CN106424696A - Special automatic manipulator for continuous casting steel - Google Patents
Special automatic manipulator for continuous casting steel Download PDFInfo
- Publication number
- CN106424696A CN106424696A CN201610800113.9A CN201610800113A CN106424696A CN 106424696 A CN106424696 A CN 106424696A CN 201610800113 A CN201610800113 A CN 201610800113A CN 106424696 A CN106424696 A CN 106424696A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- automatic manipulator
- casting steel
- long nozzle
- continuous
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
- B22D41/50—Pouring-nozzles
- B22D41/56—Means for supporting, manipulating or changing a pouring-nozzle
Abstract
The invention discloses a special automatic manipulator for continuous casting steel. The automatic manipulator is characterized in that the automatic manipulator is provided with a sleeve connected with a base; the sleeve can ascend and descend and can rotate leftwards and rightwards; the sleeve is connected with a long arm which can extend and contract; a circular ring is arranged at the tail end of the long arm, and can sleeve a long nozzle; the circular ring is connected with the long arm; through a certain mechanical form, front-back overturn and left-right overturn can be realized, and the movement of the long nozzle can be realized. The amount of movement in various freedom degrees is recorded by a sensor, the automatic manipulator can move to a designated position according to an instruction. A camera is arranged nearby the automatic manipulator, place analysis is carried out according to shot images, the automatic manipulator is instructed to move, and full-automatic operation is realized.
Description
Technical field
The invention belongs to robotic device field is and in particular to a kind of Special Automatic manipulator of continuous-casting steel pouring.
Background technology
It is a danger, heavy manual labor that continuous casting production pours steel, it is achieved that machine on currently advanced conticaster
Electric installation replaces manual operation, realizes the lifting of long nozzle, movement by shaking handwheel, near-earth button motor, rotates, turns over
Turn and wait action, but workman is exposed to outdoor, is subject to high-temperature baking near ladle, opens and have molten steel splashing burn hazard when pouring.This
Invention replaces traditional handwheel with motor, hydraulic pressure, pneumatic means, replaces common electric machine with servomotor with encoder, with shooting
Vision system replaces human eye visually, improves operating efficiency and precision, reduces staff, raises labour productivity.
For a long time in continuous casting, after ladle reaches casting position above tundish, the opening operation of slide gate nozzle, be
By be accomplished manually, because bad environments, complex operation, abnormal conditions are many, depend merely on simple mechanical device and be difficult to tackle.Originally
Tundish operation machinery device, rely on manpower, motor to realize simple locomotive function, but with environmental requirement lifting, work
Protection increases, labor cost rises, and realizes Unmanned operation in tundish region and has become as inexorable trend.State's outgoing
Open up and be based on general six-joint robot (as ABB, KUKA robot), added machine vision, a whole set of automation of special fixture composition
Equipment, replaces manual work, has been achieved with being in progress in laboratory, also has a small amount of practical application.
Using all-purpose robot, flexible movements, scope are big, positioning precision is high, but pour to automating on tundish platform
Steel operational suitability is poor.Reason is：1) mount point of robot and (about 3.5 meters of end clamp distance in steel operation are poured
More than), existing general-purpose machinery robot arm exhibition is extremely difficult to, and there is rotating shaft centre, and rigidity is affected；2) robot is from mounting seat
There are motor, reductor, rotating shaft, cable to arm end, by the easy fault of high-temperature baking；3) according to safety standard, in machine
People's scope of activities, fence to be installed is closed to operating area, does not allow personnel to enter, and the application initial stage occurs emergency to be difficult to locate
Reason, is unfavorable for the progressively upgrading of equipment.
Operating feature according to continuous-casting steel pouring and the deficiency of all-purpose robot, this patent specially proposes Special Automatic machinery
The imagination of hand.New manipulator work jibs length, rigidity are strong, in the middle of mechanical arm, end there is no electrical equipment, resistance to elevated temperatures is good,
Can be installed in original equipment interface by base.Can be made so that full-automatic mode is progressively transitioned into using manual, semiautomatic fashion
Operative employee progressively adapts to, and is easy to tackle abnormal emergency.
Content of the invention
The invention reside in replacing manpower shake, push-pull device to realize mobile, rotation with motor, hydraulic pressure, pneumatic actuating device
Function, sets operation dish on equipment or by machine, realizes above-mentioned functions by button, referred to as manually operated.Driving means are furnished with
Position sensor, can record last time movement locus, repeat existing movement locus, execution predetermined movement track, can control
Indoor observation camera image, finely tunes long nozzle position by button on operating desk or handle, realizes with collector nozzle of ladle
Standard, referred to as semi-automatic operation.The image one side of camera is sent on display, on the one hand delivers to computer and carries out image
Analysis, carries out the matching primitives of long nozzle and collector nozzle of ladle, and drive system is assigned with the amount of feeding, starts drive system and completes two
The coupling of person, referred to as Automatic Control.
The present invention includes a sleeve mechanism (2)), built-in driving means, can be vertically moved up or down and horizontal direction left rotation and right rotation；
One crossbeam (1), built-in driving means, it is responsible for realizing the movable of end；One end (7), is responsible for clamping long nozzle, with
And by the linkage within crossbeam, overturn before and after realization.One camera (4), is responsible for the image of arm end to pass
Deliver to display, be simultaneously communicating to computer and carry out images match analysis.Also include a set of PLC system for control drive fill
Put, a set of computer system is used for graphical analysis.
Compared with prior art, the invention has the beneficial effects as follows：Replace steel work is manually poured on continuous casting production platform
The mechanical device of industry, manufactures and designs according to the action request that continuous-casting steel pouring is special, enables rise and fall, left rotation and right rotation, advance
Retreat, overturn around fixture, can operate by manual, semi-automatic, fully automatic mode, realize the people from provinceization's, no of continuous-casting steel pouring
People is turned into industry, reduces labour intensity it is ensured that producing direct motion, improve product quality.
Brief description
Fig. 1 is the structural representation of the present invention：
In figure：(1) it is manipulator crossbeam, (2) are sleeve, (3) manipulator base is used for the connection with tundish car, (4)
For the video camera of eye-observation and visual determination, (5) are tundish, and (6) are ladle, and (7) are steel ladle sliding water gap, and (8) are machine
Tool hand end, (9) are long nozzle.
Specific embodiment
With specific embodiment, the present invention is described in further detail below in conjunction with the accompanying drawings：
A kind of special manipulator for continuous casting automatic steel-pouring, is anchored on tundish car, clamps long nozzle in end, leads to
Cross sleeve move up and down, left-right rotation, and movable, the upset of end of crossbeam, by handwheel, button, rocking handle, and
Computer calculating location information, realizes the automatic butt of long nozzle and collector nozzle of ladle, further opens slide plate, realizes unmanned
Change automatic steel-pouring.
In this embodiment, during using, the user of flow guide flag can lift described new device manually
Flow guide flag can also be inserted on hold-down support, and described hold-down support is to be placed on to fix by shoulder belt on shoulder, and flagpole is one
Plant telescopic structure, during journey, the user of flow guide flag can be using the mini-fan installed in flagpole, Ran Houtong
The power switch crossed in fixed seat controls sound wechat fan, so that the user of flow guide flag can loosen mood, alleviates trip
Fatigued on the way.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not restricted to the described embodiments, the simply explanation present invention's described in above-described embodiment and specification is former
Reason, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these changes and improvements
Both fall within scope of the claimed invention.Claimed scope is by appending claims and its equivalent circle.
Fixed.
Claims (3)
1. the Special Automatic manipulator of a kind of continuous-casting steel pouring, including manipulator (1), by the Functional Design of end (8) auxiliary clamp,
Overturn around realizing long nozzle, these functions pass through motor or hydraulic pressure, pneumatic actuation realization, motor or hydraulic pressure, pneumatic dress
Put with sensor, change in displacement, anglec of rotation etc. can be measured.
2. the Special Automatic manipulator of a kind of continuous-casting steel pouring according to letter of authorization (1) it is characterised in that：Described pass through manually
The button drive motor of manipulator or shake handwheel are realized, and semi-automatic is fixed by the memory function of sensor or PLC
The positional value of position or analysis optimization identical with previous position, and confirmed by camera, completed by manual confirmation.Automatically
It is to reach casting position above tundish from ladle to flow out all by computer implemented to molten steel from long nozzle, under ladle therein
The positioning docking of the mouth of a river and long nozzle is by being automatically obtained by computer to the graphical analysis coupling of camera.
3. the Special Automatic manipulator of a kind of continuous-casting steel pouring according to letter of authorization (1) it is characterised in that：Described may be mounted at
The inner arc side of conticaster is it is also possible to be arranged on outer arc side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610800113.9A CN106424696A (en) | 2016-08-29 | 2016-08-29 | Special automatic manipulator for continuous casting steel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610800113.9A CN106424696A (en) | 2016-08-29 | 2016-08-29 | Special automatic manipulator for continuous casting steel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106424696A true CN106424696A (en) | 2017-02-22 |
Family
ID=58165510
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610800113.9A Pending CN106424696A (en) | 2016-08-29 | 2016-08-29 | Special automatic manipulator for continuous casting steel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106424696A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107300890A (en) * | 2017-08-10 | 2017-10-27 | 中冶赛迪工程技术股份有限公司 | A kind of continuous casting information confirmation method and system again |
| CN109128128A (en) * | 2018-05-07 | 2019-01-04 | 杨进 | A kind of positioning device of collector nozzle of ladle and continuous-casting steel pouring long nozzle |
| CN109570483A (en) * | 2018-11-29 | 2019-04-05 | 杨进 | A kind of continuous-casting steel pouring special manipulator of robot guidance |
| CN110744040A (en) * | 2018-07-24 | 2020-02-04 | 宝山钢铁股份有限公司 | Manipulator for replacing robot sleeve nozzle |
| CN111476845A (en) * | 2020-03-28 | 2020-07-31 | 无锡埃姆维工业控制设备有限公司 | Binocular vision guiding method based on continuous casting equipment |
-
2016
- 2016-08-29 CN CN201610800113.9A patent/CN106424696A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107300890A (en) * | 2017-08-10 | 2017-10-27 | 中冶赛迪工程技术股份有限公司 | A kind of continuous casting information confirmation method and system again |
| CN109128128A (en) * | 2018-05-07 | 2019-01-04 | 杨进 | A kind of positioning device of collector nozzle of ladle and continuous-casting steel pouring long nozzle |
| CN110744040A (en) * | 2018-07-24 | 2020-02-04 | 宝山钢铁股份有限公司 | Manipulator for replacing robot sleeve nozzle |
| CN109570483A (en) * | 2018-11-29 | 2019-04-05 | 杨进 | A kind of continuous-casting steel pouring special manipulator of robot guidance |
| CN111476845A (en) * | 2020-03-28 | 2020-07-31 | 无锡埃姆维工业控制设备有限公司 | Binocular vision guiding method based on continuous casting equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170222 |
|
| WD01 | Invention patent application deemed withdrawn after publication |