EP0230593B1 - Automatisierte Anlage zum Ausmauern der Innenwand eines Gefässes - Google Patents

Automatisierte Anlage zum Ausmauern der Innenwand eines Gefässes Download PDF

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Publication number
EP0230593B1
EP0230593B1 EP86117306A EP86117306A EP0230593B1 EP 0230593 B1 EP0230593 B1 EP 0230593B1 EP 86117306 A EP86117306 A EP 86117306A EP 86117306 A EP86117306 A EP 86117306A EP 0230593 B1 EP0230593 B1 EP 0230593B1
Authority
EP
European Patent Office
Prior art keywords
robot
vessel
vertical axis
wall
brick
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Lifetime
Application number
EP86117306A
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English (en)
French (fr)
Other versions
EP0230593A1 (de
Inventor
Emile Lonardi
Michel Kirchen
Victor Kremer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Paul Wurth SA
Original Assignee
Paul Wurth SA
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 Paul Wurth SA filed Critical Paul Wurth SA
Priority to AT86117306T priority Critical patent/ATE51416T1/de
Publication of EP0230593A1 publication Critical patent/EP0230593A1/de
Application granted granted Critical
Publication of EP0230593B1 publication Critical patent/EP0230593B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • F27D1/16—Making or repairing linings ; Increasing the durability of linings; Breaking away linings
    • F27D1/1621—Making linings by using shaped elements, e.g. bricks

Definitions

  • the present invention relates to an automated installation for briquetting the interior wall of an enclosure, comprising a working platform which can be moved vertically inside the enclosure and capable of rotating around the vertical axis thereof and a robot for handling and placing bricks on the brickwork of the wall, said robot being mounted on a support pivoting about a first vertical axis.
  • the object of the present invention is to provide a new installation which does not suffer from the drawbacks set out above, which is provided with a robot which accommodates the available space and which can be used, without modifications, for repairing of converters of different sizes.
  • this objective is achieved by means of an installation of the kind described in the preamble which is characterized in that said support is mounted on the free end of an extension whose other end is pivotally mounted on the rotating platform by means of a pivot with vertical pivot axis.
  • a pivoting of this support around a second vertical axis thus makes it possible to increase or decrease the radius of action of the robot.
  • This allows the use of a small robot, which has the double advantage of being able to use the installation for the repair of small converters and being able to use, the same installation with the small robot, for the use in larger converters.
  • Figure 1 shows a circular platform 10 suspended or carried by means known per se and not shown so as to be able to rotate around its vertical axis and be moved vertically along it inside an enclosure for briquetting such as a metallurgical converter.
  • the reference 12 represents the imaginary space reserved for brick pallet storage areas, means for lifting and lowering the pallets, a surveillance cabin for an operator, an automatic device for depalletizing the bricks as well as the opening 14 in platform 10 for the passage of pallets.
  • the depalletization machine moves the bricks 16 from the pallets to an intermediate storage area easily accessible by a robot 18 for handling the bricks 16.
  • This robot 18 installed on the platform 10 transfers the bricks 16 from the intermediate storage area at their intended location along the wall of the converter.
  • the robot 18 is mounted on a support 20 capable of rotating around a vertical axis under the action of a motor 28.
  • the robot 18 essentially consists of a first arm 22 articulated on the support 20 by means of a horizontal pivot axis and a second arm 24 connected by a hinge with horizontal pivot axis to the first arm 22.
  • a brick handling head 26 is connected to the end of the second arm 24 by means of a second hinge horizontal pivot axis.
  • the handling head 26 may include a clamp or a suction cup for gripping, transporting and depositing the bricks 16.
  • the support 20 carrying the robot 18 is not mounted directly on the platform 10, but at the end of an extension 30, the other end of which is mounted on a pivot so as to be able to rotate, under the action of a motor 32 about a vertical axis parallel to the vertical axis of the support 20.
  • FIG. 3 shows the arrangement of the robot for the installation of a brick belt 38 in the same converter 36 but at a place of reduced section, for example in the upper region of the converter.
  • the extension 30 occupies a fully retracted position, that is to say parallel to a diametrical axis of the platform 10.
  • FIG. 4 shows the use of the same installation for the briquetting of a converter 42 with a high section.
  • the extension 30 occupies a completely free position after a pivoting of 90 ° relative to the retracted position of FIG. 3. It will also be noted that, whatever the size of the converter, the space required for the location of the robot is reduced to a minimum on the platform 10 and all the movements can be carried out without disturbing the rest of the equipment on the platform 10 and without the robot be embarrassed by them to perform his movements.
  • extension can pivot beyond 90 ° .
  • the movement of the extension has been considered as a means of positioning the robot.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Metallurgy (AREA)
  • Manufacturing & Machinery (AREA)
  • General Engineering & Computer Science (AREA)
  • Materials Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Organic Chemistry (AREA)
  • Furnace Housings, Linings, Walls, And Ceilings (AREA)
  • Carbon Steel Or Casting Steel Manufacturing (AREA)
  • Finishing Walls (AREA)
  • Manipulator (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)

Claims (2)

1. Automatisierte Anlage zum Ausmauern der Innenwand einer Umhüllung, aus einer Arbeitsplattform (10), die innerhalb der Umhüllung vertikal verschoben werden kann und um die vertikale Achse dieser Umhüllung gedreht werden kann, und aus einem Roboter (18) zum Handhaben und Verlegen der Ziegelsteine auf dem Mauerwerk der Wand, wobei der besagte Roboter (18) auf einer Halterung (20) angebracht ist, die um eine erste vertikale Achse schwenkbar ist, dadurch gekennzeichnet, daß die besagte Halterung (20) auf dem freien Ende einer Verlängerung (30) angebracht ist, deren anderes Ende über einen Drehzapfen mit vertikaler Achse auf der drehbaren Plattform schwenkbar befestigt ist.
2. Anlage gemäß Anspruch 1, dadurch gekennzeichnet, daß die besagte Verlängerung (30) mindestens um einen Winkel von 90° geschwenkt werden kann.
EP86117306A 1986-01-28 1986-12-12 Automatisierte Anlage zum Ausmauern der Innenwand eines Gefässes Expired - Lifetime EP0230593B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT86117306T ATE51416T1 (de) 1986-01-28 1986-12-12 Automatisierte anlage zum ausmauern der innenwand eines gefaesses.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
LU86272 1986-01-28
LU86272A LU86272A1 (fr) 1986-01-28 1986-01-28 Installation automatisee pour briqueter la paroi interieure d'une enceint

Publications (2)

Publication Number Publication Date
EP0230593A1 EP0230593A1 (de) 1987-08-05
EP0230593B1 true EP0230593B1 (de) 1990-03-28

Family

ID=19730624

Family Applications (1)

Application Number Title Priority Date Filing Date
EP86117306A Expired - Lifetime EP0230593B1 (de) 1986-01-28 1986-12-12 Automatisierte Anlage zum Ausmauern der Innenwand eines Gefässes

Country Status (7)

Country Link
US (1) US4827689A (de)
EP (1) EP0230593B1 (de)
JP (1) JPS62178884A (de)
AT (1) ATE51416T1 (de)
DE (1) DE3669890D1 (de)
ES (1) ES2013595B3 (de)
LU (1) LU86272A1 (de)

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
LU87054A1 (fr) * 1987-11-30 1989-06-14 Wurth Paul Sa Installation pour briqueter la paroi interieure d'une enceinte
DE68912037T2 (de) * 1988-09-05 1994-07-28 Ohbayashi Corp Baugerät und Bauverfahren.
US5102280A (en) 1989-03-07 1992-04-07 Ade Corporation Robot prealigner
US5163360A (en) * 1990-03-23 1992-11-17 California Ammonia Co. Controlled atmosphere storage facility
JPH04168213A (ja) * 1990-11-01 1992-06-16 Kawaden Co Ltd 転炉の煉瓦積み方法及びその装置
JP2564720B2 (ja) * 1991-10-25 1996-12-18 川崎製鉄株式会社 耐火煉瓦の自動積付装置
JP4716580B2 (ja) * 2001-01-11 2011-07-06 積水化学工業株式会社 コウモリの侵入防御装置及び建物ユニット
WO2007076581A1 (en) * 2005-12-30 2007-07-12 Goldwing Nominees Pty Ltd An automated brick laying system for constructing a building from a plurality of bricks
JP5037725B2 (ja) * 2009-05-19 2012-10-03 新日本製鐵株式会社 窯炉、及び、耐火物の施工方法
US8965571B2 (en) 2010-08-12 2015-02-24 Construction Robotics, Llc Brick laying system
US9358688B2 (en) 2014-04-25 2016-06-07 Gary Lee Drew Machine for aligning items in a pattern and a method of use
US9074381B1 (en) * 2014-04-25 2015-07-07 Gary Lee Drew Tile laying machine and a method of use
ITUA20164508A1 (it) * 2016-06-20 2017-12-20 Frignano Servizi S R L A Capitale Ridotto Attrezzatura per la posa di manufatti ceramici, in particolare piastrelle di grande formato
JP7061119B2 (ja) 2016-07-15 2022-04-27 ファストブリック・アイピー・プロプライエタリー・リミテッド 車両に組み込まれた煉瓦／ブロック敷設機
ES2899585T3 (es) 2016-07-15 2022-03-14 Fastbrick Ip Pty Ltd Pluma para transporte de material
CN111095355B (zh) 2017-07-05 2023-10-20 快砖知识产权私人有限公司 实时定位和定向跟踪器
GB201712164D0 (en) * 2017-07-28 2017-09-13 Construction Automation Ltd Automated brick laying system and method of use thereof
US11958193B2 (en) 2017-08-17 2024-04-16 Fastbrick Ip Pty Ltd Communication system for an interaction system
AU2018317941B2 (en) 2017-08-17 2023-11-09 Fastbrick Ip Pty Ltd Laser tracker with improved roll angle measurement
CN111212799B (zh) 2017-10-11 2023-04-14 快砖知识产权私人有限公司 用于传送物体的机器以及与其一起使用的多隔间转盘
WO2020014737A1 (en) 2018-07-16 2020-01-23 Fastbrick Ip Pty Ltd Backup tracking for an interaction system
US12311546B2 (en) 2018-07-16 2025-05-27 Fastbrick Ip Pty Ltd Active damping system
US11124977B2 (en) * 2018-12-04 2021-09-21 The Chinese University Of Hong Kong System and method for constructing a brick structure with a cable-driven robot
CN115443363A (zh) 2020-04-22 2022-12-06 快砖知识产权私人有限公司 块传送装置及用于与其一起使用的改进的夹紧组件
AU2021304545B2 (en) 2020-07-08 2025-12-04 Fastbrick Ip Pty Ltd Adhesive application system
US20240417985A1 (en) * 2023-06-19 2024-12-19 Obshchestvo s ogranichennoi otvetstvennostiu «Diginavis» Device and method for erecting structures using building blocks

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1325256A (fr) * 1962-05-21 1963-04-26 Hwm Weh Maschf Hermann Procédé pour le garnissage des appareils destinés à la fabrication, le traitement, la conservation ou le transport des masses métalliques fondues ou des produits analogues
DE1227925B (de) * 1963-01-23 1966-11-03 Beteiligungs & Patentverw Gmbh Vorrichtung mit Plattform und Hubmittel zum Ausmauern von Konvertern und anderen metallurgischen Gefaessen und OEfen mit Grossformatsteinen
US3287875A (en) * 1963-10-11 1966-11-29 Nat Steel Corp Method for lining furnaces
FR1380923A (fr) * 1964-01-21 1964-12-04 Beteiligungs & Patentverw Gmbh Dispositif pour le garnissage des convertisseurs et autres fours et récipients métallurgiques avec des éléments de construction de grandes dimensions
NL160879C (nl) * 1969-12-15 1979-12-17 Koninklijke Hoogovens En Staal Inrichting voor het aanbrengen van een vuurvaste bekle- ding binnen een staalconvertor.
US3735546A (en) * 1971-04-22 1973-05-29 V Newman Apparatus for lining kilns
US3927502A (en) * 1972-05-15 1975-12-23 United States Steel Corp Method of lining a furnace
US3757484A (en) * 1972-05-15 1973-09-11 Combustion Enginc Automated bricklaying device
US3888062A (en) * 1974-02-14 1975-06-10 Vulcan Engineering Company Work tower for relining metallurgical vessels
SU676619A1 (ru) * 1977-11-28 1979-07-30 Днепродзержинское Специализированное Управление Треста "Днепродомнаремонт" Устройство дл демонтажа и монтажа плитовых холодильников доменных печей
JPS5832316B2 (ja) * 1978-02-16 1983-07-12 新日本製鐵株式会社 物品の自動積み装置
DE3123582C1 (de) * 1981-06-13 1982-11-04 Mannesmann AG, 4000 Düsseldorf Ausmauerungsvorrichtung für metallurgische Gefäße, insbesondere für Stahlwerkskonverter, Hochöfen u.dgl.
LU85836A1 (fr) * 1985-04-03 1986-11-05 Wurth Paul Sa Installation pour la pose d'un garnissage refractaire sur la paroi interieure d'une enceinte
LU86114A1 (fr) * 1985-10-10 1987-06-02 Wurth Paul Sa Installation pour briqueter la paroi interieure d'une enceinte
LU86189A1 (fr) * 1985-12-03 1987-07-24 Wurth Paul Sa Installation automatisee de briquetage de la paroi interieure d'une enceinte

Also Published As

Publication number Publication date
ATE51416T1 (de) 1990-04-15
EP0230593A1 (de) 1987-08-05
JPS62178884A (ja) 1987-08-05
ES2013595B3 (es) 1990-05-16
US4827689A (en) 1989-05-09
LU86272A1 (fr) 1987-09-03
DE3669890D1 (de) 1990-05-03

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