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WO2010049161A2 - Installation métallurgique robotisée - Google Patents

Installation métallurgique robotisée Download PDF

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Publication number
WO2010049161A2
WO2010049161A2 PCT/EP2009/007762 EP2009007762W WO2010049161A2 WO 2010049161 A2 WO2010049161 A2 WO 2010049161A2 EP 2009007762 W EP2009007762 W EP 2009007762W WO 2010049161 A2 WO2010049161 A2 WO 2010049161A2
Authority
WO
WIPO (PCT)
Prior art keywords
robot
industrial robot
metallurgical plant
industrial
area
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2009/007762
Other languages
German (de)
English (en)
Other versions
WO2010049161A3 (fr
Inventor
Christian Plociennik
Hans-Wilhelm Schöck
Mark Moors
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SMS Siemag AG
Original Assignee
SMS Siemag AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SMS Siemag AG filed Critical SMS Siemag AG
Publication of WO2010049161A2 publication Critical patent/WO2010049161A2/fr
Publication of WO2010049161A3 publication Critical patent/WO2010049161A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
    • B22D11/14—Plants for continuous casting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D33/00—Equipment for handling moulds
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
    • B22D41/02—Linings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
    • B22D41/14—Closures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
    • B22D41/14—Closures
    • B22D41/22—Closures sliding-gate type, i.e. having a fixed plate and a movable plate in sliding contact with each other for selective registry of their openings
    • B22D41/28—Plates therefor
    • B22D41/30—Manufacturing or repairing thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
    • B22D41/50—Pouring-nozzles
    • B22D41/52—Manufacturing or repairing thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21C—PROCESSING OF PIG-IRON, e.g. REFINING, MANUFACTURE OF WROUGHT-IRON OR STEEL; TREATMENT IN MOLTEN STATE OF FERROUS ALLOYS
    • C21C5/00—Manufacture of carbon-steel, e.g. plain mild steel, medium carbon steel or cast steel or stainless steel
    • C21C5/28—Manufacture of steel in the converter
    • C21C5/285—Plants therefor
    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21C—PROCESSING OF PIG-IRON, e.g. REFINING, MANUFACTURE OF WROUGHT-IRON OR STEEL; TREATMENT IN MOLTEN STATE OF FERROUS ALLOYS
    • C21C5/00—Manufacture of carbon-steel, e.g. plain mild steel, medium carbon steel or cast steel or stainless steel
    • C21C5/52—Manufacture of steel in electric furnaces
    • C21C5/5294—General arrangement or layout of the electric melt shop
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P10/00—Technologies related to metal processing
    • Y02P10/20—Recycling

Definitions

  • the invention is directed to a metallurgical plant comprising a metallurgical plant operating area having a hot and / or hazardous area with at least one metallurgical plant operating facility and one industrial robot assigned to the at least one metallurgical plant operating facility.
  • reaction distortions take place in used metallurgical reaction and transport vessels, in which sudden chemical reactions occur in converters, furnaces or pans, which can lead to slag, pig iron or steel ejection.
  • the invention has for its object to provide a solution that makes it possible to make the work areas in a metallurgical plant preferably safest and ergonomically cheaper preferably with the greatest possible automation of work processes.
  • this object is achieved in that the industrial robot performs in the context of metallurgical plant operation of at least one metallurgical plant associated work activities in the hot and / or danger area of metallurgical plant.
  • the at least one steel mill operating device is equipped with at least one associated industrial activity, at least largely automated industrial robots, in particular multi-function robots, wherein the industrial robot is arranged such that during the metallurgical plant operation of emergency services / workers in connection with the work activities of the industrial robot manually to be performed activities, in particular Zuaille Stammen, outside the hot and / or danger area are feasible.
  • a human-robot interaction takes place such that the robot is arranged in the area of a metallurgical plant facility such that it can act with its working area both within the hot and / or danger area, and also out of the hot and / or danger area can reach out or pick out.
  • a human-robot interaction takes place such that the robot is arranged in the area of a metallurgical plant facility such that it can act with its working area both within the hot and / or danger area, and also out of the hot and / or danger area can reach out or pick out.
  • humans no longer carry out any work activities in the hot and / or hazardous area of the smelting plant operating facility, but are preferably completely active outside the hot and / or danger area, but in doing so enter into a work-related interaction relationship with the robot, for example by providing them with workpieces , Samples, plant parts, etc. accepts, appraises and / or edited. It is therefore no longer necessary, for example, for the robot located in the hot and / or danger area to be stopped and for this to be able to interrupt its work activities.
  • a worker or emergency services can then enter the work area of the industrial robot and thus also the hot and / or hazardous area of a metallurgical plant facility in order to carry out inspection activities or smaller work activities, before the industrial robot after the worker has left the work area again , continues in its preferably automated work activity.
  • a worker if desired, nevertheless enter the hot or danger area and there activities, such as inspection or inspection activities or control activities can also perform facilities of metallurgical plant.
  • This concept can be realized in all work areas of a metallurgical plant or a metallurgical plant operating area. But this also includes rolling mills and rolling mill operations and rolling mill operating areas, which are also classified and subsumed under the term of a metallurgical plant in the context of the present invention.
  • the invention provides that the metallurgical plant comprises the casting area of a steelworks having a metallurgical plant operating area in the form of a casting operating area with at least one of the pan inserting device on ladle tundish, ladle and ladle plant, distributor and distributor, mold and mold plant, outlet and finishing and / or Distributor workshop has.
  • the metallurgical plant comprises an electric steel plant which has a metallurgical plant operating area in the form of an electric steelworks melt operating area with at least one of the devices arc furnace or arc reduction furnace.
  • the arc melting furnace is arranged in the actual electric steelworks.
  • industrial robots can also be arranged at metallurgical plants, which include work areas in ferroalloy plants or non-ferrous metal smelting furnaces as well as facilities for carrying out reduction processes in which arc-reduction furnaces are used.
  • each of the metallurgical plant operating devices is equipped with at least one industrial robot, in particular multifunctional robot.
  • the range of industrial robots is limited, it may be expedient to achieve the above aim, ie to shift manual human work activities outside a hot and / or danger area, if the respective industrial robot another function robot is assigned in the function as a service robot so that the service robot can then be equipped by human task forces / workers and the service robot in turn works the actual industrial robot in its function as a working robot or action robot.
  • the invention is therefore further distinguished by the fact that at least one industrial robot is assigned a service robot.
  • the invention is characterized in an essential aspect thus by the fact that industrial robots, in particular multi-function robots, are used at the relevant workstations in the working area of a metallurgical plant facility of a metallurgical plant, which, by equipping with various tools and tool changing systems, performs a very wide variety of work at the respective sites of use perform or perform.
  • industrial robots equipped with the function of a working robot can operate further industrial robots that perform the function of a service robot.
  • the respective industrial robots can be equipped with a scalable degree of automation which differs depending on the application.
  • Scalability ranges from a robot that is almost completely human-controlled, to the one endpoint of scalable automation, to a robot that performs its tasks without any human control, as the other end of the automation scale.
  • the degree of mechanization / automation of a robot increases with increasing degree of automation, while at the same time reducing the human operating effort.
  • scalable automation stages are, for example, a tele robot, which is controlled as a pure telemanipulator by the emergency personnel / worker.
  • the next step is to combine the teleroboter, which performs teleoperations, with manual operations performed by a worker without any handling facilities.
  • a next step for example, is that a semi-automated assistance or work robot independently carries out subtasks and, in interaction with this, carries out manual work steps for the worker.
  • the next stage can then be carried out from the combination of work steps carried out by teleoperation with a telerobot with a partially automated operation by a robot, for example an assistance robot. work steps and with manual steps performed by the worker.
  • the robot is expediently designed so that it can perform both as (freely) programmable industrial robot semi-automated operations in its function as assistant or working robot, as well as in the pure telemanipulator mode can be switched as a telerobot.
  • the highest level is then the complete automation of the entire work activities occurring at a metallurgical plant facility, which have hitherto been carried out by a worker, for example.
  • Various robots can then work together fully automatically, so that an assistance or working robot in combination with a service robot performs work activities.
  • the respective industrial robot scalably with the respectively required "machine intelligence.”
  • the corresponding "machine intelligence” is determined by the sensory capabilities with which the particular robot, in particular industrial robot, is equipped. While an industrial robot with no sensory abilities as a “blind” robot remains limited to tasks that only exploit the power and lifting capacity of the robot, a robot with sensors and associated “machine intelligence” can handle significantly more and more complex work activities. However, an increase in “machine intelligence” is also associated with an increasingly complex control, but this is accompanied by the increased number of possible work activities and thus possible applications.
  • the next stage could be an industrial robot formed with a simple sensor, such as a photoelectric sensor, followed by a stage of an industrial robot with simple, external sensing sensory, under at least partial human control and handling
  • the next stage could be a robot with complex sensors, For example, a camera system that is able to perceive and assess the external environment and to act depending on the situation.
  • the highest level would then be a robot with a comprehensive, complex, superior to humans sensor technology such as an industrial robot with high-resolution cameras, such as thermal imaging cameras, equipped and processed the signals received in an associated evaluation and control unit.
  • this relates to so-called autonomous robots or cognitive robotic systems.
  • each robot is assigned one or more protection areas which are designed to be different in size, dimensioned and varying depending on the robot's work activity or the robot's work position.
  • This idea supports the basic concept of ergonomic and safe working in the field of a metallurgical plant at the individual metallurgical plant facilities.
  • Hot and / or hazardous area can be carried out, it can also be provided that the respective industrial robot is arranged movable in the area of the respective metallurgical plant facility, so that thereby the working area of the industrial robot can be made flexible and enlarged and the safe transfer of activities or workpieces or similar chem is ensured to the worker outside the hot and / or danger zone of the respective metallurgical plant facility.
  • a blast furnace smelter operating area that may be equipped with industrial robots is the range of pig iron processing equipment.
  • the invention therefore also provides that the pig iron treatment plant has a tailing station equipped with an industrial robot, in particular articulated robot, a desulfurization plant, wherein the industrial robot, in particular articulated robot, performs the work activities of the slagging, temperature measurement and / or sampling.
  • the industrial robot, in particular articulated robot is equipped with a scraper for ablation and / or a contact tube accommodating a temperature measuring probe or a sample probe or is exchangeable.
  • an articulated-arm robot is used at the Abschlackstand a desulfurization, which performs the functions of slagging, temperature measurement and sampling.
  • the special tool used here includes a scraper for the slagging and a contact tube for receiving the temperature measuring probe or the sample probe.
  • a small area of the slag layer is drawn off here before slag removal by means of the scraper, and the current bath level is determined by a measuring device and transmitted as 0 point to the robot controller.
  • the slag layer is detected and by the flexibility of the six freely programmable axes of the robot, as preferably all industrial robots used in the invention, a qualitative slagging of the cast iron ladle is possible.
  • the contact tube can be brought into function, which serves to accommodate the temperature or sample probe.
  • the subsequent process of the conversion of the pig iron to steel is controlled.
  • comparisons with conventional, conventional Abschlackvorraumen have shown that can be achieved by the uniformity of the movements of the industrial robot according to the invention, in particular multi-functional robot, and the accuracy of its positioning options savings in operating a steel mill equipped according to the invention in the range of more than one million euro per year.
  • the invention is characterized in that the converter system has a Sublanzenstrom equipped with an industrial robot, in particular articulated robot, the articulated robot the work activities of Aufsteckens and peeling from the probe, unpacking the melt sample from the probe, de.s slicing the probe and supplying a portion of the probe to an analyzer that performs temperature measurement and / or sampling.
  • a service robot is assigned to the respective industrial robot, in particular articulated robot, wherein the service robot associated with the industrial robot, in particular articulated robot for carrying out the attachment and removal of measuring probes, removes measuring probes from a reservoir and the working area of the associated industrial robot, in particular Articulated robot, feeds.
  • the probes can be automatically plugged by a robot on the contact tube of the sublance and deducted.
  • the control of the industrial robot may be designed such that in the case of faulty measuring probes they are removed again from the contact tube of the sublance and stored in a separate storage position, ie a specially provided container, in order to be able to reclaim it from the measuring probe manufacturer.
  • it is also possible to fill the time-consuming filling of probe storage magazines with a Fas- average of about 100 probes of different types can be optimized by placing different containers or storage magazines with probes of different types on the stage level of the industrial robot.
  • an industrial robot configured with the function of a service robot is additionally installed, which then undertakes the task of removing the corresponding probes from the storage containers and transporting or moving them into the working area of the working robot.
  • the storage magazines or conditions are delivered by the respective probe suppliers packed in a transport pallet and transported by means of Hubstabier on a respective work platform in the area of the service robot.
  • the service robot is equipped with a 3D camera with which it detects and recognizes the geometry and the position of the respective measuring probes as well as the type of probe. By means of a special gripper, the service robot then removes the probe from the storage magazine or container and brings it into the working area of the working robot.
  • the working robot can automatically unpack enamel samples from the respective measuring probe and, if appropriate, transfer them to a pneumatic tube system by means of which the sample is transported to the respective laboratory.
  • the probe drawn by the action or work robot from the sublance is placed in a separator in which the sample still in the probe is separated from the probe by a device equipped with two cutters and fed to a special sample ejector. Thereafter, the ejected sample is transported by means of the pneumatic tube system in a laboratory and analyzed there.
  • the working robot guides the probe with the cut surface of the severed sample under an analyzer, in particular a laser analyzer. As a result, the analysis of the chemical composition is then established in a very short time.
  • the invention provides that the converter system has a Blaslanzen availabilitysstrom equipped with an industrial robot, in particular articulated robot, in particular a BDCbrennstand, wherein the industrial robot, in particular articulated robot performs the work activities of Abires caking on the lance. Due to the extreme conditions in the reaction space of a converter, blow lances often form steel and / or slag caking on the lances. These caking reduce the heat dissipation of the lance and thus reduce their durability, so it is necessary to burn off this so-called bear. For these activities, so-called bear-burning stations are set up, which are now equipped according to the invention with an industrial robot that performs this work with the help of a special tool.
  • the lance tip of a lance is subject to heavy wear during the blowing process and must be replaced at regular intervals.
  • this industrial robot is again assigned a 3D camera, by means of which a contour measurement of the respectively detected lance tip associated with melting is carried out.
  • the invention provides that the converter installation has a converter lining installation equipped with an industrial robot, in particular articulated arm robot, the industrial robot, in particular a bent-arm robot performing at least one of handling the refractory bricks and / or a spraying manipulator, and / or performing the work of positioning the lining measuring measuring means and / or performing the non-contact measuring of the lining of the respective associated converter.
  • a robot solution is thus also provided for lining out converters. Due to the ever larger and heavier refractory bricks, it is not allowed from an ergonomic point of view and due to already existing professional association guidelines, to let the 50 kg heavy stones be handled by a worker / steelworker. This activity is now also an industrial robot. As a result, the bricking times are reduced by about 50% compared to the previous manual work, which significantly increases the availability of the converter for production and thus increases the productivity of the steel mill. Furthermore, for the non-contact measurement of refractory linings in metallurgical vessels such as converters or pans today laser measuring devices are used.
  • An industrial robot equipped with such a laser measuring device can advantageously bring this measuring device into position so that measurement can take place without shading of the measuring range even in the case of strong bear formation on the converter or the pan.
  • the measurement results determined by the laser measuring device allow a targeted, early repair of damaged areas and increase the service life of the refractory lining.
  • so-called injection manipulators can be used, which are shielded by suitable protective devices against the radiant heat and equipped with a robot control. Handling by workers / emergency services / steel workers in this hot area are therefore no longer necessary.
  • the invention is characterized in that the converter system with a industrial robot, in particular articulated ter, equipped with the industrial robot, in particular articulated robot performs the work activities of drilling and / or reinserting a replaceable tapping block and / or the operation of the Wechseins the Abstichschiebers.
  • a further important aspect with regard to the productivity of a blow-molder is the downtime caused by changing the tapping block on a converter.
  • these activities are now carried out by an industrial robot, which requires a much shorter time span than manual steelworkers.
  • the replaceable tapping block is drilled out by the industrial robot equipped with a special tool. After a tool change, the industrial robot picks up the prepared new tapping block and inserts it into the tapping. Replacing the converter tapping blocks in shorter time intervals results in more consistent tapping times and improved quality due to less scattering of the tapping stream when the tapping block is worn.
  • tapping slides can be used which, in cooperation with thermographic cameras, close the tapping channel as soon as slag is detected in the tapping channel.
  • the exchange of the tapping slides is in turn carried out by means of an industrial robot, wherein preferably, in particular, the same industrial robot, which also uses the tapping block, performs the change of the tapping slide (s).
  • the invention is also distinguished by the fact that the converter system has a slag retaining device equipped with an industrial robot, in particular articulated arm robot, wherein the Industrial robot, in particular articulated robot, in particular performs the work activities of feeding and holding the floating plug.
  • an industrial robot is also provided for the formation of the slag retention system of a converter operation, which has the necessary load and provides. Due to the increased accuracy and reproducibility of the work processes given by the use of the industrial robot, this results in substantial advantages over the systems hitherto used in the prior art.
  • additional measuring systems for example EMF (electromagnetic force), temperature and / or oxygen content measuring systems as well as sampling devices for slag and / or steel samples may be attached to this industrial robot.
  • the invention provides in an embodiment that the converter system has a flushing robot station equipped with an industrial robot, in particular articulated robot, wherein the industrial robot, in particular articulated robot, performs the work activities of the Wechseins the purging of a converter.
  • the flushing pits used for floor flushing in the converter floor are clogged with caking by caking, especially when the so-called slag-splashing method is used for converter maintenance, which results in a limited mixing of baths resulting from this Work area arranged industrial robots are changed.
  • the invention provides in an embodiment that the maintenance system has a pan equipped with an industrial robot, in particular articulated robot, wherein the industrial robot, in particular articulated robot, the work activities of removing the Pfannenabstichschiebers of the pan in the pan state and / or the change of the ladle purging pans of the ladle pan.
  • the so-called ladle level represents a workplace characterized by extreme heat stress, on which the pig iron or steel ladles used in the pan circulation are maintained.
  • the necessary work or repair work are carried out on pans held at working temperature.
  • Sliding gate valves are subject to higher wear than the ladle scavenger, but in both components a cyclical maintenance work and the replacement of these components is necessary.
  • the work on the tapping slide, which has hitherto been carried out in the hot zone, is now relocated from the hot zone of the ladle stand to a more distant slide workshop, which results in an ergonomic and occupational safety-related working environment for the employed workers / emergency services / steel workers.
  • An industrial robot removes the complete ladle tap from the ladle pan and places it on a conveyor that transports the ladle tap into the slide workshop.
  • the slider can cool, then possibly edited and prepared for the next campaign. Since inspections are regularly planned for a ladle circulation, no changes, in particular slowdowns, of the production operation are associated with the change of the complete ladle slitting unit which takes place in a very short time by the industrial robot.
  • the invention therefore provides, in a further embodiment, that the industrial robot, in particular articulated robot, equipped with a Pfannen Hughesstein- extraction tool and / or a Kernlochbohrer and / or a milling tool or interchangeable can be equipped.
  • the robot or other robot is also intended to handle the spout of the cup tapping pusher system. That this is also drilled out of the lining and then the cone formed in the lining is prepared with a milling tool for the reception of a new spout.
  • the invention provides that the maintenance facility has a pan service station equipped with an industrial robot, in particular articulated arm robot, wherein the industrial robot, in particular articulated arm robot, carries out the work activities of lining one or more pans positioned in the pan service station.
  • the pig iron / steel ladles used for transporting the melt must be re-delivered on a regular basis. This is done on so-called pan delivery stands, which are characterized by cramped space conditions and a heavy dust load.
  • multifunctional robots are used at this point, which enable the lining of different pans at different positions / locations in the ladle delivery position, wherein these industrial robots, in particular multi-function robots, can be equipped with special tools.
  • the invention is characterized Therefore, further characterized by the fact that the maintenance plant has a Pfannenzustellstand equipped with an industrial robot, in particular articulated robot, wherein the industrial robot, in particular articulated robot, performs the work activities of lining one or more pans positioned in the ladle delivery position.
  • the pan treatment station, the degassing station, in particular vacuum degassing station, temperature measurements and sampling are required, which can be carried out by one or more industrial robots, whereby the degree of automation of a steel plant is further increased.
  • the invention is also characterized in an embodiment in that the secondary metallurgical plant has at least one working area equipped with an industrial robot, in particular articulated arm robot, in which the industrial robot, in particular articulated robot, carries out the working activities of temperature measurement and / or sampling.
  • Another foundry operations area is the casting operations area associated with a caster or continuous casting plant.
  • this casting operation area can at least one pan robot and / or a casting robot and / or a Brennschneidroboter and / or a Entsbartungsroboter and / or a marking robot and / or a flame and grinding robot and / or a Verteils- and Have inspection robot and / or a Verteilerrinnenspritzroboter.
  • the G transparent, in particular hydraulically operated, medium cylinder may be one or more hydraulic cylinders of a pan slide and / or a so-called shadow tube fixing cylinder.
  • the casting operation area has a ladle area equipped with the casting robot in the form of an industrial robot, in particular an articulated robot, wherein the casting robot on the side of the rotating tower facing the casting area connects and uncouples the shadow tube and / or the setting of pouring sleeves and the activation of the pan slider closure and / or the firing of the pan with an oxygen lance and / or the cleaning of the shade tube performs.
  • the exact determination of the position of the cup is necessary, so that again an industrial robot equipped with corresponding sensor technology is preferably used.
  • the invention provides that the casting operating region has a distributor area equipped with the casting robot in the form of an industrial robot, in particular articulated robot, the casting robot measuring the bath level and / or measuring the temperature of the melt and / or the removal of samples from the melt and / or the application of covering powder.
  • robots of different scales of automation or robots of different scalable machine intelligence can also be used in this area of the casting operating area.
  • the invention further provides that the G faux ists Kunststoff one equipped with the casting robot in the form of an industrial robot, in particular articulated robot mold area, the casting robot Mestwo and / or sampling from the mold and / or the application of casting powder to the pouring level and / or the setting of baskets or separator plates for the casting of different grades and / or the packaging and setting of the Anfahrkopfes the Anfahrkette or the cold string system and / or the measurement and sensing of G confuseschlackenverkrustungen above the bath level performs.
  • the advantages of the robot system arranged at this point are, in addition to the increase in occupational safety, the measuring and working advantages of a machine repeat accuracy.
  • Separation plates can be precisely set by means of a robot, casting powder can be precisely metered, and encrustations can be detected and removed by means of precisely measured parameters-in contrast to parameters sensed by the operators.
  • a further embodiment of the casting operating region is according to the invention in that the casting operating region comprises a flame cutting region equipped with a flame cutting robot and / or a deburring region equipped with a deburring robot and / or a marking region equipped with a marking robot and / or one with a flame cutting region Grinding robot equipped flame and grinding area and / or equipped with a surveying and inspection robot measuring and test area, the above-enumerated robots are designed as industrial robots, in particular articulated robots and Mesby- activities on the cut strand and / or descaling and Entbart and / or perform the flaming and grinding and / or marking and / or checking of the semi-finished products.
  • a continuous casting installation is usually associated with a distribution workshop, so that with regard to the configuration of the casting operation area, the invention finally also provides for the casting operation area to have a distributor workshop equipped with the distributor trough spraying robot in the form of an industrial robot, in particular an articulated robot, wherein the distributor interior spraying robot Renewing and repairing the refractory material and / or performing sensory testing of the refractory lining.
  • the advantage of using an industrial robot at this point is, among other things, that it can perform the maintenance work with a very high precision.
  • the robot can again be equipped at this position with a corresponding sensor that allows him to check the state of the Feuerfestmautation.
  • the invention is distinguished in further development in that the electric steel melting plant operating work area at least one arc melting robot in the form of an industrial robot, in particular articulated robot, the activities at the tap hole, in particular the tap hole, and / or activities related to probes, especially the temperature and sampling, and / or activities of care of the preheater or cooling tunnel and / or activities of Ofengefäßsuit, in particular the Gefäßspritzspritzen, and / or activities of the furnace vessel repair, in particular welding in a Panelleckage performed.
  • the electric steelworks melt operating area has at least one arc reduction robot in the form of an industrial robot, in particular an articulated robot, the activities of tapping hole care and / or tipper care, in particular slag removal, and / or activities at the tap hole, in particular the burning of the tap hole, performs.
  • the invention also provides that the respective articulated robot is assigned a 3D camera.
  • FIG. 2 a schematic side view of a tailing station of a desulphurisation plant of a pig iron treatment plant
  • 3 is a schematic side view of a Abschlackstand a desulfurization plant of a pig iron treatment plant
  • 4 is a schematic representation of a sublance plant of a converter plant
  • FIG. 5 is a schematic representation of a sublance installation of a converter installation
  • FIG. 6 is a schematic plan view of a sublance plant of a converter plant
  • FIG. 7 is a schematic plan view of a sublance plant of a converter plant
  • FIG. 10 is a schematic plan view of a continuous casting plant with different casting operating areas
  • FIG. 11 in a schematic sectional and side view of the area of a
  • Fig. 12 in a schematic sectional and side view of the area of a
  • FIG. 13 is a schematic sectional and side view of the area of a
  • Converter plant with a converter processing plant Fig. 14 in a schematic sectional and side view of the area of a
  • FIG. 15 is a schematic side view of a pan stand of a maintenance facility
  • 16 is a schematic representation of a secondary metallurgical device of a secondary metallurgical plant
  • Fig. 17 a Pfannenzustellstand a maintenance facility and in
  • Fig. 18-27 in a schematic representation of application areas of a casting robot.
  • FIG. 1 shows, in a schematic plan view as a metallurgical plant, a Blastahlwerkschmelz istsarbeits Kunststoff a steel plant 1, the facilities of a pig iron treatment plant 2, a converter plant 3, a secondary metallurgy plant 4 and a maintenance facility 5 includes.
  • the pig iron plant 2 comprises a wastewater level 2 a of a desulphurization plant to which an industrial robot designed as articulated-arm robot R 2 a is assigned.
  • the converter system 3 has two converter sections 3a, 3b, to which converter sections 3a, 3b are assigned a plurality of industrial robots designed as articulated arm robots R3a, R3b, R3c, R3d and R3e.
  • the secondary metallurgy plant 4 has three secondary metallurgical devices 4a, 4b and 4c, which are a ladle furnace, a ladle treatment station or a vacuum degassing device or installations.
  • the respective secondary metallurgical devices 4a, 4b and 4c each associated with a also designed as articulated robot R4a, R4b and R4c industrial robot.
  • the maintenance facility 5 has a ladle delivery point 5a and two pan stands 5b and 5c.
  • the ladle delivery position 5a is assigned an industrial robot designed as articulated-arm robot R5a
  • the ladle levels 5b and 5c are each also assigned industrial robots designed as industrial robots R5b, R5c.
  • FIG. 2 shows a pan 6 with melt 7 and top-side slag layer 8 located therein.
  • the pan 6 is assigned the robot R2a, which is equipped with a protective shield 9 in the end region of its actuating arm.
  • the robot R2a carries a multipart tool 10, which comprises a scraper 11 and a measuring coupling for receiving a measuring probe or a contact tube 12.
  • the robot R2a is further associated with a 3D camera 13 and a robot controller 14.
  • FIG. 3 shows the area of the robot R2a of FIG. 2 in an enlarged view.
  • the measuring coupling for the measuring probe 12 is the above-mentioned tool for holding a temperature measuring probe or a sample probe.
  • the scraper 11 serves to remove a small area of the slag layer 8 before slagging, so that the actual beard level can be determined by a measuring device and transmitted to the robot controller 14 as a zero point.
  • the slag layer 8 is detected by the at least one 3D camera 13.
  • FIG. 4 shows a robot R3a, which is assigned to a sublance system 15, which is part of the converter system 3.
  • the sublance plant 15 is assigned a sublance 16 with a measuring probe 17 arranged thereon.
  • the Sublanzenstrom 15 a storage magazine 18, which stores probes assigned.
  • the articulated robot R3a has such a radius of action 19 that it can remove 18 measuring probes 17 from the storage magazine and supply the sublance 16.
  • FIG. 5 shows a sublance installation 15a in which the articulated-arm robot R3a, which here fulfills the function of a working or action robot, is assigned a further industrial robot in the function as a service robot SR1.
  • the right-hand part of FIG. 5 shows the industrial robot R3a with its action radius 19 and the subleaf 16 to be equipped with a measuring probe 17.
  • the service robot SR1 is arranged with its action radius 21.
  • the service robot SR1 removes a measuring probe 17 from a storage magazine 22 or a storage container, transfers it to the transfer station 20 or deposits it there, whereupon either the transfer station 20 moves the measuring probe 17 into the action area or operating radius 19 of the industrial robot R3a or Industrial robot R3a the probe 17 directly from the transfer station 20 takes.
  • FIG. 6 also shows these relationships again in a diagrammatic top view, in which case also different storage journals 22 serving to store different measuring probes are shown.
  • FIG. 7 shows a further sublance installation 15b, in which the industrial robot R3a is used to prepare enamel samples.
  • the industrial robot R3a executing the function of the action or working robot is assigned a service robot SR2.
  • the industrial robot R3a transports the sample probe with the sample therein into a separation device 23 in which the sample probe is cut open and the sample is ejected by means of a sample ejection device 24.
  • the service robot SR2 then takes over the sample taken and takes them to a laboratory leading to a sample analysis laboratory pneumatic tube system 25.
  • the melt sample can also be taken directly with the industrial robot R3a and, after separation, fed to a laser analyzer 26.
  • FIGS. 8 and 9 show a sublance system 15c of a converter system 3, which in turn comprises a sublance 16 and measuring probes 17, which are fed to a separating device 27 by means of the industrial robot R3a. The severed sample 28 is then supplied to the laser analyzer 26 by the industrial robot R3a.
  • the industrial robot R3b is in the area of a converter plant 3 in a so-called BDCbrennstand for burning the so-called bear, i. serves to burn off caking of steel and / or slag that forms itself on converter lances, and performs these activities.
  • FIG. 11 shows the use of an industrial robot R3c which carries out the interior lining of a metallurgical vessel, in this case a converter 29, in the area of the converter installation 3 in its function as a working or action robot.
  • the industrial robot R3c which is vertically adjustable movable and positionable within the converter 29, the refractory bricks 30 are arranged on the inner wall of the converter.
  • the industrial robot R3c is supported by a bricklaying device 31.
  • This masonry apparatus 31 and / or the industrial robot R3c are supplied with the refractory bricks 30 by an associated service robot SR3, wherein in the exemplary embodiment the refractory bricks 30 are transported from the bricklaying apparatus 31 to the industrial robot R3c by means of a chain conveyor 32.
  • FIG. 12 shows a converter processing system 34, which is part of the converter system 3 and is equipped with the industrial robot R3d in the form of a Knickarmroboters.
  • an exchangeable tapping block 35 (FIG. 12) is drilled out of the wall region, ie the lining of the converter 29, in the converter processing system 34.
  • the industrial robot R3d is equipped with a special tool 36 that allows drilling out of the tapping block 35. After a tool change, the articulated robot R3d then picks up a prepared new tapping block 35 'and inserts it into the drilled tap hole or tapping.
  • the robot R3d can be used to change the tapping slide 37 when it is equipped with a special tool 38 grasping and moving the tapping slide 37, as can be seen from FIG.
  • FIG. 14 schematically shows a slag retaining device 39, which is equipped as part of the converter system 3 with an industrial robot R3e in the form of an articulated robot carrying and moving a slag retaining device 41, with which the slag retaining system is carried, wherein the slag retaining device 41 a floating plug 42nd includes, which is the tapping hole 40 can be fed.
  • the slag retaining device 41 can be inserted into the interior of the converter 29.
  • FIG. 15 shows the area of a maintenance installation 5, which is equipped with a socket stand 5b, 5c, the respective socket stand 5b, 5c being associated with an industrial robot, in particular articulated arm robot, R5b, R5c.
  • an industrial robot in particular articulated arm robot, R5b, R5c.
  • all maintenance or repair work to be performed on the pans 6, 43 is carried out at least substantially using the industrial robots R5b and R5c. In particular, this involves the preparation or replacement of the slide valves or pan-pans.
  • the respective industrial robot R5b, R5c all work on the tapping slide and / or on the purging pits of a ladle 43 is carried out in the pusher station remote therefrom and intended for its processing in the cooled state.
  • the respective industrial robot R5b, R5c removes the complete tapping slide from the pan 43 located in the respective socket stand 5b, 5c and places it on a conveyor which then transports the tapping slide into the slide workshop.
  • a special tool 45 which makes it possible to change the ladle purging blocks 44.
  • the respective ladle sinker 44 is drilled out of the ladle bottom with a core hole drill.
  • the cone 47 for receiving a cup rinsing stone 44 is processed with a milling tool 46.
  • a respective industrial robot R5b, R5c is equipped with another special tool so that it then drills out the spout of a cup tapping slide system from the respective associated pan 43, in which case the cone of the pan tapping slide system is subsequently also provided with a milling tool for the Recording of a new spout is worked out.
  • the pig iron / steel casting ladle 48 is provided with a refractory lining 50 by means of the local industrial robot, in particular articulated robot and preferably multifunction robot equipped with a special tool 49.
  • the local industrial robot in particular articulated robot and preferably multifunction robot equipped with a special tool 49.
  • FIG. 16 shows a schematic illustration of a secondary metallurgical structure
  • Device 4a of the secondary metallurgy plant 4 in which the industrial robot R4a removes a measuring probe 52 from the magazine 53 and the lance 51 feeds and inserts into it.
  • the industrial robot R4a is equipped with the action radius 54.
  • the reference numerals 4b and 4c as well as R4b and R4c are indicated in parentheses in FIG. 16, since FIG. 16 likewise shows the secondary metallurgical devices 4b and 4c and the respective industrial robots R4b and R4c operatively connected therewith in the same schematic illustration, since all of them used in this area industrial robots R4a, R4b and R4c for performing temperature measurements by means of temperature probes and / or for sampling by means of sample probes are used.
  • FIG. 10 shows a schematic plan view of the casting operation area 55 of a continuous casting plant.
  • the cast operation operating area 55 includes a ladle turret 56 having a pan insertion portion 57 and a ladle portion 58. Further, in the region of the casting platform 59, the distributor portion 60 and the mold portion 61 are formed. Starting from the casting platform 59, the strand guide 62, which has a flame cutting area 63 and a scarfing area 64 and a marking area 65, extends. Furthermore, the casting operating area 55 of the continuous casting plant comprises a flame and grinding area 66, a measuring and testing area 67 and a distributor workshop 68.
  • the ladle insertion region 57, the ladle region 58 and the distributor region 60 and the mold region 61 are assigned a ladle robot R6 and a casting robot R7. Furthermore, a flame cutting robot R8, the deburring area 64, a deburring robot R9 and the marking area 65 a marking robot R10 are assigned to the flame cutting area 63. Furthermore, the flame and grinding area 66 has a flame grinding robot R11, the measuring and testing area 67 has a surveying and inspection robot R12, and the distributor workshop 68 has a distributor groove spraying robot R13. As can be seen in FIGS.
  • the casting robot R7 can be designed to be movable, wherein it preferably acts as a gantry crane 69 is formed, on the one hand along the crane runway 70 can be moved, but also a trolley-like, transversely to the crane track 70 movable part 71 and a particular telescopically extendable telescope part 72, at the end of the actual robot is arranged and designed rober mecanicsarm.
  • FIG. 18 shows a schematic side view of a continuous casting or casting machine 73 with the ladle turret 56 and steel ladles 74 arranged thereon.
  • a casting robot R7 assigned to a distributor trough 75 in the form of a porous crane robot 69 is arranged on the casting platform 59.
  • the casting robot R7 is arranged on a telescopically extendable telescopic arm 72, which can be moved transversely to a crane runway 70 by means of a trolley-shaped crane part 71, along which crane runway 70 of the casting robot R7 can be moved by means of a carrier 76.
  • a ladle robot R6 is additionally arranged on the casting platform 59.
  • FIG. 19 shows the casting machine 73 in a schematic plan view, from which the formation of the casting robot R7 in the form of a gantry crane 69 can be seen.
  • a movable casting robot R7 which may be sufficient for each work to be performed, but as shown two casting robot R7 may be provided.
  • the casting robot R7 can be coupled to a sensor robot R7a, which makes it possible to precisely detect the location and the area of the working activity of the casting robot R7 and, if appropriate, visualize it visualized on a screen for the operating personnel.
  • the distribution trough 75 arranged on a tundish carriage 77 is assigned to the sensor robot R7a in addition to the casting robot R7.
  • the casting area facing away from the ladle turret 56 associated pan robot R6 performs the pan robot R6 coupling different media lines, in particular hydraulic lines and signal lines, as well as the insertion of the pan slide cylinder and the Scitzierzylinders.
  • the casting robot R7 arranged there carries out some tasks and activities on the casting ladle 74 directly above the casting platform 59 after the rotation of the casting ladle 74 on the casting side.
  • activities include the setting of pouring sleeves, activating the pan slider closure, and possibly the burning of the pan with an oxygen lance or the cleaning of the shadow tube 78.
  • this includes the coupling and uncoupling of the shadow roh res 78, as the figure 21 can be found.
  • the casting robot R7 performs measuring operations such as measuring the bath level height in the distributor trough 75, the temperature of the melt in the distributor trough, removing samples from the melt from the tundish 75, and as shown in Figure 22 represented in FIG. 23, the application of covering powder to the melt in the distributor trough 75.
  • the casting robot R7 is equipped with a measuring and sampling tool 79 and both embodiments with a tool for applying the covering powder 80.
  • a casting robot R7 can perform the operation of applying casting powder to the casting mirror below the distributor trough 75, as shown in FIG.
  • the casting robot R7 is again equipped with a tool for applying casting powder 81.
  • another operation in the die area 61 for the casting robot R7 may be the replacement of dip tubes 82 during casting.
  • the mold area 61 of the casting robot R7 performs the setting of baskets or partition plates for casting different steel grades, as indicated in Figure 26, wherein the industrial robot R7 there is a composite basket or a partition plate 83 sets.
  • FIG. 27 shows the activity of removing or "scouring" encrustations from the slag by means of manipulator 84 arranged on the industrial robot R7, likewise carried out in the mold region 61 by the casting robot R7.
  • the respective robots R8-R12 carry out cutting work, descaling and debarking, flaming and grinding, and marking and checking of the semi-finished products in these areas.
  • At least one distributor-type rotary robot R 13 is then arranged, which carries out the repairing and renewal of the refractory material and the removal of steel residues and slag from the distributor or a distributor trough 75.
  • the robots R2a-R13 shown above can be very different robots, but in particular they are always freely programmable robots, wherein the programming can also be designed such that the robots can then be handled only in the function of a telemanipulator.
  • the robots R2a-R13 may be designed and constructed differently in terms of their design, their number of axes, ie their axes of rotation, rotation and / or handling, their carrying capacity and their control.
  • the design for an industrial robot R2a-R13 includes gantry robots, cable robots, scar and articulated robots or parallel kinematics as well as their combination nations in question.
  • Special types such as combinations of an industrial robot with a gantry crane or bridge crane, as illustrated by the gantry crane robot 69 according to exemplary embodiments, combine the advantages of a work space extending gantry crane or bridge crane with the enormous potentials of an industrial robot.
  • various embodiments are conceivable.
  • an arrangement is possible that spans a work area in a line as a gantry crane (line portal), or in the arrangement as a boom portal for short distances an additional movement orthogonal to the portal longitudinal axis allows or forms an embodiment as a surface gantry, the industrial robot also over a large area can be moved arbitrarily and is positionable.
  • the gantry crane 69 may be a fixed, fixed steel structure.
  • the portal can also be moved on a running on the ground rail track or track career or moved in a trackless variant on wheels or a crawler chassis.
  • the respective industrial robot R2a-R7 can be mounted on a gantry crane 69 either overhead, as shown in Figures 20-27, as well as laterally.
  • a gantry crane 69 the arrangement of two industrial robots, in the exemplary embodiment two casting robots R7, on a crane runway 70 is also possible.
  • the robot can be moved from one workstation to another with both the robot arm activated and deactivated.
  • the particular advantage of a gantry crane embodiment 69 is that, for example, the casting machine 73 or any metallurgical operating area to be operated by the respective industrial robot R2a-R13 remains freely accessible on the ground, since the robot is guided from above into this respective working area. This is particularly advantageous with regard to setup procedures and monitoring activities to be performed as well as in the case of incidents.
  • Each of the industrial robots R2a-R13 can be designed as a stationary robot with a singular workspace for regularly recurring, repetitive activities. However, it is also possible to provide designs in which several robots cooperate in a combined manner and each perform different activities or interventions on a smelting plant operating device, such as a continuous casting plant in a steel mill, in particular as mobile multifunctional robots.
  • an electric steelworks smelting operations area activities between two batches are often required to be performed within an electric arc furnace, such as inspection and injection repair of the refractory material.
  • These activities can be performed by an industrial robot.
  • the industrial robot can carry out the tactile measuring operation for determining the state of the walling as well as the application of spraying material and the subsequent smooth drawing of the spraying material with the utmost accuracy. It is also possible to carry out activities such as the automatic removal of samples and the introduction of temperature control probes from an industrial robot.

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  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Materials Engineering (AREA)
  • Metallurgy (AREA)
  • Organic Chemistry (AREA)
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  • Life Sciences & Earth Sciences (AREA)
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Abstract

L'invention concerne une installation métallurgique comprenant une zone de travail sidérurgique incluant une zone très chaude et/ou dangereuse et dotée d'au moins un équipement de travail sidérurgique et un robot industriel (R2a à R13) associé à l'équipement de travail sidérurgique ou aux équipements de travail sidérurgiques. L'objectif est de permettre que les zones de travail soient conçues de manière plus sûre et plus favorable ergonomiquement, de préférence grâce à une automatisation poussée des séquences de travail. Cet objectif est atteint du fait que le robot industriel (R2a, R3a, R3b, R3c, R3d, R3e, R4a, R4b, R4c, R5a, R5b, R5c, R6, R7, R7a, R8, R9, R10, R11, R12, R13) exécute les activités de travail associées au travail sidérurgique dudit ou desdits équipements de travail sidérurgique dans la zone très chaude et/ou dangereuse de l'installation métallurgique.
PCT/EP2009/007762 2008-10-29 2009-10-29 Installation métallurgique robotisée Ceased WO2010049161A2 (fr)

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DE102009007540 2009-02-04
DE102009007541.0 2009-02-04
DE102009007542 2009-02-04
DE102009007542.9 2009-02-04
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DE102005011143A1 (de) * 2005-03-10 2006-09-14 Sick Ag Vorrichtung und Verfahren zum Steuern einer sicherheitsrelevanten Funktion
AT502058B1 (de) * 2005-06-20 2007-11-15 Voest Alpine Ind Anlagen Stranggiessanlage mit mindestens einem multifunktions-roboter
US20070145648A1 (en) * 2005-11-10 2007-06-28 Hugo Salamanca Robotic system and method for the automation of slag and matte discharge from smelters
EP1894649A1 (fr) 2006-09-01 2008-03-05 Stopinc Aktiengesellschaft Dispositif de maintenance d'un obturateur coulissant monté au trou d'un récipient contenant du métal liquide
DE102007048684B4 (de) 2007-10-10 2010-09-09 Polysius Ag Laborsystem

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EP2482019A1 (fr) 2011-01-31 2012-08-01 Siemens VAI Metals Technologies GmbH Support de lance de combustion pour soutenir une lance de combustion à l'aide d'un dispositif de manipulation
IT201700106914A1 (it) * 2017-09-25 2019-03-25 Polytec S R L Sistema semi-automatizzato per la manutenzione in sicurezza di un cassetto di una siviera e relativo metodo di manutenzione.
EP3459693A1 (fr) * 2017-09-25 2019-03-27 BM Group Holding S.p.A. Système semi-automatique et procédé pour effectuer des opérations d'entretien d'un tiroir d'une poche dans des conditions de sécurité
US11478831B2 (en) 2020-03-04 2022-10-25 Primetals Technologies USA LLC Mechanical high speed roll change system for use with robotic roll change system

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DE102009051146A1 (de) 2011-04-28
WO2010049161A3 (fr) 2010-06-24
DE102009051145A1 (de) 2010-05-06
TW201023998A (en) 2010-07-01
WO2010049162A1 (fr) 2010-05-06
TW201033372A (en) 2010-09-16
DE102009051146B4 (de) 2022-02-10

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