JPH08283811A - Portable type spray repairing method and device therefor - Google Patents

Abstract

PURPOSE: To provide a portable type spray repairing method and a device therefor, in which the setting and the removal are easily executed and the precise repairing can be executed and which universal applicability is high. CONSTITUTION: The main iron trough 2 for blast furnace is set on a carriage 20 shiftable in the longitudinal direction, and also, the portable type spray repairing device 1 provided with a spray robot 5 for controlling at least the posture and the position of a spray nozzle 7, a monolithic refractory spraying machine 13 and control devices 9, 10, 11 for indicating the control of the above devices is arranged on a fixed base 3 arranged above the main iron trough 2 for blast furnace. While shifting the carriage 20, the posture and the position of the spray nozzle 7 are controlled with the spray robot 5, and the monolithic refractory is sprayed to the repairing position of the inner wall surface of the trough 2 to execute the repairing to the inner wall surface of the trough 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a repairing device and a repairing method for a refractory which is worn by passing molten metal or the like, and particularly to the periphery of a taphole and the inner surface of a taphole from the tuyere inspection deck of a blast furnace. The present invention relates to a repairing device and a repairing method for a refractory for molten metal for repairing.

[0002]

2. Description of the Related Art Generally, casting equipment for extracting molten iron and slag that has fallen into the pool of blast furnace from the taphole to the outside of the furnace is generally equipped with tapping holes and tapping machines that open tapholes. It is composed of a mud gun that closes the pig iron, and a tap iron gutter that flows molten iron and slag. The tap hole is opened after a time when the melting inside the blast furnace has sufficiently progressed and a predetermined amount of tap metal is possible, and is closed after the predetermined amount of tap metal is completed. In the process of repeating such opening and closing, or in the process of melting in the normal blast furnace, cracks occur on the taphole surface due to large pressure fluctuations due to gas pressure rise around the taphole and blockage. ,
Roughness and wear such as partial dropout of the surface forming material occur, and during the work of closing the tap hole, the filler leaks from between the tip surface of the mud gun and the tap surface. Further, since the mud gun is repeatedly pressed against the taphole surface, a depression is formed on the taphole surface.

On the other hand, the hot metal and slag extracted from the taphole pass through the tappipe with a length of about 20 m, but at that time, the refractory material applied to the inner surface of the tappipe is worn out, Causes chemical deterioration. In addition, the refractory constructed on the inner surface of the taphole will be significantly worn by repeated cooling due to switching of the taphole.

An invention for repairing such a deteriorated refractory material is disclosed in JP-A-60-53275. This invention is intended to improve the peelability of residual adherent metal on the inner wall surface of a molten metal container, to prevent the refractory lining life and to prevent the temperature drop of the molten metal. A tool that holds a tool that is integrated with a spray nozzle and a leveling device, and a positioning carriage that positions the tool, and a device that has a mechanism for raising and lowering and tilting the tool.

An invention for repairing refractories around the blast furnace taphole is disclosed in Japanese Patent Laid-Open No. 57-9809. The present invention is intended for the flow molding of a flowable amorphous refractory material into the wear portion of the blast furnace tap hole frame portion,
A mold with a predetermined shape is attached to the tip of the mud gun, the mud gun is turned to the fixed position when the tap hole is closed, and a flowable amorphous refractory is poured into the space between the mold and the wall surface around the tap hole. Then, the taphole frame is molded.

[0006]

However, in the refractory repair device disclosed in the above-mentioned Japanese Patent Laid-Open No. 60-53275, the vehicle basically travels on the upper left fixed track while straddling the pit. Due to the method, when it is applied to the repair of the big gutter spraying across the big gutter or the repair of the tap hole spraying, it is more difficult than the worker's safety and the dust accumulated on the floor.

Further, although the blast furnace has a plurality of tap holes and gutters (usually about 3 to 4), a large gutter spray repair and a tap hole spray repair, and two types of repairs, one blast furnace total 6
According to the present technology, one unit can handle up to eight types of repairs by changing the placement position. (In the prior art, since it is limited to one type of work, a plurality of repairing devices are required. There is a problem that requires more space).

Further, in the refractory material repairing apparatus disclosed in the above-mentioned Japanese Patent Laid-Open No. 57-98009, a special mold is attached to the tip of the mud gun to repair the irregular shaped refractory material. There was a problem that there was no sex. That is, it is necessary to separately prepare a device for repairing the refractory on the inner wall surface of the blast furnace gutter and a device for repairing the refractory on the periphery of the taphole, which causes a problem of increased equipment cost.

In addition, in the process of repairing the refractory around the taphole, after spraying the irregular refractory, the mud gun is rotated to pressure-bond the irregular refractory to form the taphole surface. However, since the blast furnace furnace body has a high heat retention and the solidification rate of the amorphous refractory is high, the amorphous refractory must be pressure-bonded promptly after the completion of spraying. For this reason,
From the beginning, it is possible to install a refractory repair device at a position where there is no mud gun interference and extend the spray nozzle to repair the refractory around the taphole.

However, in the method of installing the refractory repair device at a position where there is no mud gun interference, even if the mud gun interference is avoided by a gap close to the limit, for example, from the tap hole on the center line of the blast furnace gutter. Approximately 7-8m It is necessary to install the repair device separately. For this reason, the distance from the main body of the repair device to the tip of the spray nozzle becomes long, and positioning of the spray nozzle is difficult, and when the spray nozzle is swung in an arc shape, displacement occurs due to vibration, and repair efficiency is increased. In addition, there is a possibility that a problem of deterioration of repair accuracy may occur.

The present invention has been proposed in view of the above problems of the prior art, and an object of the present invention is to provide a portable spray repair method and apparatus which are easy to install and remove and have high versatility. To provide.

[0012]

In order to achieve the above object, the invention according to claim 1 is to install a blast furnace gutter on a carriage movable in the longitudinal direction, and to mount it on a pedestal provided above the blast furnace gutter. , A blowing robot that controls at least the attitude and position of the blowing nozzle, an amorphous refractory blowing machine, and a portable blowing repair device equipped with a control device that directs control of these devices are installed, and the carriage is moved. However, the spray robot controls the posture and position of the spray nozzle to spray an irregular refractory material to the repaired portion of the inner wall of the gutter to repair the inner wall surface of the gutter.

In addition to the structure according to the above-mentioned claim 1, the invention according to claim 2 is characterized in that the portable spraying repair device is slidably moved in the longitudinal direction of the blast furnace gutter on its fixed base. The feature is that the spraying position of the amorphous refractory on the wall is finely adjusted.

Further, the invention according to claim 3 controls at least the attitude and the position of the spray nozzle on a pedestal provided at a position above the taphole above the blast furnace gutter and at a position not interfering with the turning motion of the mud gun. A spraying robot, an amorphous refractory spraying machine, and a portable spraying repair device equipped with a control device for instructing control of these devices are installed in
The spray robot controls the posture and position of the spray nozzle to spray an irregular refractory material to a repair portion around the taphole to perform repair around the taphole.

Further, in addition to the configuration of the above-mentioned claim 3, the invention of claim 4 is directed to the robot on the portable spray repair device together with the slide base toward the tap hole at the time of spraying the irregular-shaped refractory. The robot on the irregular shaped refractory blowing repair device moves with the slide base to the front side of the tap hole and retracts when the crimp molding of the irregular shaped refractory is performed by the mud gun. It is characterized by preventing interference with.

According to a fifth aspect of the present invention, there is provided a portable spray repair device installed above the blast furnace gutter, and at least a spray robot for controlling the posture and position of the spray nozzle, and an irregular refractory spray machine. A moving device for moving the spraying robot in the longitudinal direction of the gutter is provided integrally with a control device for instructing control of these devices.

[0017]

According to the first aspect of the present invention, when the refractory material constructed on the inner wall surface of the blast furnace gutter is deteriorated and worn, the blast furnace gutter is installed on a carriage movable in the longitudinal direction in order to repair the refractory material. A portable spray repair system equipped with a spray robot that controls at least the position and position of the spray nozzle, an irregular refractory spray machine, and a control device that directs the control of these devices on a pedestal installed above the blast furnace gutter. Install the device.

Then, while moving the trolley in which the blast furnace gutter is installed, the spraying robot is operated to control the posture and position of the spraying nozzle and spray the irregular refractory material to the repaired portion on the inner wall surface of the gutter.

Therefore, since the amorphous refractory can be sprayed while controlling the position and position of the spray nozzle, highly accurate repair can be performed in the refractory repair of the inner wall surface of the blast furnace gutter.

According to the second aspect of the present invention, the portable spray repair device is slid on the fixed base in the longitudinal direction of the blast furnace gutter to finely adjust the spray position of the irregular refractory against the inner wall of the gutter. I do.

Therefore, more accurate repair can be performed.

According to the third aspect of the present invention, when the refractory material installed near the taphole is deteriorated and worn, repairing the refractory material is performed on the front side of the taphole above the blast furnace gutter. , A portable spray repair device including at least a spray robot for controlling the attitude and position of a spray nozzle, an irregular refractory sprayer, and a control device for instructing control of these devices at a position not interfering with the swirling motion of the mud gun. The leg of the fixed base, which is integrated with this, is installed so as to straddle the gutter.

Then, the spraying robot is operated to control the posture and position of the spraying nozzle and spray the amorphous refractory material to the repaired portion around the taphole.

Further, in the invention of claim 4, when spraying the amorphous refractory, the robot on the portable spray repair device is moved together with the slide base toward the tap hole, and the irregular refractory by the mud gun is used. At the time of crimping molding, the robot on the irregular shaped refractory blowing repair device is moved to the front side of the tap hole along with the slide base and retracted to prevent interference between the portable blowing repair device and the rotation of the mud gun.

Therefore, when the refractory material around the taphole is repaired, the equipment can be easily handled, and the refractory material can be installed easily and in a short time.

According to the invention of claim 5, in order to perform the above-mentioned spray repair, the attitude and position of the spray nozzle is controlled by the spray robot. The amorphous refractory used for spraying by the spraying robot is supplied by the amorphous refractory spraying machine. Then, the control device instructs the control of these devices. Further, the moving device can move the spraying robot in the longitudinal direction of the gutter.

This repairing device can be used for repairing both the inner wall surface of the blast furnace gutter and the periphery of the taphole.

Therefore, since the refractories around the blast furnace gutter and the taphole can be easily repaired by changing the installation position of the same repair device, the versatility of the repair device can be enhanced.

[0029]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a portable spray repair device according to the present invention will be described with reference to the drawings. 1 to 3 are spray repair devices for repairing the inner wall surface of the blast furnace gutter.
Is a side view, FIG. 2 is a plan view, FIG. 3 is a front view, and FIGS.
Is a spray repair device when repairing the area around the taphole,
FIG. 4 is a side view, FIG. 5 is a plan view, FIG. 6 is a front view, and FIG. 7 is a plan view showing handling with a mud gun.

The portable spray repairing device 1 is a device installed on a fixed base 3 installed so as to straddle a blast furnace gutter 2, and a shelf-type spraying device is installed on a slide base 4 placed on the fixed base 3. A robot 5 is installed, a spray nozzle 7 and a drill 8 are attached to the tip of an arm 6 of the spray robot 5, and a control panel 10, an operation panel 9, and a control panel 9, on a fixed base 3 beside the slide base 4. A robot controller 11, an air dryer 12, and a sprayer 13 for taphole repair are installed. When repairing the inner wall surface of the gutter 2, a gutter repairing sprayer 14 is further installed beside the fixed base 3 (FIG. 3). The control panel 10, the operation panel 9, and the robot controller 11 described above function as a control device that controls the spray robot 5.

The above-mentioned slide base 4 is movable along the longitudinal direction of the gutter 2 on the fixed base 3, and has a motor 15 provided behind the slide base 4 and a ball screw 16 connected to the motor 15. Thus, the gutter 2 can be moved in the longitudinal direction. Motor 1 mentioned above
5 and the ball screw 16 etc. function as a moving device of the spraying robot 5.

Further, a telescopic device 17 is provided at the tip of the arm 6 of the spray robot 5, so that the spray nozzle 7 and the drill 8 can be expanded and contracted.

A heat-resistant board 18 is attached to the lower surface of the slide base 4, and the spraying robot 5 is housed in a heat-resistant jacket 19 to be thermally protected during hot repair.

The above-mentioned spray robot 5 is a device for spraying an irregular shaped refractory while controlling the posture and position of the spray nozzle 7. The robot main body 51 is mounted on the fixed base 3 so as to be rotatable, and First arm 6a rotatably attached to the robot body 51
A second arm 6b rotatably attached to the tip of the first arm 6a, and a telescopic device 17 attached to the tip of the second arm 6b.
It is equipped with a spray nozzle 7 and a drill 8 which are attached via.

Then, by the manual operation from the operation panel 9 or a pendant switch (not shown), or the automatic playback operation based on the operation pattern taught beforehand, while maintaining the proper position and the proper posture of the spray nozzle 7, the inner wall of the large gutter or Amorphous refractory is sprayed on the periphery of the taphole.

A procedure for repairing the refractory on the inner wall surface of the blast furnace gutter 2 using the above-mentioned spray repair apparatus 1 will be described with reference to FIGS. 1 to 3.

First, the spray repair device 1 is installed on the gutter 2 using an overhead crane or the like so that the legs of the fixed base 3 integrally formed with the spray repair device 1 straddle the gutter 2. 3 Horizontal spray gun for repairing Ohiga 1
Install 4.

Then, the carriage 20 is run so that the end portion of the gutter 2 which is the repair start position is located below the spray repair device 1. In this state, the spraying robot 5 is operated manually or by an automatic playback operation based on a previously taught operation pattern.
The proper position and position of the spray nozzle 7 are set for each repaired part of the inner wall surface of the nozzle, and the amorphous fireproof material is supplied from the sprayer 14 for repairing the gutter, while the spray nozzle 7 is weaved vertically and horizontally, and the amorphous fireproof. Spray things.

Then, the carriage 20 is sequentially moved to repair the inner wall surface within a predetermined length range of the gutter 2 in the longitudinal direction.

When it is necessary to finely adjust the movement of the gutter 2 in the longitudinal direction, the motor 15 attached to the fixed base 3 is driven to rotate the ball screw 16, and the ball screw 16 is communicated with the ball screw 16 via a slide block. The slide base 4 may be moved along the longitudinal direction of the gutter 2.

A procedure for repairing the refractory around the taphole 21 of the blast furnace gutter 2 using the above-described spray repairing apparatus 1 will be described with reference to FIGS. 4 to 7.

First, at a position where it does not interfere with the turning operation of the mud gun 22, an overhead crane or the like is used so that the leg portion of the fixed base 3 integrally formed with the spray repair device 1 straddles the gutter 2. Install.

Then, the spray nozzle 7 and the drilling drill 8 are projected toward the tap hole 21, and the spray robot 5 is sprayed appropriately by manual or automatic playback operation based on a pre-teached motion pattern. The posture and position of the nozzle 7 are roughly set.

Next, the tapping nozzle 7 and the drilling hole 8 are precisely aligned with the taphole 21 by image processing using image processing means or the like.

Then, an irregular refractory material is supplied from the taphole repair spraying machine 13 by manual or automatic playback operation based on a previously taught operation pattern, and the spraying nozzle 7 is weaved vertically and horizontally. Spray a standard refractory.

When it is necessary to finely adjust the movement of the gutter 2 in the longitudinal direction, the motor 15 attached to the fixed base 3 is driven to rotate the ball screw 16, and the ball screw 16 is connected to the ball screw 16 via a slide block. The slide base 4 may be moved along the longitudinal direction of the gutter 2.

When the spraying of the irregular-shaped refractory to the peripheral portion of the tap hole 21 is completed, the motor 15 attached to the fixed base 3 is driven to rotate the ball screw 16 as shown by the dotted line in FIG. , The slide base 4 connected to the ball screw 16 via the slide block is moved in a direction away from the tap hole 21,
The spray repair device 1 is retracted from within the turning range.

When the spray repair device 1 is moved to the retracted position, the mud gun 22 is swung to press and mold the amorphous refractory.

[0049]

As described above, since the present invention has the above-mentioned structure, the following effects can be obtained.

According to the first aspect of the present invention, while moving the trolley in which the blast furnace gutter is installed, the spraying robot is operated to control the posture and position of the spraying nozzle, and the irregular refractory material is repaired on the repaired part of the inner wall of the gutter. By spraying
We are repairing refractories on the inner wall of the blast furnace gutter.

Therefore, since the posture and the position of the spray nozzle are controlled by the robot, the spray control of the amorphous refractory becomes easy. Further, since the amorphous refractory is sprayed while controlling the attitude and position of the spray nozzle 7, highly accurate repair can be performed.

According to the second aspect of the present invention, the portable spraying repair device is moved in the longitudinal direction of the blast furnace gutter to finely adjust the spraying position of the irregular refractory on the inner wall of the gutter.

Therefore, since the attitude and position of the spray nozzle can be controlled more finely, more accurate repair can be performed.

According to the third aspect of the present invention, the blowing robot is operated to control the posture and position of the blowing nozzle 7 and blow the irregular refractory material to the repaired portion around the taphole to make the tapped iron. Repairing refractories around the mouth.

Therefore, in repairing the refractory around the taphole, it becomes easy to handle the device for avoiding interference with the mud gun, and the refractory can be easily installed in a short time.

According to the fourth aspect of the present invention, when spraying the amorphous refractory, the portable spray repair device is moved toward the taphole, and when the irregular refractory is pressure-bonded by the mud gun, the irregular refractory is pressed. The object spraying repair device is moved to the front side of the tap hole and retracted to prevent interference between the portable spray repair device and the mud gun turning operation.

Therefore, in repairing the refractory around the taphole, it becomes easier to handle the device for avoiding interference with the mud gun, and the refractory construction can be performed more easily and in a shorter time.

Further, in the invention of claim 5, the above-mentioned repair device for performing spray repair can be used for repairing both the inner wall surface of the blast furnace gutter and the periphery of the taphole.

Therefore, since the refractory material around the blast furnace gutter and the taphole can be repaired by changing the installation position of the same repair device, the versatility of the repair device can be enhanced. In addition, since each device does not require its own device, it is possible to reduce the equipment cost.

[Brief description of drawings]

FIG. 1 is a side view of a spray repair device when repairing an inner wall surface of a blast furnace gutter.

2 is a plan view of the spray repair apparatus shown in FIG. 1. FIG.

3 is a front view of the spray repair device shown in FIG. 1. FIG.

FIG. 4 is a side view of a spray repair device during repair of the periphery of a taphole.

5 is a plan view of the spray repair device shown in FIG. 4. FIG.

FIG. 6 is a front view of the spray repair device shown in FIG.

FIG. 7 is a plan view of the spray repair device showing the handling of the mud gun.

[Explanation of symbols]

 1 Portable spraying repair device 2 Ohi 3 Fixed base 4 Slide base 5 Spraying robot 51 Main body 6 Arm 6a 1st arm 6b 2nd arm 7 Spraying nozzle 8 Drilling drill 9 Operation panel 10 Control panel 11 Robot controller 12 Air dryer 13 Output Blowing machine for repairing pigtails 14 Blowing machine for repairing gutters 15 Motor 16 Ball screw 17 Expansion / contraction device 18 Heat-resistant board 19 Heat-resistant jacket 20 Bogie 21 Tap hole 22 Mud gun A Refractory

Claims (5)

[Claims] 1. A blast furnace gutter is installed on a carriage that is movable in the longitudinal direction, and a spraying robot that controls at least the position and position of a spray nozzle and an amorphous refractory sprayer are mounted on a pedestal installed above the blast furnace gutter. Machine, and a portable spray repair device equipped with a control device for instructing the control of these devices, and while the carriage is being moved, the spray robot controls the posture and position of the spray nozzle, and Ohiuchi A portable spray repair method characterized by spraying an irregular shaped refractory material to the repaired part of the wall surface to repair the wall surface inside the Ohiga. 2. A fine adjustment of the spraying position of the irregular refractory material on the inner wall surface of the gutter by slidingly moving the portable spraying repair device on the fixed base in the longitudinal direction of the blast furnace gutter. Item 1. A portable spraying repair method according to Item 1. 3. A gantry provided on the front side of the taphole above the blast furnace gutter and at a position not interfering with the turning movement of the mud gun,
A spraying robot that controls at least the posture and position of the spraying nozzle, an amorphous refractory spraying machine, and a portable spraying repair device equipped with a control device that directs control of these devices are installed, and the spraying robot performs the spraying. A portable spray repair method, characterized in that the shape and position of a nozzle are controlled, and an irregular shaped refractory is sprayed on the repair area around the taphole to repair the taphole area. 4. The portable spraying device is moved toward the taphole when the irregular refractory is sprayed, and the irregular refractory spraying device is provided on the front side of the taphole when the irregular refractory is crimp-molded by a mud gun. A portable spraying repair method, characterized in that the portable spraying device is moved to and retracted to prevent interference between the portable spraying device and the turning movement of the mud gun. 5. A portable spray repairing device installed above a blast furnace gutter, comprising at least a spray robot for controlling the posture and position of a spray nozzle, an irregular refractory sprayer, and instructions for controlling these devices. A portable spray repair device, which is equipped with a moving device that moves the spray robot in the longitudinal direction of the gutter.