EP0263979B1 - Installation for lining the inner wall of a vessel - Google Patents

Installation for lining the inner wall of a vessel Download PDF

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Publication number
EP0263979B1
EP0263979B1 EP87113282A EP87113282A EP0263979B1 EP 0263979 B1 EP0263979 B1 EP 0263979B1 EP 87113282 A EP87113282 A EP 87113282A EP 87113282 A EP87113282 A EP 87113282A EP 0263979 B1 EP0263979 B1 EP 0263979B1
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EP
European Patent Office
Prior art keywords
bricks
platform
stage
robot
turret
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
EP87113282A
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German (de)
French (fr)
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EP0263979A1 (en
Inventor
Corneille Melan
Victor Kremer
Michel Kirchen
Emile Lonardi
Jean Liesch
André Bock
Joseph Colgon
Charles Hennico
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
Arcelor Luxembourg SA
Original Assignee
Arbed SA
Paul Wurth SA
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Publication date
Application filed by Arbed SA, Paul Wurth SA filed Critical Arbed SA
Priority to AT87113282T priority Critical patent/ATE57540T1/en
Publication of EP0263979A1 publication Critical patent/EP0263979A1/en
Application granted granted Critical
Publication of EP0263979B1 publication Critical patent/EP0263979B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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 installation for briquetting the inner wall of an enclosure essentially consisting of an operating station capable of being moved vertically along the axis of the enclosure and comprising a rotary working platform, a tray of non-rotating support carrying the platform by means of a bearing, a robot for laying bricks, a surveillance cabin, means for raising and lowering pallets of bricks, as well as at least one automatic depalletization of the bricks to transfer the bricks from the pallets to a waiting station.
  • Installations with external depalletization have the advantage of reducing the size of the platform, which is to the benefit of the possibility of being able to install on the platform a comfortable monitoring cabin and thus contribute to safety personnel monitoring the briquetting of the enclosure wall.
  • Another advantage of these installations is the possibility of being able to use standard robots, that is to say robots which do not have to be specially designed for the tasks for which they are intended.
  • these installations require sophisticated hoists and complex programs to bring, as desired, the two types of bricks on the platform at the rate of work of the robot which performs their laying.
  • the object of the present invention is to provide a new robotic installation of the kind described in the preamble which combines the advantages of installations with depalletization inside and the advantages of those with depalletization outside.
  • the present invention provides an installation of the type described in the preamble which is essentially characterized in that the waiting station comprises a barrel which can contain a reserve of bricks of different types and supported by the plate by means of a bearing so as to be able to rotate independently of the plate and of the platform around the vertical axis of the enclosure.
  • this barrel is mounted between the plate and the platform whose surface is entirely closed, with the exception of at least one preferably radial window allowing the passage of a brick.
  • the barrel is preferably made up of an inclined annular ramp divided into individual inclined compartments to each contain at least one brick which is deposited therein by the automatic depalletization machine (s).
  • Each of these barrel compartments is accessible to the robot through the radial window of the platform and thanks to the rotation of the barrel.
  • a device for extracting bricks from the barrel through the window of the platform this device being disposed on this platform next to said window and accessible to the robot arm.
  • the support plate is preferably provided with two winches for raising and lowering two pallets, while the depalletization is carried out by two automata integral with the support plate.
  • the installation proposed by the present invention is therefore an intermediate solution between depalletization installations outside and depalletization installations on the platform.
  • depalletization is carried out neither outside nor on the platform, but on the freight elevator, for example by leaving the pallets hanging on the cables of their winches which are used to mount the pallets to the operating station. Since the depalletization is no longer carried out on the platform, there remains on it only the robot for laying the bricks, the surveillance booth and the window for the passage of the bricks. The problem of the space requirement of the working platform, which was all the more thorny as the briquetting chambers were small, was therefore satisfactorily resolved.
  • the bricks being presented individually or in pairs superimposed and always in the same position to the robot which has the space necessary to perform its movements, it can be a completely classic robot, while up to now it was necessary to design a robot specially adapted to the space available on the platform.
  • the barrel is preferably designed to contain a sufficient reserve of bricks of each of the two types to allow the robot to continue its work while an empty pallet is replaced by a full pallet. The downtime required for pallet changes is therefore reduced or completely eliminated.
  • the installation shown in FIG. 1 comprises an operating station 10 carried by several, for example three telescopic masts 12 by which the operating station 10 can be moved vertically inside an enclosure not shown, for example a metallurgical converter of which the refractory lining must be replaced.
  • the operating station 10 is constituted by a support plate 14 carried directly by the masts 12 and which support, by means of a bearing 18, a working platform 16.
  • This platform 16 can therefore rotate independently of the tray 14 around the vertical axis, which is symbolized by the arrow A.
  • This rotation of the platform 16 allows a robot 20 mounted on this platform 16 to reach the entire circumference of the enclosure.
  • the rotation of the platform 16 is carried out in a manner known per se, for example by means of an electric stepping motor, not shown but which can be fixed on the plate 14 and the control of which is controlled by the work program of the robot 20.
  • the robot 20 can be a conventional robot with several arms hinged together and provided with a certain number of degrees of freedom of rotation and pivoting symbolized by the arrows in FIG. 1.
  • the free robot end 20 is provided with a device 22 for gripping bricks.
  • This device 22 can be constituted, in a manner known per se, by a suction cup or a clamp, the latter having the advantage of being able to grip two superimposed bricks at the same time.
  • a pair of cables 30, 32 wound respectively around two pulleys 26, 28, fixed by means of yokes below the plate 14 allow the raising and lowering of brick pallets 34 and 36.
  • these pallets 34 and 36 remain attached to the cables 30 and 32.
  • the depalletization is carried out using two depalletization machines 38 and 40 integral with the base of the plate 14. These machines being identical to each other, the description given below with reference to the machine 40 will be worth also for the automaton 38.
  • This automaton 40 is mounted on a jack 42 capable of rotating around a vertical axis (symbolized by the arrow B) and whose piston rod 44 is shown in solid lines in the retracted position and in broken lines in the released position.
  • an arm 46 At the end of this rod 44 is mounted an arm 46 which can pivot about a horizontal axis relative to the rod 44, which is illustrated by the arrow C. This pivoting can, for example, be generated by an electric motor .
  • a gripping device 48 is slidably mounted on this arm 46 and can be moved along it, in the direction of arrow D by means of a jack 50 also fixed on the end of the piston rod 44.
  • the gripping device 48 may comprise a suction cup or a clamp for gripping the bricks on the pallet 36, this clamp or suction cup being, moreover, designed so as to be able to rotate around a vertical axis as represented by the arrow E.
  • the different degrees of freedom of the depalletizing machine 40 represented by the arrows B to E in the figure allow the machine to grasp each of the bricks of a layer on the pallet 36.
  • the pallet 36 To access after exhaustion of one layer to the bottom layer on the pallet 36, it suffices to mount the pallet 36 by means of the cable 32 of a height corresponding to a layer of bricks, or of two bricks if the gripping device 48 is provided with a clamp capable of know ir two bricks superimposed at the same time.
  • the bricks depalletized by the automata 38 and 40 are deposited in a tank which, in the example shown, consists of a rotary barrel which can rotate around the vertical axis of the installation and mounted for this purpose on the plate 14 by means of a bearing 54.
  • the rotation of the barrel 52 is preferably derived from a stepping electric motor, which is controlled by the operating program of the robot 20 and those of automata 38 and 40.
  • the barrel 52 consists of an annular ramp 56, inclined outward to generally present the shape of a frustoconical surface, the virtual point of which is located below.
  • the ramp 56 of the barrel 52 the details of which emerge more clearly from the fragmentary view of FIG.
  • the barrel 52 is accessible to the robot 20 through a substantially rectangular radial window 66 provided in the working platform 16. During its rotation, this barrel 52 has its various compartments 60 with the bricks 62 individually below the window 66 to the robot 20. The rotation of the barrel 52 is controlled by the work program of the robot 20 so that it is stopped when a filled compartment is located below the window 66 and qu 'This is the compartment containing the type of bricks 62 which the robot 20 needs.
  • the reference 68 schematically symbolizes a surveillance cabin installed on the platform 16.
  • the surface of the platform 16 is, outside of this cabin 68 and of the robot 20 completely clear, which allows the latter to '' carry out their movements freely without being hindered, as in prior art installations, by cables, pallets, or depalletizing devices tion.
  • the clearance of the surface of the platform 16 also facilitates the work of monitoring and control and contributes to the safety of the personnel. In this context, it is possible to provide a hatch next to the window 66 to close the latter during maintenance and control work.
  • FIGS. 4 and 5 While in the embodiment illustrated in FIGS. 1 and 2, the robot 20 is used directly on the barrel 52, the embodiment represented in FIGS. 4 and 5 has a device 70 for extracting the bricks from the barrel 52.
  • This extraction device 70 which is mounted on the platform 16 next to the window 66 comprises a clamp 72 mounted on the rod of a jack 74 itself mounted so as to be able to perform a back-and-forth movement. comes in the extension of the oblique ramp 56.
  • the jack 74 is fixed on an endless band 76 actuated by an electric motor 78.
  • the band 76 further comprises a hook 80 for retaining the bricks 62 released from the barrel 52 after their release from the clamp 72 and before being taken up by the robot 20.
  • the installation of FIG. 4 corresponds to that of FIG. 1 and operates in the same way.
  • the operating station 10 is mounted at the working height of the robot 20 by extension of the telescopic masts 12.
  • the pallets 34 and 36 are replaced by full pallets as and when 'they are empty by means of cables 30 and 32 and winches not shown. It is recalled that it is always necessary to have two pallets containing different types of bricks, that is to say bricks distinguished by their conicity in order to be able to follow the curvature of the enclosure and to make masonry of different rays.
  • the two depalletizing machines 38 and 40 are controlled as a function of the reserve of bricks of each of the types in the barrel 52 in order to have therein a reserve of bricks of each type to allow the robot 20 to continue working while replacing a pallet.
  • automata 38 and 40 shown in FIGS. 1 and 4 are only an example of an embodiment and that other devices can be provided for transferring the bricks from each of the pallets 34 and 36 in the barrel 52.
  • the ramp 56 of the barrel 52 could also be inclined inward instead of being inclined outward as in Figures 1 and 4.
  • the bricks would be deposited on the outer conical or frustoconical surface of the ramp of the barrel.
  • the two depalletizing machines would then not be placed between the two pallets, but on either side of them, while the cables for raising and lowering the pallets would pass in the central region between them.
  • the barrel 52 could also be constituted by an annular disc with compartments in which the bricks are arranged flat. Such a barrel would however be more cumbersome in the horizontal direction, but would occupy less space in the vertical direction.
  • each of these windows would be reserved for the extraction of a defined type of bricks.
  • the two windows would be particularly useful for the variants with double barrel described above.
  • the robot would still be on the rotating platform, while the barrel with the reserve of bricks and in which the robot is used would be mounted, by means of a bearing on the lower surface of the plate.
  • the barrel could also consist of an annular ramp, preferably inclined inwards and carrying the reserve bricks in compartments on the outer conical surface.

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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)
  • Carbon Steel Or Casting Steel Manufacturing (AREA)
  • Road Signs Or Road Markings (AREA)
  • Devices For Post-Treatments, Processing, Supply, Discharge, And Other Processes (AREA)
  • Finishing Walls (AREA)
  • Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
  • Measurement Of Radiation (AREA)
  • External Artificial Organs (AREA)
  • Control Of Vending Devices And Auxiliary Devices For Vending Devices (AREA)

Abstract

The apparatus comprises an operating station with a rotary work platform, a non-rotary supporting stage supporting the work platform by means of a first bearing, a robot for laying the bricks, a monitoring booth, a device for raising and lowering brick pallets and at least one automatic brick-depalletizing mechanism for transferring the bricks from the pallets towards a stand-by station. This stand-by station comprises a turret which can contain a reserve of bricks of different types and which is supported by the stage by means of a second bearing, so as to be rotatable independently of the stage and the platform about the vertical axis of the vessel. The apparatus is particularly well suited for repairing metallurgical converters.

Description

La présente invention concerne une installation pour briqueter la paroi intérieure d'une enceinte constituée essentiellement d'un poste opératif susceptible d'etre déplacé verticalement le long de l'axe de l'enceinte et comprenant une plate-forme de travail rotative, un plateau de support non rotatif portant la plate-forme par l'intermédiaire d'un roulement, un robot pour la pose des briques, une cabine de surveillance , des moyens pour monter et descendre des palettes de briques , ainsi qu'au moins un automate de dépalettisation des briques pour transférer les briques des palettes vers un poste d'attente.The present invention relates to an installation for briquetting the inner wall of an enclosure essentially consisting of an operating station capable of being moved vertically along the axis of the enclosure and comprising a rotary working platform, a tray of non-rotating support carrying the platform by means of a bearing, a robot for laying bricks, a surveillance cabin, means for raising and lowering pallets of bricks, as well as at least one automatic depalletization of the bricks to transfer the bricks from the pallets to a waiting station.

Diverses installations robotisées , notamment pour la pose d'un garnissage réfractaire d'un convertisseur, ont été proposées récemment. Parmi ces installations on peut distinquer essentiellement deux types , à savoir celles dans lesquelles la dépalettisation des briques est effectuée à l'intérieur de l'enceinte comme dans la demande de brevet luxembourgeois no. 86 114 et celles dans lesquelles la dépalettisation est effectuée à l'extérieur de l'enceinte comme celle proposée par la demande de brevet luxembourgeois no. 86 382. Chacune de ces installations possède ses avantages propres. Ainsi par exemple, les installations avec dépalettisation à l'intérieur de l'enceinte ont l'avantage d'une exécution relativement rapide, car , outre les temps morts relativement courts nécessaires au changement des palettes, les deux types de briques nécessaires sont disponibles en permanence sur la plate-forme de travail.Various robotic installations, in particular for installing a refractory lining of a converter, have been proposed recently. Among these installations, there are essentially two types, namely those in which the depalletization of the bricks is carried out inside the enclosure as in the Luxembourg patent application no. 86,114 and those in which depalletization is carried out outside the enclosure such as that proposed by the Luxembourg patent application no. 86 382. Each of these installations has its own advantages. Thus, for example, installations with depalletization inside the enclosure have the advantage of a relatively quick execution, because, in addition to the relatively short dead times necessary for changing the pallets, the two types of bricks required are available in permanently on the work platform.

Les installations avec dépalettisation extérieure ont l'avantage d'une réduction de l'encombrement de la plate-forme, ce qui est au bénéfice de la possibilité de pouvoir installer sur la plate-forme une cabine de surveillance confortable et contribuer ainsi à la sécurité du personnel assurant la surveillance du briquetage de la paroi de l'enceinte. Un autre avantage de ces installations est la possibilité de pouvoir utiliser des robots standards, c'est-à-dire des robots qui ne doivent pas être conçus spécialement pour les tâches auxquelles ils sont destinés. Malheureusement, ces installations nécessitent des monte-charge sophistiqués et des programmes complexes pour amener, au choix, les deux types de briques sur la plate-forme à la cadence de travail du robot qui exécute leur pose.Installations with external depalletization have the advantage of reducing the size of the platform, which is to the benefit of the possibility of being able to install on the platform a comfortable monitoring cabin and thus contribute to safety personnel monitoring the briquetting of the enclosure wall. Another advantage of these installations is the possibility of being able to use standard robots, that is to say robots which do not have to be specially designed for the tasks for which they are intended. Unfortunately, these installations require sophisticated hoists and complex programs to bring, as desired, the two types of bricks on the platform at the rate of work of the robot which performs their laying.

Le but de la présente invention est de prévoir une nouvelle installation robotisée du genre décrit dans le préambule qui réunit les avantages des installations avec dépalettisation à l'intérieur et les avantages de celles avec dépalettisation à l'extérieur.The object of the present invention is to provide a new robotic installation of the kind described in the preamble which combines the advantages of installations with depalletization inside and the advantages of those with depalletization outside.

Pour atteindre cet objectif, la présente invention prévoit une installation du genre décrit dans le préambule qui est essentiellement caractérisée en ce que le poste d'attente comporte un barillet pouvant contenir une réserve de briques de différents types et supporté par le plateau au moyen d'un roulement de manière à pouvoir tourner indépendamment du plateau et de la plate-forme autour de l'axe vertical de l'enceinte.To achieve this objective, the present invention provides an installation of the type described in the preamble which is essentially characterized in that the waiting station comprises a barrel which can contain a reserve of bricks of different types and supported by the plate by means of a bearing so as to be able to rotate independently of the plate and of the platform around the vertical axis of the enclosure.

Selon un mode de réalisation,ce barillet est monté entre le plateau et la plate-forme dont la surface est entièrement fermée , à l'exception d'au moins une fenêtre de preference radiale permettant le passage d'une brique.According to one embodiment, this barrel is mounted between the plate and the platform whose surface is entirely closed, with the exception of at least one preferably radial window allowing the passage of a brick.

Le barillet est, de préférence, constitué d'une rampe annulaire inclinée divisée en compartiments inclinés individuels pour contenir chacun au moins une brique qui y est déposée par le ou les automates de dépallettisation. Chacun de ces compartiments du barillet est accessible au robot à travers la fenêtre radiale de la plate-forme et grâce à la rotation du barillet.The barrel is preferably made up of an inclined annular ramp divided into individual inclined compartments to each contain at least one brick which is deposited therein by the automatic depalletization machine (s). Each of these barrel compartments is accessible to the robot through the radial window of the platform and thanks to the rotation of the barrel.

Dans un autre mode de réalisation, il est prévu un dispositif d'extraction des briques du barillet à travers la fenêtre de la plate-forme , ce dispositif étant disposé sur cette plate-forme à côté de ladite fenêtre et accessible au bras du robot.In another embodiment, there is provided a device for extracting bricks from the barrel through the window of the platform, this device being disposed on this platform next to said window and accessible to the robot arm.

Le plateau de support est, de préférence, pourvu de deux treuils pour monter et descendre deux palettes, tandis que la dépalettisation est effectuée par deux automates solidaires du plateau de support.The support plate is preferably provided with two winches for raising and lowering two pallets, while the depalletization is carried out by two automata integral with the support plate.

L'installation proposée par la présente invention est par conséquent une solution intermédiaire entre les installations à dépalettisation à l'extérieur et celles à dépalettisation sur la plate-forme. En effet, dans l'installation proposée, la dépalettisation est réalisée ni à l'extérieur, ni sur la plate-forme , mais sur le monte-charge, par exemple en laissant les palettes accrochées aux câbles de leurs treuils qui servent à monter les palettes jusqu'au poste opératif. Etant donné que la dépalettisation n'est plus effectuée sur la plate-forme, il ne reste sur celle-ci que le robot pour la pose des briques, la cabine de surveillance et la fenêtre pour le passage des briques. Le problème de l'encombrement de la plate-forme de travail, qui était d'autant plus épineux que les enceintes à briqueter étaient petites, a donc été résolu de façon satisfaisante. En outre, les briques étant présentées individuellement ou par couples superposés et toujours dans la même position au robot qui dispose de l'espace nécessaire pour effectuer ses mouvements, celui-ci peut être un robot tout-à-fait classique , alors que jusqu'à présent il était nécessaire de concevoir un robot spécialement adapté à la place disponible sur la plate-forme.The installation proposed by the present invention is therefore an intermediate solution between depalletization installations outside and depalletization installations on the platform. In fact, in the proposed installation, depalletization is carried out neither outside nor on the platform, but on the freight elevator, for example by leaving the pallets hanging on the cables of their winches which are used to mount the pallets to the operating station. Since the depalletization is no longer carried out on the platform, there remains on it only the robot for laying the bricks, the surveillance booth and the window for the passage of the bricks. The problem of the space requirement of the working platform, which was all the more thorny as the briquetting chambers were small, was therefore satisfactorily resolved. In addition, the bricks being presented individually or in pairs superimposed and always in the same position to the robot which has the space necessary to perform its movements, it can be a completely classic robot, while up to now it was necessary to design a robot specially adapted to the space available on the platform.

Le barillet est, de préférence, conçu pour contenir une réserve suffisante de briques de chacun des deux types pour permettre au robot de poursuivre son travail pendant qu'une palette vide est remplacée par une palette pleine. Les temps morts nécessaires aux changements des palettes sont, par conséquent, réduits ou complètement éliminés.The barrel is preferably designed to contain a sufficient reserve of bricks of each of the two types to allow the robot to continue its work while an empty pallet is replaced by a full pallet. The downtime required for pallet changes is therefore reduced or completely eliminated.

D'autres particularités et caractéristiques de l'invention ressortiront de la description détaillée de quelques modes de réalisation présentés , ci-dessous, à titre d'illustration en référence aux dessins annexés dans lesquels :

  • la figure 1 montre une vue schématique d'un premier mode de réalisation d'une installation selon la présente invention ;
  • la figure 2 montre une vue plongeante sur la plate-forme de travail ;
  • la figure 3 montre une section du barillet avec des briques de réserve et
  • les figures 4 et 5 montrent un deuxième mode de réalisation par des vues correspondant respectivement à celles des figures 1 et 2.
Other particularities and characteristics of the invention will emerge from the detailed description of some embodiments presented below, by way of illustration with reference to the appended drawings in which:
  • Figure 1 shows a schematic view of a first embodiment of an installation according to the present invention;
  • Figure 2 shows a bird's eye view of the working platform;
  • FIG. 3 shows a section of the barrel with reserve bricks and
  • FIGS. 4 and 5 show a second embodiment by views corresponding respectively to those of FIGS. 1 and 2.

L'installation représentée sur la figure 1 comporte un poste opératif 10 porté par plusieurs, par exemple trois mâts téléscopiques 12 grâce auxquels le poste opératif 10 est déplaçable verticalement à l'intérieur d'une enceinte non représentée, par exemple d'un convertisseur métallurgique dont il faut remplacer le garnissage réfractaire.The installation shown in FIG. 1 comprises an operating station 10 carried by several, for example three telescopic masts 12 by which the operating station 10 can be moved vertically inside an enclosure not shown, for example a metallurgical converter of which the refractory lining must be replaced.

Le poste opératif 10 est constitué par un plateau de support 14 porté directement par les mâts 12 et qui supportent , par l'intermédiaire d'un roulement 18 , une plate-forme de travail 16. Cette plate-forme 16 peut donc tourner indépendamment du plateau 14 autour de l'axe vertical, ce qui est symbolisé par la flèche A. Cette rotation de la plate-forme 16 permet à un robot 20 monté sur cette plate-forme 16 d'atteindre toute la circonférence de l'enceinte. La rotation de la plate-forme 16 est réalisée de manière connue en soi, par exemple au moyen d'un moteur électrique pas à pas, non représenté mais pouvant être fixé sur le plateau 14 et dont la commande est asservie au programme de travail du robot 20.The operating station 10 is constituted by a support plate 14 carried directly by the masts 12 and which support, by means of a bearing 18, a working platform 16. This platform 16 can therefore rotate independently of the tray 14 around the vertical axis, which is symbolized by the arrow A. This rotation of the platform 16 allows a robot 20 mounted on this platform 16 to reach the entire circumference of the enclosure. The rotation of the platform 16 is carried out in a manner known per se, for example by means of an electric stepping motor, not shown but which can be fixed on the plate 14 and the control of which is controlled by the work program of the robot 20.

Le robot 20 peut être un robot classique à plusieurs bras articulés entre eux et pourvu d'un certain nombre de degrés de liberté de rotation et de pivotement symbolisés par les flèches sur la figure 1. L'extrémité libre robot 20 est pourvue d'un dispositif 22 de préhension de briques. Ce dispositif 22 peut êntre constitué , de manière connue en soi, par une ventouse ou une pince , celle-ci ayant l'avantage de pouvoir saisir en même temps deux briques superposées.The robot 20 can be a conventional robot with several arms hinged together and provided with a certain number of degrees of freedom of rotation and pivoting symbolized by the arrows in FIG. 1. The free robot end 20 is provided with a device 22 for gripping bricks. This device 22 can be constituted, in a manner known per se, by a suction cup or a clamp, the latter having the advantage of being able to grip two superimposed bricks at the same time.

Une paire de câbles 30, 32 enroulés respectivement autour de deux poulies 26, 28, fixées par l'intermédiaire de chapes en-dessous du plateau 14 permettent la montée et la descente de palettes de briques 34 et 36. Dans la position de dépalettisation, comme représenté sur la figure 1, ces palettes 34 et 36 restent accrochées aux câbles 30 et 32. Toutefois, pour assurer une meilleure stabilité de ces palettes 34 et 36 lors de la dépalettisation, il est possible de prévoir au niveau de la dépalettisation deux cages fixes, reliées au plateau 14 et dans lesquelles les palettes pénètrent lorsqu'elles arrivent dans la position de dépalettisation.A pair of cables 30, 32 wound respectively around two pulleys 26, 28, fixed by means of yokes below the plate 14 allow the raising and lowering of brick pallets 34 and 36. In the depalletization position, as shown in FIG. 1, these pallets 34 and 36 remain attached to the cables 30 and 32. However, to ensure better stability of these pallets 34 and 36 during depalletization, it is possible to provide at the depalletization level two cages fixed, connected to the plate 14 and into which the pallets penetrate when they arrive in the depalletizing position.

La dépalettisation est effectuée à l'aide de deux automates de dépalettisation 38 et 40 solidaires de la base du plateau 14. Ces automates étant identiques l'un à l'autre, la description donnée ci-dessous en référence à l'automate 40 vaudra également pour l'automate 38. Cet automate 40 est monté sur un vérin 42 susceptible de tourner autour d'un axe vertical (symbolisé par la flèche B) et dont la tige de piston 44 est représentée en traits pleins dans la position rétractée et en traits interrompus dans la position dégagée. A l'extrémité de cette tige 44 est monté un bras 46 pouvant pivoter autour d'un axe horizontal par rapport à la tige 44, ce qui est illustré par la flèche C. Ce pivotement peut , par exemple, être engendré par un moteur électrique. Un dispositif de préhension 48 est monté de façon coulissante sur ce bras 46 et peut être déplacé le long de celui-ci , dans le sens de la flèche D au moyen d'un vérin 50 également fixé sur l'extrémité de la tige de piston 44. Le dispositif de préhension 48 peut comporter une ventouse ou une pince pour saisir les briques sur la palette 36, cette pince ou ventouse étant, en outre, conçue de manière à pouvoir tourner autour d'un axe vertical comme représenté par la flèche E. Les différents degrés de liberté de l'automate de dépalettisation 40, représentés par les flèches B à E sur la figure permettent à l'automate de saisir chacune des briques d'une couche sur la palette 36. Pour accéder après épuisement d'une couche à la couche inférieure sur la palette 36, il suffit de monter la palette 36 au moyen du câble 32 d'une hauteur correspondant à une couche de briques, ou de deux briques si le dispositif de préhension 48 est pourvu d'une pince pouvant saisir deux briques superposées en même temps.The depalletization is carried out using two depalletization machines 38 and 40 integral with the base of the plate 14. These machines being identical to each other, the description given below with reference to the machine 40 will be worth also for the automaton 38. This automaton 40 is mounted on a jack 42 capable of rotating around a vertical axis (symbolized by the arrow B) and whose piston rod 44 is shown in solid lines in the retracted position and in broken lines in the released position. At the end of this rod 44 is mounted an arm 46 which can pivot about a horizontal axis relative to the rod 44, which is illustrated by the arrow C. This pivoting can, for example, be generated by an electric motor . A gripping device 48 is slidably mounted on this arm 46 and can be moved along it, in the direction of arrow D by means of a jack 50 also fixed on the end of the piston rod 44. The gripping device 48 may comprise a suction cup or a clamp for gripping the bricks on the pallet 36, this clamp or suction cup being, moreover, designed so as to be able to rotate around a vertical axis as represented by the arrow E The different degrees of freedom of the depalletizing machine 40, represented by the arrows B to E in the figure allow the machine to grasp each of the bricks of a layer on the pallet 36. To access after exhaustion of one layer to the bottom layer on the pallet 36, it suffices to mount the pallet 36 by means of the cable 32 of a height corresponding to a layer of bricks, or of two bricks if the gripping device 48 is provided with a clamp capable of know ir two bricks superimposed at the same time.

Selon l'une des particularités de l'installation, les briques dépalettisées par les automates 38 et 40 sont déposées dans un réservoir qui, dans l'exemple représenté, est constitué par un barillet rotatif pouvant tourner autour de l'axe vertical de l'installation et monté à cet effet sur le plateau 14 par l'intermédiaire d'un roulement 54. La rotation du barillet 52 dérive, de préférence, d'un moteur électrique pas à pas, qui est asservi au programme de fonctionnement du robot 20 et ceux des automates 38 et 40. Dans le mode de réalisation représenté, le barillet 52 est constitué d'une rampe annulaire 56 , inclinée vers l'extérieur pour présenter globalement la forme d'une surface tronconique, dont la pointe virtuelle se trouve en-dessous. La rampe 56 du barillet 52, dont les détails ressortent plus clairement de la vue fragmentaire de la figure 3, possède un rebord inférieur 64 de retenue des briques et des cloisons transversales 58 définissant entre elles des compartiments 60 pouvant recevoir chacun une brique 62. La région médiane de la rampe 56 et de chacun des compartiments 60 est de préférence ouvert provoquant ainsi la chute automatique des briques cassées hors du barillet 50 et rendant ainsi superflu un contrôle pour répérer les briques cassées.According to one of the particularities of the installation, the bricks depalletized by the automata 38 and 40 are deposited in a tank which, in the example shown, consists of a rotary barrel which can rotate around the vertical axis of the installation and mounted for this purpose on the plate 14 by means of a bearing 54. The rotation of the barrel 52 is preferably derived from a stepping electric motor, which is controlled by the operating program of the robot 20 and those of automata 38 and 40. In the embodiment shown, the barrel 52 consists of an annular ramp 56, inclined outward to generally present the shape of a frustoconical surface, the virtual point of which is located below. The ramp 56 of the barrel 52, the details of which emerge more clearly from the fragmentary view of FIG. 3, has a lower rim 64 for retaining the bricks and transverse partitions 58 defining between them compartments 60 which can each receive a brick 62. The middle region of the ramp 56 and of each of the compartments 60 is preferably open, thus causing the automatic breaking of the broken bricks out of the barrel 50 and thus making a check to identify the broken bricks superfluous.

Comme le montre la figure 2, le barillet 52 est accessible au robot 20 à travers une fenêtre radiale 66 sensiblement rectangulaire prévue dans la plate-forme de travail 16. Lors de sa rotation , ce barillet 52 présente ses différents compartiments 60 avec les briques 62 individuellement en-dessous de la fenêtre 66 au robot 20. La rotation du barillet 52 est asservie au programme de travail du robot 20 de telle manière qu'il soit stoppé lorsqu'un compartiment rempli se trouve en-dessous de la fenêtre 66 et qu'il s'agit du compartiment renfermant le type de briques 62 dont le robot 20 a besoin. La référence 68 symbolise schématiquement une cabine de surveillance installée sur la plate-forme 16. On notera que la surface de la plate-forme 16 est, en dehors de cette cabine 68 et du robot 20 complètement dégagée, ce qui permet à ce dernier d'effectuer librement ses mouvements sans être gêné , comme dans les installations de l'état de la technique, par des câbles, des palettes, ou des dispositifs de dépalettisation. Le dégagement de la surface de la plate-forme 16 facilite également le travail de surveillance et de contrôle et contribue à la sécurité du personnel. Dans ce contexte, il est possible de prévoir une trappe à côté de la fenêtre 66 pour fermer celle-ci lors des travaux d'entretien et de contrôle.As shown in FIG. 2, the barrel 52 is accessible to the robot 20 through a substantially rectangular radial window 66 provided in the working platform 16. During its rotation, this barrel 52 has its various compartments 60 with the bricks 62 individually below the window 66 to the robot 20. The rotation of the barrel 52 is controlled by the work program of the robot 20 so that it is stopped when a filled compartment is located below the window 66 and qu 'This is the compartment containing the type of bricks 62 which the robot 20 needs. The reference 68 schematically symbolizes a surveillance cabin installed on the platform 16. It will be noted that the surface of the platform 16 is, outside of this cabin 68 and of the robot 20 completely clear, which allows the latter to '' carry out their movements freely without being hindered, as in prior art installations, by cables, pallets, or depalletizing devices tion. The clearance of the surface of the platform 16 also facilitates the work of monitoring and control and contributes to the safety of the personnel. In this context, it is possible to provide a hatch next to the window 66 to close the latter during maintenance and control work.

Alors que dans le mode de réalisation illustré sur les figures 1 et 2, le robot 20 se sert directement sur le barillet 52, le mode de réalisation représenté sur les figures 4 et 5 possède un dispositif 70 d'extraction des briques du barillet 52. Ce dispositif d'extraction 70 qui est monté sur la plate-forme 16 à côté de la fenêtre 66 comporte une pince 72 montée sur la tige d'un vérin 74 lui-même monté de façon à pouvoir effectuer un mouvement de va-et-vient dans la prolongation de la rampe oblique 56. Dans le mode de réalisation représenté, le vérin 74 est fixé sur une bande sans fin 76 actionnée par un moteur électrique 78. La bande 76 comporte , en outre, un crochet 80 pour retenir les briques 62 dégagées du barillet 52 après leur libération de la pince 72 et avant la prise par le robot 20. Pour le reste, l'installation de la figure 4 correspond à celle de la figure 1 et fonctionne de la même manière.While in the embodiment illustrated in FIGS. 1 and 2, the robot 20 is used directly on the barrel 52, the embodiment represented in FIGS. 4 and 5 has a device 70 for extracting the bricks from the barrel 52. This extraction device 70 which is mounted on the platform 16 next to the window 66 comprises a clamp 72 mounted on the rod of a jack 74 itself mounted so as to be able to perform a back-and-forth movement. comes in the extension of the oblique ramp 56. In the embodiment shown, the jack 74 is fixed on an endless band 76 actuated by an electric motor 78. The band 76 further comprises a hook 80 for retaining the bricks 62 released from the barrel 52 after their release from the clamp 72 and before being taken up by the robot 20. For the rest, the installation of FIG. 4 corresponds to that of FIG. 1 and operates in the same way.

Lors du briquetage de la paroi intérieure d'une enceinte , le poste opératif 10 est monté à la hauteur de travail du robot 20 par extension des mâts téléscopiques 12. Les palettes 34 et 36 sont remplacées par des palettes pleines au fur et à mesure qu'elles sont vides au moyen des câbles 30 et 32 et de treuils non représentés. Il est rappelé qu'il est toujours nécessaire de disposer de deux palettes contenant des types différents de briques, c'est-à-dire des briques se distinguant par leur conicité afin de pouvoir suivre la courbure de l'enceinte et de réaliser des maçonneries de différents rayons. A cet effet, les deux automates de dépalettisation 38 et 40 sont commandés en fonction de la réserve de briques de chacun des types dans le barillet 52 afin de disposer dans celui-ci d'une réserve de briques de chaque type pour permettre au robot 20 de poursuivre son travail pendant le remplacement d'une palette.During the briquetting of the interior wall of an enclosure, the operating station 10 is mounted at the working height of the robot 20 by extension of the telescopic masts 12. The pallets 34 and 36 are replaced by full pallets as and when 'they are empty by means of cables 30 and 32 and winches not shown. It is recalled that it is always necessary to have two pallets containing different types of bricks, that is to say bricks distinguished by their conicity in order to be able to follow the curvature of the enclosure and to make masonry of different rays. To this end, the two depalletizing machines 38 and 40 are controlled as a function of the reserve of bricks of each of the types in the barrel 52 in order to have therein a reserve of bricks of each type to allow the robot 20 to continue working while replacing a pallet.

Il est à noter que les automates 38 et 40 représentés sur les figures 1 et 4, ne constituent qu'un exemple de réalisation et que l'on peut prévoir d'autres dispositifs pour transférer les briques de chacune des palettes 34 et 36 dans le barillet 52.It should be noted that the automata 38 and 40 shown in FIGS. 1 and 4 are only an example of an embodiment and that other devices can be provided for transferring the bricks from each of the pallets 34 and 36 in the barrel 52.

La rampe 56 du barillet 52 pourrait également être inclinée vers l'intérieur au lieu d'être inclinée vers l'extérieur comme sur les figures 1 et 4. Dans ce cas, les briques seraient déposées sur la surface conique ou tronconique extérieure de la rampe du barillet. Les deux automates de dépalettisation seraient alors non pas disposés entre les deux palettes, mais de part et d'autre de celles-ci , tandis que les câbles pour la montée et descente des palettes passeraient dans la région centrale entre celles-ci.The ramp 56 of the barrel 52 could also be inclined inward instead of being inclined outward as in Figures 1 and 4. In this case, the bricks would be deposited on the outer conical or frustoconical surface of the ramp of the barrel. The two depalletizing machines would then not be placed between the two pallets, but on either side of them, while the cables for raising and lowering the pallets would pass in the central region between them.

Au lieu d'être constitué par une rampe annulaire inclinée, le barillet 52 pourrait également être constitué par un disque annulaire avec des compartiments dans lesquels les briques sont disposées à plat. Un tel barillet serait toutefois plus encombrant dans le sens horizontal , mais occuperait moins de place dans le sens vertical.Instead of being constituted by an inclined annular ramp, the barrel 52 could also be constituted by an annular disc with compartments in which the bricks are arranged flat. Such a barrel would however be more cumbersome in the horizontal direction, but would occupy less space in the vertical direction.

Au lieu de prévoir un seul barillet comme sur les figures 1 et 4, il est également possible de prévoir deux barillet indépendant , à rampe annulaire inclinée, l'une dans le prolongement de l'autre, recevant chacune un type bien déterminé de briques. Une autre variante consiste à prévoir une rampe 56 du barillet 52 suffisamment haute pour définir deux rangées annulaires de compartiments pouvant recevoir chacun un type déterminé de briques. Toutes ces variantes augmentent, bien entendu, la capacité du barillet 52 et réduisent davantage ou annulent les temps morts nécessaires au changement des palettes.Instead of providing a single barrel as in Figures 1 and 4, it is also possible to provide two independent barrel, with inclined annular ramp, one in the extension of the other, each receiving a specific type of bricks. Another variant consists in providing a ramp 56 of the barrel 52 high enough to define two annular rows of compartments which can each receive a determined type of bricks. All these variants increase, of course, the capacity of the barrel 52 and further reduce or cancel the dead times necessary for changing the pallets.

Au lieu de prévoir une seule fenêtre 66 dans la plate-forme 16 pour l'extraction des briques du barillet 52, il est possible d'en prévoir deux, c'est-à-dire que chacune de ces fenêtres serait réservée à l'extraction d'un type défini de briques. Les deux fenêtres seraient notamment utiles pour les variantes à double barillet décrites ci-dessus.Instead of providing a single window 66 in the platform 16 for extracting the bricks from the barrel 52, it is possible to provide two, that is to say that each of these windows would be reserved for the extraction of a defined type of bricks. The two windows would be particularly useful for the variants with double barrel described above.

Il reste finalement à souligner que les deux modes de réalisation décrits ci-dessus en référence aux figures conviennent pour la réfection des enceintes ou convertisseurs à fond ouvert ou à fond amovible. Il est toutefois possible, sans sortir du cadre de l'invention d'adapter ces modes de réalisation de manière à pouvoir travailler dans des enceintes à fond fermé , c'est-à-dire de concevoir l'installation de telle manière que le poste opératif soit suspendu dans l'enceinte. A cet effet, il suffit de disposer la plate-forme rotative en-dessous du plateau de support , à une certaine distance de celui-ci. La dépalettisation serait alors effectuée sur le plateau qui serait supporté par des câbles en remplacement des mâts téléscopiques des modes de réalisation décrits ci-dessus. Le robot se trouverait toujours sur la plate-forme rotative, alors que le barillet avec la réserve de briques et dans lequel se sert le robot serait monté, par l'intermédiaire d'un roulement à la surface inférieure du plateau. Le barillet pourrait également être constitué par une rampe annulaire , de préférence inclinée vers l'intérieur et portant les briques de réserve dans des compartiments sur la surface conique extérieure.It finally remains to emphasize that the two embodiments described above with reference to the figures are suitable for the repair of speakers or converters with open bottom or removable bottom. It is however possible, without departing from the scope of the invention, to adapt these embodiments so as to be able to work in closed bottom enclosures, that is to say to design the installation in such a way that the station is suspended in the enclosure. For this purpose, it suffices to place the rotary platform below the support plate, at a certain distance from it. The depalletization would then be carried out on the plate which would be supported by cables to replace the telescopic masts of the embodiments described above. The robot would still be on the rotating platform, while the barrel with the reserve of bricks and in which the robot is used would be mounted, by means of a bearing on the lower surface of the plate. The barrel could also consist of an annular ramp, preferably inclined inwards and carrying the reserve bricks in compartments on the outer conical surface.

Claims (7)

1. Apparatus for lining the inner wall of a vessel with bricks, consisting essentially of an operating station (10) capable of being moved vertically along the axis of the vessel and comprising a rotary work platform (16), a non-rotary supporting stage (14) carrying the platform (16) by means of bearing (18), a robot (20) for laying the bricks, a monitoring booth (68), means of raising and lowering brick pallets (34), (36), and at least one automatic brick-depalletising mechanism for transferring the bricks from the pallets (34), (36) towards a stand-by station, characterised in that the stand-by station comprises a turret which can contain a reserve of bricks (62) of different types and which is supported by the stage (14) by means of a bearing (54), so as to be rotatable independently of the stage (14) and of the platform (16) about the vertical axis of the vessel.
2. Apparatus according to Claim 1, characterised in that the turret (52) is mounted between the stage (14) and the platform (16), the surface of which is completely closed, with the exception of at least one aperture (66) allowing the passage of a brick (62).
3. Apparatus according to Claim 2, characterised in that the turret (52) consists of an inclined annular ramp (56) divided into individual compartments (60), each containing at least one brick (62) which is deposited in it by the automatic depalletising mechanism or mechanisms.
4. Apparatus according to Claim 3, characterised in that each of the compartments (60) of the turret (52) is accessible to the robot (20) via the radial aperture (66) in the platform (16) as a result of the rotation of the turret (52).
5. Apparatus according to Claim 2, characterised by a device (70) for extracting the bricks (62) from the turret via the aperture (66) in the platform, this device (70) being arranged on the platform (16) next to the said aperture (66) and accessible to the arm of the robot (20).
6. Apparatus according to Claim 1, characterised in that the depalletising station is located underneath the stage (14) and comprises two automatic depalletising mechanisms (38), (40) fixed to the stage (14).
7. Apparatus according to Claim 6, characterised in that each automatic depalletising mechanism (38), (40) comprises a jack (42) capable of rotating about its vertical axis, a pivoting arm (46) articulated on the end of the rod (44) of the jack (42), and a gripping device (48) mounted slideably on the pivoting arm (46) and rotatable about its vertical axis.
EP87113282A 1986-10-03 1987-09-11 Installation for lining the inner wall of a vessel Expired - Lifetime EP0263979B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT87113282T ATE57540T1 (en) 1986-10-03 1987-09-11 PLANT FOR BRICKING THE INSIDE WALL OF A VESSEL.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
LU86619A LU86619A1 (en) 1986-10-03 1986-10-03
LU86619 1986-10-03

Publications (2)

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EP0263979A1 EP0263979A1 (en) 1988-04-20
EP0263979B1 true EP0263979B1 (en) 1990-10-17

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EP87113282A Expired - Lifetime EP0263979B1 (en) 1986-10-03 1987-09-11 Installation for lining the inner wall of a vessel

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US (1) US4787796A (en)
EP (1) EP0263979B1 (en)
JP (1) JP2584244B2 (en)
AT (1) ATE57540T1 (en)
BR (1) BR8705191A (en)
CA (1) CA1296523C (en)
DE (1) DE3765612D1 (en)
ES (1) ES2018804B3 (en)
LU (1) LU86619A1 (en)
TR (1) TR23013A (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
LU87381A1 (en) * 1988-11-09 1990-06-12 Wurth Paul Sa AUTOMATED INSTALLATION FOR LAYING A MASONRY ON A WALL
LU88144A1 (en) * 1992-07-07 1994-04-01 Wurth Paul Sa Installation for lining an interior wall of an enclosure with brick masonry
FI941274A0 (en) * 1994-03-17 1994-03-17 Jukka Inkeroinen Foerfarande och anordning Foer montering av laettelement
AUPQ525500A0 (en) * 2000-01-25 2000-02-17 Technological Resources Pty Limited A method of relining a vessel
US8965571B2 (en) 2010-08-12 2015-02-24 Construction Robotics, Llc Brick laying system
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
GB201712164D0 (en) * 2017-07-28 2017-09-13 Construction Automation Ltd Automated brick laying system and method of use thereof
CN108999419B (en) * 2018-08-16 2021-07-02 杨华 Buffering and limiting device for building wall
US11644242B2 (en) * 2018-12-26 2023-05-09 ExxonMobil Technology and Engineering Company Remote inspection, removal, and installation of refractory
CN111794527B (en) * 2020-06-10 2022-04-05 中国建筑股份有限公司 Steel truss support unloading structure and construction method for unloading rail by using same

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Publication number Priority date Publication date Assignee Title
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
FR1325256A (en) * 1962-05-21 1963-04-26 Hwm Weh Maschf Hermann Process for the lining of apparatus intended for the manufacture, treatment, preservation or transport of molten metal masses or similar products
SU508529A1 (en) * 1974-04-16 1976-03-30 Предприятие П/Я Г-4448 Converter Lining Machine
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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US4787796A (en) 1988-11-29
JPS6391485A (en) 1988-04-22
JP2584244B2 (en) 1997-02-26
DE3765612D1 (en) 1990-11-22
ATE57540T1 (en) 1990-11-15
TR23013A (en) 1989-01-16
ES2018804B3 (en) 1991-05-16
BR8705191A (en) 1988-05-24
LU86619A1 (en) 1988-05-03
EP0263979A1 (en) 1988-04-20
CA1296523C (en) 1992-03-03

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