WO2024112280A1

WO2024112280A1 - A robotic arm for coating the inner frames of furnaces with an insulating layer

Info

Publication number: WO2024112280A1
Application number: PCT/TR2023/050082
Authority: WO
Inventors: Serhat TANRIVERDI; Evren BUGDAYCIOGLU; Huseyin KILIC
Original assignee: Eurobotik Otomasyon Ve Goruntu Isleme Teknolojileri Sanayi Ve Ticaret Limited Sirketi
Priority date: 2022-11-25
Filing date: 2023-02-02
Publication date: 2024-05-30

Abstract

The invention relates to a robotic arm (10) suitable for use in insulating the high- temperature inner bodies of the furnaces from the external environment by winding with an insulation layer; comprising a plurality of blocks (20) providing the retention of the said insulation layer, in which a position change can be provided between an open position (I) of the said block (20) group and a winding position (II) in which the insulation material is positioned to at least partially surround the perimeter of the said inner body. The distinguishing feature of the invention is that the block (20) comprises at least one frame profile (21), which essentially acts as a supporting body for the block (20); each block (20) comprises at least one fin (22), which is connected to the said frame profile (21) and which enables the insulation layer to be supported during fixing on the inner body, and at least one actuator (24) which enables the positions of the said fins (22) on the frame profile (21) to be changed to ensure that the distance between them is adjustable.

Description

A ROBOTIC ARM FOR COATING THE INNER FRAMES OF FURNACES WITH AN INSULATING LAYER

TECHNICAL FIELD

The invention relates to a robotic arm suitable for use in insulating the high-temperature inner bodies of furnaces from the external environment by winding with an insulation layer, comprising a plurality of blocks for retaining the said insulation layer, wherein a position change can be provided between an open position of the said block group and a winding position in which the insulation material is positioned at least partially to surround the said inner body.

BACKGROUND

In furnace production, an insulation layer is placed between the inner body and the outer body of the furnace in order to protect the heat in the furnace. The inner body is mostly in the form of a rectangular prism. In the present art, the insulation layer is placed by the operators on the outward facing surfaces of the inner body, and a wire is wound around the inner body by the operators on the insulation layer to ensure that it remains stable there.

Although the insulation layer may be made of different materials, some of these materials are harmful to human health. Operators who perform wire bonding have to work with special clothes and masks, due to reasons such as irritation that occurs when it comes into contact with human skin and being harmful to the lungs when inhaled. However, the fact that the bonding is performed by the operator causes an increase in labor and a high margin of error.

Some machines are also known to allow the insulation layer to be coated on the inner body. These machines ensure that the insulation layers are kept by a group of fins, wound around the inner body and fixed in this way. One of the problems here is that existing machines are capable of coating either only three surfaces or only four surfaces of the inner body. However, the existing machines are configured in accordance with a single inner body model. In other words, when it is necessary to cover the inner bodies of different sizes or, for example, to cover three surfaces instead of four, the existing machine cannot meet this need. This need arises especially in gas furnaces. Another disadvantage is that currently known machines can only be combined with stapling. However, the insulation layers are not always made of hard materials suitable for stapling. It is not possible to combine the soft insulation layers with the staple.

All the problems mentioned above have made it necessary to make an innovation in the relevant technical field as a result.

BRIEF DESCRIPTION OF THE INVENTION

The present invention relates to a robotic arm in order to eliminate the above-mentioned disadvantages and bring new advantages to the relevant technical field.

It is an object of the invention to provide a robotic arm to enable the furnace inner bodies of different sizes to be folded with the insulation layer.

Another object of the invention is to provide a robotic arm that allows the insulation layers with different material properties to be wound and fixed on the inner body.

In order to achieve all the objects mentioned above and which will emerge from the following detailed description, the present invention is a robotic arm suitable for use in insulating the high-temperature inner bodies of the furnaces from the external environment by winding with an insulation layer, comprising a plurality of blocks that enable the said insulation layer to be retained, in which a position change can be provided between an open position of the said block group and a winding position in which the insulation material is positioned at least partially to surround the periphery of the said inner body. Accordingly, its novelty is that the block comprises at least one frame profile, which essentially acts as a carrier body for the block; each block comprises at least one fin, which is connected to the said frame profile and provides support for the insulation layer to be fixed on the inner body, and at least one actuator, which allows the position of the said fins on the frame profile to be changed to ensure that the distance between them is adjustable. Thus, it is ensured that the inner bodies of the furnaces of different sizes can be covered with the robotic arm of the invention.

A possible embodiment of the invention is characterized in that it comprises at least one wire holder to ensure that the at least one wire, which serves to ensure that the insulation layer is fixed after being wound on the inner body, is wound by the robotic arm around the inner body together with the insulation layer. Thus, it is ensured that the insulation layer is fixed after being wound around the inner body.

Another possible embodiment of the invention is characterized in that it comprises at least one sensor to detect the presence of the said wire on the said wire holder. Thus, it is possible to monitor whether sufficient wire supply is made to the robotic arm.

Another possible embodiment of the invention characterized in that it comprises a current provider that enables an electric current to pass through the wire to enable the presence of the wire on the wire holder to be detected. Thus, the wire creates a resistance for the electrical current and the information that the wire breaks in case the resistance disappears can be obtained.

Another possible embodiment of the invention characterized in that the block comprises three wire holders for bonding the insulation layer wound around the inner body with three wires from the bottom, middle and top. Thus, it is ensured that the insulation layer can be wound tighter and without leaving gaps on the inner body.

Another possible embodiment of the invention is characterized in that it comprises at least one hinge between each block located on the robotic arm, which allows the blocks to gain freedom of rotation with respect to each other to enable the change of position between the said open position and the said winding positions. Thus, it is ensured that the blocks arranged side by side gain freedom of rotation from the point where they are connected to each other.

BRIEF DESCRIPTION OF THE FIGURES

A representative perspective view of the robotic arm of the invention in the open position is given in Figure 1 .

A representative perspective view of the robotic arm of the invention at the winding position is given in Figure 2.

DETAILED DESCRIPTION OF THE INVENTION

The subject of the invention is explained with examples that do not have any limiting effect only for a better understanding of the subject in this detailed description. A representative perspective view of the robotic arm (10) of the invention in an open position (I) is given in Figure 1. The said robotic arm (10) is suitable for use to provide the winding of the insulation layer around an furnace inner body (the furnace inner body and the insulation layer used for the winding are not shown in the figures). The inner body of the furnace is the part of the furnace that operates at high temperature. The insulation of the inner body from the external environment is provided by winding the insulation layer around the inner body. The inner body usually has the shape of a rectangular prism. The robotic arm (10) of the invention essentially ensures that the insulation material is wound on the consecutive lateral surfaces of the inner body.

The robotic arm (10) of the invention is connected with at least one robot body (not shown). The said robot body acts as a drive for movement to the robotic arm (10) and ensures the control of the robotic arm (10). The robotic arm (10) comprises at least one block (20) group to hold the insulation layer and wind it around the inner body of the furnace. Accordingly, the robotic arm (10) essentially includes a plurality of blocks (20) capable of rotational movement relative to each other. On the robotic arm (10), there may be different numbers of blocks (20) according to the number of surfaces of the furnace inner body to be covered. Accordingly, the blocks (20) are detachably connected to each other. In this way, as many blocks (20) as the number of surfaces of the furnace body to be wound can be connected to the robotic arm (10).

There is at least one fin (22) on each block (20) that allows the insulation layer to be supported while it is wound on the inner body. The aforementioned fins (22) are connected with at least one frame profile (21 ). The said frame profile (21) supports the fins (22) and provides structural integrity for the block (20). The robotic arm (10) includes at least one wire holder (25). The said wire holder (25) retains at least one said wire that ensures that the sealing layer is fixed on the inner body. The wire holder (25) has a jaw structure and allows the wire to be held between the jaws. In the preferred embodiment of the invention, the wire holder (25) is positioned at least one on the most extreme blocks (20). Again, in a preferred embodiment of the invention, there are three wire holders (25) on the blocks (20) at the ends to ensure that the insulation layer is supported from the bottom, middle and top. There is at least one sensor (26) adjacent to the wire holders (25). The sensor (26) detects the presence of the wire on the wire holder (25). In another possible embodiment of the invention, the presence of the wire is determined by passing electrical current through the wire. Accordingly, the robotic arm may comprise at least one current provider. The wire is a resistor for the electrical current supplied from the said current provider. If the wire breaks, this resistance disappears and thus the information that the wire breaks can be obtained.

A representative perspective view of the robotic arm (10) of the invention at a winding position (II) is given in Figure 2. Accordingly, the winding position (II) is the position in which the robotic arm (10) winds the insulation layer and the wire on the inner body. There is at least one hinge (30) between the blocks (20). The said hinge (30) allows the blocks (20) to have freedom of rotation with respect to each other. The said rotational movement allows the blocks (20) to pass from the said open position (I) to the winding position (II) in a way that winds the inner body. The robotic arm (10) comprises at least one rotating mechanism (23). The rotating mechanism (23) allows the block (20) to be rotated according to the hinge (30). The rotating mechanism (23) is a piston in a possible embodiment of the invention.

The robotic arm (10) comprises at least one actuator (24). The actuator (24) is connected with the fin (22) and the frame profile (21). The actuator (24) is a linear actuator (24) in a possible embodiment of the invention. Accordingly, the actuator (24) enables the fin (22) to be moved on the frame profile (21 ). Thus, when the robotic arm (10) is in the open position (I), it is ensured that each fin (22) can be moved on the frame profile (21) in accordance with a horizontal axis (a). The said horizontal axis (a) is essentially in the direction of the extension of the frame profiles (21 ). Accordingly, the blocks (20) of the robotic arm (10) are arranged in the horizontal axis (a).

The distance between the actuators (24) and the fins (22) is adjustable. Thanks to the fact that the distance between the fins (22) is adjustable, the robotic arm (10) of the invention can be used to coat the inner bodies of the furnace of different sizes with the insulation layer.

In light of all these, the robotic arm (10) of the invention performs its function as follows. The robotic arm (10) is connected to a robot body via the main connection part (11 ). The controls of the robotic arm (10) are provided through the robot body. The insulation layer to be used for the insulation is fixed on the fins (22). However, after the winding is completed, the wire that allows the insulation layer to be fixed around the furnace inner body is connected to the wire holders (25). The presence of the wire on the wire holder (25) can be detected by the sensors (26). In another embodiment, the presence of the wire can be detected by the current provider. The distance between the fins (22) is adjusted according to the width of the lateral surfaces of the furnace inner body to be covered. For this, the actuators (24) can change the positions of the fins (22) on the frame profile (21 ) on the horizontal axis (a). As a result, each fin (22) supporting the insulation layer is positioned to correspond to the center of the lateral surface of the furnace inner body.

After the robotic arm (10) is aligned with the lateral surfaces of the furnace inner body, the rotating mechanisms (23) move the blocks (20) at least partially to surround the inner body. Here, “at least partially” means that the whole or part of the inner body can be covered. Both the insulation layer and the wire are wound around the inner body with the robotic arm (10) passing from the open position (I) to the winding position (II). The insulation material is fixed around the inner body, preferably by winding the two ends of the wire together and thus bonding them. The process of bonding the wire can be done automatically by a wire winding mechanism (not shown).

With the robotic arm (10) of the invention, it is ensured that the furnace inner bodies of different sizes and different lateral surface widths can be covered with an insulation layer. However, it is possible to cover, for example, a furnace interior in the form of a rectangular prism; all side surfaces, if desired, and only three surfaces, if desired. Thanks to the fact that the insulation layer is fixed with wire, the insulation layer made of any material can be wound on the inner body. Thus, the soft insulation layers that cannot be held by the stapler can be fixed by winding them on the inner body with the robotic arm (10) of the invention.

The scope of protection of the invention is specified in the attached claims and cannot be limited to those explained for sampling purposes in this detailed description. It is evident that a person skilled in the art may present similar embodiments in light of above- mentioned facts without departing from the main theme of the invention.

REFERENCE NUMBERS GIVEN IN THE FIGURE

10 Robotic Arm

1 1 Main Connection Part

20 Block

21 Frame Profile

22 Fin

23 Rotating Mechanism

24 Actuator

25 Wire Holder

26 Sensor

30 Hinge

(a) Horizontal Axis

(I) Open Position

(II) Winding Position

Claims

CLAIMS A robotic arm (10) suitable for use in insulating high-temperature inner bodies of the furnaces from the external environment by winding them with an insulation layer, comprising: a plurality of blocks (20) providing retention of the said insulation layer, wherein a position change can be provided between an open position (I) of the group of the said blocks (20) and a winding position (II) in which the insulation material is positioned at least partially surrounding the periphery of the said inner body, characterized in that the block (20) comprises at least one frame profile (21), which essentially acts as a carrier body for the block (20); each block (20) comprises at least one fin (22) which is connected to the said frame profile (21 ) and which enables the insulation layer to be supported during the fixing of the inner body, at least one actuator (24) that allows the position of the said fins (22) on the frame profile (21) to be changed to ensure that the distance between them is adjustable. A robotic arm (10) according to claim 1 , characterized in that it comprises at least one wire holder (25) to ensure that at least one wire, which serves to ensure that the insulation layer (24) is fixed on the inner body after being wound, is wound around the inner body by the robotic arm (10) together with the insulation layer. A robotic arm (10) according to claim 2, characterized in that it comprises at least one sensor (26) to detect the presence of the said wire on the said wire holder (25). A robotic arm (10) according to claim 2, characterized in that it comprises a current provider that allows an electric current to pass through the wire to detect the presence of the wire on the wire holder (25). A robotic arm (10) according to claim 1 , characterized in that the block (20) comprises three wire holders (25) to bond the insulation layer wound around the inner body with three wires from the bottom, middle and top. A robotic arm (10) according to claim 1 , characterized in that it comprises at least one hinge (30) between each block (20) in the robotic arm (10), which allows the blocks (20) to gain freedom of rotation with respect to each other to enable the change of position between the said open position (I) and the said winding positions (II).