JPH11152513A - Brick laying method in converter and brick-laying device for converter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a brick laying method in a converter which reduces the equipping cost and can execute the precise laying work and improve the working efficiency. SOLUTION: The refractory bricks 4 are laid up in the inner wall of the converter 2 through a process for opening an opening part at the lower surface of the converter 2 by dividing the bottom part of the converter 2, a process for positioning a brick laying device 1 in the lower part of the opening part at the lower surface of the converter 2, a process for carrying a pallet 10 laying the refractory brick just below a tower 7, a process for positioning a vertical articulated manipulator 3 to the working position by rising the tower 7, a process for rising the pallet 10 onto a turning deck 14 through the inner part of the tower 7 and a process for laying up the refractory brick 4 to a prescribed position by holding the refractory brick 4 with a holding device of the manipulator 3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a converter brick laying method and a converter brick laying apparatus, and more particularly to an improvement in work efficiency.

[0002]

2. Description of the Related Art Refractory bricks are laid on the inner wall of a converter to protect the furnace shell from high-temperature molten metal.
The refractory brick deteriorates and wears due to the influence of high-temperature molten metal, repeated heating and cooling, and the like. For this reason, it is necessary to periodically repair deteriorated and worn refractory bricks. Conventionally, in order to repair the refractory bricks laid on the inner wall of the converter, the refractory bricks that have been deteriorated or worn have been removed, and new refractory bricks have been manually reloaded. In this conventional converter brick-laying method, a work scaffold with an elevating function is loaded from an opening at the top of the furnace body, and the refractory bricks placed on a pallet are carried into the furnace by a crane, and the refractory bricks are manually loaded. Had piled up. In such a manual brick-laying method, there is a problem that dust is generated because the brick-laying operation is performed in a closed space called a converter, and the working environment is extremely poor. For this reason, attempts have been made to automate brickwork using a robot. Such a conventional converter brick device will be described with reference to FIG. Conventional converter brick laying apparatus 50
As shown in FIG. 22, a telescopic tower 52 which can be extended and contracted in the vertical direction is provided on a movable cart 51, and a horizontal articulated manipulator 53 having a gripping device is provided above the tower 52. (For example, Nippon Steel Technical Report No. 356, 1995: pp. 72-75). In the brick-laying operation using the brick-laying apparatus 50, the furnace bottom of the converter 2 has a divided structure, and furnace-building equipment and refractory bricks are charged from the opening of the furnace bottom. The mold manipulator 53 is installed, and brickwork is performed by the manipulator 53.

[0003]

However, the above-described conventional brick-laying method using the converter brick-laying apparatus has the following problems since a horizontal articulated manipulator is used. First, the manipulator arm becomes long. Secondly, in order to adjust the position in the height direction, an elevating mechanism having a predetermined stroke or more must be provided at the tip of the arm. Therefore, the general weight of the manipulator increases, and as a result, the size of the manipulator increases. Third, the only bricks that can be piled up using the manipulator are bricks that are horizontally arranged, such as a straight body, which is less than half of the whole, and bricks that are not horizontal at the bottom and the slope of the furnace top. The only way to work was to load large bricks in an unstable position. Fourth, if the tact time is the same, the speed of the distal end portion increases, and it is necessary to increase the rigidity of the arm, which increases the equipment cost. Fifth,
When the tower for raising and lowering the manipulator is not expanded and contracted, the stroke in the height direction is small. For this reason,
The work must be performed while extending and retracting the tower. However, when the tower is extended and retracted, the center position of the manipulator is shifted due to the collapse of the tower, and accurate construction cannot be performed. The present invention has been proposed in view of the above-described problems of the conventional technology, and reduces equipment costs.
An object of the present invention is to provide a converter brick laying method and a converter brick laying apparatus capable of performing accurate construction and further improving work efficiency.

[0004]

According to the first aspect of the present invention,
A vertically articulated type telescopic tower having a telescopic tower that can expand and contract in the vertical direction, a swing deck that can swing horizontally, and a gripping device on the swing deck are provided on the movable cart. This is a converter brick-laying method for stacking refractory bricks on the inner wall surface of a converter that can be divided into bottom parts, using a brick-laying device provided with a manipulator. A step of opening a unit, a step of positioning the brick-laying device below an opening on the bottom surface of the converter, a step of transporting a pallet on which refractory bricks are placed just below the tower, and raising the tower to perform work. Positioning the manipulator at a position, raising the pallet through the tower onto the revolving deck, and gripping the refractory brick by the gripping device of the manipulator to a predetermined position. Characterized in that comprising the step of piling up refractory bricks.

[0005] The second aspect of the present invention is the first aspect of the present invention.
In addition to the configuration of the invention described in the above, in the brick-laying step by the manipulator, the revolving deck is swung to stack fire-resistant bricks while moving the work position of the manipulator.

[0006] The invention according to claim 3 is the above-described claim 1.
Or, in addition to the configuration of the invention described in claim 2, the brick-laying device includes two vertical articulated manipulators facing each other on a swivel deck, and the refractory bricks are stacked in a double spiral by each manipulator. It is characterized by.

According to a fourth aspect of the present invention, there is provided a converter brick stacking apparatus for stacking refractory bricks on an inner wall surface of a converter whose bottom can be divided, the converter brick being provided on a movable cart, and provided on the cart. A telescopic tower that can expand and contract vertically,
A swing deck is provided on the upper part of the tower and is capable of swinging in the horizontal direction, and a vertical articulated manipulator is provided on the swing deck and has a gripping device at a tip end of an arm.

[0008] The invention of claim 5 provides the above-mentioned claim 4.
In addition to the configuration of the described invention, two vertical articulated manipulators are provided so as to face each other on the revolving deck.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION (Brick laying apparatus) An embodiment of the present invention will be described below with reference to the drawings. 1 to 10
1 shows a converter brick laying device according to the present invention, FIG. 1 is a front view of the brick laying device, FIG. 2 is a plan view of the brick laying device, and FIG. 3 shows a state where the tower is extended. FIG. 4 is a side view of the brick-laying device, showing a state in which the tower is contracted, FIG. 5 is a partial cross-sectional view of the tower for explaining a telescopic state of the tower, and FIG. FIG. 7 is a schematic front view showing a pallet lifting device, FIG. 7 is a front view of a manipulator for explaining a turning device, FIGS. 8 and 9 are plan views of the manipulator for explaining offset of the manipulator, and FIG. It is a side view of an apparatus.

As shown in FIGS. 1 and 2, a converter brick laying apparatus 1 includes a converter 2 whose bottom can be divided from a lower surface opening of the converter 2.
This is a device for loading the manipulator 3 into the inside and stacking the refractory bricks 4 on the inner wall surface of the converter 2. As shown in FIG. 1, the brick stacking device 1 is mounted on a trolley 6 which is movable by providing wheels 5 on a lower surface. The carriage 6 can be moved by towing using a towing device (not shown) such as a diesel locomotive. As shown in FIG. 1, the cart 6 is provided with a telescope-like tower 7 that can expand and contract in the vertical direction. The tower 7 can be expanded and contracted by a tower expansion and contraction device 8 including a hydraulic cylinder and the like as shown in FIGS. That is, when the tower expansion / contraction device 8 is driven to extend the tower 7, the manipulator 3 can be raised and charged into the converter 2 as shown in FIG. 3. On the other hand, when the tower 7 is contracted by driving the tower expansion / contraction device 8,
As shown in FIG. 4, the manipulator 3 can be taken out of the converter 2 by lowering the manipulator 3.

The expansion and contraction of the tower 7 will be described in more detail with reference to FIG. As shown in FIGS. 5A to 5C, the tower 7 is provided with a four-stage telescopic tubular part 9, and by driving the tower expansion / contraction device 8, each of the tubular parts 9 is formed.
Is raised or lowered. In a state where the tower 7 is contracted, as shown in FIG. 5A, the inner tube portions 9 are stored in the outer tube portions 9, respectively. Then, when the tower expansion / contraction device 8 is driven, as shown in FIGS.
As shown in (5), the tower 7 can be sequentially raised from the inner cylindrical portion 9 to extend the tower 7 upward. 1 and 3
Although the number of stages of the tower 7 is set to four in the embodiment shown in (1), the number of stages of the tower 7 can be changed as appropriate according to the size of the converter 2 for brickwork.

The interior of the tower 7 is hollow, and a pallet lifting device 11 for raising the pallet 10 on which the refractory bricks 4 are placed is provided. As shown in FIG. 6, the pallet lifting device 11 includes a wire 12 for suspending the pallet 10 at four points, and a wire winding device 13 for winding the wire 12. Then, when the wire 12 is wound by the wire winding device 13, the pallet 10 suspended by the wire 12 rises in the tower 7. As shown in FIGS. 1 and 7, a swing deck 14 is provided at the upper end of the tower 7 described above. This swivel deck 1
4 can be turned by a turning device 15 such as a motor. As shown in FIGS. 1 and 7, two vertical articulated manipulators 3 are provided on the revolving deck 14 at opposing positions on the revolving deck 14. The manipulator 3 is, as shown in FIGS.
4 can be offset from the center side toward the outside.

Each manipulator 3 has an arm 1
6, a gripping device 1 for gripping a refractory brick 4
7 is provided. As shown in FIG. 10, the gripping device 17 includes two suction devices 18 for sucking and lifting the refractory brick 4. The suction device 18 includes a mechanism for changing the interval between the suction devices 18, a mechanism for absorbing the inclination, and a mechanism for buffering an impact.

(Brick Stacking Method) Next, a procedure of stacking the refractory bricks 4 on the inner wall surface of the converter 2 using the brick stacking apparatus 1 will be described with reference to FIGS. FIG.
1 is a perspective view of a refractory brick, FIG. 12 is an explanatory diagram showing a stacking direction of bricks, and FIGS. 13 to 21 are explanatory diagrams showing a brick stacking procedure in order. In order to stack the refractory bricks 4 on the inner wall surface of the converter 2, first, the bottom of the converter 2 is divided, and an opening is formed on the lower surface of the converter 2. When the worn or deteriorated refractory brick 4 is repaired, the work of removing the worn or deteriorated refractory brick 4 is performed in advance. Further, when starting the brick-laying operation, the manipulator 3 and a balancer (not shown) are mounted on the tower 5 as an assembling operation of the brick-laying apparatus 1. Then, as shown in FIG. 13, the bogie 6 on which the brick stacking device 1 has been assembled is towed by a towing vehicle and positioned immediately below an opening formed in the lower surface of the converter 2. Next, as shown in FIG. 14, the tower expansion / contraction device 8 is driven to extend the tower 7, and the manipulator 3 is connected to the converter 2
Charge inside.

Next, as shown in FIGS. 15 and 16, the pallet 10 on which the refractory bricks 4 are placed is carried in by a forklift 19 and transferred onto a conveyor (not shown) installed on the carriage 6. As shown in FIG. 17, the pallet 10 transferred onto the conveyor of the carriage 6 is moved by the conveyor to the tower 7 as shown in FIG.
Moved directly below. Next, as shown in FIG. 18, the manipulator 3 is offset toward the inner wall of the converter 2. Next, as shown in FIG. 19, the pallet 10 is moved up through the tower 7 to a position above the revolving deck 14.

Next, as shown in FIGS. 20 and 21, the refractory brick 4 is gripped by the gripping device 17 of the manipulator 3 and the refractory brick 4 is stacked at a predetermined position. At this time, 2
The refractory bricks 4 are piled up by the manipulator 3 of the machine. First, when ten or more refractory bricks 4 are stacked side by side, the revolving deck 14 is turned to shift the position of the manipulator 3, and ten more refractory bricks 4 are further stacked. Stack them side by side. The turning of the manipulator is not uniform due to the relationship between the converter brick brick radius and the reach of the manipulator, but is performed by turning the turning deck by about 20 to 40 degrees. As described above, the work of stacking the bricks side by side while stacking the turning deck while turning the turning deck is repeated, so that the brick stacking work is performed over the entire circumference of the inner wall surface of the converter 2. The refractory bricks 4 piled up on the inner wall of the converter 2 are shown in FIG.
As shown in FIG. 1, the cross section is trapezoidal, and by stacking them side by side, it is possible to stack without gaps on the inner wall surface of the converter 2. The direction in which the refractory bricks 4 are stacked is such that the manipulators 3 form a double spiral as shown in FIG. in this way,
By stacking the refractory bricks 4 in a double spiral, the brick stacking efficiency can be further improved.

[0017]

According to the present invention having the above-described structure,
The following effects are obtained. First, since the work of aligning the refractory bricks can be performed outside the brickworking apparatus, the setup time of the work can be reduced. Second
In addition, since the manipulator is offset and the revolving deck itself is rotated to arrange the manipulator at a position close to the brick-laying position, a standard arm can be used, and the equipment cost is reduced. Third,
The trajectory between the brick holding position and the brick stacking position is minimized, and the work cycle of brick stacking can be shortened even at a standard speed. Fourth, since the refractory bricks are stacked in a double spiral by two manipulators, the efficiency of the brick-laying operation can be further improved. Fifth, the range in which brickwork can be performed using a manipulator can be expanded to a bottom portion, a furnace top inclined portion, and the like. For this reason, the hand-loading range requires only skill but requires only a relatively small-sized brickwork, so that the work load can be reduced.

[Brief description of the drawings]

FIG. 1 is a front view of a brick-laying device.

FIG. 2 is a plan view of the brick laying device.

FIG. 3 is a side view of the brick laying apparatus showing a state where the tower is extended.

FIG. 4 is a side view of the brick laying apparatus showing a state where the tower is contracted.

FIG. 5 is a partial cross-sectional view of the tower for explaining a telescopic state of the tower.

FIG. 6 is a schematic front view showing a pallet lifting device.

FIG. 7 is a front view of a manipulator for explaining a turning device.

FIG. 8 is a plan view of the manipulator for explaining an offset of the manipulator.

FIG. 9 is a plan view of the manipulator for explaining an offset of the manipulator.

FIG. 10 is a side view of the gripping device.

FIG. 11 is a perspective view of a refractory brick.

FIG. 12 is an explanatory view showing a stacking direction of bricks.

FIG. 13 is an explanatory diagram showing a brick-laying procedure in order.

FIG. 14 is an explanatory view showing a brick-laying procedure in order.

FIG. 15 is an explanatory diagram showing a brick-laying procedure in order.

FIG. 16 is an explanatory diagram showing a brick-laying procedure in order.

FIG. 17 is an explanatory diagram showing a brick-laying procedure in order.

FIG. 18 is an explanatory diagram showing a brick-laying procedure in order.

FIG. 19 is an explanatory view showing a brick-laying procedure in order.

FIG. 20 is an explanatory diagram showing a brick-laying procedure in order.

FIG. 21 is an explanatory diagram showing a brick-laying procedure in order.

FIG. 22 is a schematic diagram showing a schematic configuration of a conventional brick brick furnace apparatus.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 brick-laying device 2 converter 3 manipulator 4 refractory brick 5 wheel 6 trolley 7 tower 8 tower expansion and contraction device 9 cylindrical portion 10 pallet 11 pallet lifting device 12 wire 13 wire winding device 14 turning deck 15 turning device 16 arm 17 gripping device 18 Adsorption device 19 Forklift (Conventional example) 50 Converter brick laying device 51 Bogie 52 Tower 53 Horizontal articulated manipulator

Claims (5)

[Claims] 1. A telescope-like tower that can be extended and contracted in a vertical direction is provided on a movable carriage, a swing deck that can swing horizontally is provided above the tower, and a gripping device is provided on the swing deck. A method for stacking refractory bricks on the inner wall surface of a converter whose bottom can be divided using a brick-laying device provided with a vertical articulated manipulator having A step of opening an opening, a step of positioning the brick-laying device below the opening on the bottom of the converter, a step of transporting a pallet on which refractory bricks are placed directly below the tower, and elevating the tower. A step of positioning the manipulator at a work position; a step of raising the pallet through the tower onto the revolving deck; and a step of gripping a refractory brick by the gripping device of the manipulator. A method of stacking refractory bricks in place, and a method of stacking converter bricks, comprising: 2. The method according to claim 1, wherein in the brick-laying step using the manipulator, the refractory bricks are piled up while moving the working position of the manipulator by rotating the swivel deck. 3. The brick-laying device according to claim 1, further comprising two vertically articulated manipulators opposed to each other on a revolving deck, wherein each manipulator stacks the refractory bricks in a double spiral shape. The converter brick construction method according to claim 2. 4. A device for stacking refractory bricks on an inner wall surface of a converter whose bottom can be divided, comprising: a movable truck; and a telescope-shaped telescopic device provided on the truck and capable of vertically extending and contracting. A tower, a turning deck provided on the upper part of the tower and capable of turning in a horizontal direction, and a vertical articulated manipulator provided on the turning deck and having a gripping device at a tip end of an arm. A converter brick-laying device. 5. The converter brick building apparatus according to claim 4, wherein two vertical articulated manipulators are provided so as to face each other on a swivel deck.