JPH07218148A - Method and equipment for spray repair of refractory - Google Patents

Abstract

PURPOSE:To conduct an effective and highly reliable repair by a method wherein the angle and depth of a melting damaged surface are detected by a profile meter robot, a jet nozzle of a spray robot is moved at a specific speed while a ejecting angle and a ejecting distance of the nozzle are maintained at specific values in relation to the melting damaged surface and thereby repeated multilayer spray is executed. CONSTITUTION:A profile meter robot 1 executes scanning of a melting damaged surface in accordance with the loci of the fore end part of the profile meter robot having positions and directions given beforehand, and the depth and angle of the melting damage of the melting damaged surface on the immersion tube side are stored for each part sequentially in a storage device 12. Next, a spray robot track scheme is prepared in accordance with the amount of the melting damage in each part and stored in a storage device 13. According to the track scheme, a control device 11 executes input and output of signals at each specific time, spray is executed by a spray robot 2, a general rotation device Z and drivers Bc1 to Bc3, Cc1 to Cc3 and Dc by making servo motors B1 to B3, C1 to C3 and D operate and thus repeated multilayer spray is conducted.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a thermal spray repair method and apparatus for refractories, which are frequently used in steelworks.

[0002]

2. Description of the Related Art Conventionally, as a method for repairing refractory materials,
Using a method of manually pressing and adhering refractory on clay, or a thermal spraying device with a mechanism that has only vertical and rotation, the expert can judge the position and shape of the erosion visually while relying on experience and intuition. As a method and apparatus for thermal spraying, Japanese Patent Application Laid-Open No.
2-287010 and actual registration 1706505.

Further, as a method for detecting a melted portion, a method using an ITV camera and a method using a laser profilometer have been used (Japanese Patent Publication No. 5-55796).

[0004]

In the conventional operation using a machine, a person visually checks and confirms a complicated shape of the melt-damaged shape, and manually operates the vertical direction and rotation of the spray nozzle. However, effective spraying cannot be performed on the melted surface, and waste cannot be repaired with high reliability. In addition, although a method for recognizing the thermal damage shape of refractory by a laser profilometer has been performed, since the information obtained from it and the operation of the thermal spraying device are not accurately linked, the thermal spraying device is divided into units Therefore, the macro processing is performed by determining the average amount of thermal damage and the thermal spraying amount, or manually operated by the same operation as described above, and wasteful and highly reliable repair cannot be performed.

[0005]

The present invention has been made to solve the above problems, and is characterized in that a profile meter robot and a thermal spraying robot having the same fulcrum as the origin of the absolute coordinate system, The profile meter robot detects the angle and depth (distance) of the erosion surface in advance, and keeps the nozzle moving speed constant while keeping the injection angle and the injection distance of the injection nozzle of the spray robot relative to the erosion surface. A method for spraying and repairing a refractory material, which comprises moving at a speed and repeatedly performing multilayer spraying until a predetermined repair shape is obtained.

Further, a profile meter robot having a mechanism capable of numerically determining the position and a range finder capable of measuring the position and direction of the erosion surface, having the same fulcrum as the origin of the absolute coordinate system, and the thermal spraying A spraying robot having a mechanism and a spraying device that can numerically determine the position and direction of the nozzle,
A spray coating repair device for refractory, which is composed of a controller that can control the spray angle and distance of the spray robot based on the spray profile measured by a profile meter robot.
It is in.

That is, according to the present invention, the profile meter robot detects the angle and depth (distance) of each erosion surface in each zone in which the repair surface is divided into a predetermined angle or length or an area. Keeping the spray angle and spray distance of the spray nozzle of the spray robot to a predetermined value with respect to the erosion surface, move the nozzle at a constant speed, and repeatedly perform multilayer spraying for each section until the desired repair shape is achieved. This is a method that enables complex refractories to be repaired at each facility without requiring human judgment or skill. In addition, as a device that realizes that, a profile meter that has the same fulcrum as the origin of the absolute coordinate system and is composed of a mechanism that can numerically determine the position and a range finder that can measure the position and direction of the erosion surface A robot, a spraying robot that has a mechanism and a spraying device that can numerically determine the position and direction of the spraying nozzle, and a control that can control the spraying angle and distance of the spraying robot based on the spray loss profile measured by a profile meter robot. And a device composed of the device.

[0008]

EXAMPLE An example of applying the present invention to the repair of an RH immersion pipe will be described.

The entire apparatus is shown in FIG. This is an overall swivel device Z that swivels the circular frame C1 around the axis of the lower tank of the RH and the coaxial axis as the swivel center, and is swung integrally by it.
It is composed of three robots (profile meter robot 1, horizontal spraying robot 2, multi-direction spraying robot 3) which are installed radially in three directions from the turning center, and a control device 11 capable of simultaneously controlling those mechanisms.

The profile meter robot 1 includes a radial movement mechanism 1a, a vertical movement mechanism 1b, and a rotation mechanism 1.
c, as shown in FIG. 2, it is composed of a profilometer 1d at the tip and a reflector head 1e provided with a mirror m2 for polarizing and irradiating the reflected laser from the internal mirror m1 on the repair surface. The radius moving mechanism 1a and the ascending / descending direction moving mechanism 1b are composed of a ball screw feeding mechanism having a limit switch installed at the origin position and servomotors A1 and A2 driving devices. The rotation mechanism 1c is composed of a deceleration rotation mechanism having a limit switch installed at the origin position and a drive device by a servo motor A3.

The horizontal spraying robot 2 includes a radial movement mechanism 2a, a vertical movement mechanism 2b, a rotation mechanism 2c, and FIG.
As shown in FIG. 3, it is composed of a spray nozzle 2d for ejecting molten refractory droplets perpendicularly to the repair surface. The radial movement mechanism 2a, the ascending / descending direction movement mechanism 2b, and the rotation mechanism 2c are the same mechanism as the profile meter robot 1 and servomotors B1 and B.
2 and B3 drive devices.

The multi-directional spray robot 3 has a radial movement mechanism 3a, a vertical movement mechanism 3b, a rotation mechanism 3c, and, as shown in FIG. 4, a tip for freely directing the spray nozzle in a vertical direction with respect to a multi-faced repair surface. It is composed of a neck swing mechanism 3d and a spray nozzle 3e. The radial movement mechanism 3a, the elevation movement mechanism 3b, and the rotation mechanism 3c are similar to the profile meter robot 1 and servo motors C1, C2.
The tip neck swing mechanism 3d has a drive device of C3, and is composed of a reduction neck swing rotation mechanism having a limit switch installed at the origin position and a drive device by a servomotor C4.

The control device shown in FIG.
And the servomotors A1, A2, A3 of the total turning device Z
Positioning control card 10 that counts the rotational positions of B1, B2, B3, C1, C2, C3, and D and positions each of them from the turning center to the radial movement locus position.
And the position of each mechanism from the position of each robot 1 to 3 (profil meter 1e, thermal spray nozzles 2d, 3e) with respect to the absolute coordinate system, and conversely from the position of each mechanism to the position of the tip and the rotation of the overall swivel device Z. Arithmetic device 11 for calculating position
And a program storage device 12, and a storage device 1 for storing a program and data for creating a motion locus of the tip position of each robot.
It consists of 3.

[0014]

First, the profile meter robot 1 scans the erosion surface according to the locus of the tip of the profile meter robot having a predetermined position and direction. This profile meter robot tip end locus is for the inner and outer surfaces of the initial immersion pipe shape before melting damage, and the lower end,
It keeps a constant distance (300 mm) and a vertical surface in the circumferential direction and the height direction, and is fixed regardless of the melting damage condition. The controller 11 controls each servo motor A so as to satisfy the position and angle in the absolute value coordinate system of the tip portion of the profile meter robot after a fixed time from the start.
The positions of 1, A2 and A3 are calculated and this position is output to the positioning control card 10-1. As a result, after a certain period of time, the positions of the servomotors A1, A2, A3 operated by the drivers Ac1, Ac2, Ac3 are fetched, the position and angle of the profilometer robot tip portion are calculated, and the distance is further measured by the laser profilometer. The detected position, the angle, and the distance are simultaneously stored in the storage device 12. Further, similarly, the positions of the servomotors A1, A2 and A3 are calculated so as to satisfy the position and the angle of the tip of the profile meter robot after a predetermined time, and the calculated positions are output to the positioning control card 10 to detect the position, the angle and the angle. By repeating the storage of the distance in the storage device 12 at the same time, the trajectory of the tip of the profile meter robot having a given position and direction can be followed, and the distance to the melted surface can be scanned. As a result, the erosion depth and angle of the erosion surface on the immersion pipe side are stored in the storage device 12 for each part.

Then, a spraying robot trajectory plan is prepared according to the amount of melting damage at each part and stored in the storage device 13. Since the spraying robot and the profile meter robot are installed in the whole device that is swung integrally, the swivel center is used as the origin of the absolute coordinate system, and the depth and angle of the melted surface on the immersion pipe side are the absolute coordinate system. It is recognized in and can be calculated as it is in the trajectory planning of the spraying robot. The horizontal spray robot 2 is used for repairing the inner surface and the outer surface, and the multi-directional spray robot 3 is used for repairing the lower end portion. At each site, the depth of thermal spray is divided by the thickness of one thermal spray to determine the number of thermal sprays at that site. The nozzle position and angle are determined and stored in the storage device 13 so that the distance and direction of the spraying nozzle to the attachment surface of each part are constant.

According to the trajectory plan stored in the storage device 13, the control device 11 inputs and outputs signals at regular time intervals as in the profile meter robot, and the spray robot 2 and the overall swiveling device Z or 3 and the driver Bc1 of Z. , Bc
2, Bc3, Cc1, Cc2, Cc3, Dc are used to perform thermal spraying while operating the servomotors B1, B2, B3, C1, C2, C3, D.

[0017]

EFFECTS OF THE INVENTION According to the present invention, it is possible to accurately and automatically detect a complicated shape of the melt-spraying, and automatically perform the spraying in the vertical direction and the rotation of the spraying nozzle and to the sprayed surface. It is possible to perform highly reliable repairs without waste. The laser profile meter accurately recognizes the shape of the refractory material's melting loss, and the information obtained from that is accurately linked to the operation of the thermal spraying apparatus to determine the thermal spraying amount according to the exact amount of thermal damage of each repaired part. Can be carried out.

[Brief description of drawings]

FIG. 1 is an explanatory perspective view showing the whole one embodiment of the present invention.

FIG. 2 is an enlarged explanatory view of an essential part of the profile meter robot shown in FIG.

FIG. 3 is an enlarged explanatory view of a main portion shown in FIG. 1: a tip portion of a horizontal spray robot.

FIG. 4 is an enlarged explanatory view of a main part shown in FIG. 1: a tip part of a multi-directional spraying robot.

[Explanation of symbols]

1 ... Profile meter robot 2 ... Horizontal spraying robot 3 ... Multi-directional spraying robot Z ... Whole turning device that turns a circular frame A ... Servo motor B ... Servo motor C ... Servo motor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shigenori Yakura 1 Nishinosu, Oita-shi, Oita Steel Co., Ltd. (72) Inventor Yukinobu Oshima 1-o Nishinozu, Oita-shi Nippon Steel Oita Co., Ltd. Oita Equipment Design Co., Ltd.

Claims (2)

[Claims] 1. A profile meter robot and a spraying robot having the same fulcrum as the origin of an absolute coordinate system, the angle and depth (distance) of the melt surface are detected by the profile meter robot in advance, and the spray nozzle of the spray robot is used. The spraying repair of refractory is characterized in that while maintaining the spraying angle and spraying distance of the sprayed surface to the predetermined values, the nozzle moving speed is moved at a constant speed, and multiple layers are repeatedly sprayed until a predetermined repair shape is achieved. Method. 2. A profile meter robot comprising a mechanism having the same fulcrum as an origin of an absolute coordinate system and capable of numerically determining a position and a range finder capable of measuring the position and direction of a melt-sprayed surface, and spraying. Consists of a spray robot with a mechanism that can numerically determine the position and direction of the nozzle and a spray device, and a control device that can control the spray angle and distance of the spray robot based on the spray damage profile measured by a profile meter robot. Refractory thermal spray repair equipment.