SPRAY HEAD FOR SPRAYING A PRODUCT INSIDE A CONTAINER SUITABLE FOR CONTAINING MOLTEN METAL, INCLUDING A CAMERA, ROBOT AND ASSOCIATED INSTALLATION

Abstract

The invention relates to a spray head for spraying a product inside a container suitable for holding molten metal. The head comprises: a first segment and a second segment interconnected with each other, the second segment rotating endlessly relative to the first segment; a conduit for conveying the product to be sprayed; and a spray lance, said lance being in fluidic communication with the conduit and mounted on the second segment. The head further comprises one or more cameras arranged to capture images of an area outside the second segment, said camera(s) being housed in a monitoring compartment mounted outside the second segment, the monitoring compartment or the second segment having an opening or a translucent surface to allow image capture by the camera(s).The invention also relates to a robot comprising the head and an installation comprising an overhead crane and the head, said overhead crane being configured to hold the head inside the container.

Description

Title of the invention: HEAD FOR SPRAYING A PRODUCT INSIDE A CONTAINER CAPABLE OF CONTAINING MOLTEN METAL, COMPRISING A CAMERA, ROBOT AND ASSOCIATED INSTALLATION OBJECTIVE OF THE INVENTION

[0001] Generally speaking, the present invention relates to the technical field of guniting heads, generally incorporated in machines, robots or supported by overhead cranes, for projecting or spraying a material, preferably a refractory material for coating containers, vats, casting baskets or any other container or vessel capable of containing molten metals, preferably electric furnaces in which steel is melted.

[0002] An objective of the invention is to provide a head such as that described above, which facilitates the tasks of monitoring and / or controlling the process of spraying the product inside the container, thus facilitating the monitoring, control and surveillance of the operators during gunning, and reducing the dangers to which they may be exposed. CONTEXT OF THE INVENTION

[0003] In the metalworking sector, and in other industrial sectors, containers or vessels of various sizes and shapes are commonly used and designed to keep materials at high temperatures, for example at temperatures above the melting point of the materials they contain. As is well known in the prior art, these vessels are normally made of metal and coated with a layer of refractory material (which may be installed in the form of a brick lining of the inner surface of the vessel, or which may be sprayed directly onto the inner surface of the vessel) in order to protect the metal part of the vessel from the high temperatures it will have to withstand.

[0004] Refractory materials exhibit high chemical and physical stability at high temperatures. Depending on the environment in which they are used, they must be resistant to thermal shock, chemically inert, capable of working in specific thermal conductivity ranges and have particular coefficients of thermal expansion.

[0005] Aluminum (alumina), silicon (silica) and magnesium (magnesia) oxides are the most commonly used materials in the manufacture of refractory materials. Other oxides commonly used for the manufacture of refractory materials are calcium oxide (lime) or zirconium oxide (zirconia), among others. Others. Refractory clays and sands, as well as andalusite, are also widely used in the manufacture of refractory materials. Refractory materials must be chosen according to the conditions to which they will be subjected in the containers they line.

[0006] These masses of refractory materials are generally produced by mixing a dry refractory material, in the form of granules or powder, with a liquid binder. For example, for lining electric furnaces in which steel is melted, magnesite sand is used, which hardens when mixed with water, the mixture then adhering to the refractory brick walls in the furnaces.

[0007] Refractory materials are commonly used for lining vessels, tundishes or any other container or vessel configured to hold molten metals, particularly in the metalworking industry.

[0008] The process of gunning vessels or containers, such as those described above, comprises the pressure-blasting of refractory material onto their inner walls.

[0009] Currently, the known techniques for guniting furnaces, ladles or cylindrical containers consist of a manual technique and some automated techniques comprising guniting machines, installations or robots that incorporate a head designed to be introduced into the container in order to spray the material. In both cases, the essential elements for guniting are a guniting machine (which is the assembly formed by a hopper for the product to be gunited and a pressure tank for transporting the material), and an anti-abrasive hose with a lance for spraying the product that is previously mixed with water.

[0010] In the manual technique, an operator is responsible for carrying out the guniting. To do this, the operator is positioned close to the furnace to carry out the guniting from the slag door or from a maintenance platform. The operator must hold the lance throughout the guniting operation with constant force and pressure to ensure proper coating of the walls of the container, for example the furnace, the casting ladle or the cylindrical container.

[0011] The operator carries out the guniting operations by moving, rotating and moving the lance and the anti-abrasive hose so as to completely cover the inner walls of the container with the corresponding product. While moving, the operator may trip over the anti-abrasive hose itself, since it requires a significant effort, due to the constant pressure of the flow and the weight of the anti-abrasive hose and lance with which the operator works. This manual technique involves significant physical work on the part of the operator, who must hold hose lances that can be up to six meters long.

[0012] The use of guniting heads guarantees better results, because the layer of guniting material extends evenly over the entire surface. Two types of guniting robots are currently known.

[0013] A first type of guniting head is one that is moved and held in working position by an overhead crane. During the guniting operation, the robot is suspended in the air by the overhead crane.

[0014] Another type of known guniting head is intended to be fixedly installed next to the furnace, the casting ladle or the cylindrical container to be gunited. These types of solutions comprise an actuable arm to which the head is attached which, in turn, comprises a lance through which the material is sprayed. The head is positioned inside the container and rotates to carry out the guniting of the corresponding surface by means of the lance.

[0015] An example of this type of solution is described in the publication of PCT patent application WO2017085332A1, in which a head moves using an overhead crane and, once in position, descends until it rests on the upper opening of the container. These types of installations comprise a head which, in turn, includes the lance, which head can move in a vertical direction and rotate around its own longitudinal axis, so that the lance can project or spray refractive material at different angles onto the walls of the furnace. This head has the disadvantage of having to be supported and coupled to the furnace itself and must be moved using an overhead crane.Furthermore, its movement relative to the access opening is only possible from two positions, a rest position and a working position, achieved by means of a plurality of arms, some of which are foldable, so that the overhead crane can be released while the operating arm rests on said arms, lifting it to the rest position when guniting is not carried out by means of the foldable or collapsible arms attached to the container and, likewise, lowering it during its normal operation.

[0016] Another disadvantage is that, in practice, spraying by means of these known heads must always be supervised or even controlled by the operator by means of a control system and, to do this, the operator must be able to see the interior of the furnace and the area to which the material is applied. To do this, whether to supervise or to control the device, the operator is placed outside the furnace, but close enough to be able to see the interior, which is extremely dangerous, due to the poor visibility of the area to be gunited or being gunited. It should be noted that blind spots, high temperatures and the existence of suspended metal particles make this task extremely difficult. Therefore, the solutions known in the state of the art lack precision and control with regard to the positioning and orientation of the material to be apply. In the case of a fully manual operating mode, operators must expose themselves to the heat source to be able to see where to project inside the oven.

[0017] Another disadvantage of having operators work close to the furnace is that they are highly exposed to any fumes or particles released during gunning. This can be detrimental to the operator's health.

[0018] Furthermore, some heads known from the state of the art have complex connecting rod mechanisms for transporting water and dry materials to the ejection area while simultaneously having to allow a tilting movement of the lance (up and down) and an endless rotation of one rotating segment relative to the other segment that is not rotating. The known connecting rod mechanisms, by their type, do not allow the incorporation of electronic devices wired to the rotating part without affecting the endless rotation of the rotating segment, which is an essential feature for the correct spraying of the material inside the container. Furthermore, these heads are subject to difficult conditions, both in terms of temperature and suspended metal particles, which make it difficult to incorporate electronic control devices, especially if they were to be incorporated into the endless rotating segment.

[0019] It is probably for this reason that the heads known in the state of the art have particular drawbacks and problems with regard to the incorporation of monitoring elements, which reduces the monitoring and / or control of the jet, in particular in the rotating segment intended to penetrate the container, and that they are even devoid of any type of monitoring element in said rotating segment. In the absence of control and monitoring elements or systems, not only is the precision and control of the spraying not ensured, but it is also impossible to detect potential hazards, both in the environment and in the machine itself. DESCRIPTION OF THE INVENTION

[0020] An object of the invention is a head for spraying a product inside a container, in particular for lining a container which may be a tank, a tundish or any other container or vessel, for example an electric furnace in which steel is melted.

[0021] A first aspect of the invention relates to a head for spraying a product for lining any container or receptacle, such as furnaces, casting ladles or cylindrical containers capable of containing materials at very high temperatures, such as temperatures higher than the melting temperature of the materials they will contain and which are preferably used in the metallurgy sector. These containers, for example, can be indifferently iron casting ladles and steel, basic oxygen converters (BOCs), argon-oxygen decarburization (AOD) vessels, electric arc furnaces (EAFs), aluminum and copper melting vessels, casting furnaces, tundishes, torpedo cars (rail-mounted ladles used to transfer molten iron from the blast furnace to the steel mill), and bottom-blasted furnaces (Q-BOPs).

[0022] In some embodiments, the product to be sprayed is a refractory material, a refractory material being understood in the context of the present invention as a material resistant to high temperatures and which is mainly used as a coating of containers used for the processing of materials at high temperatures, as well as in other applications in which thermomechanical properties are essential.

[0023] Preferably, the refractory material to be applied by the head is magnesite sand mixed with water, the mixture of which adheres to the walls of the container to ensure its coating.

[0024] The head is intended to be introduced into the container and comprises a first segment and a second segment, the second segment being rotatable relative to the first segment. Preferably, the second segment is endlessly rotatable relative to the first segment, endless rotation being understood as the ability to rotate at least 360° (encompassing the entire radial section of the container). Optionally, the second segment may have completely free rotation without any type of angular restriction or stop in its angular trajectory.

[0025] The second segment may be interconnected to the first segment by means of a rotary joint disposed between the first segment and the second segment. The rotary joint may be of any known type.

[0026] In a preferred embodiment, the head comprises a hydraulic rotary manifold attached to, or forming part of, the rotary joint, said hydraulic rotary manifold enabling the transfer of fluid from a stationary source, in this case the first segment of the head, to the rotating component, which corresponds to the second segment of said head, such that the hydraulic rotary manifold connects the fluid supply to the rotating portion, thereby enabling the continuous and uninterrupted flow of said fluid. The supplied fluid is generally water prior to its mixing with the solid refractory product or material.

[0027] Inside, the head comprises at least one conduit for conveying the solid material, for example magnesite sand, to a lance in communication with the conduit. The lance is configured to spray, project, distribute or sprinkle the refractory material (preferably magnesite sand mixed with water) from the conduit onto the interior walls thereof.

[0028] Similarly, the lance is mounted, at least in part, on the second segment, which is rotating, integral with the rotation of the latter and arranged transversely to said second segment, such that, once inside the container, the lance can rotate 360° (endlessly) inside the container.

[0029] Preferably, the lance is disposed within a lance compartment, which is attached to or forms part of the second segment.

[0030] In the lance compartment, by means of a mixer arranged inside, the water conveyed by the hydraulic rotary manifold can be mixed with the product passing through other internal conduits, thus obtaining the mixture just before it is sprayed into the mixer. Optionally, the head does not need a mixer, since some spray products in this type of container do not need to be mixed with water.

[0031] In one embodiment, the lance compartment is rotatable relative to the second segment and can rotate, with the lance, about an axis transverse to said second segment, such that the lance compartment is rotationally integral with the second segment and is rotatably interconnected thereto.

[0032] The lance may be coupled to a drive shaft which projects transversely from the second segment towards the head, such that the lance and the drive shaft are integral with the vertical axis of rotation (or the longitudinal axis of the second segment), and that said drive shaft in turn tilts relative to the horizontal (transversely to the second segment) such that the lance can tilt relative to the horizontal at least within a range of between 0 and 110°.

[0033] In one embodiment of the present invention, the head comprises a monitoring compartment attached to, or forming part of, the second segment of said head, said monitoring compartment comprising a camera configured to capture images of the lance and / or at least one area within the container. The interior area of ​​the container may be considered an exterior area of ​​the second segment, since, in operation, this is the area where images are captured by the camera.

[0034] During the development of the present invention, it was found that the implementation of wireless devices, in particular cameras in the second segment, had disadvantages, both due to the endless rotating nature and the harsh environment to which it is subjected during spraying, since it has to penetrate inside furnaces or containers at very high temperatures with a large amount of suspended metal particles during the projection of refractory material that cause unwanted interference with wireless protocols.

[0035] Therefore, in accordance with one embodiment of the present invention, the head further comprises: - an electrical rotating ring collector that acts as an electrical interface to communicate the camera (located in the second segment that rotates endlessly) with a control system.

[0036] The control system may be a control panel and / or a control module, as well as various elements for receiving and transmitting images from the camera to a device, a screen or a monitor.

[0037] Thus, said commutator or electrical rotating ring commutator acts as a rotating electrical interface allowing the transfer of power and / or the transmission of data signals between a fixed component and a rotating component of said electrical rotating ring commutator.

[0038] Electrical contacts are preferably used to connect a component that is integral in rotation with the second segment to a component (that is not rotating), which allows the flow of electrical signals and prevents or minimizes twisting or bending of the cables. The electrical ring minimizes twisting of the cables by maintaining a constant and uninterrupted connection between the fixed (first segment) and rotating (second segment) portions of the head to transfer the data and / or power cables to the second segment that is endlessly rotating.

[0039] The electric commutator or the electric rotating ring commutator may be a brush-type rotating ring commutator, which comprises a rotating ring connected to a rotating component integral with the second segment, and a stationary brush connected to a stationary component, i.e., it does not rotate. Optionally, the brush may slide with the rotating component and move freely along an annular portion. The rotating ring may be provided with metal rings or strips, and the brushes make contact with these metal rings or strips.

[0040] Optionally, the commutator or electric rotating ring commutator may be a brushless rotating ring commutator, the rotating component containing an optical or magnetic sensor that sends signals to a sensor on the stationary component.

[0041] Therefore, the electrical connectors described above may be brushes, optical sensors or magnetic sensors.

[0042] Further, the electrical collector may include additional components to enhance its high frequency transfer capabilities, the additional components may include capacitors, inductors, and other passive components.

[0043] In some cases, the cable(s) connected to the electrical rotating ring collector are made of polytetrafluoroethylene or PTFE, as this material can withstand the harsh conditions inside the receptacle. Optionally, the cables are made of fiber optics, as they minimize electromagnetic interference, including that from metal particles, and are also resistant to high temperatures.

[0044] In this way, the camera and, preferably, other electronic devices, which should advantageously be located in the second rotating segment, can be properly connected by one or more signal and / or power cables to the electrical rotating ring collector, and an output cable connected thereto (e.g., to the stationary component) communicates the signal and / or power to a control system. In this way, the second segment can rotate endlessly about its own longitudinal axis without twisting the cables that connect the camera and, optionally, additional electrical monitoring devices, or at least minimizing this twisting.

[0045] It should be noted that in some embodiments the camera and / or additional electrical devices may be powered by batteries and therefore the cable(s) may be exclusively for signal transmission.

[0046] At least one element of the control system may be connected to the electrically rotating ring commutator to receive and transmit signals from the electronic devices, which are also connected by cables to the electrically rotating ring commutator. For example, one of the camera cables is connected to the rotating component (and rotates integrally with it), and the other output cables are connected to a stationary component of the electrically rotating ring commutator and to at least one element of the control system to transfer the images captured by the camera.

[0047] Furthermore, the electronic device(s) (in addition to the camera) may comprise one or more monitoring means or elements, the element(s) and / or different combinations of elements being part of a list comprising: - one or more temperature sensors, - one or more obstacle sensors, - one or more pressure sensors, - one or more position sensors, - one or more speed sensors, - one or more vibration sensors, - one or more force sensors, - one or more accelerometers, - one or more flow measurement sensors, - one or more cameras.

[0048] Similarly, at least one of the monitoring elements or a combination thereof may be integrated into the monitoring compartment described above, with or in addition to the camera.

[0049] The monitoring compartment may include a plurality of cameras for capturing images of the lance and the interior of the container to be coated with refractory material.

[0050] At least the front portion of the monitoring compartment, the front portion being understood as that which points towards the area where the spraying takes place inside the container, may be provided with a transparent or sufficiently translucent surface to allow sufficient light to pass through for the camera to capture images.

[0051] Alternatively, the compartment includes an opening or port for properly capturing images, and the camera is protected by a waterproof housing within the monitoring compartment.

[0052] In some embodiments, the camera may be located inside the monitoring compartment and one or more additional monitoring elements may be disposed inside the second segment and thus outside the compartment.

[0053] The camera may be connected to closed-circuit wiring, said wiring passing through the interior of the head, from the camera to connect to the electrical collector ring, and at the output of the latter, electrically connect to at least one element of a control system. The camera may be used by the operator to remotely monitor and control the spraying performed by the head.

[0054] Alternatively, the camera may be connected to a control system by wireless means. For example, the wireless means may comprise one of the wireless protocols in the following list. - industrial WiFi; - Zigbee; - Radio frequency (RF); - BLE (Bluetooth Low Energy); - WirelessHart; - ISA 100.11a; - NFC (near field communication); - Wireless USB (WUSB); - DECT (digital enhanced cordless telecommunications); - Z-Wave; - RFID (radio frequency identification).

[0055] Another aspect of the invention relates to a method of controlling the spraying of the head by an operator having access to the control system, which may comprise the steps of: - position the head at the desired location in the container, - send the captured images to the control system, - analyze the images received in the control system to determine an orientation and position of the lance inside the container, - rotate the second segment and, consequently, the position of the lance, based on the analysis of the captured images, to a desired position, - start spraying the refractory material.

[0056] Furthermore, the method may further comprise monitoring the spraying of the refractory material using the camera(s) and adjusting the position of the spray arm and lance if necessary.

[0057] Finally, the process of spraying the refractory material is stopped when a desired level of coating on the interior walls of the container has been reached.

[0058] Optionally, the cameras can be used solely by the operator to monitor the spraying of the refractory material.

[0059] To facilitate the introduction of the head into the container and to avoid the need for overhead cranes or arms attached to the container to hold the head during operation, a second aspect of the present invention relates to a robot which incorporates the head of one of the embodiments described above.

[0060] The robot may be provided with a positioning arm which, in operation, is fixed to the head at one of its ends. Similarly, at the opposite end, a position adjustment mechanism arranged around an access opening of the container may be fixed, so that said position adjustment mechanism allows, by means of motorized elements, to tilt the positioning arm on a plane corresponding to the access opening in order to facilitate the introduction of the head into the container.

[0061] Preferably, the position adjustment mechanism may comprise second motorized elements, configured to rotate the positioning arm on an axis perpendicular to the access opening of the container.

[0062] Another aspect of the invention relates to an installation which incorporates the head according to any one of the embodiments described above, said installation comprising an overhead crane configured to hold the head inside the container.

[0063] Another aspect of the invention relates to an installation which incorporates the head according to any of the embodiments described above, and which further comprises a plurality of arms attached to the container to hold said head, thus avoiding the need for an overhead crane during the spraying process.

[0064] In some embodiments, the control system may be configured to receive a set of signals from the monitoring elements and the camera, to process this set of signals and send another set of output signals to one of the actuators or motors of the head, robot or installation, for example for an emergency stop, or to return the input parameters of the motors or actuators so that they are controlled by said control system or by another control system specific to the motors. For example, the control system or its processing unit can be configured to determine the position of the head relative to the container and send signals to different actuators to automatically introduce the head through the access opening of the container, based on the signals from the sensors or by an image processor which post-processes the images captured by the camera to detect the position and orientation of the head relative to the container.

[0065] Advantageously, an image post-processing program is configured to determine the depth and surface area (e.g., diameter) of the container. Similarly, one or more obstacle detection sensors may alert the control system in real time of a potential problem, for example, so that it executes an emergency stop by giving an order to the motorized means and / or actuators.

[0066] Accordingly, in one embodiment, a control and processing module comprises an image post-processing algorithm configured to analyze the images captured by the camera, the image post-processing algorithm being configured to detect at least the surface area of ​​the access opening and the depth of the container, to calculate the position and orientation of the container relative to the head and to adjust the position and orientation of the head based on the previously performed position calculation.

[0067] The post-processing program may use edge detection, object detection, and image segmentation techniques to identify the container opening, depth, obstacles, and other relevant features in the images.

[0068] Another aspect of the present invention relates to a method for automatically or semi-automatically introducing the head into the container by means of the robot, said method possibly comprising the steps of: - place the robot with its head close to the container, - activate one or more cameras and / or sensors, - collect a set of data from sensors and / or one or more cameras, - analyze this set of collected data, - determine the position and orientation of the container relative to the head based, at least in part, on the analyzed data set, - determine, on the basis of the determined orientation and position of the container, an amplitude of rotation and / or tilting necessary to modify the position and orientation of the head in order to safely penetrate the container, - act on the motorized means to introduce the head into the container.

[0069] Advantageously, the steps are performed by a processing and control unit, and this unit may also execute an algorithm to calculate the desired position and orientation of the positioning arm based on the position and the previously determined orientation of the positioning arm.

[0070] In brief, a first aspect of the invention relates to a head for spraying a product inside a container capable of containing molten metal, said head comprising: - a first segment and a second segment, the second segment being endlessly rotatable relative to the first segment, and said segments being interconnected with each other; - a conduit for conveying a product to be sprayed, said conduit being arranged in an interior part of the head; - a lance for spraying a product, said lance being in fluid communication with the conduit, and mounted on the second segment, being integral with the rotation thereof, the head further comprises one or more cameras arranged to capture images of an exterior area around the second segment, and the one or more cameras are housed in a monitoring compartment mounted externally of the second segment, or are housed in the second segment, the monitoring compartment or the second segment having an opening or translucent surface to allow image capture by the one or more cameras.

[0071] In some embodiments the lance is disposed within a lance compartment attached to or forming part of the second segment.

[0072] In some embodiments the lance compartment and the lance therein are capable of tilting relative to the second segment about an axis that is transverse to said second segment, the lance compartment being rotationally integral with the second segment and being interconnected therewith.

[0073] In some embodiments the head further comprises an electrically rotating ring commutator connected to a control system and the camera, said electrically rotating ring commutator acting as an electrical interface between the control system and the camera, allowing uninterrupted electrical communication during the endless rotation of the second segment.

[0074] In some embodiments the electrically rotating ring collector comprises a rotating component rotationally secured to the second segment, and a stationary component, the camera being connected by at least one cable to the rotating component, and the rotating component and the stationary component being in electrical contact with each other by electrical contacts which allow the transmission of a signal and / or electrical energy between them.

[0075] In some embodiments the stationary component of the electric rotating ring commutator is connected by one or more cables to at least one element of the control system.

[0076] In some embodiments the electrical contacts are selected from a list consisting of: - one or more brooms; - optical connections, and - magnetic connections.

[0077] In some embodiments the camera is in communication with the control system by wireless means.

[0078] In some embodiments the head comprises additional monitoring elements arranged in the second segment or in the monitoring compartment, said additional monitoring elements being in communication with a control system and selected from a list which comprises: - one or more temperature sensors, - one or more obstacle sensors, - one or more pressure sensors, - one or more position sensors, - one or more speed sensors, - one or more vibration sensors, - one or more force sensors, - one or more accelerometers, - one or more flow measurement sensors.

[0079] In some embodiments the additional monitoring elements are in communication with the control system by means of the electrical rotating ring collector.

[0080] In some embodiments the additional monitoring elements are in communication with the control system by wireless means.

[0081] Another aspect of the present invention relates to a robot which comprises the head described above.

[0082] In some embodiments the robot further comprises a positioning arm provided with a proximal end and a distal end, said positioning arm being attached to the head at the distal end thereof.

[0083] In some embodiments the robot further comprises a position adjustment mechanism disposed around an access opening of the container, said position adjustment mechanism being interconnectable with the proximal end of the positioning arm, said position adjustment mechanism comprising motorized means configured to perform a tilting movement of said positioning arm on a plane in correspondence with the access opening.

[0084] In some embodiments the position adjustment mechanism comprises second motorized means configured to rotate the arm of positioning relative to an axis perpendicular to the access opening of the container.

[0085] Another aspect of the present invention relates to an installation comprising an overhead crane and the head described above, said overhead crane being configured to hold the head inside the container.

[0086] In some embodiments the installation further comprises a plurality of arms attached to the container and to the head for holding said head inside the container. DESCRIPTION OF THE DRAWINGS

[0087] In addition to the description provided herein and in order to facilitate understanding of the features of the invention, in accordance with a preferred exemplary practical embodiment, this description is accompanied by a set of drawings which forms an integral part thereof and in which, by way of illustration and not limitation, the following elements have been represented:

[0088] [Fig.l] shows a perspective view of an embodiment of the invention illustrating a robot which incorporates a head intended to be introduced inside a container to pulverize a refractory material.

[0089] [Fig.2] shows a perspective view of the interior of the head according to an embodiment of the present invention illustrating an electrical collector disposed in the first segment of the head, a second segment rotatable relative to the first segment, a lance compartment interconnected to the second segment and capable of tilting relative thereto, and a monitoring compartment having a camera.

[0090] [Fig.3] shows a perspective view of the head of [Fig.2] rigidly connected to a positioning arm of the robot of [Fig.l]. PREFERRED EMBODIMENT OF THE INVENTION

[0091] With the aid of Figures 1 to 3, an exemplary embodiment of a robot (1) and a head (2) which are objects of the present invention is described below.

[0092] More particularly, [Fig.l] shows an object of the invention which relates to a head (2) for spraying a product inside a container (17) by means of a lance (6), said head (2) comprising a first segment (4) and a second segment (3), the second segment (3) being rotatable without end relative to the first segment (4), and said segments (3,4) being interconnected with each other in a rotatable manner.

[0093] Furthermore, the figures show that the lance (6) is mounted on the second segment (3) by means of a lance compartment (16) inside which said lance (6) is arranged, said lance compartment (16) being capable of tilting relative to the second segment (3) on an axis perpendicular to the latter (3). The lance compartment (16), as illustrated in [Fig.l], is configured to perform a tilting movement relative to a shaft which passes substantially through the horizontal (perpendicular to the second segment), having a tilting movement with an angular displacement beta (|3) preferably between 0 and 110°.

[0094] In the lance compartment (6), as illustrated in [Fig.2], a mixer (14) may be arranged, configured to mix water from a hydraulic rotary manifold (11) to the mixer, in order to mix it with the product flowing in the internal conduits, carrying out the mixing just before it is sprayed into the lance (16).

[0095] The second segment (3) of the head (2) is provided with a monitoring compartment (21) which comprises a camera (20).

[0096] [Fig. 1] illustrates another aspect of the present invention which relates to a robot (1) incorporating the aforementioned head (2).

[0097] Similarly, it is shown that the robot (1) comprises a positioning arm (7) provided with a proximal end (8) and a distal end (9), said positioning arm (7) being fixed to the head (2) at the distal end (9) thereof (7). Also shown is a position adjustment mechanism (10) arranged around an access opening (15) of the container (17), said position adjustment mechanism (10) being connected to the proximal end (8) of the positioning arm (7), and said position adjustment mechanism (10) comprising motorized means configured to perform a tilting movement of said positioning arm (7) on a plane in correspondence with the access opening (15), said tilting movement being represented by an angular displacement alpha (a).

[0098] The position adjustment mechanism (10), according to the embodiment shown in [Fig.l], comprises second motorized means configured to rotate the positioning arm (7) relative to an axis perpendicular to the access opening (15) of the container (17).

[0099] [Fig.2] shows a view of the interior of the head (2) according to an embodiment of the present invention, showing that the first segment (4) comprises an electrically rotating ring commutator (12). The electrically rotating ring commutator (12) comprises a rotating component (19) rotatably secured to the second segment (3), and a stationary component (22), the rotating component (19) and the stationary component (22) being in electrical contact with each other by means of electrical contacts (23) which allow the transmission of a signal and / or electrical energy between them. Preferably, as shown in [Fig. 2], the electrical contacts (23) are brushes.

[0100] Furthermore, [Fig.2] illustrates the rotating component (19) comprising one or more metal strips (25), each metal strip (25) being connected to a camera (20) by means of at least one cable. The rotating component (19) may be provided with further metal strips (25) attached thereto (19), each metal strip (25) being duly connected to a cable in correspondence with a monitoring element in addition to the camera, such as: temperature, obstacle, pressure, position, velocity and vibration, and accelerometers, etc.

[0101] As shown in [Fig.2], the camera (20) is arranged in a monitoring compartment (21) fixed to the second segment (3) and integral with it, which second segment is capable of rotating endlessly on its own longitudinal axis.

[0102] [Fig.3] shows a perspective of a section opposite to that shown in [Fig.2], where the positioning arm (7) of the robot of [Fig.l] is also shown, rigidly attached to the head (2).

[0103] More specifically, [Fig. 3] illustrates a front portion of the monitoring compartment (21) which includes a transparent or sufficiently translucent surface to allow the passage of a sufficient quantity of light for the camera to capture images.

[0104] Of course, the invention is not limited to the specific embodiments described herein, but also encompasses all variations which may be considered, by any person skilled in the art, as falling within the general scope of the invention.

Claims

Claims

1. Head (2) for spraying a product inside a container (17) capable of containing molten metal, said head (2) comprising: - a first segment (4) and a second segment (3), the second segment (3) being endlessly rotatable relative to the first segment (4), and said segments (3, 4) being interconnected with each other; - a conduit for conveying a product to be sprayed, said conduit being arranged in an interior part of the head (2);- a lance (6) for spraying a product, said lance (6) being in fluid communication with the conduit, and mounted on the second segment (3), being integral with the rotation thereof (3), characterized in that the head (2) further comprises one or more cameras (20) arranged to capture images of an external area around the second segment (3), and the camera(s) (20) are housed in a monitoring compartment (21) mounted outside the second segment (3), or are housed in the second segment (3), the monitoring compartment (21) or the second segment (3) having an opening or a translucent surface to allow the capture of images by the camera(s) (20).;

2. Head (2) for spraying a product inside a container (17) capable of containing molten metal according to claim 1, characterized in that the lance (6) is arranged inside a lance compartment (16) attached to the second segment (3) or forming part thereof.

3. Head (2) for spraying a product inside a container (17) capable of containing molten metal according to claim 2, characterized in that the lance compartment (16) and the lance (6) inside it (16) are capable of tilting relative to the second segment (3) around an axis which is transverse to said second segment (3), the lance compartment (16) being rotationally fixed to the second segment (3) and being interconnected therewith (3).

4. Head (2) for spraying a product inside a container (17) capable of containing molten metal according to any one of the preceding claims, characterized in that it further comprises an electrically rotating ring collector (12) connected to a control system and to the camera (20), said electrically rotating ring collector (12) acting as an electrical interface between the control system and the camera (20), allowing uninterrupted electrical communication during the endless rotation of the second segment (3).

5. Head (2) for spraying a product inside a container (17) capable of containing molten metal according to claim 4, characterized in that the electrically rotating ring collector (12) comprises a rotating component (19) integral in rotation with the second segment (3), and a stationary component (22), the camera (20) being connected by at least one cable to the rotating component (19), and the rotating component (19) and the stationary component (22) being in electrical contact with each other by electrical contacts (23) which allow the transmission of a signal and / or electrical energy between them.

6. Head (2) for spraying a product inside a container (17) capable of containing molten metal according to claim 5, characterized in that the stationary component (22) of the electric rotating ring collector (12) is connected by one or more cables to at least one element of the control system.

7. Head (2) for spraying a product inside a container (17) capable of containing molten metal according to any one of claims 5 or 6, characterized in that the electrical contacts (23) are chosen from a list consisting of: - one or more brushes; - the optical connections, and - the magnetic connections.

8. Head (2) for spraying a product inside a container (17) capable of containing molten metal according to any one of claims 1 to 3, characterized in that the camera (20) is in communication with the control system by wireless means.

9. Head (2) for spraying a product inside a container (17) capable of containing molten metal according to any one of the preceding claims, characterized in that it comprises additional monitoring elements arranged in the second segment (3) or in the monitoring compartment (21), said additional monitoring elements being in communication with a control system and chosen from a list which comprises: - one or more temperature sensors, - one or more obstacle sensors, - one or more pressure sensors, - one or more position sensors, - one or more speed sensors, - one or more vibration sensors, - one or more force sensors, - one or more accelerometers, - one or more flow measurement sensors.

10. Head (2) for spraying a product inside a container (17) capable of containing molten metal according to claims 4 and 9, characterized in that the additional monitoring elements are in communication with the control system by means of the electric rotating ring collector (12).

11. Head (2) for spraying a product inside a container (17) capable of containing molten metal according to claim 9, characterized in that the additional monitoring elements are in communication with the control system by wireless means.

12. Robot (1), characterized in that it comprises the head (2) according to any one of the preceding claims.

13. Robot (1) according to claim 12, characterized in that it further comprises a positioning arm (7) provided with a proximal end (8) and a distal end (9), said positioning arm (7) being fixed to the head (2) at the distal end (9) thereof (7).

14. Robot (1) according to claim 13, characterized in that it further comprises a position adjustment mechanism (10) arranged around an access opening (15) of the container (17), said position adjustment mechanism (10) being interconnectable with the proximal end (8) of the positioning arm (7), said position adjustment mechanism (10) comprising motorized means configured to perform a tilting movement of said positioning arm (7) on a plane in correspondence with the access opening (15).

15. Robot (1) according to claim 14, characterized in that the position adjustment mechanism (10) comprises second motorized means configured to rotate the positioning arm (7) relative to an axis perpendicular to the access opening (15) of the container (17).

16. Installation characterized in that it comprises an overhead crane and the head (2) according to any one of claims 2 to 11, said overhead crane being configured to hold the head (2) inside the container (17).

17. Installation characterized in that it comprises the head (2) according to any one of claims 2 to 11, and that it further comprises a plurality of arms fixed to the container (17) and to the head (2) to hold said head (2) inside the container (17).

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