EP0198267A1 - Installation for applying a refractory lining to the inner wall of a vessel - Google Patents

Installation for applying a refractory lining to the inner wall of a vessel Download PDF

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Publication number
EP0198267A1
EP0198267A1 EP86103876A EP86103876A EP0198267A1 EP 0198267 A1 EP0198267 A1 EP 0198267A1 EP 86103876 A EP86103876 A EP 86103876A EP 86103876 A EP86103876 A EP 86103876A EP 0198267 A1 EP0198267 A1 EP 0198267A1
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EP
European Patent Office
Prior art keywords
lnstallation
rotary cage
bricks
robot
arm
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Granted
Application number
EP86103876A
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German (de)
French (fr)
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EP0198267B1 (en
Inventor
Edouard Legille
Corneille Melan
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Paul Wurth SA
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Paul Wurth SA
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Priority to AT86103876T priority Critical patent/ATE40412T1/en
Publication of EP0198267A1 publication Critical patent/EP0198267A1/en
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Publication of EP0198267B1 publication Critical patent/EP0198267B1/en
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    • 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
    • F27D1/16—Making or repairing linings increasing the durability of linings or breaking away linings
    • F27D1/1621—Making linings by using shaped elements, e.g. bricks

Definitions

  • the present invention relates to an installation for installing a refractory lining on the inner wall of an enclosure, comprising an operating center capable of being lowered and mounted inside said enclosure.
  • the invention relates more particularly to the repair of the interior refractory lining of a metallurgical converter.
  • the object of the present invention is to provide an installation for installing a refractory lining on the inner wall of an enclosure, which is completely automatic and which has great flexibility as regards the individual handling of bricks.
  • the invention is essentially characterized in that the operating center comprises a lower plate, blocking means for wedging said lower plate between the walls of the enclosure, an upper plate a rotating cage arranged between the upper plate and the lower plate and connected to each of these by a rolling block, the upper or lower plate having an opening large enough to allow the passage of a pallet of refractory bricks towards the interior of the rotary cage and at least a robot mounted on the rotating cage having at least three degrees of freedom so as to be able to reach all the points of the work area and the end of which is provided with a gripping device for gripping, handling and laying automatic bricks intended to form the refractory lining.
  • the robot is preferably made up of a first arm mounted on a column and movable around and along a first vertical axis of rotation, of a second arm mounted at the end of the first arm by means of 'A joint with a second vertical axis of rotation, the gripping device being mounted at the end of the second arm by means of a joint with a third vertical axis of rotation.
  • Figure 1 shows part of a metallurgical converter 10, consisting of a metal wall 12, substantially cylindrical, at least in its central part, and an interior refractory lining 14, which consists of a stack of refractory bricks laid on top of each other.
  • This lining 14 must be regularly redone, on average, approximately every two weeks.
  • the invention has provided a platform 16, which, in the example shown, is suspended by cables 18 from a winch or overhead crane, not shown, outside the converter 10 and by means of which this platform 16 can be raised or lowered inside the converter 10. It is, of course possible to provide other means of moving the platform 16, eg telescopic arms, a crane, a cage with several elements etc.
  • the platform 16 consists of an upper plate 20 and a lower plate 22 between which there is a rotary cage 24 which can rotate around the axis O and relative to the stationary plates 20 and 22.
  • the rotary connection between the cage 24 and each of the plates 20, 22 is provided by an annular upper bearing block 26 and in an annular lower bearing block 28.
  • An electric motor 30, eg a stepping motor, mounted on the cage 24 actuates a pinion 32, which forms a gear with a ring gear provided on the part of the rolling block 26 which is integral with the plate 22.
  • the commissioning of the motor 30 rotates the cage 24 around the axis O
  • a pinion 33 rigidly connected to the pinion 32, forms a gear with a toothed ring provided on the part of the bearing block 26 and which is integral with the plate 20.
  • the plate 22 is provided with several extendable stands 34, eg pneumatic cylinders intended to bear on the refractory lining 14 already produced.
  • the surface of the lower plate 22 is preferably variable, in order to be able to adapt the installation to converters of variable or different diameters.
  • the plate 22 may include a peripheral belt 36 made up of several sections that can be moved radially or that can be removed. This belt 36 must however be strong enough to be able to support at least one person necessary for the management of operations.
  • the upper plate is preferably also provided with a similar belt 38 which acts as a protective shield for the person on the lower belt.
  • the central organ of the installation is a robot 40, mounted on the rotary cage 24 and fixed either to the ceiling or to the floor thereof.
  • the robot 40 is fixed to the ceiling of the cage 24 and has four degrees of freedom symbolized by the arrows A, B, C and D.
  • the robot 40 has a bracket made up of a first arm 42 which can slide vertically on a column 43 along arrow A and rotate horizontally around column 43 along arrow B, and a second arm 44 mounted at the end of the first arm 42 and able to rotate relative to the latter around an axis vertical in the direction of arrow C.
  • a gripping device 46 At the free end of this second arm 44 is a gripping device 46 which can also rotate about a vertical axis in the direction of arrow D.
  • the gripping device 46 can be designed as a suction cup that can grip and carry the bricks by pneumatic suction. It can also be designed as a claw tool for gripping the bricks on the sides.
  • the rotary movement B can also be replaced by a rectilinear movement.
  • the vertical movement A can also be carried out at the end of the arm 44.
  • the robot 40 is also provided, in a manner known per se, with sensors not shown, allowing it to detect the position of the gripping device 46 as well as to monitor and control its gestures. It is also equipped with the IT resources necessary for fully automatic, independent and pre-programmed operation.
  • the platform 16 is lowered into the converter by an unwinding of the carrying cables. This descent can be controlled and monitored by a person on the lower platform 22.
  • one or more pallets of bricks 48.50 are lowered by means of a winch and through an opening provided for this purpose in the upper plate 20 as far the floor of the movable cage 24.
  • the robot 40 thanks to its degrees of freedom, is permanently moved between a position for taking the bricks corresponding substantially to the position of FIG. 1 and a position corresponding to that of FIG. 2, in which the bricks are deposited on the lining 14.
  • the bricks can be taken and deposited either individually or in groups at the same time.
  • the work of the robot 40 being completely automatic, the person on the platform will have only a reduced manual work to accomplish. It will mainly have a mission of observation and control, in particular of the quality of the bricks, to control the vertical movement of the platform 16 and, if necessary, to take care of the laying of the last brick of a row.
  • the motor 30, to rotate the movable cage 24, is automatically controlled by the robot 40.
  • the robots normally work completely automatically according to a pre-established program. However, they are preferably designed so that, if necessary, they can be controlled manually and individually from a control panel.
  • the robot shown in the figures is only an example of an embodiment.
  • the pivoting movable arm 42 it is possible to provide a carriage which can be moved in the radial direction.
  • the pivoting arm 44 would then be mounted on this carriage by means of a vertical axis of rotation.
  • the gripping device 46 mounted at the end of the arm 44 should allow rotation of the gripping tool about a vertical axis and a vertical movement of this tool along this axis.

Abstract

An apparatus for automatically laying the refractory lining along the inner wall of a vessel (i.e., a metallurgical converter) which permits automatic repair of the vessel lining. This refractory brick laying apparatus comprises an operational center capable of being lowered and raised inside the vessel and comprising a lower table, an upper table and a rotary cage arranged between the upper table and the lower table and connected to each of these by a runway block. The upper table or lower table has a sufficiently large orifice to allow a pallet of refractory bricks to pass inside the rotary cage. Arranged on the rotary cage is a robot which has at least three degrees of freedom, such that it can reach all points of the working range. The end of the robot is equipped with a gripping device for automatically picking up, handling and laying the bricks intended for forming the refractory lining.

Description

La présente invention concerne une installation pour la pose d'un garnissage réfractaire sur la paroi intérieure d'une enceinte, comprenant un centre opératif susceptible d'être descendue et montée à l'intérieur de ladite enceinte. Quoique n'y étant pas limitée, l'invention concerne plus particulièrement la réfection du garnissage réfractaire intérieur d'un convertisseur métallurgique.The present invention relates to an installation for installing a refractory lining on the inner wall of an enclosure, comprising an operating center capable of being lowered and mounted inside said enclosure. Although not limited thereto, the invention relates more particularly to the repair of the interior refractory lining of a metallurgical converter.

Il est connu que la réfection du garnissage réfractaire d'un convertisseur constitue un travail répétitif qui doit être effectué souvent, c'est-à-dire au moins une fois toutes les trois semaines pour chaque convertisseur. Ce travail doit en outre être accompli dans des conditions extrêmement difficiles à l'intérieur de l'enceinte, dans une atmosphère chargée de poussières. Il s'agit en plus d'un travail très épuisant car les briques peuvent peser jusqu'à plusieurs dizaines de kilos.It is known that the repair of the refractory lining of a converter constitutes repetitive work which must be carried out often, that is to say at least once every three weeks for each converter. This work must also be carried out under extremely difficult conditions inside the enclosure, in a dust-laden atmosphere. It is also a very exhausting job because the bricks can weigh up to several tens of kilos.

C'est la raison pour laquelle on a essayé de mécaniser et, si possible, d'automatiser du moins une partie de ce travail, notamment le transport et la manipulation des briques. A cet effet, on utilise,par exemple, une sorte de monte-charge à chaîne sans fin qui transporte les briques individuellement d'une station de dépalettisation manuelle se trouvant à l'extérieur du convertisseur vers une plate-forme à l'intérieur de celui-ci sur laquelle se trouvent plusieurs ouvriers qui s'occupent du briquetage de la paroi.This is the reason why we tried to mechanize and, if possible, to automate at least part of this work, in particular the transport and handling of bricks. For this purpose, we use, for example, a kind of endless chain freight elevator which transports the bricks individually from a manual depalletizing station located outside the converter to a platform inside this one on which are several workers who take care of the brickwork of the wall.

On a également déjà prévu des systèmes consistant à soulever toute une colonne de briques et à la poser sur une nouvelle brique au fur et à mesure que les briques sont enlevées au-dessus par les ouvriers se trouvant sur la plate-forme.Systems have also already been provided for lifting an entire column of bricks and placing it on a new brick as the bricks are removed above by the workers on the platform.

Toutefois, les différents systèmes souffrent de plusieurs inconvénients. Il y a d'abord un manque de souplesse lors de l'approvisionnement de la plate-forme en briques. En effet, les briques arrivant une à une les ouvriers n'ont pas de possibilité de choix. Lorsqu'ils ont besoin, à un certain moment, d'une brique sur mesure, ils peuvent, certes la commander, mais ils doivent avant de la recevoir, d'abord recevoir celles qui sont déjà engagées dans le monte-charge. En outre, étant donné qu'aussi bien la dépalettisation que la réception et la pose des briques sont effectuées manuellement, la main-d'oeuvre est toujours nécessaire au briquetage.However, different systems suffer from several drawbacks. First, there is a lack of flexibility when supplying the platform with bricks. Indeed, the bricks arriving one by one the workers have no possibility of choice. When they need, at a certain time, a custom brick, they can certainly order it, but they must before receiving it, first receive those who are already engaged in the freight elevator. In addition, since both the depalletization and the reception and laying of the bricks are carried out manually, manpower is always necessary for briquetting.

Le but de la présente invention est de prévoir une installation pour la pose d'un garnissage réfractaire sur la paroi intérieure d'une enceinte, qui est complètement automatique et qui présente une grande souplesse en ce qui concerne la manipulation individuelle des briques. Pour atteindre cet objectif, l'invention est essentiellement caractérisée en ce que le centre opératif comprend un plateau inférieur, des moyens de blocage pour caler ledit plateau inférieur entre les parois de l'enceinte, un plateau supérieur une cage rotative disposée entre le plateau supérieur et le plateau inférieur et reliée à chacun de ceux-ci par un bloc de roulement, le plateau supérieur ou inférieur ayant une ouverture suffisamment grande pour permettre le passage d'une palette de briques réfractaire vers l'intérieur de la cage rotative et au moins un robot monté sur la cage rotative ayant au moins trois degrés de liberté de façon à pouvoir atteindre tous les points de l'aire de travail et dont l'extrémité est munie d'un dispositif de préhension pour la prise, la manipulation et la pose automatique des briques destinées à former le garnissage réfractaire.The object of the present invention is to provide an installation for installing a refractory lining on the inner wall of an enclosure, which is completely automatic and which has great flexibility as regards the individual handling of bricks. To achieve this objective, the invention is essentially characterized in that the operating center comprises a lower plate, blocking means for wedging said lower plate between the walls of the enclosure, an upper plate a rotating cage arranged between the upper plate and the lower plate and connected to each of these by a rolling block, the upper or lower plate having an opening large enough to allow the passage of a pallet of refractory bricks towards the interior of the rotary cage and at least a robot mounted on the rotating cage having at least three degrees of freedom so as to be able to reach all the points of the work area and the end of which is provided with a gripping device for gripping, handling and laying automatic bricks intended to form the refractory lining.

Le robot est, de préférence, constitué d'un premier bras monté sur une colonne et mobile autour et le long d'un premier axe vertical de rotation, d'un second bras monté à l'extrémité du premier bras par l'intermédiaire d'une articulation avec un deuxième axe de rotation vertical, le dispositif de préhension étant monté à l'extrémité du second bras par l'intermédiaire d'une articulation avec un troisième axe de rotation vertical.The robot is preferably made up of a first arm mounted on a column and movable around and along a first vertical axis of rotation, of a second arm mounted at the end of the first arm by means of 'A joint with a second vertical axis of rotation, the gripping device being mounted at the end of the second arm by means of a joint with a third vertical axis of rotation.

D'autres particularités et caractéristiques ressortiront de la description détaillée d'un mode de réalisation préféré,présenté ci-dessous à titred'ili- ustration en référence aux dessins annexés dans lesquels:

  • La figure 1 montre une vue schématique latérale d'un centre opératif se trouvant à l'intérieur d'une enceinte, et
  • la figure 2 montre schématiquement une vue suivant le plan de coupe hoizontal II-II sur la figure 1.
Other particularities and characteristics will emerge from the detailed description of a preferred embodiment, presented below for illustrative purposes with reference to the appended drawings in which:
  • FIG. 1 shows a schematic side view of an operating center located inside an enclosure, and
  • FIG. 2 schematically shows a view along the hoizontal section plane II-II in FIG. 1.

La figure 1 montre une partie d'un convertisseur métallurgique 10, constitué d'une paroi métallique 12, sensiblement cylindrique, du moins dans sa partie centrale, et d'un garnissage réfractaire intérieur 14, qui est constitué d'un empilement de briques réfractaires posées les unes sur les autres. Ce garnissage 14 doit être régulièrment refait, en moyenne, environ toutes les deux semaines.Figure 1 shows part of a metallurgical converter 10, consisting of a metal wall 12, substantially cylindrical, at least in its central part, and an interior refractory lining 14, which consists of a stack of refractory bricks laid on top of each other. This lining 14 must be regularly redone, on average, approximately every two weeks.

Pour la manipulation et la pose automatiques des briques, l'invention a prévu une plate-forme 16, qui, dans l'exemple représenté, est suspendue par des câbles 18 à un treuil ou pont roulant non représenté, à l'extérieur du convertisseur 10 et moyennant lequel cette plate-forme 16 peut être montée ou descendue à l'intérieur du convertisseur 10. Il est, bien entendu possible de prévoir d'autres moyens de déplacement de la plate-forme 16, p.ex. des bras téléscopiques, une grue, une cage à plusieurs éléments etc.For the automatic handling and laying of bricks, the invention has provided a platform 16, which, in the example shown, is suspended by cables 18 from a winch or overhead crane, not shown, outside the converter 10 and by means of which this platform 16 can be raised or lowered inside the converter 10. It is, of course possible to provide other means of moving the platform 16, eg telescopic arms, a crane, a cage with several elements etc.

Il est possible également de ne pas suspendre le centre opératif à partir de l'ouverture supérieure de l'enceinte, mais de le fixer au bout d'une cage à longueur variable ou d'un mat téléscopique reposant au fond de l'enceinte ou sur le sol s'il existe une ouverture dans le fond.It is also possible not to suspend the operating center from the upper opening of the enclosure, but to fix it at the end of a cage of variable length or of a telescopic mast resting at the bottom of the enclosure or on the floor if there is an opening in the bottom.

La plate-forme 16 est constituée d'un plateau supérieur 20 et d'un plateau inférieur 22 entre lesquels se trouve une cage rotative 24 pouvant tourner autour de l'axe O et par rapport aux plateaux immobiles 20 et 22. La liaison rotative entre la cage 24 et chacun des plateaux 20,22 est assurée par un bloc annulaire de roulement supérieur 26 et en bloc annulaire de roulement inférieur 28. Un moteur électrique 30, p.ex. un moteur pas à pas, monté sur la cage 24 actionne un pignon 32, qui forme un engrenage avec une couronne dentée prévue sur la partie du bloc de roulement 26 qui est solidaire du plateau 22. De ce fait, la mise en service du moteur 30 fait tourner la cage 24 autour de l'axe O. Pour immobiliser le plateau 20 pendant cette rotation un pignon 33 relié rigidement au pignon 32, forme un engrenage avec une couronne dentée prévue sur la partie du bloc de roulement 26 et qui est solidaire du plateau 20. Pour empêcher un balancement de la plate-forme 16, le plateau 22 est pourvu de plusieurs béquilles extensibles 34, p.ex. des vérins pneumatiques destinés à prendre appui sur le garnissage réfractaire 14 déjà réalisé.The platform 16 consists of an upper plate 20 and a lower plate 22 between which there is a rotary cage 24 which can rotate around the axis O and relative to the stationary plates 20 and 22. The rotary connection between the cage 24 and each of the plates 20, 22 is provided by an annular upper bearing block 26 and in an annular lower bearing block 28. An electric motor 30, eg a stepping motor, mounted on the cage 24 actuates a pinion 32, which forms a gear with a ring gear provided on the part of the rolling block 26 which is integral with the plate 22. Therefore, the commissioning of the motor 30 rotates the cage 24 around the axis O To immobilize the plate 20 during this rotation a pinion 33 rigidly connected to the pinion 32, forms a gear with a toothed ring provided on the part of the bearing block 26 and which is integral with the plate 20. To prevent rocking of the platform. form 16, the plate 22 is provided with several extendable stands 34, eg pneumatic cylinders intended to bear on the refractory lining 14 already produced.

La surface du plateau inférieur 22 est, de préférence, variable, afin de pouvoir adapter fins- tallation à des convertisseurs de diamètres variables ou différents. A cet effet, le plateau 22 peut comporter une ceinture périphérique 36 constituée de plusieurs sections déplaçables radialement ou démontables. Cette ceinture 36 doit toutefois être suffisamment solide pour pouvoir supporter au moins une personne nécessaire à la direction des opérations. Le plateau supérieur est de préférence, également pourvu d'une ceinture analogue 38 qui fait fonction de bouclier de protection pour la personne se trouvant sur la ceinture inférieure.The surface of the lower plate 22 is preferably variable, in order to be able to adapt the installation to converters of variable or different diameters. To this end, the plate 22 may include a peripheral belt 36 made up of several sections that can be moved radially or that can be removed. This belt 36 must however be strong enough to be able to support at least one person necessary for the management of operations. The upper plate is preferably also provided with a similar belt 38 which acts as a protective shield for the person on the lower belt.

L'organe central de l'installation est un robot 40, monté sur la cage rotative 24 et fixé soit au plafond soit au plancher de celle-ci. Dans l'exemple représenté, le robot 40 est fixé au plafond de la cage 24 et comporte quatre degrés de liberté symbolisés par les flèches A,B,C et D. Le robot 40 comporte une potence constituée d'un premier bras 42 pouvant coulisser verticalement sur une colonne 43 suivant la flèche A et tourner horizontalement autour de la colonne 43 suivant le flèche B, et un second bras 44 monté à l'extrémité du premier bras 42 et pouvant tourner par rapport à celui-ci autour d'un axe vertical dans le sens de la flèche C. A l'extrémité libre de ce second bras 44 se trouve un dispositif de préhension 46 pouvant également tourner autour d'un axe vertical dans le sens de la flèche D. Le dispositif de préhension 46 peut être conçu sous forme de ventouse pouvant saisir et porter les briques par aspiration pneumatique. Il peut être conçu aussi sous forme d'outil à -griffes pour la prise des briques sur les côtés. Le mouvement rotatif B peut aussi être remplacé par un mouvement rectiligne. Le mouvement vertical A peut aussi être réalisé à l'extrémité du bras 44.The central organ of the installation is a robot 40, mounted on the rotary cage 24 and fixed either to the ceiling or to the floor thereof. In the example shown, the robot 40 is fixed to the ceiling of the cage 24 and has four degrees of freedom symbolized by the arrows A, B, C and D. The robot 40 has a bracket made up of a first arm 42 which can slide vertically on a column 43 along arrow A and rotate horizontally around column 43 along arrow B, and a second arm 44 mounted at the end of the first arm 42 and able to rotate relative to the latter around an axis vertical in the direction of arrow C. At the free end of this second arm 44 is a gripping device 46 which can also rotate about a vertical axis in the direction of arrow D. The gripping device 46 can be designed as a suction cup that can grip and carry the bricks by pneumatic suction. It can also be designed as a claw tool for gripping the bricks on the sides. The rotary movement B can also be replaced by a rectilinear movement. The vertical movement A can also be carried out at the end of the arm 44.

Le robot 40 est également pourvu, de façon connue en soi, de palpeurs non montrés, lui permettant de détecter la position du dispositif de préhension 46 ainsi que de surveiller et de contrôler ses gestes. Il est également équipé des moyens informatiques nécessaires à un fonctionnement complètement automatique, indépendant et préprogrammé.The robot 40 is also provided, in a manner known per se, with sensors not shown, allowing it to detect the position of the gripping device 46 as well as to monitor and control its gestures. It is also equipped with the IT resources necessary for fully automatic, independent and pre-programmed operation.

Lors du briquetage d'un convertisseur, la plate-forme 16 est descendue dans le convertisseur par un déroulement des câbles porteurs. Cette descente peut être contrôlée et surveillée par une personne se trouvant sur le plateau inférieur 22.During the briquetting of a converter, the platform 16 is lowered into the converter by an unwinding of the carrying cables. This descent can be controlled and monitored by a person on the lower platform 22.

Après le blocage à la hauteur voulue par les béquilles 34, on descend une ou plusieurs palettes de briques 48,50 (voir figure 2) au moyen d'un treuil et à travers une ouverture prévue à cet effet dans le plateau supérieur 20 jusque sur le plancher de la cage mobile 24. On travaille en général avec deux palettes chargées de briques de contâtes différentes de façon à pouvoir réaliser le briquetage suivant la forme réelle de la carcasse de l'enceinte.After locking at the desired height by the crutches 34, one or more pallets of bricks 48.50 (see FIG. 2) are lowered by means of a winch and through an opening provided for this purpose in the upper plate 20 as far the floor of the movable cage 24. In general, we work with two pallets loaded with bricks of different tones so as to be able to carry out the briquetting according to the real shape of the carcass of the enclosure.

Pendant le briquetage, le robot 40, grâce à ses degrés de liberté, est déplacé en permanence entre une position de prise des briques correspondant sensiblement à la position de la figure 1 et une position correspondant à celle de la figure 2, dans laquelle les briques sont déposées sur le garnissage 14. Les briques peuvent être prises et déposées soit individuellement soit à plusieurs à la fois.During the briquetting, the robot 40, thanks to its degrees of freedom, is permanently moved between a position for taking the bricks corresponding substantially to the position of FIG. 1 and a position corresponding to that of FIG. 2, in which the bricks are deposited on the lining 14. The bricks can be taken and deposited either individually or in groups at the same time.

Le travail du robot 40 étant complètement automatique, la personne se trouvant sur la plate-forme n'aura qu'un travail manuel réduit à accomplir. Elle aura principalement une mission d'observation et de contrôle, notamment de la qualité des briques, de commander le mouvement vertical de la plate-forme 16 et, le cas échéant, de s'occuper de la pose de la dernière brique d'une rangée.The work of the robot 40 being completely automatic, the person on the platform will have only a reduced manual work to accomplish. It will mainly have a mission of observation and control, in particular of the quality of the bricks, to control the vertical movement of the platform 16 and, if necessary, to take care of the laying of the last brick of a row.

Il reste à noter que le moteur 30, pour faire tourner la cage mobile 24, est commandé automatiquement par le robot 40.It should be noted that the motor 30, to rotate the movable cage 24, is automatically controlled by the robot 40.

Il est, bien entendu, possible de prévoir plusieurs robots pour augmenter la vitesse de briquetage de l'enceinte. Ces robots peuvent travailler en parallèle c.à.d. chacun de façon indépendante ou en série, c.à.d., de façon complémentaire auquel cas chacun fait une partie du travail de celui montré sur les figures.It is, of course, possible to provide several robots to increase the speed of briquetting of the enclosure. These robots can work in parallel i.e. each independently or in series, ie, in a complementary manner in which case each does part of the work of that shown in the figures.

Les robots travaillent normalement de façon complètement automatique suivant un programme préétabli. Toutefois ils sont, de préférence, conçus de manière à pouvoir, en cas de besoin, être commandés manuellement et individuellement à partir d'un tableau de commande.The robots normally work completely automatically according to a pre-established program. However, they are preferably designed so that, if necessary, they can be controlled manually and individually from a control panel.

Il est à souligner que le robot montré sur les figures n'est qu'un exemple de réalisation. Par exemple, au lieu du bras mobile pivotant 42 on peut prévoir un chariot déplaçable dans le sens radial. Le bras pivotant 44 serait alors monté sur ce chariot moyennant un axe de rotation vertical. Le dispositif de préhension 46 monté à l'extrémité du bras 44 devrait permettre une rotation de l'outil de préhension autour d'un axe vertical et un déplacement vertical de cet outil le long de cet axe.It should be emphasized that the robot shown in the figures is only an example of an embodiment. For example, instead of the pivoting movable arm 42, it is possible to provide a carriage which can be moved in the radial direction. The pivoting arm 44 would then be mounted on this carriage by means of a vertical axis of rotation. The gripping device 46 mounted at the end of the arm 44 should allow rotation of the gripping tool about a vertical axis and a vertical movement of this tool along this axis.

Claims (10)

1.-lnstallation pour la pose d'un garnissage réfractaire sur la paroi intérieure d'une enceinte comprenant un centre opératif susceptible d'être descendu et monté à l'intérieur de ladite enceinte, caractérisée en ce que le centre opératif (16) comprend un plateau inférieur (22) des moyens de blocage pour caler ledit plateau inférieur (22) entre les parois de l'enceinte (10), un plateau supérieur - (20), une cage rotative (24) disposée entre le plateau supérieur (20) et le plateau inférieur (22) et reliée à chacun de ceux-ci par un bloc de roulement (26,28), le plateau supérieur (20) ou inférieur (22) ayant une ouverture suffisamment grande pour permettre le passage d'une palette de briques réfractaires (48,50) vers l'intérieur de la cage rotative (24) et au moins un robot (40) monté sur la cage rotative (24) ayant au moins trois degrés de liberté de façon à pouvoir atteindre tous les points de l'aire de travail et dont l'extrémité est munie d'un dispositif de préhension pour la prise, la manipulation et la pose automatiques des briques destinées à former le garnissage réfractaire (14).1.-lnstallation for the installation of a refractory lining on the inner wall of an enclosure comprising an operating center capable of being lowered and mounted inside said enclosure, characterized in that the operating center (16) comprises a lower plate (22) blocking means for wedging said lower plate (22) between the walls of the enclosure (10), an upper plate - (20), a rotary cage (24) disposed between the upper plate (20 ) and the lower plate (22) and connected to each of these by a rolling block (26, 28), the upper (20) or lower (22) plate having an opening large enough to allow passage of a pallet of refractory bricks (48,50) towards the inside of the rotary cage (24) and at least one robot (40) mounted on the rotary cage (24) having at least three degrees of freedom so as to be able to reach all the work area points, the end of which is fitted with a gripping device, the automatic handling and laying of the bricks intended to form the refractory lining (14). 2.-lnstallation selon la revendication 1, caractérisée en ce que le robot est constitué d'un premier bras (42) monté sur une colonne (43) et mobile autour et le long d'un premier axe vertical de rotation, d'un second bras (44), monté à l'extrémité du premier bras (42) par l'intermédiaire d'une articulation avec un deuxième axe de rotation vertical, le dispositif de préhension (46) étant monté à l'extrémité du second bras (44) par l'intermédiaire d'une articulation avec un troisième axe de rotation vertical.2.-lnstallation according to claim 1, characterized in that the robot consists of a first arm (42) mounted on a column (43) and movable around and along a first vertical axis of rotation, a second arm (44), mounted at the end of the first arm (42) by means of an articulation with a second vertical axis of rotation, the gripping device (46) being mounted at the end of the second arm ( 44) by means of an articulation with a third vertical axis of rotation. 3.-lnstallation selon l'une quelconque des revendications 1 ou 2, caractérisée en ce que la cage rotative (24) est pourvue d'un moteur électrique - (30) pour faire tourner la cage (24) autour de l'axe central 0 par rapport aux deux plateaux immobiles (20) et (22).3.-lnstallation according to any one of claims 1 or 2, characterized in that the rotary cage (24) is provided with an electric motor - (30) to rotate the cage (24) around the central axis 0 relative to the two immobile plates (20) and (22). 4.-Installation selon la revendication 1 caractérisée en ce que lesdits moyens de blocage comportent des béquilles extensibles (34).4.-Installation according to claim 1 characterized in that said locking means comprise extendable crutches (34). 5.-lnstallation selon la revendication 1, caractérisée en ce que le plateau inférieur (22) comporte une ceinture périphérique (36) à surface variable constituée de plusieurs sections démontables ou déplaçables radialement.5.-lnstallation according to claim 1, characterized in that the lower plate (22) comprises a peripheral belt (36) with variable surface consisting of several sections that can be dismantled or moved radially. 6.-lnstallation selon la revendiciation 1, caractérisée en ce que le plateau supérieur (20) comporte un bouclier de protection (38).6.-lnstallation according to CLAIMS 1, characterized in that the upper plate (20) comprises a protective shield (38). 7.-Installation selon l'une quelconque des revendications 1 à 6, caractérisée en ce que plusieurs robots sont prévus sur la cage rotative (24).7.- Installation according to any one of claims 1 to 6, characterized in that several robots are provided on the rotary cage (24). 8.-lnstallation selon la revendication 7, caractérisée en ce que les robots travaillent en parallèle.8.-lnstallation according to claim 7, characterized in that the robots work in parallel. 9.-lnstallation selon la revendication 7, caractérisée en ce que les robots travaillent en série.9.-lnstallation according to claim 7, characterized in that the robots work in series. 10.-Installation selon l'une quelconque des revendications 1 à 9, caractérisée en ce que chaque robot est conçu de manière à pouvoir également être commandé manuellement et individuellement.10.-Installation according to any one of claims 1 to 9, characterized in that each robot is designed so that it can also be controlled manually and individually.
EP86103876A 1985-04-03 1986-03-21 Installation for applying a refractory lining to the inner wall of a vessel Expired EP0198267B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT86103876T ATE40412T1 (en) 1985-04-03 1986-03-21 DEVICE FOR ATTACHING A REFRACTORY LINING TO THE INTERNAL WALL OF A VESSEL.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
LU85836A LU85836A1 (en) 1985-04-03 1985-04-03 INSTALLATION FOR THE INSTALLATION OF A REFRACTORY TRIM ON THE INTERIOR WALL OF AN ENCLOSURE
LU85836 1985-04-03

Publications (2)

Publication Number Publication Date
EP0198267A1 true EP0198267A1 (en) 1986-10-22
EP0198267B1 EP0198267B1 (en) 1989-01-25

Family

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EP86103876A Expired EP0198267B1 (en) 1985-04-03 1986-03-21 Installation for applying a refractory lining to the inner wall of a vessel

Country Status (6)

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US (1) US4688773A (en)
EP (1) EP0198267B1 (en)
JP (1) JPH0718657B2 (en)
AT (1) ATE40412T1 (en)
DE (1) DE3661935D1 (en)
LU (1) LU85836A1 (en)

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LU86272A1 (en) * 1986-01-28 1987-09-03 Wurth Paul Sa AUTOMATED INSTALLATION FOR BRIQUETTING THE INTERIOR WALL OF A SPEAKER
LU86382A1 (en) * 1986-04-01 1987-12-07 Wurth Paul Sa INSTALLATION FOR BRIQUETTING THE INTERIOR WALL OF AN ENCLOSURE
LU86458A1 (en) * 1986-06-05 1988-01-20 Wurth Paul Sa AUTOMATED INSTALLATION FOR BRIQUETTING THE INTERIOR WALL OF A SPEAKER
LU87381A1 (en) * 1988-11-09 1990-06-12 Wurth Paul Sa AUTOMATED INSTALLATION FOR LAYING A MASONRY ON A WALL
LU88144A1 (en) * 1992-07-07 1994-04-01 Wurth Paul Sa Installation for lining an interior wall of an enclosure with brick masonry
CN1249109C (en) * 2001-02-28 2006-04-05 株式会社普利司通 Continuous process for production of conjugated diene polymers having narrow molecular weight distribution and products therefrom
DE10223284A1 (en) * 2002-05-24 2003-12-11 Specialty Minerals Michigan Process for repairing a protective lining of an industrial reaction or transport vessel
DE102010063829A1 (en) 2010-07-28 2012-02-02 Sms Siemag Ag Platform and its use
US8965571B2 (en) 2010-08-12 2015-02-24 Construction Robotics, Llc Brick laying system
US10233065B2 (en) * 2014-04-21 2019-03-19 Randy Jackson Method and apparatus for maintaining the interior of a vertical structure
GB201503159D0 (en) 2015-02-25 2015-04-08 Fosbel Inc Methods and apparatus for constructing glass furnace structures
CN112985071B (en) * 2021-03-11 2023-03-14 山东九龙新材料有限公司 Aluminum silicon carbide carbon refractory material for steel smelting

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Also Published As

Publication number Publication date
LU85836A1 (en) 1986-11-05
JPH0718657B2 (en) 1995-03-06
US4688773A (en) 1987-08-25
ATE40412T1 (en) 1989-02-15
JPS61280386A (en) 1986-12-10
DE3661935D1 (en) 1989-03-02
EP0198267B1 (en) 1989-01-25

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