Demolition system and demolition method

Abstract

The demolition system for dismantling a refractory layer without mixing refractory materials of different compositions. The demolition system for dismantling a refractory layer consisting of multiple layers provided on the inner surface of a structure, comprising: a three-dimensional shape measuring device for measuring the three-dimensional shape of the inner surface of the structure; a calculation device for determining which layer of refractory material is exposed on the surface of the refractory layer based on the three-dimensional shape measured by the three-dimensional shape measuring device; and a demolition device for dismantling the refractory layer layer by layer based on the results calculated by the calculation device.

Description

Technical Field

[0001] The present invention relates to a dismantling system for dismantling a shaped refractory layer composed of a plurality of layers provided on the inner surface of a structure. The present invention also relates to a dismantling method for dismantling a shaped refractory layer composed of a plurality of layers provided on the inner surface of a structure.

Background Art

[0002] Generally, a refractory layer is provided on the inner surface of a structure for holding high-temperature contents in order to protect the structure from the heat of the contents. Examples of such structures having a refractory layer include a container for holding molten metal (hereinafter referred to as a "molten metal container") and a trough for molten metal such as a blast furnace trough.

[0003] As the refractory layer, generally, a shaped refractory layer produced by stacking shaped refractories on the inner surface of a structure is used. The shaped refractory layer has a multi-layer structure in which shaped refractories with different compositions are combined according to the required properties such as abrasion resistance and spalling resistance. Also, in the case of a molten metal container, since the first layer in contact with the molten metal is severely worn, a relatively low-grade shaped refractory using recycled materials may be used, and in that case as well, the composition of the shaped refractory differs depending on the layer.

[0004] For example, FIG. 1 is a cross-sectional schematic view showing an example of the structure of a structure 100 provided with a shaped refractory layer. The structure 100 includes a metal structure main body 110 and a shaped refractory layer 120 provided on the inner surface of the structure main body 110. The structure main body 110 is usually made of metal, and more typically made of steel. Therefore, the structure main body 110 is also referred to as an iron skin.

[0005] In the example shown in Figure 1, the shaped refractory layer 120 has a two-layer structure consisting of a first shaped refractory layer 121 and a second shaped refractory layer 122. The first shaped refractory layer 121 and the second shaped refractory layer 122 are composed of shaped refractories with different compositions. The number of layers constituting the shaped refractory layer may be more than two, and in that case, shaped refractories with different compositions may be used for each layer. Furthermore, a layer of unshaped refractory material (not shown) may be provided on the surface of the shaped refractory layer 120, i.e., on the inner side of the structure 100.

[0006] When such structures are used, the shaped refractory layer gradually deteriorates due to wear and tear from contact with high-temperature contents and spalling (cracks, delamination) caused by thermal shock. Therefore, in order to maintain the function of the shaped refractory layer, periodic repairs are necessary. In typical periodic repairs, the shaped refractory layer on the inner surface of the structure is crushed and removed using heavy machinery (breakers), and then new shaped refractory material is laid manually. [Prior art documents] [Patent Documents]

[0007] [Patent Document 1] Japanese Patent Application Publication No. 10-238963 [Overview of the project] [Problems that the invention aims to solve]

[0008] However, as described above, when the refractory layer is crushed and removed, fragments of refractory materials with different compositions are recovered mixed together. Therefore, in order to reuse the recovered refractory materials, it is necessary to sort the fragments by composition. Methods for sorting refractory materials include, for example, methods based on magnetism, specific gravity, and color. However, depending on the type of refractory material used, sorting by these methods can be difficult, which hinders the reuse of used refractory materials.

[0009] Therefore, in order to efficiently reuse used refractory materials, a technology is needed that allows for the dismantling of refractory materials with different compositions without mixing them.

[0010] On the other hand, Patent Document 1 proposes a method of dismantling the refractory layer by making incisions in the refractory layer using a wheel cutter and separating and detaching it. Unlike the method of crushing the refractory layer with heavy machinery described above, this method does not result in the shaped refractory material being broken into small fragments.

[0011] However, Patent Document 1 merely proposes the above method to reduce noise during demolition, and did not consider demolition without mixing refractories of different compositions. Therefore, the method described in Patent Document 1 could not be used to demolition without mixing refractories of different compositions.

[0012] The present invention has been made in view of the above circumstances, and aims to dismantle a refractory layer without mixing refractory materials of different compositions. [Means for solving the problem]

[0013] The present invention aims to solve the above-mentioned problems, and its gist is as follows.

[0014] 1. A demolition system for dismantling a set of multiple layers of refractory material installed on the inner surface of a structure, A three-dimensional shape measuring device for measuring the three-dimensional shape of the inner surface of the aforementioned structure, A calculation device that determines which layer of refractory material the exposed refractory material on the surface of the refractory material layer is, based on the three-dimensional shape measured by the three-dimensional shape measuring device, A demolition system comprising a demolition device that dismantles the shaped refractory layers layer by layer based on the results calculated by the aforementioned computing device.

[0015] 2. Furthermore, the system includes an imaging device for acquiring images of the inner surface of the structure, The demolition system according to claim 1, wherein the computing device detects the boundary between adjacent refractory materials in the planar direction among the refractory materials constituting the refractory material layer, based on the image acquired by the imaging device and the three-dimensional shape measured by the three-dimensional shape measuring device.

[0016] 3. The demolition system according to 1 or 2 above, further comprising a transport device for transporting the shaped refractory material dismantled by the demolition device to the outside of the structure.

[0017] 4. The demolition system according to item 3, further comprising a sorting device that sorts the shaped refractory materials removed by the removal device according to which layer each refractory material is located in, and collects them in separate containers.

[0018] 5. A demolition method for dismantling a set of shaped refractory layers consisting of multiple layers, which are installed on the inner surface of a structure, A three-dimensional shape measurement step for measuring the three-dimensional shape of the inner surface of the aforementioned structure, A calculation step to determine which layer of refractory material the exposed refractory material on the surface of the refractory material layer is, based on the three-dimensional shape measured in the three-dimensional shape measurement step, A demolition method comprising a demolition step of dismantling the shaped refractory layers layer by layer based on the results calculated in the calculation step.

[0019] 6. Furthermore, the system includes an imaging step for acquiring an image of the inner surface of the structure, The demolition method according to item 5, wherein the calculation step detects the boundary between adjacent refractory materials in the planar direction among the refractory materials constituting the refractory material layer, based on the image acquired in the imaging step and the three-dimensional shape measured in the three-dimensional shape measurement step.

[0020] 7. The demolition method according to 5 or 6 above, further comprising a removal step of removing the shaped refractory material dismantled in the demolition step from the structure.

[0021] 8. Further, a sorting step of sorting the shaped refractory carried out in the carrying-out step according to the layer number of the shaped refractory and collecting it in separate containers is provided, and the disassembling method according to 7 above.

Effect of the Invention

[0022] According to the present invention, the shaped refractory layer can be disassembled without mixing shaped refractories having different compositions.

Brief Description of the Drawings

[0023] [Figure 1] It is a schematic cross-sectional view showing an example of the structure of a structure provided with a refractory layer. [Figure 2] It is a block diagram of a disassembling system in an embodiment of the present invention. [Figure 3] It is a block diagram of a disassembling system in another embodiment of the present invention. [Figure 4] It is a schematic diagram of a disassembling system in an embodiment of the present invention. [Figure 5] It is a schematic diagram showing the operation of the suction hand. [Figure 6] It is a schematic diagram showing the operation of the wedge-shaped plate. [Figure 7] It is a schematic diagram showing an example of the sorting device.

Embodiments for Carrying Out the Invention

[0024] Hereinafter, the present invention will be specifically described. The following description is about an example of a preferred embodiment of the present invention, and the present invention is not limited to the embodiments described below.

[0025] [Disassembling System] A disassembling system 1 in an embodiment of the present invention is a disassembling system for disassembling a shaped refractory layer composed of a plurality of layers provided on the inner surface of a structure, and as shown in FIG. 2, it includes a three-dimensional shape measuring device 10, an arithmetic device 20, and a disassembling device 30. Hereinafter, each part will be specifically described.

[0026] ·Structures The aforementioned structure can be any structure that has at least a refractory layer on its inner surface. The aforementioned structure may be, for example, a structure for molten metal. Examples of such structures for molten metal include molten metal containers such as molten iron lattice, molten steel ladle, and refining vessel, as well as molten metal troughs such as blast furnace troughs.

[0027] ·Refractory layer The present invention can be applied to any shaped refractory layer, regardless of its material or structure, as long as it consists of multiple layers. The number of layers constituting the shaped refractory layer may be any number of two or more, and there is no particular upper limit. Typically, the number of layers may be five or less, four or less, or three or less.

[0028] While there are no particular limitations on how layers are numbered, in this specification, the innermost layer of the structure is defined as the first layer, as shown in Figure 1.

[0029] It is preferable that at least one of the multiple layers constituting the aforementioned shaped refractory layer has a different composition from the shaped refractory materials constituting the other layers. For example, if there are two layers, the composition of the first layer of shaped refractory material and the composition of the second layer of shaped refractory material may be different. If there are three layers, the compositions of the first layer of shaped refractory material, the second layer of shaped refractory material, and the third layer of shaped refractory material may all be different. Alternatively, two of the three layers may have the same composition, and the remaining layer may have a different composition. The same applies when there are four or more layers. However, the present invention can be applied without any problems to the dismantling of shaped refractory materials in which all layers are composed of shaped refractory materials with the same composition.

[0030] As mentioned earlier, an unshaped refractory layer may also be provided on the surface (inner surface of the structure) of the shaped refractory layer. The present invention is also applicable in such cases. If an unshaped refractory layer is present, it should be removed before dismantling the shaped refractory layer according to the present invention. The removal of the unshaped refractory layer is not particularly limited and can be carried out using various known methods.

[0031] ·3D shape measuring device The three-dimensional measuring device is not particularly limited, and any device capable of measuring the three-dimensional shape of the inner surface of a structure can be used. Suitable three-dimensional shape measuring devices include, for example, three-dimensional laser scanners, photogrammetry-type three-dimensional shape measuring devices, and pattern projection-type three-dimensional shape measuring devices, but among these, the pattern projection method, which is a measurement method based on triangulation, is preferred.

[0032] The measurement of the three-dimensional shape may be performed once or multiple times. If the entire measurement range fits within the field of view of the measuring device used, the three-dimensional shape data of the entire structure can be obtained in a single measurement. For example, if the structure is a container, the three-dimensional shape of the inner surface of the container can be obtained in a single measurement by placing a three-dimensional laser scanner on the central axis of the container and at the height of the container opening, and performing a 360° laser scan around the central axis of the container.

[0033] On the other hand, when performing measurements using photogrammetry, the measurement range is limited to the camera's field of view due to the measurement principle. Therefore, by measuring the inner surface of the structure multiple times while changing the orientation and position of the measurement device (camera), and then synthesizing the data in post-processing, it is possible to obtain 3D shape data of the entire inner surface of the structure.

[0034] By measuring the three-dimensional shape in this way, the shape of the inner surface of the structure can be measured, including fine structures such as the irregularities in the joints between the standard-shaped refractory materials. From the viewpoint of measurement accuracy, it is preferable to take multiple measurements using the pattern projection method, which is a measurement method based on triangulation.

[0035] The format of the data obtained by the three-dimensional shape measuring device is not particularly limited, but may be, for example, three-dimensional point cloud data. When multiple measurements are performed, the measured shape data may be combined into a single three-dimensional shape data. In that case, it is preferable to set the measurement range so that a portion of the measurement ranges overlap when measuring the shape of adjacent regions. This makes it easier to combine the data.

[0036] The data measured by the three-dimensional shape measuring device includes positional information of the refractory material exposed on the surface of the refractory layer. Examples of this positional information include the position of the refractory material in the depth direction and the position in the surface direction. Here, "depth direction" can be said to be the thickness direction of the refractory layer. Also, "surface direction" is the direction parallel to the inner surface of the structure. For example, if the structure is a container with a circular cross-section, "surface direction" can be rephrased as the circumferential direction of the inner surface of the container.

[0037] The installation location of the three-dimensional shape measuring device is not particularly limited and can be installed at any location on the inner surface of the structure, i.e., the location where the shape of the refractory layer to be demolished can be measured. The three-dimensional shape measuring device may also be provided in the demolition device described later. When the three-dimensional shape measuring device is provided in the demolition device, the measurement range of the three-dimensional shape measuring device can be changed by driving the demolition device. Alternatively, the three-dimensional shape measuring device may be provided separately from the demolition device. When the three-dimensional shape measuring device is provided separately from the demolition device, the measuring device can also be installed in the equipment using the structure.

[0038] Furthermore, dust is generated when dismantling the shaped refractory layer. Therefore, it is preferable that the three-dimensional shape measuring device be equipped with dust control measures.

[0039] ·Arithmetic device As described above, the present invention aims to dismantle a refractory layer without mixing refractories of different compositions. To achieve this, the refractory layer is dismantled layer by layer using a dismantling device described later. When the refractory layer is unused, all refractories exposed on the surface of the refractory layer are the first layer. However, when the structure is used, the refractory layer deteriorates due to contact with contents such as molten metal, and parts of the refractory may peel off. In the areas where the refractory has peeled off in this way, the refractory of the second layer or later layers will be exposed on the surface. Therefore, in order to dismantle refractories of different compositions without mixing them, it is necessary to know which layer each of the refractories to be dismantled belongs to.

[0040] Therefore, the demolition system of the present invention is equipped with a calculation device. The calculation device determines, based on the three-dimensional shape measured by the three-dimensional shape measuring device, which layer of the refractory material exposed on the surface of the refractory material layer it is.

[0041] Any device capable of performing the determination can be used as the aforementioned computing device. For example, the computing device may be a computer equipped with a recording medium containing software for performing the determination.

[0042] The aforementioned computing device may also serve as a control device for controlling various devices included in the demolition system of the present invention, as well as various equipment used in cooperation with the demolition system. Furthermore, a separate control device for controlling various equipment may also be provided in addition to the computing device.

[0043] ·Demolition equipment The dismantling device dismantles the shaped refractory layer layer by layer based on the results calculated by the computing device. Dismantling the shaped refractory layer means removing the shaped refractory materials that make up the shaped refractory layer. In the dismantling, the shaped refractory materials may be removed one by one, or multiple shaped refractory materials may be removed together. In the dismantling, the shaped refractory materials may be pulled out of the shaped refractory layer while being held, or the shaped refractory materials may be peeled off and dropped downwards.

[0044] The dismantling device preferably includes a dismantling tool for dismantling the shaped refractory layer. The dismantling tool may have any structure as long as it can dismantle the shaped refractory layer layer by layer. The dismantling tool may, for example, include a holding mechanism (hand) for pulling out the shaped refractory from the shaped refractory layer while holding it. As the holding mechanism, it is preferable to use a suction hand that suctions and holds the shaped refractory. The suction hand may be configured to suction and hold only one shaped refractory at a time, but from the viewpoint of work efficiency, it is preferable that it is configured to suction and hold multiple shaped refractory at once.

[0045] Furthermore, the dismantling tool may include a peeling mechanism for removing the shaped refractory material. Preferably, the peeling mechanism includes, for example, a wedge-shaped plate for inserting into the back of the shaped refractory layer. Details of these dismantling tools will be described later.

[0046] The dismantling apparatus preferably includes a means for moving the dismantling tool. The means for moving can be any means without particular limitations, but it is preferable to use a means for moving with three or more degrees of freedom.

[0047] For example, when dismantling a shaped refractory layer provided on the inner surface of a circular cross-section structure as shown in Figure 1, a means of movement capable of moving in three directions—vertical (up and down), circumferential (rotation), and longitudinal (radial)—may be used. Furthermore, a multi-joint robot can be used as the means of movement. The multi-joint robot may be, for example, a horizontal multi-joint robot or a vertical multi-joint robot. Among these, a vertical multi-joint robot is preferred, and a 6-axis vertical multi-joint robot is more preferred. A commercially available general-purpose robot can be used as the multi-joint robot.

[0048] When using a multi-joint robot as a means of movement, it is preferable to provide the above-mentioned demolition tool at the tip of the robot arm. In other words, it is preferable that the demolition device comprises a multi-joint robot and a demolition tool attached to the tip of the arm of the multi-joint robot. With such a structure, a wide area of ​​shaped refractory layers can be demolished with a single demolition tool. The tool attached to the tip of the robot arm in this manner is generally called an end effector.

[0049] When a demolition tool is attached to the tip of a robot arm, it can be made detachable so that the demolition tool can be replaced with other tools. For example, by replacing the demolition tool with a hydraulic drifter, the articulated robot can be used to crush and remove amorphous refractory layers provided on the inner walls of structures, as well as slag and metals adhering to their surfaces. A system that allows different types of tools to be exchanged in this way is generally called a tool changer. In other words, it is preferable that the demolition apparatus in the present invention be equipped with a tool changer.

[0050] Furthermore, if the structure is large and the robot's range of motion is insufficient to cover the entire height of the refractory layer, it is preferable to use a combination of the robot and a lifting device that moves the robot vertically as the means of movement.

[0051] Furthermore, the refractory materials dismantled by the dismantling equipment can be recovered and reused as needed. While it is preferable to use a removal device and sorting device for recovering the refractory materials, as described later, they can be recovered by any method even without a removal device. If a removal device and sorting device are not used, some of the work will need to be done manually, but this simplifies the configuration of the dismantling system and reduces costs.

[0052] For example, pre-formed refractories dismantled by a dismantling device can be temporarily placed inside a structure (such as the bottom of a container), and then recovered using heavy machinery. In this case, it is preferable to recover the refractories layer by layer to prevent mixing of refractories with different compositions. That is, the refractories are recovered once the dismantling of the first layer is complete, and then the dismantling of the second layer is started.

[0053] Furthermore, structures can be tilted to facilitate recovery using heavy machinery. While there are no particular limitations on the method of tilting a structure, for example, a tilting device can be installed at the site where demolition work is to be carried out.

[0054] Furthermore, it is preferable to install a container within the structure for temporarily storing the dismantled refractory materials. For example, the first layer of refractory materials is dismantled using a dismantling device, and the dismantled first layer of refractory materials is collected in the container. Then, with the container covered to prevent the refractory materials from entering, the second layer is dismantled. In this way, it is possible to prevent the mixing of refractory materials with different compositions.

[0055] • Imaging device In another embodiment of the present invention, the demolition system 1 may further include an imaging device 15 for acquiring images of the inner surface of the structure, as shown in Figure 3. That is, the shaped refractory layer is made by stacking multiple shaped refractory materials. Therefore, when demolishing the shaped refractory layer with the demolition device, it is preferable to detect the boundaries (joints) between the shaped refractory materials constituting the shaped refractory layer and operate the demolition device based on the results.

[0056] The joints between shaped refractory materials typically have a different shape from the refractory material itself. Typically, the joints are convex or concave compared to the surrounding refractory materials. Therefore, joints can be detected based on the three-dimensional shape measured by a three-dimensional shape measuring device. However, if the demolition system is equipped with an imaging device, the boundaries between adjacent refractory materials in the planar direction that constitute the refractory layer can be detected based on the image acquired by the imaging device and the three-dimensional shape measured by the three-dimensional shape measuring device. This improves the accuracy of boundary detection. The detection of these boundaries can be performed by the computing device.

[0057] The imaging device may be a monochrome camera, but from the viewpoint of detection accuracy, a color camera is preferable.

[0058] A machine learning model can also be used to detect the aforementioned boundaries. In this case, images captured by an imaging device can be used as training data. For example, multiple image data of the surface of a refractory material can be collected, and labels (annotations) can be added to the joints in the image data. Then, model training is performed using the image data as training data. Using the obtained trained model, joints can be automatically detected from images acquired by the imaging device. It is more preferable to use both images captured by the imaging device and 3D shape data acquired by a 3D shape measuring device.

[0059] The installation location of the imaging device is not particularly limited and can be installed on the inner surface of the structure, i.e., at any location where an image of the shaped refractory layer to be demolished can be acquired. The imaging device may be provided on the demolition device. If the imaging device is provided on the demolition device, the imaging range of the imaging device can be changed by driving the demolition device. Alternatively, the imaging device may be provided separately from the demolition device. If the imaging device is provided separately from the demolition device, a measuring device may also be provided on the equipment using the structure.

[0060] The imaging device may be provided separately from the 3D shape measuring device, or the 3D shape measuring device may also function as the imaging device. In other words, a 3D shape measuring device equipped with the function of acquiring images can be used.

[0061] Furthermore, dust is generated when the standard refractory layer is dismantled. Therefore, it is preferable that the imaging device be equipped with dustproofing measures.

[0062] ·Export device In another embodiment of the present invention, the demolition system 1 may further include a transport device 40 for transporting the shaped refractory material dismantled by the demolition device to the outside of the structure, as shown in Figure 3. By using the transport device, the dismantled shaped refractory material can be transported efficiently.

[0063] It is preferable to collect the removed refractory materials into containers, for example. In this case, by changing the collection container according to which layer the removed refractory material belongs to, the refractory materials constituting each layer can be separated and collected into separate containers. The exchange of collection containers may be done manually, for example. However, from the viewpoint of automating the work, it is preferable to use a sorting device, as described later.

[0064] The aforementioned unloading device is not particularly limited; any device capable of transporting standard-shaped refractory materials can be used.

[0065] • Sorting device In another embodiment of the present invention, the demolition system 1, as shown in Figure 3, preferably further includes a sorting device (sorter) 50 that sorts the shaped refractory materials removed by the removal device according to which layer each refractory material belongs to, and collects them in separate containers. By using the sorting device, the shaped refractory materials can be separated and collected without manual labor.

[0066] The sorting device is not particularly limited, and any device capable of collecting pre-formed refractories into separate containers for each layer can be used. Typically, a sorting device can be used that includes a conveyor for transporting pre-formed refractories to collection containers and a switching means for switching the destination of the pre-formed refractories along the transport means. The switching means can be any type, such as a flip-up type that switches the destination by flipping up a part of the conveyor, a turntable type that switches the destination by rotating on a flat surface, or a guide plate type that switches the destination by driving a guide plate on the conveyor.

[0067] Preferably, the sorting device is an automatic sorting device that automatically sorts the standard-shaped refractory materials discharged by the discharge device according to which layer the standard-shaped refractory material belongs to. For example, the information determined by the calculation device can be transmitted to the control device, and the sorting device can be automatically controlled by the control device.

[0068] As described above, by using an imaging device, a transport device, and a sorting device, the dismantling, separation, and recovery of standardized refractory materials can be carried out even more efficiently. In Figure 3, the dismantling system 1 is equipped with an imaging device 15, a transport device 40, and a sorting device 50, but these devices can be used in any combination as needed.

[0069] Furthermore, the recovered refractories may have components other than the refractories themselves, such as slag or metal, attached to them. Therefore, an additional sorting device may be installed downstream of the sorting device. The additional sorting device is not particularly limited and can be any combination of one or more sorting devices of any type. Examples of sorting devices include magnetic separators, gravity separators, and color separators. By installing an additional sorting device, attached slag and metal can be separated, making the recycling of the recovered refractories even easier.

[0070] Next, specific embodiments of the demolition system of the present invention will be described with reference to the drawings.

[0071] Figure 4 is a schematic diagram of a demolition system 1 in one embodiment of the present invention. The demolition system 1 includes a three-dimensional shape measuring device 10, an imaging device 15, a demolition device 30, a transport device 40, a sorting device 50, and a computing device (not shown).

[0072] The structure 100 is a molten metal container with a circular cross-section, and the shaped refractory layer 120 provided on the inner surface of the structure 100 has a two-layer structure consisting of a first shaped refractory layer 121 and a second shaped refractory layer 122.

[0073] The demolition device 30 is installed inside the structure 100 and includes a vertical articulated robot 31, a suction hand 32 as a demolition tool, and a lifting device 33. The suction hand 32 is located at the tip of the arm of the vertical articulated robot 31.

[0074] The suction hand 32 can reach the entire circumference of the inner surface of the structure 100 by rotating the vertical articulated robot 31. Furthermore, the vertical articulated robot 31 is mounted on a lifting device 33 and is configured to move up and down freely. Therefore, by combining the movement of the vertical articulated robot 31 itself with the lifting movement of the lifting device 33, the suction hand 32 can reach any position on the inner surface of the structure 1.

[0075] Figure 5 is a schematic diagram showing the operation of the suction hand 32. By pulling out the refractory material while it is attached to the suction hand 32, the refractory material can be removed from the refractory layer. By repeating this operation, the refractory layer can be dismantled. When using the suction hand 32, it is preferable to attach it to a flat portion of the surface of the refractory material. It is also preferable to attach it as close as possible to the center of gravity of the refractory material.

[0076] The 3D shape measuring device 10 and the imaging device 15 are installed on the vertical articulated robot 31 of the dismantling device 30. Therefore, by operating the vertical articulated robot 31 and the lifting device 33, the measurement range of the 3D shape measuring device 10 and the imaging device 15 can be changed.

[0077] Inside the structure 100, there is an unloading device 40 for transporting the dismantled refractory materials outside the structure 100. The refractory materials dismantled by the dismantling device 30 are unloaded by the unloading device 40 and handed over to the sorting device 50. The unloading device 40, which has the structure shown in Figure 4, is generally called a lifting machine.

[0078] The demolition system 1 of this embodiment is equipped with a flip-up sorting device 50. The sorting device 50 is equipped with belt conveyors 51a, 51b, and 51c, and the belt conveyor 51b can be flipped up as shown in Figure 4. When the first layer of shaped refractory material is being demolished, the belt conveyor 51b is flipped up. As a result, the shaped refractory material transported by the belt conveyor 51a is collected in the collection container 52a.

[0079] Once the dismantling and recovery of the first layer of refractory material is complete, the belt conveyor 51b is lowered. At this point, belt conveyors 51a and 51c are connected via belt conveyor 51b. As a result, the refractory material is transported sequentially by belt conveyors 51a, 51b, and 51c, and finally recovered into the recovery container 52b.

[0080] By operating the sorting device 50 in this manner, the first layer of shaped refractory material and the second layer of shaped refractory material can be collected into separate containers. Although this explanation uses the example of a case where the shaped refractory material layer consists of two layers, even if there are three or more layers, separation and collection are possible in the same way by adding a belt conveyor and collection containers.

[0081] The operation of the sorting device 50, for example, the lifting operation of the belt conveyor 51b, is preferably controlled by a control device (not shown).

[0082] (Variation 1) In the embodiments shown in Figures 4 and 5, a suction hand 32 was used as the dismantling tool, but other dismantling tools can also be used. For example, as shown in Figure 6, a wedge-shaped plate 34 can also be used as the dismantling tool. By inserting the wedge-shaped plate 34 between the first layer of shaped refractory material 121 and the second layer of shaped refractory material that are exposed on the surface, the first layer of shaped refractory material 121 can be peeled off. Generalizing this, that is, by inserting the wedge-shaped plate 34 between the nth layer of shaped refractory material that are exposed on the surface and the (n+1)th layer of shaped refractory material, the nth layer of shaped refractory material can be peeled off. Here, n is a natural number.

[0083] When removing the refractory structure using the wedge-shaped plate 34, as shown in Figure 6(b), first, the wedge-shaped plate 34 is inserted between the refractory structures by moving it along the inner circumference of the structure 100. Next, the refractory structures are peeled off by pulling the wedge-shaped plate 34 toward the user. This operation can basically be performed by moving the arm of the vertical articulated robot 31. In order to properly insert the wedge-shaped plate 34 between the refractory structures, it is necessary to accurately control the position of the wedge-shaped plate 34 and press it against the second layer of refractory structure 122. For this reason, for example, the force applied to the arm of the vertical articulated robot 31 can be measured by a sensor, and the pressing force of the wedge-shaped plate 34 can be controlled based on the result.

[0084] Furthermore, by inserting the wedge-shaped plate 34 between the refractory pieces and moving it along the inner circumference of the structure 100, the refractory pieces can be peeled off using the thickness of the wedge-shaped plate 34. In this case, only one refractory piece can be peeled off in a single operation, but by continuously moving the wedge-shaped plate 34 laterally, multiple refractory pieces in the same row can be peeled off in succession.

[0085] Furthermore, it is also preferable to utilize the air cylinder 35 provided between the tip of the arm and the wedge-shaped plate 34. Specifically, by operating the air cylinder 35 to press the wedge-shaped plate 34 against the second layer of shaped refractory material 122 and then moving the arm, the wedge-shaped plate 34 can be easily inserted.

[0086] Furthermore, if there is insufficient space between the refractory materials or if the refractory materials are tightly packed together with jointing material (mortar), it is difficult to insert the wedge-shaped plate 34 simply by moving the arm. In such cases, it is preferable to insert the wedge-shaped plate 34 while applying impact vibration to it using a piston vibrator 36.

[0087] Furthermore, by using the air cylinder 35 and the piston vibrator 36 together, the impact vibrations transmitted to the arm can be dampened by the air cylinder 35, allowing for more precise control of the wedge-shaped plate 34.

[0088] When a wedge-shaped plate 34 is used as a demolition tool, the detached refractory material will fall downwards. Therefore, it is preferable that the demolition system 1 be equipped with an intermediate transport device for transporting the fallen refractory material and handing it over to the transport device 40. The intermediate transport device may be, for example, an annular conveyor installed below the structure 1. By installing the annular conveyor adjacent to the inner surface of the structure 100, the detached refractory material will fall onto the conveyor and be automatically transported to the transport device 40. The annular conveyor can be operated, for example, to circulate continuously. With such a structure, the refractory material can be automatically transported to the outside of the structure regardless of where the demolition is performed on the entire circumference (360°) of the inner surface of the structure.

[0089] (Modification 2) In the embodiment shown in Figure 4, a flip-up type sorting device was used as the sorting device 50, but other types of sorting devices can also be used. For example, as shown in Figure 7, a guide plate type sorting device 50 that switches the destination by driving a guide plate 53 on the belt conveyor 51 can also be used.

[0090] In the sorting device 50 shown in Figure 7, collection containers 52a and 52b are installed at the end of a single belt conveyor 51, and the position of the guide plate 53 can be used to switch which collection container the shaped refractory materials are collected into. That is, when the guide plate 53 is in the position shown in Figure 7(a), the shaped refractory materials are collected into collection container 52a, and when the guide plate 53 is in the position shown in Figure 7(b), the shaped refractory materials are collected into collection container 52b.

[0091] Therefore, when dismantling and removing the first layer of refractory materials, the guide plate 53 should be in the position shown in Figure 7(a). After the removal of all the refractory materials in the first layer is complete, the guide plate 53 should be moved to the position shown in Figure 7(b), and the dismantling and removal of the second layer of refractory materials should be carried out.

[0092] [Disassembly method] Next, a method for dismantling in one embodiment of the present invention will be described. However, any parts that overlap with the description of the dismantling system described above will be omitted.

[0093] Furthermore, the matters described in the above description of the dismantling system can be applied to the dismantling method of this embodiment by combining some or all of them as desired. For example, when implementing the dismantling method of this embodiment, some or all of the above-described dismantling system can be used. Conversely, the matters described in the following description of the dismantling method can be applied to the dismantling system by combining some or all of them as desired. For example, the above-described dismantling system may include a control device for realizing the dismantling method and its detailed operations as described below.

[0094] The demolition method of the present invention comprises a three-dimensional shape measurement step of measuring the three-dimensional shape of the inner surface of a structure; a calculation step of determining which layer of refractory material is exposed on the surface of the refractory material layer based on the three-dimensional shape measured in the three-dimensional shape measurement step; and a demolition step of dismantling the refractory material layer by layer based on the result calculated in the calculation step.

[0095] ·3D shape measurement process The 3D shape measurement process is as described in the explanation of the 3D shape measuring device, and the measurement may be performed once or multiple times. When measuring the inner surface of a structure in multiple steps while changing the orientation and position of the 3D shape measuring device, it is preferable to shift the measurement range so that a portion of the measurement range overlaps, so that the measurement data can be combined.

[0096] ·Calculation process In the calculation step, based on the three-dimensional shape measured in the three-dimensional shape measurement step, it is determined which layer of the refractory material is exposed on the surface of the refractory layer. That is, since the measured three-dimensional shape data includes information on the irregularities (position in the depth direction) of the inner surface of the structure, it is possible to determine which layer the refractory material located on the surface at each position on the inner surface of the structure belongs to based on this information. In other words, the determination can be made by utilizing the fact that each layer has a different depth (position in the depth direction). For example, in the measured three-dimensional shape data, the refractory material located on the surface side can be determined to be the first layer, and the refractory material located further back can be determined to be the second layer or later.

[0097] The specific determination method in the calculation process is not particularly limited and can be performed by any method. Preferably, the calculation process includes a boundary detection step for detecting the boundary between adjacent refractory materials. The boundary detection step may include one or both of a planar boundary detection step for detecting the boundary between adjacent refractory materials in the planar direction and an interlayer boundary detection step for detecting the boundary between adjacent refractory material layers in the depth direction. In the subsequent demolition process, the detected boundary information can be used to control the position, direction, and operation of the demolition tools.

[0098] In the above determination, in addition to the measured 3D shape data, other arbitrary information may be used. For example, design information (drawing information) including the structure and dimensions of the refractory layer or the entire structure can be used. In that case, by comparing the measured 3D shape data with the design information, it is easy to determine which layer of refractory material it is. As the design information, 3D CAD data, etc., can be used. When comparing the measured 3D shape data and the design information, it is preferable to fit the two together and obtain a coordinate transformation matrix.

[0099] Furthermore, it is preferable to use the dimensions of the refractory material used, particularly its thickness (dimension in the depth direction), to determine the boundaries between layers. For example, a threshold for determination can be predetermined based on the thickness of the refractory material used, and it can be determined that a layer has changed when the difference in the depth direction position in the 3D shape data exceeds the threshold.

[0100] In the calculation process described above, the operator can initially input which layer of standardized refractory material the surface in the measured 3D shape data corresponds to. In this case, it is preferable that the demolition system be equipped with a display device (such as a display) for visually displaying information such as 3D shape data, and an input device (such as a keyboard or mouse) for the operator to input information. Furthermore, after the demolition of one layer is completed, the operator can input the layer number again.

[0101] To facilitate layer determination, the worker may remove one or more pre-cut refractory materials from the first layer beforehand. In other words, by removing the pre-cut refractory materials from the first layer beforehand and then performing 3D shape measurement and calculations, determination can be easily made.

[0102] The 3D shape measurement process and the calculation process described above may be performed only once each, or they may be repeated multiple times. For example, the 3D shape of the entire area of ​​the inner surface of the structure to be demolished can be measured, and then the calculation process can be performed all at once based on the obtained 3D shape data. Also, if the inner surface of the structure is measured multiple times while changing the orientation and position of the 3D shape measuring device, the calculation process may be performed for the measured area after each measurement.

[0103] In the calculation process described above, various other pieces of information can be arbitrarily obtained based on the acquired three-dimensional shape data. Typically, it is preferable to calculate the positional information of each refractory structure to be demolished. Examples of the positional information of the refractory structure include the position of the refractory structure in a direction parallel to the inner surface of the structure (surface direction) and the position of the refractory structure in a direction perpendicular to the inner surface of the structure (depth direction), and it is preferable to calculate both of these.

[0104] In the calculation process described above, it is also possible to determine the order in which the refractory structures are dismantled. For example, the first layer of refractory structures can be dismantled one layer at a time from the top to the bottom, and then the second layer can be dismantled similarly, one layer at a time from the top to the bottom. When dismantling one layer of refractory structures, the dismantling tool can be moved circumferentially along the inner surface of the structure. It is also preferable to determine a specific operation plan (operation pattern) for the dismantling device based on such a dismantling order. When actually performing the dismantling, a signal to operate the dismantling device may be sent from a controller connected to the calculation device based on the determined operation plan.

[0105] ·Demolition process Next, based on the results calculated in the calculation step, the shaped refractory layers are dismantled layer by layer. The details of the dismantling step are as already described in the description of the dismantling apparatus, and can typically be carried out using a dismantling apparatus equipped with dismantling tools for dismantling the shaped refractory layers.

[0106] The operation and movement paths of the demolition tools during demolition are preferably determined based on the 3D shape data measured as described above, and more preferably determined by the above-mentioned computing device.

[0107] • Imaging process A demolition method in another embodiment of the present invention may further include an imaging step to acquire an image of the inner surface of the structure. In the calculation step, the boundary between adjacent refractory materials can be detected based on the image acquired in the imaging step and the three-dimensional shape measured in the three-dimensional shape measurement step. This improves the accuracy of boundary detection.

[0108] ·Export process In another embodiment of the present invention, the dismantling method may include a removal step for removing the shaped refractory material dismantled in the dismantling step from the structure. For example, if the structure is a molten metal container, the shaped refractory material is removed from the molten metal container. In the removal step, it is preferable to use the removal device described above.

[0109] • Sorting process In another embodiment of the present invention, the dismantling method further preferably includes a sorting step in which the shaped refractory materials removed in the removal step are sorted according to which layer each refractory material is, and collected in separate containers. In the sorting step, it is preferable to use the sorting device described above.

[0110] Furthermore, the recovered refractories may have components other than the refractories themselves, such as slag or metal, attached to them. Therefore, an additional sorting process may be added after the sorting process described above. This additional sorting process can use one or more sorting methods of any type, without any particular limitations. Examples of sorting methods include magnetic separation, specific gravity separation, and color separation. By adding an additional sorting process, attached slag and metal can be separated, making the recycling of the recovered refractories even easier. [Industrial applicability]

[0111] As described above, according to the present invention, a refractory layer can be dismantled without mixing refractory materials of different compositions. Furthermore, in a preferred embodiment of the present invention, refractory materials of different compositions can be recovered without mixing them. Therefore, according to the present invention, the recycling of recovered refractory materials becomes easier, and the quality of refractory materials manufactured through recycling can be improved. [Explanation of Symbols]

[0112] 1. Demolition System 10 3D shape measuring device 15 Imaging device 20 Arithmetic unit 30 Demolition equipment 31. Vertical articulated robot 32. Suction Hand (Demolition Tool) 33 Lifting device 34. Wedge-shaped plate (demolition tool) 35 Air Cylinder 36 Piston Vibrator 40 Unloading device 50 sorting devices 100 structures 110 Main body of structure 120 Shaped refractory layer 121 The first layer of standardized refractory material 122 Second layer of standardized refractory material

Claims

1. A demolition system for dismantling a set of multiple layers of shaped refractory material installed on the inner surface of a structure, A three-dimensional shape measuring device for measuring the three-dimensional shape of the inner surface of the aforementioned structure, A calculation device that determines which layer of refractory material is exposed on the surface of the refractory layer based on the three-dimensional shape measured by the three-dimensional shape measuring device, A demolition system comprising a demolition device that dismantles the shaped refractory layers layer by layer based on the results calculated by the aforementioned computing device.

2. Furthermore, the system includes an imaging device that acquires images of the inner surface of the structure, The demolition system according to claim 1, wherein the computing device detects the boundary between adjacent refractory materials in the planar direction among the refractory materials constituting the refractory material layer, based on the image acquired by the imaging device and the three-dimensional shape measured by the three-dimensional shape measuring device.

3. Furthermore, the demolition system according to claim 1 or 2, further comprising a transport device for transporting the shaped refractory material dismantled by the demolition device to the outside of the structure.

4. Furthermore, the demolition system according to claim 3 is further equipped with a sorting device that sorts the shaped refractory material removed by the removal device according to which layer the shaped refractory material is, and collects it in separate containers.

5. A demolition method for dismantling a set of shaped refractory layers consisting of multiple layers, which are installed on the inner surface of a structure, A three-dimensional shape measurement step for measuring the three-dimensional shape of the inner surface of the aforementioned structure, A calculation step to determine which layer of refractory material the exposed refractory material on the surface of the refractory material layer is, based on the three-dimensional shape measured in the three-dimensional shape measurement step, A demolition method comprising a demolition step of dismantling the shaped refractory layers layer by layer based on the results calculated in the calculation step.

6. Furthermore, the system includes an imaging step for acquiring an image of the inner surface of the structure, The demolition method according to claim 5, wherein the calculation step detects the boundary between adjacent refractory materials in the planar direction among the refractory materials constituting the refractory material layer, based on the image acquired in the imaging step and the three-dimensional shape measured in the three-dimensional shape measurement step.

7. Furthermore, the demolition method according to claim 5 or 6, further comprising a removal step of removing the shaped refractory material dismantled in the demolition step from the structure.

8. Furthermore, the demolition method according to claim 7, comprising a sorting step of sorting the shaped refractory material removed in the removal step according to which layer the shaped refractory material is, and collecting it in separate containers.

Images