EP0220543B1 - Installation for lining the walls of a building - Google Patents
Installation for lining the walls of a building Download PDFInfo
- Publication number
- EP0220543B1 EP0220543B1 EP86113749A EP86113749A EP0220543B1 EP 0220543 B1 EP0220543 B1 EP 0220543B1 EP 86113749 A EP86113749 A EP 86113749A EP 86113749 A EP86113749 A EP 86113749A EP 0220543 B1 EP0220543 B1 EP 0220543B1
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- EP
- European Patent Office
- Prior art keywords
- bricks
- pallets
- automatic
- depalletizing
- pallet
- 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.)
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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
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- 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
- F27D1/1621—Making linings by using shaped elements, e.g. bricks
Definitions
- the present invention relates to an installation for briquetting the interior wall of an enclosure, comprising an operating station capable of being lowered or mounted inside said enclosure and provided with means for the intermediate storage of at least two pallets of bricks and automatic means for handling the bricks, as well as means for raising or lowering the pallets towards the operating station.
- the invention relates more particularly to an installation for installing a refractory lining on the inner wall of a metallurgical converter.
- the bricks have a frustoconical shape in order to be able to produce circular deposits conforming to the section of the converter.
- the diameter of each converter is variable according to the height, since they generally have a substantially oval vertical section. Since it is not possible to manufacture custom bricks, two or more specific types of bricks of different taper are manufactured and by judicious alternation in the choice of these types, we manage to achieve the desired curvatures.
- the amplitude of the robot's movement which must sweep a large part of the surface of the operating station, constitutes, moreover, a danger for the operator being on the platform of this station.
- the rapid rotation of the long arms of the robot generates significant acceleration and deceleration efforts, efforts which must be taken up by the walls of the converter via suitable support devices.
- the object of the present invention is to provide an installation of the type described in the preamble, which, while being completely automatic, makes it possible to eliminate as much as possible the drawbacks described above.
- the installation proposed by the present invention is essentially characterized in that said operative station comprises at least two levels for storing the pallets one above the other and in that said automatic means are constituted by at least one depalletizing machine to transfer the bricks from each of the pallets superimposed on at least one waiting lane and by at least one robot provided with a gripping device for picking up the bricks located on the lane (s) wait and drop them off at the designated location.
- the operating station comprises two depalletization machines associated respectively with each of the two superimposed pallets.
- the installation proposed by the invention therefore has two essential and complementary characteristics, namely the superposition of pallets and the separation of depalletization functions and that of the placing of bricks.
- the superposition of pallets reduces the horizontal size of the operating station and allows its application to the repair of small converters.
- the separation of depalletizing and laying functions also makes it possible to reduce the amplitude of the sweeping of the robot, which also contributes to a reduction in horizontal dimensions, reduces the dangers for the personnel on the platform. of the operative station and reduces the efforts to be resumed.
- this robot can be of a much smaller design from the point of view of dimensions and weight.
- the operating station comprises a three-level console, the lower level of which is constituted by a platform on which there is at least one first pallet-carrying carriage, the intermediate level of which supports at least a second pallet-carrying trolley, as well as a first depalletization machine for the pallet of said first trolley, the upper level of which supports a second depalet machine of the pallet of said second carriage, as well as said robot.
- This design of the operating station offers a very compact structure with an optimal grouping of the different functions and movements and with minimal risk for the surveillance and control personnel.
- the upper level of the console can also include a winch to which is suspended, by means of a cable, a fork or any other device suitable for raising and lowering the pallets through an opening in the platform.
- the pallets can also be lowered by an opening in the upper level of the console, via a cable and a winch.
- the operating station itself can be suspended from cables or be carried by telescopic masts.
- the pallet-carrying carriages are preferably provided with rollers moving on rails and can be moved horizontally between a position lying in the path of the fork and a depalletizing position.
- the console further comprises two superimposed channels for receiving the depalletized bricks, mounted respectively on the platform and the intermediate level and constituting the waiting lanes.
- These channels which can be telescopic, extend parallel to the direction of movement of the pallet-carrying carriages.
- the robot is mounted on a beam that can be moved horizontally in the longitudinal direction of the channels, while the latter are provided with means for advancing the bricks.
- the robot's mobile support beam can be carried by the superstructure of the operating station or by the floor.
- the robot's gripping device consists of a clamp or a suction cup.
- the operating station shown in FIG. 1 comprises a circular platform 10 on which a console 12 is erected.
- the platform 10 may include means, not shown, for wedging and stabilizing the operating station inside a converter.
- the upper level of the console 12 is constituted by a frame 14 parallel to the platform 10 and supporting a winch 16.
- This winch 16 is used for the vertical displacement of a fork 20, symbolized by the arrow A, by means of a cable 18 through an opening 22 provided for this purpose in the platform 10.
- This fork 20 and provided for raising the pallets with the bricks and lowering the empty pallets and possibly broken bricks.
- a first pallet 24 of bricks 26 which are, given their frustoconical shape, stacked alternately in one direction and in the other on the pallet.
- the pallet 24 is placed on a trolley 28 pallet carrier which is provided with rollers 30 evolving on a pair of rails 32, 34.
- the trolley 28 can be moved manually or automatically by means not shown in the direction of arrow B between the depalletization position shown in the figure and a loading or unloading position above the opening 22.
- a second pallet 36 is shown in a depalletizing position above the first pallet 24. This pallet is also carried by a carriage 38 moving in the direction of the arrow B 'on a pair of rails 42, 44, by the roller intermediate 40.
- each of the pallets 24,36 is a depalletization machine 46 respectively 48.
- Each of these machines 46,48 is provided with a clamp 50 respectively 52 for gripping and releasing the bricks.
- These automata each include up to four degrees of freedom symbolized by the arrows C, D, E, F and C ', D', E ', F'.
- these two automata 46, 48 are able to transfer the bricks 26 from each of the pallets 24, 36 into a lower channel 54 for the lower machine 46 and into a channel 56 for the upper machine 48.
- These two channels 54, 56 which extend parallel to the direction of movement of the carriages 28, 38 can be telescopic as represented by the arrows G, G 'and include means, known per se, such as conveyor belts, rollers, alternative movements ... etc. to advance the bricks deposited by the depalletization machines.
- the depalletized bricks, waiting in the channels 54,56 are seized by a robot 58 and automatically put in place.
- This robot 58 is suspended from the upper level of the console 12 on a beam 60 which can be moved horizontally in the direction of the arrow H by telescopic means or by other means known per se.
- the suspension of the robot 58 from the beam 60 has a degree of freedom represented by the arrow K allowing the robot to rotate around a vertical axis.
- This robot 58 essentially comprises a pair of arms 62, 63 joined by a joint with a horizontal axis (arrow L) and suspended by means of another joint with a horizontal pivot axis (arrow M).
- a gripping system 64 of the bricks by means of a double articulation with horizontal pivot axes symbolized by the arrow P and with vertical pivot axes symbolized by the arrow Q.
- the gripping device 64 is constituted by a clamp comprising a fixed jaw 66 and a jaw 68 movable in the direction of the arrow R.
- the gripping device 64 can also be constituted by suction cups.
- the suction cups have the advantage of greater simplicity.
- the pliers have the advantage of being able to grasp two superimposed bricks at the same time and thus almost double the rate of briquetting.
- the whole console can rotate around its vertical axis under the action of means not shown in order to move the robot successively in front of all the points on the periphery of the 'pregnant.
- FIGS 2 and 3 show a front view and a side view of a first depalletization system. These figures show a hoist 70 suspended from a beam 72 forming part of the console 12. This suspension is produced by means of rollers 74, for example, as shown in FIG. 3, so that the hoist 70 can be moved along of the beam 72 along the arrow "C" or "C" 'in Figure 1, for example, using an endless chain 76 actuated by known means not shown.
- the pulley 82 carries a system for gripping the bricks 26 which, in the example of FIGS. 3 and 4, is a suction cup 88.
- a suction cup makes superfluous the degree of freedom represented by "F” or “F” 'in Figure 1.
- the pulley 82 and the suction cup 88 rotary with vertical pivot axis and which can be actuated, for example by means of a small electric motor.
- the suction cup 88 is connected to the hoist 70 by a sort of foldable pantograph 90 whose retracted and extended positions are shown in FIG. 3 respectively. broken lines and solid lines.
- each of the pallets 24 and 36 is a depalletizing system of the kind shown in FIGS. 2 and 3.
- FIGS. 4 and 5 show another depalletization system according to which the degree of freedom "D" or “D” 'is replaced by a system for mounting the pallets 24 and 36.
- the machines, per se, can be designed as shown at 46 and 48 in FIG. 1, the degree of freedom "C” and “C” 'being ensured for example by means of a telescopic beam actuated by a jack, or a rail-roller system similar to that of FIGS. 2 and 3.
- each of the carriages 28 and 38 is transformed into a forklift of the kind shown at 92 in FIGS. 4 and 5.
- the carriage 92 also evolves by means of rollers 94 on the rails 32, 34 or 42, 44 of FIG. 1.
- the carriage 92 comprises a fork 96 with two arms 98, 100 for carrying a pallet 102.
- This fork 96 can slide vertically by means of rollers 104 evolving in lateral vertical rails 106 of the carriage 92.
- the pallet 102 can be raised and lowered by the action of a jack 108 mounted vertically on the carriage 92 in the median plane of the arms 98, 100 of the lifting fork 96.
- a jack 108 mounted vertically on the carriage 92 in the median plane of the arms 98, 100 of the lifting fork 96.
- At the end of the rod of the jack 108 are provided one, or preferably, two pulleys 110 and 112 around which two guide cables are guided 114, 116 fixed respectively to the carriage 92 on the one hand and to the lifting fork 96 d ' somewhere else.
- the fork 96 and the pallet 102 are raised by the extension of the jack 108 for example from the position in solid lines in FIG. 4 towards the position in broken lines.
- the advantage of the cable (s) is that the vertical stroke of the fork 96 is twice that of the rod of the jack 108.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Furnace Housings, Linings, Walls, And Ceilings (AREA)
- Finishing Walls (AREA)
- Vehicle Interior And Exterior Ornaments, Soundproofing, And Insulation (AREA)
- Carbon Steel Or Casting Steel Manufacturing (AREA)
Abstract
Description
La présente invention concerne une installation pour briqueter la paroi intérieure d'une enceinte, comprenant un poste opératif susceptible d'être descendu ou monté à l'intérieur de ladite enceinte et pourvu de moyens pour le stockage intermédiaire d'au moins deux palettes de briques et de moyens automatiques pour la manipulation des briques, ainsi que des moyens pour monter ou descendre les palettes vers le poste opératif.The present invention relates to an installation for briquetting the interior wall of an enclosure, comprising an operating station capable of being lowered or mounted inside said enclosure and provided with means for the intermediate storage of at least two pallets of bricks and automatic means for handling the bricks, as well as means for raising or lowering the pallets towards the operating station.
Quoique n'y étant pas limitée, l'invention vise plus particulièrement une installation pour la pose d'un garnissage réfractaire sur la paroi intérieure d'un convertisseur métallurgique.Although not limited thereto, the invention relates more particularly to an installation for installing a refractory lining on the inner wall of a metallurgical converter.
Diverses installations de ce genre ( voir par exemple LU-A-62236 ) ont déjà été proposées pour effectuer , de façon automatique, un travail qui, jusqu'à présent, était effectué généralement de façon manuelle dans des conditions extrêmement pénibles. Malheureusement, tous les problèmes n'ont pas encore été résolus , de sorte qu'il n'était pas encore possible jusqu'à présent de profiter, de façon systématique, de l'automatisation complète du briquetage et les installations automatiques envisagées à cet effet sont restées au stade des projets ou des essais.Various installations of this kind (see for example LU-A-62236) have already been proposed for carrying out, automatically, work which, until now, has generally been carried out manually under extremely arduous conditions. Unfortunately, not all the problems have been solved yet, so far it has not yet been possible to take advantage, in a systematic way, of the complete automation of briquetting and the automatic installations envisaged for this purpose. remained at the project or testing stage.
Il y a plusieurs raisons à cela. D'abord, le temps d'immobilisation d'un convertisseur en vue du remplacement de son revêtement réfractaire est limité par l'enchaînement des opérations sidérurgiques et la complexité des mouvements automatiques à effectuer permet difficilement d'atteindre la cadence de maçonnage nécessaire au respect du temps limite imposé.There are several reasons for this. First, the downtime of a converter for the replacement of its refractory lining is limited by the chain of steel operations and the complexity of the automatic movements to be carried out makes it difficult to achieve the rate of masonry necessary for compliance of the time limit imposed.
Il faut rappeler, à ce sujet, que les briques ont une forme tronconique pour pouvoir réaliser des dépôts circulaires conformes à la section du convertisseur. Or, non seulement tous les convertisseurs n'ont pas la même taille , mais en plus, le diamètre de chaque convertisseur est variable suivant la hauteur, étant donné qu'ils ont généralement une section verticale sensiblement ovale . Etant donné qu'il n'est pas possible de fabriquer des briques sur mesure , on fabrique deux ou plusieurs types déterminés de briques de conicité différente et par une alternance judicieuse dans le choix de ces types , on arrive à réaliser les courbures voulues.On this subject, it should be remembered that the bricks have a frustoconical shape in order to be able to produce circular deposits conforming to the section of the converter. However, not only are all the converters not the same size, but in addition, the diameter of each converter is variable according to the height, since they generally have a substantially oval vertical section. Since it is not possible to manufacture custom bricks, two or more specific types of bricks of different taper are manufactured and by judicious alternation in the choice of these types, we manage to achieve the desired curvatures.
Ceci signifie donc qu'il faut disposer, lors du briquetage , d'au moins une palette de chaque type, sur la plate-forme du poste opératif. En utilisant un robot pour la pose automatique des briques, celui-ci doit donc être conçu de manière que son bras puisse se déplacer automatiquement entre l'endroit où les briques sont à poser et chacune des deux palet- tès suivant le type de briques nécessaire. Quoiqu'un tel robot soit concevable techniquement, sa réalisation entraîne néanmoins de nouveaux problèmes. D'abord, la place nécessaire au stockage de deux palettes , ainsi que l'aire de balayage nécessaire au mouvement du robot augmente les dimensions du poste opératif, de sorte que de telles installations automatiques ne pourront être utilisées que pour des convertisseurs dépassant une certaine taille. L'amplitude du mouvement du robot , qui doit balayer une grande partie de la surface du poste opératif, constitue, en outre, un danger pour l'opérateur se trouvant sur la plate-forme de ce poste. En plus, la rotation rapide des longs bras du robot engendre des efforts importants d'accélération et de décélération, efforts qui doivent être repris par les parois du convertisseur via des dispositifs de soutènement adéquats.This therefore means that at the time of briquetting, at least one pallet of each type must be available on the platform of the operating station. By using a robot for the automatic laying of bricks, it must therefore be designed so that its arm can move automatically between the place where the bricks are to be laid and each of the two pallets according to the type of bricks required . Although such a robot is technically conceivable, its realization nevertheless leads to new problems. First, the space necessary for the storage of two pallets, as well as the scanning area necessary for the movement of the robot increases the dimensions of the operating station, so that such automatic installations can only be used for converters exceeding a certain cut. The amplitude of the robot's movement, which must sweep a large part of the surface of the operating station, constitutes, moreover, a danger for the operator being on the platform of this station. In addition, the rapid rotation of the long arms of the robot generates significant acceleration and deceleration efforts, efforts which must be taken up by the walls of the converter via suitable support devices.
Par conséquent, le but de la présente invention est de prévoir une installation du genre décrit dans le préambule, qui, tout en étant complètement automatique, permet d'éliminer au maximum les inconvénients décrits ci-dessus.Consequently, the object of the present invention is to provide an installation of the type described in the preamble, which, while being completely automatic, makes it possible to eliminate as much as possible the drawbacks described above.
Pour atteindre cet objectif, l'installation proposée par la présente invention est essentiellement caractérisée en ce que ledit poste opératif comporte au moins deux niveaux pour stocker les palettes l'une au-dessus de l'autre et en ce que lesdits moyens automatiques sont constitués par au moins un automate de dépalettisation pour transférer les briques de chacune des palettes superposées sur au moins une voie d'attente et par au moins un robot pourvu d'un dispositif de préhension pour la prise des briques se trouvant sur la ou les voies d'attente et les déposer à l'endroit prévu.To achieve this objective, the installation proposed by the present invention is essentially characterized in that said operative station comprises at least two levels for storing the pallets one above the other and in that said automatic means are constituted by at least one depalletizing machine to transfer the bricks from each of the pallets superimposed on at least one waiting lane and by at least one robot provided with a gripping device for picking up the bricks located on the lane (s) wait and drop them off at the designated location.
Selon un mode de réalisation préféré, le poste opératif comporte deux automates de dépalettisation associés respectivement à chacune des deux palettes superposées .According to a preferred embodiment, the operating station comprises two depalletization machines associated respectively with each of the two superimposed pallets.
L'installation proposée par l'invention comporte par conséquent deux caractéristiques essentielles et complémentaires, à savoir la superposition des palettes et la séparation des fonctions de dépalettisation et celle de la mise en place des briques. La superposition des palettes réduit l'encombrement horizontal du poste opératif et permet son application à la réfection de convertisseurs de taille réduite. La séparation des fonctions de dépalettisation et de pose permet, en outre, de réduire l'amplitude du balayage du robot, ce qui contribue également à une diminution de l'encombrement horizontal , réduit les dangers pour le personnel se trouvant sur la plate-forme du poste opératif et réduit les efforts à reprendre.The installation proposed by the invention therefore has two essential and complementary characteristics, namely the superposition of pallets and the separation of depalletization functions and that of the placing of bricks. The superposition of pallets reduces the horizontal size of the operating station and allows its application to the repair of small converters. The separation of depalletizing and laying functions also makes it possible to reduce the amplitude of the sweeping of the robot, which also contributes to a reduction in horizontal dimensions, reduces the dangers for the personnel on the platform. of the operative station and reduces the efforts to be resumed.
La séparation des fonctions de dépalettisation et de mise en place des briques permet une exécution plus rapide des opérations du fait que ces opérations sont réalisées en parallèle et, par conséquent, offre la possibilité de réfection du revêtement réfractaire dans le temps limite imposé.The separation of the depalletization functions and the placing of the bricks allows operations to be carried out more quickly because these operations are carried out in parallel and, consequently, offers the possibility of repairing the refractory lining within the imposed time limit.
Par ailleurs, étant donné que l'amplitude des mouvements du robot devient plus faible par la séparation des fonctions, ce robot peut être d'une conception beaucoup plus réduite du point de vue dimensions et poids.Furthermore, since the range of motion of the robot becomes smaller by the separation of functions, this robot can be of a much smaller design from the point of view of dimensions and weight.
Selon un mode de réalisation avantageux, le poste opératif comporte une console à trois niveaux, dont le niveau inférieur est constitué par une plate-forme sur laquelle se trouve au moins un premier chariot porte-palettes, dont le niveau intermédiaire supporte au moins un second chariot porte-palettes, ainsi qu'un premier automate de dépalettisation de la palette du dit premier chariot et dont le niveau supérieur supporte un second automate de dépalettisation de la palette du dit second chariot, ainsi que ledit robot.According to an advantageous embodiment, the operating station comprises a three-level console, the lower level of which is constituted by a platform on which there is at least one first pallet-carrying carriage, the intermediate level of which supports at least a second pallet-carrying trolley, as well as a first depalletization machine for the pallet of said first trolley, the upper level of which supports a second depalet machine of the pallet of said second carriage, as well as said robot.
Cette conception du poste opératif offre une structure très compacte avec un regroupement optimal des différentes fonctions et mouvements et avec un risque minimal pour le personnel de surveillance et de contrôle.This design of the operating station offers a very compact structure with an optimal grouping of the different functions and movements and with minimal risk for the surveillance and control personnel.
Le niveau supérieur de la console peut également comporter un treuil auquel est suspendu , par l'intermédiaire d'un câble, une fourche ou tout autre dispositif adéquat pour la montée et la descente des palettes à travers une ouverture dans la plate-forme.The upper level of the console can also include a winch to which is suspended, by means of a cable, a fork or any other device suitable for raising and lowering the pallets through an opening in the platform.
Au lieu d'être montées dans le poste opératif, les palettes peuvent également être descendues par une ouverture dans le niveau supérieur de la console, par l'intermédiaire d'un câble et d'un treuil.Instead of being mounted in the operating station, the pallets can also be lowered by an opening in the upper level of the console, via a cable and a winch.
Le poste opératif lui-même peut être suspendu à des câbles ou être porté par des mâts téléscopiques.The operating station itself can be suspended from cables or be carried by telescopic masts.
Les chariots porte-palettes sont, de préférence, pourvus de galets évoluant sur des rails et sont déplaçables horizontalement entre une position se trouvant sur la trajectoire de la fourche et une position de dépalettisation.The pallet-carrying carriages are preferably provided with rollers moving on rails and can be moved horizontally between a position lying in the path of the fork and a depalletizing position.
La console comporte, en outre, deux rigoles superposées de réception des briques dépalettisées, montées respectivement sur la plate-forme et le niveau intermédiaire et constituant les voies d'attente.The console further comprises two superimposed channels for receiving the depalletized bricks, mounted respectively on the platform and the intermediate level and constituting the waiting lanes.
Ces rigoles, qui peuvent être téléscopiques, s'étendent parallèlement à la direction de déplacement des chariots porte-palettes.These channels, which can be telescopic, extend parallel to the direction of movement of the pallet-carrying carriages.
Le robot est monté sur une poutre déplaçable horizontalement dans le sens longitudinal des rigoles, tandis que celles-ci sont pourvues de moyens pour faire avancer les briques.The robot is mounted on a beam that can be moved horizontally in the longitudinal direction of the channels, while the latter are provided with means for advancing the bricks.
La poutre-support mobile du robot peut être portée par la superstructure du poste opératif ou bien par le plancher.The robot's mobile support beam can be carried by the superstructure of the operating station or by the floor.
Le dispositif de préhension des briques du robot est constitué par une pince ou une ventouse.The robot's gripping device consists of a clamp or a suction cup.
D'autres particularités et caractéristiques ressortiront de la description d'une mode de réalisation préféré, présenté ci-dessous, à titre d'illustration, en référence aux figures annexées, dans lesquelles
- la figure 1 montre une vue en perspective du poste opératif ;
- les figures 2 et 3 montrent sous des angles différents, des détails d'un premier exemple d'un automate de dépalettisation des briques ;
- les figures 4 et 5 montrent un autre système de dépalettisation.
- Figure 1 shows a perspective view of the operating station;
- Figures 2 and 3 show from different angles, details of a first example of a brick depalletization machine;
- Figures 4 and 5 show another depalletization system.
Le poste opératif représenté sur la figure 1 comporte une plate-forme circulaire 10 sur laquelle est dressée une console 12. La plate-forme 10 peut comporter des moyens, non représentés, pour caler et stabiliser le poste opératif à l'intérieur d'un convertisseur.The operating station shown in FIG. 1 comprises a
Le niveau supérieur de la console 12 est constitué par un cadre 14 parallèle à la plate-forme 10 et supportant un treuil 16. Ce treuil 16 sert au déplacement vertical d'une fourche 20, symbolisée par la flèche A, au moyen d'un câble 18 à travers une ouverture 22 prévue à cet effet dans la plate-forme 10. Cette fourche 20 et prévue pour la montée des palettes avec les briques et la descente des palettes vides et éventuellement des briques cassées.The upper level of the console 12 is constituted by a
Sur la plate-forme 10 se trouve une première palette 24 de briques 26 qui sont, compte-tenu de leur forme tronconique, empilées alternativement dans un sens et dans l'autre sur la palette. La palette 24 est placée sur un chariot 28 porte-palettes qui est pourvu de galets 30 évoluant sur une paire de rails 32, 34. Le chariot 28 est déplaçable manuellement ou automatiquement par des moyens non montrés dans le sens de la flèche B entre la position de dépalettisation représentée sur la figure et une position de chargement ou de déchargement au-dessus de l'ouverture 22.On the
Une second palette 36 est représentée dans une position de dépalettisation au-dessus de la première palette 24. Cette palette est également portée par un chariot 38 évoluant dans le sens de la flèche B' sur une paire de rails 42,44, par l'intermédiaire de galets 40.A
Au-dessus de chacune des palettes 24,36 se trouve un automate de dépalettisation 46 respectivement 48. Chacun de ces automates 46,48 est pourvu d'une pince 50 respectivement 52 pour saisir et libérer les briques. Ces automates, dont les détails seront encore expliqués en référence aux figures suivantes comportent chacun jusqu'à quatre degrés de liberté symbolisés par les flèches C,D,E,F et C',D',E',F'.Above each of the
Grâce à ces degrés de liberté ces deux automates 46,48 sont en mesure de transférer les briques 26 de chacune des palettes 24,36 dans une rigole inférieure 54 pour l'automate inférieur 46 et dans une rigole 56 pour l'automate supérieur 48. Ces deux rigoles 54,56 qui s'étendent parallèlement au sens de déplacement des chariots 28,38 peuvent être télescopiques comme représenté par les flèches G,G' et comportent des moyens, connus en soi, tels que tapis roulants, roulettes, systèmes à mouvement alternatifs ... etc. pour faire avancer les briques déposées par les automates de dépalettisation.Thanks to these degrees of freedom, these two
Les briques dépalettisées, en attente dans les rigoles 54,56 sont saisies par un robot 58 et automatiquement mises en place. Ce robot 58 est suspendu au niveau supérieur de la console 12 sur une poutre 60 déplaçable horizontalement dans le sens de la flèche H par voie téléscopique ou par d'autres moyens connus en soi. La suspension du robot 58 à la poutre 60 comporte un degré de liberté représenté par la flèche K permettant au robot de tourner autour d'un axe vertical. Ce robot 58 comporte essentiellement une paire de bras 62,63 réunis par une articulation à axe horizontal (flèche L) et suspendus moyennant une autre articulation à axe de pivotement horizontal (flèche M).The depalletized bricks, waiting in the
A l'extrémité libre du bras inférieur 62 est monté un système de préhension 64 des briques moyennant une double articulation à axes de pivotement horizontal symbolisés par la flèche P et à axes de pivotement vertical symbolisés par la flèch Q.At the free end of the
Dans l'exemple représenté, le dispositif de préhension 64 est constitué par une pince comprenant une mâchoire fixe 66 et une mâchoire 68 mobile dans le sens de la flèche R.In the example shown, the
Le dispositif de préhension 64 Peut également être constitué par des ventouses. Les ventouses ont l'avantage d'une plus grande simplicité. Par contre, les pinces ont l'avantage de pouvoir saisir deux briques superposées en même temps et de doubler ainsi quasiment la cadence du briquetage.The
Tous les degrés de liberté et mouvements représentés par les différentes flèches sur la figure 1 sont effectués de façon automatique sous l'action de palpeurs et de programmes de sorte que la mission de l'opérateur se résume essentiellement à une fonction de surveillance comme par exemple celle de la détection des briques cassées.All the degrees of freedom and movements represented by the various arrows in FIG. 1 are carried out automatically under the action of probes and programs so that the operator's mission essentially boils down to a monitoring function such as for example that of the detection of broken bricks.
En dehors des degrés de liberté mentionnés ci-dessus il reste à signaler que toute la console peut tourner autour de son axe vertical sous l'action de moyens non représentés afin de déplacer le robot successivement en face de tous les points de la périphérie de l'enceinte.Apart from the degrees of freedom mentioned above, it remains to be noted that the whole console can rotate around its vertical axis under the action of means not shown in order to move the robot successively in front of all the points on the periphery of the 'pregnant.
Les figures 2 et 3 montrent une vue de face et une vue latérale d'un premier système de dépalettisation. Ces figures montrent un palan 70 suspendu à une poutre 72 faisant partie de la console 12. Cette suspension est réalisée par l'intermédiaire de galets 74 , par exemple, comme montré sur la figure 3, afin que le palan 70 puisse être déplacé le long de la poutre 72 suivant la flèche "C" ou "C"' sur la figure 1, par exemple, à l'aide d'une chaîne sans fin 76 actionnée par des moyens connus non représentés.Figures 2 and 3 show a front view and a side view of a first depalletization system. These figures show a hoist 70 suspended from a
Une moufle constituée de deux poulies fixes 78 , 80 et d'une poulie flottante 82 balladeuse autour desquels est enroulé un câble porteur 84 assure le degré de liberté représenté par les flèches "D" ou "D"' sur la figure 1. L'enroulement du câble 84 sur un treuil 86 fait remonter la poulie 82 alors que le déroulement permet sa descente contrôlée.A block consisting of two fixed
La poulie 82 porte un système de préhension des briques 26 qui, dans l'exemple des figures 3 et 4, est une ventouse 88 .The
Une ventouse rend superflu le degré de liberté représenté par "F" ou "F"' sur la figure 1. Pour le degré de liberté "E" ou "E"' , il est prévu entre la poulie 82 et la ventouse 88 une liaison rotative à axe de pivotement vertical et pouvant être actionnée, par exemple au moyen d'un petit moteur électrique. Pour éviter des oscillations des briques 26 lors du déplacement horizontal du palan 70 le long de la poutre 72 , la ventouse 88 est reliée au palan 70 par une sorte de pantographe pliable 90 dont les positions rétractée et étendue sont représentées sur la figure 3 respectivement en traits interrompus et en traits pleins.A suction cup makes superfluous the degree of freedom represented by "F" or "F" 'in Figure 1. For the degree of freedom "E" or "E"', there is provided between the
Il est bien entendu qu'au-dessus de chacune des palettes 24 et 36 se trouve un système de dépalettisation du genre montré sur les figures 2 et 3.It is understood that above each of the
Les figures 4 et 5 montrent un autre système de dépalettisation selon lesquelles le degré de liberté "D" ou "D"' est remplacé par un système de montage des palettes 24 et 36 . Les automates, en soi, peuvent être conçus comme représentés en 46 et 48 sur la figure 1, le degré de liberté "C" et "C"' étant assuré par exemple au moyen d'une poutre téléscopique actionnée par un vérin, ou un système rail-galets analogue à celui des figures 2 et 3.FIGS. 4 and 5 show another depalletization system according to which the degree of freedom "D" or "D" 'is replaced by a system for mounting the
En vue du relevage des palettes, chacun des chariots 28 et 38 est transformé en chariot élévateur à fourche du genre représenté en 92 sur les figures 4 et 5. Le chariot 92 évolue également par l'intermédiaire de galets 94 sur les rails 32,34 ou 42, 44 de la figure 1. Le chariot 92 comporte une fourche 96 à deux bras 98, 100 pour porter une palette 102 . Cette fourche 96 peut coulisser verticalement par l'intermédiaire de galets 104 évoluant dans des rails verticaux latéraux 106 du chariot 92 .With a view to lifting the pallets, each of the
La levée et la descente de la palette 102 peuvent être réalisées sous l'action d'un vérin 108 monté verticalement sur le chariot 92 dans le plan médian des bras 98, 100 de la fourche élévatrice 96 . A l'extrémité de la tige du vérin 108 sont prévues une, ou de préférence, deux poulies 110 et 112 autour desquelles sont guidés deux câbles porteurs 114, 116 fixés respectivement au chariot 92 d'une part et à la fourche élévatrice 96 d'autre part. La fourche 96 et la palette 102 sont levées par l'extension du vérin 108 par exemple de la position en traits pleins sur la figure 4 vers la position en traits interrompus. L'avantage du ou des câbles est que la course verticale de la fourche 96 est le double de celle de la tige du vérin 108.The
Quelle que soit la conception des automates de dépalettisation, il est possible de prévoir, soit des pinces comme dans le mode de réalisation de la figure 1 ou celui des figures 4 et 5, soit une ventouse comme représenté en 88 sur les figures 2 et 3.Whatever the design of the depalletizing machines, it is possible to provide either clamps as in the embodiment of FIG. 1 or that of FIGS. 4 and 5, or a suction cup as shown at 88 in FIGS. 2 and 3 .
Claims (14)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AT86113749T ATE45187T1 (en) | 1985-10-10 | 1986-10-03 | DEVICE FOR ADJUSTING THE WALLS OF A BUILDING. |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
LU86114 | 1985-10-10 | ||
LU86114A LU86114A1 (en) | 1985-10-10 | 1985-10-10 | INSTALLATION FOR BRIQUETTING THE INTERIOR WALL OF AN ENCLOSURE |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0220543A1 EP0220543A1 (en) | 1987-05-06 |
EP0220543B1 true EP0220543B1 (en) | 1989-08-02 |
Family
ID=19730563
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP86113749A Expired EP0220543B1 (en) | 1985-10-10 | 1986-10-03 | Installation for lining the walls of a building |
Country Status (7)
Country | Link |
---|---|
US (1) | US4708562A (en) |
EP (1) | EP0220543B1 (en) |
JP (1) | JPS62155490A (en) |
AT (1) | ATE45187T1 (en) |
DE (1) | DE3664788D1 (en) |
ES (1) | ES2009754B3 (en) |
LU (1) | LU86114A1 (en) |
Families Citing this family (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
LU86272A1 (en) * | 1986-01-28 | 1987-09-03 | Wurth Paul Sa | AUTOMATED INSTALLATION FOR BRIQUETTING THE INTERIOR WALL OF A SPEAKER |
LU86458A1 (en) * | 1986-06-05 | 1988-01-20 | Wurth Paul Sa | AUTOMATED INSTALLATION FOR BRIQUETTING THE INTERIOR WALL OF A SPEAKER |
LU86619A1 (en) * | 1986-10-03 | 1988-05-03 | ||
LU87381A1 (en) * | 1988-11-09 | 1990-06-12 | Wurth Paul Sa | AUTOMATED INSTALLATION FOR LAYING A MASONRY ON A WALL |
LU87812A1 (en) * | 1990-09-26 | 1992-05-25 | Arbed | AUTOMATIC HANDLING DEVICE |
LU88144A1 (en) * | 1992-07-07 | 1994-04-01 | Wurth Paul Sa | Installation for lining an interior wall of an enclosure with brick masonry |
DE19938727A1 (en) * | 1999-08-16 | 2001-03-01 | Dieter Urbach | Lifting and loading device for vehicle, with at least one lifting arm able to turn on carrier arm connected to load receiving device |
EP1994236A1 (en) * | 2006-03-08 | 2008-11-26 | Skanska Sverige AB | Placing device building system and method of constructing a multi-storey building |
DE102006024900A1 (en) * | 2006-05-24 | 2007-11-29 | WINKLER + DüNNEBIER AG | Device and method for handling pallets inside and outside a palletizing cell |
CN104153553B (en) * | 2014-08-11 | 2016-09-28 | 山东科技大学 | A kind of fully-automatic intelligent mud wall machine |
CN104153591B (en) * | 2014-08-11 | 2016-10-19 | 山东科技大学 | A kind of fully-automatic intelligent wall-building machine |
CN104806028B (en) * | 2015-03-06 | 2016-11-23 | 同济大学 | A kind of high-freedom degree high-precision full-automatic brick-laying machine |
ITUA20164508A1 (en) * | 2016-06-20 | 2017-12-20 | Frignano Servizi S R L A Capitale Ridotto | EQUIPMENT FOR LAYING CERAMIC MANUFACTURES, IN PARTICULAR TILES OF LARGE SIZE |
AU2017294796B2 (en) | 2016-07-15 | 2019-05-30 | Fastbrick Ip Pty Ltd | Brick/block laying machine incorporated in a vehicle |
CN109715894B (en) | 2016-07-15 | 2021-09-03 | 快砖知识产权私人有限公司 | A jib for material transportation |
AU2018295572B2 (en) | 2017-07-05 | 2022-09-29 | Fastbrick Ip Pty Ltd | Real time position and orientation tracker |
GB201712164D0 (en) * | 2017-07-28 | 2017-09-13 | Construction Automation Ltd | Automated brick laying system and method of use thereof |
CN111226090B (en) | 2017-08-17 | 2023-05-23 | 快砖知识产权私人有限公司 | Laser tracker with improved roll angle measurement |
EP3668689A4 (en) | 2017-08-17 | 2021-04-28 | Fastbrick IP Pty Ltd | Interaction system configuration |
ES2971624T3 (en) | 2017-10-11 | 2024-06-06 | Fastbrick Ip Pty Ltd | Machine for transporting objects |
CN109208876B (en) * | 2018-08-31 | 2020-04-07 | 广东博智林机器人有限公司 | Automatic construction equipment that decorates of outer wall |
CN109811996B (en) * | 2019-02-01 | 2020-07-17 | 东北大学 | Brick transporting box for automatically supplying bricks to automatic tile pasting robot |
US11738447B2 (en) * | 2019-07-29 | 2023-08-29 | Nimble Robotics, Inc. | Storage systems and methods for robotic picking |
CN112031366B (en) * | 2020-09-06 | 2021-10-29 | 重庆万重山智能科技有限公司 | Suction mechanism and full-automatic tiling robot thereof |
CN112482708B (en) * | 2020-12-01 | 2021-06-15 | 乾日安全科技(北京)有限公司 | Vertical wall tile sticking device for building construction |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US28305A (en) * | 1860-05-15 | Rotary engine | ||
DE1154131B (en) * | 1961-05-20 | 1963-09-12 | Hwm Weh Maschf Hermann | Device for producing a lining of containers, in particular converters, which contain molten metal, consisting of mold blocks |
NL160879C (en) * | 1969-12-15 | 1979-12-17 | Koninklijke Hoogovens En Staal | DEVICE FOR APPLYING A FIREPROOF COATING INSIDE A STEEL CONVERTER. |
US3955685A (en) * | 1972-05-15 | 1976-05-11 | United States Steel Corporation | Apparatus for lining a furnace |
JPS5433463A (en) * | 1977-08-17 | 1979-03-12 | Mitsubishi Electric Corp | Crane apparatus |
DE3104377C1 (en) * | 1981-02-07 | 1982-10-28 | Mannesmann AG, 4000 Düsseldorf | Brick lining device for metallurgical vessels, in particular for steel plant converters |
FI67878C (en) * | 1983-01-25 | 1985-06-10 | Rautaruukki Oy | ANORDING FOER INMURNING AV ETT METALLURGISKT KAERL SAERSKILT EN STAOLKONVERTER |
DE3413806C1 (en) * | 1984-04-12 | 1985-01-31 | Mannesmann AG, 4000 Düsseldorf | Device for lining metallurgical vessels, in particular steel mill converters |
-
1985
- 1985-10-10 LU LU86114A patent/LU86114A1/en unknown
-
1986
- 1986-10-03 DE DE8686113749T patent/DE3664788D1/en not_active Expired
- 1986-10-03 ES ES86113749T patent/ES2009754B3/en not_active Expired
- 1986-10-03 AT AT86113749T patent/ATE45187T1/en active
- 1986-10-03 EP EP86113749A patent/EP0220543B1/en not_active Expired
- 1986-10-06 US US06/915,635 patent/US4708562A/en not_active Expired - Fee Related
- 1986-10-09 JP JP61241169A patent/JPS62155490A/en active Pending
Also Published As
Publication number | Publication date |
---|---|
ATE45187T1 (en) | 1989-08-15 |
EP0220543A1 (en) | 1987-05-06 |
ES2009754B3 (en) | 1989-10-16 |
US4708562A (en) | 1987-11-24 |
LU86114A1 (en) | 1987-06-02 |
DE3664788D1 (en) | 1989-09-07 |
JPS62155490A (en) | 1987-07-10 |
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