JP2017122178A - Shaped refractory stacking system, shaped refractory stacking method, and method for constructing coke furnace - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a shaped refractory stacking system for joining shaped refractories having a complicated form such as a rectangular form, a trapezoidal shape and an L-shaped form and having ruggedness called as dowel for rubbing prevention on each side, and uniformly coating a surface with mortar to efficiently stack up the shaped refractories, a shaped refractory stacking method, and a method for constructing a coke furnace.SOLUTION: Provided is a shaped refractory stacking system of stacking up shaped refractories 11-14 for a coke furnace, comprising: a robot 30 for grasping shaped refractories provided with a hand 32 for grasping the shaped refractory 14; control means for controlling the robot 30 in a state where the shaped refractory 14 grasped with the hand 32 is separated from a position at which the shaped refractory 14 is stacked; and a mortar injection mozzle 40 for injecting mortar into a gap between the held shaped refractory 14 and a member 12 adjacent to the shaped refractory 14.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a fixed refractory stacking system for stacking fixed refractories for a coke oven, and more particularly to a fixed refractory stacking system capable of accurately stacking fixed refractories. The present invention also relates to a standard refractory stacking method and a coke oven construction method.

  Metallurgical coke used for iron making is produced by dry distillation of coal in a chamber furnace type coke oven. A chamber-type coke oven is configured by alternately arranging a carbonization chamber and a combustion chamber that supplies heat to the carbonization chamber in the furnace width direction, such as a refractory brick that separates the carbonization chamber and the combustion chamber. Heat is supplied from the combustion chamber to the carbonization chamber via a fixed refractory. Some furnace-type coke ovens have more than 100 furnace chambers, and can be said to be huge brick structures with a total length of 100 m or more and a height of 10 m or more.

  In addition, a regular refractory such as a brick constituting a coke oven has a complicated shape such as a rectangular shape, a trapezoidal shape, and an L-shape when viewed from the top, unlike a brick for a general building. Furthermore, unevenness for preventing misalignment, called dowels, is provided on the side, top and bottom surfaces of the bricks. The coke oven is constructed by combining bricks having such extremely complicated shapes.

  Due to this complexity, the construction of coke ovens is currently being carried out by hand-building work by the furnace builder. In the construction by hand stacking, it is necessary to repeat the work of applying mortar to a predetermined joint thickness using a trowel at a position where the brick is stacked, and then stacking the brick on the mortar. This mortar joins refractories together and has a function of absorbing the stacking accuracy of the refractories by its thickness (joint). Thus, it is necessary to uniformly apply mortar with a predetermined thickness on the surface of a brick having a complicated shape, and extremely high skill is required for the furnace builder. However, there is always a shortage of skilled furnace builders with such skills.

  Therefore, for example, it is required to automate the work of loading the fixed refractory for the coke oven by a system using a robot or the like as described in Patent Document 1.

Special table 2009-521630

  However, since the system described in Patent Document 1 was developed for brickwork in the construction of a general building, the shape of the fixed refractory is complicated as described above, and It cannot be used for the construction of coke, which requires stacking of regular refractories with high accuracy.

  The present invention has been made in view of the above circumstances, and provides a fixed refractory stacking system, a fixed refractory stacking method, and a coke oven construction method capable of accurately and efficiently stacking fixed refractories. With the goal.

  As a result of intensive studies on a method for accurately performing a stacking operation of coke oven refractories using a robot, the present inventors have obtained the following knowledge.

  FIG. 3 is a schematic diagram showing a routine refractory stacking operation in the case where the work conventionally performed by a furnace builder is automated using a robot with the procedure. In FIG. 3, three fixed refractories 100 are already stacked, and a mortar 110 as a joint material is applied between the fixed refractories 100. When a new standard refractory 101 is loaded there, the standard refractory 101 is held by the robot hand 120 and is stacked at a predetermined stacking position as indicated by an arrow in the drawing.

  At this time, in a normal procedure, the mortar 130 is applied in advance to a position where the standard refractory 101 is stacked. The mortar 130 is usually applied in a large amount, and the fixed refractory 101 is aligned by the robot hand 120 so as to crush the mortar 130. However, in such a method, since the reaction force of the mortar is large, it may be difficult to align the fixed refractory with a predetermined stacking position with high accuracy. For example, according to the study by the inventors, when the target joint thickness is 4 mm and the initial mortar thickness is 8 mm, the pressing reaction force of the refractory becomes several tens of kg or more and the refractory cannot be pressed sufficiently. In some cases, it could not be fixed in place. In order to avoid this, if the pressing pressure is increased, it is necessary to increase the size of the robot, which increases the size of the equipment and the cost.

  Furthermore, in order to ensure the strength of the coke oven, it is necessary to increase the filling rate of mortar in the gaps between the regular refractories. Therefore, in order to obtain a high filling rate, it is necessary to apply more mortar than the amount necessary for the joint material and to push the fixed refractory to the mortar so that it protrudes from the joint and removes the excess. Is called. This removal process has reduced the overall efficiency of the work.

Based on the above findings, the present invention has been completed. That is, the gist configuration of the present invention is as follows.
1. A fixed refractory stacking system for stacking fixed refractories for coke ovens,
A robot for gripping fixed refractories with a hand for gripping fixed refractories,
Control means for controlling the robot to hold the fixed refractory gripped by the hand in a state separated from the position where the fixed refractory is stacked;
A fixed refractory stacking system comprising: the held fixed refractory and a mortar injection nozzle for injecting mortar into a gap between a member adjacent to the fixed refractory.

2. Further equipped with a mortar injection arm robot,
The fixed refractory stacking system according to 1 above, wherein the mortar injection nozzle is provided at an arm tip of the mortar injection arm robot.

3. The fixed refractory stacking system according to 1 or 2, wherein a length in a short direction at a tip of the mortar injection nozzle is 8 mm or less.

4). A standard refractory stacking method for stacking standard refractories for a coke oven,
Using a fixed refractory gripping robot equipped with a hand for gripping a fixed refractory, hold the fixed refractory gripped by the hand in a state separated from the position where the fixed refractory is stacked,
A standard refractory stacking method in which mortar is injected between the held regular refractory and a member adjacent to the regular refractory using a mortar injection nozzle.

5. 5. The standard refractory stacking method according to 4, wherein the mortar injection nozzle is provided at an arm tip of a mortar injection robot.

6). A coke oven construction method for constructing a coke oven by stacking standard refractories for a coke oven,
Using a fixed refractory gripping robot equipped with a hand for gripping a fixed refractory, hold the fixed refractory gripped by the hand in a state separated from the position where the fixed refractory is stacked,
A method for constructing a coke oven, in which mortar is injected between the held fixed refractory and a member adjacent to the fixed refractory using a mortar injection nozzle.

7). 7. The coke oven construction method according to 6, wherein the mortar injection nozzle is provided at an arm tip of a mortar injection robot.

  According to the present invention, since the fixed refractory is held at a predetermined position before the mortar is injected, the fixed refractory can be stacked with extremely high accuracy. Further, since it is not necessary to cause the mortar to intentionally protrude and to remove the protruding mortar, it is possible to efficiently load the regular refractory.

It is a mimetic diagram showing a fixed form refractory stacking system in one embodiment of the present invention. It is a schematic diagram which shows the fixed form refractory stacking system in other embodiment of this invention. It is a schematic diagram which shows the fixed refractory stacking operation | work at the time of automating the operation | work which the conventional erection worker has performed using the robot with the procedure.

  Next, a method for carrying out the present invention will be specifically described. The fixed refractory stacking system of the present invention is a state in which a fixed refractory gripping robot having a hand for gripping a fixed refractory and a fixed refractory gripped by the hand are separated from a position where the fixed refractory is stacked. Control means for controlling the robot to hold, and a mortar injection nozzle for injecting mortar into a gap between the held fixed refractory and a member adjacent to the fixed refractory. Further, in the standard refractory stacking method of the present invention, a fixed refractory gripped by the hand using a fixed refractory gripping robot provided with a hand for gripping the fixed refractory, and a position where the fixed refractory is stacked. The mortar is injected between the held fixed refractory and a member adjacent to the fixed refractory using a mortar injection nozzle.

[Standard refractories]
The fixed refractory is not particularly limited, and any fixed refractory such as brick or precast block can be used. Especially, it is preferable to use the normal fixed refractory material used when constructing a coke oven by hand. By using a regular refractory, it is possible to design a furnace similar to the conventional one even when building a furnace by the method of the present invention. As a result, at least the performance of the conventional furnace is guaranteed. It becomes possible to do. In addition, when large module bricks are used, cracks may spread over the entire module when cracks occur. However, if regular regular refractories are used, the regular refractories may be cracked. However, the propagation of the crack can be confined within one fixed refractory. In addition, the normal fixed refractory here refers to general fixed refractories for hand-loading that are not module bricks, but the dimensions are generally 10 to 15 cm in height and the length in the horizontal direction. Is 20 to 40 cm.

[Standard refractory gripping robot]
As the fixed refractory gripping robot, any robot can be used as long as it has a hand for gripping the fixed refractory. From the viewpoint of work efficiency and installation space, it is preferable to use an arm type robot that is a kind of industrial robot, and it is more preferable to use a vertical articulated type robot.

  The fixed refractory holding robot has a hand for holding the fixed refractory. When a robot having an arm is used as the fixed refractory gripping robot, the hand is preferably provided at the tip of the arm. The structure of the hand is not particularly limited, and any hand can be used as long as it can appropriately hold and release the fixed refractory. Examples of usable hands include a parallel open / close type hand, a fulcrum open / close type hand, and a vacuum suction type hand.

[Control means]
The fixed refractory stacking system of the present invention comprises a control means for controlling the fixed refractory gripping robot to hold the fixed refractory gripped by the hand in a state separated from a position where the fixed refractory is stacked. Yes. In this state where the fixed refractory is held, mortar is injected into the gap between the held fixed refractory and the member adjacent to the fixed refractory. It is preferable that the control device controls the fixed refractory holding robot so that the fixed refractory does not move while the mortar is being injected. Moreover, the said control means may serve as the control apparatus which controls the arm robot for mortar injection | pouring mentioned later.

[Mortar injection nozzle]
A fixed refractory stacking system according to the present invention includes a fixed refractory held by a fixed refractory grasping robot and a mortar injection nozzle for injecting mortar into a gap between members adjacent to the fixed refractory. Yes. The shape of the mortar injection nozzle is not particularly limited, and any nozzle can be used as long as it can inject mortar into the gap.

  From the viewpoint of injecting mortar into the gap without any gap, it is preferable that the thickness of the mortar injection nozzle is smaller than the thickness of the gap. If the thickness of at least the tip of the mortar injection nozzle is smaller than the thickness of the gap, the mortar can be injected by inserting the mortar injection nozzle into the gap, so that a portion not filled with mortar is generated. This can be prevented. The thickness of the gap, that is, the distance between the fixed refractory held by the fixed refractory grasping robot and the member adjacent to the fixed refractory is determined according to the joint thickness formed between them. . Therefore, the thickness of the nozzle may be adjusted according to the joint thickness. However, in the construction of a general coke oven, the thickness of the nozzle is preferably 8 mm or less, and more preferably 5 mm or less. On the other hand, if the nozzle thickness is too small, the time required to discharge the required amount of mortar will increase and the pressure required to discharge the mortar may become excessive. The thickness is preferably 2 mm or more.

  Similarly, from the viewpoint of injecting mortar into the gap without any gap, the length of the mortar injection nozzle is preferably 50% or more of the depth of the standard refractory, and preferably 70% or more. Thereby, since the mortar injection nozzle can be inserted into the back of the gap to inject the mortar, it is possible to prevent a portion that is not filled with mortar from occurring. Since the depth of a typical refractory for a coke oven is about 100 mm, the length of the mortar injection nozzle is preferably 50 mm or more, and more preferably 70 mm or more. In addition, it is more preferable that it has the suitable thickness mentioned above over the said whole length.

  Although the supply of mortar to the mortar injection nozzle can be performed by any method, for example, it can be performed using a pump connected to the mortar injection nozzle through a hose or the like, a screw feeder, or the like.

  The mortar injection using the mortar injection nozzle may be performed manually or using a robot. When performing manually, the fixed refractory holding robot is held away from the position where the fixed refractory is loaded, and the operator operates the mortar injection nozzle to hold the fixed refractory. What is necessary is just to inject | pour mortar into the clearance gap between a thing and the member adjacent to this fixed form refractory.

  FIG. 1 is a schematic diagram showing a standard refractory stacking system according to an embodiment of the present invention, and assumes a case where an operator operates a mortar injection nozzle. Standard refractories 11, 12, and 13 are already stacked, and mortar 20 as a joint material is filled between them. Then, a new standard refractory 14 is stacked on the standard refractory 12. The fixed refractory 14 is gripped by a hand 32 provided at the tip of an arm 31 of a fixed refractory gripping robot 30. The fixed refractory gripping robot 30 is controlled by a control means (not shown), and as shown in the figure, the position where the fixed refractory 14 is loaded, that is, away from the fixed refractories 12 and 13 by the thickness of the joint material. The fixed refractory 14 is held at the above position and stopped. In this state, the operator operates the mortar injection nozzle 40 to inject mortar into the gap between the standard refractories 14 and 12 and between 14 and 13. A hose 50 and a pump 60 are connected to the mortar injection nozzle 40 to supply mortar. The injection amount of mortar may be adjusted by setting a switch for turning on / off the mortar discharge operation, and the operator may operate the switch, and it is necessary from the volume of the gap into which the mortar is injected. It is also possible to obtain an appropriate amount of mortar in advance and automatically discharge the amount. In the latter case, a discharge amount control means for controlling the discharge amount can be provided.

  In addition, when mortar injection using a mortar injection nozzle is performed using a robot, it is preferable to use an arm robot as the robot, and to provide the mortar injection nozzle at the tip of the arm. It is more preferable to use an articulated robot.

  FIG. 2 is a schematic diagram showing a standard refractory stacking system according to another embodiment of the present invention, assuming a case where an arm robot for mortar injection is used. In addition, the same number is attached | subjected to what is common in FIG. In the present embodiment, the mortar injection nozzle 40 is attached to the tip of the arm 71 of the mortar injection arm robot 70 and is controlled so as to automatically inject mortar regardless of human hands.

  In addition, when using either a human hand or a robot, the injection is preferably performed with the mortar injection nozzle inserted in the gap, and the injection is preferably performed while moving the nozzle tip in the gap. It is also possible to prepare a plurality of mortar injection nozzles having different shapes and dimensions, and change the nozzles for mortar injection depending on the shape and dimensions of the gap to be injected. In this case, it is preferable to provide nozzle gripping means such as a hand that can change the nozzle for mortar injection at the arm tip of the arm robot for mortar injection.

  When the mortar is injected, the position where the fixed refractory is held by the fixed refractory gripping robot can be a position where the fixed refractory is loaded. In that case, the fixed refractory is held in a state where it is floated up and down and left and right by an amount corresponding to the joint thickness from an adjacent member such as a fixed refractory already loaded or a base for loading the fixed refractory. Will be. Moreover, it can hold | maintain in the position which shifted | deviated arbitrary distance rather than the position which piles up this fixed form refractory, and can push in to the position to pile up after completion | finish of mortar injection | pouring. In that case, the distance shifted upward is preferably 1 to 10 mm, and more preferably 1 to 5 mm.

  Next, the method for carrying out the present invention will be described more specifically based on examples. In addition, the following description shows the suitable example of this invention, and this invention is not limited at all by the following description.

Example 1
As shown in FIG. 1, a regular refractory stacking operation was performed in such a manner that an operator operated a mortar injection nozzle. The dimensions of the refractory used are 250 mm × 100 mm × 150 mm and the weight is 7 kg. The joint surface between the refractories is provided with an uneven shape called a dowel.

  As a fixed-type refractory gripping robot, an arm-type robot having a loadable weight of 80 kg and 7-axis freedom was used. At the tip of the arm, a hand called a gripping plate that opens and closes is provided, and the gripping force of the hand is 100 kgf.

  The design dimensions of the furnace structure of the coke oven, which is constructed by stacking fixed refractories, are given to the robot system in advance. The target joint thickness is 4 mm, and the refractory grasped by the robot hand is fixed in a state of floating in the air with a gap of 4 mm in the lateral direction and 4 mm in the vertical direction with the adjacent refractory.

  The tip of the mortar injection nozzle has an opening with a diameter of 2 mm. The nozzle tip is placed so as to aim at the center of the joint gap of 4 mm, and mortar is injected. The mortar has a water content adjusted to about 25 to 35%, and has fluidity that does not hinder injection. While injecting the mortar, the nozzle is moved left and right or up and down so that there is no filling defect such as an air pocket in the gap.

(Example 2)
2nd Example As shown in FIG. 2, the fixed refractory stacking operation was performed in the form which the arm robot for mortar injection operates the nozzle for mortar injection. The specifications of the fixed refractory and the fixed refractory gripping robot were the same as those in Example 1.

  As an arm robot for mortar injection, an arm type robot having a loadable weight of 15 kg and 7 degrees of freedom was used, and a mortar injection nozzle was installed at the tip of the arm. Mortar is supplied to the mortar injection nozzle through a flexible hose.

  In any of Examples 1 and 2 above, it was possible to efficiently load the regular refractories with extremely high accuracy.

10 to 14 fixed refractory 20 mortar 30 fixed refractory holding robot 31 arm 32 hand 40 mortar injection nozzle 50 hose 60 pump 70 mortar injection arm robot 71 arm 100, 101 fixed refractory 110 mortar 120 hand 130 mortar

Claims (7)

A fixed refractory stacking system for stacking fixed refractories for coke ovens,
A robot for gripping fixed refractories with a hand for gripping fixed refractories,
Control means for controlling the robot to hold the fixed refractory gripped by the hand in a state separated from the position where the fixed refractory is stacked;
A fixed refractory stacking system comprising: the held fixed refractory and a mortar injection nozzle for injecting mortar into a gap between a member adjacent to the fixed refractory. Further equipped with a mortar injection arm robot,
The fixed refractory stacking system according to claim 1, wherein the mortar injection nozzle is provided at an arm tip of the mortar injection arm robot.   The fixed refractory stacking system according to claim 1 or 2, wherein a thickness at a tip of the mortar injection nozzle is 8 mm or less. A standard refractory stacking method for stacking standard refractories for a coke oven,
Using a fixed refractory gripping robot equipped with a hand for gripping a fixed refractory, hold the fixed refractory gripped by the hand in a state separated from the position where the fixed refractory is stacked,
A standard refractory stacking method in which mortar is injected between the held regular refractory and a member adjacent to the regular refractory using a mortar injection nozzle.   The fixed refractory stacking method according to claim 4, wherein the mortar injection nozzle is provided at an arm tip of a mortar injection robot. A coke oven construction method for constructing a coke oven by stacking standard refractories for a coke oven,
Using a fixed refractory gripping robot equipped with a hand for gripping a fixed refractory, hold the fixed refractory gripped by the hand in a state separated from the position where the fixed refractory is stacked,
A method for constructing a coke oven, in which mortar is injected between the held fixed refractory and a member adjacent to the fixed refractory using a mortar injection nozzle.   The coke oven construction method according to claim 6, wherein the mortar injection nozzle is provided at an arm tip of a mortar injection robot.

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