JP6624259B2 - Coke oven fixed refractory loading system and coke oven fixed refractory loading method - Google Patents

Description

  The present invention relates to a coke oven type refractory stacking system, and more particularly to a coke oven type refractory stacking system capable of automatically and efficiently stacking various types of fixed type refractories with high accuracy. is there. The present invention also relates to a coke oven type refractory stacking method performed using the coke oven type refractory stacking system.

  Metallurgical coke used in iron making is produced by carbonizing coal in a room-type coke oven. The chamber-type coke oven is configured by alternately arranging a carbonization chamber and a combustion chamber for supplying heat to the carbonization chamber in the furnace width direction, such as a refractory brick separating the carbonization chamber and the combustion chamber. Heat is supplied from the combustion chamber to the carbonization chamber via the fixed refractory. Some room coke ovens have more than 100 furnace chambers, and can be said to be a giant brick structure having a total length of 100 m or more and a height of 10 m or more.

  Currently, coke ovens are being built by hand. In the manual furnace construction, it is necessary to repeatedly apply a mortar to each fixed refractory such as a brick with a trowel and pile up the mortar. In addition, each fixed refractory used in a coke oven weighs more than ten kilograms, and the work of stacking the refractories is extremely hard work. Therefore, there is a demand for mechanizing and automating the work of stacking fixed refractories and reducing labor.

On the other hand, in the field of construction, as described in Patent Document 1, a system for automatically stacking bricks has been proposed. In the system described in Patent Literature 1, bricks are transported by a conveyor, and bricks are stacked using a brick-laying robot having an adhesive application head.

JP-T-2009-521630

  However, since the system described in Patent Literature 1 is developed for brickwork in the construction of a general building, it is used for stacking standard refractories in a furnace of a room-type coke oven. It is not possible. The reason is as follows.

  A typical building is constructed by stacking bricks of the same shape (usually a rectangular parallelepiped) and of the same dimensions. On the other hand, a coke oven is built by combining a combination of fixed refractories of various shapes such as a rectangle, a trapezoid, and an L-shape when viewed from above. In the system for general buildings as described in the cited document 1, it is difficult to handle the fixed refractories of various shapes as described above. Neither can it be stacked at the appropriate position.

  Further, in a coke oven, extremely high dimensional accuracy is required as compared with a general building. For this reason, the tolerance of the fixed refractories to be stacked when the coke oven is built is strictly determined in a unit of several mm, and it is necessary to stack the fixed refractories with high accuracy so as to satisfy this. However, the fixed refractories actually used have a dimensional variation of about several millimeters, so that even if they are simply stacked, the required accuracy cannot be satisfied. In the case of manual stacking, in consideration of such variation in the size of the fixed refractories, the fixed refractories were stacked while adjusting so as to obtain the final dimensional accuracy of the coke oven. A system as described in No. 1 cannot make such a subtle adjustment.

  The present invention has been made in view of the above circumstances, and in the construction of a coke oven used in a state where the fixed refractories of various shapes are mixed, the fixed refractories, without manual, high precision It is an object of the present invention to provide a coke oven-type refractory stacking system and a coke oven-type refractory stacking method that can be efficiently stacked with a coke oven.

  That is, the gist configuration of the present invention is as follows.

1. A loading pedestal for stacking fixed refractories,
A fixed refractory stacking means provided on one side of a long side surface of the stack, for stacking a fixed refractory on the stack;
A fixed refractory supply means for supplying a fixed refractory to the fixed refractory loading means,
Mortar applying means provided on the other side of the long side surface of the pedestal,
Control means for controlling the fixed refractory loading means and the mortar coating means,
The fixed refractory stacking means has a moving means movable in a direction parallel to a longitudinal direction of the stack base,
The coke oven fixed refractory stacking system, wherein the mortar applying unit has a moving unit movable in a direction parallel to a longitudinal direction of the stacking base.

2. The fixed refractory loading means,
A robot for stacking the fixed refractories on the stack base,
Measuring means for measuring the shape, size, and position of the fixed refractory supplied from the fixed refractory supply means,
The coke oven fixed refractory stacking system according to claim 1, wherein the control unit controls the fixed refractory stacking robot based on a result measured by the measuring unit.

3. The coke oven fixed refractory stacking system according to the above item 2, wherein the measuring means includes an image sensor for measuring an upper surface shape of the fixed refractory, and a distance sensor.

4. The control means compares the information on the fixed refractories serving as a preset reference with the information measured by the measuring means, and based on the difference, the fixed refractory stacking means stacks the fixed refractories. The coke oven fixed refractory stacking system according to the above item 2 or 3, wherein the position and the position where the mortar applying means applies the mortar are corrected.

5. The mortar application means,
A pump for transferring mortar,
Piping connected to the pump,
A fixed-rate supply device connected to the pipe to supply a constant amount of the mortar,
A hose connected to the metering device,
A nozzle connected to the hose, for applying the mortar to the fixed refractory;
The coke oven fixed refractory stacking system according to any one of the above items 1 to 4, further comprising a coating robot to which the nozzle is attached.

6. (A) The fixed refractory loading means and the mortar applying means, and (b) at least one of the loading pedestals is movable in a longitudinal direction of the loading pedestal. Coke oven refractory stacking system.

7. A coke oven fixed refractory stacking method, which is performed using the coke oven fixed refractory stacking system according to any one of the above 1 to 6.

  The gist configuration of another embodiment of the present invention is as follows.

1. A loading pedestal for stacking fixed refractories,
A fixed refractory stacking means provided on one side of a long side surface of the stack, for stacking a fixed refractory on the stack;
A fixed refractory supply means for supplying a fixed refractory to the fixed refractory loading means,
Mortar applying means provided on the other side of the long side surface of the pedestal,
A coke oven fixed refractory stacking system, comprising: a fixed refractory stacking means and a control means for controlling the mortar coating means.

2. The fixed refractory loading means,
Measuring means for measuring the shape, size, and position of the fixed refractory supplied from the fixed refractory supply means,
Having a fixed refractory stacking robot for stacking the fixed refractories on the stacking base,
2. The coke oven fixed refractory stacking system according to 1, wherein the control unit controls the fixed refractory stacking robot based on a result measured by the measuring unit. 3.

3. 3. The coke oven fixed refractory stacking system according to the item 2, wherein the measuring means includes an image sensor for measuring an upper surface shape of the fixed refractory and a distance sensor.

4. The control means compares the information on the fixed refractories serving as a preset reference with the information measured by the measuring means, and based on the difference, the fixed refractory stacking means stacks the fixed refractories. The coke oven fixed refractory stacking system according to the above item 2 or 3, wherein the position and the position where the mortar applying means applies the mortar are corrected.

5. The mortar application means,
A pump for transferring mortar,
Piping connected to the pump,
A fixed-rate supply device connected to the pipe to supply a constant amount of the mortar,
A hose connected to the metering device,
A nozzle connected to the hose, for applying the mortar to the fixed refractory;
The coke oven fixed refractory stacking system according to any one of the above items 1 to 4, further comprising a coating robot to which the nozzle is attached.

6. (A) The fixed refractory stacking means and the mortar applying means, and (b) at least one of the stack pedestals is movable in a longitudinal direction of the stack pedestal. Coke oven refractory stacking system.

7. A coke oven fixed refractory stacking method, which is performed using the coke oven fixed refractory stacking system according to any one of the above 1 to 6.

  According to the coke oven type refractory stacking system and the coke oven type refractory stacking method of the present invention, in a coke oven furnace used in a state where various types of fixed type refractories are mixed, the fixed type refractories, Stacking can be performed efficiently and with high accuracy, without relying on humans.

1 is a schematic top view showing a coke oven fixed refractory stacking system according to an embodiment of the present invention. 1 is a schematic side view showing a coke oven fixed refractory stacking system according to an embodiment of the present invention. 1 is a schematic front view of a coke oven fixed refractory stacking system according to an embodiment of the present invention. It is a front view showing a support part of a conveyor in one embodiment of the present invention. FIG. 2 is a perspective view showing a holding portion of the robot for stacking refractories according to one embodiment of the present invention.

  Next, a method for carrying out the present invention will be specifically described. A coke oven fixed refractory stacking system according to the present invention includes a stack base, fixed refractory stacking means for stacking fixed refractories on the stack base, and fixed refractory supply for supplying fixed refractories to the fixed refractory stacking means. Means, mortar application means, and control means for controlling the fixed refractory stacking means and the mortar application means. The fixed refractory stacking means and the mortar applying means are provided on each side of the longitudinal side surface of the pedestal with the pedestal interposed therebetween.

  In this way, by arranging the fixed refractory stacking means and the mortar application means on opposite sides of the stacking base, the two can be operated independently without interference, so that the bricks can be efficiently bricked. Stacking and mortar application can be performed. In addition, when the fixed refractory stacking means and the mortar application means are each movable, they can be moved to free positions because their flow lines do not overlap, and more efficient fixed refractory stacking work can be performed. It becomes possible.

<Standard refractories>
The fixed refractory is not particularly limited, and any fixed refractory such as a brick or a precast block can be used. Above all, it is preferable to use ordinary fixed refractories used when constructing a coke oven by hand. By using a regular fixed refractory, it is possible to design a furnace similar to the conventional furnace even when the furnace is constructed by the method of the present invention, and as a result, at least the performance of the furnace equivalent to the conventional one is guaranteed. It is possible to do. Also, when using large module bricks, if there is a crack, the crack may spread over the entire module, but if a regular fixed refractory is used, it is assumed that the fixed refractory has a crack. However, the propagation of the crack can be kept within one fixed refractory. The ordinary fixed refractories referred to here are not modular bricks, but refer to general fixed refractories for hand-loading, but their dimensions are generally 10 to 15 cm in height and length in the horizontal direction. Is 20 to 40 cm.

<Stack base>
The above-mentioned fixed refractories are finally stacked on a pedestal by the fixed refractory stacking means. A block made by stacking the fixed refractories on the pedestal is transported to a coke oven construction site, and then a coke oven is built by stacking the blocks. At that time, the completed block can be transported together with the pedestal by producing the block on the pedestal as described above. The method of transporting the blocks is not particularly limited, and any method can be used. For example, the blocks can be set on a rail, and the blocks can be transported by traveling on the rails. It is also possible to transport the block together with the pedestal using a crane. Then, an empty pedestal on which the fixed refractory is not loaded is installed again at the loading place after the block has been carried out, and a new block can be manufactured.

  The shape and dimensions of the pedestal can be determined according to the block to be manufactured. For example, when manufacturing a block or the like that forms a combustion chamber of a coke oven, it is preferable that the shape of the stacking base viewed from above be a substantially rectangular shape.

  In addition, the fixed refractory generally used for a coke oven has a convex part called a dowel on the lower surface. The dowels have a function of firmly fixing the fixed refractories by engaging with the concave portions provided on the upper surface of the fixed refractories stacked below the fixed refractories. However, when a fixed refractory having such a dowel is used, it is not stable if it is simply placed on a flat surface, and there is a possibility that the refractory may tilt or fall. Therefore, it is preferable to use a pedestal having a support portion for supporting the fixed refractory while avoiding the dowel as the pedestal. As the support portion, for example, a support member provided on a top plate of a stack base so as to horizontally support the fixed refractory at a position other than the portion where the dowel is located so as not to interfere with the dowel on the lower surface of the fixed refractory Can be used. Further, by providing a concave portion on the top plate of the stacking base and accommodating the dowel in the concave portion, a position other than the portion where the dowel of the fixed refractory is present is horizontally supported by the surface of the top plate other than the concave portion. You can also.

<Standard refractory loading means>
The coke oven fixed refractory stacking system of the present invention has at least one fixed refractory stacking means for stacking fixed refractories on the stack base. In the present invention, it is important that the fixed refractory stacking means is provided on one of the long side surfaces of the stack base. Here, “one side of the long side surface of the pedestal” means one side of a set of side surfaces substantially parallel to the longitudinal direction when the pedestal is viewed from above.

  As the fixed refractory stacking means, any one can be used as long as the fixed refractory can be stacked, but from the viewpoint of work efficiency, the fixed refractory stacking means is a fixed refractory stacking means. It is preferable to have a loading robot. Further, it is preferable that the fixed refractory stacking means includes a measuring means capable of measuring the shape, size, and position of the fixed refractory supplied from the fixed refractory supply means described later.

[Regular refractory robot]
Any robot can be used as the fixed refractory loading robot, but from the viewpoint of work efficiency and installation space, it is preferable to use an arm type robot, which is a type of industrial robot, and it is preferable to use a vertical articulated robot. More preferably, a type robot is used. The fixed refractory loading robot has a holding unit for holding the fixed refractory. When a robot having an arm is used as the fixed refractory stacking robot, it is preferable that the holding portion is provided at the tip of the arm. The structure of the holding portion is not particularly limited, and any structure can be used as long as it can appropriately hold and release the fixed refractory. Examples of the holding unit that can be used include a parallel flattened hand, a fulcrum flattened hand, and a vacuum suction type hand.

[Measurement means]
As the measuring means, any means can be used as long as it can measure the shape, size, and position of the fixed refractory. In the coke oven, fixed refractories having various shapes such as a rectangular shape, a trapezoidal shape, and an L shape as viewed from the upper surface are used. Therefore, by providing a measuring device for the fixed refractory stacking robot and measuring the shape and size of the fixed refractory on the spot, the fixed refractory stacking robot can be controlled based on the information. In addition, although there are some variations in the dimensions of the fixed refractories, it is also possible to correct the position where the fixed refractories are stacked and the position where the mortar is applied based on the information on the measured dimensions of the fixed refractories. .

  The measuring means may be a single measuring device or a combination of a plurality of measuring devices. As an example of a device that can be suitably used as the measuring unit, a combination of an image sensor (camera) and a distance sensor can be given. Further, the position may be an absolute position or a relative position based on a measuring unit.

  As the imaging device, for example, a camera provided with an image sensor such as a CCD or a CMOS can be used. The image data of the fixed refractory is acquired by the image sensor, and the shape, size, position, and the like of the fixed refractory as viewed from above can be detected by processing the image data. The top shape of the fixed refractory may be detected as an outline by processing image data. The information on the position of the fixed refractory can be obtained, for example, by analyzing the image data based on the position information of the image sensor at the time of the measurement. Further, the inclination of the fixed refractory can be measured based on the image data obtained by the image sensor, and the obtained information on the inclination can be used for control described later.

  As the distance sensor, any distance sensor such as a laser sensor can be used. By using the distance sensor, the size and position of the fixed refractory can be measured. For example, when a fixed refractory is placed on a table such as a conveyor or a supply table to be described later, a distance sensor is used to measure the distance to the upper surface of the fixed refractory and the distance to the table. The height of the fixed refractory can be determined by taking Further, the inclination of the fixed refractory with respect to the horizontal plane can be calculated from the measurement result by the distance sensor. The calculation of the inclination may be performed using the measurement results of a plurality of distance sensors, or may be performed using the results measured at a plurality of points by moving a single distance sensor.

  The position where the above-mentioned measuring means is provided can be provided at an arbitrary position of the standard refractory loading means. When the fixed refractory loading means includes a fixed refractory loading robot, it is preferable to provide the measuring means on a movable portion of the fixed refractory loading robot. When the fixed refractory loading robot is an arm type robot, the measuring means is preferably provided on the arm, and more preferably provided on the tip of the arm. Accordingly, since the arm of the robot can be used as a means for moving the measuring means, the measurement can be performed at an arbitrary position within the reach of the arm. By rotating the arm, the measurement can be performed in various directions such as a horizontal direction.

  Further, it is preferable that the fixed refractory stacking means includes a moving means for moving the fixed refractory stacking robot. By making the fixed refractory loading robot movable, the workable area per robot can be widened, and as a result, even large blocks can be efficiently manufactured. Although any means can be used as the moving means, it is preferable to use a rail and a traveling device for traveling on the rail. Further, it is preferable that the direction in which the fixed refractory loading robot is moved is parallel to the longitudinal direction of the stack base.

<Standard refractory supply means>
The coke oven fixed refractory stacking system of the present invention includes a fixed refractory supply means used to supply the fixed refractory to the fixed refractory stacking means. The form of the fixed refractory supply means is not particularly limited, and any form can be used as long as the fixed refractory can be supplied to the fixed refractory stacking means.

  As the fixed refractory supply means, for example, a stand (supply stand) on which the fixed refractory can be temporarily placed can be used. In this case, the fixed refractory to be used is placed in the shape of the above-mentioned supply stand by a human or a robot, and the fixed refractory placed on the supply stand is lifted by a fixed refractory loading means (for example, a fixed refractory loading robot). It may be moved and stacked at a predetermined position on the stacking base. In the case where a supply table is used, it is preferable to provide a support portion on the top plate for supporting the fixed refractory while avoiding the dowel, similarly to the stack base.

  Further, from the viewpoint of automating the supply of a large amount of fixed refractories and efficiently performing the same, it is preferable to use a conveyor as the fixed refractory supply means, and a fixed refractory storage means, a conveyor, and the fixed refractory. It is more preferable to use a fixed refractory supply apparatus provided with a transfer means for transferring the fixed refractories stored in the material storage means onto the conveyor. In the construction of coke ovens, fixed refractories of various shapes are used in large quantities. Therefore, the fixed refractory to be used is temporarily stored in the fixed refractory storage means, and the required type of fixed refractory is transferred from the fixed refractory storage means to the conveyor using the transfer means. The transfer of the fixed refractories can be automated, and the fixed refractories can be efficiently stacked. Hereinafter, the fixed refractory supply device will be described.

[Regular refractory storage means]
The form of the fixed refractory storage means is not particularly limited, and may be any form. For example, the fixed refractories may be arranged directly on the floor surface, and the necessary fixed refractories may be lifted and transported by a transfer device to be described later. It is preferable that a fixed refractory is stored in the tank. Further, it is more preferable that the fixed refractory storage means includes a sending means for sending the fixed refractory to the transfer means. In the fixed refractory storage means, it is preferable that the fixed refractories to be used are stored separately for each type.

[Transfer means]
The transfer means is for transferring the fixed refractory obtained from the fixed refractory storage means to a conveyor described later. The form of the transfer means is not particularly limited, and any means can be used as long as the fixed refractory can be transferred to the conveyor. For example, when the fixed refractory storage means and the conveyor are close to each other, an arm type robot such as a horizontal articulated robot or a vertical articulated robot can be used as the transfer means. Further, a transfer conveyor provided between the fixed refractory storage means and the conveyor can be used as the transfer means. The transfer means is preferably capable of self-moving, and more preferably, for example, a transfer conveyer provided on a self-propelled trolley. If the transfer means is capable of self-running, the fixed refractory can be obtained from various positions even when the fixed refractory storage means is large. Further, even in the case where a plurality of fixed refractory stacking means are provided for one fixed refractory supply section, if the transfer means can be self-propelled, the plurality of fixed refractory stacking means can be used. The fixed refractory can be supplied to the fixed refractory stacking means.

[Conveyor]
After the fixed refractory stored in the fixed refractory storage means is transferred to the conveyor by the transfer means, the fixed refractory is conveyed to the vicinity of the fixed refractory loading means by the conveyor. As the conveyor, any conveyor such as a belt conveyor can be used. In addition, it is preferable to provide a support portion for horizontally supporting the fixed refractory while avoiding the dowels, similarly to the above-mentioned loading pedestal and the supply table on the conveyor surface of the conveyor.

[Measurement means]
When the conveyor is used as described above, a measuring means for measuring the shape, size, and position of the fixed refractory placed on the conveyor may be further provided. As described above, in the coke oven, fixed refractories having various shapes such as a rectangle, a trapezoid, and an L-shape when viewed from above are used. Therefore, by providing a measuring device in the fixed refractory supply device and measuring the shape and size of the fixed refractory in advance, the fixed refractory stacking means can be controlled based on the information. In addition, although there are some variations in the dimensions of the fixed refractories, it is also possible to correct the position where the fixed refractories are stacked and the position where the mortar is applied based on the information on the measured dimensions of the fixed refractories. .

  As the measuring means, the same one as the measuring means of the above-mentioned fixed refractory loading robot can be used. However, the installation position of the measuring means needs to be a position where the measurement of the fixed refractory placed on the conveyor can be performed. For example, an image sensor and a distance sensor installed above the conveyor can be used as the measuring means. The image sensor acquires image data of the fixed refractory on the conveyor, and by processing the image data, the shape, size, position, and the like of the fixed refractory as viewed from above can be detected. The top shape of the fixed refractory may be detected as a contour by processing image data. Information on the position of the fixed refractory can be obtained, for example, by analyzing image data based on information on the position where the image sensor is installed. Further, the inclination of the fixed refractory can be measured based on the image data obtained by the image sensor, and the obtained information of the inclination can be used for controlling a robot for stacking the fixed refractory. For example, when the imaging device is installed above the conveyor, the inclination (the inclination in the horizontal plane) of the fixed refractory viewed from above can be detected from the obtained image.

  Using a distance sensor installed above the conveyor, measure the distance from the distance sensor to the upper surface of the standard refractory and the distance from the distance sensor to the conveyor surface of the conveyor, and take the difference between the two. Thus, the height of the fixed refractory can be determined. Further, the inclination of the fixed refractory with respect to the horizontal plane can be calculated from the measurement result by the distance sensor. The calculation of the inclination may be performed using the measurement results of a plurality of distance sensors, or may be performed using the results measured at a plurality of points by moving a single distance sensor. The measuring means can be installed at a position other than above the conveyor, for example, at a position facing the side surface of the fixed refractory, or at an oblique upper position. In addition, a plurality of measuring means installed at different positions can be used together.

  In addition, it is preferable that the coke oven fixed refractory stacking system of the present invention includes at least one of the measuring means in the fixed refractory supply means and the measuring device in the fixed refractory loading means described above. Also, both may be provided. Further, information measured by these measuring devices is sent to control means described later, and the control device performs a coke oven fixed refractory stacking system, particularly a fixed refractory stacking means and a mortar applying means based on the information. Can be controlled.

<Mortar application means>
The coke oven fixed refractory stacking system of the present invention has at least one mortar applying means for applying mortar to the fixed refractory. In the present invention, it is important that the mortar applying means is provided on the other side of the long side surface of the pedestal. Note that, here, "the other side of the long side of the pedestal" means, when the pedestal is viewed from above, of the set of side surfaces substantially parallel to the longitudinal direction, opposite to the fixed refractory stacking means. Mean side.

  Although the mortar application means is for applying mortar to the surface of the fixed refractory, the fixed refractory to which the mortar is applied may be the one held by the fixed refractory stacking means, It may be one already loaded on the pedestal by the fixed refractory loading means, or both.

  For example, when using a fixed refractory stacking means having a fixed refractory stacking robot, the fixed refractory stacking robot may use a fixed refractory stacking mechanism attached to the tip of the arm. After the mortar is directly applied by the mortar application device, the fixed refractory to which the mortar has been applied can be stacked on the fixed refractory already placed on the stacking base.

  When applying mortar to the fixed refractories already stacked on the stacking base, the mortar may be applied, for example, to a position where the fixed refractories are to be loaded next by the fixed refractory stacking means. The position where the fixed refractory is stacked is a position where the lower surface of the fixed refractory to be stacked contacts, that is, a position including at least the upper surface of the fixed refractory already stacked in the lower tier. If a fixed refractory is already stacked at a position where the side of the fixed refractory to be stacked is in contact with the side of the fixed refractory, the mortar is also applied to the side of the fixed refractory that contacts the fixed refractory to be stacked. Is preferably applied. In addition, as described above, in addition to sequentially applying mortar to each location corresponding to one fixed refractory, two or more mortars, and in some cases, one stage, etc., are combined at a position where a plurality of fixed refractories are stacked. Mortar may be applied. In addition, when stacking the first-stage fixed refractories on the pedestal, mortar is not applied in advance.

  As the mortar application unit, any unit can be used as long as it can apply mortar, but from the viewpoint of efficiently and automatically applying mortar, a mortar application unit having a mortar application robot is used. Is preferred. In addition, a pump for transferring the mortar, a pipe connected to the pump, and a fixed-quantity supply device connected to the pipe and for supplying the mortar quantitatively, in order to supply the mortar stably and accurately apply the mortar. More preferably, a hose connected to the fixed amount supply device, a nozzle connected to the hose, for applying the mortar to the fixed refractory, and a mortar application device including an application robot to which the nozzle is attached are used. preferable. As the quantitative supply device, a device capable of quantitatively supplying mortar, such as a screw feeder, can be used.

  As the application robot, it is preferable to use an arm-type robot, which is a kind of industrial robot, and more preferably a vertical articulated robot, similarly to the fixed refractory stacking robot. Further, it is preferable that the nozzle is provided on a movable portion of the application robot. When the application robot is an arm type robot, it is more preferable that the nozzle is attached to a tip of the arm. The shape of the nozzle is not particularly limited, and an arbitrary nozzle can be used. From the viewpoint of performing coating with a uniform thickness over a wide area, it is preferable to use a flat nozzle that has a slit-shaped discharge port and can apply mortar in a strip shape.

  Further, it is preferable that the mortar applying means includes a moving means for moving the applying robot. By making the coating robot movable, a workable area per robot can be widened, and as a result, even a large block can be efficiently manufactured. Although any means can be used as the moving means, it is preferable to use a rail and a traveling device for traveling on the rail. The direction in which the coating robot is moved is preferably parallel to the longitudinal direction of the stack base. When the application robot is movable, only the application robot may be moved, and the other parts of the mortar application means (pump, metering device, etc.) may be fixed. Also, some or all of the other parts of the mortar applying means may be moved together with the applying robot.

  In the coke oven fixed refractory stacking system of the present invention, at least one of (a) the fixed refractory stacking means and the mortar applying means, and (b) at least one of the stacks can be moved in the longitudinal direction of the stack. Is preferred. (A) If the fixed refractory stacking means and the mortar applying means are movable, the fixed refractory stacking means and the mortar applying means are moved to appropriate positions even when the stacking base is fixed. Since the fixed refractory stacking and the mortar coating can be performed, the work area per one fixed refractory stacking unit and mortar applying unit can be widened, and the fixed refractory stacking can be performed efficiently. In addition, even if the fixed refractory stacking means and the mortar application means are fixed, if the stacking base can be moved, similarly, the work area per one unit should be widened to efficiently perform the fixed refractory stacking. Can be. From the viewpoint of increasing the degree of freedom of work and efficiently performing the fixed refractory stacking, it is more preferable that the fixed refractory stacking means and the mortar applying means can be independently moved.

<Control means>
The coke oven fixed refractory stacking system of the present invention includes a control unit for controlling the fixed refractory stacking unit and the mortar coating unit. Thereby, the operation of the fixed refractory stacking means and the operation of the mortar applying means can be linked to efficiently perform the fixed refractory stacking. The position where the fixed refractory is loaded and the position where the mortar is applied can be stored in the control means in advance, or can be determined by the control means based on information obtained by the measurement means and the like.

  In addition, information on the shape, dimensions, and the like of the standard refractory as a reference is set in the control unit in advance, the information is compared with the information on the standard refractory measured by the measurement unit, and based on the difference, Also, the position where the fixed refractory stacking means stacks the fixed refractory and the position where the mortar applying means applies mortar can be corrected. Thereby, the fixed refractories can be accurately stacked without being affected by errors in the shapes and dimensions of the fixed refractories.

  Next, a method for carrying out the present invention will be described more specifically. The following description shows a preferred embodiment of the present invention, and the present invention is not limited by the following description.

  1 and 2 are schematic views of a coke oven fixed refractory stacking system 1 according to an embodiment of the present invention as viewed from the top and side surfaces. The coke oven fixed refractory stacking system 1 includes a fixed refractory supply unit 100, a fixed refractory stacking unit 200, a stack base 300, a mortar coating unit 400, and a control unit 500 for supplying the fixed refractory 2. .

(Standard refractory supply means)
The fixed refractory supply means 100 in the present embodiment includes a storage shelf 110 as fixed refractory storage means, a picking device 120 as a transfer means, and a conveyor 130.

  In a storage shelf 110 as a fixed refractory storage means, fixed refractories 2 of various shapes used for a coke oven are stored in a state of being classified according to the type. As shown in FIG. 3, a conveyor 111 is provided in the storage shelf 110, and the fixed refractory 2 input from the input port 112 is transported by the conveyor 111 toward the discharge port 113. On the discharge port side of the storage shelf 110, a delivery conveyor 114 for feeding the stored fixed refractories 2 one by one to the transfer means is provided, and a stopper 115 which can move up and down is provided at the discharge port 113. Provided. Similar to the conveyor 130 described later, a fixed-type refractory support portion (not shown) for supporting the fixed-type refractory while avoiding a convex portion on the fixed-type refractory bottom surface is provided on the conveying surfaces of the conveyor 111 and the sending-out conveyor 114, similarly to the conveyor 130 described later. Is provided.

  The picking device 120 as the transfer means has a movable trolley 121, and a picking conveyor 122 installed on the movable trolley 121 for transporting irregular-shaped refractories. The carriage 121 is installed on a rail 123. A fixed-type refractory support portion (not shown) for supporting the fixed-type refractory while avoiding a convex portion on the fixed-type refractory bottom surface is also provided on the conveyance surface of the picking conveyor 122.

  The conveyor 130 is for transporting the fixed refractory 2 delivered from the picking device 120 to the fixed refractory stacking means 200. A support portion 131 is provided on the conveying surface of the conveyor 130 to stably convey even if there is a dowel on the lower surface of the fixed refractory 2. The support portion 131 includes two support bases 132, as shown in FIG. The support table 132 is provided on the transfer surface of the conveyor 130 so as to extend in the transfer direction, and the fixed refractory 2 is transferred while being placed on the support table 132. By making the height of the support base 132 larger than the height of the dowels (convex portions) on the lower surface of the fixed refractory 2, the fixed refractory can be stably transported while being kept horizontal. In addition, it is preferable to provide a support base having the above-described shape on all conveyors for transporting the fixed refractory used in the coke oven fixed refractory stacking system of the present invention.

  As shown in FIGS. 1 to 3, the conveyor 111, the feeding conveyor 114, the picking conveyor 122, and the conveyor 130 are preferably installed in parallel with the longitudinal direction of the stacking base 300. Further, it is preferable that the rail 123 for moving the picking device 120 be laid in a direction perpendicular to the conveying direction of the conveyor 111 and the conveyor 130. By laying the rails 123 in this manner, even when the storage shelves 110 have a plurality of conveyors 111 and a large number of outlets 113 corresponding to the respective conveyors 111, the picking device 120 can be moved on the rails 123 so that 1 A fixed refractory can be transferred by a single picking device.

  When a plurality of sets of the standard refractory stacking means 200, the stacking pedestal 300, and the mortar applying means 400 are provided, a plurality of conveyors 130 may be installed adjacent to each of the standard refractory stacking means 200. preferable. In this case, by moving the picking device 120 on the rail 123, the fixed refractory 2 can be transferred to the plurality of conveyors 130 by one picking device. The number of picking devices (transferring devices) may be one, but may be two or more.

  Next, an example of the operation of the fixed refractory supply unit 100 in the present embodiment will be described. The fixed refractory 2 stored in the storage shelf 110 is conveyed by the conveyor 111 toward the discharge port 113 and reaches above the sending-out conveyor 114. Next, the stopper 115 is raised to open the discharge port 113, and the conveyer 114 is driven to feed out the fixed refractory 2. At this time, the picking device 120 is previously moved to a position where the fixed refractory 2 is stored. Then, the picking conveyor 122 of the picking device 120 is operated at the same time as the delivery conveyor 114, and the fixed refractory 2 is moved from the delivery conveyor 114 onto the picking conveyor 122.

  After one fixed refractory 2 has been sent out, the stopper 115 is lowered to prevent the subsequent fixed refractory from being discharged from the outlet 113. At this time, a photoelectric sensor may be provided immediately before the stopper 115, and when the fixed refractory 2 is detected by the photoelectric sensor, the operation of the feeding conveyor 114 may be stopped. The picking device 120 that has received the fixed refractory 2 then moves to the position in front of the conveyor 130, operates the picking conveyor 122 again, and transfers the fixed refractory 2 onto the conveyor 130.

  The conveyor 130 transports the fixed refractory 2 and moves it to a position where it is delivered to the fixed refractory stacking means 200. The transfer position can be any position. However, it is preferable to set the transfer position closest to the position where the fixed refractory 2 is stacked on the stacking base, because the working efficiency can be improved.

(Standard refractory loading means)
Next, the fixed refractory stacking means 200 in the present embodiment will be described. The fixed refractory stacking means 200 includes a fixed refractory stacking robot 210, a measuring means 220, and a rail 230 as a moving means. The rail 230 is laid in parallel with the longitudinal direction of the stacking base 300, and the fixed refractory stacking robot 210 further includes a traveling device for self-propelling on the rail 230.

  The fixed refractory loading robot 210 is a vertical articulated robot, which is a kind of industrial robot, and has an arm. At the tip of the arm, a measuring means 220 and a holding portion 240 for holding the fixed refractory 2 are provided.

  FIG. 5 shows the structure of the holding portion 240 in the present embodiment. The holding section 240 used here is a holding mechanism of a type called a parallel open hand (parallel hand) improved in accordance with the object of the present invention. In the drawing, reference numerals 242a and 242b are holding members for holding the fixed refractory therebetween. Although the shape of the holding member is not particularly limited, it is preferable that the surface in contact with the fixed refractory is flat as shown in FIG. 5 because the contact area increases, and as a result, the fixed refractory can be stably held. Further, it is preferable to provide non-slip members 243a and 243b for improving holding force in portions of the sandwiching members 242a and 242b that come into contact with the fixed refractory 2. As the non-slip member, for example, a thermosetting elastomer such as general rubber, a thermoplastic elastomer such as silicone rubber, and other resins can be used. In the embodiment shown in FIG. 5, plate-like rubber is provided as anti-slip members 243a and 243b on the surfaces of the sandwiching members 242a and 242b that come into contact with the fixed refractory 2. Further, by providing a non-slip member made of an elastic material such as rubber, breakage of the fixed refractory can be prevented.

  The holding members 242a and 242b are configured to hold or open the fixed refractory by opening and closing. Here, in the present embodiment, the two holding members are opened and closed by linearly moving in a direction approaching or away from each other. The opening and closing of the holding member may be performed by moving the two holding members together, or may be performed by moving only one of the holding members. In the example of the holding unit illustrated in FIG. 5, the holding member 243 a can be opened and closed by moving the holding member 243 a in the direction of arrow A using the air cylinder 244.

  Further, it is preferable that at least one of the holding members has a variable angle of a contact surface that comes into contact with the fixed refractory of the holding member. Thereby, even if the side surface of the fixed refractory is inclined (not parallel to the opposite side surface), the holding member rotates in accordance with the inclination of the side surface of the fixed refractory, thereby stably. Can hold fixed refractories. The method of rotating the holding member is not particularly limited, and the holding member is rotatably provided so as to be freely rotatable within a certain angle range, and when holding the fixed refractory, the side surface of the fixed refractory is inclined. It can also be made to rotate to follow. Further, the holding plate may be rotated at an arbitrary angle by using a driving device such as a motor.

  In the example of the holding unit shown in FIG. 5, the holding member 242a is fixed to a rotating shaft 246 connected to the servomotor 245, and is rotatable in a direction indicated by an arrow B. The servomotor 245 is driven by a signal from a control unit described later, and adjusts the angle of the holding member 242a according to the shape of the fixed refractory. In the above example, one holding member can be opened and closed and rotatable, but one holding member can be opened and closed and the other holding member can be rotatable. Further, both holding members may be openable and closable and rotatable.

  Further, it is preferable that at least one of the holding members can change a position of the holding member in a direction parallel to a contact surface that comes into contact with the fixed refractory. Thus, even if the refractory has a special shape such as an L-shape when viewed from the top, the holding member can be moved in parallel to a position corresponding to the shape to stably hold the refractory. The method of the translation is not particularly limited, and an arbitrary driving device can be used. In the example of the holding unit shown in FIG. 5, a ball screw 247 and a motor 248 for moving the holding member 242b in the direction of arrow C are provided. As the motor, a stepping motor or a servo motor can be used, and the motor is driven by a signal from a control unit described later.

  Further, the fixed refractory stacking means 200 of this embodiment includes an image sensor 221 and a distance sensor 222 as the measuring means 220. Information on the shape, size, and position of the fixed refractory 2 obtained by the measuring means 220 is transmitted to the control device 500, and the fixed refractory loading robot 210 and the like are operated based on the information.

  Next, an example of the operation of the fixed refractory stacking means 200 in the present embodiment will be described. The fixed refractory 2 carried by the conveyor 130 is lifted by the fixed refractory stacking robot 210 and is stacked on the stacking base 300. At this time, measurement by the measuring means 220 is performed in advance in order to appropriately handle the fixed refractory 2 and stack it at a correct position. The measurement is preferably performed in a state where the fixed refractory 2 is placed on the conveyor 130 before the fixed refractory loading robot 210 lifts the fixed refractory 2. First, the conveyor 130 is stopped, and the fixed refractory stacking robot 210 is moved to bring the measuring means 220 provided at the end of the arm close to the fixed refractory 2 on the conveyor 130. The measurement is performed in that state, and the shape, size, and position of the fixed refractory 2 are measured. Based on the result, the fixed refractory stacking robot 210 and the holding unit 240 are driven to lift the fixed refractory 2. After removing the fixed refractory 2 from the conveyor 130 by the fixed refractory loading robot 210, the conveyance by the conveyor 130 can be resumed. Note that a table or the like may be installed at the end of the conveyor 130, and the measurement may be performed after the fixed refractory 2 is replaced from the conveyor 130 to the table or the like.

  The fixed refractory 2 held by the fixed refractory loading robot 210 is stacked at a predetermined position on the stacking base 300 in accordance with the type of the fixed refractory. Information on which shape of the fixed refractory is to be loaded at which position is stored in the control means 500 in advance. Further, the position where the fixed refractory is actually loaded is corrected based on the shape and size of each fixed refractory measured by the measuring means 220. Specifically, the information on the fixed refractory serving as a preset reference is compared with the information measured by the measuring means 220, and based on the difference, the fixed refractory stacking means 200 reads the fixed refractory 2 based on the difference. The stacking position is corrected.

  As an example of the method of performing the correction, there is a method of performing the correction based on the position of the center of gravity of the fixed refractory. Specifically, first, the center of gravity of the fixed refractory is calculated based on the dimensions of the drawing, and the position of the center of gravity and position information indicating the position of the fixed refractory so that the center of gravity comes to the control means 500 in advance. Store it. Then, when actually loading the fixed refractory, the actual center of gravity is calculated from the actual dimensions of the fixed refractory measured by the measuring means 220. Next, the actual center of gravity is compared with the center of gravity previously determined from the drawing dimensions, and the position where the fixed refractory is loaded is corrected based on the difference between the two. Note that such a correction of the stacking position can be performed not only based on the center of gravity, but also based on the center (middle point) position of the side surface or the upper surface of the fixed refractory.

(Stack base)
The pedestal 300 on which the fixed refractories 2 are stacked is installed on the rail 310. The top plate of the pedestal 300, that is, the shape of the surface on which the standard refractory 2 is stacked is substantially rectangular when viewed from above. A support (not shown) is provided. The shape of the support section is the same as the support section provided on the conveyor 130.

(Mortar application means)
Mortar coating means 400 is provided on the side of the base 300 opposite to the fixed refractory stacking means 200. In the present embodiment, the mortar applying means 400 includes a pump 410 for transferring the mortar 3, a pipe 420 connected to the pump 410, and a quantitative supply device 430 connected to the pipe 420 to supply the mortar 3 quantitatively. And a nozzle 450 connected to the hose 440 for applying the mortar 3 to the fixed refractory 2 and an application robot 460 to which the nozzle 450 is attached. In addition, the fixed refractory stacking means 200 is installed on the rail 470, and further includes a traveling device for self-propelling on the rail 470. The rail 470 is laid in parallel with the longitudinal direction of the pedestal 300.

  The application robot 460 is a vertical articulated robot similar to the standard refractory stacking robot 210, and the nozzle 450 is attached to the tip of the arm of the standard refractory stacking robot 210. A rotation unit (not shown) for rotating the nozzle 450 about the central axis of the arm is provided at the mounting portion of the nozzle 450, and the nozzle 450 is rotated in accordance with the direction of the surface on which the mortar 3 is applied. Can be.

  Next, a procedure for applying mortar by the mortar applying means 400 will be described. In the present embodiment, when the fixed refractory 2 is loaded by the fixed refractory loading robot 210, mortar is applied to a position where the fixed refractory is to be loaded before it is loaded. Specifically, mortar is applied to a portion where the lower surface of the fixed refractory to be stacked contacts, that is, the upper surface of the fixed refractory already stacked on the lower stage. In addition, when a fixed refractory is already stacked at a position where the side of the fixed refractory to be stacked is in contact with, the side of the fixed refractory that is in contact with the fixed refractory to be stacked. Also apply mortar. Therefore, the nozzle 450 of the application robot 460 can apply the mortar in any direction, such as not only downward but also in the horizontal direction, by moving the joint of the application robot 460 and / or rotating the nozzle 450. It is configured to be able to. It should be noted that each time one fixed refractory is loaded, mortar may be applied successively to a place corresponding to the fixed refractory, but a plurality of fixed refractories such as two or more, and in some cases, one stage may be applied. The mortar may be applied collectively to the positions where the sheets are stacked.

  The mortar application unit 400 is controlled by the control unit 500 based on the information measured by the measurement unit 220 and the like. In that case, the information of the fixed refractory serving as a preset reference is compared with the information measured by the measuring means 220, and the position where the mortar applying means 400 applies the mortar is corrected based on the difference. I do.

  As described above, the fixed refractory 2 is stacked on the stacking base 300 by using the fixed refractory supply means 100, the fixed refractory stacking means 200, the mortar applying means 400, and the control means 500. By repeating this operation, a block constituting the coke oven is produced by stacking the standard refractories. The completed block is carried out by running the pedestal 300 on the rail 310. The unloaded blocks can be transported directly to the coke oven construction site, or to a temporary storage location, and then from the storage location to the coke oven construction site according to the progress of coke oven construction. You can also. Then, on the rail 310 after the block is carried out, an empty pedestal 300 on which the standard refractory is not loaded can be installed again, and a new block can be manufactured.

  In the present embodiment, the fixed refractory loading robot 210 and the coating robot 460 are installed on the rail 230 and the rail 470, respectively, and the rail 230 and the rail 470 are parallel to the longitudinal direction of the stack base 300. Since these robots are laid, a long block can be easily manufactured by moving these robots on rails.

REFERENCE SIGNS LIST 1 coke oven fixed refractory stacking system 2 fixed refractory 3 mortar 100 fixed refractory supply means 110 storage shelf 111 conveyor 112 input port 113 discharge port 114 delivery conveyor 115 stopper 120 picking device 121 movable trolley 122 picking conveyor 123 rail 130 Conveyor 131 Support section 132 Support stand 200 Standard refractory stacking means 210 Standard refractory stacking robot 220 Measurement means 221 Image sensor 222 Distance sensor 230 Rail 240 Holding sections 242a, 242b Holding members 243a, 243b Non-slip member 244 Air cylinder 245 Servo motor 246 Rotating shaft 247 Ball screw 248 Motor 300 Stack 310 Rail 400 Mortar coating means 410 Pump 420 Piping 430 Quantitative supply device 440 Hose 4 0 nozzle 460 coating robot 470 rail 500 control unit

Claims (5)

A loading pedestal for stacking fixed refractories,
A fixed refractory stacking means provided on one side of a long side surface of the stack, for stacking a fixed refractory on the stack;
A fixed refractory supply means for supplying a fixed refractory to the fixed refractory loading means,
Mortar applying means provided on the other side of the long side surface of the pedestal,
Control means for controlling the fixed refractory loading means and the mortar coating means,
The fixed refractory stacking means has a moving means movable in a direction parallel to a longitudinal direction of the stack base,
It said mortar coating means have a movable means movable in a direction parallel to the longitudinal direction of the loading base,
The fixed refractory loading means,
A robot for stacking the fixed refractories on the stack base,
Measuring means for measuring the shape, size, and position of the fixed refractory supplied from the fixed refractory supply means,
The control means controls the fixed refractory loading robot based on a result measured by the measurement means,
The control unit compares the information on the standard refractory as a preset reference and the information measured by the measurement unit, and based on the difference, the standard refractory stacking unit stacks the standard refractory. A coke oven-type refractory stacking system for correcting a position and a position where the mortar applying means applies mortar . 2. The coke oven refractory stacking system according to claim 1 , wherein the measurement unit includes an image sensor that measures an upper surface shape of the refractory, and a distance sensor. 3. The mortar application means,
A pump for transferring mortar,
Piping connected to the pump,
A fixed-rate supply device connected to the pipe to supply a constant amount of the mortar,
A hose connected to the metering device,
A nozzle connected to the hose, for applying the mortar to the fixed refractory;
The coke oven fixed refractory stacking system according to claim 1 or 2 , further comprising a coating robot to which the nozzle is attached. (A) the fixed refractory loading means and the mortar coating unit, and (b) at least one of the loading base is movable in the longitudinal direction of the loading base, in any one of claims 1 to 3 The coke oven type refractory stacking system as described. Coke oven fixed refractory stacking method and performing using coke oven fixed refractory masonry system according to any one of claims 1-4.

Images