MOBILE ROBOTIC TANDISH REFRACTORY SPRAYING SYSTEM AND METHOD

TR202613414A2Pending Publication Date: 2026-08-21FARMAKOD ENDÜSTRİYEL YAZILIM & ROBOTİK TEKNOLOJİLER ANONİM ŞİRKETİ
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Patent Information

Application Number
TR202613414
Authority / Receiving Office
TR · TR
Patent Type
Applications
Current Assignee / Owner
Filing Date
2026-08-07
Publication Date
2026-08-21

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Abstract

The invention relates to a mobile robotic system and method for the automatic spraying of refractory mortar onto the inner surfaces of tundishes (T). The system comprises a mobile carrier cabin (10) that can be moved between different tundishes (T) and positioned on the tundish (T), a multi-axis robot (20) that moves forward and backward along the length of the tundish (T) within the aforementioned mobile carrier cabin (10), a mortar spraying nozzle (30) associated with the aforementioned multi-axis robot (20), a distance sensor (32) that determines the distance between the mortar spraying nozzle (30) and the inner surface of the tundish (T), a fully automatic mortar machine for the preparation and feeding of refractory mortar, and a control panel (40) that manages the data exchange and operational synchronization between the system components. The system may also include a temperature sensor for determining the tundish temperature and a closed-loop camera system for monitoring the spraying process.The mortar preparation and feeding process of the fully automatic mortar machine is carried out in accordance with the movement of the multi-axis robot (20) and the position or trajectory of the robot is adjusted according to the data obtained from the distance sensor (32). In this way, the refractory spraying process is carried out in an automatic, controlled, traceable and repeatable manner.
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Description

1 TARIFF MOBILE ROBOTIC TANDISH REFRACTORY SPRAYING SYSTEM AND METHOD Technological Field: The invention relates to the refractory coating and maintenance of tundishes used in the iron and steel industry. in the technical field of industrial robotics and automation systems for operations It is located there; and in particular, there are 10 that can be moved and positioned on different tundishes. and the automatic spraying of refractory material onto the inner surfaces of the tundish. mobile robotic systems and their operating methods It is related. The invention also includes the automatic preparation and spraying of refractory mortar. 15 feeding into the system, sensing the tundish temperature and the spraying process. visual monitoring of functions integrated with robotic movements It includes systems for monitoring. State of the Art: 20 The inner surfaces of tundishes used in continuous casting lines are subjected to high temperatures. Refractory materials due to their contact with molten metal. It is coated. This refractory coating wears down over time and Maintenance and 25 at regular intervals are required to prepare the tundishes for reuse. Refractory spraying processes need to be carried out. In the known technique, the refractory spraying processes of tundishes are mostly done manually. This is carried out as follows. In this context, refractory mortar is a mortar preparation and The mixture is conveyed to the hose via a pumping system; an operator adjusts the consistency of the mortar to 30 and another operator inside the tundish while controlling the pumping process. It directs the hose to spray refractory material onto the interior surfaces. 2 The subject of this process varies depending on the individual performance of the operators, and It can take approximately 1.5 to 2 hours. One disadvantage of manual spraying methods is the applied refractory layer. the thickness and spray distribution depend on the operator's experience and work 5 It depends on the shape of the hose, the speed of movement, the spray angle, and the surface. Changes in the distance between them result in different thicknesses in different regions of the tundish. This leads to the formation of new structures and variations in refractory material consumption. This can happen. This situation affects coating quality and processing time. This makes standardization difficult. 10 Another disadvantage of the manual methods used in the known technique is, operators in a hot, dusty working environment where refractory materials are sprayed It is direct exposure. Performed in or near the tundish. The spraying process creates a heavy workload and a risk of workplace accidents; the process starts from one to 15 It requires being carried out by a large number of personnel. Stationary robotic spraying is used to address these problems. Solutions where systems or existing robots are adapted to dental maintenance operations. They can be used. However, these systems are limited to 20 per specific maintenance station. Because they are fixed in place, they can be moved to different tunches and processed on-site. It is not suitable for implementation. Furthermore, the robot is only suitable for its own area of ​​reach. Its movement inside, the long structure of the tundish, covers all inner surfaces with a single layer. This makes it difficult to reach from a particular location. Another disadvantage of known solutions is that robot movements affect the refractory materials. preparation and pumping of the material and spraying parameters The inability to manage robots in a synchronized manner under the same control structure. The movement is carried out independently of the material supply, during spraying. This causes changes in material flow and applied coating thickness. 30 It is possible. Also, the tundish temperature can be automatically adjusted by the system. inability to determine whether the spraying process was started under appropriate operating conditions 3 This makes it difficult to verify that it has not been started. The spraying process is visually monitored. also the inability to track transactions or centrally obtain transaction records the operator's remote intervention in the process and the subsequent monitoring of the completed operation This limits its evaluation. Similarly, with a spray nozzle. the distance between the inner surfaces of the tundish cannot be determined during the process or 5 inability to correct, coating due to differences in surface geometry This can negatively affect its quality. In the literature search conducted, patent document number US5302563A It has been observed. In the document in question, permanent refractory coatings of tundishes are 10 A refractory material composition that forms a temporary coating when sprayed onto it. It has been explained. The document describes the sprayability of the refractory material and its application to the surface. adheres and does not cause clogging within the spraying equipment. The aim is to keep it for a certain period of time. However, the document in question, It focuses on the chemical composition of refractory materials, and different tundishes 15 a mobile carrier structure positioned by being moved onto it, linear motion system multi-axis robot moving on it or determining the spray distance It does not describe an integrated robotic spraying system that includes sensors. In conclusion, with the current technique, 20 can be transferred onto different tundishes. a positionable, multi-axis robot moving along a tundish providing, preparation of refractory mortar and feeding to the spray nozzle. controlling the tundish temperature in an integrated manner with robot movements, and determines the spraying distance during the process and the spraying operation. An integrated mobile robotic tundish 25 that allows for visual monitoring. A refractory spraying system is required. Brief Description of the Invention: The invention enables the mobile and robotic application of refractory coating and maintenance processes to tundishes. a system that enables it to be carried out automatically through the system and It relates to the method. 4 In this context, the invention involves at least one device that can be positioned by being carried on a tundish. mobile carrier cabin, the length of the tundish inside the aforementioned mobile carrier cabin at least one multi-axis robot moving back and forth along the mentioned multi-axis At least one mortar spraying nozzle associated with the multi-axis robot, spraying onto the surface 5 at least one distance sensor that determines the distance, refractory mortar at least one that ensures its preparation and feeding to the mortar spraying nozzle fully automatic mortar machine and data exchange between system components It includes at least one control panel that manages the synchronization of operations. The system also includes at least one temperature for determining the tundish temperature. at least one sensor and a visual monitoring system for the spraying process It may include a closed-circuit camera system. In the system developed within the scope of the invention, the mobile carrier cabin is mounted on a tundish. being positioned, the multi-axis robot is being moved to different regions of the tundish, and 15 Refractory mortar is prepared by a fully automatic mortar machine. The mortar is fed into the spray nozzle. The mortar of the fully automatic mortar machine preparation and feeding processes, the trajectory of the multi-axis robot, and The spraying process is carried out in a coordinated manner via the control panel. The mortar spray nozzle is positioned 20 degrees away from the application surface via a distance sensor. The distance between them, and the tundish temperature, is measured via a temperature sensor. The data is determined and transmitted to the control panel. Spraying The process can also be viewed via a closed-circuit camera system, and It can be recorded. The main purpose of the invention is to replace the manually performed tundish refractory spraying. By automating and making the processes repeatable, the spray thickness and The aim is to ensure the standardization of surface distribution. Another objective of the invention is to enable the multi-axis robot to move along its linear motion system for 30 seconds. by enabling its movement, to the different inner surfaces of long tundishes The goal is to enable access through a single mobile system. Another purpose of the invention is to enable the system to be adapted to different tundishes thanks to the mobile carrier cabin. can be moved and used on-site and is connected to a fixed maintenance station The aim is to enable the spraying process to be carried out without any residue. Another purpose of the invention is to bridge the gap between the spray nozzle and the inner surface of the tundish. by enabling the distance to be determined via a sensor, in the surface geometry The aim is to reduce spray irregularities caused by variations. Another aim of the invention is to spray refractory materials using robot movements. by ensuring that the process is managed in a coordinated manner through the control unit, The goal is to reduce application time, material consumption, and operator dependency. Another purpose of the invention is to allow the operator to work with hot, dusty and refractory materials. by reducing direct exposure to the sprayed work environment, occupational safety is improved. to increase. Another purpose of the invention is the preparation of refractory mortar and mortar spraying. the procedural steps for feeding into the nozzle of the multi-axis robot by enabling integrated management of its movements, robot movement with 20 The aim is to improve the consistency of mortar flow and spraying continuity. Another objective of the invention is to adjust the tundish temperature before or during the spraying process. by enabling automatic detection during the tundish spraying process 25 Checking its compliance with the defined temperature conditions. to provide. Another purpose of the invention is to monitor the spraying process using a closed-loop camera system. by enabling remote monitoring and recording, to reduce the operator's direct exposure to the work area and process 30 The aim is to increase its auditability. 6 As a result, this developed system and method involves a mobile carrier structure and a tundish. multi-axis robot moving along the route, mortar spraying nozzle, fully automatic mortar machine, distance sensor, temperature sensor, closed-loop camera system and By integrating the control structure, the refractory parts of the tundishes 5. Automatic, controlled, traceable and repeatable coating and maintenance processes. It ensures that it is carried out in this way. Explaining the Figures: The invention will be described by reference to the attached figures, so that the invention is defined as 10 Its features will be understood more clearly. However, the purpose of this invention is not this specific one. It is not about limiting it with regulations. On the contrary, the invention's accompanying claims all alternatives and modifications that can be included within the area defined by it and the inclusion of their equivalencies is also intended. The details shown are only It is shown for the purpose of describing the preferred arrangements of the present invention and 15 both the shaping of methods and the rules and concepts of invention to provide the most useful and easily understandable description of its properties It should be understood that they are presented in these drawings; Figure – 1 The subject of the invention is a mobile robotic tundish refractory spraying system 20 Exploded view showing the general structure. Figure 2 - The linear motion system and multi-axis robot that is the subject of the invention. A view showing its structure. Figure 3 - Refractory material associated with the multi-axis robot, which is the subject of the invention. Detail 25 showing the spray nozzle and range sensor. appearance. Illustrations that will help understand this invention are shown in the attached image. They are numbered and their names are given below. Explanation of References: 7 10. Mobile carrier cabin 11. Chassis 12. Crane support leg 13. Tandish mechanical seat leg 14. Staircase 5 20. Multi-axis robot 21. Linear motion frame 22. Linear car 23. Ray 24. Rack and pinion 10 25. Drive motor 26. Gearbox 30. Mortar spray nozzle 31. Robot mounting frame 32. Distance sensor 15 40. Control panel 41. Electrical panel 42. Server booth T. Tandish Description of the Invention: 20 This detailed description explains the invention: a mobile robotic tundish refractory spraying system. the system and method are solely for the purpose of better understanding the subject and without imposing any limiting effect, by referring to the attached figures It is explained. 25 Tundishes (T) are used to transfer molten metal into casting molds in continuous casting lines. It allows for controlled transfer and its inner surfaces are lined with refractory material. These are coated structures. The refractory coating in question is the use of tundish (T). Due to high temperatures, wear and mechanical effects occurring during the process, 30 It gets damaged over time and the tundish (T) can be reused. 8 In order to prepare it, the interior surfaces must be coated with refractory mortar at certain intervals. or needs to be repaired. Figure 1 shows the mobile robotic tundish refractory spraying system that is the subject of the invention. The general structure is shown. In this context, the system consists of 5 on a tundish (T). at least one mobile carrier cabin that can be moved and positioned (10), back and forth along the length of the tundish (T) inside the mobile carrier cab (10) at least one multi-axis robot (20) moving in the direction of, multi-axis robot (20) At least one associated mortar spray nozzle (30), distance to the spraying surface at least one distance sensor (32) and the operation of system components determine 10 The system includes at least one control panel (40) that manages the refractory. automatic preparation of mortar and mortar spraying nozzle (30) at least one fully automatic mortar machine that provides the feed for the tundish (T) at least one temperature sensor and spray for determining the temperature at least one closed-circuit camera system for monitoring the process 15 It may include. Mobile carrier cabinet (10) carries system components together and sprays main carrier that enables the tundish (T) on which the operation will be performed to be placed on the tundish (T). It is a structure. The mobile carrier cabin (10) in question has 20 system components on top. It includes at least one chassis (11) to which it is connected. Chassis (11) is the spraying process loads resulting from the movements of the multi-axis robot (20) during will support and maintain the relative positions of system components It is structured in this way. Mobile carrier cabin (10), by means of a crane or similar lifting device It includes at least one crane support leg (12) that enables its transport. The system can be moved between different maintenance points or tundishes (T) and It can be placed on the tundish (T) where the spraying process will be carried out. The mobile carrier cabin (10) also has corresponding surfaces on the tundish (T) holding the system in a specific working position relative to the tundish (T) while sitting 9 It includes at least one tundish mechanical seating leg (13) that provides. mechanical seating legs (13) on the tundish (T) of the mobile carrier cabin (10) repeatable positioning and during the spraying process It ensures the preservation of the mechanical relationship between the system and the tundish (T). Thanks to this structure, the working coordinates of the multi-axis robot (20) and the tundish (T) The positional relationship between the inner surfaces is redefined with each use of the system. This allows the system to be moved onto different tundishes (T). while ensuring the spray trajectories according to the tundish (T) geometry It is made possible to implement it. 10 The mobile carrier cabin (10) also has the operator's system components There can be at least one ladder (14) that allows access. Ladder (14), the invention is used in the maintenance, control or preparation processes of the system It is not a necessary component in terms of its basic operating principle. 15 Figure 2 shows the linear motion on which the multi-axis robot (20) moves. The structure of the system is shown. The linear motion system in question consists of at least one linear motion chassis (21), at least one linear moving on this chassis (21) car (22), at least one rail (23) determining the direction of movement of the linear car (22), 20 at least one rack and pinion (24) providing motion transmission, at least one drive motor (25) and includes at least one gearbox (26) associated with the drive motor (25). The linear motion chassis (21) is associated with the chassis (11) of the mobile carrier cab (10). It is positioned and extends along the length of the tundish (T). 25 The linear carriage (22) will move forward and backward on the rail (23) It is structured. The motion generated by the drive motor (25) is transferred to the gearbox. (26) is transferred to the rack (24) and thus the linear carriage (22) It is being moved to the designated location. Multi-axis robot (20) to linear carriage (22) via robot connection chassis (31) It is connected. Thus, the multi-axis robot (20) adds to its own joint movements. as a linear motion system along the different regions of the tundish (T) It is portable. This structure only allows the reach of the multi-axis robot (20) to be limited. This prevents the robotic arm from being limited by its own range of motion and allows for longer movement. The different inner surfaces of the tundishes (T) with a structure can be accessed through a single system. It ensures access. 5 The movement of the linear carriage (22) and the joint movements of the multi-axis robot (20), It is managed in a coordinated manner through the control panel (40). Within the scope of the multi-axis robot (20), spraying in a specific region of the tundish (T) While performing the operation, the linear carriage (22) can be kept stationary or sprayed 10 It can be moved in a controlled manner depending on its trajectory. A After the completion of the spraying operation in the region, the linear car (22), It moves the multi-axis robot (20) to the next work area. In Figure 3, the mortar spraying nozzle (30) associated with the multi-axis robot (20) and the distance 15 The sensor (32) is shown. The mortar spraying nozzle (30) sprays the refractory mortar. application that enables spraying by directing it onto the inner surfaces of the tundish (T) It is a component of the mortar spraying nozzle (30) of the multi-axis robot (20). It is positioned in relation to the tip and the robot's movements. Depending on the situation, it can be directed towards different orientations. 20 Within the system, the refractory mortar is suitable for the spraying process. at least that enables the preparation and feeding of mortar to the spray nozzle (30) A fully automatic mortar machine is available. The aforementioned fully automatic mortar machine... machine, preparation, mixing, feeding of refractory mortar and mortar 25 automatic working steps for conveying to the spray nozzle (30) It is structured in such a way as to accomplish this. The fully automatic mortar machine will communicate with the control panel (40). It is being structured, mortar preparation status, mortar feeding status, work 30 Data such as status and readiness for spraying are sent to the control panel (40) It can transmit. The control panel (40) controls the movement of the multi-axis robot (20). 11 Fully automatic mortar depending on the situation and the steps of the spraying process. starting, stopping or continuing the mortar feed to the machine It can transmit related control commands. Refractory mortar prepared by a fully automatic mortar machine contains at least one mortar 5 The mortar is conveyed to the mortar spray nozzle (30) via the transmission line. spray nozzle (30) along the trajectory of the multi-axis robot (20) It is directed to the base, side walls, corners and similar inner surfaces of the tundish (T). and enables the application of refractory mortar to these surfaces. Distance sensor (32) will be sprayed with mortar spray nozzle (30). Multi-axis robot (20) to determine the distance between the tundish (T) surface or is positioned in relation to the robot connection chassis (31). Distance sensor (32), preferably a laser distance sensor that performs contactless measurement. However, there are also different types of sensors that provide similar measurement functions. It is available for use. Distance data obtained by the distance sensor (32) is sent to the control panel (40) is transmitted. This distance data is based on a predefined spray pattern. compared with the distance or range of distance and the multi-axis robot (20) 20 its position or trajectory depends on this comparison It can be adjusted. In this way, the mortar spray nozzle (30) and the inside of the tundish (T) the distance between the surfaces is within the range determined during the spraying process It is ensured that it is kept in place. This measurement, performed with the distance sensor (32), is on the inner surfaces of the tundish (T). Geometric differences found, remnants of previous refractory layers, or surface Determining the distance variations that may occur due to irregularities The control panel (40) provides, depending on the said distance change. It can create an offset correction in the position of the multi-axis robot (20) and 30 It can adapt the spray trajectory according to the surface position. 12 The system also measures the temperature of the tundish (T) to which the spraying process will be applied. It may include at least one temperature sensor for determination. The aforementioned The temperature sensor is placed on the inner surface, outer surface or refractory surface of the tundish (T). will obtain temperature data regarding its coating, either through contact or non-contact. It can be positioned as follows: 5 Temperature data obtained by the temperature sensor is sent to the control panel (40) is transmitted. The control panel (40) receives the said temperature data in advance. with at least one defined temperature value or temperature range can compare and the suitable temperature for the tundish (T) spraying process is 10 It can determine whether or not it meets the required conditions. The temperature of the tundish (T) must be suitable for the predefined operating conditions. If this is not the case, the spraying process may be prevented from starting. The process may be delayed or the operator may receive a warning. 15 Control panel (40), linear motion system, multi-axis robot (20), full automatic mortar machine, mortar spraying process, distance sensor (32), enabling the management of the temperature sensor and closed-loop camera system. It includes control components. The said control panel (40) is a multi-axis 20 the movement trajectories of the robot (20), the position of the linear car (22), the mortar preparation and feeding status of the automatic mortar machine, spraying initiating or stopping the process and the data received from the sensors It is structured in a way that will allow for its evaluation. The control panel (40) also processes the operating parameters of the system and at least one processor that enables the control of system components, data exchange with at least one memory unit and system components associated with the processor It may include at least one communication interface. The memory mentioned in the unit, spraying of different tundish (T) types or internal surface geometries 30 recipes, movement trajectories of the multi-axis robot (20), spraying parameters, data obtained from the distance sensor (32) and transaction logs 13 It can be stored. The processor in question obtains data from the distance sensor (32). distance data is stored in the memory unit for a predefined spray pattern. comparing by distance or distance range and depending on this comparison as a position or trajectory of movement of the multi-axis robot (20) It creates an offset value. The aforementioned communication interface is for the multi-axis robot 5. (20), fully automatic mortar machine, distance sensor (32), temperature sensor, enclosed circuit camera system and other system components with wired or wireless data It is structured in a way that will facilitate the transaction. The data in question... exchange, through at least one of the different communication protocols. It can be performed by the control panel (40) and the steps of the process are 10. the transmission of connected control commands to the relevant system components and the said measurement, operating status, image or feedback data from components It ensures that it is obtained. The system also includes a mobile carrier cabin (10), a multi-axis robot (20), 15 mortar spraying nozzle (30), tundish (T) or refractory mortar spraying at least one closed-circuit camera to record at least one of the procedures. The system can be found. Image data obtained by the closed-circuit camera system, control 20 to the control panel (40), to the computing components located in the server cabinet (42) or The spraying process can be transmitted to an external operator interface. It can be monitored in real time and the process images are recorded. It can be obtained. Data exchange between the closed-circuit camera system and the control panel (40), remote monitoring of the spraying process's operational status and the operator's directly into a hot, dusty or refractory material sprayed work area. It helps to reduce exposure. The system also distributes electrical energy to the relevant components and provides electrical... It includes at least one electrical panel (41) which ensures the protection of the connections. 14 Electrical panel (41), control panel (40), drive motor (25), multi-axis robot (20), distance sensor (32) and other electrical components in the system It operates in relation to other things. The mobile carrier cabinet (10) must also have at least one server cabinet (42) 5 It can be found. The server cabinet (42) contains the operating data of the system, spraying recipes, robot motion programs, fully automated mortar the machine's operating data obtained from distance and temperature sensors data, images obtained by the closed-circuit camera system and Information processing that enables the storage or processing of transaction records 10 It can contain its components. During the operation of the system, first of all, the mobile carrier cabin (10) crane transport It is lifted by means of its feet (12) and the spraying process will be carried out It is carried on the tundish (T). Mobile carrier cabin (10), tundish mechanical 15 The seat legs (13) are placed on the tundish (T) and the system The working position is created according to the tundish (T). After the mobile carrier cabinet (10) is positioned, the system's electricity, Air and refractory mortar supply connections are being made. Operator 20 by the type (T) of the tundish, internal surface geometry, current refractory condition, related to the desired coating thickness or the properties of the refractory mortar to be applied. The operating parameters are selected via the control panel (40) or is being entered. These operating parameters are presented as a spray recipe. It can be defined. The spray recipe is the movement of the multi-axis robot (20). trajectory, movement positions of the linear carriage (22), mortar spray nozzle (30) orientation relative to the surface, spray rate, spray duration, spray At least one of the parameters such as distance and the number of layers to be applied must be 30. It may include. Before the spraying process is started, the temperature of the tundish (T) is checked by the temperature sensor. is determined via and the obtained temperature data is sent to the control panel (40) is transmitted. The temperature data in question is suitable for the defined operating conditions. If this is the case, the process continues; if not, then... The spraying process is not started, is delayed, or no warning is given to the operator. 5 is provided. The fully automatic mortar machine operates according to the selected operating parameters. Preparing refractory mortar and ready to be fed into the mortar spray nozzle (30). It makes it ready for spraying. Study data 10 The information is transmitted to the control panel (40) and the spraying process is carried out by the multi-axis robot (20). depends on the fully automatic mortar mixer being in proper working condition. It is initiated as follows. When the system is started, the linear carriage (22) moves the multi-axis robot (20) to the first 15 of the tundish (T). It moves to the working area. Distance sensor (32), mortar spray nozzle (30) determines the distance between the surface to be sprayed and the sprayed surface and many The starting position of the axial robot (20) is adjusted according to this distance. Then the multi-axis robot (20) threw mortar along the defined trajectory. It moves the spray nozzle (30) over the inner surfaces of the tundish (T). Control when the multi-axis robot (20) reaches the spraying start position. command to feed mortar to fully automatic mortar machine by control panel (40) is conveyed and through the refractory mortar spray nozzle (30) into the tundish (T) It is sprayed onto the surfaces. With the movement of the multi-axis robot (20), the refractory 25 control panel showing the steps for preparing and feeding the mortar. (40) is managed in accordance with the robot's movement speed, on the surface. the distance and spraying time, the refractory layer to be applied It is checked according to its characteristics. Data obtained by the distance sensor (32) during the spraying process, is evaluated by the control panel (40) and mortar spray nozzle 16 The distance between (30) and the tundish (T) surface is outside the defined range. position or trajectory of movement of the multi-axis robot (20) This is corrected. Thus, a more uniform spray distance is achieved across the surface. and consequently obtaining a more homogeneous refractory coating is provided. 5 During the spraying process, the system is monitored by a closed-circuit camera system. Images related to the work area are obtained. These images... This can be monitored in real time by the operator or server. 10 recorded through the computing components located in the cabinet (42). It can be obtained. When the spraying process is completed in one region of the tundish (T), the linear carriage (22) moves the multi-axis robot (20) to the next work area. This The process involves applying refractory mortar to the inner surfaces of the tundish (T) 15 It is repeated until it is completed. When the spraying process is completed, it is fully automatic by the control panel (40) The mortar feed of the mortar machine is stopped, the multi-axis robot (20) is safe. is taken to position and the linear carriage (22) is brought to the starting or transport position 20 The spraying parameters related to the process performed are provided. Duration, robot movements, operational data of the fully automatic mortar machine, Closed-circuit camera footage, along with distance and temperature data, was found in the server cabinet. (42) can be recorded through the information processing units located there. The system in question is the multi-axis robot (20) to different regions of the tundish (T). It enables the transport of different tundishes (T) thanks to the mobile carrier cabin (10) It can be used on refractory materials thanks to the fully automatic mortar machine. The robot prepares the mortar and feeds it to the mortar spray nozzle (30). It performs in accordance with its movements and from the distance sensor (32) 30 Adjusting the spray position based on the data obtained. The system also provides the temperature of the tundish (T) via a temperature sensor. 17 temperature determination and through a closed-circuit camera system It allows the spraying process to be monitored visually. In this context, mobile carrier cabin (10), linear motion system, multi-axis robot (20), mortar spraying nozzle (30), fully automatic mortar machine, distance sensor 5 (32), temperature sensor, closed-circuit camera system and control panel (40), The refractory spraying process is automated, repeatable, controlled, and monitorable. to exchange data in a way that will enable it to be carried out in this manner and They work together according to the steps of the process.

Claims

18 REQUESTS 1. Automatic spraying of refractory mortar onto the inner surfaces of the tundishes (T). a mobile robotic tundish refractory spraying that enables its implementation It is a system and its feature is; 5 • transport of system components between different tundishes (T) and a tundish (T) is positioned on at least one chassis (11) and the most important factor that allows it to sit properly on the mentioned tundish (T). a mobile carrier cabin containing a small tundish mechanical seating leg (13) (10), 10 • the length of the tundish (T) inside the aforementioned mobile carrier cabin (10) structured to move back and forth along its length and by being moved to different regions of the tundish (T) and to different positions according to the inner surfaces Multi-axis robot brought to orientations (20), • Spraying the refractory mortar onto the inner surfaces of the tundish (T) by directing it towards them. 15 a mortar associated with the mentioned multi-axis robot (20) to provide spray nozzle (30), • spraying the tundish (T) with the aforementioned mortar spray nozzle (30) a distance sensor that determines the distance between the inner surfaces to be made (32), 20 • along the length of the tundish (T) of the mentioned multi-axis robot (20) its movement, trajectory and through the mortar spray nozzle (30) from the distance sensor (32) that manages the spraying process performed Depending on the distance data obtained, the multi-axis robot (20) a control panel that regulates its position or trajectory of movement (40) 25 It is characterized by its inclusion.

2. According to Claim 1, it is a mobile robotic tundish refractory spraying system, Its feature is that the aforementioned mobile carrier cabin (10) can be lifted by means of a crane. It must include at least one crane lifting leg (12) for transport. 30 19 3. According to Claim 1, it is a mobile robotic tundish refractory spraying system, Its feature is that the tundish (T) is inside the aforementioned mobile carrier cabin (10). It must contain at least one linear motion frame (21) extending along its length.

4. According to claim 3, the mobile robotic tundish refractory spraying system is 5. Its feature is that it is positioned on the aforementioned linear motion chassis (21). a small rail (23) and moving forward and backward on the mentioned rail (23) It must contain at least one linear car (22).

5. According to claim 4, the mobile robotic tundish refractory spraying system is 10. Its feature is between the mentioned multi-axis robot (20) and linear carriage (22). It includes at least one robot linkage chassis (31) positioned.

6. The system according to claim 4, and its feature is; the linear car mentioned (22) At least one drive motor for its movement (25), the said drive motor (25) 15 at least one gearbox (26) connected with and the transmission from the said gearbox (26) linear motion chassis which enables the movement of the linear carriage (22) (21) is that it contains at least one rack (24) extending along its length.

7. According to Claim 1, the mobile robotic tundish refractory spraying system is 20 its feature is the distance sensor (32) and mortar spray nozzle (30) the distance between the inner surface of the tundish (T) and the contactless It is a laser range sensor used for determination.

8. The system is defined according to claim 1, and its characteristic is that the mentioned processor has a distance of 25 multi-axis based on distance data obtained from the sensor (32) at least one offset of the position or trajectory of the robot (20) It is the structuring of something that will create value.

9. According to claim 8, the mobile robotic tundish refractory spraying system is 30 The feature of the mentioned control panel (40) is that it depends on the distance data. at least the position or trajectory of the multi-axis robot (20) It involves the aforementioned processor for generating an offset value.

10. According to Claim 1, it is a mobile robotic tundish refractory spraying system, Its feature is spraying of different tundish (T) types or internal surface geometries. 5 prescriptions, movement trajectories and distance of the multi-axis robot (20) at least one memory for storing data obtained from the sensor (32) It includes the unit.

11. According to Claim 1, it is a mobile robotic tundish refractory spraying system, 10 Its feature is that the mentioned multi-axis robot (20) along the length of the tundish (T) refractory spraying is carried out through the mortar spraying nozzle (30) with its movement. including at least one operator for the joint control of the mortar spraying process It includes a control panel (40).

12. According to Claim 1, it is a mobile robotic tundish refractory spraying system, Its feature is the minimum requirement for distributing electrical energy to the system components. It contains an electrical panel (41).

13. According to Claim 1, the mobile robotic tundish refractory spraying system is 20 Its features include spray patterns, robot motion programs, and distances. storage of data and transaction records obtained from the sensor (32) at least one server cabinet containing computing components (42) It includes.

14. According to Claim 1, it is a mobile robotic tundish refractory spraying system, feature; at least located on the aforementioned mobile carrier cabin (10) It contains a ladder (14).

15. According to Claim 1, the mobile robotic tundish refractory spraying system is 30 Its feature is to prepare the refractory mortar and to spray the mortar nozzle (30) It must include at least one fully automatic mortar machine for its feeding. 21 According to Claim 16, it is a mobile robotic tundish refractory spraying system, its feature; at least one temperature for determining the temperature of the tundish (T). It includes a sensor.

17. According to claim 16, it is a mobile robotic tundish refractory spraying system, Its feature is the temperature data obtained from the aforementioned temperature sensor. with at least one predefined temperature value or temperature range Control panel containing at least one processor for comparison (40) It includes. 10 18. Automatic spraying of refractory mortar onto the inner surfaces of the tundishes (T). a mobile robotic tundish refractory spraying for implementation It is a method, and its characteristic is; • a mobile carrier cabinet (10) carrying system components a tundish (T) 15 positioning it on, • a multi-axis located inside the aforementioned mobile carrier cabin (10) the robot (20) moves forward or backward along the length of the tundish (T) by being transported to a spraying area, • a mortar spraying nozzle (30) associated with the aforementioned multi-axis robot (20) 20 The distance between the inner surface of the tundish (T) to be sprayed is one determination via distance sensor (32) • depends on the distance data obtained from the mentioned distance sensor (32) as the position or trajectory of the multi-axis robot (20) 25 regulated via a control panel (40) • the multi-axis robot (20) moves along a defined trajectory to be made and refractory mortar to be sprayed through the mortar spray nozzle (30) spraying onto the inner surface of the tundish (T), • The mentioned multi-axis robot (20) can be used to create different ducts along the length of the tundish (T). transport to spraying areas and the refractory mortar spraying process 30 It is characterized by including steps to repeat the process in the regions in question. It is done. 22 19. According to claim 18, the mobile robotic tundish refractory spraying method is, The feature of the aforementioned mobile carrier cabin (10) is that it has at least one crane carrier leg. (12) by lifting it and transferring it onto the tundish (T) and at least one tundish 5 via mechanical seat leg (13) in a referenced manner to the tundish (T) It is positioning.

20. According to claim 18, the mobile robotic tundish refractory spraying method is, The feature of the mentioned multi-axis robot (20) is that it has a linear motion chassis (21) 10 via a linear carriage (22) moving along the rail (23) on which it is located. This is the movement of the tundish (T) forward or backward along its length.

21. According to claim 20, the mobile robotic tundish refractory spraying method is, The feature of the aforementioned linear car (22) is a drive motor (25), mentioned a gearbox (26) and a rack (24) connected to the drive motor (25) 15 It is the movement of the vehicle.

22. According to claim 18, the mobile robotic tundish refractory spraying method is, Its feature is the inner surface of the tundish (T) with the mentioned mortar spray nozzle (30). The distance between them is determined non-contact via a laser distance sensor (32) 20 It is determined as follows.

23. According to claim 18, the mobile robotic tundish refractory spraying method is, The feature is that the distance data obtained from the mentioned distance sensor (32) with a predefined spray distance or distance interval of 25 comparison and, depending on the comparison result, the multi-axis robot (20) an offset correction relating to position or trajectory of motion is the creation of.

24. According to claim 18, the mobile robotic tundish refractory spraying method is 30. Its feature is the movement trajectory of the multi-axis robot (20) and mortar spraying. 23 refractory mortar spraying process carried out through nozzle (30) It is controlled together via the control panel (40).

25. According to claim 18, the mobile robotic tundish refractory spraying method is, Feature; refractory mortar spraying in a spraying zone of the tundish (T) 5 Following the completion of the operation, the tundish (T) of the multi-axis robot (20) It is the transfer of air along its length to the next spray zone.

26. According to claim 18, the mobile robotic tundish refractory spraying method is, Its feature includes distance data related to the spraying process, robot movements, and 10 The transaction records must be stored in at least one memory unit.

27. According to claim 18, the mobile robotic tundish refractory spraying method is, Its feature is that refractory mortar is mixed via a fully automatic mortar mixing machine. The preparation and feeding of mortar into the spray nozzle (30). 15 28. According to claim 18, the mobile robotic tundish refractory spraying method is, Its feature is that the temperature of the tundish (T) is determined via a temperature sensor. and the obtained temperature data to a predefined temperature value or comparison with the temperature range. 20