EP0263979B1 - Installation pour briqueter la paroi intérieur d'une enceinte - Google Patents

Installation pour briqueter la paroi intérieur d'une enceinte Download PDF

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Publication number
EP0263979B1
EP0263979B1 EP87113282A EP87113282A EP0263979B1 EP 0263979 B1 EP0263979 B1 EP 0263979B1 EP 87113282 A EP87113282 A EP 87113282A EP 87113282 A EP87113282 A EP 87113282A EP 0263979 B1 EP0263979 B1 EP 0263979B1
Authority
EP
European Patent Office
Prior art keywords
bricks
platform
stage
robot
turret
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.)
Expired - Lifetime
Application number
EP87113282A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0263979A1 (fr
Inventor
Corneille Melan
Victor Kremer
Michel Kirchen
Emile Lonardi
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 AT87113282T priority Critical patent/ATE57540T1/de
Publication of EP0263979A1 publication Critical patent/EP0263979A1/fr
Application granted granted Critical
Publication of EP0263979B1 publication Critical patent/EP0263979B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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; Breaking away linings
    • F27D1/1621—Making linings by using shaped elements, e.g. bricks
    • 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

Definitions

  • the present invention relates to an installation for briquetting the inner wall of an enclosure essentially consisting of an operating station capable of being moved vertically along the axis of the enclosure and comprising a rotary working platform, a tray of non-rotating support carrying the platform by means of a bearing, a robot for laying bricks, a surveillance cabin, means for raising and lowering pallets of bricks, as well as at least one automatic depalletization of the bricks to transfer the bricks from the pallets to a waiting station.
  • Installations with external depalletization have the advantage of reducing the size of the platform, which is to the benefit of the possibility of being able to install on the platform a comfortable monitoring cabin and thus contribute to safety personnel monitoring the briquetting of the enclosure wall.
  • Another advantage of these installations is the possibility of being able to use standard robots, that is to say robots which do not have to be specially designed for the tasks for which they are intended.
  • these installations require sophisticated hoists and complex programs to bring, as desired, the two types of bricks on the platform at the rate of work of the robot which performs their laying.
  • the object of the present invention is to provide a new robotic installation of the kind described in the preamble which combines the advantages of installations with depalletization inside and the advantages of those with depalletization outside.
  • the present invention provides an installation of the type described in the preamble which is essentially characterized in that the waiting station comprises a barrel which can contain a reserve of bricks of different types and supported by the plate by means of a bearing so as to be able to rotate independently of the plate and of the platform around the vertical axis of the enclosure.
  • this barrel is mounted between the plate and the platform whose surface is entirely closed, with the exception of at least one preferably radial window allowing the passage of a brick.
  • the barrel is preferably made up of an inclined annular ramp divided into individual inclined compartments to each contain at least one brick which is deposited therein by the automatic depalletization machine (s).
  • Each of these barrel compartments is accessible to the robot through the radial window of the platform and thanks to the rotation of the barrel.
  • a device for extracting bricks from the barrel through the window of the platform this device being disposed on this platform next to said window and accessible to the robot arm.
  • the support plate is preferably provided with two winches for raising and lowering two pallets, while the depalletization is carried out by two automata integral with the support plate.
  • the installation proposed by the present invention is therefore an intermediate solution between depalletization installations outside and depalletization installations on the platform.
  • depalletization is carried out neither outside nor on the platform, but on the freight elevator, for example by leaving the pallets hanging on the cables of their winches which are used to mount the pallets to the operating station. Since the depalletization is no longer carried out on the platform, there remains on it only the robot for laying the bricks, the surveillance booth and the window for the passage of the bricks. The problem of the space requirement of the working platform, which was all the more thorny as the briquetting chambers were small, was therefore satisfactorily resolved.
  • the bricks being presented individually or in pairs superimposed and always in the same position to the robot which has the space necessary to perform its movements, it can be a completely classic robot, while up to now it was necessary to design a robot specially adapted to the space available on the platform.
  • the barrel is preferably designed to contain a sufficient reserve of bricks of each of the two types to allow the robot to continue its work while an empty pallet is replaced by a full pallet. The downtime required for pallet changes is therefore reduced or completely eliminated.
  • the installation shown in FIG. 1 comprises an operating station 10 carried by several, for example three telescopic masts 12 by which the operating station 10 can be moved vertically inside an enclosure not shown, for example a metallurgical converter of which the refractory lining must be replaced.
  • the operating station 10 is constituted by a support plate 14 carried directly by the masts 12 and which support, by means of a bearing 18, a working platform 16.
  • This platform 16 can therefore rotate independently of the tray 14 around the vertical axis, which is symbolized by the arrow A.
  • This rotation of the platform 16 allows a robot 20 mounted on this platform 16 to reach the entire circumference of the enclosure.
  • the rotation of the platform 16 is carried out in a manner known per se, for example by means of an electric stepping motor, not shown but which can be fixed on the plate 14 and the control of which is controlled by the work program of the robot 20.
  • the robot 20 can be a conventional robot with several arms hinged together and provided with a certain number of degrees of freedom of rotation and pivoting symbolized by the arrows in FIG. 1.
  • the free robot end 20 is provided with a device 22 for gripping bricks.
  • This device 22 can be constituted, in a manner known per se, by a suction cup or a clamp, the latter having the advantage of being able to grip two superimposed bricks at the same time.
  • a pair of cables 30, 32 wound respectively around two pulleys 26, 28, fixed by means of yokes below the plate 14 allow the raising and lowering of brick pallets 34 and 36.
  • these pallets 34 and 36 remain attached to the cables 30 and 32.
  • the depalletization is carried out using two depalletization machines 38 and 40 integral with the base of the plate 14. These machines being identical to each other, the description given below with reference to the machine 40 will be worth also for the automaton 38.
  • This automaton 40 is mounted on a jack 42 capable of rotating around a vertical axis (symbolized by the arrow B) and whose piston rod 44 is shown in solid lines in the retracted position and in broken lines in the released position.
  • an arm 46 At the end of this rod 44 is mounted an arm 46 which can pivot about a horizontal axis relative to the rod 44, which is illustrated by the arrow C. This pivoting can, for example, be generated by an electric motor .
  • a gripping device 48 is slidably mounted on this arm 46 and can be moved along it, in the direction of arrow D by means of a jack 50 also fixed on the end of the piston rod 44.
  • the gripping device 48 may comprise a suction cup or a clamp for gripping the bricks on the pallet 36, this clamp or suction cup being, moreover, designed so as to be able to rotate around a vertical axis as represented by the arrow E.
  • the different degrees of freedom of the depalletizing machine 40 represented by the arrows B to E in the figure allow the machine to grasp each of the bricks of a layer on the pallet 36.
  • the pallet 36 To access after exhaustion of one layer to the bottom layer on the pallet 36, it suffices to mount the pallet 36 by means of the cable 32 of a height corresponding to a layer of bricks, or of two bricks if the gripping device 48 is provided with a clamp capable of know ir two bricks superimposed at the same time.
  • the bricks depalletized by the automata 38 and 40 are deposited in a tank which, in the example shown, consists of a rotary barrel which can rotate around the vertical axis of the installation and mounted for this purpose on the plate 14 by means of a bearing 54.
  • the rotation of the barrel 52 is preferably derived from a stepping electric motor, which is controlled by the operating program of the robot 20 and those of automata 38 and 40.
  • the barrel 52 consists of an annular ramp 56, inclined outward to generally present the shape of a frustoconical surface, the virtual point of which is located below.
  • the ramp 56 of the barrel 52 the details of which emerge more clearly from the fragmentary view of FIG.
  • the barrel 52 is accessible to the robot 20 through a substantially rectangular radial window 66 provided in the working platform 16. During its rotation, this barrel 52 has its various compartments 60 with the bricks 62 individually below the window 66 to the robot 20. The rotation of the barrel 52 is controlled by the work program of the robot 20 so that it is stopped when a filled compartment is located below the window 66 and qu 'This is the compartment containing the type of bricks 62 which the robot 20 needs.
  • the reference 68 schematically symbolizes a surveillance cabin installed on the platform 16.
  • the surface of the platform 16 is, outside of this cabin 68 and of the robot 20 completely clear, which allows the latter to '' carry out their movements freely without being hindered, as in prior art installations, by cables, pallets, or depalletizing devices tion.
  • the clearance of the surface of the platform 16 also facilitates the work of monitoring and control and contributes to the safety of the personnel. In this context, it is possible to provide a hatch next to the window 66 to close the latter during maintenance and control work.
  • FIGS. 4 and 5 While in the embodiment illustrated in FIGS. 1 and 2, the robot 20 is used directly on the barrel 52, the embodiment represented in FIGS. 4 and 5 has a device 70 for extracting the bricks from the barrel 52.
  • This extraction device 70 which is mounted on the platform 16 next to the window 66 comprises a clamp 72 mounted on the rod of a jack 74 itself mounted so as to be able to perform a back-and-forth movement. comes in the extension of the oblique ramp 56.
  • the jack 74 is fixed on an endless band 76 actuated by an electric motor 78.
  • the band 76 further comprises a hook 80 for retaining the bricks 62 released from the barrel 52 after their release from the clamp 72 and before being taken up by the robot 20.
  • the installation of FIG. 4 corresponds to that of FIG. 1 and operates in the same way.
  • the operating station 10 is mounted at the working height of the robot 20 by extension of the telescopic masts 12.
  • the pallets 34 and 36 are replaced by full pallets as and when 'they are empty by means of cables 30 and 32 and winches not shown. It is recalled that it is always necessary to have two pallets containing different types of bricks, that is to say bricks distinguished by their conicity in order to be able to follow the curvature of the enclosure and to make masonry of different rays.
  • the two depalletizing machines 38 and 40 are controlled as a function of the reserve of bricks of each of the types in the barrel 52 in order to have therein a reserve of bricks of each type to allow the robot 20 to continue working while replacing a pallet.
  • automata 38 and 40 shown in FIGS. 1 and 4 are only an example of an embodiment and that other devices can be provided for transferring the bricks from each of the pallets 34 and 36 in the barrel 52.
  • the ramp 56 of the barrel 52 could also be inclined inward instead of being inclined outward as in Figures 1 and 4.
  • the bricks would be deposited on the outer conical or frustoconical surface of the ramp of the barrel.
  • the two depalletizing machines would then not be placed between the two pallets, but on either side of them, while the cables for raising and lowering the pallets would pass in the central region between them.
  • the barrel 52 could also be constituted by an annular disc with compartments in which the bricks are arranged flat. Such a barrel would however be more cumbersome in the horizontal direction, but would occupy less space in the vertical direction.
  • each of these windows would be reserved for the extraction of a defined type of bricks.
  • the two windows would be particularly useful for the variants with double barrel described above.
  • the robot would still be on the rotating platform, while the barrel with the reserve of bricks and in which the robot is used would be mounted, by means of a bearing on the lower surface of the plate.
  • the barrel could also consist of an annular ramp, preferably inclined inwards and carrying the reserve bricks in compartments on the outer conical surface.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Materials Engineering (AREA)
  • Metallurgy (AREA)
  • Organic Chemistry (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Furnace Housings, Linings, Walls, And Ceilings (AREA)
  • Carbon Steel Or Casting Steel Manufacturing (AREA)
  • Road Signs Or Road Markings (AREA)
  • Devices For Post-Treatments, Processing, Supply, Discharge, And Other Processes (AREA)
  • Finishing Walls (AREA)
  • Control Of Vending Devices And Auxiliary Devices For Vending Devices (AREA)
  • Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
  • Measurement Of Radiation (AREA)
  • External Artificial Organs (AREA)
EP87113282A 1986-10-03 1987-09-11 Installation pour briqueter la paroi intérieur d'une enceinte Expired - Lifetime EP0263979B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT87113282T ATE57540T1 (de) 1986-10-03 1987-09-11 Anlage zum ausmauern der innenwand eines gefaesses.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
LU86619A LU86619A1 (enrdf_load_stackoverflow) 1986-10-03 1986-10-03
LU86619 1986-10-03

Publications (2)

Publication Number Publication Date
EP0263979A1 EP0263979A1 (fr) 1988-04-20
EP0263979B1 true EP0263979B1 (fr) 1990-10-17

Family

ID=19730789

Family Applications (1)

Application Number Title Priority Date Filing Date
EP87113282A Expired - Lifetime EP0263979B1 (fr) 1986-10-03 1987-09-11 Installation pour briqueter la paroi intérieur d'une enceinte

Country Status (10)

Country Link
US (1) US4787796A (enrdf_load_stackoverflow)
EP (1) EP0263979B1 (enrdf_load_stackoverflow)
JP (1) JP2584244B2 (enrdf_load_stackoverflow)
AT (1) ATE57540T1 (enrdf_load_stackoverflow)
BR (1) BR8705191A (enrdf_load_stackoverflow)
CA (1) CA1296523C (enrdf_load_stackoverflow)
DE (1) DE3765612D1 (enrdf_load_stackoverflow)
ES (1) ES2018804B3 (enrdf_load_stackoverflow)
LU (1) LU86619A1 (enrdf_load_stackoverflow)
TR (1) TR23013A (enrdf_load_stackoverflow)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
LU87381A1 (fr) * 1988-11-09 1990-06-12 Wurth Paul Sa Installation automatisee pour la pose d'une maconnerie sur une paroi
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
FI941274A0 (fi) * 1994-03-17 1994-03-17 Jukka Inkeroinen Foerfarande och anordning foer montering av laettelement
AUPQ525500A0 (en) * 2000-01-25 2000-02-17 Technological Resources Pty Limited A method of relining a vessel
US8965571B2 (en) 2010-08-12 2015-02-24 Construction Robotics, Llc Brick laying system
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
GB201712164D0 (en) * 2017-07-28 2017-09-13 Construction Automation Ltd Automated brick laying system and method of use thereof
CN108999419B (zh) * 2018-08-16 2021-07-02 杨华 一种用于建筑砌墙用的缓冲限位装置
US11644242B2 (en) * 2018-12-26 2023-05-09 ExxonMobil Technology and Engineering Company Remote inspection, removal, and installation of refractory
CN111794527B (zh) * 2020-06-10 2022-04-05 中国建筑股份有限公司 钢桁架支座卸载结构及利用该结构进行轨道卸载的工法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
FR1325256A (fr) * 1962-05-21 1963-04-26 Hwm Weh Maschf Hermann Procédé pour le garnissage des appareils destinés à la fabrication, le traitement, la conservation ou le transport des masses métalliques fondues ou des produits analogues
SU508529A1 (ru) * 1974-04-16 1976-03-30 Предприятие П/Я Г-4448 Машина дл футеровки конвертера
LU86114A1 (fr) * 1985-10-10 1987-06-02 Wurth Paul Sa Installation pour briqueter la paroi interieure d'une enceinte
LU86189A1 (fr) * 1985-12-03 1987-07-24 Wurth Paul Sa Installation automatisee de briquetage de la paroi interieure d'une enceinte

Also Published As

Publication number Publication date
LU86619A1 (enrdf_load_stackoverflow) 1988-05-03
ATE57540T1 (de) 1990-11-15
EP0263979A1 (fr) 1988-04-20
CA1296523C (en) 1992-03-03
JPS6391485A (ja) 1988-04-22
JP2584244B2 (ja) 1997-02-26
DE3765612D1 (de) 1990-11-22
TR23013A (tr) 1989-01-16
BR8705191A (pt) 1988-05-24
ES2018804B3 (es) 1991-05-16
US4787796A (en) 1988-11-29

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