JP6572873B2 - Fixed refractory gripping device for coke oven and fixed refractory gripping method for coke oven - Google Patents

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fixed refractory gripping device for a coke oven, and in particular, a fixed refractory for a coke oven that can securely hold a fixed refractory with parallel side surfaces and a fixed refractory with non-parallel side surfaces with one device. The present invention relates to a gripping device. Moreover, this invention relates to the fixed refractory holding method for coke ovens using the said fixed refractory holding device for coke ovens.

  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 work of applying mortar to a specific joint thickness using a trowel at the position where bricks are to be stacked, and then stacking bricks on the mortar several hundred times a day. There is. However, the standard refractory used in the coke oven weighs several kilograms to several tens of kilograms per piece, so it is extremely hard work to build a furnace that is manually loaded. It becomes a considerable load.

  Therefore, in order to mechanize the furnace construction work, it is conceivable to attach a robot hand that holds a fixed refractory to the tip of an arm of a general-purpose robot, and perform fixed refractory stacking with the robot.

  Conventionally, in general applications, as a robot hand that grips an object, two or three gripping members such as chucks (air chucks) that operate by air driving are used, and gripping is performed by sandwiching an object with the gripping member and lifting it. Devices are known.

  Moreover, as an apparatus which grips and handles a fixed form refractory with a robot, there exists an apparatus described in patent document 1, 2, for example.

  The apparatus described in Patent Document 1 is intended to arrange bricks in a converter furnace. In the apparatus, a suction hand is used as a brick hand mechanism for gripping a brick.

  The apparatus described in Patent Document 2 is intended to carry bricks when building a hot stove for heating air blown into a blast furnace. In the apparatus, a robot having a brick gripping mechanism is used.

JP-A-10-204518 JP 05-229651 A

  If the apparatus as described in patent documents 1 and 2 is used, it is thought that the fixed refractory used for a converter or a hot stove can be grasped and handled with a robot.

  However, regular refractories used in converters and hot air furnaces are relatively simple and have almost the same shape, so they can be gripped by ordinary gripping devices, but coke ovens have various shapes. Since a regular refractory is used, it cannot be stably gripped by a normal gripping device.

  For example, bricks used in Patent Document 2 are checker bricks used in a general hot air furnace, and all have the same shape. On the other hand, in the construction of a coke oven, in addition to the use of regular refractories of various shapes depending on the position, each regular refractory has a rectangular, trapezoidal, It has a complicated shape such as a letter shape.

  Furthermore, because the unevenness for preventing misalignment, called dowels, is provided on the side and top and bottom surfaces of the standard refractory for coke ovens, when holding a standard refractory by a robot, etc. It is necessary to avoid and grip. For example, in the case of gripping a fixed refractory having inclined side surfaces whose shape viewed from above is a trapezoid, it may be necessary to grip the inclined side surfaces instead of the parallel side surfaces.

  However, since a general gripping device such as an air chuck has a structure that opens and closes parallel gripping surfaces, it cannot grip a regular refractory having inclined side surfaces as described above. Therefore, a normal gripping device cannot be used as it is in a coke oven construction in which a fixed refractory having parallel side faces and a fixed refractory having inclined side faces need to be stacked.

  As a method for avoiding this problem, for example, it is conceivable to prepare a robot having a plurality of gripping devices and to use different gripping devices depending on whether the side surface of the fixed refractory is inclined. However, this method is not practical because the structure of the robot is complicated and the size and weight are too large. Also, it is possible to prepare multiple gripping devices like a tool changer and change the gripping device according to the shape of the standard refractory, but it takes time to change the gripping device. Becomes lower.

  The present invention has been made in view of the above circumstances, and has a simple structure and can securely hold a fixed refractory with parallel side surfaces and a fixed refractory with non-parallel side surfaces with a single device. An object of the present invention is to provide a fixed refractory gripping device and a fixed refractory gripping method for a coke oven.

The gist configuration of the present invention is as follows.
1. In order to hold the fixed refractory for the coke oven, equipped with a holding plate facing the horizontal direction with a gap,
The gripping plate is
A parallel gripping portion whose gripping faces are parallel to each other;
An inclined gripping portion that is inclined and opposed so that the distance between the gripping surfaces changes in the horizontal direction;
Have
The parallel gripping portion and the inclined gripping portion have a structure arranged in a vertical direction.
Fixed refractory gripping device for coke ovens.

2. A plurality of upper surface detection sensors for detecting the upper surface of the fixed refractory for the coke oven;
2. The fixed refractory gripping device for a coke oven according to claim 1, further comprising an inclination detecting means for detecting an inclination of the fixed refractory for the coke oven based on detection results by the plurality of upper surface detection sensors.

3. A side detection sensor that detects contact with a fixed refractory for a coke oven, provided on one or both of the opposing gripping plates,
Based on the detection result by the side detection sensor, grip detection means for detecting the grip of the fixed refractory for the coke oven is completed,
1 or 2, further comprising a relative position detecting means for detecting a relative position of the coke oven fixed refractory gripping device and the coke oven fixed refractory based on a detection result by the side detection sensor. The fixed refractory gripping device for a coke oven as described.

4). A fixed refractory gripping method for a coke oven, wherein the fixed refractory for a coke oven is gripped using the fixed refractory gripping device for a coke oven according to any one of 1 to 3 above.

5. A fixed refractory gripping method for a coke oven using the fixed refractory gripping device for a coke oven described in 2 above,
A coke oven fixed refractory gripping method for checking whether or not the coke oven fixed refractory is gripped horizontally by the tilt detection means.

6). A fixed refractory gripping method for a coke oven that grips a fixed refractory for a coke oven using the fixed refractory gripping device for a coke oven according to claim 3,
A method for holding a fixed refractory for a coke oven, wherein the holding detection unit confirms whether or not the holding of the fixed refractory for a coke oven is completed.

  ADVANTAGE OF THE INVENTION According to this invention, the fixed refractory for coke ovens which has a complicated and various shape can be reliably hold | maintained with one apparatus. Moreover, by using the robot provided with the fixed refractory holding device for coke oven of the present invention, the fixed refractory for coke oven can be efficiently loaded with high accuracy.

It is a schematic diagram which shows the usage method of the fixed form refractory holding apparatus in 1st embodiment of this invention. It is a perspective view which shows the structure of the fixed form refractory holding device in 1st embodiment of this invention. It is a schematic diagram which shows the structure of the holding | grip board in 1st embodiment of this invention. It is a schematic diagram which shows the method of hold | gripping the fixed form refractory whose upper surface shape is a rectangle using the holding plate in 1st embodiment of this invention. It is a schematic diagram which shows the method of hold | gripping the fixed refractory whose upper surface shape is trapezoid using the holding | grip board in 1st embodiment of this invention. It is a schematic diagram which shows the structure of the holding | grip board in 2nd embodiment of this invention. It is a schematic diagram which shows the structure which looked at the fixed form refractory holding device in 3rd embodiment of this invention from the side surface. It is a schematic diagram which shows the inclination detection method in 3rd embodiment of this invention. It is a schematic diagram which shows the structure which looked at the fixed form refractory holding device in 4th embodiment of this invention from the front. It is a schematic diagram which shows the holding | grip operation | movement in 4th embodiment of this invention.

  Next, a method for carrying out the present invention will be specifically described. In the following description, “horizontal direction” and “vertical direction” refer to a horizontal direction and a vertical direction in a state where a side surface of a fixed refractory placed in a direction in which the side surface is vertical is gripped.

The fixed refractory gripping device for a coke oven in an embodiment of the present invention includes gripping plates that are opposed to each other with a space in the horizontal direction for gripping the fixed refractory for a coke oven. And the grip plate is
(1) a parallel gripping portion whose gripping faces are parallel to each other;
(2) an inclined gripping portion opposed to the gripping surface so that the distance between the gripping surfaces changes in the horizontal direction;
And (1) a parallel grip portion and (2) an inclined grip portion are arranged in a vertical (vertical) direction.

[Standard refractory for coke oven]
The standard refractory for the coke oven (hereinafter sometimes referred to as “standard refractory”) is not particularly limited and may be any regular refractory as long as it is used for a coke oven, such as a brick or a 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.

[Grip plate]
The fixed refractory gripping device for a coke oven according to the present invention includes gripping plates that face each other at an interval in the horizontal direction. The holding plate can sandwich and hold both side surfaces of the standard refractory. The number of the gripping plates is not particularly limited, and may be one pair or two or more pairs, but is preferably a pair from the viewpoint of simplifying the structure of the gripping device.

  The material and dimensions of the holding plate are not particularly limited, and any material can be used as long as it can hold a fixed refractory.

  As the grip plate, a metal plate is preferably used from the viewpoint of strength and rigidity. In addition, the gripping plate is made of an elastic material such as rubber or elastomer on a surface in contact with the standard refractory (hereinafter referred to as “grip surface”) from the viewpoint of improving the frictional force against the standard refractory and preventing damage to the standard refractory. It is preferable that a contact member made of resin is provided.

  An arbitrary mechanism can be used for holding the fixed refractory by the holding plate as long as it can appropriately hold and release the fixed refractory. For example, a parallel open / close type in which gripping is performed by moving at least one of the gripping plates in a direction perpendicular to the gripping surface, or gripping by rotating at least one of the gripping plates around a fulcrum is also possible. A fulcrum opening and closing type for performing The driving method of the gripping plate is not particularly limited, and any method such as an air cylinder or an electric motor can be used.

[Parallel gripping part / Inclined gripping part]
In the fixed refractory gripping device for a coke oven according to the present invention, the gripping plate has a parallel gripping portion whose gripping surfaces face each other in parallel. When gripping a fixed refractory having side surfaces that face in parallel, such as when the shape of the fixed refractory viewed from above is a rectangle or an L shape, it can be gripped using this parallel gripping portion.

  Further, in the fixed refractory gripping device for a coke oven according to the present invention, the gripping plate has an inclined gripping portion opposed to the gripping surface so that the distance between the gripping surfaces changes in the horizontal direction. Yes. When gripping a fixed refractory whose side surfaces are inclined rather than parallel, such as when the shape of the fixed refractory viewed from above is a trapezoid, it can be gripped using this inclined gripping portion. Note that the inclination of the gripping surface may be provided on only one of the opposing gripping plates, or may be provided on both. In the following description, the parallel grip portion and the tilt grip portion may be collectively referred to as a “grip portion”.

  Furthermore, the gripping plate in the present invention has a structure in which the parallel gripping portion and the inclined gripping portion are arranged in the vertical direction. That is, the parallel grip portion and the inclined grip portion are provided in a pair of grip plates. Thereby, with a pair of gripping plates, it is possible to grip a fixed refractory whose side surfaces are parallel and a fixed refractory whose side surfaces are not parallel. Therefore, it is not necessary to provide a plurality of gripping plates adapted to the shape of the fixed refractory, and it is not necessary to perform work while replacing the plurality of gripping plates. In addition to simplifying the device structure, the work efficiency is also excellent.

  The number of parallel grips is not particularly limited, and can be 1 or 2 or more. However, if there is one parallel gripping part, all the fixed refractories whose side surfaces are parallel can be gripped by the parallel gripping part. Therefore, the number of parallel gripping parts is preferably one.

  The number of inclined gripping portions is not particularly limited, and can be 1 or 2 or more. When it is necessary to grip a plurality of types of regular refractories having different side surface tilt angles, it is preferable that the pair of gripping plates include two or more tilted grip portions having different grip surface tilt angles. By adopting such a structure, it is possible to handle regular refractories having various shapes. On the other hand, if the number of inclined gripping portions is too large, the gripping plate becomes large, and it may be difficult to handle the fixed refractory. If the number of inclined gripping portions is too large, it becomes difficult to secure a sufficient height (length of the gripping surface in the vertical direction) per inclined gripping portion. Refractories may not be gripped stably. Therefore, from the viewpoint of securing a gripping surface seat, the number of inclined gripping portions is preferably 3 or less, and more preferably 2 or less.

  The height of each gripping part (the length of the gripping surface in the vertical direction) is not particularly limited, and may be determined according to the dimensions of the standard refractory. However, if it is too small, the grip area becomes too small, and it may be difficult to stably grip the fixed refractory. Therefore, the height of each gripping part is preferably 30 mm or more, and preferably 40 mm or more. On the other hand, if the height of each gripping portion is too large, the gripping plate becomes large, and it may be difficult to handle the fixed refractory. Therefore, the height of each gripping part is preferably 90 mm or less, and preferably 80 mm or more. Moreover, it is preferable that the height of each grip part is equal.

  The arrangement in the vertical direction of the parallel gripping portion and the inclined gripping portion is not particularly limited, and can be in any order. For example, in the case where one parallel grip portion and one tilt grip portion are provided on a pair of grip plates, the parallel grip portion may be on the top or the tilt grip portion may be on the top.

  It is preferable that each gripping portion provided on the gripping plate has a shape projecting inward as the gripping portion located on the upper side. More specifically, the entire gripping surface of the gripping part positioned above protrudes further inward than the innermost part of the gripping surface of the gripping part positioned below the gripping part. It is preferable. By adopting such a structure, when the standard refractory is gripped by the gripping part located on the upper side, it is possible to avoid the gripping part located below the gripping part from interfering with the standard refractory. Here, “inward” refers to the direction of the grip plate located on the opposite side, in other words, the direction of the fixed refractory to be gripped.

[Top detection sensor]
The upper surface detection sensor is for detecting the upper surface of the standard refractory. The number of the upper surface detection sensors can be any number greater than or equal to two. By setting the number of sensors to 2 or more, it is possible to detect the inclination of the standard refractory based on the detection result. Note that when the number of sensors is two, the inclination in the uniaxial direction can be detected, but when the number is three, the inclination in the biaxial direction can be detected. Therefore, the number of sensors is preferably three.

  The upper surface detection sensor is not particularly limited, and any contact type or non-contact type can be used. Examples of the contact sensor include a contact displacement sensor, and examples of the non-contact sensor include a sensor using a laser, an LED, an ultrasonic wave, and the like.

  The attachment position of the upper surface detection sensor is not particularly limited, and may be any position as long as the upper surface of the standard refractory can be detected. In addition, from the viewpoint of accurately detecting the inclination of the fixed refractory, it is preferable to install at least two sensors at positions separated by 5 cm or more. Moreover, when using three sensors, it is preferable to install these sensors in the position which is not the same linear shape. By using three sensors that are not collinear, it is possible to easily detect the inclination in the biaxial direction.

[Inclination detection means]
The inclination detection means is for detecting an inclination of the fixed refractory for the coke oven based on detection results by the plurality of upper surface detection sensors. The tilt detection means is not particularly limited as long as it can detect tilt based on a sensor signal. For example, a programmable logic controller or a computer can be used.

  The position where the inclination detecting means is installed is not particularly limited, and can be provided adjacent to the upper surface detection sensor, or can be provided at a position away from the upper surface detection sensor. When the fixed refractory gripping device for a coke oven according to the present invention is used by being attached to the tip of a robot arm, the tilt detection means can be provided in the robot body, and the control means of the robot can detect the tilt. A structure that also serves as a means may be employed.

  Further, in the coke oven fixed refractory gripping device according to another embodiment of the present invention, the side surface for detecting that the coke oven fixed refractory is in contact with one or both of the opposing gripping plates is provided. Based on the detection result by the detection sensor, the side detection sensor, the grip detection means for detecting the completion of the gripping of the fixed refractory for the coke oven, and the coke oven based on the detection result by the side detection sensor And a relative position detecting means for detecting a relative position between the fixed refractory gripping device for use and the fixed refractory for the coke oven.

[Side detection sensor]
The side surface detection sensor is for detecting a side surface of the standard refractory, and is provided on at least one of the opposing gripping plates. The side detection sensors are preferably provided on both opposing gripping plates. The position where the side surface detection sensor is provided can be any position as long as the side surface of the standard refractory can be detected. From the viewpoint of reliably detecting the side surface of the fixed refractory even when the position of the grip plate is changed by the slide mechanism, in the horizontal direction, the side surface detection sensor is within a range of 3 cm from the center of the grip plate to the left and right. It is preferable to provide it, and it is more preferable to provide it at the center of the gripping plate. Although not particularly limited in the vertical direction, the side detection sensor is preferably provided within a range of 3 cm up and down from the center of the gripping plate, and more preferably provided at the center of the gripping plate.

  The upper surface detection sensor is not particularly limited, and any contact type or non-contact type can be used. Examples of the contact sensor include a contact displacement sensor, and examples of the non-contact sensor include a sensor using a laser, an LED, an ultrasonic wave, and the like.

[Gripping detection means]
The grip detection means is for detecting the completion of gripping of the fixed refractory for the coke oven based on the detection result by the side surface detection sensor. By providing the grip detection means, it is possible to easily confirm that the fixed refractory is gripped.

  The position where the grip detection means is installed is not particularly limited, and can be provided adjacent to the side detection sensor, or can be provided at a position away from the side detection sensor. When the fixed refractory gripping device for a coke oven according to the present invention is attached to the tip of a robot arm, the grip detection means can be provided in the robot body, and the control means of the robot can detect the grip detection. A structure that also serves as a means may be employed.

[Relative position detection means]
The relative position detection means is for detecting a relative position between the fixed refractory gripping device for the coke oven and the fixed refractory for the coke oven based on a detection result by the side detection sensor. For example, when a contact member such as plastic or rubber is attached to the contact surface of the grip plate with the standard refractory, the contact member is bent or sinks by gripping the standard refractory with the grip plate. Or may be deformed. As described above, in the construction of a coke oven, it is necessary to control the position where the standard refractory is loaded with high accuracy. To that end, it is necessary to accurately recognize the position of the standard refractory held by the robot. Desired. However, when the contact member is deformed as described above, the relative position of the fixed refractory with respect to the position of the robot is shifted, so that there may be a shift in the position where the fixed refractory is loaded. Therefore, if the relative position between the gripping device and the fixed refractory for the coke oven is detected by the position detecting means, it becomes possible to correct the error due to the deformation of the member as described above based on the information, and the fixed refractory The accuracy of loading can be improved.

  The position where the relative position detecting means is installed is not particularly limited, and can be provided adjacent to the side detection sensor, or can be provided at a position away from the side detection sensor. When the fixed refractory gripping device for a coke oven according to the present invention is used by being attached to the tip of a robot arm, the relative position detecting means can be provided in the robot body, and the control means of the robot A structure that also serves as a position detecting means may be employed.

[robot]
The fixed refractory gripping device of the present invention is preferably used by being attached to a robot. The robot is not particularly limited, and any robot can be used. 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 it is more preferable to use a vertical articulated type robot.

(First embodiment)
Next, the structure of the fixed refractory gripping device for a coke oven in one embodiment of the present invention and the method of using the same will be described more specifically based on the drawings.

  FIG. 1 is a schematic diagram showing how to use the fixed refractory gripping device for a coke oven in the first embodiment of the present invention. The fixed refractory 1 is transported to the vicinity of the stacking robot 3 by the conveyor 2. The stacking robot 3 is a robot having a vertical articulated arm, and a fixed refractory gripping device 4 is attached to the tip of the arm. The stacking robot 3 grips the fixed refractory 1 that has been transported to the end of the conveyor 2 with the fixed refractory gripping device 4 and stacks it at a predetermined position in the stacking place 5. As the fixed refractory 1, both a fixed refractory whose side surfaces are parallel and a fixed refractory whose side surfaces are not parallel are used depending on the stacking position.

  FIG. 2 is a perspective view showing the structure of the fixed refractory gripping device 4. The fixed refractory gripping device 4 includes a pair of plate-shaped gripping plates 11 and 12 supported by a base 10. A rubber plate (not shown) is attached to the surface of the grip plates 11 and 12 that contacts the fixed refractory 1 as a contact member for improving the holding force.

  The lower half of the gripping plates 11 and 12 includes a parallel gripping portion 11a-12a, and the upper half includes an inclined gripping portion 11b-12b. The gripping surface of the tilting gripping portion 11b-12b is a parallel gripping portion 11a-12a. It protrudes inward from the gripping surface.

  The gripping plate 12 is coupled to the air cylinder 15 via the gripping plate support member 13 and can be moved in the direction of arrow A by the operation of the air cylinder 15, whereby the fixed refractory 1 can be gripped. it can. The grip plate 11 is coupled to the slide mechanism 16 via the grip plate support member 13, and can be slid in the direction of the arrow B, that is, in the direction parallel to the grip surface of the parallel grip portion 11a by the operation of the slide mechanism 16. It is configured. The slide mechanism 16 includes a ball screw 17 and a motor 18.

  FIG. 3 is a schematic diagram showing the structure of the gripping plates 11 and 12 in the first embodiment of the present invention. 3A shows the structure of the apparatus viewed from the front, FIG. 3B shows the shape of the gripping plates 11 and 12 in the AA cross section, and FIG. 3C shows the gripping plate in the BB cross section. The shapes of 11 and 12 are shown.

  FIG. 4 is a schematic diagram showing a method of gripping the fixed refractory 1a whose upper surface shape is rectangular using the grip plate shown in FIG. 3, and FIG. 4 (a) shows the state seen from the front. 4 (b) shows the state viewed from above. In this case, the side surface of the fixed refractory 1a can be gripped using the parallel gripping portions 11a-12a in the lower half of the gripping plates 11, 12. At this time, the inclined gripping portions 11b-12b are not used. As shown in FIG. 4A, since the inclined gripping portion 11b-12b protrudes inward from the parallel gripping portion 11a-12a, the fixed refractory 1a is placed at the protruding portion of the inclined gripping portion 11b-12b. It can also be held so as to abut against the lower surface.

  FIG. 5 is a schematic diagram showing a method of gripping the fixed refractory 1b whose upper surface shape is trapezoid using the gripping plate shown in FIG. 3, and FIG. 5 (a) shows the state seen from the front. 5 (b) shows the state viewed from above. In this case, the side surface of the fixed refractory 1b can be gripped using the inclined gripping portions 11b-12b in the upper half of the gripping plates 11 and 12. At this time, the parallel gripping portions 11a-12a are not used.

  4 (b) and 5 (b), the side surfaces (upper and lower surfaces in the figure) of the fixed refractories 1a and 1b that are not gripped are surfaces that are joined to other fixed refractories. This surface cannot be gripped because it has a dowel that is not formed.

(Second embodiment)
FIG. 6 is a schematic diagram showing the structure of the gripping plate according to the second embodiment of the present invention. FIGS. 6B to 6D are cross-sectional views taken along line AA and BB in FIG. The shape of the holding | grip plates 11 and 12 in a cross section and CC cross section is shown.

  In this embodiment, the gripping plates 11 and 12 have one parallel gripping portion 11a-12a and two inclined gripping portions 11b-12b and 11c-12c. The inclined gripping portion 11b-12b at the middle stage protrudes inward from the parallel gripping portions 11a-12a at the lower stage, and the inclined gripping part 11c-12c at the upper stage is more than the inclined gripping part 11b-12b at the middle stage. Projects inward. Furthermore, the inclination angle θb of the gripping surface in the inclined gripping part 11b-12b in the middle stage is smaller than the inclination angle θc of the gripping surface in the inclined gripping part 11c-12c in the upper stage. By adopting such a configuration, in addition to the fixed refractories whose side surfaces are parallel, the fixed refractories having the inclined side surfaces corresponding to the inclination angle θb and the fixed refractories having the side surface inclination corresponding to the inclination angle θc. Can be held with a single holding plate. Here, the “tilt angle of the gripping surface” in the tilted gripping part refers to an angle formed by the gripping surface of the tilted gripping part and the gripping surface of the parallel gripping part.

  In addition, in the said 2nd embodiment, although it is set as the structure where the inclination angle of the opposing holding | grip board is equal, both may differ. It is also possible to incline only one gripping plate and set the tilt angle of the other gripping plate to 0 °. The inclination angle may be determined according to the shape of the standard refractory used.

(Third embodiment)
Next, a third embodiment of the fixed refractory gripping device for a coke oven of the present invention will be described. In the present embodiment, the fixed refractory gripping device for a coke oven further includes an upper surface detection sensor and an inclination detection means. Unless otherwise specified, the device structure is the same as that of the first embodiment, and common members are denoted by the same reference numerals.

  FIG. 7 is a schematic diagram showing a structure of the regular refractory gripping device 4 according to this embodiment as viewed from the side. The grip plate 11 is supported by the base 10 via a grip plate support member 13, and the grip plate support member 13 is configured to be slidable in the direction of arrow A in FIG. 2 by a slide mechanism 16 (not shown). .

  The base 10 is provided with upper surface detection sensors 22 and 23 for detecting the upper surface of the standard refractory. In the present embodiment, contact-type displacement sensors are used as the upper surface detection sensors 22 and 23, and when the contact at the tip of the sensor is pushed in contact with the fixed refractory, the push-in amount (displacement) is output. The upper surface detection sensors 22 and 23 are installed so that the vertical position (height) is equal.

  FIG. 8 is a schematic diagram showing a tilt detection method in the present embodiment. While the fixed refractory 1 is held, the amount of pressing of the upper surface detection sensors 22 and 23 is measured. If both are equal, it is determined that the upper surface of the fixed refractory 1 is horizontal as shown in FIG. it can. Moreover, as shown in FIG.8 (b), if the upper surface of the fixed form refractory 1 is not horizontal, since the pushing amount of the upper surface detection sensors 22 and 23 differs, this can be detected. This detection operation can be performed by an inclination detection means (not shown).

  By detecting the inclination of the fixed refractory 1 in this way, for example, during the movement of the fixed refractory 1 to the loading place 5 by the loading robot 3, slipping between the fixed refractory 1 and the gripping plate 11 or 12 occurs. Abnormality can be detected when the fixed refractory 1 tilts due to the occurrence of the abnormality. In this case, it is possible to once open the standard refractory 1 at an appropriate place and then re-grip it. Alternatively, the opened standard refractory 1 can be manually placed on the conveyor 2 and the gripping operation can be performed again.

(Fourth embodiment)
Next, a fourth embodiment of the fixed refractory gripping device for a coke oven of the present invention will be described. In the present embodiment, the fixed refractory gripping device for a coke oven further includes a side detection sensor, a gripping detection unit, and a relative position detection unit. Unless otherwise specified, the device structure is the same as in the first to third embodiments, and the same reference numerals are given to common members.

  FIG. 9 is a schematic diagram illustrating a structure of the fixed refractory gripping device according to the present embodiment as viewed from the front. The side detection sensor 24 passes through the gripping plate 11 so as to pass through each of the parallel gripping portion 11a and the inclined gripping portion 11b, and the gripping plate 12 passes through each of the parallel gripping portion 12a and the tilting gripping portion 12b. Side detection sensors 25 are provided respectively. The attachment position of the side detection sensors 24 and 25 is the horizontal center of the gripping plates 11 and 12. Further, the side surface detection sensors 24 and 25 are both contact type displacement sensors similar to the upper surface detection sensors 22 and 23, and when the tip contactor is pressed in contact with the fixed refractory 1, the pressing amount (displacement) ) Is output.

  Next, the stacking operation of the fixed refractory in this embodiment is demonstrated, referring FIG. 1, FIG. First, the standard refractory 1 is conveyed by the conveyor 2 and stops at the terminal end of the conveyor 2. Next, the loading robot 3 moves the fixed refractory gripping device 4 to a position directly above the fixed refractory 1 and grips the fixed refractory 1 with the fixed refractory gripping device 4.

  FIG. 10 is a schematic diagram showing a gripping operation by the fixed refractory gripping device 4 at that time. Here, the case where the fixed refractory 1 is gripped by the parallel gripping portions 11a-12a provided in the lower halves of the gripping plates 11, 12 will be described.

  First, by driving the arm of the stacking robot 3, the fixed refractory 1 can be gripped by the parallel gripping portions 11a-12a from the position directly above the fixed refractory 1 (FIG. 10A), and the inclined gripping portion 11b. The fixed refractory gripping device 4 is lowered to a height at which −12b does not interfere with the fixed refractory 1 (FIG. 10B). Next, the holding plate 11 is brought into contact with one side surface of the standard refractory 1 by the operation of the arm (FIG. 10C). At this time, whether or not the gripping plate 11 has contacted the fixed refractory 1 can be detected based on the amount of pressing of the side surface detection sensor 24 provided in the parallel gripping portion 11 a of the gripping plate 11. Up to this point, the grip plates 11 and 12 of the standard refractory gripping device 4 are in an open state, i.e., separated from each other.

  Next, the air cylinder 15 is driven to move the gripping plate 12 toward the fixed refractory 1, and the side surfaces of the fixed refractory 1 are sandwiched by the parallel gripping portions 11a-12a of the gripping plates 11 and 12 (FIG. 10 ( d)). At this time, whether or not the gripping plate 12 is in contact with the fixed refractory can be detected based on the pressing amount of the side surface detection sensor 25 provided in the parallel gripping portion 12a of the gripping plate 12. If it can be determined that the gripping of the fixed refractory 1 has been completed based on the pressing amounts of the side surface detection sensors 24 and 25, the arm is driven to lift the fixed refractory 1 (FIG. 10E).

  Moreover, when holding the fixed refractory 1 as described above, a rubber plate (not shown) may be deformed. Therefore, if the pushing amount (displacement) in a state where the front ends of the side surface detection sensors 24 and 25 are on the contact surface in a state where the rubber plate is not deformed is measured in advance, the deformation of the rubber plate based on the value You can know the amount. And since the position of the side surface detection sensors 24 and 25 in the fixed refractory gripping device 4 is known, if the width dimension of the fixed refractory 1 is measured in advance, the fixed refractory gripping device 4 and the fixed refractory 1 Can be detected, and the standard refractory 1 can be accurately loaded based on the information.

DESCRIPTION OF SYMBOLS 1 Fixed refractory 1a, 1b Fixed refractory 2 Conveyor 3 Stacking robot 4 Fixed refractory gripping device 5 Stacking place 10 Base 11, 12 Grasping plate 11a, 12a Parallel gripping part 11b, 12b Inclined gripping part 13 Grasping plate support member 15 Air Cylinder 16 Slide mechanism 17 Ball screw 18 Motor 19 Copying mechanism 20 Vertical shafts 22, 23 Upper surface detection sensors 24, 25 Side surface detection sensors

Claims (6)

In order to hold the fixed refractory for the coke oven, equipped with a holding plate facing the horizontal direction with a gap,
The gripping plate is
A parallel gripping portion whose gripping faces are parallel to each other;
An inclined gripping portion that is inclined and opposed so that the distance between the gripping surfaces changes in the horizontal direction;
Have
The parallel gripping portion and the inclined gripping portion have a structure arranged in a vertical direction.
Fixed refractory gripping device for coke ovens. A plurality of upper surface detection sensors for detecting the upper surface of the fixed refractory for the coke oven;
The fixed refractory gripping device for a coke oven according to claim 1, further comprising an inclination detecting means for detecting an inclination of the fixed refractory for the coke oven based on detection results by the plurality of upper surface detection sensors. A side detection sensor that detects contact with a fixed refractory for a coke oven, provided on one or both of the opposing gripping plates,
Based on the detection result by the side detection sensor, grip detection means for detecting the grip of the fixed refractory for the coke oven is completed,
The relative position detection means which detects the relative position of the said fixed refractory material for coke ovens and the fixed refractory material for coke ovens based on the detection result by the said side surface detection sensor is further provided. A fixed refractory gripping device for a coke oven as described in 1.   A fixed refractory gripping method for a coke oven, wherein the fixed refractory for a coke oven is gripped by using the fixed refractory gripping device for a coke oven according to any one of claims 1 to 3. A fixed refractory gripping method for a coke oven, wherein the fixed refractory for a coke oven is gripped using the fixed refractory gripping device for a coke oven according to claim 2,
A coke oven fixed refractory gripping method for checking whether or not the coke oven fixed refractory is gripped horizontally by the tilt detection means. A fixed refractory gripping method for a coke oven that grips a fixed refractory for a coke oven using the fixed refractory gripping device for a coke oven according to claim 3,
A method for holding a fixed refractory for a coke oven, wherein the holding detection unit confirms whether or not the holding of the fixed refractory for a coke oven is completed.

Images