JP6432457B2 - Coke oven standard refractory stacking system and coke oven standard refractory stacking method - Google Patents

Description

  The present invention relates to a coke oven fixed refractory stacking system, and more particularly to a coke oven fixed refractory stacking system capable of automatically stacking various shaped fixed refractories automatically with high accuracy. is there. The present invention also relates to a coke oven fixed refractory stacking method performed using the coke oven fixed refractory stacking system.

  Metallurgical coke used for iron making is produced by dry distillation of coal in a chamber furnace type coke oven. A chamber-type coke oven is configured by alternately arranging a carbonization chamber and a combustion chamber that supplies heat to the carbonization chamber in the furnace width direction, such as a refractory brick that separates the carbonization chamber and the combustion chamber. Heat is supplied from the combustion chamber to the carbonization chamber via a fixed refractory. Some furnace-type coke ovens have more than 100 furnace chambers, and can be said to be huge brick structures with a total length of 100 m or more and a height of 10 m or more.

  The construction of a coke oven is currently carried out manually by a builder. In a manually built furnace, it is necessary to repeat the process of applying mortar to each fixed refractory such as bricks with a trowel and stacking them. Furthermore, the standard refractories used in the coke oven weigh 10 and a tens of kilograms, and the work of stacking them is extremely hard work. For this reason, there is a need to mechanize and automate the stacking work of standard refractories to reduce labor.

On the other hand, in the field of architecture, as described in Patent Document 1, a system for automatically stacking bricks has been proposed. In the system described in Patent Document 1, bricks are transported by a conveyor, and bricks are stacked using a brick stacking robot provided with an adhesive application head.

Special table 2009-521630

  However, since the system described in Patent Document 1 was developed for brick building in general building construction, it is used for stacking regular refractories in building a furnace coke oven. It is not possible. The reason is as follows.

  A typical building is constructed by stacking bricks of the same shape (usually a rectangular parallelepiped) and the same dimensions. On the other hand, coke ovens are constructed by complex combinations of fixed refractories having various shapes such as rectangular, trapezoidal, and L-shaped when viewed from above. In the system for a general building as described in the cited document 1, it is difficult to handle the fixed refractories of various shapes in this way, and each fixed refractory is changed to its shape. It cannot be stacked in the appropriate position.

  In addition, a coke oven is required to have a very high dimensional accuracy as compared with a general building. Therefore, the tolerance of the standard refractories to be stacked at the time of building the coke oven is strictly determined in units of several millimeters, and it is necessary to accurately stack the standard refractories to satisfy this. However, since the regular refractory actually used has a variation in dimensions of about several millimeters, the required accuracy cannot be satisfied even if these are simply stacked. In the case of manual loading, after taking into account such variations in the size of the standard refractory, the standard refractory was piled up while making adjustments to obtain the final dimensional accuracy of the coke oven. The system as described in 1 cannot make such subtle adjustments.

  The present invention has been made in view of the above circumstances, and in the construction of a coke oven used in a state where various types of fixed refractories are mixed, these fixed refractories can be used with high accuracy regardless of manpower. It is an object of the present invention to provide a coke oven fixed refractory stacking system and a coke oven fixed refractory stacking method that can be efficiently stacked with each other.

That is, the gist configuration of the present invention is as follows.
1. A loading pedestal for stacking regular refractories,
Fixed refractory stacking means provided on one side of the long side surface of the stacking pedestal, and stacking a fixed refractory on the stacking pedestal,
A fixed refractory supply means for supplying a fixed refractory to the fixed refractory stacking means;
Mortar application means provided on the other side of the long side surface of the pedestal;
A coke oven standard refractory stacking system, comprising: the standard refractory stacking means and a control means for controlling the mortar coating means.

2. The standard refractory stacking means is
Measuring means for measuring the shape, dimensions, and position of the fixed refractory supplied from the fixed refractory supply means;
A fixed refractory stacking robot that stacks the fixed refractory on the loading platform;
2. The coke oven fixed refractory stacking system according to 1, wherein the control unit controls the fixed refractory stacking robot based on a result measured by the measurement unit.

3. 3. The coke oven fixed refractory stacking system according to 2, wherein the measuring unit includes an image sensor that measures an upper surface shape of the fixed refractory and a distance sensor.

4). The control means compares the information of the standard refractory serving as a reference set in advance with the information measured by the measurement means, and based on the difference, the standard refractory stacking means stacks the standard refractory. 4. The coke oven fixed refractory stacking system according to 2 or 3 above, wherein the position and the position where the mortar application means applies mortar are corrected.

5. The mortar application means
A pump for transferring mortar;
Piping connected to the pump;
A fixed amount supply device connected to the pipe and supplying the mortar in a fixed amount;
A hose connected to the metering device;
A nozzle connected to the hose and applying the mortar to the fixed refractory;
The coke oven fixed refractory stacking system according to any one of claims 1 to 4, comprising a coating robot to which the nozzle is attached.

6). (A) The fixed refractory stacking means and the mortar coating means, and (b) at least one of the stacking pedestals is movable in the longitudinal direction of the loading pedestal, as described in any one of 1 to 5 above. Coke oven standard refractory loading system.

7). The coke oven fixed refractory stacking method according to any one of the above 1 to 6, wherein the coke oven fixed refractory stacking system is used.

  According to the coke oven fixed refractory stacking system and the coke oven fixed refractory stacking method of the present invention, in the construction of a coke oven used in a state where various shapes of fixed refractories are mixed, these fixed refractories are It can be stacked efficiently with high accuracy, regardless of human labor.

1 is a schematic top view illustrating a coke oven fixed refractory stacking system according to an embodiment of the present invention. 1 is a schematic side view showing a coke oven fixed refractory stacking system according to an embodiment of the present invention. 1 is a schematic front view of a coke oven fixed refractory stacking system according to an embodiment of the present invention. It is a front view which shows the support part of the conveyor in one Embodiment of this invention. It is a perspective view which shows the clamping part of the robot for regular refractory stacking in one Embodiment of this invention.

  Next, a method for carrying out the present invention will be specifically described. The coke oven fixed refractory stacking system according to the present invention includes a stacking pedestal, a fixed refractory stacking means for stacking a fixed refractory on the stacking pedestal, and a fixed refractory supply for supplying the fixed refractory to the fixed refractory stacking means. Means, mortar application means, said fixed refractory stacking means and control means for controlling said mortar application means. And the said fixed refractory stacking means and the said mortar application | coating means are provided in each side of the longitudinal direction side surface of the said stacking base on both sides of this stacking base.

  In this way, by arranging the standard refractory stacking means and the mortar application means on the opposite side across the stacking base, both can be operated independently without interfering with each other. Stacking and mortar application can be performed. In addition, when the standard refractory stacking means and the mortar coating means are movable, they can be moved to a free position because their flow lines do not overlap, and more efficient standard refractory stacking work is possible. It becomes possible.

<Standard refractories>
The fixed refractory is not particularly limited, and any fixed refractory such as brick or precast block can be used. Especially, it is preferable to use the normal fixed refractory material used when constructing a coke oven by hand. By using a regular refractory, it is possible to design a furnace similar to the conventional one even when building a furnace by the method of the present invention. As a result, at least the performance of the conventional furnace is guaranteed. It becomes possible to do. In addition, when large module bricks are used, cracks may spread over the entire module when cracks occur. However, if regular regular refractories are used, the regular refractories may be cracked. However, the propagation of the crack can be confined within one fixed refractory. In addition, the normal fixed refractory here refers to general fixed refractories for hand-loading that are not module bricks, but the dimensions are generally 10 to 15 cm in height and the length in the horizontal direction. Is 20 to 40 cm.

<Pedestal>
The above-mentioned fixed refractory is finally stacked on a pedestal by fixed refractory stacking means. After the blocks produced by stacking the standard refractories on the loading platform are transported to the coke oven construction site, the blocks are stacked to construct a coke oven. In that case, a completed block can be conveyed with this loading base by producing a block on a loading base as mentioned above. The method for transporting the block is not particularly limited, and any method can be used. For example, the stacking base is installed on a rail, and the stacking base can be transported on the rail. It is also possible to transport the blocks together with the loading platform using a crane. And in the stacking place after a block is carried out, the empty loading base in which a fixed form refractory is not stacked can be installed again, and a new block can be produced.

  The shape and dimensions of the pedestal can be determined according to the block to be manufactured. For example, when producing a block or the like constituting a combustion chamber of a coke oven, it is preferable that the shape of the stacking pedestal viewed from above is a substantially rectangular shape.

  In addition, the standard refractory generally used for a coke oven has a convex part called a dowel on the lower surface. This dowel has an action of firmly fixing the fixed refractories by engaging with a recess provided on the upper surface of the fixed refractory stacked on the lower stage of the fixed refractory. However, when a standard refractory having such a dowel is used, it is not stable if it is placed on a flat surface as it is, and there is a risk that it will tilt or fall over. Therefore, it is preferable to use a stacking base having a support part for supporting the standard refractory while avoiding the dowels. As the support portion, for example, a support member provided on the top plate of the pedestal so as to horizontally support the fixed refractory at a position other than a portion where the dowel is present so as not to interfere with the dowel on the lower surface of the fixed refractory Can be used. In addition, by providing a recess in the top plate of the pedestal and accommodating a dowel in the recess, a position other than the portion where the dowel of the standard refractory is present is supported horizontally on the surface of the top plate other than the recess. You can also.

<Standard refractory means>
The coke oven fixed refractory stacking system of the present invention has at least one fixed refractory stacking means for stacking the fixed refractory on the stacking base. In the present invention, it is important that the fixed refractory stacking means is provided on one side of the long side surface of the stacking base. Here, “one side of the long side surface of the stacking pedestal” means one side of a set of side surfaces substantially parallel to the longitudinal direction when the stacking pedestal is viewed from above.

  As the above-mentioned standard refractory stacking means, any one can be used as long as it can stack standard refractories, but from the viewpoint of work efficiency, the above-mentioned standard refractory stacking means is a fixed refractory. A loading robot is preferably provided. Moreover, it is preferable that the said fixed refractory stacking means is equipped with the measurement means which can measure the shape, dimension, and position of the fixed refractory supplied from the fixed refractory supply means mentioned later.

[Standard refractory loading robot]
Although any robot can be used as the above-mentioned standard refractory loading robot, from the viewpoint of work efficiency and installation space, it is preferable to use an arm type robot that is a kind of industrial robot, and a vertical articulated joint More preferably, a type robot is used. The fixed refractory loading robot has a holding portion for holding the fixed refractory. When a robot having an arm is used as the standard refractory loading robot, it is preferable to provide the holding portion at the tip of the arm. The structure of the holding part is not particularly limited, and any structure can be used as long as it can appropriately hold and release the fixed refractory. Examples of the holding unit that can be used include a parallel square flat hand, a fulcrum square flat hand, and a vacuum suction type hand.

[Measuring means]
Any measuring means can be used as long as it can measure the shape, dimensions, and position of the fixed refractory. Coke ovens use regular refractories having various shapes such as rectangular, trapezoidal, and L-shaped when viewed from above. Therefore, by providing a measuring device in the fixed refractory stacking robot and measuring the shape and dimensions of the fixed refractory on the spot, the fixed refractory stacking robot can be controlled based on the information. In addition, there is some variation in the dimensions of the standard refractories, but based on the measured information on the dimensions of the standard refractories, it is also possible to correct the position where the standard refractories are stacked and the position where the mortar is applied. .

  The measuring means may be a single measuring device or a combination of a plurality of measuring devices. As an example of what can be used suitably as a measurement means, the combination of an image sensor (camera) and a distance sensor is mentioned. The position may be an absolute position or a relative position with reference to the measurement unit.

  As the imaging device, for example, a camera including an image sensor such as a CCD or a CMOS can be used. By acquiring image data of the fixed refractory by the image sensor and processing the image data, it is possible to detect the shape, size, position, and the like viewed from the upper surface of the fixed refractory. The upper surface shape of the fixed refractory may be detected as a contour by processing image data. Information regarding the position of the fixed refractory can be obtained by analyzing image data based on position information of the image sensor at the time of measurement, for example. Further, the inclination of the standard refractory can be measured based on the image data obtained by the image sensor, and the obtained inclination information can be used for the control described later.

  As the distance sensor, any distance sensor including a laser sensor can be used. By using the distance sensor, the size and position of the fixed refractory can be measured. For example, when a standard refractory is placed on a table such as a conveyor or a supply table described later, the distance to the upper surface of the standard refractory is measured using a distance sensor, and the difference between the two is measured. The height of the fixed refractory can be obtained by taking Moreover, the inclination of the fixed refractory with respect to a horizontal surface can also be calculated from the measurement result by the distance sensor. The calculation of the inclination may be performed using measurement results of a plurality of distance sensors, or may be performed using results of measurement at a plurality of points by moving a single distance sensor.

  The position where the measuring means is provided can be provided at any location of the standard refractory stacking means. When the fixed refractory stacking means includes a fixed refractory stacking robot, it is preferable to provide the measuring means in a movable part of the fixed refractory stacking robot. When the fixed refractory stacking robot is an arm type robot, the measuring means is preferably provided on the arm, and more preferably provided on the tip of the arm. Thereby, since the arm of the robot can be used as the means for moving the measuring means, the measurement can be performed at an arbitrary position within the reach of the arm. Further, by rotating the arm, the measurement means can be measured in various directions such as the horizontal direction.

  Furthermore, it is preferable that the fixed refractory stacking means includes a moving means for moving the fixed refractory stacking robot. By making the fixed refractory stacking robot movable, the workable area per robot can be widened, and as a result, even a large block can be produced efficiently. Although any means can be used as the moving means, it is preferable to use a rail and a traveling device for traveling on the rail. The direction in which the fixed refractory stacking robot is moved is preferably parallel to the longitudinal direction of the stack base.

<Standard refractory supply means>
The coke oven fixed refractory stacking system of the present invention includes a fixed refractory supply means used to supply a fixed refractory to the fixed refractory stacking means. The form of the regular refractory supply means is not particularly limited, and any form can be used as long as it can supply the regular refractory to the regular refractory stacking means.

  As the above-mentioned standard refractory supply means, for example, a table (supply table) on which a standard refractory can be temporarily placed can be used. In that case, a standard refractory to be used is placed in the form of the supply table by a person or a robot, and a standard refractory stacking means (for example, a standard refractory stacking robot) lifts the standard refractory placed on the supply base. It may be moved and stacked at a predetermined position on the loading platform. In addition, when using a supply stand, it is preferable to provide the support part for supporting the top plate avoiding the dowel of a fixed form refractory like the loading base.

  Further, from the viewpoint of automating and efficiently supplying a large amount of the fixed refractory, it is preferable to use a conveyor as the fixed refractory supply means. The fixed refractory storage means, the conveyor, and the fixed refractory It is more preferable to use a fixed refractory supply device provided with transfer means for transferring the fixed refractory stored in the material storage means onto the conveyor. In the construction of a coke oven, various types of regular refractories are used. Therefore, the fixed refractory to be used is temporarily stored in the fixed refractory storage means, and the necessary type of fixed refractory is transferred from the fixed refractory storage means to the conveyor using the transfer means. By passing to, it is possible to automate the supply of standard refractories and efficiently stack standard refractories. Hereinafter, the fixed refractory supply apparatus will be described.

[Standard refractory storage means]
The form of the fixed refractory storage means is not particularly limited, and can be any form. For example, it is possible to arrange regular refractories directly on the floor surface and lift and transport the necessary regular refractories by a transfer device described later. It is preferable to store a regular refractory in the. More preferably, the fixed refractory storage means includes a sending means for sending the fixed refractory to the transfer means. Moreover, in the said fixed refractory storage means, it is preferable to store the fixed refractory to be used separately for each type.

[Transfer means]
The said transfer means is for delivering the fixed refractory acquired from the said fixed refractory storage means to the conveyor mentioned later. The form of the transfer means is not particularly limited, and any one can be used as long as it can transfer the standard refractory to the conveyor. For example, when the fixed refractory storage means and the conveyor are close to each other, an arm type robot such as a horizontal articulated robot or a vertical articulated robot can be used as the transfer means. Moreover, the transfer conveyor provided between the said fixed refractory storage means and the said conveyor can be used as said transfer means. In addition, it is preferable that the said transfer means is self-propelled, for example, it is more preferable to provide the conveyor for transfer on the cart which can be self-propelled. If the transfer means can be self-propelled, the fixed refractory can be obtained from various positions even when the fixed refractory storage means is large. In addition, even when a plurality of fixed refractory stacking means are provided for one fixed refractory supply unit, if the transfer means is capable of self-propelling, the transfer means can be configured with one transfer means. The regular refractory can be supplied to the regular refractory stacking means.

[Conveyor]
The fixed refractory stored in the fixed refractory storage means is transferred to the conveyor by the transfer means, and then conveyed to the vicinity of the fixed refractory stacking means by the conveyor. Any conveyor such as a belt conveyor can be used as the conveyor. In addition, it is preferable to provide the support part for supporting a fixed form refractory horizontally, avoiding a dowel, also on the conveyance surface of the said conveyor like the said stacking base and a supply stand.

[Measuring means]
When a conveyor is used as described above, it is possible to further provide measuring means for measuring the shape, size, and position of the fixed refractory placed on the conveyor. As described above, fixed refractories having various shapes such as a rectangle, a trapezoid, and an L shape are used for the coke oven as viewed from above. Therefore, by providing a measuring device in the fixed refractory supply device and measuring the shape and dimensions of the fixed refractory in advance, the fixed refractory stacking means can be controlled based on the information. In addition, there is some variation in the dimensions of the standard refractories, but based on the measured information on the dimensions of the standard refractories, it is also possible to correct the position where the standard refractories are stacked and the position where the mortar is applied. .

  As said measuring means, the thing similar to the measuring means of the fixed refractory loading robot mentioned above can be used. However, the installation position of the measuring means needs to be a position where the measurement of the fixed refractory placed on the conveyor can be performed. For example, an image sensor and a distance sensor installed above the conveyor can be used as measurement means. The image sensor can acquire image data of a standard refractory on a conveyor and process the image data to detect the shape, size, position, and the like viewed from the upper surface of the standard refractory. The upper surface shape of the fixed refractory may be detected as a contour by processing image data. Information on the position of the fixed refractory can be obtained by analyzing image data based on information on the position where the image sensor is installed, for example. Further, the inclination of the standard refractory can be measured based on the image data obtained by the image sensor, and the obtained information on the inclination can be used for control of the robot for loading the standard refractory. For example, when the image sensor is installed above the conveyor, it is possible to detect the inclination (inclination in a horizontal plane) of the standard refractory from above, from the obtained image.

  Also, using a distance sensor installed above the conveyor, measure the distance from the distance sensor to the upper surface of the standard refractory and the distance from the distance sensor to the conveyor transport surface, and take the difference between them. Thus, the height of the standard refractory can be obtained. Furthermore, the inclination of the standard refractory with respect to the horizontal plane can be calculated from the measurement result by the distance sensor. The calculation of the inclination may be performed using measurement results of a plurality of distance sensors, or may be performed using results of measurement at a plurality of points by moving a single distance sensor. In addition, the said measurement means can also be installed in positions other than the upper direction of a conveyor, for example, the position which opposes the side surface of a fixed form refractory, or diagonally upward. A plurality of measuring means installed at different positions can be used in combination.

  The coke oven fixed refractory stacking system of the present invention preferably includes at least one of the measuring means in the fixed refractory supply means and the measuring device in the fixed refractory stacking means described above. Moreover, you may provide both. Further, information measured by these measuring devices is sent to a control means to be described later, which controls the coke oven fixed refractory stacking system based on the information, in particular, fixed refractory stacking means and mortar coating means. Can be controlled.

<Mortar application means>
The coke oven fixed refractory stacking system of the present invention has at least one mortar application means for applying mortar to the fixed refractory. In the present invention, it is important that the mortar application means is provided on the other side of the long side surface of the pedestal. Here, "the other side of the long side surface of the stacking pedestal" is the opposite of the standard refractory stacking means of the pair of side surfaces substantially parallel to the longitudinal direction when the stacking pedestal is viewed from above. Means side.

  The mortar application means is for applying mortar to the surface of the fixed refractory, but the fixed refractory to which the mortar is applied may be one held by the fixed refractory stacking means, It may have been already loaded on the loading base by the standard refractory stacking means, or both.

  For example, when using a standard refractory stacking means equipped with a standard refractory stacking robot, the fixed refractory stacking robot uses a fixed refractory held by a clamping member attached to the tip of the arm. After applying the mortar directly by the mortar applicator, the fixed refractory coated with the mortar can be stacked on the fixed refractory already placed on the stacking base.

  Moreover, when applying mortar to the fixed refractory already loaded on the loading base, for example, the mortar may be applied to the position where the fixed refractory is stacked next by the fixed refractory stacking means. The position where the fixed refractory is stacked is a position including at least the portion where the lower surface of the fixed refractory to be contacted, that is, the upper surface of the fixed refractory already stacked in the lower stage. If a fixed refractory is already loaded at the position where the side of the fixed refractory to be loaded touches, the side of the fixed refractory that is in contact with the fixed refractory to be stacked is also mortar. Is preferably applied. In addition to the sequential application of mortar for each location corresponding to one standard refractory as described above, two or more, or in some cases, one stage, etc. You may apply mortar. Note that mortar is not applied in advance when the first-stage standard refractory is stacked on the pedestal.

  Any mortar application means can be used as long as it can apply mortar. However, from the viewpoint of efficiently and automatically applying mortar, a mortar application means including a mortar application robot is used. It is preferable. In addition, in order to stably supply mortar and perform application with high accuracy, a pump for transferring mortar, a pipe connected to the pump, and a quantitative supply device connected to the pipe for quantitatively supplying the mortar It is more preferable to use a mortar applicator provided with a hose connected to the metering supply device, a nozzle connected to the hose and applying the mortar to the fixed refractory, and an application robot to which the nozzle is attached. preferable. As the quantitative supply device, a device capable of quantitatively supplying mortar, such as a screw feeder, can be used.

  As the coating robot, an arm-type robot that is a kind of industrial robot is preferably used, and a vertical articulated robot is more preferably used, similarly to a fixed refractory loading robot. Further, the nozzle is preferably provided in a movable portion of the coating robot, and when the coating robot is an arm type robot, it is more preferable to attach the nozzle to the tip of the arm. The shape of the nozzle is not particularly limited, and any nozzle can be used. From the standpoint of coating with a uniform thickness over a wide area, it is preferable to use a flat nozzle having a slit-like discharge port and capable of coating mortar in a strip shape.

  Furthermore, it is preferable that the mortar coating unit includes a moving unit for moving the coating robot. By making the coating robot movable, the workable area per robot can be widened, and as a result, even a large block can be produced efficiently. Although any means can be used as the moving means, it is preferable to use a rail and a traveling device for traveling on the rail. The direction in which the coating robot is moved is preferably parallel to the longitudinal direction of the stacking base. When the application robot is movable, only the application robot may be moved, and other parts of the mortar application means (pump, fixed amount supply device, etc.) may be fixed. Moreover, you may make it move a part or all of the other part of the mortar application means with the application robot.

  In the coke oven fixed refractory stacking system of the present invention, (a) at least one of the fixed refractory stacking means and the mortar coating means, and (b) the stacking base is movable in the longitudinal direction of the stacking base. It is preferable. (A) If the standard refractory stacking means and the mortar coating means are movable, the fixed refractory stacking means and the mortar coating means are moved to an appropriate position even if the stacking base is fixed. Since the regular refractory stacking and the mortar coating can be performed, the working area per one standard refractory stacking means and the mortar coating means can be widened, and the regular refractory stacking can be performed efficiently. Also, even if the fixed refractory stacking means and mortar application means are fixed, as long as the stacking base is movable, the work area per unit is similarly increased, and the fixed refractory stacking is performed efficiently. Can do. From the viewpoint of increasing the degree of freedom of work and efficiently carrying out the regular refractory stacking, it is more preferable that the regular refractory stacking means and the mortar coating means can be moved independently.

<Control means>
The coke oven fixed refractory stacking system of the present invention includes control means for controlling the fixed refractory stacking means and the mortar coating means. Thereby, the operation | movement of a fixed refractory stacking means and the operation | movement of a mortar application means can be linked, and a fixed refractory stacking can be performed efficiently. The position where the standard refractory is stacked and the position where the mortar is applied can be stored in advance in the control means, or can be determined by the control means based on information obtained by the measurement means or the like.

  In addition, information regarding the shape, dimensions, etc. of the standard refractory serving as a reference is previously set in the control means, and the information is compared with the information on the standard refractory measured by the measurement means, based on the difference. The position where the standard refractory stacking means stacks the standard refractory and the position where the mortar application means applies mortar can also be corrected. Thereby, a fixed form refractory can be piled up accurately, without being influenced by the error of the shape and dimension of a fixed form refractory.

  Next, the method for carrying out the present invention will be described more specifically. The following description shows a preferred embodiment of the present invention, and the present invention is not limited to the following description.

  1 and 2 are schematic views of a coke oven fixed refractory stacking system 1 according to an embodiment of the present invention as viewed from the top and side. The coke oven fixed refractory stacking system 1 includes a fixed refractory supply means 100 for supplying a fixed refractory 2, a fixed refractory stacking means 200, a loading base 300, a mortar coating means 400, and a control means 500. .

(Standard refractory supply means)
The fixed refractory supply means 100 in the present embodiment includes a storage shelf 110 as a fixed refractory storage means, a picking device 120 as a transfer means, and a conveyor 130.

  The storage shelves 110 as the standard refractory storage means store various shapes of the standard refractory 2 used in the coke oven in a state of being classified according to the type. As shown in FIG. 3, the storage shelf 110 is provided with a conveyor 111, and the fixed refractory 2 that is input from the input port 112 is conveyed toward the discharge port 113 by the conveyor 111. On the outlet side of the storage shelf 110, a delivery conveyor 114 is provided for sending the stored standard refractories 2 one by one to the transfer means, and a stopper 115 that can be raised and lowered is provided at the outlet 113. Is provided. A fixed refractory support portion (not shown) for supporting the fixed refractory material while avoiding the convex portion on the bottom surface of the fixed refractory material is provided on the transport surfaces of the conveyor 111 and the delivery conveyor 114, similarly to the conveyor 130 described later. Is provided.

  The picking device 120 as the transfer means has a movable carriage 121 and a picking conveyor 122 installed on the movable carriage 121 for conveying an irregular refractory, and further movable. The carriage 121 is installed on the rail 123. The conveying surface of the picking conveyor 122 is also provided with a fixed refractory support (not shown) for supporting the fixed refractory while avoiding the convex portion on the bottom of the fixed refractory.

  The conveyor 130 is for conveying the fixed refractory 2 delivered from the picking device 120 to the fixed refractory stacking means 200. A support part 131 is provided on the transfer surface of the conveyor 130 for stable transfer even when there is a dowel on the lower surface of the standard refractory 2. As shown in FIG. 4, the support portion 131 includes two support bases 132. The support base 132 is provided on the transport surface of the conveyor 130 so as to extend in the transport direction, and the standard refractory 2 is transported while being placed on the support base 132. By making the height of the support base 132 larger than the height of the dowels (convex portions) on the lower surface of the fixed refractory 2, the fixed refractory can be stably conveyed while being kept horizontal. In addition, it is preferable to provide the support stand of the shape mentioned above in all the conveyors for conveying the fixed refractory used in the coke oven fixed refractory stacking system of this invention.

  As shown in FIGS. 1 to 3, the conveyor 111, the delivery conveyor 114, the picking conveyor 122, and the conveyor 130 are preferably installed in parallel to the longitudinal direction of the stacking base 300. In addition, the rail 123 for moving the picking device 120 is preferably laid in a direction perpendicular to the conveying direction of the conveyor 111 or the conveyor 130. By laying the rails 123 in this way, even when the storage rack 110 is provided with a number of discharge ports 113 corresponding to the conveyors 111 and the conveyors 111, the picking device 120 can be moved on the rails 123 to A standard refractory can be transferred with a picking device on a table.

  Further, when a plurality of sets of the standard refractory stacking means 200, the stacking pedestal 300, and the mortar coating means 400 are provided, a plurality of conveyors 130 may be installed adjacent to the respective standard refractory stacking means 200. preferable. In that case, by moving the picking device 120 on the rail 123, the standard refractory 2 can be transferred to the plurality of conveyors 130 by one picking device. Note that the number of picking devices (transfer devices) may be one, or two or more.

  Next, an example of operation | movement of the fixed refractory supply part 100 in this embodiment is demonstrated. The fixed refractory 2 stored in the storage shelf 110 is transported toward the discharge port 113 by the conveyor 111 and reaches the top of the delivery conveyor 114. Next, the stopper 115 is raised to open the discharge port 113, and the delivery conveyor 114 is driven to send out the standard refractory 2. At this time, the picking device 120 is moved in advance to a position where the standard refractory 2 is stored. Then, the picking conveyor 122 of the picking device 120 is operated simultaneously with the delivery conveyor 114 to move the standard refractory 2 from the delivery conveyor 114 onto the picking conveyor 122.

  After sending out one fixed refractory 2, the stopper 115 is lowered to prevent the subsequent fixed refractory from being discharged from the discharge port 113. At this time, a photoelectric sensor may be provided immediately before the stopper 115, and the operation of the delivery conveyor 114 may be stopped when the standard refractory 2 is detected by the photoelectric sensor. The picking device 120 that has received the fixed refractory 2 then moves to the front of the conveyor 130, operates the picking conveyor 122 again, and transfers the fixed refractory 2 onto the conveyor 130.

  The conveyor 130 conveys the fixed refractory 2 and moves it to a position where it is delivered to the fixed refractory stacking means 200. Although the delivery position can be set to an arbitrary position, it is preferable to set the fixed refractory 2 to the position closest to the position where the fixed refractory 2 is stacked on the pedestal because work efficiency can be improved.

(Standard refractory means)
Next, the fixed refractory stacking means 200 in this embodiment will be described. The fixed refractory stacking means 200 includes a fixed refractory stacking robot 210, a measuring means 220, and a rail 230 as a moving means. The rail 230 is laid in parallel with the longitudinal direction of the stacking base 300, and the fixed refractory stacking robot 210 further includes a traveling device for self-propelling on the rail 230.

  The fixed refractory stacking robot 210 is a vertical articulated robot that is a kind of industrial robot, and has an arm. At the tip of the arm, a measuring means 220 and a clamping part 240 for holding the fixed refractory 2 are provided.

  FIG. 5 shows the structure of the clamping part 240 in this embodiment. The clamping unit 240 used here is an improved version of a holding mechanism called a parallel square flat hand (parallel hand) in accordance with the object of the present invention. In the figure, reference numerals 242a and 242b denote clamping members for sandwiching and holding the standard refractory. Although the shape of the holding member is not particularly limited, it is preferable if the surface in contact with the fixed refractory is flat as shown in FIG. 5 because the contact area increases, and as a result, the fixed refractory can be stably held. Further, it is preferable to provide anti-slip members 243a and 243b for improving the holding force at the portions of the sandwiching members 242a and 242b that are in contact with the fixed refractory 2. As the non-slip member, for example, a thermosetting elastomer such as general rubber, a thermoplastic elastomer such as silicone rubber, and other resins can be used. In the embodiment shown in FIG. 5, plate-like rubber is provided as anti-slip members 243a and 243b on the surfaces of the holding members 242a and 242b that contact the fixed refractory 2. Further, by providing an anti-slip member made of an elastic material such as rubber, it is possible to prevent the regular refractory from being damaged.

  The clamping members 242a and 242b are configured to hold or open the standard refractory by opening and closing. Here, in the present embodiment, the two clamping members open and close by linearly moving in a direction toward each other or a direction away from each other. The opening and closing of the holding member may be performed by moving the two holding members together or by moving only one of them. In the example of the clamping unit shown in FIG. 5, the clamping member can be opened and closed by moving the clamping member 243 a in the direction of arrow A using the air cylinder 244.

  Furthermore, it is preferable that at least one of the holding members has a variable angle of the contact surface that contacts the fixed refractory of the holding member. Thereby, even when the side face of the fixed refractory is inclined (not parallel to the opposite side face), the holding member rotates in accordance with the inclination of the side face of the fixed refractory, thereby stably Can hold regular refractories. The method of rotating the clamping member is not particularly limited, and the clamping member is provided so as to be freely rotatable within a certain angle range, and when the fixed refractory is clamped, the side surface of the fixed refractory is inclined. It can also be rotated so as to follow. Further, the holding plate can be rotated at an arbitrary angle using a driving device such as a motor.

  In the example of the sandwiching portion shown in FIG. 5, the sandwiching member 242 a is fixed to the rotating shaft 246 connected to the servo motor 245 and can rotate in the direction indicated by the arrow B. The servo motor 245 is driven by a signal from a control unit to be described later, and adjusts the angle of the holding member 242a in accordance with the shape of the standard refractory. In the above example, one clamping member can be opened and closed and rotated. However, one clamping member can be opened and closed, and the other clamping member can be rotated. Further, both the clamping members may be openable and closable and rotatable.

  Furthermore, it is preferable that at least one of the clamping members can change the position of the clamping member in a direction parallel to a contact surface that contacts the fixed refractory. Thereby, even if the shape seen from the upper surface is a fixed refractory having a special shape such as an L shape, the sandwiching member can be moved in parallel to a position corresponding to the shape, and the fixed refractory can be stably held. The translation method is not particularly limited, and any driving device can be used. In the example of the clamping unit shown in FIG. 5, a ball screw 247 and a motor 248 for moving the clamping member 242b in the direction of arrow C are provided. As the motor, a stepping motor or a servo motor can be used, and the motor is driven by a signal from a control means described later.

  Further, the fixed refractory stacking means 200 of the present embodiment is provided with an image sensor 221 and a distance sensor 222 as the measuring means 220. Information regarding the shape, size, and position of the fixed refractory 2 obtained by the measuring means 220 is transmitted to the control device 500, and the fixed refractory stacking robot 210 and the like are operated based on the information.

  Next, an example of operation | movement of the fixed refractory stacking means 200 in this embodiment is demonstrated. The fixed refractory 2 carried by the conveyor 130 is lifted by the fixed refractory stacking robot 210 and stacked on the stacking base 300. At that time, in order to appropriately handle the fixed refractory 2 and stack it at the correct position, measurement by the measuring means 220 is performed in advance. The measurement is preferably performed in a state where the fixed refractory 2 is placed on the conveyor 130 before the fixed refractory stacking robot 210 lifts the fixed refractory 2. First, the conveyor 130 is stopped, the fixed refractory stacking robot 210 is moved, and the measuring means 220 provided at the arm tip is brought close to the fixed refractory 2 on the conveyor 130. Measurement is performed in this state, and the shape, size, and position of the standard refractory 2 are measured. Based on the result, the fixed refractory stacking robot 210 and the clamping unit 240 are driven to lift the fixed refractory 2. After the fixed refractory 2 is removed from the conveyor 130 by the fixed refractory stacking robot 210, the conveyance by the conveyor 130 can be resumed. Alternatively, a table or the like may be installed at the end of the conveyor 130, and measurement may be performed after the fixed refractory 2 is transferred from the conveyor 130 to the table or the like.

  The fixed refractory 2 held by the fixed refractory stacking robot 210 is stacked at a predetermined position on the stack base 300 according to the type of the fixed refractory. Information on which shape of the regular refractory is placed in which position is stored in the control means 500 in advance. Further, the position where the standard refractory is actually loaded is corrected based on the shape and size of each standard refractory measured by the measuring means 220. Specifically, the information on the standard refractory serving as a reference set in advance is compared with the information measured by the measuring means 220, and based on the difference, the standard refractory stacking means 200 determines the standard refractory 2. The stacking position is corrected.

  As an example of the method of performing the correction, there is a method of performing correction based on the center of gravity position of the standard refractory. Specifically, first, the center of gravity of the standard refractory is calculated based on the dimensions of the drawing, and the position information about the position of the center of gravity and the position where the standard refractory is placed so that the center of gravity is located is stored in the control unit 500 in advance. Store it. Thereafter, the actual center of gravity is calculated from the actual dimensions of the fixed refractory measured by the measuring means 220 when actually loading the fixed refractory. Next, the actual center of gravity is compared with the center of gravity obtained from the drawing dimensions in advance, and the position where the standard refractory is loaded is corrected based on the difference between the two. Such a correction of the stacking position can be performed not only based on the center of gravity but also based on the position of the center (middle point) of the side surface or upper surface of the fixed refractory.

(Pedestal)
A stacking base 300 on which the standard refractory 2 is stacked is installed on a rail 310. The top plate of the stacking base 300, that is, the shape of the surface on which the standard refractory 2 is stacked is viewed from above, and the shape is substantially rectangular. A support (not shown) is provided. The shape of the support part is the same as that of the support part provided on the conveyor 130.

(Mortar application means)
On the opposite side of the stacking base 300 from the standard refractory stacking means 200, a mortar coating means 400 is provided. In the present embodiment, the mortar application unit 400 includes a pump 410 that transfers the mortar 3, a pipe 420 that is connected to the pump 410, a fixed amount supply device 430 that is connected to the pipe 420 and supplies the mortar 3 in a fixed amount, and a fixed amount supply device 430. A hose 440 connected to the hose 440, a nozzle 450 for applying the mortar 3 to the fixed refractory 2 and a coating robot 460 to which the nozzle 450 is attached. Further, the fixed refractory stacking means 200 is installed on the rail 470 and further includes a traveling device for self-propelling on the rail 470. The rail 470 is laid in parallel with the longitudinal direction of the stacking base 300.

  The application robot 460 is a vertical articulated robot similar to the fixed refractory stacking robot 210, and the nozzle 450 is attached to the tip of the arm of the fixed refractory stacking robot 210. The mounting portion of the nozzle 450 is provided with a rotating means (not shown) that rotates the nozzle 450 about the central axis of the arm, and rotates the nozzle 450 according to the direction of the surface on which the mortar 3 is applied. Can do.

  Next, a procedure for applying mortar by the mortar applying unit 400 will be described. In this embodiment, when the fixed refractory 2 is loaded by the fixed refractory stacking robot 210, mortar is applied to the position where the fixed refractory is loaded prior to that. Specifically, the mortar is applied to a portion where the lower surface of the fixed refractory to be stacked contacts, that is, the upper surface of the fixed refractory already stacked in the lower stage. In addition, when the standard refractory is already loaded at the position where the side of the fixed refractory to be stacked is in contact, the side of the fixed refractory that is in contact with the fixed refractory to be stacked Also apply mortar. Therefore, the nozzle 450 of the application robot 460 can apply mortar in an arbitrary direction such as not only in the downward direction but also in the horizontal direction by moving the joint of the application robot 460 and / or rotating the nozzle 450. It is configured to be able to. In addition, every time one regular refractory is stacked, mortar can be applied sequentially to the location corresponding to the regular refractory, but there are a plurality of regular refractories, such as two or more, or one stage in some cases. You may apply | coat mortar collectively in the position which piles up.

  The mortar application unit 400 is controlled by the control unit 500 based on the information measured by the measurement unit 220 and the like. In that case, the information on the standard refractory serving as a reference set in advance is compared with the information measured by the measuring means 220, and the position where the mortar applying means 400 applies mortar is corrected based on the difference. To do.

  As described above, the fixed refractory 2 is stacked on the stacking base 300 using the fixed refractory supply means 100, the fixed refractory stacking means 200, the mortar coating means 400, and the control means 500. By repeating this operation, a block that forms a coke oven by stacking standard refractories is produced. The completed block is carried out by running the loading base 300 on the rail 310. The unloaded block can be transported directly to the coke oven construction site, or after being transported to a temporary storage location, and then transported from the storage location to the coke oven construction site according to the progress of the coke oven construction. You can also. And on the rail 310 after a block is carried out, the empty loading base 300 in which a fixed refractory is not loaded can be installed again, and a new block can be produced.

  In this embodiment, the fixed refractory stacking robot 210 and the coating robot 460 are installed on the rail 230 and the rail 470, respectively, and the rail 230 and the rail 470 are parallel to the longitudinal direction of the stacking base 300. Since it is laid, a long block can be easily manufactured by moving these robots on the rail.

DESCRIPTION OF SYMBOLS 1 Coke oven fixed form refractory stacking system 2 Fixed form refractory 3 Mortar 100 Fixed form refractory supply means 110 Storage shelf 111 Conveyor 112 Inlet 113 Outlet 114 Delivery conveyor 115 Stopper 120 Picking device 121 Movable cart 122 Picking conveyor 123 Rail 130 Conveyor 131 Supporting part 132 Supporting base 200 Fixed refractory stacking means 210 Fixed refractory stacking robot 220 Measuring means 221 Imaging element 222 Distance sensor 230 Rail 240 Holding part 242a, 242b Holding member 243a, 243b Non-slip member 244 Air cylinder 245 Servo motor 246 Rotating shaft 247 Ball screw 248 Motor 300 Stack base 310 Rail 400 Mortar application means 410 Pump 420 Piping 430 Fixed amount supply device 440 Hose 4 0 nozzle 460 coating robot 470 rail 500 control unit

Claims (5)

A loading pedestal for stacking regular refractories,
Fixed refractory stacking means provided on one side of the long side surface of the stacking pedestal, and stacking a fixed refractory on the stacking pedestal,
A fixed refractory supply means for supplying a fixed refractory to the fixed refractory stacking means;
Mortar application means provided on the other side of the long side surface of the pedestal;
Control means for controlling the regular refractory stacking means and the mortar application means,
The standard refractory stacking means is
A fixed-type refractory loading robot for stacking the fixed-type refractory on the loading platform;
Measuring means for measuring the shape, dimensions, and position of the fixed refractory supplied from the fixed refractory supply means,
The control means controls the fixed refractory loading robot and the mortar application means based on the result measured by the measurement means , and
The control means compares the information of the standard refractory serving as a reference set in advance with the information measured by the measurement means, and based on the difference, the standard refractory stacking means stacks the standard refractory. Coke oven standard refractory stacking system for correcting the position and the position where the mortar application means applies mortar .   The coke oven fixed refractory stacking system according to claim 1, wherein the measuring unit includes an imaging device that measures an upper surface shape of the fixed refractory and a distance sensor. The mortar application means
A pump for transferring mortar;
Piping connected to the pump;
A fixed amount supply device connected to the pipe and supplying the mortar in a fixed amount;
A hose connected to the metering device;
A nozzle connected to the hose and applying the mortar to the fixed refractory;
The coke oven fixed refractory stacking system according to claim 1 or 2 , comprising a coating robot to which the nozzle is attached. (A) the fixed refractory loading means and the mortar coating unit, and (b) at least one of the loading base is movable in the longitudinal direction of the loading base, in any one of claims 1 to 3 Coke oven fixed refractory loading system as described. A coke oven fixed refractory stacking method using the coke oven fixed refractory stacking system according to any one of claims 1 to 4 .

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