WO2016010422A1 - Apparatus and method for grinding carbonaceous materials - Google Patents

Apparatus and method for grinding carbonaceous materials Download PDF

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Publication number
WO2016010422A1
WO2016010422A1 PCT/NL2015/050504 NL2015050504W WO2016010422A1 WO 2016010422 A1 WO2016010422 A1 WO 2016010422A1 NL 2015050504 W NL2015050504 W NL 2015050504W WO 2016010422 A1 WO2016010422 A1 WO 2016010422A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
blast furnace
hearth bottom
displaceable
grinder
Prior art date
Application number
PCT/NL2015/050504
Other languages
French (fr)
Inventor
Nico Bleijendaal
Marcus Antonius Johannes Maria ROBBEN
Jan Soonius
Original Assignee
Cobra Carbon Grinding B.V.
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 Cobra Carbon Grinding B.V. filed Critical Cobra Carbon Grinding B.V.
Priority to EP15751127.0A priority Critical patent/EP3169481A1/en
Priority to CN201580038929.6A priority patent/CN106715049A/en
Priority to JP2017523759A priority patent/JP2017523059A/en
Priority to BR112017000837A priority patent/BR112017000837A2/en
Priority to KR1020177004032A priority patent/KR20170031211A/en
Publication of WO2016010422A1 publication Critical patent/WO2016010422A1/en

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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
    • 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
    • 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
    • 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
    • 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
    • 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

Definitions

  • 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.
  • US 2013/0273818 discloses a manipulator including a controlling seat, a robot arm assembly and a polishing mechanism.
  • the polishing mechanism is mounted on the robot arm assembly and serves to remove burrs on metallic workpieces. This device for removing burrs on metallic workpieces is without redesigning and rebuilding unsuited for use in grinding a blast furnace hearth bottom or a separate block or brick of carbonaceous material.
  • US 2013/0226340 discloses a mobile robot comprising an omnidirectional wheeled support vehicle supporting a robot arm, and comprising a positioning device designed to position the robot arm which can be automatically moved on the support vehicle in relation thereto.
  • This known mobile robot can automatically process a workpiece, for instance a rotor blade of a wind turbine, or a wing of an airplane. The mobile robot can then perform a contour grinding and/or trimming of edges for which purpose an appropriate tool can be attached to the robot arm.
  • the mobile robot is equipped with control devices for the robot arm and for the vehicle.
  • This known robot for executing a contour grinding or trimming of edges of a rotor blade of a wind turbine, or a wing of an airplane is without redesigning and rebuilding unsuited for use in grinding a blast furnace hearth bottom or a separate block or brick of carbonaceous material .
  • WO2007/141320 discloses an apparatus for treating a surface, notably the sanding of a ceiling, and were applicable, of a wall or the junction between a wall and a ceiling.
  • the robot includes a movable socket, an articulated manipulator arm carrying a sanding unit, which arm is supported by an elevator that is vertically extendable and rests on the movable socket.
  • the apparatus is designed for the nuclear and building domains and is therefore without redesigning and rebuilding unsuited for use in grinding a blast furnace hearth bottom or a separate block or brick of carbonaceous material.
  • 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 robot 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, and wherein it comprises monitoring means to measure a hearth bottom surface level of the hearth bottom on different positions in a horizontal plane and the controller is arranged to move the robot arm depending on a desired surface level of the hearth bottom of the blast furnace.
  • the method of the invention has the features of
  • the invention also applies to a 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:
  • 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.
  • the method of the invention comprises the steps of:
  • 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.
  • the hearth bottom surface level is measured in relation to a fixed point of the blast furnace.
  • the hearth bottom surface level is measured in relation to the level of the blast furnace tuyeries.
  • the monitoring means are arranged to measure the robot's position and altitude.
  • these monitoring means are arranged to measure the robot' s position and altitude with reference to a fixed point of the blast furnace.
  • the robot's position and altitude is measured in relation to the level of the blast furnace tuyeries .
  • -figure 1 shows in a side view an apparatus according to the invention positioned on a bottom hearth within a blast furnace;
  • -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.
  • an apparatus 1 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.
  • 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.
  • the robot arm 7, and conseguently the grinder 4 mounted thereon, is movable up and down and back and forth.
  • FIG 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.
  • 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.
  • 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.
  • 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 applied:
  • 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.
  • 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:
  • 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 reguires 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.
  • preference applies to measuring in relation to the level of the blast furnace tuyeries 10 this is not the only possibility.
  • 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 .
  • 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.
  • this method first the shape and dimensions of the actual blast furnace shell lining is measured with appropriate means .
  • 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 grinder 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Robotics (AREA)
  • Organic Chemistry (AREA)
  • Manufacturing & Machinery (AREA)
  • Materials Engineering (AREA)
  • Metallurgy (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 (1) for grinding material such as present in a blast furnace (3) hearth bottom (2), which apparatus comprises a grinder (4) for carbonaceous materials such as carbon blocks and/or bricks, which apparatus further comprises a robot (5) comprising a robot pedestal (6) on which a movable robot arm (7) is mounted, wherein the grinder (4) is mounted on an extremity of said movable robot arm (7) distant from the robot pedestal (6), and wherein 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 the operation of the grinder (4). The apparatus (1) is used by providing the displaceable robot (5) on the blast furnace hearth bottom (2); measuring the actual blast furnace hearth bottom surface level; measuring the position and altitude of the displaceable robot (5); 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 (5) and the grinder (4) 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 fur¬ nace 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 re¬ quires improvement.
In general robots are known but for good reason not in connection with grinding operations on carbonaceous material, and in particular not for grinding a blast furnace hearth bottom. As already mentioned grinding the horizontal courses of the bottom of a blast furnace is a difficult opera¬ tion, since it is done under crowded conditions and in the closed and restricted space of the blast furnace shell. There are numerous citations that deal with robots in general, some typical examples being the following.
US 2013/0273818 discloses a manipulator including a controlling seat, a robot arm assembly and a polishing mechanism. The polishing mechanism is mounted on the robot arm assembly and serves to remove burrs on metallic workpieces. This device for removing burrs on metallic workpieces is without redesigning and rebuilding unsuited for use in grinding a blast furnace hearth bottom or a separate block or brick of carbonaceous material.
US 2013/0226340 discloses a mobile robot comprising an omnidirectional wheeled support vehicle supporting a robot arm, and comprising a positioning device designed to position the robot arm which can be automatically moved on the support vehicle in relation thereto. This known mobile robot can automatically process a workpiece, for instance a rotor blade of a wind turbine, or a wing of an airplane. The mobile robot can then perform a contour grinding and/or trimming of edges for which purpose an appropriate tool can be attached to the robot arm. The mobile robot is equipped with control devices for the robot arm and for the vehicle. This known robot for executing a contour grinding or trimming of edges of a rotor blade of a wind turbine, or a wing of an airplane is without redesigning and rebuilding unsuited for use in grinding a blast furnace hearth bottom or a separate block or brick of carbonaceous material .
WO2007/141320 discloses an apparatus for treating a surface, notably the sanding of a ceiling, and were applicable, of a wall or the junction between a wall and a ceiling. The robot includes a movable socket, an articulated manipulator arm carrying a sanding unit, which arm is supported by an elevator that is vertically extendable and rests on the movable socket. The apparatus is designed for the nuclear and building domains and is therefore without redesigning and rebuilding unsuited for use in grinding a blast furnace hearth bottom or a separate block or brick of carbonaceous material.
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 robot 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, and wherein it comprises monitoring means to measure a hearth bottom surface level of the hearth bottom on different positions in a horizontal plane and the controller is arranged to move the robot arm depending on a desired surface level of the hearth bottom of the blast furnace. 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 .
The invention also applies to a 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 fur- nace 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 bot- torn 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.
Preferably 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 ref- erence 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 conseguently 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 applied:
-providing the displaceable robot 5 on the blast fur- nace 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 reguires 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 grinder 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 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

1. Apparatus (1) for grinding carbonaceous material, such as a blast furnace hearth bottom (2) or a separate block
(11) or brick of carbonaceous material, which apparatus (1) comprises a grinder (4) for such carbonaceous materials, characterized in that it further comprises a robot (5) comprising a robot pedestal (6) on which a movable robot arm (7) is mounted, wherein the grinder (4) is mounted on an extremity of said movable robot arm (7) distant from the robot pedestal
(6), and wherein 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 the operation of the grinder
(4), wherein it further comprises monitoring means (9) to measure a hearth bottom surface level of the hearth bottom (2) on different positions in a horizontal plane and the controller (8) is arranged to move the robot arm (7) depending on a desired surface level of the hearth bottom (2) of the blast furnace ( 3 ) .
2. Apparatus (1) according to claim 1, characterized in that the robot pedestal (6) is displaceable .
3. Apparatus (1) according to claim 1 or 2, characterized in that the robot arm (7) is movable up and down and back and forth.
4. Apparatus (1) according to any one of claims 1 -
3, characterized in that the monitoring means (9) are arranged to measure the hearth bottom surface level in relation to a fixed point (10) of the blast furnace (3).
5. Apparatus (1) according to any one of claims 1 -
4, characterized in that the monitoring means (9) are arranged to measure a hearth bottom surface level in relation to the level of the blast furnace tuyeries (10).
6. Apparatus (1) according to any one of claims 1 -
5, characterized in that the monitoring means (9) are arranged to measure the robot's position and altitude.
7. Apparatus (1) according to any one of claims 1 -
6, characterized in that the monitoring means (9) are arranged to measure the robot's position and altitude with reference to a fixed point (10) of the blast furnace (3) .
8. Apparatus (1) according to any one of claims 1 -
7, characterized in that the monitoring means (9) are arranged to measure the robot's position and altitude in relation to the level of the blast furnace tuyeries (10) .
9. Method for grinding a blast furnace hearth bottom (2), utilizing a grinder (4) mounted on a movable robot arm (7) of a displaceable robot (5), characterized in that the method comprises the steps of:
-providing the displaceable robot (5) on the blast furnace hearth bottom (2);
-measuring the actual blast furnace hearth bottom surface level;
-measuring the position and altitude of the displaceable- robot ( 5 ) ;
-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;
-controlling the operation of the displaceable robot (5) and the grinder (4) mounted thereon to remove said calculated level of the hearth bottom surface.
10. Method according to claim 9, characterized in that 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) .
11. Method according to claim 9 and 10, characterized in that the method further comprises the steps of:
-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 surface in the vicinity defined by the reach of the robot arm (7) .
12. Method according to claim 11, characterized in that the steps of relocating the displaceable robot (5) , meas¬ uring 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 continued until the entire hearth bottom surface of the blast furnace (3) is grinded to the desired hearth bottom surface level.
13. Method according to any one of claims 9 - 12, characterized in that in the process of grinding the blast furnace bottom hearth (2) the robot arm (7) is moved up and down and back and forth.
14. Method according to any one of claims 9 - 13, characterized in that the hearth bottom surface level of the hearth bottom (2) is measured on different positions in a horizontal plane.
15. Method according to claim 14, characterized in that the hearth bottom surface level is measured in relation to a fixed point (10) of the blast furnace (3) .
16. Method according to claim 14 or 15, characterized in that the hearth bottom surface level is measured in rela- tion to the level of the blast furnace tuyeries (10) .
17. Method according to any one of claims 9 - 16, characterized in that the robot's position and altitude is measured with reference to a fixed point (10) of the blast furnace (3) .
18. Method according to claim 17, characterized in that the robot's position and altitude is measured in relation to the level of the blast furnace tuyeries (10) .
19. Method for grinding a block (11) or brick of carbonaceous material intended for placement adjacent to a blast furnace shell lining, utilizing a grinder (4) for such carbonaceous material mounted on a movable robot arm (7) of a displaceable robot (5) , characterized in that the method comprises the steps of:
-providing the displaceable robot (5) with the grinder ( 4 ) ;
-measuring the shape and dimensions of the actual blast furnace lining;
-controlling the operation of the displaceable robot (5) and the grinder (4) mounted thereon to machine the block (11) or brick to match the measured shape and dimensions the blast furnace shell lining.
PCT/NL2015/050504 2014-07-15 2015-07-10 Apparatus and method for grinding carbonaceous materials WO2016010422A1 (en)

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EP15751127.0A EP3169481A1 (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
JP2017523759A JP2017523059A (en) 2014-07-15 2015-07-10 Apparatus and method for grinding carbonaceous material
BR112017000837A BR112017000837A2 (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

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NL2013192A NL2013192B1 (en) 2014-07-15 2014-07-15 Apparatus and method for grinding carbonaceous materials.
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JP2017523059A (en) 2017-08-17
BR112017000837A2 (en) 2017-12-05
NL2013192B1 (en) 2016-07-14
KR20170031211A (en) 2017-03-20
CN106715049A (en) 2017-05-24

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