Rotating Robotic Arm for Blast Furnace Runner Covers
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Solution Overview
Problem
Existing handling devices for blast furnace runner covers are limited in flexibility and positioning, require multiple devices for multiple runners, and have unwieldy constructions that occupy valuable space and require fixed attachments, making them inefficient and unsafe.
Innovation Solution
A handling device with a support base on the cast house floor, a rotatable frame, a pivoting lifting arm, and a fork-type grab that allows for flexible positioning and orientation of runner covers, enabling single-device operation for multiple runners without additional manual intervention, and can be easily automated.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If prior art handling devices are used, then runner covers can be handled, but the devices are limited in flexibility and positioning capabilities
Solution Approach 1:
The invention employs a dynamic robotic arm mechanism with multiple rotational joints that can pivot and rotate to achieve various positioning and orienting configurations. The first rotational joint allows rotation about a vertical axis, the second rotational joint enables pivoting about a horizontal axis, and the third rotational joint provides additional orientation adjustment, creating a dynamically adaptable system that can reach multiple parking positions for runner covers
Solution Approach 2:
The robotic arm handling device is designed to serve multiple runners within a blast furnace cast house, replacing the need for separate handling devices at each runner location. The system can handle runner covers from different runners by rotating to different positions, making it a universal solution that increases adaptability while consolidating device quantity
2Adaptability or versatility
If multiple handling devices are deployed for multiple runners, then each runner can be served, but the amount of space required increases
Solution Approach 1:
A single robotic arm handling device is designed to serve multiple runners by rotating to different angular positions around the cast house. The device can pick up runner covers from any served runner, transport them to designated parking positions, and place them down, eliminating the need for multiple separate handling devices and significantly reducing the space they would occupy
Solution Approach 2:
The invention utilizes rotational movement about a vertical axis (first rotational joint) to access different runners in a radial arrangement, adding an angular dimension to the handling capability. This allows one device to cover multiple runners by changing its angular position, effectively using spatial rotation to reduce the number of devices needed
3Reliability
If prior art devices are installed, then handling can be performed, but fixed attachments are required above the cast house floor
Solution Approach 1:
The invention extracts the handling device from the overhead fixed construction mounting and relocates it to the cast house floor level. The robotic arm device operates independently on the floor, using its own rotational joints and mechanical structure to perform handling operations, thereby eliminating the need for fixed attachments above the floor and simplifying installation while maintaining reliable handling capability
4Ease of operation
If conventional handling devices are used, then runner covers can be moved, but obstacles adjacent the main runner cannot be avoided
Solution Approach 1:
The robotic arm device uses its three rotational joints to dynamically adjust its arm configuration and movement path. By coordinating rotation about the vertical axis, pivoting about the horizontal axis, and adjusting the end effector orientation, the system can navigate around obstacles adjacent to the main runner and deliver runner covers to parking positions while avoiding collisions
Data Source
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AI summary
The present invention relates to a handling device (10) for elements of tapping runners on a shaft furnace, in particular for runner covers. This device comprises a support base (12) arranged on the cast house floor of a blast furnace, laterally of the tapping runner and a frame (14) which is supported by the support base (12) and connected thereto by means of a bearing (38) defining a first axis of rotation (A), which is essentially vertical and about which the frame (14) can rotate relative to the support base (12). The device further comprises a lifting arm (16) having a first end portion (18) and a second end portion (20), the first end portion (18) being connected to the frame (14) by means of at least a first rotational joint (22) defining a second axis of rotation (B), which is essentially horizontal, about which the lifting arm (16) can pivot in order to lower or lift its second end portion (20). A handling member (24) is connected to the second end portion (20) of the lifting arm (16) by means of a second rotational joint (54) defining a third axis of rotation (C), which lies in a plane essentially perpendicular to the second axis of rotation (B), about which the handling member (24) can pivot with respect to the lifting arm (16). Furthermore, the handling device (10) comprises a fork-type grab (26) connected to the handling member (24) and arranged so as to allow picking up; transferring and putting down such elements. The present invention also concerns the use of this handling device (10) in a blast furnace installation, the handling device (10) being installed between two proximate main runners (76, 78) extending radially from the blast furnace (75), for removing, parking, installing and/or exchanging both runner covers (70, 70') of both blast furnace main runners (76, 78).