JP2005308255A - Refractory spraying device and its method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a refractory spraying device with an articulated robot on a table lifter placed on a truck loading space and a nozzle on a robot arm, allowing easy spraying work with a nozzle being freely moved relative to a refractory sprayed body. <P>SOLUTION: The refractory spraying device and its method comprise the table lifter 4 provided on a truck 1 in at least an up-and-down movable manner, the articulated robot 5 provided on the table lifter 4, and the nozzle 8 provided on the articulated robot 5. Molten refractory 7 is sprayed through the nozzle 8 to the refractory sprayed body 20. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a refractory spraying apparatus and method, and more particularly, a nozzle is provided on a robot on a table lifter provided on a truck, and a refractory spray body is sprayed with a molten refractory from the nozzle to freely move the truck. The present invention relates to a novel improvement for achieving reduction of working time and improvement of spraying efficiency.

As a refractory spraying device for a receiving port of this kind of chaotic vehicle that has been used in the past, for example, the configuration disclosed in Patent Document 1 can be cited.
Conventionally, the receiving port of a chaotic vehicle has been in a very severe use situation for a refractory due to a rapid temperature change due to hot metal discharge, erosion due to hot metal, and mechanical destruction due to burrs. Since there is a lot of loss in cooling and repairing a chaotic vehicle for repairing a receiving port, hot spray repair is performed.

Since the state of damage to the spray surface varies and it is difficult to keep the chaotic vehicle stop position constant, the current situation is that manual spraying is performed to manually operate the nozzle.
Further, as a method for automatically spraying a chaotic vehicle, the refractory repairing device and the refractory repairing method for a chaotic vehicle disclosed in Patent Document 1 described above are disclosed, and the chaotic vehicle is located below the fixed refractory repairing device. The large manipulator provided in the refractory repairing device is inserted into the kneading vehicle for spraying, which is quite large as a device. This device also performs cold repairs.
Moreover, as a refractory spraying repair method, there are a hot hot spraying method for pans, a T / D automatic spraying method, etc., all of which perform spraying after setting a body to be sprayed on a fixed base.

JP-A-11-279612

Since the conventional refractory spraying device for the receiving port of a chaotic vehicle is configured as described above, the following problems exist.
That is, in the refractory repairing device disclosed in the above-mentioned Japanese Patent Application Laid-Open No. 11-279612, it is limited to cold work, and the device is large, and there is a problem of conveyance to the bullion collecting site. There were problems such as high production costs.
In addition, as another conventional example, there is repair by chaotic car manual blowing, but the spraying state changes depending on the personality of the person in charge, and it is difficult to maintain uniform quality.

In this case, the work of two people, the nozzleman and the material supplier, is basic, and it takes time to replace the chaotic car, so the work efficiency is very low.
In addition, since the metal excavator attaches a breaker to a large hydraulic excavator and performs crushing, the large hydraulic excavator is movable, so the work position is not so limited, but in the case of spraying, material supply and spray work platform are required For this reason, it has been impossible to move the spraying device to perform the work.

  The refractory spraying device according to the present invention comprises a table lifter provided on a track and capable of moving at least up and down, an articulated robot provided on the table lifter, and a nozzle provided on the articulated robot, The molten refractory is sprayed onto the refractory spray body from above, and a position correction camera and a distance sensor are provided at the tip of the robot arm of the articulated robot, and the position correction camera The mark of the refractory material sprayed body is confirmed by the above, and the distance between the nozzle and the spray surface of the refractory material sprayed body is confirmed by the distance sensor, and the refractory material sprayed The body is a chaotic vehicle, and the refractory spraying method according to the present invention is provided on a truck and is at least vertically A method of spraying a molten refractory from a nozzle to a receiving port of a kneading vehicle using a possible table lifter, an articulated robot provided on the table lifter, and a nozzle provided on the articulated robot. .

Since the refractory spraying apparatus and method according to the present invention are configured as described above, the following effects can be obtained.
In other words, the articulated robot on the lift of the truck is provided with a nozzle, and the robot arm of the articulated robot has a position correction camera and a distance sensor, so that a refractory material such as a receiving port of a chaotic vehicle can be sprayed. The posture can be freely changed with respect to the body, and the relative position with respect to the chaotic vehicle can be freely changed by moving the truck, and the position and posture can be freely changed without moving the chaotic vehicle side. Accurate refractory spraying can be performed.
In addition, according to the present invention, it is possible to quickly lay a spraying machine on several bullion collection sites and perform spraying work, shortening the waiting time for chaotic vehicles, shortening the waiting time for workers, The spraying of about 10 units a day was able to greatly improve the efficiency of about 16 units.
In addition, the nozzle man does not need to operate a heavy nozzle, which contributes to reducing the physical burden. Furthermore, by performing automatic blowing and finishing spraying, it is possible to check the state of the material supply machine during operation and to adjust the amount of added water, and it is possible to stabilize the spraying state even when working alone.

  The present invention provides a nozzle on a robot on a lift provided on a truck, and blows a molten refractory from the nozzle onto a refractory spray body, thereby moving the truck freely, reducing work time and improving spray efficiency. The purpose is to achieve.

DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of a refractory spraying apparatus and method according to the present invention will be described with reference to the drawings.
In FIG. 1, a reference numeral 1 indicates a track having a hydraulic telescopic leg 2, and a table lifter 4 configured to be movable up and down and horizontally is provided on the loading platform 3 of the track 1. It has been.

A multi-dimensional articulated robot 5 is placed on the table lifter 4, and a molten refractory 7 is sprayed and sprayed on the tip of the robot arm 6 of the articulated robot 5. Nozzle 8 is provided.
At the tip of the robot arm 6, a position correcting camera 9 and a distance sensor 10 of a laser type or the like are provided.

At a position adjacent to the stop position of the truck 1, a carry body 21 on which a refractory material spraying body 20 made of a chaotic vehicle is placed is positioned so as to be transportable via a rail 22.
The refractory spray body 20 may be other than a chaotic vehicle, but in this embodiment, a chaotic vehicle will be described.
The nozzle 8 can spray the molten refractory 7 from the receiving port 23 of the refractory spray body 20 to form a refractory 7A having a required thickness on the inner surface thereof.

Next, the operation will be described. First, the track 1 having the articulated robot 5 having the nozzle 8 provided in the table lifter 4 is moved to the adjacent position by moving the refractory spray body 20 conveyed by the carry body 21 and stopped. Next, the vehicle is parked and stopped, and the articulated robot 5 is raised by the table lifter 4 to the level of the receiving port 23 to perform the spraying operation. By this method, it is possible to easily perform the repair by spraying without moving the chaotic vehicle 20 even at two or more bullion collection sites.
In addition, the chaotic wheel 20 is marked with a spray origin, and the spray origin is confirmed by the position correction camera 9 and the distance sensor 10 mounted on the articulated robot 5. The origin search is performed manually.
By confirming the origin, the position of the articulated robot 5 is confirmed, and after correcting the pattern data, the articulated robot 5 performs automatic air blowing and spraying according to the spray pattern.
In addition, the worker can check the damaged state of the chaotic vehicle 20 and fill the hole by blowing the damaged part using the jointed robot 5.

By this method, if it is within the robot reach range, even if the stop position of the truck 1 is out of order, the spraying operation can be performed without any problem.
Further, by performing this automatic finish spraying, the tip speed of the nozzle 8 is stabilized, a uniform spraying thickness is obtained, and the influence of variation due to the conventional nozzleman individuality is reduced.
The robot used is a commercially available articulated robot 5, which is covered with protective clothing with an aluminum cloth for the purpose of rainwater, dust and heat countermeasures, and air is injected into the interior for cooling.

Next, the case where the joint type robot 5 is actually used to spray the receptacle 23 will be described.
First, after finishing the chiseling work for the bullion attached around the receiving port 23 of the chaotic car 20 by the heavy equipment, the heavy equipment retreats, leaving the chaotic car 20 as it is, and laying the truck 1 as shown in the figure. Due to the robot reach, a track passing line is provided in the lateral direction with the chaotic vehicle 20, and a stop mark is provided on the main body of the chaotic vehicle 20 at the track stop position, and the truck 1 is stopped based on the mark.
The accuracy of this stop position is about ± 300 mm, and there is no need to correct it unless it is misunderstood. After the truck 1 is stopped, the outrigger is taken out, the utility of electricity, water, compressed air and materials are connected, and then the table lifter 4 is raised. The table lifter 4 automatically stops at the internal limit switch position.

After the table lifter 4 is lifted and stopped, the worker confirms the spray location on the lift frame 4a of the table lifter 4 and starts the work setup.
First, as shown in the flowchart of FIG. 1, in order to correct the position of the articulated robot 5 and the spraying origin, the operator operates a teaching box (not shown) while checking the monitor of the position correcting camera 9 attached to the robot. The aim is adjusted to the mark attached to the chaotic vehicle 20 main body (first step 30). The distance between the nozzle 8 and the spraying surface is corrected by pressing the origin check push button (second step 31) by the distance sensor 10 attached to the tip of the articulated robot 5 (third step 32). At the same time, the spray pattern data correction is performed based on the relative distance between the robot storage origin and the origin confirmation position (fourth step 33).

Next, it is confirmed whether or not it is within the robot reach (fifth step 34). If it is within the robot reach, the start ready lamp is turned on (sixth step 35), and the spraying operation is started. In this case, the start and stop of each utility and adjustment can be performed on the operation panel on the lift, and the spraying operation is performed in the order of air blowing, concentrated material spraying of the damaged portion, and finish spraying. In the air blowing operation, the material is not supplied, and the dust adhering to the spray surface is removed with water and air. The surface is cleaned while moving the nozzle by automatic position control of the robot. Next, the operation is switched to manual operation, and the defect portion is filled while supplying the material. For hole filling work, the location and spraying thickness are determined at the discretion of the worker.
Finally, finish spraying is performed with a predetermined pattern by automatic spraying.
In addition, two types of nozzles are prepared: an L-type nozzle for spraying in the receiving port and a straight-ahead nozzle for spraying at the mouth.
The robot to be used is a commercially available articulated robot, the temperature of the spraying surface is as high as around 300 ° C, and since it is outdoors, the upper part of the lift is constructed with a prefab for the purpose of rainwater, dust and heat, and the robot The body is covered with heat-resistant protective clothing with an aluminum cloth, and air is driven inside.

  Further, when the above-mentioned start ready lamp does not light up and the NG lamp lights up (seventh step 36), after the position of the track 1 is corrected (eighth step 37), the above-mentioned fifth step 34 and sixth step 35 starts.

  The present invention is not limited to spraying a kneading vehicle, but can also be applied to spraying various other molten metal containers such as a ladle and a processing furnace.

It is a block diagram for showing the refractory spraying apparatus and method by this invention. It is a left view of FIG. It is a flowchart which shows the spraying operation | movement of the refractory spraying apparatus of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Truck 4 Table lifter 5 Articulated robot 6 Robot arm 7 Molten refractory 7A Refractory 8 Nozzle 20 Refractory spray body (chaos car)

Claims (4)

  A table lifter (4) provided on the track (1) and capable of moving at least up and down, an articulated robot (5) provided on the table lifter (4), and a nozzle provided on the articulated robot (5) (8) A refractory spraying device comprising: the molten refractory (7) sprayed from the nozzle (8) to the refractory spray body (20).   At the tip of the robot arm (6) of the articulated robot (5), a position correcting camera (9) and a distance sensor (10) are provided, and the refractory sprayed body is provided by the position correcting camera (9). (20) is confirmed, and the distance sensor (10) is configured to confirm the distance between the nozzle (8) and the spray surface of the refractory spray body (20). The refractory spraying device according to claim 1.   The refractory spraying device according to claim 1 or 2, wherein the refractory spray body (20) is a chaotic vehicle.   A table lifter (4) provided on the track (1) and capable of moving at least up and down, an articulated robot (5) provided on the table lifter (4), and a nozzle provided on the articulated robot (5) And (8), the molten refractory (7) is sprayed from the nozzle (8) to the receiving port (23) of the kneading vehicle (20).

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