TR2021002596T - Fully automatic refractory spraying robot with measuring system. - Google Patents
Fully automatic refractory spraying robot with measuring system.Info
- Publication number
- TR2021002596T TR2021002596T TR2021/002596 TR2021002596T TR 2021002596 T TR2021002596 T TR 2021002596T TR 2021/002596 TR2021/002596 TR 2021/002596 TR 2021002596 T TR2021002596 T TR 2021002596T
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- Prior art keywords
- arm
- measuring
- spray
- refractory
- measuring arm
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- 238000005507 spraying Methods 0.000 title claims abstract description 60
- 239000007921 spray Substances 0.000 claims abstract description 65
- 230000008439 repair process Effects 0.000 claims abstract description 25
- 239000011819 refractory material Substances 0.000 claims abstract description 12
- 230000002950 deficient Effects 0.000 claims abstract description 11
- 230000000694 effects Effects 0.000 claims abstract description 8
- 230000006698 induction Effects 0.000 claims abstract description 7
- 238000012546 transfer Methods 0.000 claims abstract description 5
- 239000000463 material Substances 0.000 claims description 17
- 239000004570 mortar (masonry) Substances 0.000 claims description 11
- 239000011449 brick Substances 0.000 claims description 7
- 229910001338 liquidmetal Inorganic materials 0.000 claims description 2
- 229910000831 Steel Inorganic materials 0.000 abstract description 15
- 239000010959 steel Substances 0.000 abstract description 15
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract description 12
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 229910052742 iron Inorganic materials 0.000 abstract description 6
- 239000007788 liquid Substances 0.000 abstract description 6
- 238000013507 mapping Methods 0.000 abstract description 3
- 238000012545 processing Methods 0.000 abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 20
- 238000000034 method Methods 0.000 description 7
- 238000001816 cooling Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 3
- 238000005461 lubrication Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 238000010891 electric arc Methods 0.000 description 2
- 238000009628 steelmaking Methods 0.000 description 2
- 238000003723 Smelting Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000001914 calming effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000002860 competitive effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 108090000623 proteins and genes Proteins 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005488 sandblasting Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Abstract
Bu buluş, demir çelik üretim tesislerindeki, ark ocağı, indüksiyon ocağı, konvertör, pota ve bunun gibi sıvı çeliğin etkileri ile aşınan ünitelerdeki aşınan arızalı kısımları bir ölçme aleti (10) vasıtasıyla tespit eden, elde edilen verileri PLC vasıtasıyla işleyerek aşınan arızalı kısımları otomatik olarak haritalandıran, belirlenen koordinatları püskürtme kafasına (8) transfer ederek, arızalı kısımların üzerine refrakter malzemesi püskürterek tamir işlemini insan eli değmeden tam otomatik şekilde gerçekleştiren refrakter püskürtme robotudur (1).This invention automatically detects the damaged parts in iron and steel production facilities, such as arc furnace, induction furnace, converter, ladle, etc., by means of a measuring instrument (10), which detects the damaged parts worn by the effects of liquid steel, by processing the data obtained by means of PLC. It is a refractory spraying robot (1) that maps the mapping, transfers the determined coordinates to the spray head (8) and performs the repair process fully automatically by spraying refractory material on the defective parts, without human touch.
Description
TARIFNAME OLçME SISTEMLI TAM OTOMATIK REFRAKTER PUSKURTME ROBOTU TEKNIK ALAN Bu bulus, demir çelik üretim tesislerindeki, ark ocagi, indüksiyon ocagi, konvertör, pota ve bunun gibi sivi çeligin etkileri ile asinan ünitelerdeki refrakterlerin harç malzemeleri püskürtülerek tamir edilmesini saglayan refrakter püskürtme robotu ile ilgilidir. DESCRIPTION FULL AUTOMATIC REFRACTORY SPRAYING ROBOT WITH MEASURING SYSTEM TECHNICAL FIELD This invention is used in iron and steel production plants, arc furnace, induction furnace, in units corroded by the effects of liquid steel such as converter, crucible and so on. which enables refractories to be repaired by spraying mortar materials. It is about refractory spraying robot.
Bulus özellikle, ocak içindeki asinan kisimlari bir ölçme aleti vasitasiyla tespit eden, elde edilen verileri PLC vasitasiyla isleyerek asinan arizali kisimlari haritalandiran, belirlenen koordinatlari püskürtme kafasina transfer ederek, arizali kisimlarin üzerine refrakter malzemesi püskürterek tamir islemini insan eli degmeden tam otomatik sekilde gerçeklestiren refrakter püskürtme robotunu konu almaktadir. In particular, the invention is to detect the corroded parts in the furnace by means of a measuring instrument. faulty parts that wear out by processing the obtained data via PLC. mapping, transferring the determined coordinates to the spray head, Perform the repair process by spraying refractory material on the defective parts. Refractory spraying that is fully automatic without touching It's about the robot.
TEKNIGIN BILINEN DURUMU Teknigin bilinen durumunda, kullanim yerlerine göre çesitlilik gösteren refrakter tuglalari özellikle çok yüksek sicakliklarda islem yapilan demir çelik ve döküm sektöründe kullanilmaktadir. Çogunlukla metallerin ergitilmesi ve islenmesi için kullanilan yüksek firinlarda kullanilan refrakter tuglalarin zamanla asinmasiyla tamir ihtiyaci dogmaktadir. Arizali kisimlarin tamir edilmemesi, çalisma esnasinda büyük riskleri beraberinde getirmektedir.KNOWN STATE OF THE TECHNIQUE In the state of the art, there are variations according to the places of use. refractory bricks, especially iron and steel, which are processed at very high temperatures and is used in the casting industry. Mostly the smelting of metals and refractory bricks used in blast furnaces used for processing As it wears out over time, the need for repair arises. Repair of defective parts Failure to do so brings great risks during operation.
Lokal olarak asiri isinmalarin baslamasiyla sivi çelik, bulundugu ortami delebilir ve muhtemel can kayipli ve çok büyük maddi hasarli is kazalarina sebebiyet verebilir. Asinan ya da tehlike arz eden tugla ya da tugla gruplarinin degistirilmesi için ocak / firin ya da potalarin sogumasinin beklenmesi gerekmektedir. Bu süreç çok uzun olmakla birlikte büyük üretim kayiplarina sebebiyet vermektedir. Asinan kisimlarin tespiti ancak çiplak g'oz yordamiyla yapilabilmektedir. Ocak/Konvert'or/Pota gibi çelik üretim ünitelerinin iç kisimlari erisime sinirli alanlardir. Arizali kisimlarin tamiri için ünitelere fazlasiyla yaklasmak gerektigi için bu durum büyük tehlike olusturmaktadir. Arizali kisimlarin gözleminin yapilabilmesi için ilave bir zamana ihtiyaç vardir. Günümüzün rekabetçi ortaminda, çelik üreticileri için bu tahammül edilemez bir kayiptir. Bundan dolayi, ocak /firin ya da potalarin sogutulmadan ve asinan kisimlarin göz yordamiyla degil, otomatik yolla tespit edilerek, asgari üretim kaybi ile tamir edilerek üretime devam edilmesi gerekmektedir. With the onset of local overheating, the liquid steel changes its environment. puncture and possible loss of life and very large property damage work accidents may cause. Worn or dangerous brick or brick the cooling of the hob / oven or crucibles for changing the groups. must wait. Although this process is very long, large production causes losses. Detection of abraded parts only bare eye can be done by the procedure. Steel production such as Quarry/Convert'or/Ladle The interior of the units are areas with limited access. For the repair of defective parts This is a great danger as it is necessary to get very close to the units. forms. In order to observe the defective parts, an additional time is needed. In today's competitive environment, for steelmakers This is an intolerable loss. Therefore, the hob/oven or crucibles without cooling and wearing parts, not by eye, but automatically. detecting, repairing with minimum production loss and continuing production required.
Robot kullanilmadan yapilan tamir uygulamalari, püskürtme (gunning) makinesi olarak tabir edilen ekipmanlar ile yapilmaktadir. Püskütme makineleri kumlama makineleri ile benzer prensipte çalismaktadir. Basinçli bir tarik içerisinde sikistirilan harç malzemesi, tarik çikisina baglanmis bir hortumdan sevk edilmek suretiyle uygulanir. Hortum ucuna baglanan bir boru içerisinde kuru harç malzemesi su ile karistirilarak püskürtülür. Püskürtme borusu genellikle iki insanin kaldirip tasimakta dahi zorlanacagi kadar agir ve hantal bir ekipmandir. Ayrica püskürtme borusunun operatörler tarafindan tutularak uygulamanin yapilmasi, is güvenligi açisindan son derece sakincalidir (sicaklik etkisi ile yaralanmalar hatta can kayiplari yasanabilir). EI yordamiyla yapilan püskürtme uygulamalari en fazla 2-3 bar hava basinciyla yapilabilmektedir. Daha yüksek basinçlardaki uygulamalarda, püskürtme borusunun çok fazla titresim yapmasindan dolayi, operatörler tarafindan tutulmasi çok zorlasmaktadir. Sistemin rijitliginden dolayi, robotik uygulamalarda ise hava basinci 5-6 bar ve hatta daha yüksek basinçlar dahi olabilir. 2-3 bar basinçlarda yapilan el yordamli püskürtme tamir uygulamasinin nihai dayanimi, robot ile yapilana göre çok daha azdir. Bu durum ocak/firin ya da pota için daha sik tamir gereksinimi olusturmakta, maliyeti artirmakta ve üretim kaybina sebep olmaktadir.Repair applications without the use of robots, gunning It is done with equipment called as machine. spraying machines work on the same principle as sandblasting machines. Compressed The mortar material compressed in a tarik is connected to a tarik outlet. It is applied by being delivered from the hose. A pipe connected to the end of the hose Dry mortar material is mixed with water and sprayed. Spraying The pipe is usually so heavy that it is difficult for two people to lift and carry it. It is bulky equipment. In addition, the spray lance is operated by the operators. It is extremely important in terms of occupational safety to carry out the application by keeping it is calming (injuries or even loss of life may occur with the effect of heat). EI Spraying applications made with the procedure of maximum 2-3 bar air pressure. can be done. In higher pressure applications, spraying by the operators because the pipe vibrates too much. it is very difficult to hold. Due to the rigidity of the system, robotic In applications, the air pressure is 5-6 bar and even higher pressures. it could be. Manual spraying repair at 2-3 bar pressures The ultimate strength of the application is much less than with the robot. This This situation creates the need for more frequent repairs for the hob/oven or crucible, increases the cost and causes loss of production.
Konu ile ilgili yapilan patent arastirmasinda TR201201106 basvuru numarali bulusa rastlanilmistir. Bulus çelik üretim tesisleri için refrakter püskürtme robotudur (yatay girisli). Bulus ozet kisminda: “Bu bulus Demir Çelik üretim tesislerindeki, ark ocagi, indüksiyon ocagi, konvertor, pota vs gibi, sivi çeligin etkileri ile asinan refrakterlerin, püskürtme harç malzemeleri ile tamirinin mümkün oldugu uygulamalarda kullanilan çelik üretim tesisleri için refrakter püskürtme robotu (yatay) içermektedir.” seklinde tarif edilmistir. In the patent research on the subject, application number TR201201106 invention was found. refractory spraying for bulus steelmaking plants robot (horizontal entry). In the summary of the invention: “This invention is Iron and Steel production of liquid steel, such as arc furnace, induction furnace, converter, crucible etc. repair of refractories that are eroded by the effects of spraying mortar materials. refractory for steelmaking plants used in applications where possible includes a spraying robot (horizontal). is described as.
TR201110086 basvuru numarali bulus Çelik üretim tesisleri için refrakter püskürtme robotu (dik girisli). Bulusun yayinlanan özet kisminda: “Bu bulus demir çelik üretim tesislerindeki, ark ocagi, indüksiyon ocagi, konvert'or, pota vs gibi, sivi çeligin etkileri ile asinan refrakterlerin, püskürtme harç malzemeleri ile tamirinin yapilmasini saglayan, ileri- geri, yukari-asagi ve kendi ekseninde 360 derece dönme kabiliyetli çelik üretim tesisleri için refrakter püskürtme robotu içermektedir.” ifadelerine yer verilmistir. Invention reference number TR201110086 Refractory for steel production plants spraying robot (with vertical entry). In the published summary of the invention: “This invention in iron and steel production facilities, arc furnace, induction furnace, converter, crucible such as refractories corroded by the effects of liquid steel, spray mortar etc. Forward-backward, up-down and for steel production plants capable of 360 degree rotation on its own axis includes a refractory spraying robot.” statements are included.
Konu ile ilgili bir diger bulus TR200300692 basvuru numarasi haizdir. Bulus Elektrik ark ocagi refrakter tamir robotudur. Bulusun özet kisminda: “Bulus, elektrik ark ocaklarinda (EAF) sicak tamir harcinin refrakter katmani üzerine bir manüplat'or ucundaki püskürtme tabancasi vasitasiyla sivanmasi ile ark ocaginin sicak tamirinin gerçeklestirilmesinde kullanilan ve püskürtme tabancasinin yan kapak içerisinden ocak içine alinmasini saglamak amaciyla bir ucunda bahsedilen püskürtme tabancasinin konumlandirildigi bir en az bir uzatma sarkaç kolu, bahsedilen uzatma sarkaç kolunun diger ucunda mafsallanan en az bir manüplasyon kolu, bahsedilen sarkaç kolu ve manüplasyon kolu arasinda olusturulan ve kollarin mafsal üzerinde hareketini saglayan en az bir tahrik elemani ve bahsedilen manüplasyon kolunun bir ucundan irtibatlandigi dbndürme vasitasi içeren bir tamir robotudur.” ifadeleri yer almaktadir.Another related invention has application number TR200300692. Meet It is an electric arc furnace refractory repair robot. In the summary of the invention: “Invention, on the refractory layer of hot repair mortar in electric arc furnaces (EAF) arc by applying a spray gun at the tip of a manuplat'or used in the realization of the hot repair of the furnace and spraying in order to allow the gun to be taken into the furnace through the side cover. at one end of which said spray gun is positioned extension pendulum arm, at the other end of said extension pendulum arm at least one articulating arm, said pendulum arm, and created between the manipulation arm and the movement of the arms on the joint. at least one actuating member and one of said manipulation arm It is a repair robot that includes a slinging device to which it is connected at the end.” expressions is located.
Yukarida özet kisimlari verilen refrakter tamirinde kullanilan yapilanmalar incelendiginde, bu yapilanmalarin ocaktaki refrakterlerin arizali kisimlarini tespit edecek herhangi ölçme sistemi içermedigi görülmektedir. The structures used in refractory repair, the summary parts of which are given above When examined, it is seen that these structures show the defective parts of the refractory in the furnace. It is seen that it does not include any measurement system to detect it.
Sonuç olarak, robotik refrakter püskürtme makinelerinde gelistirmelere gidilmekte, bu nedenle yukaridaki deginilen dezavantajlari ortadan kaldiracak ve mevcut sistemlere çözüm getirecek yeni yapilanmalara ihtiyaç duyulmaktadir. As a result, developments in robotic refractory spraying machines therefore, it will eliminate the disadvantages mentioned above. and there is a need for new structures that will bring solutions to existing systems. is heard.
BULUSUN AMACI Mevcut bulus, yukarida bahsedilen gereksinimleri karsilayan, tüm dezavantajlari ortadan kaldiran ve ilave bazi avantajlar getiren refrakter püskürtme robotu ile ilgilidir. OBJECTIVE OF THE INVENTION The present invention has all the refractory that eliminates the disadvantages and brings some additional advantages It's about the spraying robot.
Bulusun basta gelen amaci; refrakter püskürtme robotu mekanizmasina ölçme aleti eklenmesi, bahsedilen ölçme aleti vasitasiyla ocaklpota/konvertörün asinan arizali kisimlarinin otomatik olarak tespit edilmesi, tespit edilen arizali kisimlarin PLC programina iletilerek, onarim için haritalandirilmasidir. The primary purpose of the invention is; to the refractory spraying robot mechanism adding measuring instrument, through said measuring instrument Automatic detection of worn parts of the hob/pot/converter the detected faulty parts are forwarded to the PLC program and repaired. is mapping.
Bulusun bir diger amaci, ölçme aleti vasitasiyla arizali kisimlara ait belirlenen koordinatlarin püskürtme kafasina transfer edilmesi, arizali kisimlarin üzerine refrakter malzemesi püskürtülerek, tamir islemlerinin tam otomatik sekilde gerçeklestirilmesidir. Another object of the invention is to identify the defective parts by means of a measuring instrument. transferring the coordinates to the spray head, over the defective parts By spraying the refractory material, the repair operations are carried out fully automatically. is realization.
Bulusun bir diger amaci; refrakter arizalarinin tespitinin ve onariminin tam otomatik sistemle insan eli degmeden yapilabilmesi, bu sayede is kazasi riskinin ortadan kaldirilmasi, tamir isleminin daha yüksek basinçta, çok daha hizli, efektif ve emniyetli sekilde yapilabilmesidir.Another purpose of the invention; complete diagnosis and repair of refractory failures. can be done with the automatic system without human touch, thus preventing work accidents. eliminating the risk of repair, the repair process at higher pressure, much more It can be done quickly, effectively and safely.
Yukarida bahsedilen ve asagidaki detayli anlatimdan anlasilacak tüm avantajlari gerçeklestirmek üzere mevcut bulus; ark ocagi, indüksiyon ocagi, konvertör, pota ve bunun gibi sivi metalin etkileri ile asinan ünitelerdeki refrakterlerin harç malzemeleri püskürtülerek tamir edilmesini saglayan refrakter püskürtme robotu olup, 0 ana gövde üzerinde dikey eksende (Z ekseni) monteli olan bir ölçme kolu montaj silindiri, o bahsedilen ölçme kolu montaj silindirinin üst kismina yatay eksende monteli olan, ölçme aletinin ölçüm bölgesine ulastirilmasini saglayan bir ölçme kolu, o bahsedilen ölçme kolunun uç kismina monteli olan, tuglalarin kalinlik ölçümünü yaparak, tamir yapilmasi gereken pozisyonlari belirleyen, elde ettigi verileri PLC'ye aktararak, arizali kisimlarin püskürtme kafasi vasitasiyla refrakter malzemesi püskürtülerek tamir edilmesini saglayan ölçüm aleti içermektedir. All the above-mentioned and clear from the detailed explanation below the present invention to realize the advantages; arc furnace, induction furnace, in units corroded by the effects of liquid metal such as converter, crucible and so on. which enables refractories to be repaired by spraying mortar materials. is a refractory spraying robot, 0 is a vertical axis (Z axis) mounted on the main body. measuring arm mounting cylinder, o horizontal to the upper part of said measuring arm mounting cylinder into the measuring zone of the measuring instrument, mounted on the axis a measuring arm that allows the o the bricks, which are mounted on the end of said measuring arm. by measuring the thickness, determining the positions, transferring the data obtained to the PLC, refractory of defective parts through the spray head measuring instrument that allows the material to be repaired by spraying contains.
Bulusun yapisal ve karakteristik özellikleri ve tüm avantajlari asagida verilen sekil ve bu sekle atiflar yapilmak suretiyle yazilan detayli açiklama sayesinde daha net olarak anlasilacaktir. The structural and characteristic features of the invention and all its advantages are given below. Thanks to the detailed explanation written by making references to the figure and this figure. will be more clearly understood.
SEKILLERIN KISA AÇIKLAMASI Mevcut bulusun yapilanmasi ve avantajlarinin en iyi sekilde anlasilabilmesi için asagida açiklamasi yapilan sekil ile birlikte degerlendirilmesi gerekir. BRIEF DESCRIPTION OF THE FIGURES The structuring of the present invention and the best understanding of its advantages For this purpose, it should be evaluated together with the figure explained below.
Sekil1 : Bulus konusu refrakter püskürtme robotunun üç boyutlu bir görünümüdür. Figure1 : A three-dimensional representation of the refractory spraying robot, which is the subject of the invention. is the view.
REFERANS NUMARALARI 1. Refrakter Püskürtme Robotu 2. Ana Gövde Püskürtme Kolu Püskürtme Kolu Kule Püskürtme Kolu Döner Mafsali Püskürtme Kolu Döndürme Tertibati Püskürtme Kolu Kaldirma Pistonu .@5199559 Püskürtme Kafasi 9. Malzeme Aktarma Borusu . Ölçme Aleti 11. Olçme Kolu 12. Olçme Kolu Montaj Silindiri 13. Olçme Kolu Döner Mafsali 14. Olçme Kolu Döndürme Tertibati . Olçme Kolu Döndürme Tertibati 16. Püskürtme Nozulu BULUSUN DETAYLI AÇIKLANMASI Bu detayli açiklamada, bulus konusu refrakter püskürtme robotunun (1) tercih edilen yapilanmalari, sadece konunun daha iyi anlasilmasina yönelik olarak ve hiçbir sinirlayici etki olusturmayacak sekilde açiklanmaktadir. REFERENCE NUMBERS 1. Refractory Spraying Robot 2. Main Body Spray Arm Spray Arm Tower Spray Arm Swivel Joint Spray Arm Swivel Assembly Spray Arm Lift Piston .@5199559 Spray Head 9. Material Transfer Pipe . Gauge 11. Measuring Arm 12. Measuring Arm Mounting Cylinder 13. Measuring Arm Swivel Joint 14. Measuring Arm Swivel Assembly . Measuring Arm Swivel Assembly 16. Spray Nozzle DETAILED DESCRIPTION OF THE INVENTION In this detailed description, the preferred refractory spraying robot (1) is the subject of the invention. structuring, only for a better understanding of the subject and are described without any limiting effect.
Bu bulus, demir çelik üretim tesislerindeki, ark ocagi, indüksiyon ocagi, konvertör, pota ve bunun gibi sivi çeligin etkileri ile asinan ünitelerdeki refrakterlerin harç malzemeleri püskürtülerek tamir edilmesini saglayan refrakter püskürtme robotu (1) ile ilgilidir. Baslica bes ana kisimdan olusan refrakter püskürtme robotu (1) yüksek isilara dayanikli, yüksek rijitlige sahip, fonksiyon tekrar edebilme kabiliyetine sahip bir mekanizmadir. Refrakter püskürtme robotu (1) esasen tane boyutu, kimyasal ve fiziksel özellikleri önceden bilinen refrakter harç malzemelerini basinçli hava ve su marifetiyle püskürtme nozulu (16) vasitasiyla istenilen bölgeye, manuel, yari-otomatik veya tam otomatik olarak püskürtebilen, agir sanayi sartlari için tasarlanmis profesyonel kullanima yönelik bir ekipmandir.This invention is used in iron and steel production plants, arc furnace, induction furnace, in units corroded by the effects of liquid steel such as converter, crucible and so on. which enables refractories to be repaired by spraying mortar materials. relates to the refractory spraying robot (1). Composed of mainly five main refractory spraying robot (1) resistant to high temperatures, high rigidity, It is a mechanism capable of repeating function. refractory spraying robot (1) mainly particle size, chemical and physical properties using previously known refractory mortar materials by means of compressed air and water. manually, semi-automatically, to the desired area via the spray nozzle (16) or fully automatic spraying, designed for heavy industry conditions It is equipment for professional use.
Sekil 1'de bulus konusu refrakter püskürtme robotunun (1) tercih edilen bir yapilanmasinin üç boyutlu bir görünümü yer almaktadir. Buna göre refrakter püskürtme robotu (1) tasiyici bir ana gövde (2) üzerinde tesis edilmistir.In Figure 1, the refractory spraying robot (1) which is the subject of the invention is a preferred one. There is a three-dimensional view of the structuring. Accordingly, refractory The spraying robot (1) is mounted on a carrier main body (2).
Bahsedilen ana gövdenin (2) iç kisminda ve üzerinde mekanizmada yer alan tahrik sistemleri ve kol gruplariyla birlikte tüm diger unsurlar montelidir. Ana gövdenin (2) üst kisminda yere dikey eksende (Z ekseni) konumlu bir püskürtme kolu kule (4) montelidir. Bahsedilen püskürtme kolu kuleye (4) ise yere yatay eksende (Y ekseni) çalisan bir püskürtme kolu (3) montelidir.In the inner part of the said main body (2) and on the mechanism, All other elements are mounted together with the drive systems and arm assemblies. Mother a vertical axis to the ground (Z axis) on the upper part of the body (2). The spray arm is tower (4) mounted. If the said spray arm is attached to the tower (4) a spray arm (3) operating on the horizontal axis (Y axis) is mounted on the ground.
Püskürtme kolu (3) ile püskürtme kolu kule (4) bir püskürtme kolu döner mafsali (5) ile birbirine baglantilidir. Yine püskürtme kolu (3) ile püskürtme kolu kule (4) arasinda bir püskürtme kolu kaldirma pistonu (7) konumludur.Spray arm (3) with spray arm tower (4) rotates a spray arm they are connected to each other with the joint (5). Spraying again with the spray arm (3) A spray arm lifting piston (7) is located between the arm and the tower (4).
Böylelikle püskürtme kolu kaldirma pistonu (7) tahriki ile püskürme kolu (3) komplesi, püskürtme kolu döner mafsali (5) ekseninde (X ekseni) dönerek asagi yukari hareket edebilmektedir. Püskürtme kolu kulenin (4) ana gövdeye (2) baglandigi kisminda püskürtme kolu döndürme tertibati (6) bulunur. Servo motorlar tarafindan tahrik edilen püskürtme kolu döndürme tertibati (6) sayesinde püskürtme kolu (3) dikey eksende (Z ekseni) 360 derece dönme hareketi yapabilmektedir. Thus, the spray arm lift piston (7) is driven by the spray arm (3). assembly, the spray arm swivel joint (5) rotates on its axis (X-axis). can move up and down. The spray arm of the tower (4) is attached to the main body. The spray arm rotation device (6) is located on the part where (2) is connected. Servo spray arm rotator (6) driven by motors 360 degree rotation of the spray arm (3) on the vertical axis (Z-axis) thanks to able to move.
Püskürtme kolunun (3) üç kisminda püskürtme kafasi (8) montelidir.The spray head (8) is mounted on three parts of the spray arm (3).
Püskürtme kolu (3) tarafindan tasinan püskürtme kafasi (8) esasen alt uç kismindaki bir püskürtme nozulu (16) vasitasiyla refrakter malzemeyi tazyikli sekilde püskürten ünitedir. Püskürtme kafasina (8) bir malzeme aktarma borusu (9) irtibatlidir. Malzeme aktarma borusu (9) ana gövdeden (2) çikarak, püskürtme kolu (3) üzerinden ilerler ve püskürtme kafasina (8) baglanir. The spray head (8) carried by the spray arm (3) is essentially the lower end. pressurize the refractory material through a spray nozzle (16) on the It is a spraying unit. Transferring a material to the spray head (8) pipe (9) is connected. The material transfer pipe (9) comes out of the main body (2), It advances over the spray arm (3) and is connected to the spray head (8).
Bulus konusu refrakter püskürtme robotunda (1) ortaya konulan baslica yenilik püskürtme robotuna (1) entegre edilen bir ölçme aletidir (10).In the refractory spraying robot (1) which is the subject of the invention, the main innovation is a measuring instrument (10) integrated into the spraying robot (1).
Bahsedilen ölçme aletinin (10) ana gövdeye (2) montaji için ana gövdenin (2) üst kisminda dikey eksende monteli bir ölçme kolu montaj silindiri (12) ve bahsedilen ölçme kolu montaj silindirine (12) yere yatay eksende (Y ekseni) uzanan bir ölçme kolu (11) monte edilmistir. Olçme aleti (10) ölçme kolunun (11) uç kisminda montelidir. For the assembly of the said measuring tool (10) to the main body (2), the main body (2) a measuring arm mounting cylinder (12) mounted on the vertical axis on its upper part, and said measuring arm is attached to the mounting cylinder (12) on the horizontal axis (Y axis) to the ground. an extending measuring arm (11) is mounted. The measuring tool (10) (11) is mounted at the end.
Olçme kolu montaj silindirinin (12) ana gövdeye (2) baglandigi kisimda ölçme kolu döndürme tertibati (14) bulunur. Bahsedilen ölçme kolu döndürme tertibati (14) ölçme kolu (11) komplesini dikey eksende (Z ekseni) 360 derece döndürebilmektedir. Olçme kolu döndürme tertibati (14) servo motorlar vasitasiyla tahrik edilmektedir. Olçme kolu (11) ve ölçme kolu montaj silindiri (12) birbirine ölçme kolu döner mafsali (13) ile baglantilidir. Yine ölçme kolu (11) ve ölçme kolu montaj silindiri (12) arasinda ölçme kolu döndürme tertibati (15) montelidir. Dikey eksende çalisan ölçme kolu döndürme tertibati (15) vasitasiyla ölçme kolu (12) ve ölçme kolu (12) ucundaki ölçme aleti (10) ölçme kolu döner mafsali (13) ekseninde asagi yukari hareket edebilmektedir. Measuring at the point where the measuring arm mounting cylinder (12) is connected to the main body (2) arm rotation device (14). Said measuring arm rotation assembly (14) measuring arm (11) assembly in vertical axis (Z axis) 360 degrees can rotate. Measuring arm rotation device (14) servo motors driven by it. Measuring arm (11) and measuring arm mounting cylinder (12) are connected to each other by the measuring arm swivel joint (13). Measuring arm again Measuring arm rotation between (11) and measuring arm mounting cylinder (12) assembly (15) is mounted. Measuring arm rotating device operating on the vertical axis Measuring arm (12) via (15) and measuring tool (10) at the end of measuring arm (12) up and down movement of measuring arm swivel joint (13) axis can.
Bulus konusu refrakter püskürtme robotunun (1) çalisma prensibi su sekildedir: Püskürtme kolunun (3) asagi yukari hareketini saglayan püskürtme kolu kaldirma pistonunun (7) asagi - yukari hareketi oransal vaIerr yardimiyla saglanmaktadir. Böylelikle püskürtme kolunun (3) ve püskürtme kafasinin (8) kademeli hizlarla asagi - yukari hareketi yapilabilmektedir. Püskürtme koluna (3) ve püskürtme kafasina (8) ait hareketlerin hizi PLC programlama ile ayarlanmaktadir. Benzer sekilde püskürtme kolu (3) komplesinin Z ekseninde 360 derece döndürülmesini saglayan ve ana gövde (2) içindeki servo motorlar tarafindan tahrik edilen püskürtme kolu döndürme tertibatinin (6) hareketi PLC yardimiyla kontrol edilmektedir. The working principle of the refractory spraying robot (1), which is the subject of the invention, is water. is as follows: Spray arm that provides up and down movement of the spray arm (3) up and down movement of the lifting piston (7) with the help of proportional valerr is provided. Thus, the spray arm (3) and the spray head (8) Up and down movement can be made at gradual speeds. To the spray arm The speed of movements of (3) and spray head (8) can be determined by PLC programming. is being set. Similarly, in the Z-axis of the spray arm (3) assembly The servo in the main body (2) that enables it to be rotated 360 degrees of the spray arm rotator (6) driven by the motors movement is controlled with the help of PLC.
Ana gövde (2) üzerinde ayrica pnömatik pano bulunmakta olup, bahsedilen pnömatik pano vasitasiyla refrakter püskürtme robotu (1) için sebekeden gelen hava ve su hatlarinin gerekli ayarlari yapilmaktadir. Gene ana gövde (2) içerisinde refrakter püskürtme robotunun (1) yaglama islemini gerçeklestiren yaglama pompasi bulunmaktadir. Refrakter püskürtme robotunda (1) bulunan otomatik yaglama sistemi vasitasiyla refrakter püskürtme robotunun (1) çalismasindan bagimsiz olarak belli araliklarla dagiticilar yardimiyla hareketli mekanizma parçalarinin tamami yaglanir.There is also a pneumatic panel on the main body (2). from mains for refractory spraying robot (1) via pneumatic panel Necessary adjustments of incoming air and water lines are made. Gene main body (2) inside the refractory spraying robot (1) to perform the lubrication process. There is a lubrication pump that performs refractory spraying refractory by means of the automatic lubrication system in the robot (1). at certain intervals, regardless of the operation of the spraying robot (1). All moving mechanism parts are lubricated with the help of distributors.
Pompanin devre disi kalmasi durumunda sistem, operatörü görsel ve yazili olarak ikaz eder. In case the pump is out of order, the system alerts the operator visually and in writing. as a warning.
Ana gövde (2) içerisinde, kuru harç malzemesinin su ile verimli bir sekilde karismasini saglamak amaciyla, frekans konvertörü ile debisi kontrol edilen su pompasi bulunur. In the main body (2), the dry mortar material is efficiently mixed with water. In order to ensure mixing, the flow rate is controlled by the frequency converter. There is a water pump.
Refrakter püskürtme robotunda (1) ayrica su dozajlama sistemi mevcuttur.There is also a water dosing system in the refractory spraying robot (1).
Bahsedilen su dozajlama sistemi, frekans konvertörlü bir su pompasi, elektropnömatik debi kontrollü bir su ayar vanasi, yüksek hassasiyetli bir elektronik debi ölçüm cihazi ve yüksek performansli su karisim nozulundan olusmaktadir. Sisteme su miktari püskürtme malzemesi reçetesine göre girilir (örnegin; %10 su ya da 20 kg/dak gibi). Sistem su karisim nozulu öncesinde su debisini çok hassas olarak ölçerek, uygun akis kontrol metotlarina (PID) göre frekans konvertörlü su pompasini ve elektriksel debi kontrollü su vanasini ayarlayarak istenilen su seviyesini ayarlar. Bu sayede operatörler manuel ya da otomatik refrakter tamiri yaparlarken, su ayari için zaman kaybetmezler. The water dosing system mentioned is a water pump with frequency converter, A water regulating valve with electropneumatic flow control, a high precision electronic flow meter and high performance water mixing nozzle is formed. The amount of water in the system is entered according to the spray material recipe. (eg 10% water or 20 kg/min). Before the system water mixing nozzle By measuring the water flow very precisely, appropriate flow control methods (PID) water pump with frequency converter and electrical flow controlled water Adjusts the desired water level by adjusting the valve. In this way, operators When making manual or automatic refractory repairs, it is time to adjust the water. they don't lose.
Bulus konusu refrakter püskürtme robotu (1) ayrica hava akiskanli sogutma sistemine sahiptir. Sogutma sisteminin kontrol valfleri ana gövde (2) alt kismindaki pnömatik panoda bulunurlar. Sogutma sisteminde; püskürtme kolu (3) ve püskürtme kafasini (8) sogutan hava nozullari vardir. Refrakter püskürtme robotuna (1) start verilir verilmez hava nozullari devreye girerek refrakter püskürtme robotunu (1) sogutmaya baslar. Sicaklik ayarlanan degerlerin üstüne çikilmasi durumunda sistem, operatörü uyarir. Bahsedilen hava nozullari, bulunduklari bölgelerdeki sicakligin, ayarlanan azami sicakligi asmasi durumunda, -robot operasyonda olmasa dahi- devreye girerek sogutmayi saglar. The subject of the invention is the refractory spraying robot (1), which is also used for air-fluid cooling. system has. Control valves of the cooling system are main body (2) lower They are located on the pneumatic panel in the section. In the cooling system; spraying There are air nozzles that cool the handle (3) and the spray head (8). refractory As soon as the spraying robot (1) is started, the air nozzles are activated. starts to cool the refractory spraying robot (1). temperature set If the values are exceeded, the system warns the operator. Said air nozzles, the temperature in the regions where they are located, the set maximum temperature in case of hanging, even if the robot is not in operation. it provides cooling.
Ana gövde (2) üzerine ölçme kolu montaj silindiri (12) vasitasiyla baglanmis olan ölçme kolu (11) ve ölçme aleti (10) yardimiyla ocak/pota/konvertör içerisine dösenmis olan tuglalarin kalinlik ölçümü yapilarak, tamir yapilmasi gereken pozisyonlar PLCJye aktarilir. PLC uygun koordinatlari derleyerek, püskürtme kolu (3) ve püskürtme kafasini (8) senkronize sekilde çalistirarak, uygun yerlere gerekli miktarlarda malzemeyi püskürtür. Böylece refrakter püskürtme robotu (1) tam otomatik sekilde tamir yapar. Olçüm aleti (10) tahrik sistemi Y ekseninde 2 servo motor , Z ekseninde ise 1 adet servo Püskürtme kafasi (8) ve püskürtme nozulu (16) ocagin içine giren ve püskürtme islemini yapan kisimdir. Püskürtme kafasi (8) Z ekseninde 360 derece dönüse sahiptir. Bu sekilde, istenilen istikamete, istenildigi kadar döndürülebilmektedir. Püskürtme kafasinin (8) dönüsü 1 adet servo motor ile tahrik edilmektedir. Y ekseninde hareketi saglayan ölçme kolu döndürme tertibati (15) ise tercihen 2 adet servo motor ve lineer aktuatör ile saglanmaktadir. Refrakter tamir malzemesinin su ile karistirmasi islemi püskürtme kafasi (8) içerisinde gerçeklestirilmektedir. The measuring arm is attached to the main body (2) by means of the mounting cylinder (12). cooker/ladle/converter with the help of measuring arm (11) and measuring instrument (10) Making repairs by measuring the thickness of the bricks laid inside Required positions are transferred to PLCJ. PLC compiles the appropriate coordinates, by operating the spray arm (3) and the spray head (8) synchronously, It sprays the required amount of material to the appropriate places. Thus, refractory The spraying robot (1) makes repairs fully automatically. Measuring instrument (10) drive system 2 servo motors on the Y axis and 1 servo on the Z axis The spray head (8) and the spray nozzle (16) enter the furnace and It is the person who does the spraying. Spray head (8) 360 in Z axis It has degrees of rotation. In this way, you can reach the desired direction as much as you want. can be rotated. The rotation of the spraying head (8) is with 1 servo motor is provoked. Measuring arm rotation providing movement in the Y axis assembly (15) preferably with 2 servo motors and linear actuators. is provided. The process of mixing refractory repair material with water carried out in the spray head (8).
Bulus konusu refrakter püskürtme robotuna (1) entegre edilen ölçme aleti (10) sayesinde yukarida anlatildigi sekilde ocak/pota/konvertörün asinan arizali kisimlarinin tespit edilmesinin ve onariminin insan eli degmeden otomatik olarak yapilabilmesi mümkün kilinmistir. Bu sayede is kazasi riskleri ortadan kaldirilmis, tamir islemlerinin daha yüksek basinçta, çok daha hizli, efektif ve emniyetli sekilde yapilabilmesi saglanmistir. The measuring instrument integrated into the refractory spraying robot (1), which is the subject of the invention With (10), the hob/crucible/converter is worn out as described above. Detection and repair of defective parts without human hand can be done automatically. In this way, occupational accident risks eliminated, repair operations at higher pressure, much faster, It is ensured that it can be done effectively and safely.
Claims (2)
Publications (1)
| Publication Number | Publication Date |
|---|---|
| TR2021002596T true TR2021002596T (en) | 2021-08-23 |
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