EP2598819A1 - Plate-forme principale de travail et son utilisation - Google Patents

Plate-forme principale de travail et son utilisation

Info

Publication number
EP2598819A1
EP2598819A1 EP11728216.0A EP11728216A EP2598819A1 EP 2598819 A1 EP2598819 A1 EP 2598819A1 EP 11728216 A EP11728216 A EP 11728216A EP 2598819 A1 EP2598819 A1 EP 2598819A1
Authority
EP
European Patent Office
Prior art keywords
platform
robot
work
working
worker
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
EP11728216.0A
Other languages
German (de)
English (en)
Other versions
EP2598819B1 (fr
Inventor
Mark Moors
Jochen SCHLÜTER
Hans-Wilhelm Schöck
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.)
SMS Group GmbH
Original Assignee
SMS Siemag AG
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=45471200&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP2598819(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by SMS Siemag AG filed Critical SMS Siemag AG
Publication of EP2598819A1 publication Critical patent/EP2598819A1/fr
Application granted granted Critical
Publication of EP2598819B1 publication Critical patent/EP2598819B1/fr
Revoked legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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 or 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
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G1/00—Scaffolds primarily resting on the ground
    • E04G1/18—Scaffolds primarily resting on the ground adjustable in height
    • E04G1/22—Scaffolds having a platform on an extensible substructure, e.g. of telescopic type or with lazy-tongs mechanism
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G1/00—Scaffolds primarily resting on the ground
    • E04G1/36—Scaffolds for particular parts of buildings or buildings of particular shape, e.g. for stairs, cupolas, domes

Definitions

  • the invention relates to a working platform and an associated use for creating or renewing the lining / delivery of a metallurgical vessel, in particular a Blasstahl konverters.
  • the platform is designed to carry out the ergonomic loading operation of stones by a robot, while at the same time one or more workers can stay in the vessel to check the robot's work or perform other tasks.
  • Previously known masonry devices or work platforms are usually based on the fact that a platform is retracted into the vessel, which provides space for a group of workers, the stones which are brought on pallets by means of a lift on the platform, either by hand or by Stack the use of lifting aids from the pallets and transport them to their final position.
  • a disadvantage of this method is the high burden on the workers by the weights of the stones, or the time required, the use of lifting aids.
  • the invention has the object of developing a known platform and their use to the effect that the worker is given the opportunity to be able to assess the work of the robot or the result of his work on a first work surface, for example a first wall section, from close range while the robot can simultaneously continue working in its robot work area on a second work surface, for example a second wall section.
  • This object is solved by the subject matter of claim 1.
  • This object is characterized in that the at least one robot arm beits Scheme and the at least one workers work area sector or segment-like formed at the same height on the work platform; and that the worker work area includes at least a second peripheral portion of the work platform.
  • the expression "at the same height” excludes an arrangement of the robot working area and the worker working area on top of each other, notwithstanding any differences in the level of the floor of the working platform or the use of ladders or pedestals in the working areas.
  • the work platform In order to enable both the robot and the workers, not only a limited circular arc-like portion of a revolving work surface, such as the wall of a metallurgical vessel to reach, the work platform is designed rotatable. The rotation can be both continuous during the work, as well as clocked, depending on which section of the vessel to be processed by the robot or the workers.
  • Both the robot work area and the worker work area include different peripheral sections of the work platform.
  • the inclusion of the peripheral section in the worker's workspace allows the worker advantageously to be able to see the work of the robot or the result of its work on a first work surface, for example a first wall section, at close range while the robot is simultaneously in its working position
  • Robot working area on a second work surface for example, a second wall section, continue to work.
  • the adjacent arrangement of the worker and robot work area also allows for a corrective intervention of the worker in the work of the robot, in particular course, while maintaining all the necessary safety aspects. In this way, it is advantageously possible to react quickly and flexibly to errors and problems.
  • the work platform is designed with the separated robot and worker work area so that the use of a robot and a worker at the same time in a short distance is possible without the robot endanger the worker and without the robot is forced by this proximity, only very small Driving speeds.
  • the work platform is subdivided into the "robot work area" and the "work work area", the two areas being separated by a safety device.
  • the safety device enables / allows collaborative operation with human workers and the (industrial) robot Robots can only be operated if it is ensured that there is no human being in their area, ie the safety device is activated
  • the robot can move at high speed in its robot work area without endangering workers who are in the workers' work area It is also not possible for workers to enter the robot work area without the safety device allowing access and possibly stopping the robot, however, if the robot is shut down or dismantled, the robot work area can also be accessed by the worker ng / enter a door in the safety device and be used as extended or second worker work area.
  • the Robot work area there is a lift for work equipment.
  • the Häplattfornn example supported by a base platform, which is preferably rotatably connected to a lifting device for vertical movement of the working platform.
  • the working platform as a top can rotate on the base platform as a base and can be turned around the elevator.
  • an (industrial) robot preferably designed as a 6-axis robot.
  • the robot is used for stacking stones from pallets that are delivered upwards through the central elevator, and for direct laying of the stones they pick up.
  • the robot as a bricking robot preferably works with stones stacked on a pallet such that the bricks can be laid directly in line as a result of their stratification.
  • an area is provided outside the metallurgical vessel in which the stones are pre -palletized accordingly.
  • the bricking robot and the service robot In order to perform the pre-palletization, the bricking robot and the service robot must know the order of the stones in which they must be routed.
  • the order of the stones is determined on the basis of the predefined walling plan and sensory measurements made in the vessel, for example measurements with a laser scanner or 3D camera. pre-planned.
  • a sensor can be attached to the robot.
  • FIG. 1 shows the working platform according to the invention in a plan view.
  • FIG. 2 shows the working platform according to the invention in cross section.
  • the working platform 110 is designed such that it can rotate around a central elevator shaft 12.
  • Workers 200 may be located in the work platform I designated part of the work platform, which is separated by a safety device 130, for example a fence, from the robot work area I.
  • the robot work area I includes a first peripheral portion P1
  • the worker work area II includes a second peripheral portion P2.
  • the safety device 130 is designed such that it enables the workers 200 to work safely in the worker's work area II while the robot 1 20 is operating in the robot work area I at the same time.
  • the safety device can be designed as a safety fence, preferably with a passage door, for spatially separating the worker and robot working area and / or as security electronics module for immediately switching off the robot 120 when a worker 200 approaches.
  • the (industrial) robot 120 is preferably mounted on a base 1.
  • the Maschinenerarbeits Scheme I is during the lining, if necessary, with the aid of, for example, suspended support members 1 18 radially or peripherally expandable to allow workers to directly approximate the work surface previously machined or machined by the robot, such as the inside of a converter.
  • Such peripheral extensions may also be provided in the robot working area, but they are not shown in FIG.
  • FIG. 2 shows the same working platform 100 from the side.
  • the work platform 100 with the robot 120 and workers 200 is retracted, for example, in a converter 400.
  • the working platform 100 comprises a lifting device 140 for vertical movement of the working platform 1 10.
  • the working platform 100 is rotatably mounted on a base platform 142 via a pivot bearing 16, for example, with the base platform 142 preferably non-rotatable with the bottom-distal end the lifting device 140 is connected.
  • the working platform can be moved by means of a traversing device 160 on the lodge floor 1 1.
  • the elevator 150 is connected to a horizontal conveyor 500 which conveys the pallets 320 directly from a pre-palletizing station to the elevator 150.
  • the pallets 320 are pre-palletized by a group of service robots 14, wherein the stones 300 are stacked from the pallets of the stone manufacturer and piled on the pallets 320 in the correct order according to the lining plan. LIST OF REFERENCE NUMBERS

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Materials Engineering (AREA)
  • Metallurgy (AREA)
  • Organic Chemistry (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne une plate-forme principale de travail et une utilisation associée pour ériger ou réparer une paroi réfractaire d'un récipient métallurgique. Afin de permettre à des ouvriers d'évaluer le travail d'un robot ou le résultat de son travail le plus près possible d'une première surface de travail, pendant que le robot peut simultanément continuer à travailler dans sa zone de travail sur une deuxième surface de travail, la zone de travail du robot et la zone de travail de l'ouvrier sont réalisées selon l'invention à la même hauteur à chaque fois par secteur ou par segment sur une plate-forme de travail rotative de la plate-forme de travail principale, et la zone de travail de l'ouvrier est configurée de telle sorte qu'elle englobe une deuxième partie périphérique de la plate-forme de travail.
EP11728216.0A 2010-07-28 2011-06-15 Plate-forme principale de travail et son utilisation Revoked EP2598819B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102010032674 2010-07-28
DE201010063829 DE102010063829A1 (de) 2010-07-28 2010-12-22 Arbeitsbühne und deren Verwendung
PCT/EP2011/059873 WO2012013413A1 (fr) 2010-07-28 2011-06-15 Plate-forme principale de travail et son utilisation

Publications (2)

Publication Number Publication Date
EP2598819A1 true EP2598819A1 (fr) 2013-06-05
EP2598819B1 EP2598819B1 (fr) 2015-02-18

Family

ID=45471200

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11728216.0A Revoked EP2598819B1 (fr) 2010-07-28 2011-06-15 Plate-forme principale de travail et son utilisation

Country Status (4)

Country Link
EP (1) EP2598819B1 (fr)
DE (1) DE102010063829A1 (fr)
RU (1) RU2561547C2 (fr)
WO (1) WO2012013413A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10233065B2 (en) * 2014-04-21 2019-03-19 Randy Jackson Method and apparatus for maintaining the interior of a vertical structure
DE202015101427U1 (de) * 2015-03-20 2016-06-21 Kuka Systems Gmbh Montageeinrichtung
US20180044927A1 (en) * 2016-08-15 2018-02-15 Silo Access Equipment Llc Silo Inspection Lift And Systems And Methods For Using Same
EA036217B1 (ru) * 2019-03-14 2020-10-15 Алексей Александрович СПИРИН Способ автоматизированной огнеупорной футеровки и роботизированный комплекс для его осуществления
DE102020117605A1 (de) * 2020-07-03 2022-01-05 RefraVision GmbH Arbeitsbühne für Öfen

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
LU85836A1 (fr) 1985-04-03 1986-11-05 Wurth Paul Sa Installation pour la pose d'un garnissage refractaire sur la paroi interieure d'une enceinte
SU1423900A1 (ru) * 1986-10-08 1988-09-15 Производственное Объединение "Ждановтяжмаш" Устройство дл футеровки глуходонного конвертера
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
UA13559U (en) * 2005-08-08 2006-04-17 Okharkiv Polytechnical Institu Hydrocyclone for classification of coal
DE102008062509A1 (de) 2008-12-16 2010-06-17 Sms Siemag Aktiengesellschaft Anlage zum Auskleiden einer inneren Wand einer Umhüllung, insbesondere eines Konverters, mit einem Mauerwerk aus Steinen

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2012013413A1 *

Also Published As

Publication number Publication date
EP2598819B1 (fr) 2015-02-18
RU2013108911A (ru) 2014-09-10
WO2012013413A1 (fr) 2012-02-02
DE102010063829A1 (de) 2012-02-02
RU2561547C2 (ru) 2015-08-27

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