A system for lining a ladle

Abstract

The present application relates to a kind of lining brick of ladle, including erecting mechanism, store brick platform, first transmission mechanism and operating mechanism, erecting structure includes lifting device and lifting platform, lifting device is installed in the center of ladle bottom, and control end is connected lifting platform, for controlling lifting platform in the lifting of ladle;The center of lifting platform is equipped with store brick platform, for temporarily storing refractory brick, and the lower portion of store brick platform is equipped with control device, for controlling store brick platform translation and lifting;The side of store brick platform towards operating mechanism is equipped with second transmission mechanism, for transmitting the refractory brick on store brick platform to operating mechanism;First transmission mechanism includes the support of inverted L shape and the circulation of several transmission positions on support movement, and one end of support top portion is connected the temporary storage position of refractory brick above ladle, and support bottom portion is connected lifting platform, and transmission position can carry a piece of refractory brick to move to lifting platform, and refractory brick is replenished on store brick platform.

Description

Technical Field

[0001] This invention belongs to the field of steel ladle slag line brick masonry technology, specifically relating to a masonry system for steel ladle inner lining bricks. Background Technology

[0002] The ladle is a core container in steel smelting, used to receive molten steel and perform casting operations before open-hearth furnaces, electric furnaces, or converters. During steel smelting, the slag line area of ​​the ladle endures the most demanding service conditions, being the part of the entire ladle lining that corrodes the fastest and requires the most frequent repairs or replacement. Therefore, refractory bricks need to be laid in the slag line area (i.e., the lining area). Currently, the laying of refractory bricks in the slag line area is still mainly done manually, which involves high temperatures, dust, and other problems, and is also labor-intensive and dangerous.

[0003] The ladle is cylindrical in shape, and the slag line area is also a hollow cylinder. However, in actual use, most steel plants experience some degree of deformation in their ladle shells, resulting in a cross-section that is not a perfect circle but rather more of an ellipse. Under these deformed conditions, to ensure a tight fit between the refractory bricks and the permanent ladle layer, manual labor is currently the only option. The position of the refractory bricks is adjusted according to the ladle's deformation, making manual installation inefficient. Summary of the Invention

[0004] To address the above problems, the present invention provides a bricklaying system for the inner lining of a steel ladle, including a lifting mechanism, a brick storage platform, a first transmission mechanism, and an operating mechanism. The lifting structure includes a lifting device and a lifting platform. The lifting device is installed at the center of the bottom of the steel ladle, and the control end is connected to the lifting platform for controlling the lifting of the lifting platform inside the steel ladle.

[0005] The center of the lifting platform is equipped with a brick storage platform for temporary storage of refractory bricks. Below the brick storage platform is a control device for controlling the horizontal movement and lifting of the brick storage platform. On the side of the brick storage platform facing the operating mechanism, there is a second transmission mechanism for transferring the refractory bricks on the brick storage platform to the operating mechanism.

[0006] The first transmission mechanism includes an inverted L-shaped support and several transmission positions that move cyclically on the support. One end of the top of the support is connected to the temporary storage position of the refractory bricks above the ladle, and the bottom of the support is close to the lifting platform. The transmission position can carry a refractory brick to the brick storage platform and replenish the refractory bricks on the brick storage platform.

[0007] In existing technology, a lifting platform raises the brick storage platform to the top, where bricks are then manually moved. The lifting platform then descends to the bottom of the ladle, where bricks are retrieved manually or by a robotic arm from the storage platform. Mortar is then manually applied, and the bricks are laid up to the slag line area. The platform is raised again to retrieve bricks once they are empty. Clearly, the existing technology is inefficient. As the number of refractory bricks on the storage platform decreases, and the location for each brick retrieval changes, the process is relatively easy for manual operation. However, for the robotic arm, which is already responsible for positioning during construction, changing position for each brick retrieval effectively doubles the workload related to positioning. This places higher demands on the robotic arm's performance and inevitably increases its cost.

[0008] This invention first uses a first transmission mechanism to replenish refractory bricks to the brick storage platform in real time, simplifying the operation of the lifting platform. Then, a second transmission mechanism is used to transport bricks to the operating mechanism in real time, so that the robotic arm can pick up bricks only from fixed positions, simplifying the operation of the robotic arm.

[0009] Optionally, the support of the first transmission mechanism includes a horizontal part and a vertical part. One end of the horizontal part is at the top of the ladle, and the other end is connected to the top of the vertical part. The bottom of the vertical part is close to the lifting platform. The vertical part is composed of several sub-supports connected vertically, which makes it easy to adjust the length of the vertical part according to the height of the lifting platform.

[0010] A first conveyor belt is set along the support frame, and several detachable transmission positions are evenly arranged on the first conveyor belt for conveying refractory bricks.

[0011] Optionally, the transmission position includes a fixed seat and a movable seat arranged perpendicularly to each other. Both the fixed seat and the movable seat are rectangular. Each end of the fixed seat has a track, and each end of the movable seat is slidably connected to the corresponding track, so that the movable seat can move in the width direction of the fixed seat, thereby pushing the refractory brick out of the fixed seat.

[0012] Further optionally, a rotatable positioning pin is provided on either side of the transmission position along its length, and the side of the movable seat corresponding to the positioning pin has an outwardly protruding part, which is located outside the fixed seat and can move with the movable seat.

[0013] The front end of the positioning pin is hinged to the wide side of the fixed seat. The positioning pin can rotate around its own front end. When the positioning pin is parallel to the width direction of the fixed seat, the rear end of the positioning pin abuts against the protrusion, preventing the moving seat from moving forward, thereby temporarily locking the position of the moving seat.

[0014] Optionally, the bottom of the vertical portion of the support is provided with a detachable pushing device, which is located between the two layers of the first conveyor belt;

[0015] The pushing device includes a pusher and a first pusher plate. The first pusher plate is vertically arranged and located between the conveyor belt and the pusher on the side near the brick storage platform. When the conveyor carrying refractory bricks is displaced to the bottom of the vertical part of the support, it is at the same height as the pushing device. The pusher pushes the first pusher plate forward, pushing the moving seat and refractory bricks toward the brick storage platform.

[0016] Optionally, the brick storage platform includes an internal rotating platform and an external driven platform, the rotating platform and the driven platform are concentrically arranged, the inner side of the driven platform is rotatably connected to the outer side of the rotating platform, and the control end of the control device is connected to the center of the bottom of the rotating platform for controlling the lifting and rotation of the rotating platform, and the rotating platform can drive the driven platform to lift and move.

[0017] The rotating platform is used to stack refractory bricks, and a second transmission mechanism is provided on the side of the driven platform facing the operating mechanism.

[0018] Optionally, the second transmission mechanism includes vertical supports on both sides, a first horizontal support in the middle, and a second conveyor belt. The two vertical supports are parallel to each other and are slidably connected to a driven platform at the bottom for adjusting the distance between the second transmission mechanism and the rotating platform.

[0019] The first horizontal support is slidably connected to the vertical support at both ends, and the first horizontal support can move up and down along the vertical support; a pushing part is slidably connected to the first horizontal support, which is used to push the refractory bricks at the corresponding positions on the brick storage platform onto the second conveyor belt.

[0020] Further optionally, the pushing part includes a connector, a second pushing plate and a driving device. The top of the connector is slidably connected to the first horizontal support. The head of the connector points to the rotating table and the tail points to the operating mechanism, that is, the length direction of the connector is perpendicular to the first horizontal support.

[0021] A drive device is provided at the tail of the connector. The drive device is connected to the tail of the second push plate. The second push plate is perpendicular to the connector. The drive device can drive the second push plate to move along the length of the connector and can also control the rotation of the second push plate.

[0022] Optionally, the operating mechanism includes a mobile vehicle, a drive linkage, an industrial camera, and a mortar tank. The mobile vehicle is connected to a servo drive device next to the control device via the drive linkage, which drives the mobile vehicle to rotate around the central axis of the brick storage platform. The mobile vehicle is equipped with a mortar tank for storing mortar, and the outlet of the mortar tank is connected to an applicator head for applying mortar to the refractory bricks.

[0023] The front end of the mobile vehicle is equipped with a robotic arm, and the end of the robotic arm is equipped with a suction cup and an industrial camera, which are used to visually guide the refractory bricks conveyed by the second transmission mechanism to be laid in the slag line area.

[0024] Optionally, the chassis of the mobile vehicle is equipped with four omnidirectional wheels and four electric feet. After the mobile vehicle arrives at the masonry station, the electric feet lift and lock the mobile vehicle to prevent displacement during the masonry process.

[0025] The front end of the mobile vehicle is equipped with a lidar, which uses a 360° rotating scanning method to collect three-dimensional point cloud data of the steel ladle lining in real time, construct a permanent layer topography model, and then guide the robotic arm to rotate during the masonry construction.

[0026] Alternatively, the end effector of the robotic arm is connected to a cylinder via a backplate, the top of the cylinder is connected to a storage compartment via a flange, an industrial camera is placed inside the storage compartment, a suction cup is connected to the bottom of the storage compartment, and the cylinder is connected to the suction cup via an air circuit. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the masonry system for the inner lining bricks of the steel ladle;

[0028] Figure 2 This is a side view diagram of the transmitted bits;

[0029] Figure 3 This is a top view of the transmitted bits;

[0030] Figure 4 This is a front view of the movable seat;

[0031] Figure 5 This is a top view of the brick storage platform;

[0032] Figure 6 This is a schematic diagram of the second transmission mechanism;

[0033] Figure 7 A top-view diagram of the propulsion unit;

[0034] Figure 8 This is a side view diagram of the propulsion unit;

[0035] Figure 9 This is a schematic diagram of the side layout of the second conveyor belt;

[0036] Figure 10 This is a schematic diagram of a mobile vehicle;

[0037] Figure 11 This is a schematic diagram of the end effector of the robotic arm.

[0038] Among them, 1-lifting device, 2-lifting platform, 3-brick storage platform, 4-control device, 5-bracket, 6-transmission position, 7-mechanical arm, 8-mortar tank, 9-applying head, 10-roller, 11-second conveyor belt, 12-fixed seat, 13-moving seat, 14-track, 15-positioning pin, 16-protrusion, 17-collection trough, 18-second push plate, 19-universal wheel, 20-rotating table, 21-driven table, 22-vertical support, 23-first horizontal support, 24-second horizontal support, 25-electric foot, 26-connector, 27-drive device, 28-moving vehicle, 29-support frame, 30-industrial camera, 31-suction cup, 32-LiDAR, 33-cylinder, 34-flange, 35-hopper, 36-adjusting shaft. Detailed Implementation

[0039] This embodiment provides a bricklaying system for the inner lining of a steel ladle, such as... Figures 1-11 As shown, it includes a lifting mechanism, a brick storage platform, a first transmission mechanism, and an operating mechanism. The lifting structure includes a lifting device 1 and a lifting platform 2. The lifting device 1 is installed at the center of the bottom of the ladle, and the control end is connected to the lifting platform 2 to control the lifting platform 2 to move up and down inside the ladle.

[0040] The center of the lifting platform 2 is provided with a brick storage platform 3 for temporarily storing refractory bricks. Below the brick storage platform 3 is a control device 4 for controlling the horizontal movement and lifting of the brick storage platform 3. A second transmission mechanism is provided on the side of the brick storage platform 3 facing the operating mechanism for transmitting the refractory bricks on the brick storage platform 3 to the operating mechanism.

[0041] The first transmission mechanism includes an inverted L-shaped support 5 and several transmission positions 6 that move cyclically on the support. One end of the top of the support 5 is connected to the temporary storage position of the refractory bricks above the ladle. The bottom of the support 5 is close to the lifting platform 2. The transmission position 6 can carry a refractory brick to the lifting platform and replenish the refractory bricks on the brick storage platform 3.

[0042] The operating mechanism includes a robotic arm 7 and a mortar tank 8. The robotic arm 7 can grab refractory bricks from the second transmission mechanism, apply mortar to the mortar head 9 connected to the outlet of the mortar tank 8, and then carry out the masonry work.

[0043] The ladle is a hollow cylinder, or approximately cylindrical in shape. Refractory bricks are stacked on a ground surface or operating table flush with the top of the ladle, ready to be transported to a brick storage platform in real time via a first transmission mechanism. A lifting device is detachably installed at the center of the bottom of the ladle (i.e., the center point), ensuring the circular lifting platform is essentially concentric with the ladle. This allows the robotic arm 7 of the operating mechanism to continuously lay refractory bricks along the circumference of the lifting platform into the slag line area inside the ladle. The refractory bricks on the brick storage platform are transported to the operating mechanism via a second transmission mechanism, eliminating the need for the robotic arm 7 to retrieve bricks from the storage platform.

[0044] Optionally, both the lifting device and the lifting platform are conventional devices. The outer diameter of the lifting platform is slightly smaller than the inner diameter of the slag line area. The central area of ​​the lifting platform is provided with a downward protruding groove for placing the control device 4. The control end of the control device 4 is connected to the bottom of the brick storage platform to control the brick storage platform to move up and down and rotate relative to the lifting platform.

[0045] Optionally, the support of the first transmission mechanism includes a horizontal part and a vertical part. One end of the horizontal part is at the top of the ladle, and the other end is connected to the top of the vertical part. The bottom of the vertical part is close to the lifting platform. The vertical part is composed of several sub-supports connected vertically, which makes it easy to adjust the length of the vertical part according to the height of the lifting platform.

[0046] A first conveyor belt is installed along the support frame, with several detachable transport positions 6 evenly distributed on it for transporting refractory bricks. The first conveyor belt is a conventional chain conveyor belt, consisting of several parallel chains, which can also be temporarily attached to the transport positions 6 to move them.

[0047] As the masonry height in the slag line area increases, the lifting platform also gradually rises. The lifting device provides the brick storage platform with a certain lifting space to cooperate with the first transmission mechanism. When the lifting platform rises, the brick storage platform can be lowered appropriately, so that the length of the vertical section of the support does not need to be frequently adjusted. When the lifting device cannot cooperate with the vertical section even at its lowest point, the first transmission mechanism is paused, the bottom section of the vertical support is disassembled, and the length of the first conveyor belt (to maintain its appropriate tension) and the number of transmission positions 6 are adjusted accordingly to continue cooperating with the brick storage platform.

[0048] Optionally, the transmission position 6 includes a fixed seat 12 and a movable seat 13 arranged perpendicularly to each other. Both the fixed seat 12 and the movable seat 13 are rectangular. A track 14 is provided at both ends of the fixed seat 12 along its length. The two ends of the movable seat 13 are slidably connected to the track 14, so that the movable seat 13 can move in the width direction of the fixed seat 12, thereby pushing the refractory brick out of the fixed seat 12.

[0049] Alternatively, the upper surface of the fixed base 12 is unoccupied and at least one roller 10 is provided inside. The axle of the roller is parallel to the length direction of the fixed base 12, and the top of the roller protrudes from the upper surface of the fixed base 12, so that when the refractory brick moves on the fixed base 12, it can contact the roller to generate rolling friction and reduce the moving resistance of the refractory brick.

[0050] Preferably, two rollers are evenly arranged side by side along the length of the fixing seat 12 to provide uniform and symmetrical support for the refractory bricks, preventing the refractory bricks from tilting to the left or right of one roller and causing them to fall.

[0051] Alternatively, the bottom of the main body of the movable seat 13 is higher than the top surface of the roller, so as not to affect the movement of the movable seat 13 along the track;

[0052] A rotatable positioning pin 15 is provided on either side of the transmission position 6 along its length. The side of the moving seat 13 corresponding to the positioning pin 15 has an outwardly protruding part 16. The protruding part is located outside the fixed seat 12 and can move with the moving seat 13.

[0053] The front end of the positioning pin 15 is hinged to the wide side of the fixed seat 12. The positioning pin 15 can rotate around its own front end. When the positioning pin 15 is parallel to the width direction of the fixed seat 12, the rear end of the positioning pin 15 abuts against the protrusion, so that the movable seat 13 cannot move forward, thereby temporarily locking the position of the movable seat 13.

[0054] Optionally, the bottom of the vertical portion of the support is provided with a detachable pushing device, which is located between the two layers of the first conveyor belt;

[0055] The pushing device includes a pusher and a first pusher plate. The first pusher plate is vertically arranged and located between the conveyor belt and the pusher on the side near the brick storage platform. When the transmission position 6 carrying refractory bricks moves to the bottom of the vertical part of the support, it is at the same height as the pushing device. The pusher pushes the first pusher plate forward, pushing the moving seat 13 and the refractory bricks toward the brick storage platform.

[0056] Optionally, the bottom of the vertical part of the bracket is provided with a detachable control pin. The control pin is set horizontally, with one end connected to the side of the bracket and the other end pointing into the bracket and towards the conveyor belt on the side closer to the brick storage platform.

[0057] When the transmission position 6 moves down to the control pin, the positioning pin 15 is lifted by the control pin, allowing the first push plate to push the moving seat 13.

[0058] The horizontal section of the support frame, specifically the transmission position 6, is in a supine position, meaning the movable seat 13 is horizontal and the fixed seat 12 is vertical, with the fixed seat 12 closer to the inside of the ladle. In use, the operator places a rectangular refractory brick upright on the transmission position 6 from the ground or work surface above the ladle, with the larger bottom surface of the refractory brick pressed against the upper surface of the fixed seat 12 (which is vertical at this time), and the smaller side of the refractory brick resting on the side of the movable seat 13 (which is horizontal at this time). A stop bar parallel to the fixed seat 12 (the stop bar's width is less than the fixed seat 12's width) is provided on the side of the movable seat 13 away from the fixed seat 12 to prevent the refractory brick from tipping over. The transmission position 6 guides the refractory brick along the horizontal section of the support frame.

[0059] After the transmission position 6 moves to the vertical part of the bracket, the fixed seat 12 is horizontal, the refractory bricks are laid flat, and the movable seat 13 is vertical. The positioning pin 15 horizontally abuts against the movable seat 13, keeping the movable seat 13 stationary.

[0060] When the transmission position 6 moves down to near the control pin, the free end of the control pin is near the side of the transmission position 6 where the positioning pin 15 is located, and is below the positioning pin 15. The control pin remains stationary, while the positioning pin 15 moves down with the transmission position, allowing the control pin to abut against and lift the positioning pin 15. The positioning pin 15 rotates around its own front end as a fulcrum, rotating towards the brick storage platform. The positioning pin 15 no longer restricts the moving seat 13. At this time, the transmission position 6 moves to the pushing device, the first conveyor belt pauses its movement, and the first pushing plate passes through the chain gap of the first conveyor belt, pushing the moving seat 13. The moving seat 13 pushes the refractory bricks away from the fixed seat 12 and into the target stacking position on the brick storage platform. Then the first pushing plate retracts back to its original position.

[0061] The first conveyor belt continues to move, and the transfer position 6, where the refractory bricks are unloaded, moves with the first conveyor belt to the side away from the brick storage platform, then moves upward along the vertical part of the support, and then moves along the horizontal part to the initial position at the top of the ladle. The moving seat 13 and the positioning pin 15 can be reset under gravity, or they can be manually moved back, and then the refractory bricks can be placed on the transfer position 6.

[0062] Optionally, the brick storage platform includes an internal rotating platform 20 and an external driven platform 21. The rotating platform and the driven platform are concentrically arranged. The inner side of the driven platform 21 is rotatably connected to the outer side of the rotating platform 20. The control end of the control device 4 is connected to the center of the bottom of the rotating platform 20 and is used to control the lifting and rotation of the rotating platform. The rotating platform can drive the driven platform 21 to lift and move.

[0063] The rotating table 20 is used to stack refractory bricks, and a second transmission mechanism is provided on the side of the driven table facing the operating mechanism.

[0064] Refractory bricks are stacked in a matrix on the rotating platform, forming a cube with equal sides to facilitate positioning of the brick pile by the first and second transmission mechanisms. After the second transmission mechanism transfers the outermost layer of refractory bricks from one side of the brick pile to the operating mechanism for laying, or after the upper half of the outermost layer of refractory bricks is removed for laying, that side rotates with the rotating platform to face the first transmission mechanism. The control device raises and lowers the brick storage platform to a suitable height, aligning the lowest row of bricks requiring replenishment on that side with the pushing device at the bottom of the vertical part of the support (this lowest row is at the same height as the first pushing plate). Then, the control device moves the brick storage platform horizontally, aligning an empty brick position at the outermost edge of the lowest row with the first pushing plate. The first transmission mechanism then replenishes the empty brick position using the above method. After each brick is replenished, the control device moves the brick storage platform horizontally again, aligning an adjacent empty brick position with the pushing device, allowing the next brick to be replenished. This horizontal movement continues until the last brick of the lowest row is replenished. Then, the control device moves the brick storage platform down one row, and the previous row of refractory bricks is replenished in the same way.

[0065] Optionally, the second transmission mechanism includes vertical supports 22 on both sides, a first horizontal support 23 in the middle, and a second conveyor belt 11. The two vertical supports 22 are parallel to each other and are slidably connected to the driven platform at the bottom for adjusting the distance between the second transmission mechanism and the rotating platform.

[0066] The two ends of the first horizontal support 23 are slidably connected to the vertical support 22, and the first horizontal support 23 can move up and down along the vertical support 22. The length of the first horizontal support 23 is slightly greater than the side length of the refractory bricks stacked on one side of the rotating table. A pushing part is slidably connected to the first horizontal support 23, which is used to push the refractory bricks at the corresponding position on the brick storage platform onto the second conveyor belt 11.

[0067] Alternatively, the driven platform is provided with two slide rails, each corresponding to a vertical support 22. The vertical support 22 is vertically arranged and its bottom is slidably connected to the slide rail. The two vertical supports 22 move synchronously on their respective slide rails, moving closer to or away from the rotating platform.

[0068] Further optionally, the pushing part includes a connector 26, a second pushing plate 18 and a driving device 27. The top of the connector 26 is slidably connected to the first horizontal support 23. The head of the connector 26 points to the rotating table 20 and the tail points to the operating mechanism, that is, the length direction of the connector 26 is perpendicular to the first horizontal support 23.

[0069] A drive device 27 is provided at the tail of the connector 26. The drive device 27 is connected to the tail of the second push plate 18. The second push plate 18 is perpendicular to the connector 26. The drive device 27 can drive the second push plate 18 to move along the length of the connector 26, and can also control the rotation of the second push plate 18.

[0070] In one specific implementation, the second push plate 18 is a long strip, with a length slightly less than the length of the refractory brick and a height slightly greater than the thickness of the refractory brick. The head of the second push plate 18 is wedge-shaped, similar to a blade, so that the head can be inserted into the brick joint of the rotating table when the second push plate 18 moves. When the second push plate 18 moves in the future, it can be inserted into the brick joint as a whole, so as to facilitate the subsequent removal of a refractory brick from the rotating table.

[0071] Further optionally, the second transmission mechanism also includes a second horizontal support 24, with both ends of the second horizontal support 24 slidably connected to the vertical support 22, and the second horizontal support 24 can move up and down along the vertical support 22; the second horizontal support 24 is parallel to the first horizontal support 23 and is located below the first horizontal support 23, and the two horizontal supports have equal lengths.

[0072] The head of the second conveyor belt 11 is connected to the second horizontal support 24, and the tail is connected to the operating mechanism. The second conveyor belt 11 can move back and forth along the length of the second horizontal support 24 to receive refractory bricks on the brick storage platform.

[0073] In one specific implementation, the rotating shaft at the head of the second conveyor belt 11 is sleeved outside the second horizontal support 24. The second horizontal support 24 is cylindrical, and a rotating motor is connected to either end of the second horizontal support 24. The second conveyor belt 11 is driven to rotate through the second horizontal support 24. The rotating motor can be located outside the corresponding vertical support 22. The second horizontal support 24 passes through the vertical support 22 and is then connected to the rotating motor. The rotating motor can rise and fall with the second horizontal support 24. The rotating shaft at the head of the second conveyor belt 11 moves back and forth along the second horizontal support 24 by relying on existing electromagnetic control technology.

[0074] In use, the driven platform rotates relative to the rotating platform using existing electromagnetic control technology, so that the second transmission mechanism faces a certain side of the brick pile on the rotating platform, with two vertical supports 22 positioned on either side of that side of the brick pile. The vertical supports 22 approach the brick pile via corresponding slide rails, and the first horizontal support 23 and the second horizontal support 24 move upwards synchronously, so that the height of the pushing part reaches the top row of refractory bricks on that side, while the head of the second conveyor belt 11 is below the top row of refractory bricks. Both the pushing part and the second conveyor belt 11 are close to the same vertical support 22, and the driving device 27 pushes the second pushing plate 18 to the head of the connecting member 26, with the head of the second pushing plate 18 pointing towards the gap between the outermost refractory brick of the first row and the parallel next row of refractory bricks.

[0075] The pusher unit uses existing electromagnetic control technology to move along the first horizontal support 23 towards the other vertical support 22. At the same time, the second pusher plate 18 inserts into the corresponding gap, and the head of the second conveyor belt 11 moves synchronously with the pusher unit. When the connector 26 contacts the side of the target brick, it moves into position, and the drive device 27 controls the second pusher plate 18 to move towards the operating mechanism, pushing the target brick to the head of the second conveyor belt 11. The target brick is then transported along the second conveyor belt 11 to the operating mechanism.

[0076] After the pushing unit pushes a row of bricks sequentially onto the second conveyor belt 11, the pushing unit also moves to another vertical support 22. The drive device 27 pushes the second pushing plate 18 to the head of the connector 26, and then controls the second pushing plate 18 to rotate 180 degrees, so that the head of the second pushing plate 18 points towards the brick pile again. The two horizontal supports move down synchronously, preparing to push the second row of bricks below.

[0077] As the second transmission mechanism moves with the operating mechanism to the first transmission mechanism, the horizontal section of the support frame at the top of the ladle slides onto an arc-shaped guide rail. The entire support frame moves along the guide rail in advance (e.g., clockwise) to temporarily replenish bricks on the adjacent sides of the brick pile. After the operating mechanism completes this part of the masonry, the second transmission mechanism moves along the slide rail of the driven platform towards the operating mechanism, thus avoiding the vertical part of the support frame. The driven platform and the operating mechanism continue to rotate clockwise for masonry, while the entire support frame rotates counterclockwise and returns to the initial side of the brick pile to continue replenishing bricks. The second transmission mechanism only removes the outermost bricks from each side of the pile, while the first transmission mechanism only replenishes the outermost bricks from each side of the pile. When the masonry reaches near the top of the ladle and the brick storage platform has enough bricks, the first transmission mechanism is removed, and the second transmission mechanism removes bricks from the pile layer by layer from the outside to the inside until the masonry is completed.

[0078] Optionally, the operating mechanism includes a mobile carriage 28, a drive linkage, an industrial camera 30, and a mortar tank 8. The mobile carriage 28 is connected to a servo drive device 27 next to the control device via the drive linkage, which drives the mobile carriage 28 to rotate around the central axis of the brick storage platform. The mobile carriage 28 is equipped with a mortar tank 8 for storing mortar. The outlet of the mortar tank 8 is connected to an applicator head 9 for applying mortar to the refractory bricks.

[0079] The front end of the mobile vehicle 28 is equipped with a robotic arm 7, and the end of the robotic arm 7 is equipped with a suction cup 31 and an industrial camera 30, which are used to lay the refractory bricks conveyed by the second transmission mechanism in the slag line area through visual guidance.

[0080] Further optional, the chassis of the mobile vehicle 28 is equipped with four omnidirectional wheels 19 and four electric feet 25. After the mobile vehicle 28 arrives at the masonry position, the electric feet lift and lock the mobile vehicle 28 to prevent displacement during the masonry process. For example, the four electric feet are synchronously controlled, the lifting height is 30-50mm, and the single rod thrust is not less than 500kg.

[0081] The front end of the mobile vehicle 28 is equipped with a lidar 32, which uses a 360° rotating scanning method to collect three-dimensional point cloud data of the steel ladle lining in real time, construct a permanent layer topography model, and then guide the robotic arm 7 to rotate and build the ladle.

[0082] Alternatively, the robotic arm 7 may be a six-degree-of-freedom collaborative robotic arm 7, which has collision detection and force control functions to ensure safety when collaborating with humans.

[0083] The end of the robotic arm 7 is connected to the cylinder 33 via a backing plate. The top of the cylinder 33 is connected to the storage compartment via a flange 34. An industrial camera 30 is placed inside the storage compartment. The bottom of the storage compartment is connected to a suction cup 31. The cylinder 33 is connected to the suction cup 31 via an air circuit.

[0084] In this invention, the suction cup 31 and the 3D industrial camera 30 constitute a fixture with visual guidance function. The suction cup 31 uses vacuum adsorption to grasp the bricks, with a vacuum degree of not less than -70kPa, and can stably grasp refractory bricks weighing no more than 15kg. The 3D industrial camera 30 uses the principle of structured light, with a field of view of 300mm×400mm and a depth accuracy of ±0.5mm, and is used to identify the spatial posture and position of the bricks.

[0085] Further optionally, the top of the mortar tank 8 is provided with a hopper 35 for injecting mortar into the mortar tank 8; the bottom of the mobile vehicle 28 is provided with a screw pump, and the bottom of the mortar tank 8 is connected to the applicator head 9 through the screw pump. The screw pump is equipped with a frequency converter for adjusting the mortar supply in real time, for example, 0-5L / min.

[0086] The slurry head 9 is located on the vertical side of the front end of the mobile vehicle 28. The slurry head 9 has a slurry outlet and a scraper plate. After the robotic arm 7 picks up the brick, it slides down from above the slurry head 9, and the slurry is evenly applied to the mating surface of the brick.

[0087] A collection groove 17 is provided below the application head 9 to collect mortar that falls from the application head 9.

[0088] Optionally, the side of the mobile vehicle 28 facing the brick storage platform is provided with a brick storage groove. The length direction of the brick storage groove is parallel to the length direction of the mobile vehicle 28. The bottom surface of the brick storage groove is inclined, that is, the rear end of the bottom surface is higher than the front end of the bottom surface, so that the refractory bricks in the brick storage groove can slide to a position close to the front end of the mobile vehicle 28 under the action of gravity, which is convenient for the robotic arm 7 to pick up.

[0089] The bottom surface of the brick storage trough is equipped with several cylindrical rolling rods arranged side by side. The central axis of the rolling rods is set horizontally, and the two ends of the rolling rods are respectively rotatably connected to the two sides of the brick storage trough. The rolling rods are perpendicular to the direction of movement of the bricks in the brick storage trough, reducing the friction of the rotating sliding.

[0090] Optionally, the side of the mobile vehicle 28 facing the brick storage platform is provided with a support frame 29. One end of the support frame is provided with a rotating motor. The rotating shaft of the rotating motor is connected to the rotating shaft of one end of the second conveyor belt 11 to drive the second conveyor belt 11 to rotate. The support frame can support the rotating shaft of the second conveyor belt 11.

[0091] The support frame is positioned above the rear end of the brick storage trough, allowing the refractory bricks conveyed by the second conveyor belt 11 to enter the rear end of the brick storage trough.

[0092] Further optionally, an adjusting shaft 36 is provided below the driven platform, and the belt of the second conveyor belt 11 passes around the shaft on the second cross support 24, the shaft on the support frame and the adjusting shaft in sequence to form a closed loop;

[0093] When the second horizontal support 24 descends, the distance between the shafts at both ends of the second conveyor belt 11 decreases, the conveyor belt between the shafts at both ends loosens, and the position of the adjusting shaft is appropriately changed to tighten the transmission belt.

[0094] When the moving vehicle 28 rotates to a certain area on one side of the brick pile on the corresponding rotating platform, the rotating shafts at both ends of the second conveyor belt 11 can move back and forth along the second horizontal support 24 and the support frame, respectively. Simultaneously, in conjunction with the movement of the moving vehicle 28 and the adjustment of the tension of the rotating shafts, the second conveyor belt 11 becomes a transport channel for the refractory bricks. Then, the refractory bricks enter the brick storage tank and slide along the bottom surface of the tank to the front end, awaiting pickup by the robotic arm 7.

[0095] When the moving car 28 rotates to a point outside the area of ​​a certain side of the brick pile on the corresponding rotating platform, the movement of the shaft at one end of the second conveyor belt 11 on the support frame may reach its limit, causing the second conveyor belt 11 to tilt. At the same time, adjusting the shaft also changes its position, so that the conveyor belt remains taut and can still transport refractory bricks. As the moving car 28 continues to move, the driven platform drives the second transmission mechanism to rotate to an adjacent side of the corresponding brick pile, and the tilting of the second conveyor belt 11 improves.

Claims

1. A bricklaying system for refractory brick lining in a steel ladle, comprising a lifting mechanism and a brick storage platform. The lifting mechanism includes a lifting device and a lifting platform. The lifting device is installed at the center of the bottom of the steel ladle, and its control end is connected to the lifting platform for controlling the lifting and lowering of the lifting platform inside the steel ladle. A brick storage platform is provided at the center of the lifting platform for temporarily storing refractory bricks. The system is characterized in that... The masonry system also includes a first transmission mechanism and an operating mechanism. A control device is provided below the brick storage platform to control the translation and lifting of the brick storage platform. A second transmission mechanism is provided on the side of the brick storage platform facing the operating mechanism to transfer the refractory bricks on the brick storage platform to the operating mechanism. The first transmission mechanism includes an inverted L-shaped support and several transmission positions that move cyclically on the support. One end of the top of the support is connected to a temporary storage position for refractory bricks above the ladle. Each transmission position can carry a refractory brick to the lifting platform and replenish the refractory bricks on the brick storage platform.

2. The masonry system according to claim 1, characterized in that, The support of the first transmission mechanism includes a horizontal part and a vertical part. One end of the horizontal part is at the top of the ladle, and the other end is connected to the top of the vertical part. The bottom of the vertical part is close to the lifting platform. The vertical part is composed of several sub-supports connected vertically, which makes it easy to adjust the length of the vertical part according to the height of the lifting platform. A first conveyor belt is set along the support, and several detachable transmission positions are evenly set on the first conveyor belt for conveying refractory bricks.

3. The masonry system according to claim 1, characterized in that, The transmission position includes a fixed seat and a movable seat arranged perpendicularly to each other. Both the fixed seat and the movable seat are rectangular. Each end of the fixed seat has a track, and each end of the movable seat is slidably connected to the corresponding track, so that the movable seat can move in the width direction of the fixed seat, thereby pushing the refractory brick out of the fixed seat.

4. The masonry system according to claim 3, characterized in that, A rotatable positioning pin is provided on either side of the transmission position along its length. The side of the movable seat corresponding to the positioning pin has an outwardly protruding part, which is located outside the fixed seat and can move with the movable seat. The front end of the positioning pin is hinged to the wide side of the fixed seat. The positioning pin can rotate around its own front end. When the positioning pin is parallel to the width direction of the fixed seat, the rear end of the positioning pin abuts against the protrusion, preventing the moving seat from moving forward, thereby temporarily locking the position of the moving seat.

5. The masonry system according to claim 3, characterized in that, The bottom of the vertical part of the support is provided with a detachable pushing device, which is located between the two layers of the first conveyor belt. The pushing device includes a pusher and a first pusher plate. The first pusher plate is vertically arranged and located between the conveyor belt and the pusher on the side near the brick storage platform. When the conveyor carrying refractory bricks is displaced to the bottom of the vertical part of the support, it is at the same height as the pushing device. The pusher pushes the first pusher plate forward, pushing the moving seat and refractory bricks toward the brick storage platform.

6. The masonry system according to claim 1, characterized in that, The brick storage platform includes an internal rotating platform and an external driven platform. The rotating platform and the driven platform are concentrically arranged. The inner side of the driven platform is rotatably connected to the outer side of the rotating platform. The control end of the control device is connected to the center of the bottom of the rotating platform and is used to control the lifting and rotation of the rotating platform. The rotating platform can drive the driven platform to lift and move. The rotating platform is used to stack refractory bricks, and a second transmission mechanism is provided on the side of the driven platform facing the operating mechanism.

7. The masonry system according to claim 6, characterized in that, The second transmission mechanism includes vertical supports on both sides, a first horizontal support in the middle, and a second conveyor belt. The two vertical supports are parallel to each other and are slidably connected to a driven platform at the bottom for adjusting the distance between the second transmission mechanism and the rotating platform. The first horizontal support is slidably connected to the vertical support at both ends, and the first horizontal support can move up and down along the vertical support; a pushing part is slidably connected to the first horizontal support, which is used to push the refractory bricks at the corresponding positions on the brick storage platform onto the second conveyor belt.

8. The masonry system according to claim 7, characterized in that, The pushing part includes a connector, a second pushing plate and a driving device. The top of the connector is slidably connected to the first horizontal support. The head of the connector points to the rotating table and the tail points to the operating mechanism. The length direction of the connector is perpendicular to the first horizontal support. A drive device is provided at the tail of the connector. The drive device is connected to the tail of the second push plate. The second push plate is perpendicular to the connector. The drive device can drive the second push plate to move along the length of the connector and can also control the rotation of the second push plate.

9. The masonry system according to claim 1, characterized in that, The operating mechanism includes a mobile vehicle, a drive linkage, an industrial camera, and a mortar tank. The mobile vehicle is connected to a servo drive device next to the control device via the drive linkage, which drives the mobile vehicle to rotate around the central axis of the brick storage platform. The mobile vehicle is equipped with a mortar tank for storing mortar. The outlet of the mortar tank is connected to an applicator head for applying mortar to the refractory bricks. The front end of the mobile vehicle is equipped with a robotic arm, and the end of the robotic arm is equipped with a suction cup and an industrial camera, which are used to visually guide the refractory bricks conveyed by the second transmission mechanism to be laid in the slag line area.

10. The masonry system according to claim 9, characterized in that, The chassis of the mobile vehicle is equipped with four omnidirectional wheels and four electric feet. After the mobile vehicle arrives at the masonry work site, the electric feet lift and lock the mobile vehicle to prevent displacement during the masonry process. The front end of the mobile vehicle is equipped with a lidar, which uses a 360° rotating scanning method to collect three-dimensional point cloud data of the steel ladle lining in real time, construct a permanent layer topography model, and then guide the robotic arm to rotate during the masonry construction. The end effector of the robotic arm is connected to a cylinder via a backplate. The top of the cylinder is connected to a storage compartment via a flange. An industrial camera is placed inside the storage compartment. A suction cup is connected to the bottom of the storage compartment. The cylinder is connected to the suction cup via an air circuit.

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