WO1986002437A1

WO1986002437A1 - Manipulator at furnaces and the like

Info

Publication number: WO1986002437A1
Application number: PCT/SE1985/000380
Authority: WO
Inventors: Sven Erik BERGSTRÖM; Peter Gossas
Original assignee: SSAB SVENSKT STA^oL AB
Priority date: 1984-10-10
Filing date: 1985-10-02
Publication date: 1986-04-24
Also published as: FI80956C; FI871589A0; DK272586D0; US4747582A; NO862300L; SE8405060D0; EP0227681B1; DK272586A; EP0227681A1; SE8405060L; FI871589A; SE448119B; NO862300D0; FI80956B; DE3578008D1

Abstract

Manipulator for guiding of devices for treatment of heats in furnaces, ladles and the like, e.g. lances for injection of oxygen through a door (3) of an electromelting furnace, consisting of a feed table (19), on which one or several devices (24, 29) are arranged displaceable mechanically guided in its length direction by means of one or several feed devices, at which the feed table (19) is movable mechanically guided between an advanced position at a work point (14), where the feed table (19) is immediately in front of the furnace door (3) or the like, at which the devices (24, 29) can be inserted into the furnace (2) and possibly lowered down into the heat, and a retracted position, where the feed table (19) is removed from the furnace door (3).

Description

MANIPULATOR AT FURNACES AND THE LIKE TECHNICAL AREA

The present invention relates to a manipulator for guiding of devices for treatment of heats in furnaces, ladles and the like, e.g. lances for injection of oxygen through a door of an electro-melting furnace. However, the use of the invention is not limited to the metallurgical application, but can be used within many ares, where remote control of devices is desired to enable the devices to be inserted into vessels of different kinds or the like, especially within such areas, where work operations are risky to the personnel. BACKGROUND TECHNOLOGY

In metallurgical processes, where a metal heat is treated, e.g. through injection of gas e.g. oxygen or a mixture of gas and a solid material in powder form e.g. pulverized coal, or a liquid or a liquid suspension or a mixture of a gas and a liquid, this operation is in many cases carried out by that a tubular lance is inserte into the melt through which the gas and the powder are blown. As for elector-steel furnaces for melting of steel scrap the scrap is melted in a furnace vessel provided with a cover through which electrodes are lowered down towards the scrap material and the heat. Oxygen is added through one or several lances which are inserted through an openi in the wall of the vessel, e.g. an opening for removal of slag from the heat, and down into the melt. The lance is thereby arranged on a manually drawn car on an adjacent platform, by which its position in the heat also can be roughly adjusted. The disadvantage of this car is that the personnel must stay close to the furnace involving risks of injuries at e.g. splashing from the furnace. The lance can also be arranged on a stand fixed to the furnace platform, whereby the lance is displaceable in its length direction inwards or outwards through a small door in the furnace wall. The disadvantage of this arrangement is that the lance cannot be lowered down in different angles towards the melt. With the aim to improve the guiding of the lance a car provided with a feed table for one or several lances has been developed. The feed table can be raised and lowered and be inclined forward and backwards. The lance can also be fed forward and backwards in its length direction. The disadvantage of this car is the same as for the one descri above as for the risk for the personnel operating the car.

As regards metallurgical melting furnaces it also occur that slag floating on top of the metal heat is removed from the surface of the heat in that the furnace is tilted so that the slag flows away through a door in the furnace wall. In doing so it occurs that slag gets frozen fast in the sides of the door and must be removed with a special device. Such a device can be arranged on a mechanically operated car on the furnace platform in front of the deslagging door and consists of a bar provided with a scraper which is inserted into the door enabling the froze slag to be removed from there. The disadvantage of known devices is that they are expensive to manufacture and that rather great precision is required at the handling of it to obtain the desired result. Another disadvantage is that remote control^' of them is difficult to realize. DESCRIPTION OF THE INVENTION

The aim of the present invention is to produce a device for e.g. guiding of lances at a melting furnace, which has not the disadvantages of known devices. The aim has been attained by means of a manipulator consisting of a feed table on which one or several devices are arranged displaceable in its length direction mechanically guided by means of one or several feed devices. The invention is characterized in that the feed table is movable mechanical guided between an advanced position at a work point, where the feed table is immediately in front of a door of e.g. a electro-melting furnace or the like, at which the devices can be inserted into the furnace and possibly lowered down into the heat, and a retracted position, where the feed table is removed from the furnace door. By this the manipulator can be remote-controlled to exact positions on the whole in relation to the furnace in a considerably easier way in comparison with known wheeled devices, which are feely movable on the furnace level in front of the furnace or the like.

The work point is preferably vertically adjustable and laterally displaceable in relation to the furnace door.

The feed table is also horizontally and vertically rotary around the work point and displaceable in its length direction in relation to the work point. The work point can also be set in a fixed position in relation to the furnace door in case the furnace must be tilted. This is possible, as the devices supporting the feed table are connected with the furnace. By this the devices of the manipulator can be differently tilted in relation to the furnace and the heat in it as well as in different positions in relation to e.g. the furnace door.

Of the devices of the manipulator at least one is a tubular lance for injection of a gas e.g. oxygen or a mixture of a gas or a solid powdered material e.g. of coal or iron oxide or a liquid or a liquid suspension, or a mixture of a gas and a liquid, when the manipulator is used at an electro-steel furnace for melting of scrap. At this occasion the feed device is equipped with a lance holder to which gas or gas and powder is delivered via a feed pipe. The lance holder is preferably dis- placeable along a guide running along the feed table and is connected with a drive arranged on the feed table. The drive can be an endless chain, wire or the like, running over guide wheels at^' the ends and possible support wheels of the feed table along its length, at whic at least one of the wheels is connected with a drive motor. By this gas or gas arid powder can be injected into e.g. a furnace completely through remote control implying that the personnel at the furnace doesn't have to stay near it and be exposed to risks of injuries e.g. from liquid metal or slag splashing from the furnace.

At least one of the devices of the manipulator can very well be a working device by means of which pressure and tractive forces or blows can be directed towards slag or the like which has frozen fast in the furnace door or the like. The working device can thereby consist of a scraper, which can be given a forward or return motion by which e.g. the slag can be removed from the furnace door.

Another device on the manipulator can consist of a temperature sensor, which like the lances, when required, can be inserted into the furnace for temperature measure- ment during a melting process. The temperature sensor can be inserted into the furnace by means of the same kind of drive as for the lances. The remote control of the manipulator can very well be supervised by means of a TV-camera, which can be arranged on or near the feed table and which is connected to a viewing screen situated near the remote-control devices which can be located in a screened cabin at a rather long distance from the furnace. The transfer of control impulses to the manipulator can be carried out either via electric cables or via a radio. The control devices can also be arranged on a portable panel from which control impulses are transferred to the manipulator via a radio. At a work cycle, e.g. when steel scrap is melted in an electro-melting furnace, the furnace is first filled with scrap, after which electrodes are lowered down towards the scrap and electric power is switched on. The feed table is then in retracted position, where it is provided with new lances for injection of oxygen. As soon as the melting is started the feed table runs to advanced position, where it is set in desired inclination towards the furnace door. The feed table is then brought forward in its length direction, until its front edge is quite clo.se to the furnace door, whereupon one or several lances are introduced into the furnace and possibly down into the heat, which is successively formed and so oxygen is injected into the heat. A temperature sensor is now and then introduced into the furnace in the same way as the lances. The lances are successively burnt up and are fed forward, until the lance holder is at the front edge of the feed table nearest to the furnace door. When this position has been reached the oxygen gas flow is cut off, after which the feed table is taken back as well as the lance holders. Remaining lance parts are now removed and new lances installed. In the meantime the furnace can be tilted, to allow the slag to flow out of the furnace door. The feed table is again brought up to the work point, where the slag is removed before the lances are again inserted into the furnace and the injection of oxygen is continued. Slag, which has frozen fast in the furnace door, can possibly also be burnt off by means of oxygen. DESCRIPTION OF FIGURES

The invention is below described in the form of a typical example with reference to enclosed figures. Figure 1 shows a manipulator near a door of an electro-steel furnace seen in a vertical plane.

Figure 2 shows a manipulator according to figure 1 seen in a horizontal plane. Figure 3 shows a detail of the feed table of the manipulator as well as the furnace door in cross- section.

Figure 4 shows an alternative design of the slag scraper as shown in figures 1 and 3. The manipulator according to the example is stationary arranged on tiltable frame structure 1 of an electro-steel furnace 2 (fragmentarily shown in the figures) which is equipped with a door 3 for removal of slag from the furnace 2 in that it is tilted towards a furnace platform, which is stationary in relation to the surrounding building, which cannot be seen in the figures.

The manipulator consists of a stand 5, which is stationary arranged on the structure 1 by means of four cotter bolts, the cotters of which are kept drawn-in in pairs in the bolt concerned 6 by means of rigging screws 7 existing between every pair of bolt 6 and connected to the cotter concerned. A swinging bracket 8 is installed at a swing head 9 at the upper end of the stand, the pivot axle of which can be differently tilted towards the upper part of the stand 5 by means of a rocker arm 10 on which the swing head 9 is mounted, the one end of which is pivoted at the upper end of the stand 5 and the other end of which is connected with the lower part of the stand 5. The swinging bracket 8 is swivelling in the swing head 9 by means of two hydraulic swing cylinders 12, which are arranged in a plane at right angles to the pivot axle on each side of the swinging bracket 8. The swing cylinder concerned 12 is connected with the swinging bracket 8 as well as with the stand 5. The swinging bracket 8 is swivelling between an advanced position near the furnace door 3 and a retracted position shown with dotted lines in figure 2.

The free end of the swinging bracket 8 supports a hydraulic cylinder 13 by means of which a suspension poin 14, i.e. the work point of the manipulator, can be dis¬ placed mainly along a straight line laterally, when the manipulator is in advanced position in front of the furnac door 3. The work point 14 is in the fixed pivot of. a rotating head 15, which is supported by the piston-rod of the cylinder for lateral movement 13. In such case, where the stand 5 is situated on the other side of the furnace door 3 according to figure 2, the cylinder for lateral movement 13 is turned in relation to the swinging bracket 8 in a two-way holder 16 and is fixed in the alternative position.

The rotating head 15 supports a hydraulic cylinder 17 on which two brackets 18 are mounted, which on their part carry a feed table 19, which is displaceable in the lengt direction of the cylinder 17 by means of guides arranged on the bracket concerned 18 i.e. possible to move to the furnace door 3. The cylinder for forward movement 17 and by that the feed table 19 can be turned in two planes being at right angles to each other through the turning point 14 partly by means of a hydraulic cylinder 20 by means of which the table 19 can be differently tilted towards the furnace door 3 and partly a hydraulic cylinde 21 by means of which the table 19 can be set laterally in relation to the furnace door 3. The cylinder for inclina¬ tion 20 as well as the cylinder for side settirig 21 are connected with the cylinder for forward movement 17 and with that part of the rotating head 15 which is fixed with the piston-rod of the cylinder for lateral movement The feed table 19 consists of two U-beams- 22 parallell in .relation to one another and extending in the direction of forward movement. The front end of the feed table 19 is equipped with a water-cooled shield 23, which mainly extends in right angle to the feed direction and protrudes on the underside of the U-beams 22. The feed table carries two tubular lances 24 the front part concerned of which is led through an opening in the shield 23 and the rear end concerned of which is connected to a lance holder 25 partly consisting of a jointing sleeve 26 and partly a travelling car 27 which can travel along the underside of the U-beam concerned 22. Oxygen is fed to the lance concerned 24 via the lance holder 25 ^■ from a feed pipe 28. The lance holder concerned 25 is through the travelling car concerned 27 connected with a drive of known kind, which cannot be seen in the figures. The drive consists of an endless drive chain, wire or the like running over guided wheels at the ends and support wheels of the table 19 along its length, at which one of the wheels are connected with a drive motor.

The feed table 19 is also provided with a working device 29 in the form of a scraper, which can be given a movement forward or backwards in the feed direction by means of which slag can be scraped away from the furna door 3. The scraper 29 is by that activated by a hydrauli cylinder 30 arranged on the underside of the feed table 1 The scraper 29 is shown with dotted lines inserted into the f rnace door 3 on figure 3 , at which the feed table 19 is in advanced position with the shield 23 leaning against the front of the furnace 2. An alternative design of the scraper 29 is shown in figure 4, where it has been provided with a marked piercer 31 projecting out in the feed direction and a scraper plate 32 placed at right angle to it and protruding down from the piercer. To relieve the feed table 19 from forces arising when the scraper 29 is in operation the table can be fixed in relation to the furnace door 3 by means of a holder-on 33 arranged on the feed table 19 mounted in a correspondi bracket 34 on the furnace 2.

Claims

PATENT CLAIMS

^"1. Manipulator for guiding of devices for treatment of heats in furnaces, ladles and the like, e.g. lances for addition of oxygen through a door (3) of a electro- melting furnace, consisting of a feed table (19) on which one or several devices (24,29) are arranged and which can be displaced mechanically guided in its length direction by means of one or several feed devices c h a r a c h t e r i z e d in that the feed table (19) is movable mechanically guided between an advanced position at a work point (14) , where the feed table (19) is immediately in front of the furnace door (3) or the like, at which the devices (24,29) can be inserted into the furnace (2) and possibly lowered down into the heat, and a retracted position, where the feed table (19) is removed from the furnace door (3) .

2. Manipulator according to claim 1 , c h a r a c t e r i z e d in that the work point (14) is vertically adjustable and laterally displaceable in relation to the furnace door (3) .

3. Manipulator according to claims 1-2 , c h a r a c t e r i z e d in that the feed table (19) is horizontally and vertically rotary around the work point (14) and displaceable in its length direction in relation to the work point (14).

4. Manipulator according to claims 1-3, c h a r a c t e r i z e d in that the work point (14) can be fixed in a position in relation to the furnace door (3) , if the furnace shall be tilted, in that the devices (5,8,13, 15) supporting the feed table are connected with the furnace (2) .

5. Manipulator according to claims 1-4, c h a r a c t e r i z e d in that at least one device consists of a tubular lance (24) , the one end of which shall be inserted into the furnace (2) for injection of e.g. a gas into the furnace (2) and the other end of which is connected to a lance holder (25) , which is displaceable mechanically guided along the feed table (19) and which partly is connected with a drive and partly with a feed pipe (28) for the gas or the like.

6. Manipulator according to claims 1-5, c h a r a c t e r i z e d in that at least one device consists of a working device (29) by means of which pressure and tractive forces or blows can be directed to slag or the like at the furnace door (3) .

7. Manipulator according to claim 6, c h a r a c t e r i z e d in that the working device consists of a scraper (29) which can be given a forward and return movement in the length direction of the feed table (19) by means of a drive e.g. a hydraulic cylinder (30).