Apparatus for inspecting and/or restoring a hostile environment and corresponding method

Patent metadata

Field	Value
Publication number	US-2025207861-A1
Application number	US-202318847325-A
Country	US
Kind code	A1
Filing date	Mar 17, 2023
Priority date	Mar 17, 2022
Publication date	Jun 26, 2025
Grant date	—

Abstract

A method for inspecting and restoring a hostile and/or dangerous environment performed by an apparatus includes determining whether to start the inspection of the hostile environment by at least one temperature detection device; performing the inspection by acquiring optical and/or thermal and/or geometric data of at least one zone of the frameable environment by at least one optical and/or thermal and/or geometric data detection device; performing the restoration of the hostile environment by the at least one restoration operator device by positioning, by the positioning support, the tool head inside said environment through the inlet channel.

First claim

1 . Method for inspecting and/or restoring a hostile and/or dangerous environment, performed by an apparatus which comprises a tool head, said tool head being mechanically connected to a positioning support which is a robotic arm and being configured to receive at least one operator device, said apparatus being selected from at least one of either a restoration device, an optical and/or thermal and/or geometric data detection device, a temperature detection device, or a sampling device for taking one or more samples of material, wherein the method comprises:
installing at least one of either said at least one restoration device, said optical and/or thermal and/or geometric data detection device, said temperature detection device, or said sampling device; performing the restoration by means of said at least one restoration device, or verifying the state of said environment by means of said optical and/or thermal and/or geometric data detection device or said temperature detection device or said sampling device, by positioning, by means of said positioning support, said tool head inside said environment through a lateral inlet channel.

2 . Inspection and/or restoration method as in claim 1 , wherein the method, prior to the steps of installing said at least one restoration device and of performing the restoration, comprises:
determining whether to start the inspection of said environment by means of said at least one temperature detection device; if the inspection is started, installing said at least one optical and/or thermal and/or geometric data detection device on the tool head, and performing the inspection by positioning, by means of the positioning support, the tool head inside said environment through an inlet channel and acquiring optical and/or thermal and/or geometric data, by means of said at least one optical and/or thermal and/or geometric data detection device, of at least one framed zone of said environment; uninstalling said at least one optical and/or thermal and/or geometric data detection device by positioning, by means of said positioning support, said tool head outside said environment through said inlet channel; determining whether to perform the restoration of the environment on the basis of a processing of the images acquired, by means of a processing unit comprised in the apparatus.

3 . Inspection and/or restoration method as in claim 2 , wherein determining whether to start the inspection comprises:
installing on said tool head at least one said temperature detection device in order to measure the temperature of said environment by positioning, by means of the positioning support, the tool head inside said environment through said inlet channel; determining, by means of the processing unit, to start the inspection if the measured temperature is lower than a threshold temperature and uninstalling said at least one temperature detection device by positioning, by means of the positioning support, the tool head outside said environment through said inlet channel.

4 . Inspection and/or restoration method as in claim 3 , wherein, when the environment is a melting furnace, said inlet channel corresponds to a slagging door disposed on the wall of said melting furnace, and determining whether to start the inspection comprises:
performing a sampling of one or more samples of molten material or slag by means of a sampling operator device; measuring the temperature upstream or downstream of said sampling, in order to determine the end of a melting sequence and to start the inspection of said environment.

5 . Inspection and/or restoration method as in claim 1 , wherein the acquisition of optical and/or thermal and/or geometric data is obtained by inserting the tool head inside the environment, preferably, when the environment is a melting furnace, downstream of the tapping.

6 . Inspection and/or restoration method as in claim 1 , wherein said processing of the acquired images comprises evaluating whether the restoration is necessary on the basis of a recognition of said acquired images.

7 . Inspection and/or restoration method as in claim 1 , wherein said method comprises, prior to performing the restoration of the environment:
installing at least one said cleaning operator device comprising a spatula on the tool head, and cleaning said inlet channel; uninstalling said at least one cleaning device.

8 . Inspection and/or restoration method as in claim 1 , wherein performing the restoration of said environment comprises performing the restoration by means of said at least one restoration device, this being a gunning lance which executes vertical sprays of refractory material toward the inside of said environment.

9 . Inspection and/or restoration method as in claim 1 , wherein the method comprises cooling at least one of said at least one operator device by means of a flow of gas or liquid.

10 . Inspection and/or restoration method as in claim 1 , wherein the method comprises moving said tool head on the basis of a measurement of an angular position of said tool head obtained by means of a sensor or, alternatively, on the basis of a pre-set path of the operator device.

11 . Inspection and/or restoration method as in claim 1 , wherein, when the environment is a melting furnace, the method comprises:
determining a level of molten material and slag; performing the inspection and the restoration downstream of the sampling of one or more samples of molten material or slag.

12 . Apparatus to be used in a hostile environment which comprises:
a tool head, a positioning support, this being a robotic arm able to be mechanically connected to said tool head, a processing unit configured to control the operation and movement of said apparatus, wherein said tool head is connected to the positioning support and comprises a assembly element configured to selectively couple to a mating assembly element in order to allow the selective installation of at least one operator device selected from one or more of either a restoration device, an optical and/or thermal and/or geometric data detection device, a temperature detection device, and in that said apparatus is able to execute the method in accordance with claim hereinbefore.

13 . Apparatus as in claim 12 , wherein said robotic arm is equipped with 6 axes and 6 degrees of freedom and is configured to move said at least one operator device installed on said tool head.

14 . Apparatus as in claim 12 , wherein said tool head comprises a sensor for measuring the angular position, able to measure an angular position of said tool head.

15 . Apparatus as in claim 12 , wherein said tool head is assembled on a rod connected to one end of the positioning support.

16 . Programmable anthropomorphic operating apparatus as in claim 12 , wherein said apparatus comprises a compressed air cooling system configured to cool said at least one operator device.

17 . Apparatus as in claim 12 , wherein said processing unit is configured to control the apparatus in order to automatically install or uninstall said at least one operator device on said tool head.

Assignees

• Danieli Off Mecc
• Danieli Automation Spa

Inventors

• De Luca Andrea
• Passoni Maurizio
• Ghio Luca
• Morando Marco

Classifications

• F27D21/02

  Observation or illuminating devices · CPC title

• F27D19/00 Primary

  Arrangements of controlling devices · CPC title

• F27D1/16

  Making or repairing linings {; Increasing the durability of linings; Breaking away linings} · CPC title

• F27D2021/023

  Closable inserting openings, e.g. for the introduction of lances, sensors or burners · CPC title

• F27D21/0021

  Devices for monitoring linings for wear · CPC title