for a technical solution Method of automated refractory lining of furnaces and a robotic complex for its implementation, designed for lining of furnaces of any type, including the creation of a 3D model of the lined section of the furnace, installation of elements of a robotic complex, dividing the general lining zone into sections, scanning the lined section, adjusting the 3D model of the lined section taking into account the data obtained as a result of scanning, determining the number of lining cycles, installing a platform and manipulator for laying refractory bricks, performing a lining cycle, including determining the location and installing in it the first brick, laying refractory bricks using a manipulator for laying refractory bricks at a certain height of the furnace to the end of the first section, fixing the edges of the produced masonry, turning the furnace around the central axis, repeating the sequence of cycle operations, final fixing to At the same time, throughout the entire lining cycle, the updating and correction of the 3D model of the furnace lining is carried out automatically using a computer program and the size and sequence of laying refractory bricks is corrected using the data obtained from the vision sensor and the computer program in the control unit. This technical solution allows the lining of the furnaces to be made without direct human participation in the working area during the direct production of lining works, to automate the process and reduce the lining time, to ensure its high quality, and can significantly reduce the furnace downtime for lining work (for installing a new lining).

This technical solution can be applied, among other things, to equipment of the vertical type, but such a device needs improvements to control the distance to the surface to be footed, as well as the height of the platform, as well as the ability to move the platform with the manipulator vertically.

The objectives of the invention are a method of automated refractory lining of metallurgical industry equipment with refractory materials of a vertical type, for example, steel-pouring ladles, oxygen converters of a vertical type, electric arc steelmaking and blast furnaces, ladle-furnace units and other vertically oriented equipment and units used directly for production and technological processes, and can be used to install a new refractory lining directly inside the equipment or to replace a failed lining. In the process of installing a new refractory lining using refractory materials (refractory bricks, concrete, mortars for masonry, mortars and dry mixes, rammed materials, etc.) of equipment in the metallurgical industry, many variable parameters should be taken into account, such as the following.

Type (type) of equipment: steel-pouring ladle, oxygen converter of vertical type,

- 2 036217 electric arc steelmaking and blast furnace, ladle-furnace unit, other vertically oriented equipment and units.

Equipment parameters: equipment inner diameter (for example, from 2-15 m), actual condition of the equipment body's inner surface and / or lined surface. The equipment body and / or lined surface can have various irregularities and deformations, including but not limited to: burnouts, damage, welds, curvature, and others, including the presence of a reinforcing (heat-insulating) lining layer, which can be left in whole or in part, for example , when lining only the working layer of the lining or in the presence of a reinforcing layer and partly of the working layer of the lining, which can leave part of the working layer of the lining during lining, for example, when lining a slag belt in a steel-pouring ladle. In this case, the condition of the inner surface of the equipment body or the lined surface, including the inner diameter of the equipment, can vary at each lined area / segment (running meter / row / ring). Project (diagram, drawings) of a lining of this type of equipment: grades of refractory materials and dimensions of refractory bricks used for lining this type of equipment, weight of refractory bricks, method of laying refractory bricks (for example, in bandaging / rows / rings), using refractory mortar and / or concrete or without them, using dry mixes and / or ramming masses or without them, the number of masonry rows, including the presence of a reinforcing layer and 1-2 layers of a working lining.

The actual dimensions of the refractory bricks used in the lining may differ from the design ones (standard sizes of the refractory brick manufacturer) with a tolerance rate of +/- 5-10 mm.

Also other parameters.

Given the many variable parameters, as a solution to the problem of automated refractory lining, a method of automated refractory lining of equipment and a robotic complex for implementing this method are used, including a control unit containing software with an updated 3D model of the lining, program codes, algorithms and neural networks for controlling the robotic complex. and the process of lining equipment with refractory materials, quality control of the lining at each lined section / section (running meter / row / ring).

Automatic updating of the 3D model of the lining of the inner surface of the equipment (lined surface) is carried out each time with the laying of a separate refractory material continuously throughout the entire lining process based on data obtained from all vision sensors, including from sensors installed on the manipulator for the supply of refractory bricks in order to determine the actual dimensions of refractory bricks and control the tolerance rate, from sensors installed both on the platform for the main manipulator, and from sensors installed on the main manipulator that carries out the lining to scan the lined surface and control the lining during positioning / laying of each separately taken refractory material. The technical result of the claimed invention is the possibility of automated refractory lining of equipment in the metallurgical industry, mainly of vertical type, including steel-pouring ladles, oxygen converters of the vertical type, electric arc steelmaking and blast furnaces, ladle-furnace units and other vertically oriented equipment and units used directly for production and technological processes, without direct human participation in the working area during the direct production of lining operations, automation and mechanization of the lining process, reducing the time of the lining, ensuring its high quality, which can significantly reduce the downtime of equipment for carrying out lining works, including the installation of a new refractory lining.

The technical result of the invention is achieved by the fact that for automated refractory lining of equipment in the metallurgical industry, predominantly vertical type, including steel-pouring ladles, oxygen converters of the vertical type, electric arc steelmaking and blast furnaces, ladle furnace units and other vertically oriented equipment and units used directly for production and technological processes, a method is applied, including the following.

1. Preparatory steps, including the construction of a 3D model of the equipment lining and loading the 3D model into the control unit, installation of elements of the complex, consisting of at least one manipulator for feeding refractory bricks, equipped with at least one vision sensor for scanning and determining the actual dimensions of refractory bricks, as well as to control the tolerance rate (+/- 5-10 mm), a conveyor with a conveyor belt for moving refractory bricks to the area of the lined equipment, a self-propelled platform for a manipulator, made with the possibility of vertical movement, while the platform has a vision sensor for height control

- 3 036217 platforms, as well as the distance from the manipulator to the lined surface, the sensor is placed on the manipulator platform, it can also be placed on the manipulator itself for lining, there is also an installation on the platform for filling dry self-sintering refractory material, in addition for a certain type of equipment, for example, for steel-pouring ladles, vertical converters, ladle-furnace units and electric arc furnaces subjected to lining, the platform can be of a suspended type with the possibility of horizontal movement of at least one manipulator, which is installed on the platform and which directly lining the equipment with refractory materials and has at least four degrees of freedom, equipped with at least one vision sensor and at least one nozzle for filling dry self-sintering refractory material, at least one installation for cutting refractory bricks, which is installed inserted in the direction of movement of the refractory brick into the area of the lined equipment and is located before the installation for applying mortar to the refractory brick, and which is equipped with at least one vision sensor to control the cutting of refractory bricks to the required size, in addition, the cutting installation can also be equipped with mechanical clamps for fixing refractory bricks and a cutting mechanism equipped with a diamond disc of at least one mortar applicator, which is equipped with at least one vision sensor for monitoring the amount and areas of application of refractory mortar to the refractory brick, while the mortar applicator can be located both on the platform in the immediate vicinity of the manipulator carrying out the lining, and on any part of the conveyor belt of the conveyor, but after the installation for cutting refractory bricks, at least one installation for feeding and filling dry self-sintering fire porous material (for example, ramming mass and / or refractory powder, dry mixtures) installed on the manipulator for the lining;

installation of a platform with at least one manipulator for lining with refractory materials inside the equipment at the beginning of the first section, from which the lining will be carried out, scanning with the help of vision sensors installed on the manipulator performing the lining and the platform of the entire inner surface of the equipment or the area to be lined , to determine the actual state of the inner surface and the area to be lined, dividing the scanned area of equipment lining into separate areas for lining, depending on the type of equipment and taking into account the corresponding areas of the lining of this type of equipment (for example, a slag belt and / or a hot spot in a steel-pouring ladle , the presence or absence of a reinforcing layer of the lining during the lining of the working layer, other parameters), where various brands of refractory materials and standard sizes of refractory bricks can be used, automatic updating of the 3D model of the lining, taking into account the fact the physical condition of the inner surface of the equipment and / or the footed area based on the data received from all vision sensors as a result of scanning.

2. Lining of equipment refractory materials, which is carried out using a control unit containing software with an updated 3D model, program codes, algorithms and neural networks, which simultaneously controls both the robotic complex and the lining process, using data obtained from all sensors of the technical vision with the platform moving vertically for each subsequent lining cycle.

The technical result is also achieved by the design of a robotic complex for implementing the method of automated refractory lining of equipment in the metallurgical industry, containing a control unit that includes a computer for entering, automatic processing, building, correcting, updating the 3D model of the lining, taking into account the data of the actual state of the inner surface of the equipment or the lined area obtained as a result of scanning from vision sensors, calculating the amount of refractory materials, grade, type, standard size of refractory bricks and the sequence (sequence) of their use in the lining process, connected to all other elements of the robotic complex, controlling the elements of the robotic complex and the robotic complex, and the lining process using a computer program with an automatically updated 3D model of the lining, program codes, algorithms and neural networks, as well as at least one manipulator installed on the platform for lining refractory materials with at least four degrees of freedom each, equipped with at least one vision sensor on the side of the grip, and the platform can also accommodate an installation for applying mortar, as well as an installation for filling dry self-sintering refractory material, connected through a conveyor with at least one installation for applying mortar and installation for cutting refractory bricks installed outside the equipment lining zone,

- 4 036217 each of which is equipped with at least one vision sensor and at least one refractory brick feed manipulator, which is equipped with at least one vision sensor for scanning and determining the actual size of the refractory brick and controlling the tolerance rate deflection, installed on the manipulator for feeding refractory bricks.

In this case, during the lining process, the platform with the main manipulator for lining refractory materials is installed with the possibility of vertical movement, and for certain structures of the equipment to be lined, the platform is suspended with the possibility of horizontal movement.

The control unit can be electrically connected to the rest of the elements.

Present in the test of this application, the terms have the following meanings.

Ladle-furnace unit (ladle-furnace unit or complex steel processing unit) - unit in the form of a ladle with a lid for deoxidizing and refining steel by blowing from below with argon or nitrogen and heating with electrodes introduced through holes in the lid.

The control unit is a device that controls the robotic complex and the process of laying / lining equipment. Contains controllers, microprogram machines, electrical circuits. An obligatory element of the control unit is an industrial computer containing software, program codes, algorithms and a neural network;

A vision sensor is a device that forms a two-dimensional or three-dimensional picture of the surrounding space. As such devices, the most famous are, for example, lidars (laser radars), sonars (ultrasonic radars), video cameras.

Blast furnace (blast furnace) is a metallurgical vertical shaft-type furnace for smelting pig iron and ferroalloys from iron ore raw materials. The blast furnace is a continuously operating apparatus. The refractory lining (masonry) of the blast furnace is designed to reduce heat losses and protect the shell (equipment body) from high temperatures and from contact with liquid metal and slag. For the lining of a blast furnace, refractory materials of various grades and quality characteristics, strength and density are used.

Vertical type converter (oxygen converter) is a vertical type metallurgical unit for producing steel from pre-molten cast iron and charge by blowing air or technically pure oxygen. The converter is a container consisting of three parts: the upper part - the helmet, the middle part - the cylinder and the lower part - the bottom. The bottom can be attached, plug-in or solid with a cylindrical part. In this case, the converter is called deaf. Small vertical converters (30 t) are used to convert matte to blister copper and to refine ferronickel by oxidative blowing. The capacity of existing converters ranges from 30-800 tons and may be higher. The converter lining is basic, two- or three-layer - reinforcing, adjacent to the body, and 1-2 working layers. The reinforcement layer is directly adjacent to the casing (body). The working layer, usually 500-800 mm thick, is in contact with metal and slag. On small converters, the masonry is made of bricks in one row, on heavy converters - in two rows with a bandage. Between the working and reinforcing layers, packing is usually performed from a mass, according to the chemical composition, corresponding to the working layer.

Manipulator for lining refractory materials (main manipulator) - a mechanism for controlling the spatial position of refractory bricks and refractory materials with several degrees of freedom, designed for laying refractory bricks and applying / filling refractory mixtures, located on the platform inside the equipment.

Manipulator for supplying refractory bricks is a mechanism that serves to move refractory bricks of specified standard sizes and grades from pallets to a conveyor.

The ramming mass (material) is an element of the lining of the inner surface of equipment of various brands.

Refractory brick - an element of the lining of the inner surface of the equipment, designed to protect the inner surface of the housing (casing), made, as a rule, of metal, from wear during technological and industrial operation of the equipment.

Platform is a self-propelled platform (wheeled, tracked, rail and suspended) designed for the installation of the necessary equipment and at least one manipulator for refractory lining with the possibility of horizontal and vertical movement.

Masonry mortar - a mortar of special refractory grades intended for use with refractory bricks in the masonry / lining process. It is applied to the longitudinal surface of refractory bricks of various thicknesses. It is also used for leveling unevenness of the equipment case, for correcting bricks during the masonry / lining process.

Steel-pouring ladle (steel ladle / casting / casting ladle) - a steel or cast iron vessel for receiving liquid steel, molten metal, matte or slag, cast iron from a metallurgical unit, short-term storage, refining, transportation and casting, for example, into ingot molds or into a continuous casting machine; has the shape of a truncated cone with a large base at the top and foot. 5 036217 from the inside with refractory materials. The steel from the ladle can be poured through one or two glasses at the bottom of the ladle. The orifice of the nozzle is closed and opened with a stopper or slide gate, hydraulically or manually movable. For example, a casting ladle is used to pour liquid metal into a metallurgical unit, for example, to pour cast iron into a converter, which is similar in shape to a steel casting ladle, but has a solid bottom and is equipped with a drain nose.

Dry mix - self-baking dry mix of special refractory grades, used as stuffing the bottom of the equipment, and / or filling the masonry joints, and / or filling the gaps between the reinforcement and / or working layers.

Conveyor is a continuous type conveyor used to transport refractory bricks from a manipulator for supplying refractory bricks to a manipulator for laying refractory materials. Contains a conveyor belt (conveyor belt).

The lining cycle is the process of laying refractory bricks and refractory materials in a specific area of equipment using a robotic complex.

Lining - lining with refractory, chemically resistant, as well as heat-insulating materials (refractory bricks, mortars, mixtures, mortars, ramming masses and others), with which the inner surface of metallurgical units and equipment is lined. Lining includes any refractory materials that provide protection of internal surfaces from possible mechanical, thermal, physical and chemical damage.

Electric Arc Smelting Furnace (Arc Smelting Furnace) - An electric melting furnace that uses the thermal effect of an electric arc to melt metals and other materials. In the designation of an arc steel-making furnace, as a rule, there is its capacity in tons (for example, ДСП-12). The range of furnaces varies from 1 to 1000 tons. One of the main features of an arc furnace is the ability to reach a high temperature in the working space (up to 2500 ° C). The arc furnace mechanisms allowing to open (close) the furnace roof, collect slag and release molten metal. Smelting of steel is carried out in the working space of the furnace, which is bounded from above by a domed vault, from below and from the sides, respectively, by a spherical hearth and walls, the casing of which is lined with refractory material from the inside. The lining of arc furnaces consists of three main parts: hearth, wall masonry and vault.

Electrical connection - connecting sections and elements of a robotic complex into a common electrical circuit.

Reinforcing lining layer is an element of the lining design that provides thermal insulation to create stable pouring conditions, and also guarantees safety for the body (casing) of equipment made of metal in the event of destruction of the working layer. The laying of the walls of the reinforcing layer is performed, as a rule, using refractory mortars, according to the chemical composition of the brand of used refractory bricks. Typically, the thickness of the reinforcement layer increases with the capacity of the equipment.

The working layer of the lining - a structural element of the lining that is in direct contact with the melt, wears out quickly, determining the overall durability of the equipment. When determining the required thickness of the working layer, the topography of its wear along the height and perimeter of the equipment is taken into account. Refractory bricks of the working layer wear out unevenly. Increased wear of refractories is observed in the area of the slag belt and when the jet of the produced metal hits the ladle walls. In the lower part, the masonry wears out twice as fast as in the upper one. This is due to the longer exposure of the lower parts of the lining to the melt and the high hydrostatic pressure, which increases the metal impregnation of the refractories. Therefore, to lengthen the ladle company and reduce the specific consumption of refractories, the masonry is made along the ladle height, increasing the thickness in proportion to its wear, and also reinforcing its warhead.

The claimed invention is illustrated by drawings.

FIG. 1 schematically shows a robotic complex for lining vertical equipment in a basic design with the possibility of vertical movement of the platform with a vision sensor on the manipulator platform, sensors of the actual state of bricks on the manipulator platform, and an installation for applying mortar on the manipulator platform.

FIG. 2 schematically shows a robotic complex for the lining of vertical equipment in the basic version with the possibility of vertical movement of the platform with a vision sensor on the manipulator platform, sensors of the actual state of bricks on the manipulator platform, an installation for applying mortar on the manipulator platform, placed entirely within the equipment to be lined ...

FIG. 3 schematically shows a robotic complex with sensors of the actual state of bricks and an installation for applying mortar on a conveyor belt.

FIG. 4 schematically shows a robotic complex with sensors of the actual state of bricks and an installation for applying mortar on a conveyor belt, placed within the equipment to be lined.

- 6 036217

FIG. 5 shows a robotic complex for lining vertical equipment in a suspended version with the possibility of additional horizontal movement, located on a lining pit.

FIG. 6 shows a robotic complex for lining vertical equipment in a suspended version with the possibility of additional horizontal movement, placed on an attachment.

The figures shown have the following positions:

- manipulator for feeding refractory bricks;

- conveyor for moving refractory bricks to the lining area;

- installation for cutting refractory bricks;

- installation for applying mortar for laying refractory bricks;

- platform for a manipulator for lining;

- manipulator for lining;

- vision sensor on the lining manipulator;

- installation for applying mortar to refractory bricks;

- installation for filling and filling dry materials;

- Control block;

- vision sensor on a brick cutting installation;

- vision sensor on the installation for applying the solution;

- vision sensor on the platform for the manipulator for the lining;

- a vision sensor for monitoring the actual state of the bricks being lined, installed on a manipulator for feeding bricks;

14.1 - vision sensor for monitoring the actual state of the bricks being lined, installed on the conveyor belt;

- mechanical clamps for fixing the bricks on the cutting machine;

- nozzle for filling and filling dry materials;

- pallet with lining bricks.

Detailed description of the invention

The robotic complex consists of at least one manipulator 1 for feeding refractory bricks, which is equipped with at least one vision sensor 14, such a vision sensor can be installed both on the manipulator itself and on the conveyor belt separately 14.1, at least one conveyor 2 with a conveyor belt, at least one installation 3 for cutting refractory bricks, located on the conveyor 2 in the direction of movement of refractory bricks to the manipulator 6, which lining the equipment, and equipped with at least one sensor 11 of technical vision, at least one installation 4 for applying mortar for masonry, located on a conveyor 2 along the direction of movement of refractory bricks to the equipment, and equipped with at least one vision sensor 12, at least one platform 5 for a lining manipulator equipped with at least one vision sensor 13 and installation 9 for backfill ki and filling dry materials, installed on the platform 5 at least one manipulator 6 for the lining, equipped with at least one sensor 7 technical vision, at least one nozzle 16 for filling and filling dry materials and the control unit 10.

In this case, at least one manipulator 1 for supplying refractory bricks, equipped with at least one vision sensor 14, is installed near the place or in the storage area of refractory bricks and materials, in a certain design (Figs. 2 and 4) a manipulator for supplying refractory bricks bricks can be located within the equipment to be lined.

With the help of at least one manipulator 1 for supplying refractory bricks, refractory bricks of specified grades and standard sizes are moved in a certain sequence to the conveyor 2, using at least one vision sensor 14 installed on the manipulator 1 for supplying refractory bricks, or sensor 14.1 technical vision, located on the conveyor belt, each refractory brick is scanned to determine the actual size of the refractory brick and control the tolerance rate of deviation in size, while if the actual size of the refractory brick does not correspond to the tolerance rate, then this refractory brick is moved by a manipulator to feed the refractory brick into the zone scrap, which can be located in the immediate vicinity of the location / installation area of the manipulator 1 for feeding refractory bricks.

At least one conveyor 2 with a conveyor belt at one end is located next to the manipulator 1 for feeding refractory bricks, and the other is brought into the lining zone and located

- 7 036217 directly adjacent to the platform 5 so that at least one manipulator 6 for lining refractory materials, installed on the platform 5, has the ability to remove the refractory bricks from it.

Installation 3 for cutting refractory bricks is placed directly next to or on the conveyor belt 2 in such a way as to ensure cutting of refractory bricks along its length to the required dimensions, determined by the control unit 10 as a result of scanning the area to be lined on the basis of data from the vision sensors 11. Control of the cutting of refractory bricks to the required size and the actual size of the required part of the refractory brick after cutting is carried out using at least one vision sensor 11 installed in the immediate vicinity of installation 3 or on the installation itself 3. Cutting of refractory bricks is carried out by installation 3 along the length of the refractory bricks. In the process of cutting, the refractory brick can be fixed with at least 2 (two) mechanical clamps 15. Cutting can be carried out by installing 3, both above and below the refractory brick, by a cutting mechanism. The cutting mechanism can be equipped with a diamond disc. The corrected size of the refractory brick, after scanning the actual size with vision sensors, continues to move with the conveyor 2 to the manipulator 6 for lining refractory materials for its subsequent positioning in a row / ring.

Installation 4 for applying mortar for masonry can be placed outside (Fig. 3) of the lined equipment directly or on the conveyor belt 2 in such a way as to ensure the application of the mortar on the refractory bricks moved by the conveyor belt, if there are restrictions on the inner diameter of the equipment (lined surface) , or on the platform 5 in close proximity to the manipulator 6 for lining refractory materials (Fig. 3, 4) in such a way as to ensure the application of the solution to the refractory brick directly in the lining zone to reduce the time of this operation.

If installation 4 is located outside, then it is installed after installation 3 for cutting refractory bricks, so that, if necessary, after adjusting the size of the refractory to the required size determined by the control unit 10, apply a refractory mortar to this refractory brick, while monitoring the application of refractory mortar , including its thickness, number and areas of application on refractory bricks, is carried out using at least one vision sensor 11 installed in the immediate vicinity of installation 4 or on the installation 4 itself.

If the installation 4 is located on the platform 5, then the control over the application of the refractory mortar, including its thickness, quantity and areas of application to the refractory brick, can be carried out using at least one vision sensor 13 located on the platform 5 or on the manipulator 6 for lining refractory materials.

The manipulator 6 for lining refractory materials is installed on the platform 5 and is equipped with at least one vision sensor 7, at least one nozzle 16 for filling and filling dry self-sintering materials.

The self-propelled platform 5, equipped with at least one vision sensor 13, has a rotary base for the manipulator 6 and can have the following versions, depending on the type of equipment to be lined.

When lining an oxygen converter of a vertical type, a blast furnace platform 5 is made using a lifting mechanism with a non-rotating base, which moves the platform 5 at a predetermined speed from the bottom up along the course of the lining by a manipulator 6 for lining refractory materials, the lifting mechanism can be realized, for example, in the form of a hydraulic lifting mechanism, consisting of two parallel scissor lifts that raise the platform. In this case, the platform itself rises vertically, being strictly in a horizontal position. This is accomplished by attaching the top of the arms at points on the outside of the support table on which the platform is located. Moving the platform from bottom to top drives the stationary hydraulic scissor lift table with one or two hydraulic cylinders, which act on the cross beam connecting the rods rotation axes. The described mechanism is one of the possible. Any available vertical lifting mechanism can be used to implement the invention.

When lining a steel-pouring ladle, a ladle-furnace unit and an electric arc steelmaking furnace, platform 5 can be made of a suspended type with a beam and columns for fastening the beam, as well as a linear axis of the horizontal and / or vertical type for movement using a track installed along the length of the linear axis, at least one manipulator 6 for lining refractory materials (Fig. 5, 6).

In this case, the conveyor is brought up to the upper edge of the equipment to be lined. FIG. 5 shows an embodiment of the structure with the location of the equipment on the lining pit. FIG. 6 shows an embodiment of the design with the location of the conveyor attached to the equipment to be lined.

- 8 036217

In this case, regardless of the version of the platform 5, the lining of any type of equipment is performed by the manipulator 6 for lining refractory materials from the bottom up.

Manipulator 6 for lining refractory materials is installed on platform 5 and is equipped with at least one vision sensor 7, at least one installation 8 for applying mortar to refractory bricks and at least one nozzle 16 for backfilling and filling dry self-sintering materials (nozzle for sandblasting type). Installation for filling and filling dry self-sintering materials is located on the platform 5 of the manipulator 6 for lining.

The control unit 10 can be located separately outside the area of the equipment to be lined, but in any case it is electrically connected to all elements of the robotic complex in order to ensure their interaction with each other. The control unit 10 includes at least one industrial computer (computer) containing software with an updated 3D model, program codes, algorithms and neural networks, which controls the robotic complex and the lining process. The control unit 10 is equipped with software that allows processing the data received from the vision sensors as a result of scanning, forming a real and actual 3D model of the lined surface, taking into account each separately laid refractory bricks and refractory material, and also controlling the lining process taking into account the data received from vision sensors during the lining process.

Implementation of the design of manipulator 6 for lining refractory materials can be different. The main requirement for it is the presence of at least four degrees of freedom to ensure that refractory materials can reach any part of the lined surface.

This requirement can be met by installing a manipulator having, for example, three articulated nodal connections, two joints and a gripping mechanism (shown schematically in the drawing), however, any other designs are possible that provide the above requirement for the presence of at least four degrees of freedom.

Lidars (laser radar) and vision cameras can be used as vision sensors (7, 11, 12, 13, 14), which allow obtaining data for processing, constructing and updating a 3D model of the inner surface of equipment and / or a footed area of equipment. ...

The control unit 10 includes an industrial computer (ECM) for placing software. The control unit 10 receives data from all vision sensors (7, 11, 12, 13, 14), and controls all elements of the robotic complex, including the processing of data received from vision sensors as a result of scanning, building and updating a 3D model of the inner surface of the case equipment, determines, using program codes and algorithms, the sequence of laying each individual refractory bricks and their standard size, the need and amount of mortar application, the need and amount of filling the gaps between rows or rings using a dry mixture, and controls the lining process.

Detailed description of the invention in terms of the proposed method

The method of automated refractory lining of metallurgical industry equipment with refractory materials of vertical type, mainly steel-pouring ladles, oxygen converters of the vertical type, electric arc steelmaking and blast furnaces, ladle-furnace units and other vertically oriented equipment and units used directly for production and technological processes, using the claimed the robotic complex is carried out as follows.

Preparatory stage before the start of lining.

1. Based on the current versions of the drawings / lining diagrams, a 3D model of the lining of this type of equipment is created, including, for example, general information about the equipment (inner diameter, dimensions and dimensions of the equipment), data on the total area to be lined, with possible division of the zone into sections, an indication of the number of lining layers (for example, two or three-layer lining: the presence of a reinforcing layer and one or two layers of the working layer of the lining), while only one layer can also be lined, information on the layout of refractory bricks and materials on each of the equipment sections, the number of refractory bricks and their standard sizes, the method of masonry, including the use of refractory mortar and / or ramming masses, dry mixes, brands of refractory bricks and materials with reference to equipment zones and other data.

The standard sizes of refractory bricks that are used for lining are largely dependent on the design of the lining, which was made by the equipment manufacturer and / or is determined by the enterprise that operates the equipment on its own. The grade of refractory bricks and / or material that will be used for lining at each section or zone of equipment (for example, a slag belt and a hot spot in a steel-pouring ladle, the presence or absence of a reinforcing layer of a lining, the presence of 2 layers of a working lining and 1 layer of a working lining) is determined the enterprise operating the equipment independently. This 3D model is loaded into the control unit 10.

2. Assemble the elements of the robotic complex described above in accordance with

- 9 036217 presented by the diagram and depending on the type of equipment to be lined.

Formation of a refined 3D model of the lining.

With the help of sensors 13 and 7 of technical vision, which are located on the platform 5 and the manipulator 6 for lining refractory materials, scan the inner surface of the equipment or a section of the lining along the entire length of the section planned to be lined. The obtained data are automatically processed by the control unit 10, which, with the help of software, builds the first version of the 3D model of the lining, taking into account the actual state of the inner surface of the lined section, the refined 3D model is built taking into account the data already entered at the preparatory stage about the standard sizes, brands, the method of laying and the sequence of laying bricks, as well as the need to use mortar for masonry and dry self-baking material, its quantity and areas where mortar or other material will be used.

Scanning of the inner surface of the lined area is performed to assess the actual state of the inner surface, since during operation the equipment body is deformed under the influence of various technological factors, and the reinforcing layer of the lining wears out if only the working layer or its part is planned to be lined.

For example, when the equipment body is deformed, the ratio of refractory bricks in each ring / row may differ from the design, to a greater or lesser extent in the number of one standard size in relation to the second standard size.

In addition, when the equipment body deforms in places where masonry mortar is used, for example in areas where welds are located or to adjust the position of the refractory brick in order to maintain the radial position of the ring / row, each refractory brick gives a slight deviation in the ring / row, therefore, when it remains to put the last 3-4 bricks to close / close the ring / row, as a rule, the standard sizes do not fit in thickness to fill the remaining zone in the ring / row. For these purposes, lock (wedge-shaped) refractory bricks can be used, which differ from standard sizes to a greater and lesser extent. In certain cases, the standard sizes can be adjusted to the required size by adjusting the refractory brick using a refractory brick cutting machine 2 containing a diamond disc.

Thus, the 3D model of the lining, taking into account the actual data on the state of the lined zone, will contain data on the total number of refractory bricks and standard sizes required for lining both one ring / row and the entire zone intended for lining, as well as data on the sequence of the lining of each separately taken refractory bricks, taking into account the required amount of mortar for masonry and other materials.

The control unit 10, which provides control of both the entire robotic complex and each of its individual elements, controls the operation of the manipulator 6 for lining refractory materials in the lining process.

3. Installation of platform 5 and manipulator 6 for refractory lining.

Installation of platform 5 for manipulator 6 for lining refractory materials depends on the type of equipment, but is always carried out vertically to the axial plane of the unit. Point 0 will be the position of the vision sensor 13 located on the platform 5 for refractory lining. If necessary, the position of the manipulator 6 for lining refractory materials and point 0 is corrected and entered into the control unit 10.

The installation of the platform 5 for the manipulator 6 for lining refractory materials can be carried out as a suspended type on top of the equipment, for example, when lining steel-pouring ladles and / or a ladle-furnace unit.

4. Lining cycle.

4.1. The installation of the first refractory brick is essentially a calibration operation for adjusting the operation of manipulator 6 for lining refractory materials, including for updating the 3D model of the lining. The first refractory brick is positioned in such a way as to closely adjoin the equipment body, the laid row, or to the reinforcing lining layer, or refractory brick, that is, to the support zone. If the laying of the new lining is performed only to replace the working layer of the lining, then the first refractory brick is adjacent to the old lining or reinforcing layer. In any case, the first brick is positioned so as to be adjacent to the support zone from which the new lining will be made. Lining in each row is performed strictly from the first refractory brick. The lining of the working layer is carried out in a stepwise pattern from bottom to top. In this case, each ring or row can be wedged with a key brick, which is installed on a wedge, with a thickness of at least 50 mm on the inside of the body or the adjacent surface. Refractory bricks are laid in compliance with the ligation of all vertical joints along the entire length of the lined area.

4.2. The control of the lining of each refractory material, the positioning of the refractory brick and the subsequent brick installed in a ring or a row is carried out using the vision sensor 7, the information received from them is processed by the control unit 10, which is

- 10 036217 gives the appropriate commands to manipulator 1 for supplying refractory bricks to supply refractory bricks of a certain standard size in a certain sequence to conveyor 2, to vision sensors installed on manipulator 1 to supply refractory bricks to scan the actual dimensions of each refractory brick laid on the conveyor belt ( refractory brick may have deviations from the dimensions declared by the manufacturer, the tolerance of the deviation is +/- 5-10 mm), conveyor 2 about moving the refractory bricks installed on it to the lining zone to platform 5 at a certain speed, installation 3 for cutting refractory bricks, if Such an operation is also required for the installation 4 for applying the mortar - if necessary, applying the mortar for masonry to certain places of the refractory bricks and in the required amount, after which each refractory brick is installed by the manipulator 6 for lining refractory materials. The installation of each refractory brick is carried out sequentially (each subsequent refractory brick is laid and adjoins the previously installed one) in a ring in a row and row by row from bottom to top. In the process of laying, the platform 5 independently at a given speed moves in a given direction along the center line and at a given speed, depending on the type of equipment.

In addition, in the process of lining, the positioning of each individual refractory brick and the subsequent one will be determined by the control unit 10 using the data received from the vision sensors 7. Each time after laying a single refractory brick, the vision sensors 7 scan the installation site of the subsequent refractory brick (the surface of the body or the lined area) and transmit the data to the control unit 10, where the data obtained is automatically processed and compared with the constructed 3D model, which, if necessary will be automatically updated.

For example, on the basis of the primary version of the 3D model with a diameter of 5 m, a layout was obtained in each ring / row along the entire length of the lining zone 3: 1, that is, first, 3 bricks of a wedge-shaped standard size are laid, then 1 brick of a straight standard size, then again 3 bricks of a wedge-shaped standard size, then 1 brick of straight size and so on, until the ring / row is dialed. However, during the masonry / lining process, based on the data obtained from the vision sensors 7, a deformation zone was detected (for example, a recess in the equipment body or a recess in the reinforcing layer of the lining), therefore, the control unit 10, taking into account this unevenness, will automatically correct the 3D model and will send a command to the manipulator 1 for supplying refractory bricks to supply the required standard size. As a result, for example, in the area where the deformation was determined, 4 pieces of wedge-shaped refractory bricks will be placed instead of 3 pieces, as provided in the initial version of the 3D model, the next refractory brick will be used of a direct size.

After laying a single refractory brick, the vision sensors 7 scan the installation site of the subsequent refractory bricks (the surface of the body or the lined area) and transmit the data to the control unit 10, where the obtained data is processed, and the control unit 10 determines which type of refractory brick is required for the lining , then the control unit 10 sends a command to the manipulator 1 for supplying refractory bricks to supply the required size, the manipulator 1 for supplying refractory bricks takes the refractory brick from the pallet and scans it using at least one vision sensor 14 to determine the actual size of the refractory brick. The scan results are processed by the control unit 10. If the actual dimensions of the refractory bricks exceed the tolerance limit, the control unit 10 sends a command to the manipulator 1 for supplying refractory bricks to move this brick to the rejected zone. In addition, based on the data on the actual size of each refractory brick, which is necessary to adjust the position of the refractory brick by the manipulator 6 for refractory lining, the control unit 10 transmits a command to the manipulator 6 for lining the refractory materials.

4.4. Fixing the castle area (usually 3-4 bricks). Considering the fact that the lined surface has irregularities, and each refractory brick may have dimensional deviations when laying the last 3-4 bricks, a lock zone is formed in the row / ring, which is lined with manipulator 6 for lining refractory materials, the required refractory brick is adjusted to the required dimensions with a refractory brick cutter 3.

If necessary, the manipulator 6 for lining, on the basis of a command from the control unit, fills the self-sintering mixture using the nozzle 16 supplied from the installation 9 for filling and filling dry materials between the rows of bricks, as well as when fixing the lock zone.

In the future, the entire procedure is carried out in the next section of the lining.

The accuracy (precision) of the lining is ensured by placing the vision sensors 7 directly on the manipulator 1 for feeding refractory bricks, platform 5 and manipulator 6 for lining refractory materials, which allows the control unit 10 to monitor the lining in real time and, if necessary, correct the positioning (position ) refractory bricks in masonry, including the thickness of the applied masonry mortar, if necessary, and / or the amount when filling the gaps between the reinforcing and working layers with

- 11 036217 self-baking mixture, applied by manipulator 6 for lining using nozzle 16.

The presence and constant updating of the 3D model of the lining with the laying of each individual refractory material using the software in the control unit 10 makes it possible to adjust the layout, determine the standard size of the refractory bricks and the material required for installation / use in the masonry in real time, which reduces the time lining process and ensures its quality.

The options for implementing the sequence of actions in the method described in the text of this application are not the only possible ones and are given in order to most clearly disclose the essence of the invention.

The claimed method of refractory lining and a robotic complex for its implementation make it possible to lining the equipment of the metallurgical industry with refractory materials of the vertical type, mainly steel-pouring ladles, oxygen converters of the vertical type, electric arc steelmaking and blast furnaces, ladle furnace units and other vertically oriented equipment and units used directly for production and technological processes, at high speed, provide maximum automation of work and reduce the period of equipment downtime required for the installation of a new lining.

Claims (19)

CLAIM 1. A method of automated refractory lining, including the construction of a 3D model of the equipment lining and loading a 3D model into the control unit, the 3D model in this case includes the number, type, standard size of refractory bricks, location and sequence of their use in the lining process, installation of elements of a robotic complex, installation of a platform with at least one manipulator lining with refractory bricks inside the equipment to be lined, at the beginning of the first section from which the lining will be performed, scanning with the help of a vision sensor located on the manipulator carrying out the lining, from the grip side, the actual state of the inner surface the zone to be lined, determination of individual sections of the lining in the scanned zone, depending on the type of equipment, determination of the dimensions and actual state of each section, updating the 3D model of the lining, taking into account the results of scanning, including I update the dimensions, types of refractory bricks for each section of the lining, the location and sequence of use of refractory bricks in the lining process, perform a lining cycle with a pre-scan of the location of each refractory brick and the actual dimensions of the refractory bricks to update the 3D model of the lining based on scan data from vision sensors and assessing the need for cutting refractory bricks for the castle area and / or changing the amount and areas of application of mortar for masonry, moving the platform vertically to perform the next lining cycle. 2. The method of automated refractory lining according to claim 1, characterized in that when constructing a 3D model, it is taken into account which layer is to be lined, reinforcing, working or partially each of the layers. 3. The method of automated refractory lining according to claim 1, characterized in that a vision sensor is used to control the actual dimensions of the refractory bricks. 4. The method of automated refractory lining according to claim 3, characterized in that the control of the actual dimensions of the refractory bricks is carried out using a vision sensor, which is located on the manipulator for supplying refractory bricks. 5. The method of automated refractory lining according to claim 3, characterized in that the actual dimensions of the refractory bricks are controlled using a vision sensor, which is located on the conveyor belt. 6. The method of automated refractory lining according to claim 1, characterized in that during the lining cycle, the refractory bricks are cut by a cutting device installed on the conveyor belt after the manipulator for feeding bricks to the conveyor belt, to the device for applying mortar, while the device for cutting is equipped with a vision sensor. 7. The method of automated refractory lining according to claim 1, characterized in that during the lining cycle, the masonry mortar is applied to the refractory brick using a mortar application unit installed on the platform of the manipulator producing the lining. 8. The method of automated refractory lining according to claim 1, characterized in that the construction of a 3D model, automatic updating and control of the robotic complex is carried out with - 12 036217 using the computer program installed in the control unit, including algorithms and neural networks. 9. A method of automated refractory lining, including the construction of a 3D model of the equipment lining and loading the 3D model into the control unit, installation of elements of a robotic complex, consisting of at least one manipulator for feeding refractory bricks, equipped with at least one vision sensor for scanning and determining the actual dimensions of the refractory bricks, a conveyor with a conveyor belt for moving refractory bricks to the manipulator, which carries out the lining, at least one installation for cutting refractory bricks, which is equipped with at least one vision sensor, at least one installation for applying mortar, which is equipped with at least one vision sensor, at least one installation for feeding and filling dry self-sintering refractory material, a self-propelled platform for a manipulator performing a lining, with the possibility of vertical movement, which I am equipped with at least one vision sensor, at least one manipulator that carries out the lining, which is installed on a platform and has at least four degrees of freedom, while the said manipulator is equipped with at least one vision sensor and a nozzle for filling dry self-baking refractory material, installation of a platform with at least one manipulator lining with refractory bricks inside the equipment, at the beginning of the first section from which the lining will be carried out, scanning with the help of vision sensors the actual state of the inner surface of the zone to be lined, determination in the scanned zone of individual lining sections depending on the type of equipment, determination of the size and actual state of each section, automatic updating of the 3D model of the lining taking into account the actual state of the inner surface of each section of the lined zone based on yes data obtained from vision sensors as a result of scanning, the equipment is lined, while the process is controlled by a control unit, which uses data obtained from at least three vision sensors to control the process, including a sensor on the manipulator for feeding refractory bricks , a sensor on the platform of the manipulator performing the lining, a sensor on the manipulator performing the lining. 10. A robotic complex for automated refractory lining, containing a control unit for a robotic complex, at least one manipulator for feeding refractory bricks, at least one vision sensor for scanning and determining the actual dimensions of refractory bricks, a conveyor with a conveyor belt for moving refractory bricks to a manipulator carrying out the lining, at least one installation for applying the solution, which is equipped with at least one vision sensor, a self-propelled platform for the manipulator performing the lining, with the possibility of vertical movement, which is equipped with at least one vision sensor, at least one manipulator, which carries out the lining, which is installed on the platform and has at least four degrees of freedom, equipped on the gripping side with at least one vision sensor. 11. The robotic complex according to claim 10, characterized in that it further comprises at least one installation for cutting refractory bricks, which is equipped with at least one vision sensor. 12. The robotic complex according to claim 11, characterized in that the installation for cutting refractory bricks is located before the installation for applying the solution to the refractory brick. 13. Robotic complex according to claim 11, characterized in that the cutting installation is equipped with mechanical clamps for fixing the refractory bricks, 14. Robotic complex according to claim 11, characterized in that the cutting installation is equipped with a cutting mechanism equipped with a diamond disc. 15. Robotic complex according to claim 10, characterized in that the installation for applying the solution is installed on the conveyor belt after the installation for cutting refractory bricks. - 13 036217 16. Robotic complex according to claim 10, characterized in that the installation for applying the solution is installed on the platform of the manipulator performing the lining. 17. The robotic complex according to claim 10, characterized in that it additionally includes a nozzle for filling dry self-sintering refractory material, installed on a manipulator performing the lining. 18. Robotic complex according to claim 10, characterized in that the self-propelled platform for the manipulator performing the lining is of a suspended type with an additional possibility of horizontal movement. 19. Robotic complex according to claim 10, characterized in that the control unit is electrically connected to the rest of the elements.