EP0220543A1 - Vorrichtung zum Zustellen der Wände eines Bauwerkes - Google Patents

Vorrichtung zum Zustellen der Wände eines Bauwerkes Download PDF

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Publication number
EP0220543A1
EP0220543A1 EP86113749A EP86113749A EP0220543A1 EP 0220543 A1 EP0220543 A1 EP 0220543A1 EP 86113749 A EP86113749 A EP 86113749A EP 86113749 A EP86113749 A EP 86113749A EP 0220543 A1 EP0220543 A1 EP 0220543A1
Authority
EP
European Patent Office
Prior art keywords
bricks
pallets
installation according
depalletization
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP86113749A
Other languages
English (en)
French (fr)
Other versions
EP0220543B1 (de
Inventor
Corneille Melan
Jean Liesch
André Bock
Joseph Colgon
Charles Hennico
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Paul Wurth SA
Arcelor Luxembourg SA
Original Assignee
Arbed SA
Paul Wurth SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Arbed SA, Paul Wurth SA filed Critical Arbed SA
Priority to AT86113749T priority Critical patent/ATE45187T1/de
Publication of EP0220543A1 publication Critical patent/EP0220543A1/de
Application granted granted Critical
Publication of EP0220543B1 publication Critical patent/EP0220543B1/de
Expired legal-status Critical Current

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Classifications

    • 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 briquetting the interior wall of an enclosure, comprising an operating station capable of being lowered or mounted inside said enclosure and provided with means for the intermediate storage of at least two pallets of bricks and automatic means for handling the bricks, as well as means for raising or lowering the pallets towards the operating station.
  • the invention relates more particularly to an installation for installing a refractory lining on the inner wall of a metallurgical converter.
  • bricks have a frustoconical shape to be able make circular deposits in accordance with the section of the converter.
  • the diameter of each converter is variable according to the height, since they generally have a substantially oval vertical section. Since it is not possible to manufacture custom bricks, two or more specific types of bricks of different taper are manufactured and by judicious alternation in the choice of these types, we manage to achieve the desired curvatures.
  • the amplitude of the robot's movement which must sweep a large part of the surface of the operating station, constitutes, moreover, a danger for the operator being on the platform of this station.
  • the rapid rotation of the long arms of the robot generates significant acceleration and deceleration, forces which must be taken up by the walls of the converter via suitable support devices.
  • the object of the present invention is to provide an installation of the type described in the preamble, which, while being completely automatic, makes it possible to eliminate as much as possible the drawbacks described above.
  • the installation proposed by the present invention is essentially characterized in that said operative station comprises at least two levels for storing the pallets one above the other and in that said automatic means are constituted by at least one depalletizing machine to transfer the bricks from each of the pallets superimposed on at least one waiting lane and by at least one robot provided with a gripping device for picking up the bricks located on the lane (s) wait and drop them off at the designated location.
  • the operating station comprises two depalletization machines associated respectively with each of the two superimposed pallets.
  • the installation proposed by the invention therefore has two essential and complementary characteristics, namely the superposition of pallets and the separation of depalletization functions and that of the placing of bricks.
  • the superposition of pallets reduces the horizontal size of the operating station and allows its application to the repair of small converters.
  • the separation of depalletization and installation functions also makes it possible to reduce the amplitude of the sweeping of the robot, which also contributes to a reduction in the horizontal size, reduces the dangers for the personnel being on the platform of the operating station and reduces the efforts to be resumed .
  • this robot can be of a much smaller design from the point of view of dimensions and weight.
  • the operating station comprises a three-level console, the lower level of which is constituted by a platform on which there is at least one first pallet-carrying carriage, the intermediate level of which supports at least a second pallet-carrying trolley, as well as a first automatic depalletization of the pallet of said first trolley and the upper level of which supports a second automatic depalletization of the pallet of said second trolley, as well as said robot.
  • This design of the operating station offers a very compact structure with an optimal grouping of the different functions and movements and with minimal risk for the surveillance and control personnel.
  • the upper level of the console can also include a winch to which is suspended, by means of a cable, a fork or any other device suitable for raising and lowering the pallets through an opening in the platform.
  • the pallets can also be lowered by an opening in the upper level of the console, via a cable and a winch.
  • the operating station itself can be suspended from cables or be carried by telescopic masts.
  • the pallet-carrying carriages are preferably provided with rollers moving on rails and can be moved horizontally between a position lying in the path of the fork and a depalletizing position.
  • the console further comprises two superimposed channels for receiving the depalletized bricks, mounted respectively on the platform and the intermediate level and constituting the waiting lanes.
  • These channels which can be telescopic, extend parallel to the direction of movement of the pallet-carrying carriages.
  • the robot is mounted on a beam that can be moved horizontally in the longitudinal direction of the channels, while the latter are provided with means for advancing the bricks.
  • the robot's mobile support beam can be carried by the superstructure of the operating station or by the floor.
  • the robot's gripping device consists of a clamp or a suction cup.
  • the operating station shown in FIG. 1 comprises a circular platform 10 on which a console 12 is erected.
  • the platform 10 may include means, not shown, for wedging and stabilizing the operating station inside a converter.
  • the upper level of the console 12 is constituted by a frame 14 parallel to the platform 10 and supporting a winch 16.
  • This winch 16 is used for the vertical displacement of a fork 20, symbolized by the arrow A, by means of a cable 18 through an opening 22 provided for this purpose in the platform 10.
  • This fork 20 and provided for raising the pallets with the bricks and lowering the empty pallets and possibly broken bricks.
  • a first pallet 24 of bricks 26 which are, given their frustoconical shape, stacked alternately in one direction and in the other on the pallet.
  • the pallet 24 is placed on a trolley 28 pallet carrier which is provided with rollers 30 evolving on a pair of rails 32, 34.
  • the trolley 28 can be moved manually or automatically by means not shown in the direction of arrow B between the depalletization position shown in the figure and a loading or unloading position above the opening 22.
  • a second pallet 36 is shown in a depalletizing position above the first pallet 24. This pallet is also carried by a carriage 38 moving in the direction of the arrow B 'on a pair of rails 42, 44, by the roller intermediate 40.
  • each of the pallets 24,36 is a depalletization machine 46 respectively 48.
  • Each of these machines 46,48 is provided with a clamp 50 respectively 52 for gripping and releasing the bricks.
  • These automata each include up to four degrees of freedom symbolized by the arrows C, D, E, F and C ', D', E ', F'.
  • these two automata 46, 48 are able to transfer the bricks 26 from each of the pallets 24, 36 into a lower channel 54 for the lower machine 46 and into a channel 56 for the upper machine 48.
  • These two channels 54, 56 which extend parallel to the direction of movement of the carriages 28, 38 can be telescopic as represented by the arrows G, G 'and include means, known per se, such as conveyor belts, rollers, alternative movements ... etc. to advance the bricks deposited by the depalletization machines.
  • the depalletized bricks, waiting in the channels 54,56 are seized by a robot 58 and automatically put in place.
  • This robot 58 is suspended from the upper level of the console 12 on a beam 60 which can be moved horizontally in the direction of the arrow H by telescopic means or by other means known per se.
  • the suspension of the robot 58 from the beam 60 has a degree of freedom represented by the arrow K allowing the robot to rotate around a vertical axis.
  • This robot 58 essentially comprises a pair of arms 62, 63 joined by an articulation with horizontal axis (arrow L) and suspended by means of another articulation with horizontal pivot axis (arrow M).
  • a gripping system 64 of the bricks by means of a double articulation with horizontal pivot axes symbolized by the arrow P and with vertical pivot axes symbolized by the arrow Q.
  • the gripping device 64 is constituted by a clamp comprising a fixed jaw 66 and a jaw 68 movable in the direction of the arrow R.
  • the gripping device 64 can also be constituted by suction cups.
  • the suction cups have the advantage of greater simplicity.
  • the pliers have the advantage of being able to grasp two superimposed bricks at the same time and thus almost double the rate of briquetting.
  • the whole console can rotate around its vertical axis under the action of means not shown in order to move the robot successively in front of all the points on the periphery of the 'pregnant.
  • FIGS 2 and 3 show a front view and a side view of a first depalletization system. These figures show a hoist 70 suspended from a beam 72 forming part of the console 12. This suspension is produced by means of rollers 74, for example, as shown in Figure 3, so that the hoist 70 can be moved along the beam 72 according to the arrow "C" or "C '" in Figure 1, for example, using an endless chain 76 actuated by known means not shown.
  • the pulley 82 carries a system for gripping the bricks 26 which, in the example of FIGS. 3 and 4, is a suction cup 88.
  • a suction cup makes superfluous the degree of freedom represented by "F” or “F '" in Figure 1.
  • the pulley 82 and the suction cup 88 rotary with vertical pivot axis and which can be actuated, for example by means of a small electric motor.
  • the suction cup 88 is connected to the hoist 70 by a sort of foldable pantograph 90 whose retracted and extended positions are shown in FIG. 3 respectively. broken lines and solid lines.
  • each of the pallets 24 and 36 is a depalletizing system of the kind shown in FIGS. 2 and 3.
  • FIGS. 4 and 5 show another depalletization system according to which the degree of freedom "D" or “D '" is replaced by a system for mounting the pallets 24 and 36.
  • Automatons, per se, can be designed as shown at 46 and 48 in FIG. 1, the degree of freedom "C” and “C '” being ensured for example by means of a telescopic beam actuated by a jack, or a rail- rollers similar to that of Figures 2 and 3.
  • each of the carriages 28 and 38 is transformed into a forklift of the kind shown at 92 in FIGS. 4 and 5.
  • the carriage 92 also evolves by means of rollers 94 on the rails 32, 34 or 42, 44 of FIG. 1.
  • the carriage 92 comprises a fork 96 with two arms 98, 100 for carrying a pallet 102.
  • This fork 96 can slide vertically by means of rollers 104 evolving in lateral vertical rails 106 of the carriage 92.
  • the pallet 102 can be raised and lowered by the action of a jack 108 mounted vertically on the carriage 92 in the median plane of the arms 98, 100 of the lifting fork 96.
  • a jack 108 mounted vertically on the carriage 92 in the median plane of the arms 98, 100 of the lifting fork 96.
  • At the end of the rod of the jack 108 are provided one, or preferably, two pulleys 110 and 112 around which two guide cables are guided 114, 116 fixed respectively to the carriage 92 on the one hand and to the lifting fork 96 d ' somewhere else.
  • the fork 96 and the pallet 102 are raised by the extension of the jack 108 for example from the position in solid lines in FIG. 4 towards the position in broken lines.
  • the advantage of the cable (s) is that the vertical stroke of the fork 96 is twice that of the rod of the jack 108.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Materials Engineering (AREA)
  • Metallurgy (AREA)
  • Organic Chemistry (AREA)
  • Furnace Housings, Linings, Walls, And Ceilings (AREA)
  • Carbon Steel Or Casting Steel Manufacturing (AREA)
  • Vehicle Interior And Exterior Ornaments, Soundproofing, And Insulation (AREA)
  • Finishing Walls (AREA)
EP86113749A 1985-10-10 1986-10-03 Vorrichtung zum Zustellen der Wände eines Bauwerkes Expired EP0220543B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT86113749T ATE45187T1 (de) 1985-10-10 1986-10-03 Vorrichtung zum zustellen der waende eines bauwerkes.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
LU86114A LU86114A1 (fr) 1985-10-10 1985-10-10 Installation pour briqueter la paroi interieure d'une enceinte
LU86114 1985-10-10

Publications (2)

Publication Number Publication Date
EP0220543A1 true EP0220543A1 (de) 1987-05-06
EP0220543B1 EP0220543B1 (de) 1989-08-02

Family

ID=19730563

Family Applications (1)

Application Number Title Priority Date Filing Date
EP86113749A Expired EP0220543B1 (de) 1985-10-10 1986-10-03 Vorrichtung zum Zustellen der Wände eines Bauwerkes

Country Status (7)

Country Link
US (1) US4708562A (de)
EP (1) EP0220543B1 (de)
JP (1) JPS62155490A (de)
AT (1) ATE45187T1 (de)
DE (1) DE3664788D1 (de)
ES (1) ES2009754B3 (de)
LU (1) LU86114A1 (de)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0263979A1 (de) * 1986-10-03 1988-04-20 Paul Wurth S.A. Anlage zum Ausmauern der Innenwand eines Gefässes
AU617872B2 (en) * 1988-11-09 1991-12-05 Paul Wurth S.A. Automated installation for the laying of masonry on a wall
EP0477661A1 (de) * 1990-09-26 1992-04-01 Arbed S.A. Vorrichtung zur automatischen Handhabung von Gegenständen
CN104153591A (zh) * 2014-08-11 2014-11-19 山东科技大学 一种全自动智能砌墙机
CN104153553A (zh) * 2014-08-11 2014-11-19 山东科技大学 一种全自动智能泥墙机
CN109811996A (zh) * 2019-02-01 2019-05-28 东北大学 一种用于给自动贴砖机器人自动供砖的运砖箱
CN112031366A (zh) * 2020-09-06 2020-12-04 重庆万重山智能科技有限公司 一种吸取机构及其全自动贴砖机器人
CN112482708A (zh) * 2020-12-01 2021-03-12 乾日安全科技(北京)有限公司 一种建筑施工用立式贴墙砖装置

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
LU86272A1 (fr) * 1986-01-28 1987-09-03 Wurth Paul Sa Installation automatisee pour briqueter la paroi interieure d'une enceint
LU86458A1 (fr) * 1986-06-05 1988-01-20 Wurth Paul Sa Installation automatisee pour briqueter la paroi interieure d'une enceinte
LU88144A1 (fr) * 1992-07-07 1994-04-01 Wurth Paul Sa Installation pour garnir d'une maçonnerie de briques une paroi intérieure d'une enceinte
DE19938727A1 (de) * 1999-08-16 2001-03-01 Dieter Urbach Hebe- und Ladevorrichtung
WO2007102773A1 (en) * 2006-03-08 2007-09-13 Skanska Sverige Ab Placing device building system and method of constructing a multi-storey building
DE102006024900A1 (de) * 2006-05-24 2007-11-29 WINKLER + DüNNEBIER AG Vorrichtung und Verfahren zum Handhaben von Paletten in- und außerhalb einer Palettierzelle
CN104806028B (zh) * 2015-03-06 2016-11-23 同济大学 一种高自由度高精度全自动砌砖机
ITUA20164508A1 (it) * 2016-06-20 2017-12-20 Frignano Servizi S R L A Capitale Ridotto Attrezzatura per la posa di manufatti ceramici, in particolare piastrelle di grande formato
WO2018009981A1 (en) 2016-07-15 2018-01-18 Fastbrick Ip Pty Ltd Brick/block laying machine incorporated in a vehicle
CN109715894B (zh) 2016-07-15 2021-09-03 快砖知识产权私人有限公司 用于物料运输的吊杆
EP3649616A4 (de) 2017-07-05 2021-04-07 Fastbrick IP Pty Ltd Positions- und orientierungsverfolger in echtzeit
GB201712164D0 (en) * 2017-07-28 2017-09-13 Construction Automation Ltd Automated brick laying system and method of use thereof
WO2019033166A1 (en) 2017-08-17 2019-02-21 Fastbrick Ip Pty Ltd COMMUNICATION SYSTEM FOR AN INTERACTION SYSTEM
US11656357B2 (en) 2017-08-17 2023-05-23 Fastbrick Ip Pty Ltd Laser tracker with improved roll angle measurement
CN111212799B (zh) 2017-10-11 2023-04-14 快砖知识产权私人有限公司 用于传送物体的机器以及与其一起使用的多隔间转盘
CN109208876B (zh) * 2018-08-31 2020-04-07 广东博智林机器人有限公司 一种外墙自动化装饰施工设备
US11738447B2 (en) * 2019-07-29 2023-08-29 Nimble Robotics, Inc. Storage systems and methods for robotic picking

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2070868A1 (de) * 1969-12-15 1971-09-17 Koninkl Nederland Ch
DE3344261A1 (de) * 1983-01-25 1984-08-02 Rautaruukki Oy, 90101 Oulu Vorrichtung zum auskleiden von metallurgischen gefaessen
DE3413806C1 (de) * 1984-04-12 1985-01-31 Mannesmann AG, 4000 Düsseldorf Einrichtung zum Ausmauern von metallurgischen Gefaessen,insbesondere von Stahlwerkskonvertern

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US28305A (en) * 1860-05-15 Rotary engine
DE1154131B (de) * 1961-05-20 1963-09-12 Hwm Weh Maschf Hermann Vorrichtung zum Herstellen einer aus Formbloecken bestehenden Auskleidung von Behaeltern, insbesondere Konvertern, die Metallschmelzen aufnehmen
US3955685A (en) * 1972-05-15 1976-05-11 United States Steel Corporation Apparatus for lining a furnace
JPS5433463A (en) * 1977-08-17 1979-03-12 Mitsubishi Electric Corp Crane apparatus
DE3104377C1 (de) * 1981-02-07 1982-10-28 Mannesmann AG, 4000 Düsseldorf Ausmauerungsvorrichtung fuer metallurgische Gefaesse,insbesondere fuer Stahlwerkskonverter

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2070868A1 (de) * 1969-12-15 1971-09-17 Koninkl Nederland Ch
DE3344261A1 (de) * 1983-01-25 1984-08-02 Rautaruukki Oy, 90101 Oulu Vorrichtung zum auskleiden von metallurgischen gefaessen
DE3413806C1 (de) * 1984-04-12 1985-01-31 Mannesmann AG, 4000 Düsseldorf Einrichtung zum Ausmauern von metallurgischen Gefaessen,insbesondere von Stahlwerkskonvertern

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0263979A1 (de) * 1986-10-03 1988-04-20 Paul Wurth S.A. Anlage zum Ausmauern der Innenwand eines Gefässes
AU617872B2 (en) * 1988-11-09 1991-12-05 Paul Wurth S.A. Automated installation for the laying of masonry on a wall
EP0477661A1 (de) * 1990-09-26 1992-04-01 Arbed S.A. Vorrichtung zur automatischen Handhabung von Gegenständen
TR25348A (tr) * 1990-09-26 1993-03-01 Wurth Paul Sa CISIMLERIN OTOMATIK SEKILDE YERLESTIRILMELERINI SAGLAYAN DüZEN
CN104153591A (zh) * 2014-08-11 2014-11-19 山东科技大学 一种全自动智能砌墙机
CN104153553A (zh) * 2014-08-11 2014-11-19 山东科技大学 一种全自动智能泥墙机
CN104153553B (zh) * 2014-08-11 2016-09-28 山东科技大学 一种全自动智能泥墙机
CN109811996A (zh) * 2019-02-01 2019-05-28 东北大学 一种用于给自动贴砖机器人自动供砖的运砖箱
CN109811996B (zh) * 2019-02-01 2020-07-17 东北大学 一种用于给自动贴砖机器人自动供砖的运砖箱
CN112031366A (zh) * 2020-09-06 2020-12-04 重庆万重山智能科技有限公司 一种吸取机构及其全自动贴砖机器人
CN112482708A (zh) * 2020-12-01 2021-03-12 乾日安全科技(北京)有限公司 一种建筑施工用立式贴墙砖装置
CN112482708B (zh) * 2020-12-01 2021-06-15 乾日安全科技(北京)有限公司 一种建筑施工用立式贴墙砖装置

Also Published As

Publication number Publication date
US4708562A (en) 1987-11-24
LU86114A1 (fr) 1987-06-02
ES2009754B3 (es) 1989-10-16
DE3664788D1 (en) 1989-09-07
EP0220543B1 (de) 1989-08-02
ATE45187T1 (de) 1989-08-15
JPS62155490A (ja) 1987-07-10

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