NL2013192B1 - Apparatus and method for grinding carbonaceous materials. - Google Patents
Apparatus and method for grinding carbonaceous materials. Download PDFInfo
- Publication number
- NL2013192B1 NL2013192B1 NL2013192A NL2013192A NL2013192B1 NL 2013192 B1 NL2013192 B1 NL 2013192B1 NL 2013192 A NL2013192 A NL 2013192A NL 2013192 A NL2013192 A NL 2013192A NL 2013192 B1 NL2013192 B1 NL 2013192B1
- Authority
- NL
- Netherlands
- Prior art keywords
- robot
- blast furnace
- level
- hearth
- grinding
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B7/00—Machines or devices designed for grinding plane surfaces on work, including polishing plane glass surfaces; Accessories therefor
- B24B7/10—Single-purpose machines or devices
- B24B7/18—Single-purpose machines or devices for grinding floorings, walls, ceilings or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0038—Other grinding machines or devices with the grinding tool mounted at the end of a set of bars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
- B28D1/003—Multipurpose machines; Equipment therefor
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21B—MANUFACTURE OF IRON OR STEEL
- C21B7/00—Blast furnaces
- C21B7/04—Blast furnaces with special refractories
- C21B7/06—Linings for furnaces
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21C—PROCESSING OF PIG-IRON, e.g. REFINING, MANUFACTURE OF WROUGHT-IRON OR STEEL; TREATMENT IN MOLTEN STATE OF FERROUS ALLOYS
- C21C5/00—Manufacture of carbon-steel, e.g. plain mild steel, medium carbon steel or cast steel or stainless steel
- C21C5/28—Manufacture of steel in the converter
- C21C5/42—Constructional features of converters
- C21C5/44—Refractory linings
- C21C5/441—Equipment used for making or repairing linings
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D1/00—Casings; Linings; Walls; Roofs
- F27D1/0043—Floors, hearths
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D1/00—Casings; Linings; Walls; Roofs
- F27D1/04—Casings; Linings; Walls; Roofs characterised by the form, e.g. shape of the bricks or blocks used
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D1/00—Casings; Linings; Walls; Roofs
- F27D1/16—Making or repairing linings increasing the durability of linings or breaking away linings
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45058—Grinding, polishing robot
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- General Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Mining & Mineral Resources (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Manipulator (AREA)
- Blast Furnaces (AREA)
Abstract
Apparatus for grinding material such as present in a blast furnace hearth bottom or in a separate block or brick, which apparatus comprises a grinder for carbonaceous materials such as carbon blocks and/or bricks, which apparatus further comprises a robot comprising a robot pedestal on which a movable robot arm is mounted, wherein the grinder is mounted on an extremity of said movable robot arm distant from the robot pedestal, and wherein the robot arm and the grinder mounted thereon are connected to a controller for controlling the move- ment of the robot arm and the operation of the grinder. The apparatus is used by providing the displaceable robot on the blast furnace hearth bottom; measuring the actual blast furnace hearth bottom surface level; measuring the position and altitude of the displaceable robot; calculating from a desired hearth bottom surface level and the measured actual hearth bottom surface level, the level of the hearth bottom surface that has to be removed by grinding; and controlling the operation of the displaceable robot and the grinder mounted thereon to remove said calculated level of the hearth bottom surface.
Description
Apparatus and method for grinding carbonaceous materials
The invention relates to an apparatus for grinding a blast furnace hearth bottom or a separate block or brick of carbonaceous material, which apparatus comprises a grinder.
The invention also relates to a method for grinding a blast furnace hearth bottom or a separate block or brick of carbonaceous material with a grinder. The grinder is suited for grinding all types of carbonaceous materials such as carbon blocks or bricks, and blocks or bricks of microporous carbon, graphite and semi-graphite.
Such an apparatus and method is known from the article "Mechanization of grinding of the bottom during a blast furnace overhaul", by E.N. Bushinskii et al; which is available on the Internet as an article translated from Metallurg, No. 8, pp. 16 - 17, August 1983. According to this article the inside surface of the high alumina part of the bottom is evened off simultaneously with the peripheral carbon blocks by means of small grinders. Here, the projections and depressions in the blocks should not have deviations of greater than 2 mm from the horizontal. Grinding the horizontal courses of the bottom is a difficult operation, since it is done under crowded conditions and in the closed space of the blast furnace shell.
It is further known that the firm SGL Carbon Group has developed and uses a radial milling machine for grinding the bottom hearth of a blast furnace in a radial processing operation with increased speed in comparison with the conventional manual grinding. This known radial milling machine is however cumbersome to use due to its bulkiness, whereas the accuracy of the machined bottom hearth surface level still requires improvement.
According to the invention an apparatus and method is proposed in accordance with one or more of the appended claims .
According to a first aspect of the invention the apparatus comprises a robot having a robot pedestal on which a movable robot arm is mounted, wherein the grinder is mounted on an extremity of said movable robot arm distant from the ro- bot pedestal, and wherein the robot arm and the grinder mounted thereon are connected to a controller for controlling the movement of the robot arm and the operation of the grinder. Accordingly the method of the invention has the features of -providing the displaceable robot on the blast furnace hearth bottom; -measuring the actual blast furnace hearth bottom surface level; -measuring the position and altitude of the displaceable robot; -calculating from a desired hearth bottom surface level and the measured actual hearth bottom surface level, the level of the hearth bottom surface that has to be removed by grinding; and -controlling the operation of the displaceable robot and the grinder mounted thereon to remove said calculated level of the hearth bottom surface.
Practice has shown that with the apparatus and method of the invention grinding the hearth bottom can be done swiftly and accurately. In comparison with the prior art apparatus and method a two thirds reduction in processing time is possible, corresponding to at least two days of blast furnace operation. The monetary value of one day of operation of a blast furnace of average size corresponds to approximately €1 million .
Of course the apparatus of the invention can also be used for numerous other applications than machining the hearth bottom of a blast furnace. All such other applications are also covered by the appended claims, without need to be explicitly mentioned herein. Nevertheless the applicants place special value on mentioning one particular type of application, and explicitly strive for patent protection concerning the method to grind a separate block or brick of carbonaceous material intended for placement adjacent to a blast furnace shell lining, wherein the method comprises the steps of: -measuring the shape and dimensions of the actual blast furnace lining; -controlling the operation of the displaceable robot and the grinder mounted thereon to machine the block or brick to match the measured shape and dimensions of the blast furnace shell lining. Operating in this way tremendously improves the accuracy of the brick work in the blast furnace and correspondingly improves the cooling of such bricks which positively influences the blast furnace lifetime expectancy.
In the apparatus of the invention the robot pedestal is displaceable. This means that the entire bottom hearth can be machined although the operation of the displaceable robot for grinding the hearth bottom is restricted to the robot's vicinity defined by the reach of the robot arm. In that vicinity the controller is arranged to move the robot arm depending on a desired surface level of the hearth bottom. For this purpose it is desirable that the robot arm is movable up and down and back and forth.
It is further desirable that the method of the invention comprises the steps of: -completing the grinding operation in the vicinity of the displaceable robot; -relocating the displaceable robot; and -repeating the step of measuring the position and altitude of the displaceable robot; -and repeating the step of controlling the operation of the displaceable robot and the grinder mounted thereon to remove said calculated level of the hearth bottom surface in the vicinity defined by the reach of the robot arm.
To effectuate a complete grinding of the hearth bottom the steps of relocating the displaceable robot, measuring the position and altitude of the displaceable robot and controlling the operation of the displaceable robot and the grinder mounted thereon, are continued until the entire hearth bottom surface of the blast furnace is grinded to the desired hearth bottom surface level.
To secure the accuracy of the apparatus of the invention it preferably comprises monitoring means to measure a hearth bottom surface level of the hearth bottom on different positions in a horizontal plane. Preferably then the hearth bottom surface level is measured in relation to a fixed point of the blast furnace. Suitably the hearth bottom surface level is measured in relation to the level of the blast furnace tuyeries.
It is further desirable that the monitoring means are arranged to measure the robot's position and altitude. Preferably these monitoring means are arranged to measure the robot's position and altitude with reference to a fixed point of the blast furnace. Suitably also the robot's position and altitude is measured in relation to the level of the blast furnace tuyeries.
The invention will hereinafter be further elucidated with reference to the drawing of an exemplary embodiment of an apparatus and method according to the invention that is not limiting as to the appended claims.
In the drawing: -figure 1 shows in a side view an apparatus according to the invention positioned on a bottom hearth within a blast furnace; -figure 2 shows in top view a series of consecutive positions occupied by the apparatus according to figure 1 within the blast furnace; and -figure 3 shows in side view (on the left) and in top view (on the right) machining a separate brick or block of carbonaceous material.
Whenever in the figures the same reference numerals are applied, these numerals refer to the same parts.
In figure 1 an apparatus 1 is shown for grinding a hearth bottom 2 of a blast furnace 3. The hearth bottom 2 comprises carbon blocks and/or bricks, and the apparatus 1 is embodied with a grinder 4 for the purpose of grinding the hearth bottom 2 to a desired surface level. It is also possible that blocks or bricks of other carbonaceous materials are grinded, such as microporous carbon, graphite or semi-graphite.
The apparatus 1 of the invention is embodied with a robot 5 comprising a robot pedestal 6 on which a movable robot arm 7 is mounted. The grinder 4 of the apparatus 1 is mounted on an extremity of said movable robot arm 7 distant from the robot pedestal 6. Both the robot arm 7 and the grinder 4 mounted thereon are connected to a controller 8 for controlling the movement of the robot arm 7 and for controlling the operation of the grinder 4. In the embodiment shown in figure 1 (and in the embodiment to be discussed hereinafter with reference to figure 3) the connection between the robot arm 7, the grinder 4 and the controller 8 is wireless as depicted by the arrows A and C. It is however also possible to provide a wired connection between the robot arm 7, the grinder 4 and the controller 8, although this is less preferable.
The controller 8 is arranged to move the robot arm 7 and operate the grinder 4 depending on a desired surface level of the hearth bottom 2 of the blast furnace 3. For this purpose the robot arm 7, and consequently the grinder 4 mounted thereon, is movable up and down and back and forth.
Figure 1 further shows monitoring means 9 to measure a hearth bottom 2 surface level of the hearth bottom 2 on different positions in a horizontal plane. This is symbolized with the striped lines D, E, and F. The monitoring means 9 are also arranged to measure its own position in relation to a fixed point of the blast furnace 3. Using this latter information the monitoring means 9 can be suitably embodied so as to measure the hearth bottom 2 surface level in relation to such a fixed point of the blast furnace 3. Suitably such a fixed level within the blast furnace 3 is related to the level of the blast furnace tuyeries 10, only two of which are shown in figure 1. The skilled person knows however that a series of tuyeries 10 are provided circumferentially around the blast furnace 3 wall. Appropriately the measured fixed level can then be related to the level of an average heart line of all the tuyeries 10.
Desirably the monitoring means 9 are further arranged to measure the position and altitude of the robot 5 within the blast furnace 3, as symbolized with the striped line marked H. Preferably this is done with reference to the same fixed level of the blast furnace 3, notably the level of the blast furnace tuyeries 10.
According to another aspect of the invention the apparatus 1 can be used to implement a method of grinding a blast furnace 3 hearth bottom 2, utilizing the grinder 4 mounted on the movable robot arm 7 of the displaceable robot 5 of the invention. In this method the following steps are ap- plied: -providing the displaceable robot 5 on the blast furnace 3 hearth bottom 2; -measuring the actual blast furnace 3 hearth bottom 2 surface level; -measuring the position and altitude of the displaceable robot 5; -calculating from a desired hearth bottom 2 surface level and the measured actual hearth bottom 2 surface level, the level of the hearth bottom 2 surface that has to be removed by grinding; -controlling the operation of the displaceable robot 5 and the grinder 4 mounted thereon to remove said calculated level of the hearth bottom 2 surface.
As will be clear from figure 1 the operation of the displaceable robot 5 for grinding the hearth bottom 2 is restricted to the robot's vicinity defined by the reach of the robot arm 7. In connection therewith the robot pedestal 6 is displaceable so that it may occupy a series of positions on the hearth bottom 2 of the blast furnace 3 to eventually cover the complete hearth bottom 2 of the blast furnace 3. Accordingly in the method of the invention the following steps are preferably included: -completing the grinding operation in the vicinity of the displaceable robot 5; -relocating the displaceable robot 5; and -repeating the step of measuring the position and altitude of the displaceable robot 5; -and repeating the step of controlling the operation of the displaceable robot 5 and the grinder 4 mounted thereon to remove said calculated level of the hearth bottom 2 surface in the vicinity defined by the reach of the robot arm 7. The steps of relocating the displaceable robot 5, measuring the position and altitude of the displaceable robot 5 and controlling the operation of the displaceable robot 5 and the grinder 4 mounted thereon are accordingly continued until the entire hearth bottom 2 surface of the blast furnace 3 is grinded to the desired hearth bottom 2 surface level. This results in the series of operational positions as depicted in figure 2.
As mentioned in the process of grinding the blast furnace 3 hearth bottom 2, the robot arm 7 is appropriately moved up and down and back and forth in order to provide the correct amount of grinding at the correct locations of the hearth bottom 2, all based on measurements with the monitoring means 9 of both the actual hearth bottom 2 surface level and the position and altitude of the robot 5. Dust that occurs within the blast furnace 3 due to the removed carbon grinded loose from the hearth bottom 2 is preferably at the same time counteracted by a dust collector. The manner in which this can be implemented is known to the skilled person and requires no further elucidation.
The benefits of the invention are particularly attained by arranging the features that the hearth bottom 2 surface level is measured on different positions in a horizontal plane, and in particular that this hearth bottom 2 surface level is measured in relation to a fixed point of the blast furnace 3. The same applies with regard to measuring the robot's position and altitude with reference to such a fixed point of the blast furnace 3. Although preference applies to measuring in relation to the level of the blast furnace tuyeries 10, this is not the only possibility. Also other fixed points can be used for providing an accurate measurement of both the robot's position and altitude and the desired level of the hearth bottom 2 surface that has to be removed by grinding.
As already mentioned the apparatus 1 of the invention can be used in many different applications. One particular favorable application is depicted in figure 3, and relates to the method of grinding a separate block 11 or brick of carbonaceous material intended for placement adjacent to a blast furnace shell lining, utilizing the grinder 4 for such carbonaceous material mounted on the movable robot arm 7 of the robot 1. In this method first the shape and dimensions of the actual blast furnace shell lining is measured with appropriate means. For instance the monitoring means 9 that are shown in figure 1 can be used for this purpose, or other suitable means. The measured shape and dimensions of the blast furnace shell lining is stored in the controller 8 and used for controlling the operation of the robot 1 and the arm 7 and grin- der 4 mounted thereon to machine the block 11 or brick to match the measured shape and dimensions of the blast furnace shell lining. See the radius 12 of the block 11 as clearly shown in the right-hand portion of figure 3 providing a top view of said block 11.
Although the invention has been discussed in the foregoing with reference to an exemplary embodiment of the apparatus and method of the invention, the invention is not restricted to this particular embodiment which can be varied in many ways without departing from the gist of the invention. The discussed exemplary embodiment shall therefore not be used to construe the appended claims strictly in accordance therewith. On the contrary the embodiment is merely intended to explain the wording of the appended claims without intent to limit the claims to this exemplary embodiment. The scope of protection of the invention shall therefore be construed in accordance with the appended claims only, wherein a possible ambiguity in the wording of the claims shall be resolved using this exemplary embodiment.
Claims (21)
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NL2013192A NL2013192B1 (en) | 2014-07-15 | 2014-07-15 | Apparatus and method for grinding carbonaceous materials. |
JP2017523759A JP2017523059A (en) | 2014-07-15 | 2015-07-10 | Apparatus and method for grinding carbonaceous material |
EP15751127.0A EP3169481A1 (en) | 2014-07-15 | 2015-07-10 | Apparatus and method for grinding carbonaceous materials |
PCT/NL2015/050504 WO2016010422A1 (en) | 2014-07-15 | 2015-07-10 | Apparatus and method for grinding carbonaceous materials |
KR1020177004032A KR20170031211A (en) | 2014-07-15 | 2015-07-10 | Apparatus and method for grinding carbonaceous materials |
BR112017000837A BR112017000837A2 (en) | 2014-07-15 | 2015-07-10 | apparatus and method for grinding carbonaceous materials |
CN201580038929.6A CN106715049A (en) | 2014-07-15 | 2015-07-10 | Apparatus and method for grinding carbonaceous materials |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NL2013192A NL2013192B1 (en) | 2014-07-15 | 2014-07-15 | Apparatus and method for grinding carbonaceous materials. |
Publications (1)
Publication Number | Publication Date |
---|---|
NL2013192B1 true NL2013192B1 (en) | 2016-07-14 |
Family
ID=51795706
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
NL2013192A NL2013192B1 (en) | 2014-07-15 | 2014-07-15 | Apparatus and method for grinding carbonaceous materials. |
Country Status (7)
Country | Link |
---|---|
EP (1) | EP3169481A1 (en) |
JP (1) | JP2017523059A (en) |
KR (1) | KR20170031211A (en) |
CN (1) | CN106715049A (en) |
BR (1) | BR112017000837A2 (en) |
NL (1) | NL2013192B1 (en) |
WO (1) | WO2016010422A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113386152B (en) * | 2021-06-29 | 2022-09-23 | 重庆大学 | Six-axis polishing robot |
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US1308933A (en) * | 1919-07-08 | Grinding ob polishing machine | ||
US5300869A (en) * | 1992-07-30 | 1994-04-05 | Iowa State University Research Foundation, Inc. | Nonholonomic camera space manipulation |
DE20314465U1 (en) * | 2003-09-18 | 2004-03-11 | Dat Automatisierungstechnik Gmbh | Machine tool, especially with orbiting tools, has workpiece fixed into position on platform which can move in tool press direction |
US20040102135A1 (en) * | 2002-11-21 | 2004-05-27 | Wood Jeffrey H. | Automated lapping system |
EP2035193A1 (en) * | 2006-06-07 | 2009-03-18 | Bouygues Construction | Device for treating a surface |
EP2090506A1 (en) * | 2008-02-12 | 2009-08-19 | Vincenzo Rina | Mobile device for working hulls of marine vessels |
DE102009042014A1 (en) * | 2009-09-21 | 2011-03-24 | Dürr Systems GmbH | Handling device for moving e.g. scanner for handling articles, has manipulator accommodated at carrier structure of parallel geometry unit, where powered movement axes are provided for displacing carrier structure relative to base |
EP2589327A1 (en) * | 2011-11-04 | 2013-05-08 | Katdangil, Private Stichting | Machine for treating floors, walls, or ceilings |
DE202013101858U1 (en) * | 2013-04-29 | 2013-05-17 | Sps Holding Gmbh | Plant for grinding surfaces |
US20130226340A1 (en) * | 2012-02-23 | 2013-08-29 | Kuka Roboter Gmbh | Mobile Robot |
US20130273818A1 (en) * | 2012-04-13 | 2013-10-17 | Hon Hai Precision Industry Co., Ltd. | Manipulator and polishing mechanism thereof |
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JPS6139348U (en) * | 1984-08-08 | 1986-03-12 | 住友金属工業株式会社 | grinding equipment |
JPS6377678A (en) * | 1986-09-19 | 1988-04-07 | 株式会社日立製作所 | Method of controlling operation of robot |
JP2607690Y2 (en) * | 1993-09-07 | 2002-03-04 | 株式会社明電舎 | Chamfering teaching playback robot controller |
US20110017030A1 (en) * | 2009-01-16 | 2011-01-27 | Paul Chambers | Universal cutting tool for use with legacy and new generation explosive ordinance disposal (eod) robots |
CN101524810B (en) * | 2009-03-16 | 2010-06-09 | 陈善元 | Completely numerical control high-precision charcoal processing automatic line |
CN201537841U (en) * | 2009-07-27 | 2010-08-04 | 李飞 | Refractory material grinding machine |
JP6227220B2 (en) * | 2010-12-27 | 2017-11-08 | Jfeスチール株式会社 | Furnace wall shape measuring apparatus, furnace wall shape measuring system, and furnace wall shape measuring method |
CN203068997U (en) * | 2012-12-07 | 2013-07-17 | 武汉钢铁(集团)公司 | Device for on-line removing of scaffolding of quartz furnace bottom roller of silicon steel annealing furnace |
-
2014
- 2014-07-15 NL NL2013192A patent/NL2013192B1/en not_active IP Right Cessation
-
2015
- 2015-07-10 JP JP2017523759A patent/JP2017523059A/en active Pending
- 2015-07-10 KR KR1020177004032A patent/KR20170031211A/en unknown
- 2015-07-10 CN CN201580038929.6A patent/CN106715049A/en active Pending
- 2015-07-10 EP EP15751127.0A patent/EP3169481A1/en not_active Withdrawn
- 2015-07-10 WO PCT/NL2015/050504 patent/WO2016010422A1/en active Application Filing
- 2015-07-10 BR BR112017000837A patent/BR112017000837A2/en not_active Application Discontinuation
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1308933A (en) * | 1919-07-08 | Grinding ob polishing machine | ||
US5300869A (en) * | 1992-07-30 | 1994-04-05 | Iowa State University Research Foundation, Inc. | Nonholonomic camera space manipulation |
US20040102135A1 (en) * | 2002-11-21 | 2004-05-27 | Wood Jeffrey H. | Automated lapping system |
DE20314465U1 (en) * | 2003-09-18 | 2004-03-11 | Dat Automatisierungstechnik Gmbh | Machine tool, especially with orbiting tools, has workpiece fixed into position on platform which can move in tool press direction |
EP2035193A1 (en) * | 2006-06-07 | 2009-03-18 | Bouygues Construction | Device for treating a surface |
EP2090506A1 (en) * | 2008-02-12 | 2009-08-19 | Vincenzo Rina | Mobile device for working hulls of marine vessels |
DE102009042014A1 (en) * | 2009-09-21 | 2011-03-24 | Dürr Systems GmbH | Handling device for moving e.g. scanner for handling articles, has manipulator accommodated at carrier structure of parallel geometry unit, where powered movement axes are provided for displacing carrier structure relative to base |
EP2589327A1 (en) * | 2011-11-04 | 2013-05-08 | Katdangil, Private Stichting | Machine for treating floors, walls, or ceilings |
US20130226340A1 (en) * | 2012-02-23 | 2013-08-29 | Kuka Roboter Gmbh | Mobile Robot |
US20130273818A1 (en) * | 2012-04-13 | 2013-10-17 | Hon Hai Precision Industry Co., Ltd. | Manipulator and polishing mechanism thereof |
DE202013101858U1 (en) * | 2013-04-29 | 2013-05-17 | Sps Holding Gmbh | Plant for grinding surfaces |
Also Published As
Publication number | Publication date |
---|---|
WO2016010422A1 (en) | 2016-01-21 |
KR20170031211A (en) | 2017-03-20 |
JP2017523059A (en) | 2017-08-17 |
EP3169481A1 (en) | 2017-05-24 |
BR112017000837A2 (en) | 2017-12-05 |
CN106715049A (en) | 2017-05-24 |
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