JP6763446B2 - Standard refractory gripping device for coke oven and standard refractory gripping method for coke oven - Google Patents

Description

The present invention relates to a standard refractory gripping device for a coke oven, and more particularly to a standard refractory gripping device for a coke oven capable of reliably holding a standard refractory for a coke oven of various shapes with one device. The present invention also relates to a method for gripping a standard refractory for a coke oven using the standard refractory gripping device for a coke oven.

Metallurgical coke used in steelmaking is produced by carbonizing coal in a chamber-type coke oven. The chamber-type coke oven is configured by alternately arranging carbonization chambers and combustion chambers that supply heat to the carbonization chambers in the furnace width direction, such as a refractory brick that separates the carbonization chambers from the combustion chambers. Heat is supplied from the combustion chamber to the carbonization chamber via a standard fireproof material. Some chamber-type coke ovens are equipped with more than 100 furnace chambers, and can be said to be a huge brick structure with a total length of 100 m or more and a height of 10 m or more.

The coke oven is currently being built by hand by a furnace builder. In the manual construction of a furnace, it is necessary to apply mortar to the position where bricks are to be piled up to a predetermined joint thickness, and then pile up the bricks on the mortar several hundred times a day. There is. However, since each standard refractory used in a coke oven weighs several kilograms to a dozen kilograms, it is extremely hard work for workers to manually load the refractories. It will be a considerable load.

Therefore, in order to mechanize the furnace construction work, it is conceivable to attach a robot hand that grips a standard refractory to the tip of the arm of a general-purpose robot, and load the standard refractory by the robot.

Conventionally, in a general application, as a robot hand for gripping an object, two or three gripping members such as a chuck (air chuck) operated by air drive are used, and the gripping member sandwiches and lifts the object. Devices and the like are known.

Further, as a device for gripping and handling a standard refractory by a robot, for example, there are devices described in Patent Documents 1 and 2.

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

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

Japanese Unexamined Patent Publication No. 10-204518 Japanese Unexamined Patent Publication No. 05-229651

It is considered that if a device as described in Patent Documents 1 and 2 is used, a standard refractory material used in a converter or a hot air furnace can be grasped and handled by a robot.

However, the standard refractories used in converters and hot air furnaces are relatively simple and have almost the same shape, so they can be gripped with ordinary gripping devices, but the standard refractories used in coke ovens. Since has a complicated structure, it cannot be stably gripped by a normal gripping device.

For example, the bricks used in Patent Document 2 are checkered 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 various shapes of standard refractories depending on the position, each standard refractory has a rectangular, trapezoidal, or trapezoidal shape when viewed from above. It has a complicated shape such as an L shape. Further, the side surface and the upper and lower surfaces of the standard refractory for a coke oven are provided with unevenness called a dowel to prevent displacement.

In addition, extremely high accuracy is required for the standard refractory structure of the coke oven. For example, the wall surface of the combustion chamber is required to have high smoothness such that the unevenness is 1 mm or less. In order to load a standard refractory with such high accuracy, a robot that handles the standard refractory and its gripping mechanism are also required to have extremely high accuracy.

As described above, in order to accurately grip a standard refractory for a coke oven having a complicated and various shapes with a conventional gripping device such as an air chuck, a robot equipped with a plurality of gripping devices is prepared and standardized. It is conceivable to use different gripping devices depending on the shape of the refractory, but it is not realistic because the size and weight become too large. Further, it is conceivable that a plurality of gripping devices are prepared like a tool changer and the robot changes the gripping device according to the shape of a standard refractory, but it takes time to switch the gripping device, so that the work efficiency Will be low.

The present invention has been made in view of the above circumstances, and is a standard refractory gripping device for a coke oven, which can reliably hold a standard refractory for a coke oven having a complicated and various shapes, and a standard refractory gripping device for a coke oven. An object of the present invention is to provide a standard refractory gripping method for a coke oven.

The gist structure of the present invention is as follows.
1. 1. A standard refractory gripping device for a coke oven, provided with an opposing gripping plate for gripping a standard refractory for a coke oven.
Further, a slide mechanism that slides one of the opposing grip plates in a direction parallel to the grip surface of the grip plate, and one of the opposed grip plates according to the inclination of the side surface of the gripped standard refractory for a coke oven. A standard refractory gripping device for coke ovens, equipped with either a copying mechanism that tilts one around a vertical axis.

2. 2. A plurality of top surface detection sensors that detect the top surface of the standard refractory for coke ovens,
The standard refractory gripping device for a coke oven, further comprising an inclination detecting means for detecting the inclination of the standard refractory for a coke oven based on the detection results of the plurality of top surface detection sensors.

3. 3. A side detection sensor provided on one or both of the opposing grip plates to detect contact with a standard refractory for a coke oven, and
Based on the detection result by the side surface detection sensor, the gripping detection means for detecting that the gripping of the standard refractory for the coke oven is completed, and
The above 1 or 2 further includes a relative position detecting means for detecting the relative position between the standard refractory gripping device for a coke oven and the standard refractory for a coke oven based on the detection result by the side surface detection sensor. The standard refractory gripping device for coke ovens described.

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

5. A standard refractory gripping method for a coke oven, wherein the standard refractory gripping device for a coke oven is used to grip the standard refractory for a coke oven.
A method for gripping a standard refractory for a coke oven, which confirms whether or not the standard refractory for a coke oven is horizontally gripped by the inclination detecting means.

6. A method for gripping a standard refractory for a coke oven, wherein the standard refractory for a coke oven is gripped by using the standard refractory gripping device for a coke oven according to the above 3.
A method for gripping a standard refractory for a coke oven, which confirms whether or not the grip for the standard refractory for a coke oven is completed by the grip detecting means.

In addition, the gist structure of another embodiment of the present invention is as follows.
1. 1. Opposing grip plates for gripping standard refractories for coke ovens,
A slide mechanism that slides one of the opposing grip plates in a direction parallel to the grip surface of the grip plate.
A standard refractory gripping device for a coke oven, comprising a copying mechanism that tilts the other of the opposing grip plates around a vertical axis in accordance with the inclination of the side surface of the gripped standard refractory for a coke oven.

2. 2. A plurality of top surface detection sensors that detect the top surface of the standard refractory for coke ovens,
The standard refractory gripping device for a coke oven, further comprising an inclination detecting means for detecting the inclination of the standard refractory for a coke oven based on the detection results of the plurality of top surface detection sensors.

3. 3. A side detection sensor provided on one or both of the opposing grip plates to detect contact with a standard refractory for a coke oven, and
Based on the detection result by the side surface detection sensor, the gripping detection means for detecting that the gripping of the standard refractory for the coke oven is completed, and
1. The standard refractory gripping device for coke ovens described.

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

5. A standard refractory gripping method for a coke oven, wherein the standard refractory gripping device for a coke oven is used to grip the standard refractory for a coke oven.
A method for gripping a standard refractory for a coke oven, which confirms whether or not the standard refractory for a coke oven is horizontally gripped by the inclination detecting means.

6. A method for gripping a standard refractory for a coke oven, wherein the standard refractory for a coke oven is gripped by using the standard refractory gripping device for a coke oven according to the above 3.
A method for gripping a standard refractory for a coke oven, which confirms whether or not the grip for the standard refractory for a coke oven is completed by the grip detecting means.

According to the present invention, a standard refractory for a coke oven having a complicated and various shapes can be reliably held by one device. Further, by using the robot provided with the standard refractory gripping device for a coke oven of the present invention, the standard refractory for a coke oven can be loaded with high accuracy and efficiency.

It is a schematic diagram which shows the use method of the standard refractory gripping apparatus in 1st Embodiment of this invention. It is a perspective view which shows the structure of the standard refractory gripping apparatus in 1st Embodiment of this invention. It is a schematic diagram which shows the example of the holding state of the standard refractory by the standard refractory gripping device in the 1st Embodiment of this invention. It is a schematic diagram which shows the structure which looked at the structure of the standard refractory gripping device in the 2nd Embodiment of this invention from the side view. It is a schematic diagram which shows the inclination detection method in the 3rd Embodiment of this invention. It is a schematic diagram which shows the structure which looked at the structure of the standard refractory gripping device in 3rd Embodiment of this invention from the front. It is a schematic diagram which shows the gripping operation in the 3rd Embodiment of this invention.

Next, the method of carrying out the present invention will be specifically described. The standard refractory gripping device for a coke oven according to an embodiment of the present invention includes the following (1) to (3):
(1) Opposing grip plates for gripping standard refractories for coke ovens,
(2) A slide mechanism that slides one of the opposing grip plates in a direction parallel to the grip surface of the grip plate, and (3) a standard refractory material for a coke oven that grips the other of the opposing grip plates. A copying mechanism that tilts around the vertical axis according to the inclination of the side surface.

[Standard refractory for coke oven]
The standard refractory for a coke oven (hereinafter, may also be referred to as "standard refractory") is not particularly limited, and any standard refractory such as bricks and precast blocks used for a coke oven can be used. Can be used. Above all, it is preferable to use a normal standard refractory material used when constructing a coke oven by hand. By using a normal standard refractory, it is possible to design the same furnace as before even when the furnace is built by the method of the present invention, and as a result, at least the same performance as the conventional one is guaranteed. It becomes possible to do. In addition, when a large module brick is used, if a crack is formed, the crack may spread over the entire module, but if a normal standard refractory is used, it is assumed that the standard refractory is cracked. However, the propagation of the crack can be stopped within one standard refractory. The ordinary standard refractory referred to here refers to all standard refractories for hand-loading, which are not modular bricks, but the dimensions are generally 10 to 15 cm in height and length in the horizontal direction. Is 20-40 cm.

[Grip plate]
The standard refractory gripping device for a coke oven of the present invention includes facing grip plates for sandwiching and holding 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 from the viewpoint of simplifying the structure of the gripping device, one pair is preferable.

The material, size, shape, etc. of the grip plate are not particularly limited, and any material that can grip a standard refractory can be used.

As the grip plate, it is preferable to use a metal plate from the viewpoint of strength and rigidity. Further, the grip plate is provided with an elastic material such as rubber or elastomer or a contact member made of resin on the contact surface with the standard refractory from the viewpoint of improving the frictional force against the standard refractory and preventing damage to the standard refractory. It is preferable to have.

Any mechanism can be used for gripping the standard refractory by the grip plate as long as the standard refractory can be appropriately held and opened. For example, it is possible to make a parallel opening / closing 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. It can also be a fulcrum opening / closing type. The drive method of the grip plate is not particularly limited, and any method such as an air cylinder or an electric motor can be used.

[Slide mechanism]
The standard refractory gripping device for a coke oven of the present invention includes a slide mechanism that slides one of the opposing grip plates in a direction parallel to the grip surface of the grip plate. By providing the slide mechanism, the position of the grip plate can be adjusted according to the shape of the standard refractory, and the standard refractory can be handled stably. The direction in which the grip plate is slid is not particularly limited as long as it is parallel to the grip surface of the grip plate, but when a general refractory material for a coke oven is used, it is preferably in the horizontal direction. The drive method of the slide mechanism is not particularly limited and may be any method, but it is preferable to use electric power from the viewpoint of controlling the sliding position.

[Imitation mechanism]
The standard refractory gripping device for a coke oven of the present invention includes a copying mechanism that tilts the other of the opposing grip plates around a vertical axis in accordance with the inclination of the side surface of the gripped standard refractory for a coke oven. The standard refractories used in coke ovens include not only rectangular refractories when viewed from above, but also trapezoidal shapes with one or both sides inclined. Therefore, by providing the copying mechanism, the angle of the grip plate can be adjusted to the inclination of the side surface of the standard refractory, and the standard refractory can be stably held.

The copying mechanism may be a mechanism in which the grip plate is tilted by a motor or the like to copy, but from the viewpoint of simplifying the device structure, the grip plate is rotatably held around the vertical axis. It is preferable that the mechanism is such that the grip plate is imitated by bringing the side surface of the standard refractory into contact with the grip plate.

Further, the standard refractory gripping device for a coke oven according to another embodiment of the present invention is based on a plurality of top surface detection sensors for detecting the upper surface of the standard refractory for a coke oven and detection results by the plurality of top surface detection sensors. Further, an inclination detecting means for detecting the inclination of the standard refractory for a coke oven can be provided.

[Top surface detection sensor]
The top surface detection sensor is for detecting the top surface of a standard refractory material. The number of the top surface detection sensors can be any number of 2 or more. By setting the number of sensors to 2 or more, it is possible to detect the inclination of a standard refractory based on the detection result. When the number of sensors is 2, the inclination in the uniaxial direction can be detected, but when the number of sensors is 3, the inclination in the biaxial direction can be detected. Therefore, the number of sensors is preferably three.

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

The mounting position of the top surface detection sensor is not particularly limited, and any position can be used as long as it can detect the top surface of the standard refractory. From the viewpoint of accurately detecting the inclination of the standard refractory, it is preferable to install at least two sensors at a position separated by 5 cm or more. When three sensors are used, it is preferable to install the sensors at positions that are not in the same linear shape. By using three sensors that are not in the same linear shape, it is possible to easily detect the inclination in the biaxial direction.

[Inclination detecting means]
The inclination detecting means is for detecting the inclination of the standard refractory for a coke oven based on the detection results of the plurality of top surface detection sensors. The tilt detecting means is not particularly limited as long as it can detect the tilt based on the signal of the sensor, and 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 may be provided adjacent to the top surface detection sensor or may be provided at a position away from the top surface detection sensor. When the standard refractory gripping device for a coke oven of the present invention is attached to the tip of a robot arm and used, the inclination detecting means can be provided in the robot main body, and the control means of the robot can detect the inclination. It can also be a structure that also serves as a means.

Further, the standard refractory gripping device for a coke oven according to another embodiment of the present invention has a side surface for detecting contact with a standard refractory for a coke oven provided on either or both of the opposing grip plates. Based on the detection sensor and the detection result by the side surface detection sensor, the grip detection means for detecting that the gripping of the standard refractory for the coke oven is completed, and the coke oven based on the detection result by the side surface detection sensor. A relative position detecting means for detecting the relative position between the standard refractory gripping device and the standard refractory for coke oven can be further provided.

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

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

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

The position where the grip detection means is installed is not particularly limited, and it may be provided adjacent to the side surface detection sensor or at a position away from the side surface detection sensor. When the standard refractory gripping device for a coke oven of the present invention is used by attaching it to the tip of a robot arm, the gripping detecting means can be provided in the robot main body, and the control means of the robot can detect the gripping. It can also be a structure that also serves as a means.

[Relative position detection means]
The relative position detecting means is for detecting the relative position between the standard refractory gripping device for a coke oven and the standard refractory for a coke oven based on the detection result by the side surface 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 bends or sinks by gripping the standard refractory with the grip plate. It may be deformed, such as being crowded. 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, and for that purpose, 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 standard refractory with respect to the position of the robot shifts, so that the position where the standard refractory is loaded may shift as it is. Therefore, if the relative position between the gripping device and the standard refractory for the coke oven is detected by the position detecting means, it is possible to correct the error due to the deformation of the member as described above based on the information, and the standard refractory can be corrected. The accuracy of stacking can be improved.

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

[robot]
The standard 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 which is a kind of industrial robot, and more preferably to use a vertical articulated robot.

(First Embodiment)
Next, the method of carrying out the present invention will be described in more detail with reference to the drawings.
FIG. 1 is a schematic view showing how to use the standard refractory gripping device according to the first embodiment of the present invention. The standard refractory 1 is conveyed 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 standard refractory gripping device 4 is attached to the tip of the arm. The stacking robot 3 grips the standard refractory material 1 conveyed to the end of the conveyor 2 with the standard refractory material gripping device 4, and stacks the standard refractory material 1 at a predetermined position at the stacking place 5.

FIG. 2 is a perspective view showing the structure of the standard refractory gripping device 4. The standard refractory gripping device 4 includes a pair of plate-shaped gripping plates 11 and 12 supported by the base 10. Rubber plates 13 and 14 are attached to the surfaces of the grip plates 11 and 12 that come into contact with the standard refractory 1 as contact members for improving the holding force. The grip plate 12 can be moved in the direction of arrow A by the air cylinder 15, whereby a standard refractory can be gripped.

The grip plate 11 is configured to be slidable by the slide mechanism 16 in the direction of arrow B, that is, in the direction parallel to the grip surface of the grip plate 11. The slide mechanism 16 includes a ball screw 17 and a motor 18. Further, the grip plate 12 has a structure supported by the base 10 via the copying mechanism 19, and the grip plate 12 is rotatably attached in the direction of the arrow C about the vertical axis 20 of the copying mechanism 19. Has been done. As a result, the grip plate 12 can be tilted around the vertical axis 20 in accordance with the tilt of the side surface of the gripped standard refractory.

FIG. 3 is a schematic view showing an example of a gripping state of the standard refractory 1 by the standard refractory gripping device 4 in the present embodiment, and FIGS. 3 (a) to 3 (c) show the standard refractory 1a having different shapes. The gripping state seen from above 1b and 1c is shown. The vertical surfaces of the standard refractories 1a, 1b, and 1c in FIG. 3 are surfaces that are joined to other standard refractories, and this surface cannot be gripped. Therefore, the gripping plates 11 and 12 grip the surfaces in the left-right direction in FIG.

FIG. 3A is a diagram showing a case where a standard refractory 1a having a rectangular shape as viewed from the upper surface is gripped. In this case, in order to perform stable gripping, it is preferable to grip in a state where the center line of the standard refractory 1a and the center lines of the grip plates 11 and 12 coincide with each other, as shown by lines in the drawing.

FIG. 3B is a diagram showing a case where the standard refractory 1b is gripped, in which the shape seen from the upper surface is trapezoidal and one of the side surfaces to be gripped is inclined. In this case, the side that is inclined (tapered) is held by the grip plate 12 that can be inclined by the copying mechanism 19. For example, first, the arm of the stacking robot 3 is moved to bring the grip plate 11 into contact with the side surface of the standard refractory 1b, and then the grip plate 12 is moved in the direction of the standard refractory 1b by the air cylinder 15. Since the grip plate 12 is rotatable around the vertical axis 20, when it comes into contact with the side surface of the standard refractory 1b, it automatically follows the inclination and can be properly gripped as shown in FIG. 3 (b). it can. At this time, as shown by a line in the drawing, it is preferable to adjust the position of the grip plate so that the center line of the standard refractory 1b and the center lines of the grip plates 11 and 12 can be gripped in the same state. When both sides of the standard refractory are inclined, the stacking robot 3 or its arm is moved in advance so that the grip plate 11 is parallel to one side of the standard refractory. , It is possible to perform gripping in the same way.

FIG. 3C is a diagram showing a case where a standard refractory 1c having a more complicated shape is gripped. In the case of such a shape, it is not possible to grip in a state where the center line of the standard refractory 1c and the center lines of the grip plates 11 and 12 coincide with each other. In this case, the grip plate 11 is slid by the slide mechanism 16 to adjust the position. Specifically, the grip plate 11 is offset downward in FIG. As a result, the relative positions of the grip plates 11 and 12 can be adjusted so that a flat and suitable portion of the side surface of the standard refractory 1c can be gripped.

(Second embodiment)
Next, a second embodiment of the standard refractory gripping device for a coke oven of the present invention will be described. In the present embodiment, the standard refractory gripping device for a coke oven further includes a top surface detection sensor and an inclination detecting means. Unless otherwise specified, the device structure is the same as that of the first embodiment, and common members are assigned the same number.

FIG. 4 is a schematic view showing a structure of the standard refractory gripping device 4 according to the present embodiment as viewed from the side surface. The grip plate 11 is supported by the base 10 via a grip plate support member 21, and the grip plate support member 21 is configured to be slidable in the left-right direction in FIG. 4 by a slide mechanism 16 (not shown).

The base 10 is provided with top surface detection sensors 22 and 23 for detecting the top surface of a standard refractory. In this embodiment, contact type displacement sensors are used as the top surface detection sensors 22 and 23, and when the contactor at the tip of the sensor comes into contact with a standard refractory and is pushed in, the pushing amount (displacement) is output. The top surface detection sensors 22 and 23 are installed so that their vertical positions (heights) are equal.

FIG. 5 is a schematic view showing the inclination detection method in the present embodiment. While holding the standard refractory 1, measure the pushing amount of both the top surface detection sensors 22 and 23, and if they are equal, it is determined that the upper surface of the standard refractory 1 is horizontal as shown in FIG. 5 (a). it can. Further, as shown in FIG. 5B, if the upper surface of the standard refractory 1 is not horizontal, the pushing amounts of the upper surface detection sensors 22 and 23 are different, so that this can be detected. This detection operation can be performed by an inclination detecting means (not shown).

By detecting the inclination of the standard refractory 1 in this way, for example, while the standard refractory 1 is being moved to the stacking place 5 by the stacking robot 3, the standard refractory 1 and the grip plate 11 or 12 slip. When the standard refractory 1 is tilted due to occurrence, an abnormality can be detected. In that case, the standard refractory 1 can be opened once at an appropriate place and then re-grasped. Further, the opened standard refractory 1 can be manually repositioned on the conveyor 2 and the gripping operation can be performed again.

(Third embodiment)
Next, a third embodiment of the standard refractory gripping device for a coke oven of the present invention will be described. In the present embodiment, the standard refractory gripping device for a coke oven further includes a side surface detecting sensor, a gripping detecting means, and a relative position detecting means. Unless otherwise specified, the device structure shall be the same as that of the first embodiment and the second embodiment, and the common members shall be numbered the same.

FIG. 6 is a schematic view showing a structure of the standard refractory gripping device according to the present embodiment as viewed from the front. The grip plate 11 has a side surface detection sensor 24 so as to penetrate the grip plate 11 and the rubber plate 13, and the grip plate 12 has a side surface detection sensor 25 penetrating the grip plate 12 and the rubber plate 14. It is provided. The side surface detection sensors 24 and 25 are all contact-type displacement sensors similar to the top surface detection sensors 22 and 23, and when the contactor at the tip comes into contact with the standard refractory and is pushed in, the pushing amount (displacement) is reduced. It is configured to output.

Next, the operation of stacking the standard refractories in the present embodiment will be described with reference to FIGS. 2 and 7. First, the standard refractory 1 is conveyed by the conveyor 2 and stops at the end of the conveyor 2. Next, the stacking robot 3 moves the standard refractory gripping device 4 to just above the standard refractory 1, and grips the standard refractory 1 by the standard refractory gripping device 4.

FIG. 7 is a schematic view showing a gripping operation by the standard refractory gripping device 4 at that time. First, by driving the arm of the stacking robot 3, the standard refractory is from the position directly above the standard refractory 1 (FIG. 7 (a)) to the height at which the standard refractory 1 can be gripped (FIG. 7 (b)). The object gripping device 4 is lowered. Next, the grip plate 11 is brought into contact with one side surface of the standard refractory 1 by the operation of the arm (FIG. 7 (c)). At this time, whether or not the grip plate 11 has come into contact with the standard refractory 1 can be detected based on the pushing amount of the side surface detection sensor 24 provided on the grip plate 11. Up to this point, the grip plates 11 and 12 of the standard refractory gripping device 4 are in an open state, that is, in a state of being separated from each other.

Next, the air cylinder 15 is driven to move the grip plate 12 toward the standard refractory object 1, and the standard refractory object 1 is sandwiched between the grip plates 11 and 12 (FIG. 7 (d)). At this time, whether or not the grip plate 12 has come into contact with the standard refractory can be detected based on the pushing amount of the side surface detection sensor 25 provided on the grip plate 12. If it can be determined that the gripping of the standard refractory 1 is completed based on the pushing amount of the side detection sensors 24 and 25, the arm is driven to lift the standard refractory 1 (FIG. 7 (e)).

Further, when the standard refractory 1 is gripped as described above, the rubber plates 13 and 14 may be deformed. Therefore, if the pushing amount (displacement) in the state where the tips of the side surface detection sensors 24 and 25 are on the contact surface in the state where the rubber plates 13 and 14 are not deformed is measured in advance, the rubber is based on that value. The amount of deformation of the plates 13 and 14 can be known. Since the positions of the side surface detection sensors 24 and 25 in the standard refractory gripping device 4 are known, if the width dimension of the standard refractory 1 is measured in advance, the standard refractory gripping device 4 and the standard refractory 1 can be obtained. The relative position of the standard refractory can be detected, and the standard refractory 1 can be accurately loaded based on the information.

1 Standard refractory 1a, 1b, 1c Standard refractory 2 Conveyor 3 Stacking robot 4 Standard refractory gripping device 5 Loading location 10 Base 11, 12 Gripping plate 13, 14 Rubber plate (contact member)
15 Air cylinder 16 Slide mechanism 17 Ball screw 18 Motor 19 Copying mechanism 20 Vertical axis 21 Grip plate support member 22, 23 Top surface detection sensor 24, 25 Side detection sensor

Claims (6)

A standard refractory gripping device for a coke oven, provided with an opposing gripping plate for gripping a standard refractory for a coke oven.
The standard refractory gripping device for coke ovens is attached to the tip of the robot arm.
Further, a slide mechanism that slides one of the opposing grip plates in a direction parallel to the grip surface of the grip plate, and one of the opposed grip plates according to the inclination of the side surface of the gripped standard refractory for a coke oven. A standard refractory gripping device for coke ovens equipped with a copying mechanism that tilts one around the vertical axis. A plurality of top surface detection sensors that detect the top surface of the standard refractory for coke ovens,
The standard refractory gripping device for a coke oven according to claim 1, further comprising an inclination detecting means for detecting the inclination of the standard refractory for a coke oven based on the detection results of the plurality of top surface detection sensors. A side detection sensor provided on one or both of the opposing grip plates to detect contact with a standard refractory for a coke oven, and
Based on the detection result by the side surface detection sensor, the gripping detection means for detecting that the gripping of the standard refractory for the coke oven is completed, and
Claim 1 or 2 further comprises a relative position detecting means for detecting the relative position between the standard refractory gripping device for a coke oven and the standard refractory for a coke oven based on the detection result by the side surface detection sensor. The standard refractory gripping device for coke ovens described in 1. A method for gripping a standard refractory for a coke oven, wherein the standard refractory for a coke oven is gripped by using the standard refractory gripping device for a coke oven according to any one of claims 1 to 3. A method for gripping a standard refractory for a coke oven, wherein the standard refractory for a coke oven is gripped by using the standard refractory gripping device for a coke oven according to claim 2.
A method for gripping a standard refractory for a coke oven, which confirms whether or not the standard refractory for a coke oven is horizontally gripped by the inclination detecting means. A method for gripping a standard refractory for a coke oven by using the standard refractory gripping device for a coke oven according to claim 3.
A method for gripping a standard refractory for a coke oven, which confirms whether or not the grip for the standard refractory for a coke oven is completed by the grip detecting means.

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