JP3517447B2 - Leveling lid cleaning device - Google Patents
Leveling lid cleaning deviceInfo
- Publication number
- JP3517447B2 JP3517447B2 JP09764994A JP9764994A JP3517447B2 JP 3517447 B2 JP3517447 B2 JP 3517447B2 JP 09764994 A JP09764994 A JP 09764994A JP 9764994 A JP9764994 A JP 9764994A JP 3517447 B2 JP3517447 B2 JP 3517447B2
- Authority
- JP
- Japan
- Prior art keywords
- lid
- leveling
- industrial robot
- movable arm
- cleaning
- 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
Links
Landscapes
- Coke Industry (AREA)
Description
【発明の詳細な説明】
【０００１】
【産業上の利用分野】本発明は、コークス炉の均し口小
蓋掃除装置に関する。
【０００２】
【従来の技術】従来この種の均し口小蓋掃除装置では、
洗浄効果を確保するためにノズルによる噴射パターンが
小さく絞られていたため、洗浄面は局部的なものであっ
た。そのためノズルを移動させて洗浄対象面全体をカバ
ーすることが一般的に行われる。しかし掃除対象面は均
し口小蓋及び均し口小蓋近傍、即ち小蓋内側表面、小蓋
枠表面、タール受け板表面等のいずれか又は全てであり
これらの対象面のある個所及び対象面の傾きが異なるた
め、同一洗浄ノズルで洗浄する際のノズルの位置調整と
ノズルの向きの調整が困難であった。即ちノズルの前後
進装置、ノズルの左右移動装置、ノズルの傾斜調整装置
を具備することが必要であった。更にそれらの調整装置
を所要の位置に調整するために複雑な操作工程が必要で
あった。
【０００３】また屋外にあって粉塵、熱、風雨に曝され
るコークス炉周辺の装置として、産業ロボットの如き精
密、繊細な装置の採用は常識的には考え難かった。しか
も高圧水清掃では高水圧噴射と飛散滓の飛沫による悪影
響が欠点であった。
【０００４】
【発明が解決しようとする課題】本発明は、３次元自由
度と先端の傾斜角が自由に調整可能な多関節マニプュレ
ータを採用することにより、ノズルガンの前後進、ノズ
ルガンの左右移動、ノズルガンの傾斜調整の為の個別の
機械的装置を省略した、コークス炉の均し口小蓋掃除装
置を創造することを課題とする。
【０００５】
【課題を解決するための手段】この課題は、本発明によ
れば請求項１に記載されたの技術的手段、特に、ノズル
ガンの前後進、ノズルガンの左右移動、ノズルガンの傾
斜調整を可能にする自由度５以上の産業ロボットを採用
したコークスの均し口小蓋掃除装置により解決される。
【０００６】
【実施例】図１、図２及び図３に基づいて本発明の実施
例を説明する。図１によれば、部分的に示すコークス炉
の炉蓋１の小蓋枠２に蝶番軸３を介して小蓋４が開閉可
能に枢支されており、小蓋枠２の下部分にはタール受け
５が取付けられている。本発明の掃除の対象範囲は炉蓋
１における小蓋４の内面、小蓋枠２の表面及びタール受
け５の表面である。
【０００７】軌条を走行可能な押出機１１上に産業ロボ
ット１３のための制御装置１２及び産業ロボット１３が
設置されている。産業ロボット１３は、本発明の課題を
充足させるために、特に、ノズルガンの前後進、ノズル
ガンの左右移動、ノズルガンの傾斜調整を、個別の装置
を必要とすることなしに単一の機械により可能にするた
めに、自由度５以上のものとして構成されることができ
る。産業ロボット１３は本体部分から可動腕１４が延び
ており、可動腕１４の先端には掃除用ノズルガン１５が
取付けられている。産業ロボット１３の本体の可動腕１
４の付け根の範囲からノズルガン１５の範囲に亘ってじ
ゃばら１６が付設されている。じゃばら１６は可動腕１
４の回動及び伸縮に亘って可動腕１４全体をカバーする
ように構成されている。可動腕１４の先端には保護板１
７が付設され、それによって均し口小蓋掃除装置の作業
中においてノズルガン１５をコークス炉の熱、粉塵、排
水等から保護している。産業ロボット１３自体も格納箱
１８に格納されて粉塵、風雨等から保護されており、格
納箱１８の正面の開口１９から可動腕１４が外方へ突出
している。格納箱１８には浄化空気の供給のための導管
２０及びノズルガン１５へ高圧水を供給するための導管
が引き込まれている。高圧水の供給のためのダクトは図
示してない。
【０００８】本発明によるコークス炉の均し口小蓋掃除
装置は次のように使用される。掃除の対象となるコーク
ス炉の前で押出機１１を停車し、自動運転操作又は押出
機１１上の運転室内の運転者による押ボタン操作によ
り、コークス炉の炉蓋１の小蓋４を開く。次に、産業ロ
ボット制御装置１２を操作してノズルガン１５を小蓋４
に近づけながら、均し口小蓋掃除装置による作業を開始
する。炉蓋１の表面、小蓋枠２の表面、小蓋４の内面及
びタール受け５の内面をノズルガン１５から高圧水を噴
射させることにより洗浄する。産業ロボット１３に対し
ては、その作業中ノズルガン１５の取付け範囲にある保
護板１７により、そして産業ロボット１３自体は、じゃ
ばら１６によりそれぞれコークス炉の熱、粉塵、飛散
滓、排水、風雨等から保護されている。運転者は１つの
コークス炉の掃除が終了すると押出機１１を次のコーク
ス炉まで走行させ、そこで押出機１１を停止させて、新
たなコークスに対して前記均し口小蓋掃除装置による作
業を行う。
【０００９】
【発明の効果】この課題は本発明によれば、格納箱中に
ロボットを格納し、その先端にノズルガンを備えたロボ
ットの可動腕にじゃばらが付設されている。更に可動腕
の先端に保護板を備えている。それによってコークス炉
の熱、粉塵、飛散滓、排水、風雨等からの保護が確実に
なされる。格納箱をできる限り密閉して浄化空気を送り
込むことによって粉塵の進入の防止効果を高めることが
できる。本発明によれば、運転者も産業ロボットも粉塵
等の悪い環境から保護されるとともに、掃除の能率が著
しく高められる。Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for cleaning a coke oven with a leveling lid. 2. Description of the Related Art Conventionally, this type of flat mouth cleaning apparatus has
Since the spray pattern by the nozzle was narrowed down to secure the cleaning effect, the cleaning surface was localized. Therefore, it is common practice to move the nozzle to cover the entire surface to be cleaned. However, the surface to be cleaned is the leveling lid and the vicinity of the leveling lid, that is, any or all of the inner surface of the lid, the surface of the lid frame, the surface of the tar plate, etc. Since the inclination of the surface is different, it has been difficult to adjust the position of the nozzle and the direction of the nozzle when cleaning with the same cleaning nozzle. That is, it was necessary to provide a device for moving the nozzle forward and backward, a device for moving the nozzle left and right, and a device for adjusting the inclination of the nozzle. Further, complicated operation steps were required to adjust the adjusting devices to required positions. [0003] In addition, it is hardly possible to consider using a precision and delicate device such as an industrial robot as a device around a coke oven which is exposed to dust, heat, wind and rain outside. In addition, high-pressure water cleaning has disadvantages due to the high water pressure injection and the adverse effects of flying slag. [0004] The present invention employs an articulated manipulator capable of freely adjusting the three-dimensional degree of freedom and the inclination angle of the tip, so that the nozzle gun can be moved forward and backward, the nozzle gun can be moved laterally, and so on. An object of the present invention is to create a coke oven leveling lid cleaning device that eliminates a separate mechanical device for adjusting the inclination of a nozzle gun. [0005] According to the present invention, this object is achieved by the technical means according to the first aspect of the invention, in particular, by moving the nozzle gun forward and backward, moving the nozzle gun left and right, and adjusting the inclination of the nozzle gun. The problem is solved by a coke leveling lid cleaning device employing an industrial robot with a degree of freedom of 5 or more. An embodiment of the present invention will be described with reference to FIGS. 1, 2 and 3. According to FIG. 1, a small lid 4 is pivotally supported on a small lid frame 2 of a furnace lid 1 of a partially illustrated coke oven via a hinge shaft 3 so that the small lid 4 can be opened and closed. A tar receiver 5 is attached. The scope of cleaning according to the present invention is the inner surface of the small lid 4, the surface of the small lid frame 2, and the surface of the tar receiver 5 in the furnace lid 1. A control device 12 for an industrial robot 13 and an industrial robot 13 are installed on an extruder 11 that can run on a rail. In order to satisfy the object of the present invention, the industrial robot 13 enables, in particular, the forward / backward movement of the nozzle gun, the left / right movement of the nozzle gun, and the inclination adjustment of the nozzle gun by a single machine without requiring a separate device. In order to achieve this, it can be configured as having five or more degrees of freedom. The industrial robot 13 has a movable arm 14 extending from the main body, and a cleaning nozzle gun 15 is attached to the tip of the movable arm 14. The movable arm 1 of the main body of the industrial robot 13
A bellows 16 is provided from the range of the base of 4 to the range of the nozzle gun 15. Jabara 16 is a movable arm 1
The movable arm 14 is configured to cover the entire movable arm 14 during rotation and expansion and contraction of the movable arm 4. Protective plate 1 at the tip of movable arm 14
7 is provided to protect the nozzle gun 15 from the heat of the coke oven, dust, drainage, and the like during the operation of the leveling lid cleaning device. The industrial robot 13 itself is also stored in the storage box 18 and protected from dust, wind and rain, and the like, and the movable arm 14 projects outward from an opening 19 in the front of the storage box 18. The storage box 18 has a conduit 20 for supplying purified air and a conduit for supplying high-pressure water to the nozzle gun 15. The duct for supplying high-pressure water is not shown. The coke oven leveling lid cleaning apparatus according to the present invention is used as follows. The extruder 11 is stopped in front of the coke oven to be cleaned, and the small lid 4 of the oven lid 1 of the coke oven is opened by an automatic operation operation or a push button operation by a driver in a cab on the extruder 11. Next, the industrial robot controller 12 is operated to move the nozzle gun 15 to the small lid 4.
, Start the work with the leveling mouth lid cleaning device. The surface of the furnace lid 1, the surface of the small lid frame 2, the inner surface of the small lid 4, and the inner surface of the tar receiver 5 are cleaned by spraying high-pressure water from the nozzle gun 15. During the operation, the industrial robot 13 is protected by the protection plate 17 in the area where the nozzle gun 15 is mounted, and the industrial robot 13 itself is protected by the bellows 16 from the heat of the coke oven, dust, flying slag, drainage, wind and rain, etc. Have been. When the cleaning of one coke oven is completed, the operator drives the extruder 11 to the next coke oven, whereupon the extruder 11 is stopped, and a new coke is cleaned by the leveling mouth small lid cleaning device. Do. According to the present invention, according to the present invention, a robot is stored in a storage box, and a bellows is attached to a movable arm of the robot having a nozzle gun at a tip thereof. Further, a protective plate is provided at the tip of the movable arm. This ensures protection of the coke oven from heat, dust, flying slag, drainage, wind and rain. By sending the purified air with the containment box sealed as much as possible, the effect of preventing dust from entering can be enhanced. ADVANTAGE OF THE INVENTION According to this invention, a driver | operator and an industrial robot are protected from bad environments, such as a dust, and cleaning efficiency is remarkably improved.
【図面の簡単な説明】
【図１】本発明による均し口小蓋掃除装置の斜視図であ
る。
【図２】本発明による均し口小蓋掃除装置による掃除対
象となるコークス炉の炉蓋の小蓋の範囲を示す図であ
る。
【図３】本発明による均し口小蓋掃除装置の産業ロボッ
トが格納箱に収容されている状態を示す図である。
【符号の説明】
１ 炉蓋
２ 小蓋枠
３ 蝶番軸
４ 小蓋
５ タール受け
１１ 押出機
１２ 産業ロボット制御装置
１３ 産業ロボット
１４ 可動腕
１５ ノズルガン
１６ じゃばら
１７ 保護板
１８ 格納箱
１９ 開口
２０ 浄化空気導管BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a flattening device for cleaning a flat mouth according to the present invention. FIG. 2 is a view showing a range of a small lid of a furnace lid of a coke oven to be cleaned by the leveling small lid cleaning apparatus according to the present invention. FIG. 3 is a view showing a state in which the industrial robot of the cleaning apparatus for leveling small lids according to the present invention is accommodated in a storage box; [Description of Signs] 1 Furnace lid 2 Small lid frame 3 Hinge shaft 4 Small lid 5 Tar receiver 11 Extruder 12 Industrial robot control device 13 Industrial robot 14 Movable arm 15 Nozzle gun 16 Jabber 17 Protection plate 18 Storage box 19 Opening 20 Purified air conduit
───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl.7，ＤＢ名) C10B 43/08 C10B 37/02 ──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. 7 , DB name) C10B 43/08 C10B 37/02
Claims (1)
て、コークス炉の傍らを軌条走行可能なコークス押出機
（１１）上に自由度５以上の産業ロボット（１３）を備
え、産業ロボット（１３）はその可動腕（１４）の先端
に高圧水噴射ノズルガン（１５）を備え、産業ロボット
（１３）の炉からの熱遮断と飛散滓及び排水等からの保
護のために、ノズルガン（１５）に保護板（１７）が付
設され、そして産業ロボット（１３）は可動腕（１４）
の範囲を除いて格納箱（１８）中に収容されかつ可動腕
（１４）はじゃばら（１６）によって取り囲まれてお
り、前記自由度５以上の産業ロボット（１３）の制御装
置（１２）の操作により、ノズルガン（１５）の前後
進、左右移動、及び傾動を行わせて、高圧噴射ノズル
（１５）による均し口小蓋及び均し口小蓋近傍の掃除対
象表面の洗浄が実施されるようにしたことを特徴とする
前記均し口小蓋掃除装置。(57) [Claims] [Claim 1] A coke oven leveling lid cleaning device, which is installed on a coke extruder (11) that can run alongside a coke oven and has a degree of freedom of 5 or more. The industrial robot (13) is equipped with a high-pressure water jet nozzle gun (15) at the tip of its movable arm (14). The protection plate (17) is attached to the nozzle gun (15) for protection of the robot, and the industrial robot (13) is equipped with the movable arm (14).
And the movable arm (14) is surrounded by a bellows (16) except for the range of (1), and operation of the control device (12) of the industrial robot (13) having the degree of freedom of 5 or more. This causes the nozzle gun (15) to move forward and backward, move left and right, and tilt, so that the high-pressure jet nozzle (15) cleans the leveling opening small lid and the surface to be cleaned near the leveling small lid. The flattening device for cleaning a flat lid according to any one of the preceding claims.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP09764994A JP3517447B2 (en) | 1994-05-11 | 1994-05-11 | Leveling lid cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP09764994A JP3517447B2 (en) | 1994-05-11 | 1994-05-11 | Leveling lid cleaning device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07305066A JPH07305066A (en) | 1995-11-21 |
| JP3517447B2 true JP3517447B2 (en) | 2004-04-12 |
Family
ID=14197948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP09764994A Expired - Lifetime JP3517447B2 (en) | 1994-05-11 | 1994-05-11 | Leveling lid cleaning device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3517447B2 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4783559B2 (en) * | 2004-07-23 | 2011-09-28 | 住友重機械プロセス機器株式会社 | Furnace cleaning device |
| JP5314962B2 (en) * | 2008-08-06 | 2013-10-16 | 住友重機械プロセス機器株式会社 | Coke oven extruder |
| KR101299822B1 (en) * | 2012-05-03 | 2013-09-10 | 주식회사 포스코 | Cleaning apparatus of leveller door in coke oven |
-
1994
- 1994-05-11 JP JP09764994A patent/JP3517447B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH07305066A (en) | 1995-11-21 |
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