EP0248251A1 - Automated installation to put bricks onto the interior face of a vessel - Google Patents

Automated installation to put bricks onto the interior face of a vessel Download PDF

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Publication number
EP0248251A1
EP0248251A1 EP87107127A EP87107127A EP0248251A1 EP 0248251 A1 EP0248251 A1 EP 0248251A1 EP 87107127 A EP87107127 A EP 87107127A EP 87107127 A EP87107127 A EP 87107127A EP 0248251 A1 EP0248251 A1 EP 0248251A1
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EP
European Patent Office
Prior art keywords
platform
bricks
vertical axis
robot
arm
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.)
Granted
Application number
EP87107127A
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German (de)
French (fr)
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EP0248251B1 (en
Inventor
Victor Kremer
Michel Kirchen
Emile Lonardi
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Paul Wurth SA
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Paul Wurth SA
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Priority to AT87107127T priority Critical patent/ATE50632T1/en
Publication of EP0248251A1 publication Critical patent/EP0248251A1/en
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Publication of EP0248251B1 publication Critical patent/EP0248251B1/en
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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
    • 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

Definitions

  • the present invention relates to an automated installation for briquetting the interior wall of an enclosure, comprising a work platform that can be moved vertically inside the enclosure and capable of rotating around the vertical axis thereof, a device for lifting and lowering pallets of bricks and depositing them at a predetermined location on the platform, a depalletization machine to transfer the bricks from the pallets to an intermediate storage tray, a handling robot to take the bricks from the tray storage and set them up, as well as a monitoring station.
  • the object of the present invention is to provide an improved installation, which is less congested than known installations and which offers more security to surveillance personnel.
  • the installation of the kind described in the preamble is characterized in that the robot consists essentially of an automatic grapple handling grapple, fixed to the end of a main arm which is carried by a chassis mounted on the platform and which is radially movable relative to the platform and in that the circular displacement of the arm and the grapple relative to the axis vertical is generated by a rotation of the platform around this vertical axis.
  • the rotation of the platform is preferably generated by a stepping electric motor.
  • the storage tray is mounted below the main arm of the robot so that it can be moved along a vertical axis and can be rotated around it.
  • the depalletizing machine consists of a pivoting arm, one end of which is provided with a device for gripping the bricks and the other end of which is pivotally mounted on a sliding support between two rails of the chassis, parallel to the main arm of the robot.
  • Each of the pallets is placed on a tray which can be moved vertically.
  • the installation shown in FIG. 1 comprises a platform 20 capable of being moved vertically and of rotating around this vertical axis under the action of a stepping motor not shown.
  • a chassis 22 carried by several feet erected on the platform.
  • This chassis carries a cabin 24 which can house the surveillance personnel, and, above an opening 26 in the platform 20, a winch 28.
  • This winch 28 is provided with two drums 30, 32 for winding cables 34 and 36 for lifting and lowering a pallet 42 through the opening 26 of the platform 20.
  • the pallet 42 is, preferably mounted and lowered using a cage 40 as proposed in Luxembourg patent application No 86 189.
  • FIG. 1 there are shown two pallets 44,46, in the depalletizing position.
  • the pallets when lifted through the opening 26 using the winch 28 are supported by one of the two carriages 48 or 50 capable of reciprocating movements on a pair of rails 52, 54 arranged on either side of the opening 26.
  • trays 56, 58 On either side of the central opening 26 are also provided two trays 56, 58 which, by the movement of the carriages 48 and 50 between the receiving position of the pallets above the opening 26 and their depalletizing position as shown in Figure 1, are engaged between the pallets 44 and 46 and their carrier carriages 48.50.
  • These plates 56 and 58 are vertically movable under the action of hydraulic cylinders of which only the cylinder 60 associated with the plate 58 is shown, in order to be able to raise and lower each of the pallets 44,46 and thus reduce the amplitude of the vertical mobility of pliers 88.
  • the installation further comprises a robot 62 consisting essentially of an automatic grapple 70 mounted at the end of a main arm 64.
  • This arm 64 consists of two rods 66,68 sliding radially in two support beams 72 74 being part of the chassis 22.
  • the radial displacement of the arm 64 is carried out under the action of a motor, not shown, the movements of which are coordinated with the control of the robot 62.
  • the grapple 70 is preferably of the type described in Luxembourg patent application No 86 188.
  • a tray 74 for storing the bricks.
  • This plate 74 is mounted on the rod of a jack 76 which allows the vertical movement of the plate 74.
  • the plate 74 is preferably capable of rotating, in a controlled manner, around its vertical axis, which is symbolized by an arrow.
  • the installation also includes a depalletization machine represented overall by 78.
  • This depalletization machine 78 consists of a support 80 which can slide radially in the direction of the arm 64 of the robot 62 in guide grooves 82, 84 arranged in the beams 72 and 74.
  • a pivoting arm 86 is mounted by one of these ends on this support 80 so as to be able to pivot under the action of means not shown, about a vertical axis relative to this support 80.
  • the opposite end of this pivoting arm 86 carries a clamp 88 which can also pivot around a vertical axis relative to the arm 86.
  • the latter is furthermore vertically movable relative to the support 80, in order to be able to lift the bricks from the pallets 44, 46 by means of the clamp 88.
  • the automaton 78 is in a position for gripping a brick located at the 'one of the ends of the pallet 46. After having grasped a brick, the automaton 78 must back up (see Figure 3) and at the same time its clamp 88 pivots in the counterclockwise direction, while its arm 86 pivots in the clockwise direction of a watch until complete alignment on the longitudinal axis of the plate 74 which is illustrated in FIG. 10. Once this alignment has been achieved, the automaton 78 can move forward to deposit the brick or bricks on the intermediate storage tray 74.
  • Figures 4 and 5 illustrate the depalletization of a brick or a pair of bricks located on the same pallet 46, but at the opposite end of the depalletized brick in Figures 2 and 3.
  • the automaton 78 After having grabbed the brick, the automaton 78 first recoils so that the brick does not strike the cable 34 during its rotation. From a certain position of the automaton 78 ′ the arm 86 and the clamp 88 are turned clockwise (see FIG. 5) until in an alignment position on the plate 74 and at from this position the automaton 78 is advanced in the direction of the plate 74 to deposit the brick thereon (see FIG. 10).
  • the clamp 88 as illustrated by FIGS. 3 and 5, must rotate alternately in the opposite direction since the bricks, due to their taper, are oriented alternately in one direction and in the other on the pallets .
  • FIGS. 6 to 9 illustrate the depalletization of bricks being, for FIGS. 6 and 7 at one of the ends of the pallet 44 and for FIGS. 8 and 9 at the opposite end of the pallet 44. It will be noted that, As a result of the position of the cables 34 and 36, the movements of the automaton 78 require less precautions for depalletizing the pallet 44 than for that of the pallet 46.

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  • 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)
  • Lining Or Joining Of Plastics Or The Like (AREA)
  • Finishing Walls (AREA)
  • Manipulator (AREA)

Abstract

The apparatus of the present invention utilizes a bricklaying robot which comprises an automatic brick-handling or grabbing device fastened to the end of a main arm which is carried by a frame mounted on a work platform; and which is radially movable relative to the platform. Circular movement of the arm and of the grabbing device relative to the vertical axis of the work platform is generated as result of a rotation of the platform about this vertical axis. The present invention also utilizes a storage table which is mounted underneath the main arm of the robot, so as to be movable along a vertical axis and rotatable about the axis. The present invention further includes an automatic depalletizing mechanism comprising a pivoting arm, of which one of the ends is equipped with a brick-grasping device and the other end is mounted pivotally on a support sliding parallel to the main arm of the robot between two rails of the frame. This brick lining apparatus is less bulky than known prior art apparatuses and offers monitoring personnel a greater degree of safety.

Description

La présente invention concerne une installation automatisée pour briqueter la paroi intérieure d'une enceinte, comprenant une plate-forme de travail déplaçable verticalement à l'intérieur de l'enceinte et capable de tourner autour de l'axe vertical de celle-ci, un dispositif pour monter et descendre des palettes de briques et les déposer à un endroit prédéterminé sur la plate-forme, un automate de dépalettisation pour transférer les briques des palettes vers un plateau de stockage intermédiaire, un robot de manutention pour prendre les briques sur le plateau de stockage et les mettre en place, ainsi qu'un poste de surveillance.The present invention relates to an automated installation for briquetting the interior wall of an enclosure, comprising a work platform that can be moved vertically inside the enclosure and capable of rotating around the vertical axis thereof, a device for lifting and lowering pallets of bricks and depositing them at a predetermined location on the platform, a depalletization machine to transfer the bricks from the pallets to an intermediate storage tray, a handling robot to take the bricks from the tray storage and set them up, as well as a monitoring station.

Des installations de ce genre sont proposées dans les demandes de brevet luxembourgeois Nos 86 114 et 86 189, notamment pour la réfection de convertisseurs métallurgiques. Dans ces installations, le robot constitue un encombrement relativement important par l'espace qu'il nécessite pour son emplacement et pour effectuer ses mouvements pivotants. En outre, le personnel de surveillance devant, en cas de besoin, se déplacer sur la plate-forme, le mouvement de balayage du robot constitue un danger permanent pour le personnel, d'autant plus, qu'il n'est pas possible de prévoir un garde-fou pour permettre justement au robot d'effectuer les mouvements nécessaires.Installations of this kind are proposed in Luxembourg patent applications Nos 86 114 and 86 189, in particular for the repair of metallurgical converters. In these installations, the robot constitutes a relatively large size by the space it requires for its location and for carrying out its pivoting movements. In addition, the surveillance personnel having to move on the platform if necessary, the sweeping movement of the robot constitutes a permanent danger for the personnel, all the more since it is not possible to provide a railing to allow the robot to perform the necessary movements.

Le but de la présente invention est de prévoir une installation perfectionnée, qui est moins encombrée que les installations connues et qui offre plus de sécurité au personnel de surveillance.The object of the present invention is to provide an improved installation, which is less congested than known installations and which offers more security to surveillance personnel.

Pour atteindre cet objectif, l'installation du genre décrit dans le préambule est caractérisée en ce que le robot est constitué essentiellement d'un grappin automatique de manutention des briques, fixé à l'extrémité d'un bras principal qui est porté par un châssis monté sur la plate-forme et qui est déplaçable radialement par rapport à la plate-forme et en ce que le déplacement circulaire du bras et du grappin par rapport à l'axe vertical est engendré par une rotation de la plate-forme autour de cet axe vertical.To achieve this objective, the installation of the kind described in the preamble is characterized in that the robot consists essentially of an automatic grapple handling grapple, fixed to the end of a main arm which is carried by a chassis mounted on the platform and which is radially movable relative to the platform and in that the circular displacement of the arm and the grapple relative to the axis vertical is generated by a rotation of the platform around this vertical axis.

La rotation de la plate-forme est, de préférence engendrée par un moteur électrique pas-à-pas.The rotation of the platform is preferably generated by a stepping electric motor.

5 Le progrès réalisé par cette installation est que le bras principal du robot n'effectue plus de mouvement de balayage par rapport à la plate-forme, ce qui, non seulement réduit l'encomb-rement, mais augmente considérablement la sécurité du personnel.5 The progress made by this installation is that the main arm of the robot no longer performs a sweeping movement relative to the platform, which not only reduces the congestion, but considerably increases the safety of personnel.

Le plateau de stockage est monté en-dessous du bras principal du robot de manière à être déplaçable le long d'un axe vertical et de pouvoir tourner autour de celui-ci.The storage tray is mounted below the main arm of the robot so that it can be moved along a vertical axis and can be rotated around it.

L'automate de dépalettisation est constitué 5d'un bras pivotant, dont l'une des extrémités est pourvue d'un dispositif de préhension des briques et dont l'autre extrémité, est monté de façon pivotante, sur un support coulissant entre deux rails du châssis, parallèlement au bras principal du robot.The depalletizing machine consists of a pivoting arm, one end of which is provided with a device for gripping the bricks and the other end of which is pivotally mounted on a sliding support between two rails of the chassis, parallel to the main arm of the robot.

) Chacune des palettes est déposée sur un plateau qui est déplaçable dans le sens vertical.) Each of the pallets is placed on a tray which can be moved vertically.

D'autres particularités et caractéristiques ressortiront de la description d'un mode de réalisation préféré, présenté ci-dessous, à titre d'illustration, 5en référence aux dessins annexés, dans lesquels:

  • La figure 1 montre une vue générale en perspective de l'installation proposée par l'invention;
  • les figures 2 à 10 montrent schématiquement les mouvements effectués par l'automate de dépalettisation Jdans des positions extrêmes par rapport à chaque palette.
Other particularities and characteristics will emerge from the description of a preferred embodiment, presented below, by way of illustration, with reference to the appended drawings, in which:
  • Figure 1 shows a general perspective view of the installation proposed by the invention;
  • Figures 2 to 10 schematically show the movements made by the depalletization machine J in extreme positions relative to each pallet.

L'installation montrée sur la figure 1 comporte une plate-forme 20 susceptible d'être déplacée verticalement et de tourner autour de cet axe vertical sous l'action d'un moteur pas-à-pas non représenté. Sur cette plate-5forme 20 se trouve un châssis 22 porté par plusieurs pieds dressés sur la plate-forme. Ce châssis porte une cabine 24 pouvant abriter le personnel de surveillance, et, au-dessus d'une ouverture 26 dans la plate-forme 20, un treuil 28. Ce treuil 28 est pourvu de deux tambours 30,32 d'enroulement de cables34 et 36 pour le levage et la descente d'une palette 42 à travers l'ouverture 26 de la plate-forme 20. La palette 42 est, de préférence, montée et descendue à l'aide d'une cage 40 comme proposée dans la demande de brevet luxembourgeois No 86 189.The installation shown in FIG. 1 comprises a platform 20 capable of being moved vertically and of rotating around this vertical axis under the action of a stepping motor not shown. On this platform 5 is a chassis 22 carried by several feet erected on the platform. This chassis carries a cabin 24 which can house the surveillance personnel, and, above an opening 26 in the platform 20, a winch 28. This winch 28 is provided with two drums 30, 32 for winding cables 34 and 36 for lifting and lowering a pallet 42 through the opening 26 of the platform 20. The pallet 42 is, preferably mounted and lowered using a cage 40 as proposed in Luxembourg patent application No 86 189.

Sur la figure 1 on a représenté deux palettes 44,46, en position de dépalettisation. Les palettes, lorsqu'elles sont soulevées à travers l'ouverture 26 à l'aide du treuil 28 sont prises en charge par l'un des deux chariots 48 ou 50 capables d'effectuer des mouvements de va-et-vient sur une paire de rails 52,54 disposées de part et d'autre de l'ouverture 26.In Figure 1 there are shown two pallets 44,46, in the depalletizing position. The pallets, when lifted through the opening 26 using the winch 28 are supported by one of the two carriages 48 or 50 capable of reciprocating movements on a pair of rails 52, 54 arranged on either side of the opening 26.

De part et d'autre de l'ouverture centrale 26 sont également prévus deux plateaux 56,58 qui, par le déplacement des chariots 48 et 50 entre la position de réception des palettes au-dessus de l'ouverture 26 et leur position de dépalettisation comme représentée sur la figure 1, se trouvent engagés entre les palettes 44 et 46 et leurs chariots porteurs 48,50. Ces plateaux 56 et 58 sont déplaçables verticalement sous l'action de vérins hydrauliques dont seul le vérin 60 associé au plateau 58 est représenté, afin de pouvoir soulever et descendre chacune des palettes 44,46 et réduire ainsi l' amplitude de lamobilité verticale d'une pince 88.On either side of the central opening 26 are also provided two trays 56, 58 which, by the movement of the carriages 48 and 50 between the receiving position of the pallets above the opening 26 and their depalletizing position as shown in Figure 1, are engaged between the pallets 44 and 46 and their carrier carriages 48.50. These plates 56 and 58 are vertically movable under the action of hydraulic cylinders of which only the cylinder 60 associated with the plate 58 is shown, in order to be able to raise and lower each of the pallets 44,46 and thus reduce the amplitude of the vertical mobility of pliers 88.

L'installation comporte, en outre, un robot 62 constitué essentiellement d'un grappin automatique 70 monté à l'extrémité d'un bras principal 64. Ce bras 64 est constitué de deux tiges 66,68 coulissant radialement dans deux poutres de support 72;74 faisant partie du châssis 22. Le déplacement radial du bras 64 est effectué sous l'action d'un moteur non représenté et dont les mouvements sont coordonnés à la commande du robot 62.The installation further comprises a robot 62 consisting essentially of an automatic grapple 70 mounted at the end of a main arm 64. This arm 64 consists of two rods 66,68 sliding radially in two support beams 72 74 being part of the chassis 22. The radial displacement of the arm 64 is carried out under the action of a motor, not shown, the movements of which are coordinated with the control of the robot 62.

Le grappin 70 dont les degrés de liberté essentiels sont représentés par des flèches est, de préférence, du genre de celui décrit dans la demande de brevet luxembourgeois No 86 188. Toutefois, il est également possible de prévoir le grappin 70 sous forme de ventouse, avec la différence qu'une ventouse ne peut saisir qu'une seule brique, alors que le grappin comportant des pinces comme représente sur la figure 1 est en mesure de saisir plusieurs briques superposées.The grapple 70, the essential degrees of freedom of which are represented by arrows, is preferably of the type described in Luxembourg patent application No 86 188. However, it is also possible to provide the grapple 70 in the form of a suction cup, with the difference that a suction cup can only grip one brick, so that the grapple with clamps as shown in Figure 1 is able to grab several superimposed bricks.

En-dessous du bras principal 64 du robot 62 se trouve un plateau de stockage 74 des briques. Ce plateau 74 est monté sur la tige d'un vérin 76 qui permet le déplacement vertical du plateau 74. En outre, le plateau 74 est de préférence susceptible de tourner, de façon contrôlée, autour de son axe vertical, ce qui est symbolisé par une flèche.Below the main arm 64 of the robot 62 is a tray 74 for storing the bricks. This plate 74 is mounted on the rod of a jack 76 which allows the vertical movement of the plate 74. In addition, the plate 74 is preferably capable of rotating, in a controlled manner, around its vertical axis, which is symbolized by an arrow.

L'installation comporte également un automate de dépalettisation représenté globalement par 78. Cet automate de dépalettisation 78 est constitué d'un support 80 pouvant coulisser radialement dans le sens du bras 64 du robot 62 dans des rainures de guidage 82,84 aménagées dans les poutres 72 et 74. Un bras pivotant 86 est monté par l'une de ces extrémités sur ce support 80 de façon à pouvoir pivoter sous l'action de moyens non représentés, autour d'un axe vertical par rapport à ce support 80. L'extrémité opposée de ce bras pivotant 86 porte une pince 88 pouvant également pivoter autour d'un axe vertical par rapport au bras 86. Celui-ci est en outre déplaçable verticalement par rapport au support 80, afin de pouvoir soulever les briques des palettes 44,46 au moyen de la pince 88.The installation also includes a depalletization machine represented overall by 78. This depalletization machine 78 consists of a support 80 which can slide radially in the direction of the arm 64 of the robot 62 in guide grooves 82, 84 arranged in the beams 72 and 74. A pivoting arm 86 is mounted by one of these ends on this support 80 so as to be able to pivot under the action of means not shown, about a vertical axis relative to this support 80. The opposite end of this pivoting arm 86 carries a clamp 88 which can also pivot around a vertical axis relative to the arm 86. The latter is furthermore vertically movable relative to the support 80, in order to be able to lift the bricks from the pallets 44, 46 by means of the clamp 88.

Tous les mouvements possibles des pièces dont les degrés de liberté sont symbolisés par des flèches sont effectués automatiquement par des moyens non représentés pour ne pas surcharger la figure et dont la commande et l'opération se font automatiquement suivant un programme de briquetage bien déterminé. C'est ainsi que les briques sont transférées séparément, ou par paire superposées à l'aide de l'automate de dépalettisation 78 de chacune des palettes 44,46 sur le plateau 74 qui est automatiquement monté ou descendu au niveau de réception des briques par l'automate 78 ou au niveau nécessaire pour la prise des briques par le grappin 70. Ce grappin 70, par le mouvement radial du bras 64,déplace les briques du plateau 74 à l'endroit de pose, comme décrit dans la demande de brevet No 86 188.All the possible movements of the parts, the degrees of freedom of which are symbolized by arrows, are carried out automatically by means not shown so as not to overload the figure and the control and operation of which are carried out automatically according to a well-defined briquetting program. Thus the bricks are transferred separately, or in pairs superimposed using the depalletization machine 78 of each of the pallets 44,46 on the tray 74 which is automatically raised or lowered to the level of receiving the bricks by the robot 78 or at the level necessary for gripping the bricks by the grapple 70. This grapple 70, by the radial movement of the arm 64, moves the bricks of the plate 74 at the place of installation, as described in patent application No. 86 188.

Etant donné que le bras principal 64 du robot 62 n'effectue pas de mouvement pivotant par rapport à l'axe vertical de l'enceinte, il est possible de prévoir un garde-fou tout autour de la plate-forme 20 pour améliorer la sécurité du personnel. L'automate de dépalettisation 78 ne constitue pas de danger non plus étant donné que ces mouvements évoluent à l'intérieur du châssis 22 et sont protégés par celui-ci. Par contre, il est nécessaire de coordonner minitieusement les mouvements de cet automate 78 afin de pouvoir évoluer entre les câbles 34 et 36 servant à la montée et à la descente des cages 40. Ces mouvements sont schématiquement représentés par les figures 2 à 10 pour chacune des palettes 44,46 et pour différentes positions des briques sur celles-ci-Since the main arm 64 of the robot 62 does not make any pivoting movement relative to the vertical axis of the enclosure, it is possible to provide a railing all around the platform 20 to improve safety Staff. The depalletizing machine 78 does not constitute a danger either since these movements evolve inside the chassis 22 and are protected by it. On the other hand, it is necessary to coordinate minutely the movements of this automaton 78 in order to be able to move between the cables 34 and 36 used for raising and lowering the cages 40. These movements are schematically represented by FIGS. 2 to 10 for each pallets 44,46 and for different positions of the bricks thereon

Sur ces figures 2 à 10 le treuil 28 n'a été représenté que sur la figure 2 pour montrer son emplacement exact et pour ne pas surcharger les autres figures. Etant donné que les positions des cables 34 et 36 changent suivant l'état d'enroulement sur les tambours 30 et 32 ils ont été représentés sur chacun des deux dessins par deux points illustrant leurs positions extrêmes. Dans la description ci-dessous, un "recul" de l'automate 78 est défini par un éloignement du plateau 74, alors qu'un "avancement" signifie un rapprochement de l'automate 78 de ce plateau 74. Il est bien entendu que chacune des figures représente schématiquement une vue du dessus n'illustrant que les parties essentielles pour comprendre le mouvement de l'automate 78. Sur la figure 2, l'automate 78 se trouve dans une position de saisie d'une brique se trouvant à l'une des extrémités de la palette 46. Après avoir saisi une brique, l'automate 78 doit reculer (voir figure 3) et en même temps sa pince 88 pivote dans le sens trigonométrique, tandis que son bras 86 pivote dans le sens des aiguilles d'une montre jusqu'à alignement total sur l'axe longitudinal du plateau 74 ce qui est illustré sur la figure 10. Une fois cet alignement réalisé, l'automate 78 peut avancer pour aller déposer la ou les briques sur le plateau de stockage intermédiaire 74.In these Figures 2 to 10 the winch 28 has been shown only in Figure 2 to show its exact location and not to overload the other figures. Since the positions of the cables 34 and 36 change according to the winding state on the drums 30 and 32 they have been shown in each of the two drawings by two points illustrating their extreme positions. In the description below, a "backward movement" of the automaton 78 is defined by a distance from the plate 74, while a "forward movement" means an approximation of the automatic device 78 from this plate 74. It is understood that each of the figures schematically represents a top view illustrating only the parts essential for understanding the movement of the automaton 78. In FIG. 2, the automaton 78 is in a position for gripping a brick located at the 'one of the ends of the pallet 46. After having grasped a brick, the automaton 78 must back up (see Figure 3) and at the same time its clamp 88 pivots in the counterclockwise direction, while its arm 86 pivots in the clockwise direction of a watch until complete alignment on the longitudinal axis of the plate 74 which is illustrated in FIG. 10. Once this alignment has been achieved, the automaton 78 can move forward to deposit the brick or bricks on the intermediate storage tray 74.

Les figures 4 et 5 illustrent la dépalettisation d'un brique ou d'une paire de briques se trouvant sur la même palette 46, mais à l'extrémité opposée de la brique dépalettisée sur les figures 2 et 3. Après avoir saisi la brique, l'automate 78 effectue d'abord un mouvement de recul afin que la brique ne heurte pas le cable 34 lors de sa rotation. A-partir d'une certaine position de l'automate 78 'le bras 86 et la pince 88 sont tournés dans le sens des aiguilles d'une montre (voir figure 5) jusque dans une position d'alignement sur le plateau 74 et à partir de cette position l'automate 78 est avancé en direction du plateau 74 pour déposer la brique sur celui-ci (voir figure 10). Il est à noter que la pince 88, comme illustré par les figures 3 et 5, doit tourner alternativement en sens opposé étant donné que les briques, à causé de leur conicité, sont orientées alternativement dans un sens et dans l'autre sur les palettes.Figures 4 and 5 illustrate the depalletization of a brick or a pair of bricks located on the same pallet 46, but at the opposite end of the depalletized brick in Figures 2 and 3. After having grabbed the brick, the automaton 78 first recoils so that the brick does not strike the cable 34 during its rotation. From a certain position of the automaton 78 ′ the arm 86 and the clamp 88 are turned clockwise (see FIG. 5) until in an alignment position on the plate 74 and at from this position the automaton 78 is advanced in the direction of the plate 74 to deposit the brick thereon (see FIG. 10). It should be noted that the clamp 88, as illustrated by FIGS. 3 and 5, must rotate alternately in the opposite direction since the bricks, due to their taper, are oriented alternately in one direction and in the other on the pallets .

Les figures 6 à 9 illustrent la dépalettisation de briques se trouvant, pour les figures 6 et 7 à l'une des extrémités de la palette 44 et pour les figures 8 et 9 à l'extrémité opposée de la palette 44. On notera que, parsuite de la position des cables 34 et 36, les mouvements de l'automate 78 exigent moins de précautions pour la dépalettisation de la palette 44 que pour celle de la palette 46.FIGS. 6 to 9 illustrate the depalletization of bricks being, for FIGS. 6 and 7 at one of the ends of the pallet 44 and for FIGS. 8 and 9 at the opposite end of the pallet 44. It will be noted that, As a result of the position of the cables 34 and 36, the movements of the automaton 78 require less precautions for depalletizing the pallet 44 than for that of the pallet 46.

Finalement il suffit d'ajouter que tous les mouvements effectués par l'automate de dépalettisation 78, comme représenté sur les figures 2 à 10 sont programmés en fonction des positions et des orientations des briques sur chacune des palettes et sont exécutés de façon tout-à- fait automatique.Finally, it suffices to add that all the movements carried out by the depalletizing machine 78, as shown in FIGS. 2 to 10, are programmed as a function of the positions and orientations of the bricks on each of the pallets and are executed completely - done automatically.

Chaque fois qu'une couche de briques est enlevée sur une des palettes 44,46, celle-ci est soulevée automatiquement par son plateau 56,58 d'une hauteur correspondant à celle de la couche de briques dépalettisée. Au lieu de soulever les palettes après chaque couche dépalettisée il est également possible de prévoir un support 80 de l'automate 78 plus profond pour permettre la descente du bras 86 chaque fois qu'une couche a été enlevée.Each time a layer of bricks is removed on one of the pallets 44,46, this is automatically lifted by its plate 56,58 from a height corresponding to that of the layer of depalletized bricks. Instead of lifting the pallets after each depalletized layer it is also possible to provide a deeper support 80 for the controller 78 to allow the descent of the arm 86 each time a layer has been removed.

Claims (7)

l.- Installation automatisée pour briqueter la paroi intérieure d'une enceinte, comprenant une plate-forme de travail (20) déplaçable verticalement à l'intérieur de l'enceinte et capable de tourner autour de l'axe vertical de celle-ci, un dispositif pour monter et descendre des palettes de briques (42) et les déposer à un endroit prédéterminé sur la plate-forme (20), un automate de dépalettisation (78) pour transférer les briques des palettes vers un plateau de stockage intermédiaire (74), un robot de manutention (62) pour prendre les briques sur le plateau de stockage (74) et les mettre en place, ainsi qu'un poste de surveillance (24), caractérisée en ce que le robot (62) est constitué essentiellement d'un grappin automatique (70) de manutention des briques, fixé à l'extrémité d'un bras principal (64) qui est porté par un châssis (22) monté sur la plate-forme (20) et qui est déplaçable radialement par rapport à la plate-forme (20) et en ce que le déplacement circulaire du bras (64) et du grappin (70) par rapport à l'axe vertical est engendré par une rotation de la plate-forme (20) autour de cet axe vertical.l.- Automated installation for briquetting the interior wall of an enclosure, comprising a working platform (20) movable vertically inside the enclosure and capable of rotating around the vertical axis thereof, a device for raising and lowering pallets of bricks (42) and depositing them at a predetermined location on the platform (20), a depalletization machine (78) for transferring the bricks from the pallets to an intermediate storage tray (74 ), a handling robot (62) to take the bricks from the storage tray (74) and put them in place, as well as a monitoring station (24), characterized in that the robot (62) consists essentially an automatic grapple (70) for handling bricks, fixed to the end of a main arm (64) which is carried by a frame (22) mounted on the platform (20) and which is radially displaceable by relative to the platform (20) and in that the circular displacement of the arm (64) and of the grapple (70) relative to the vertical axis is generated by a rotation of the platform (20) about this vertical axis. 2.- Installation selon la revendication 1, caractérisée en ce que la rotation de la plate-forme est engendrée par un moteur électrique pas-à-pas.2.- Installation according to claim 1, characterized in that the rotation of the platform is generated by an electric stepper motor. 3.- Installation selon la revendication 1, caractérisée en ce que le plateau de stockage (74) est monté en-dessous du bras principal (64) du robot (70) de manière à être déplaçable le long d'un axe vertical.3.- Installation according to claim 1, characterized in that the storage plate (74) is mounted below the main arm (64) of the robot (70) so as to be movable along a vertical axis. 4.- Installation selon la revendication 3, caractérisée en ce que le plateau de stockage (74) est susceptible de tourner autour dudit axe vertical.4.- Installation according to claim 3, characterized in that the storage plate (74) is capable of rotating around said vertical axis. 5.- Installation selon l'une des revendications 1 à 4, caractérisée en ce que l'automate de dépalettisation (78) est constitué d'un bras pivotant (86) dont l'une des extrémités est pourvue d'un dispositif (88) de préhension des briques et dontl'autre extrémité est monté de façon pivotante, sur un support (80) coulissant entre deux rails (82,84) du châssis (22), parallèlement au bras principal (64) du robot (62).5.- Installation according to one of claims 1 to 4, characterized in that the depalletization machine (78) consists of a pivoting arm (86) one end of which is provided with a device (88 ) gripping the bricks and the other end of which is pivotally mounted on a support (80) sliding between two rails (82, 84) of the chassis (22), parallel to the main arm (64) of the robot (62). 6.- Installation selon la revendication 1, caractérisée en ce que les palettes de briques (44,46) sont déplaçables sur la plate-forme au moyen de chariots (48,50) évoluant sur deux rails (52,54) disposés de part et d'autre d'une ouverture centrale (26) dans la plate-forme (20).6.- Installation according to claim 1, characterized in that the brick pallets (44,46) are movable on the platform by means of carriages (48,50) moving on two rails (52,54) arranged on the side and other of a central opening (26) in the platform (20). 7.- Installation selon l'une des revendications 5 ou 6, caractérisée en ce que dans leur position de dépalettisation les palettes (44,46) sont déplaçables verticalement sous l'action de plateaux mobiles (56,58).7.- Installation according to one of claims 5 or 6, characterized in that in their depalletizing position the pallets (44,46) are movable vertically under the action of movable plates (56,58).
EP87107127A 1986-06-05 1987-05-16 Automated installation to put bricks onto the interior face of a vessel Expired - Lifetime EP0248251B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT87107127T ATE50632T1 (en) 1986-06-05 1987-05-16 AUTOMATED DEVICE FOR LINING A VESSEL.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
LU86458A LU86458A1 (en) 1986-06-05 1986-06-05 AUTOMATED INSTALLATION FOR BRIQUETTING THE INTERIOR WALL OF A SPEAKER
LU86458 1986-06-05

Publications (2)

Publication Number Publication Date
EP0248251A1 true EP0248251A1 (en) 1987-12-09
EP0248251B1 EP0248251B1 (en) 1990-02-28

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ID=19730714

Family Applications (1)

Application Number Title Priority Date Filing Date
EP87107127A Expired - Lifetime EP0248251B1 (en) 1986-06-05 1987-05-16 Automated installation to put bricks onto the interior face of a vessel

Country Status (7)

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US (1) US4786227A (en)
EP (1) EP0248251B1 (en)
JP (1) JP2584231B2 (en)
AT (1) ATE50632T1 (en)
DE (1) DE3761783D1 (en)
ES (1) ES2013271B3 (en)
LU (1) LU86458A1 (en)

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FR2638774A1 (en) * 1988-11-09 1990-05-11 Wurth Paul Sa AUTOMATED INSTALLATION FOR THE INSTALLATION OF A MASONRY ON A WALL

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US5102280A (en) 1989-03-07 1992-04-07 Ade Corporation Robot prealigner
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
US8965571B2 (en) 2010-08-12 2015-02-24 Construction Robotics, Llc Brick laying system
RU2700435C2 (en) * 2018-01-29 2019-09-17 Алексей Александрович Спирин Method for automated refractory lining of furnaces and robotic complex for implementation thereof
WO2020139556A1 (en) * 2018-12-26 2020-07-02 Exxonmobil Research And Engineering Company Remote inspection, removal, and installation of refractory
CN109680117B (en) * 2019-01-24 2020-12-11 山东钢铁股份有限公司 Brick conveying device for lining bricks built by converter

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FR2314331A1 (en) * 1975-06-10 1977-01-07 Voest Ag SCAFFOLDING FOR THE LINING OF METALLURGIC CONTAINERS
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FR2550984A1 (en) * 1983-07-07 1985-03-01 Inst Rech Const Navale Flexible installation of robot-carrier pairs

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LU86114A1 (en) * 1985-10-10 1987-06-02 Wurth Paul Sa INSTALLATION FOR BRIQUETTING THE INTERIOR WALL OF AN ENCLOSURE
LU86189A1 (en) * 1985-12-03 1987-07-24 Wurth Paul Sa AUTOMATED INSTALLATION FOR BRIQUETTING THE INTERIOR WALL OF AN ENCLOSURE

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FR2070868A1 (en) * 1969-12-15 1971-09-17 Koninkl Nederland Ch
GB1392960A (en) * 1972-07-26 1975-05-07 Combustion Eng Automated bricklaying device
FR2314331A1 (en) * 1975-06-10 1977-01-07 Voest Ag SCAFFOLDING FOR THE LINING OF METALLURGIC CONTAINERS
DE3123582C1 (en) * 1981-06-13 1982-11-04 Mannesmann AG, 4000 Düsseldorf Lining apparatus for metallurgical vessels, in particular for steel converters, blast furnaces and the like
FR2550984A1 (en) * 1983-07-07 1985-03-01 Inst Rech Const Navale Flexible installation of robot-carrier pairs
DE3413806C1 (en) * 1984-04-12 1985-01-31 Mannesmann AG, 4000 Düsseldorf Device for lining metallurgical vessels, in particular steel mill converters

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2638774A1 (en) * 1988-11-09 1990-05-11 Wurth Paul Sa AUTOMATED INSTALLATION FOR THE INSTALLATION OF A MASONRY ON A WALL
BE1003577A3 (en) * 1988-11-09 1992-04-28 Wurth Paul Sa Automated system for laying on a masonry wall.

Also Published As

Publication number Publication date
ATE50632T1 (en) 1990-03-15
LU86458A1 (en) 1988-01-20
EP0248251B1 (en) 1990-02-28
JPS62293084A (en) 1987-12-19
ES2013271B3 (en) 1990-05-01
DE3761783D1 (en) 1990-04-05
US4786227A (en) 1988-11-22
JP2584231B2 (en) 1997-02-26

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