WO2010061022A1 - Robot d'élimination de laitier - Google Patents

Robot d'élimination de laitier Download PDF

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Publication number
WO2010061022A1
WO2010061022A1 PCT/ES2009/070470 ES2009070470W WO2010061022A1 WO 2010061022 A1 WO2010061022 A1 WO 2010061022A1 ES 2009070470 W ES2009070470 W ES 2009070470W WO 2010061022 A1 WO2010061022 A1 WO 2010061022A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
oven
operations
molten metal
desescoriador
Prior art date
Application number
PCT/ES2009/070470
Other languages
English (en)
Spanish (es)
Inventor
José Domingo BERASATEGUI IRAETA
Original Assignee
Ghi Hornos Industriales, S.L.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ghi Hornos Industriales, S.L. filed Critical Ghi Hornos Industriales, S.L.
Publication of WO2010061022A1 publication Critical patent/WO2010061022A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D43/00—Mechanical cleaning, e.g. skimming of molten metals
    • B22D43/005—Removing slag from a molten metal surface
    • B22D43/007—Removing slag from a molten metal surface by using scrapers
    • 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
    • F27D3/00—Charging; Discharging; Manipulation of charge
    • F27D3/15—Tapping equipment; Equipment for removing or retaining slag
    • F27D3/1545—Equipment for removing or retaining slag
    • F27D3/1554—Equipment for removing or retaining slag for removing the slag from the surface of the melt
    • F27D3/1563—Equipment for removing or retaining slag for removing the slag from the surface of the melt by the use of scrapers

Definitions

  • the present invention refers to a desescoriador robot and as its name indicates is applicable to industrial furnaces, whose construction and design characteristics allow great accessibility to the oven to facilitate the interior cleaning of the same, as well as reducing metal losses, reducing damage to the oven and increasing the safety of the operator operating the machine.
  • the utensils for cleaning and desescoriado can easily enter the oven chamber accessing the entire surface of the bathroom, as well as the walls and bottom of it.
  • the first step of adapting to the new situation was to use forklifts, whose nails a tool was attached. Although this system is still used in many foundries, it is an inaccurate system that carries in addition to the slags that are intended to be removed, liquid metal, with the consequent economic loss.
  • the degreasing of an aluminum melting furnace is a process that is carried out once the metal has melted and, as the name implies, is to remove the slag (aluminum oxide) contained in the furnace before casting the metal to a mold, casting machine, etc.
  • the robot desescoriador object of the present invention, presents as a special functional feature the fact that it travels overhead on rail beams that are at a higher level with respect to the mouth of the oven, thus avoiding conditioning the layout of the foundry and interfering with the oven loader.
  • It is a lightweight robot, so it allows greater precision in its movements and also makes it possible to perform the desorption automatically by PLC programming or by the operator from a command desk and monitored with remote surveillance.
  • the operations of skimming of the bath, agitation of the molten metal, cleaning of the side walls of the furnace and bottom of the same are carried out, achieving an increase in the operator safety operating the machine thanks to the process monitoring.
  • a reduction of the metal losses is obtained thanks to the better control of the movements of the machine and also a reduction of the damages caused to the furnace is achieved, by precisely regulating the different paths and efforts to be made in each of the movements of machine.
  • a carrier car that includes motorized rollers and in which there are two columns in which a support that extends in a horizontal mast carrying two lateral guides is vertically displaced for sliding back and forth, of a second carriage to which an arm of telescopic structure is arranged arranged generally parallel to the horizontal mast.
  • a blade At the free end of the arm, a blade is responsible for carrying out the relevant operations of cleaning, skimming or stirring of molten metal.
  • Said telescopic arm can also move angularly in the vertical plane by the action of a hydraulic cylinder.
  • the door is opened and the telescopic actuating arm is inserted into the chamber. Then, the telescopic arm tilts in the vertical plane so that the blade is introduced into the slag layer or in the bath itself, depending on whether the operation is skimming or stirring the molten metal respectively.
  • the operation of agitation of molten metal is carried out by means of alternative movements of forward and backward movement of the arm with the blade introduced in aluminum.
  • the robot desescoriador incorporates video cameras connected to a screen, so that the operator can control the movements in the operations of skimming and agitation of the molten metal and act on the robot desescoriador at a distance, avoiding the conditions of heat, splashes of molten metal , etc., unavoidable when working in the vicinity of the mouth of the oven.
  • cleaning operations inside the oven can be done manually by directing the desescoriador robot from a control desk thanks to the help of the cameras, or automatically, for which the robot has installed software that Copy the shape of the side walls and the bottom of the oven, allowing the oven to be cleaned by pressing a simple button.
  • Figure 1 It is a perspective view of a desescoriador robot constructed in accordance with the invention and coupled to the mouth of an industrial furnace partially shown.
  • Figure 2 It is a perspective view of the same robot shown in isolation.
  • Figure 3 It is a perspective view of the same oven of Figure 1 including different schematic positions of the movement of the telescopic arm of the robot.
  • the rail guides are arranged horizontally, one upper 3 and one lower 4, being carriers of respective rails 5 and 6 of guided displacement of a carriage 7 which can thus be moved by motorized rollers to one or the other side of the oven.
  • This carrier carriage 7 includes two columns 8 in which a support 9 is guided vertically from which a horizontal mast 10, perpendicular to the mouth of the oven and which has two lateral guides 11 in which a second carriage moves 12 forwards and backwards in the direction perpendicular to the mouth of the oven 2.
  • the second carriage 12 includes a telescopic arm 13 that is placed under the mast, directed towards the mouth of the oven 2 and finished at its end in a blade 14 so that it can enter and exit the oven 2 to scratch the walls and bottom thereof, remove the slag formed (skimmed), or stir the molten metal, or remove the latter depending on the time or operation to be performed.
  • the telescopic arm 13 articulates at a lower point of the second carriage 12 and is assisted by a hydraulic cylinder 15 to provide it with angular movement in a vertical plane.
  • the telescopic arm 13 and more specifically the blade 14 can thus easily enter and exit the oven, move up or down, left and right, rotate horizontally as well as acquire the desired angular positions to faithfully fulfill its task.
  • the maneuvers are controlled from a control desk and visualization through video cameras and screen.
  • An automatic control is also provided when a robot is incorporated into the robot to fully clean the oven 2.
  • Robot 1 does not interfere with the oven charger 16 being suspended from rail beams 3 and 4.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Waste-Gas Treatment And Other Accessory Devices For Furnaces (AREA)
  • Furnace Charging Or Discharging (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un robot d'élimination de laitier du type utilisé dans des opérations d'écrémage, de nettoyage et d'agitation du métal fondu dans des fours industriels. Ce robot comprend des poutres de roulement (3, 4) disposées horizontalement à un niveau supérieur à celui de l'ouverture du four (2), lesdites poutres portant deux rails (5, 6) de déplacement d'un chariot porteur (7) pourvu de colonnes (8) dans lesquelles un support (9) est déplacé verticalement, ledit support étant monté solidaire avec un mât horizontal (10). Le mât horizontal (10) comprend des guides latéraux (11) pour faire coulisser un deuxième chariot (12) auquel est assemblé de manière articulée un bras télescopique (13) inférieur audit deuxième chariot et dont l'extrémité libre comprend une racle (14) qui assure les opérations de nettoyage, d'écrémage ou d'agitation du métal fondu. La racle (14) peut ainsi entrer et sortir facilement du four par des mouvements effectués dans toutes les directions, par l'intermédiaire d'une commande manuelle ou automatique.
PCT/ES2009/070470 2008-11-03 2009-10-28 Robot d'élimination de laitier WO2010061022A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ESP200803116 2008-11-03
ES200803116A ES2343345B1 (es) 2008-11-03 2008-11-03 Robot desescoriador.

Publications (1)

Publication Number Publication Date
WO2010061022A1 true WO2010061022A1 (fr) 2010-06-03

Family

ID=42225284

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2009/070470 WO2010061022A1 (fr) 2008-11-03 2009-10-28 Robot d'élimination de laitier

Country Status (2)

Country Link
ES (1) ES2343345B1 (fr)
WO (1) WO2010061022A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013087539A1 (fr) 2011-12-14 2013-06-20 Sms Siemag Ag Procédé d'entretien et/ou de réparation de la zone de coulée d'une cuve métallurgique
CN105983685A (zh) * 2015-02-05 2016-10-05 保定隆达铝业有限公司 三维向铝液扒渣装置
CN107150117A (zh) * 2017-07-19 2017-09-12 安徽理工大学 多臂型悬挂轨道式铸件清理机器人
CN107159875A (zh) * 2017-07-10 2017-09-15 重庆新格有色金属有限公司 铝液自动刮渣机
CN107243622A (zh) * 2017-08-10 2017-10-13 安徽理工大学 混联式可移动重载铸造机器人
CN108160981A (zh) * 2017-12-25 2018-06-15 新兴铸管（浙江）铜业有限公司 一种带有自动除渣装置的流量控制箱及除渣方法
EP3693337A1 (fr) 2019-02-05 2020-08-12 Nederlandse Organisatie voor toegepast- natuurwetenschappelijk Onderzoek TNO Utilisation de sel fondu pour séparer du carbone d'un catalyseur de métal fondu
CN113084103A (zh) * 2021-04-14 2021-07-09 内蒙古联晟新能源材料有限公司 一种用于清洗流眼的扩眼钎
WO2022029272A1 (fr) 2020-08-05 2022-02-10 Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno Pyrolyse par fusion d'une charge hydrocarbonée contenant de l'azote et/ou du sulfure d'hydrogène

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1091538A (en) * 1964-10-02 1967-11-15 Bbc Brown Boveri & Cie Method of removing the slag from the melt in a crucible smelting furnace
FR1573360A (fr) * 1967-09-12 1969-07-04
US3712601A (en) * 1971-10-06 1973-01-23 Amsted Ind Inc Apparatus for removing a foreign substance from a liquid bath
GB1407757A (en) * 1972-10-16 1975-09-24 Louise Nv Sa Apparatus for removing slag from casting ladles
US4122296A (en) * 1976-05-21 1978-10-24 Dango & Dienenthal Distributing and poking machine for metallurgical furnaces
EP0297083A2 (fr) * 1987-06-22 1988-12-28 VOEST-ALPINE INDUSTRIEANLAGENBAU GESELLSCHAFT m.b.H. Poste de démasselottage pour poches
WO2000031482A1 (fr) * 1998-11-23 2000-06-02 Mawar Malaysian Limited Procede et appareil ameliores permettant de separer l'aluminium d'un melange d'aluminium et d'ecume d'aluminium

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1091538A (en) * 1964-10-02 1967-11-15 Bbc Brown Boveri & Cie Method of removing the slag from the melt in a crucible smelting furnace
FR1573360A (fr) * 1967-09-12 1969-07-04
US3712601A (en) * 1971-10-06 1973-01-23 Amsted Ind Inc Apparatus for removing a foreign substance from a liquid bath
GB1407757A (en) * 1972-10-16 1975-09-24 Louise Nv Sa Apparatus for removing slag from casting ladles
US4122296A (en) * 1976-05-21 1978-10-24 Dango & Dienenthal Distributing and poking machine for metallurgical furnaces
EP0297083A2 (fr) * 1987-06-22 1988-12-28 VOEST-ALPINE INDUSTRIEANLAGENBAU GESELLSCHAFT m.b.H. Poste de démasselottage pour poches
WO2000031482A1 (fr) * 1998-11-23 2000-06-02 Mawar Malaysian Limited Procede et appareil ameliores permettant de separer l'aluminium d'un melange d'aluminium et d'ecume d'aluminium

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013087539A1 (fr) 2011-12-14 2013-06-20 Sms Siemag Ag Procédé d'entretien et/ou de réparation de la zone de coulée d'une cuve métallurgique
DE102011088619A1 (de) 2011-12-14 2013-06-20 Sms Siemag Ag Verfahren zur Wartung und/oder Reparatur des Ausgussbereichs eines metallurgischen Gefäßes
CN105983685A (zh) * 2015-02-05 2016-10-05 保定隆达铝业有限公司 三维向铝液扒渣装置
CN107159875A (zh) * 2017-07-10 2017-09-15 重庆新格有色金属有限公司 铝液自动刮渣机
CN107150117A (zh) * 2017-07-19 2017-09-12 安徽理工大学 多臂型悬挂轨道式铸件清理机器人
WO2019029027A1 (fr) * 2017-08-10 2019-02-14 安徽理工大学 Robot de coulée de charge lourde mobile hybride
CN107243622B (zh) * 2017-08-10 2018-06-19 安徽理工大学 混联式可移动重载铸造机器人
CN107243622A (zh) * 2017-08-10 2017-10-13 安徽理工大学 混联式可移动重载铸造机器人
GB2578383A (en) * 2017-08-10 2020-05-06 Univ Anhui Sci & Technology Hybrid mobile heavy-load casting robot
US10668626B2 (en) 2017-08-10 2020-06-02 Anhui University of Science and Technology Series-parallel movable heavy-load casting robot
GB2578383B (en) * 2017-08-10 2022-11-30 Univ Anhui Sci & Technology Series-parallel movable heavy-load casting robot
CN108160981A (zh) * 2017-12-25 2018-06-15 新兴铸管（浙江）铜业有限公司 一种带有自动除渣装置的流量控制箱及除渣方法
EP3693337A1 (fr) 2019-02-05 2020-08-12 Nederlandse Organisatie voor toegepast- natuurwetenschappelijk Onderzoek TNO Utilisation de sel fondu pour séparer du carbone d'un catalyseur de métal fondu
WO2020161192A1 (fr) 2019-02-05 2020-08-13 Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno Utilisation de sel fondu pour séparer le carbone d'un catalyseur métallique fondu
WO2022029272A1 (fr) 2020-08-05 2022-02-10 Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno Pyrolyse par fusion d'une charge hydrocarbonée contenant de l'azote et/ou du sulfure d'hydrogène
CN113084103A (zh) * 2021-04-14 2021-07-09 内蒙古联晟新能源材料有限公司 一种用于清洗流眼的扩眼钎

Also Published As

Publication number Publication date
ES2343345A1 (es) 2010-07-28
ES2343345B1 (es) 2011-08-16

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