CN109332621B - Device suitable for intelligent automatic operation on continuous casting table - Google Patents
Device suitable for intelligent automatic operation on continuous casting table Download PDFInfo
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- CN109332621B CN109332621B CN201811197308.4A CN201811197308A CN109332621B CN 109332621 B CN109332621 B CN 109332621B CN 201811197308 A CN201811197308 A CN 201811197308A CN 109332621 B CN109332621 B CN 109332621B
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- sampler
- water gap
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- cylinder
- lifting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/14—Plants for continuous casting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/10—Supplying or treating molten metal
- B22D11/108—Feeding additives, powders, or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/16—Controlling or regulating processes or operations
- B22D11/18—Controlling or regulating processes or operations for pouring
- B22D11/181—Controlling or regulating processes or operations for pouring responsive to molten metal level or slag level
- B22D11/182—Controlling or regulating processes or operations for pouring responsive to molten metal level or slag level by measuring temperature
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a device suitable for intelligent automatic operation on a continuous casting table, belongs to the technical field of metallurgical machinery, and aims to solve the problems that the conventional continuous casting table is generally realized by manually operating on site, the labor intensity is high, the working efficiency is low, and personnel are in a severe working environment for a long time, so that the health of the operators is damaged. One side of the continuous casting table is sequentially provided with a temperature measuring sampling storage, a temperature measuring device recycling box, a sampler recycling box, a robot and a covering agent conveying device, and the other side of the continuous casting table is sequentially provided with a long water gap robot and a long water gap access device. The device suitable for intelligent automatic operation on the continuous casting table can efficiently and accurately finish the procedures of temperature measurement, sampling, covering agent addition, long water gap replacement, oxygen blowing burning mouth, sealing gasket addition and the like, and greatly reduces the time of operators and stay on the continuous casting table.
Description
Technical Field
The invention relates to an automatic operation device, in particular to a device suitable for intelligent automatic operation on a continuous casting table, and belongs to the technical field of metallurgical machinery.
Background
In iron and steel production enterprises, the working procedures of temperature measurement, sampling, covering agent addition, long nozzle replacement and the like of molten steel on a continuous casting table are carried out in high-temperature, high-dust and gas environments on site, and are currently generally realized by adopting a manual on-site operation mode. The mode has the advantages of high labor intensity and low working efficiency, and ensures that the personnel are in a severe working environment for a long time, thereby causing damage to the health of the operators.
Disclosure of Invention
The invention aims to provide a device suitable for intelligent automatic operation on a continuous casting table, so as to solve the problems that the working among the working procedures of the traditional continuous casting table is in an artificial mode, the labor intensity is high, the working efficiency is low, and the personnel are in a severe working environment for a long time, so that the health of the operators is damaged.
The device suitable for intelligent automatic operation on the continuous casting table comprises a temperature measurement sampling storage, a covering agent conveying device, a long water gap robot, a long water gap access device, a sealing gasket storage device, a long water gap recovery box, a temperature measurer recovery box, a sampler recovery box and a robot;
the continuous casting table is provided with a plurality of stations, and each station is provided with a temperature measuring and sampling storage device, a temperature measuring device recycling box, a sampler recycling box, a covering agent conveying device, a long water gap robot, a long water gap access device, a sealing gasket storage device, a long water gap recycling box and a robot; wherein the temperature measurement sampling memory is matched with the robot to finish the working conditions of storing and taking out the temperature measurer and the sampler, the covering and conveying device is used for adding covering agent, the long water gap robot can finish the working condition of replacing the long water gap, the long water gap access device is used for storing the long water gap, the sealing gasket storage device is used for being matched with the long water gap robot to finish the working condition of adding the sealing gasket to the long water gap, the robot is used for operating the temperature measurer and the sampler to finish the working condition of measuring the temperature and sampling, and the used temperature measurer and sampler are recovered into the temperature measurer recovery box and the sampler recovery box
Preferably: the temperature measurement sampling memory comprises a first bracket, a second bracket, a longitudinal moving mechanism, a temperature measurer memory bank, a sampler memory bank and a transverse moving mechanism;
the first support (through connecting rod and second support fixed connection, thermoscope memory storage and sampler memory storage erect on first support, and the below of thermoscope memory storage and sampler memory storage respectively is provided with a longitudinal movement mechanism, and longitudinal movement mechanism installs on first support, and longitudinal movement mechanism is arranged in accepting thermoscope or sampler that relies on gravity free fall in thermoscope memory storage or the sampler memory storage, and the inboard symmetry of thermoscope memory storage and sampler memory storage is provided with transverse movement mechanism, and transverse movement mechanism is used for snatching and transmitting thermoscope or sampler on the longitudinal movement mechanism.
Preferably: two positioning grippers are symmetrically arranged on the second support, two groups of positioning seats are symmetrically arranged on one side of each positioning gripper, a temperature measuring tool drill rod and a sampling tool drill rod are respectively arranged on the two groups of positioning seats, and a first pneumatic flange and a second pneumatic flange are respectively arranged on one side, away from the positioning grippers, of each temperature measuring tool drill rod and each sampling tool drill rod.
Preferably: the covering agent conveying device comprises a small hopper lifting device and a large hopper assembly;
the small hopper lifting device comprises a rotating mechanism, a lifting mechanism, a telescopic mechanism and a small hopper storing and taking mechanism; the lifting mechanism is arranged on the rotating mechanism, one end of the telescopic mechanism is arranged on the lifting mechanism, and the other end of the telescopic mechanism is provided with the small hopper storing and taking mechanism;
the large hopper assembly comprises a fourth bracket, a large hopper and a spiral feeder; the large hopper and the spiral feeder are both arranged on the fourth bracket, and a feed inlet of the spiral feeder is communicated with a discharge outlet of the large hopper.
Preferably: the long water gap robot comprises a base, a first guide rail, a rack, a second gear, a fourth motor, a fifth motor, a frame body, a second gear ring, a third gear, a frame, a sixth motor, a connecting pipe, a telescopic pipe, a hydraulic cylinder and a gravity self-balancing handle; the base is symmetrically provided with first guide rails, a rack is arranged between the two first guide rails, a frame body is slidably arranged on the first guide rails, a fourth motor is fixedly arranged on one side of the frame body, a second gear is arranged at the output end of the fourth motor, the second gear is meshed with the rack, a fifth motor is fixedly arranged at the bottom of the upper end face of the frame body, a second gear ring is arranged on the upper end face of the frame body through a rotating bearing, the output end of the fifth motor is meshed with the second gear ring through a third gear, a frame is fixedly arranged on the second gear ring, a connecting pipe is hinged to the middle of the frame, one end of the connecting pipe is connected with one end of a telescopic pipe, a sixth motor is fixedly arranged at the other end of the connecting pipe, a gravity self-balancing gripper is arranged at the other end of the telescopic pipe, the hydraulic cylinder is hinged to the top end of the frame, the output end of the hydraulic cylinder is hinged to the connecting pipe, and the hydraulic cylinder is mutually non-perpendicular to the connecting pipe.
Preferably: the long water gap access device comprises a long water gap lifting mechanism and a long water gap clamping mechanism;
the long nozzle clamping mechanism is arranged on the long nozzle lifting mechanism.
Preferably: the long nozzle lifting mechanism comprises a fifth bracket, a lifting bracket, a second guide rail, a fourth chain and a seventh motor;
the lifting bracket is slidably arranged on the fifth bracket through a second guide rail, a seventh motor is fixedly arranged at the top end of the fifth bracket, one end of a fourth chain is fixedly connected with the lifting bracket, and the other end of the fourth chain bypasses a chain wheel on the output end of the seventh motor;
the long water gap clamping mechanism comprises a fixed frame, a hinge seat, a clamping plate, a movable plate and a third cylinder;
the fixed frame is fixedly mounted on the lifting support, the top end of the fixed frame is symmetrically provided with a movable plate, one end of the movable plate is hinged with the fixed frame, the other end of the movable plate is fixedly connected with the middle part of the clamping plate, the outer sides of the two movable plates are respectively provided with a third cylinder, the third cylinders are hinged with the top ends of the fixed frame, and the output ends of the third cylinders are hinged with the clamping plate.
Preferably: the sealing gasket storage device comprises a sixth bracket, a sealing gasket storage warehouse, a pneumatic clamping mechanism and a pneumatic clamping lifting mechanism;
the top of the sixth support is fixedly provided with a sealing gasket storage warehouse, pneumatic clamping mechanisms are symmetrically arranged on the left side and the right side in the sealing gasket storage warehouse, and pneumatic clamping lifting mechanisms are symmetrically arranged on the front side and the rear side of the sealing gasket storage warehouse.
Preferably: the pneumatic clamping mechanism comprises a first fixed plate, an upper cylinder, an upper clamping push rod, a lower cylinder and a lower clamping push rod;
the first fixing plate is fixedly arranged on the upper end face of the sealing gasket storage warehouse, an upper cylinder and a lower cylinder are arranged on the inner side wall of the first fixing plate, and an upper clamping push rod and a lower clamping push rod are respectively arranged on the output ends of the upper cylinder and the lower cylinder;
the pneumatic clamping lifting mechanism comprises a second fixed plate, a lifting cylinder, a clamping cylinder and a clamping push rod;
the second fixed plate is fixedly arranged on the upper end face of the sealing gasket storage warehouse, the lifting cylinder is fixedly arranged on the outer side wall of the second fixed plate, the clamping cylinder is arranged at the output end of the lifting cylinder, and the clamping push rod is arranged at the output end of the clamping cylinder.
Compared with the existing products, the invention has the following effects:
the temperature measurement, sampling, covering agent addition, long water gap replacement, oxygen blowing burning mouth and sealing gasket addition can be automatically completed. Reduces the labor intensity of on-site operators and reduces the on-site residence time. The probability of field accidents is greatly reduced.
Drawings
FIG. 1 is a schematic view of a device for intelligent automated operation on a continuous casting table according to the present invention;
FIG. 2 is a schematic diagram of a temperature measurement sampling memory;
FIG. 3 is a schematic view of the structure of the lateral movement mechanism;
FIG. 4 is a schematic view of the structure of the longitudinal movement mechanism;
FIG. 5 is a schematic structural view of a second bracket;
FIG. 6 is a schematic diagram of the position of the thermometry and sampling tools;
FIG. 7 is a schematic view of the construction of a covering agent delivery device;
FIG. 8 is a schematic view of the structure of the small hopper lift;
FIG. 9 is a schematic view of the telescopic mechanism;
FIG. 10 is an enlarged view at A of FIG. 9;
FIG. 11 is a schematic view of the structure of the small bucket access mechanism;
FIG. 12 is a schematic view of a long nozzle robot;
FIG. 13 is a schematic view of the structure of the long nozzle access device;
FIG. 14 is a schematic view of the long nozzle lifting mechanism;
FIG. 15 is a schematic view of the long nozzle clamping mechanism;
FIG. 16 is a schematic view of the structure of the gasket storage device;
FIG. 17 is a schematic view of the seal stock;
fig. 18 is a schematic structural view of the recovery tank of the sampler.
In the figure: 1-temperature measurement sampling memory, 101-first support, 102-second support, 103-longitudinal movement mechanism, 104-temperature measurer storage library, 105-sampler storage library, 106-transverse movement mechanism, 107-first cylinder, 108-first linear optical axis, 109-push plate, 110-first sliding support, 111-first support, 112-first cylinder, 113-second linear optical axis, 114-gas claw, 115-second support, 116-positioning seat, 117-positioning gripper, 118-temperature measurement tool bit, 119-first pneumatic flange, 120-sampling tool bit, 121-second pneumatic flange, 2-covering agent conveying device, 201-small hopper lifting device, 202-large hopper assembly, 203-rotation mechanism 204-lifting mechanism, 205-telescoping mechanism, 206-small hopper access mechanism, 207-fourth bracket, 208-large hopper, 209-screw feeder, 210-platform, 211-first motor, 212-first gear, 213-first gear ring, 214-third bracket, 215-second motor, 216-first track, 217-vertical lifting frame, 218-first chain, 219-third motor, 220-fixed box, 221-telescoping box, 222-hopper conveying bracket, 223-second track, 224-second chain, 225-first connecting plate, 226-third chain, 227-second connecting plate, 228-gate valve bracket, 229-second cylinder, 230-small hopper, 231-lower hopper, 3-long nozzle robot, 301-base, 302-first rail, 303-rack, 304-second gear, 305-fourth motor, 306-fifth motor, 307-frame, 308-second gear ring, 309-third gear, 310-frame, 311-sixth motor, 312-connecting tube, 313-telescoping tube, 314-hydraulic cylinder, 315-gravity self-balancing gripper, 4-long nozzle access device, 401-long nozzle lifting mechanism, 402-long nozzle clamping mechanism, 403-fifth bracket, 404-lifting bracket, 405-second rail, 406-fourth chain, 407-seventh motor, 408-mount, 409-hinge mount, 410-clamping plate, 411-movable plate, 5-gasket storage device, 501-sixth bracket, 502-gasket storage library, 503-pneumatic clamping mechanism, 504-pneumatic clamping lifting mechanism, 505-first fixed plate, 506-upper cylinder, 507-upper clamping pushrod, 508-lower cylinder, 509-lower clamping pushrod, 510-second fixed plate, 511-lifting cylinder, 512-upper cylinder, 6-lower cylinder, 513-lifting cylinder, 6-chamber, 8-chamber, 513, and recovery tank, and recovery device.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 17, the device suitable for intelligent automatic operation on a continuous casting table comprises a temperature measuring and sampling storage 1, a covering agent conveying device 2, a long water gap robot 3, a long water gap access device 4, a sealing gasket storage device 5, a long water gap recovery box 6, a temperature measuring device recovery box 7, a sampler recovery box 8 and a robot 10;
the continuous casting table is provided with a plurality of stations, and each station is provided with a temperature measuring and sampling storage 1, a temperature measuring device recovery box 7, a sampler recovery box 8, a covering agent conveying device 2, a long water gap robot 3, a long water gap access device 4, a sealing gasket storage device 5, a long water gap recovery box 6 and a robot 10; wherein temperature measurement sampling memory 1 and robot 10 cooperation accomplish the operating mode of storing and taking out thermoscope and sampler, cover and conveyor 2 is used for adding the coverer work, long mouth of a river robot 3 can accomplish the operating mode of changing long mouth of a river, long mouth of a river access arrangement 4 is used for depositing long mouth of a river, sealed pad storage device 5 is used for accomplishing the operating mode that long mouth of a river installs sealed pad additional with long mouth of a river robot 3 cooperation, robot 10 is used for operating thermoscope and sampler completion temperature measurement and sampling to retrieve thermoscope and sampler after using in thermoscope recovery box 7 and the sampler recovery box 8.
Further: the robot 10 is an IRB6700-200/2.6.A type robot manufactured by ABB corporation, and the robot 10 may be replaced with a robot having the same activity and similar functions manufactured by other manufacturers.
Further: the temperature-measuring sampling memory 1 comprises a first bracket 101, a second bracket 102, a longitudinal moving mechanism 103, a temperature measuring device storage library 104, a sampler storage library 105 and a transverse moving mechanism 106;
the first support 101 is fixedly connected with the second support 102 through a connecting rod, the temperature detector storage library 104 and the sampler storage library 105 are erected on the first support 101, a longitudinal moving mechanism 103 is arranged below the temperature detector storage library 104 and the sampler storage library 105, the longitudinal moving mechanism 103 is arranged on the first support, the longitudinal moving mechanism 103 is used for receiving the temperature detector or the sampler freely falling by gravity in the temperature detector storage library 104 or the sampler storage library 105, transverse moving mechanisms 106 are symmetrically arranged on the inner sides of the temperature detector storage library 104 and the sampler storage library 105, and the transverse moving mechanisms 106 are used for grabbing and transferring the temperature detector or the sampler on the longitudinal moving mechanism 103.
Further: the temperature detector storage library 104 and the sampler storage library 105 are identical in structure, channel steel upright posts are arranged on two sides, the bottom end faces of the two channel steel upright posts are opposite, baffle plates are symmetrically arranged on the bottom end faces of the two channel steel upright posts, and a plurality of temperature detectors or a plurality of samplers are sequentially arranged in the two baffle plates and fall onto the longitudinal moving mechanism 103 by means of gravity.
Further: the longitudinal moving mechanism 103 includes a first cylinder 107, a first linear optical axis 108, a push plate 109, a first slide bracket 110, and a first mount 111; the first cylinder 107 is fixedly installed on the first bracket 101, first linear optical shafts 108 are symmetrically arranged on two sides of the first cylinder 107, the first linear optical shafts 108 are fixedly installed on the first bracket 101 through first supports 111, two ends of a first sliding bracket 110 are respectively and slidably installed on the two first linear optical shafts 108, an output end of the first cylinder 107 is fixedly connected with the first sliding bracket 110, push plates 109 are fixedly installed on two ends of the first sliding bracket 110, grooves are formed in the tail ends of the push plates 109, the grooves are opposite to outlets of a temperature detector storage library 104 or a sampler storage library 105 in an initial state, and a temperature detector in the temperature detector storage library 104 or a sampler in the sampler storage library 105 can fall into the grooves.
Further: the transverse moving mechanism 106 comprises a first electric cylinder 112, a second linear optical axis 113, an air claw 114, a second support 115 and a linear sliding rail; the first electric cylinder 112 is fixedly arranged on the first bracket 101, two second linear optical axes 113 are symmetrically arranged on the first bracket 101 through second supports 115, the linear sliding rail is slidably arranged on the two second linear optical axes 113, the output end of the first electric cylinder 112 is fixedly connected with the linear sliding rail, at least two air pawls 114 are slidably arranged on the linear sliding rail, the air pawls 114 can be connected through fixing pieces, a second electric cylinder is arranged in the linear sliding rail, and the second electric cylinder can drive the air pawls 114 to synchronously slide.
Further: two positioning grippers 117 are symmetrically arranged on the second support 102, two groups of positioning seats 116 are symmetrically arranged on one side of each positioning gripper 117, a temperature measuring tool drill rod 118 and a sampling tool drill rod 120 are respectively arranged on the two groups of positioning seats 116, and a first pneumatic flange 119 and a second pneumatic flange 121 are respectively arranged on one side, away from the positioning grippers 117, of each temperature measuring tool drill rod 118 and each sampling tool drill rod 120.
The pneumatic claw 114 and the positioning grip 117 are the same structure of a model MHF2-16D2 manipulator manufactured by SMC company, and the pneumatic claw 114 and the positioning grip 117 can be replaced by a fixed device manufactured by other companies with the same function, the model LEY C-200BMF-S16P of the first electric cylinder 112 and the model LEJB40S6T-1000-S2B2H of the second electric cylinder are manufactured by SMC company.
Further: the covering agent delivery device 2 includes a small hopper lifting device 201 and a large hopper assembly 202;
the small hopper lifting device 201 comprises a rotating mechanism 203, a lifting mechanism 204, a telescopic mechanism 205 and a small hopper storing and taking mechanism 206; the lifting mechanism 204 is arranged on the rotating mechanism 203, one end of the telescopic mechanism 205 is arranged on the lifting mechanism 204, and the other end of the telescopic mechanism 205 is provided with the small hopper storing and taking mechanism 206;
further: the rotation mechanism 203 includes a stage 210, a first motor 211, a first gear 212, and a first ring gear 213, the first motor 211 is fixedly mounted on a lower end surface of the stage 210, the first ring gear 213 is mounted on an upper end surface of the stage 210 through a bearing, and an output end of the first motor 211 passes through the stage 210 and is engaged with the first ring gear 213 through the first gear 212.
Further: the lifting mechanism 204 comprises a third support 214, a second motor 215, a first track 216, a vertical lifting frame 217 and a first chain 218, wherein the third support 214 is fixedly arranged on the first gear ring 213, the second motor 215 is fixedly arranged at the top end of the third support 214, the vertical lifting frame 217 is slidably arranged on the third support 214 through the first track 216, one end of the first chain 218 is fixedly connected with the vertical lifting frame 217, the other end bypasses a driving gear at the output end of the second motor 215, the tail end of the first chain 218 is connected with a balancing weight, and the balancing weight enables the other end of the first chain 218 to be downward by means of gravity.
Further: the telescopic mechanism 205 comprises a third motor 219, a fixed box 220, a telescopic box 221, a hopper conveying bracket 222, a second rail 223, a second chain 224, a first connecting plate 225, a third chain 226 and a second connecting plate 227; the third motor 219 is fixedly arranged on one side in the fixed box 220, a speed reducer is arranged on the third motor 219, a first driving shaft is arranged at the output end of the speed reducer and is rotationally connected with the fixed box 220, a first driven shaft is rotationally arranged at the other side of the fixed box 220 and is connected with the first driven shaft through a second chain 224, a first driving gear and a first driven gear meshed with the second chain 224 are respectively arranged on the first driving shaft and the first driven shaft, the telescopic box 221 is slidably arranged in the fixed box 220 and can slide out of the fixed box 220, the second chain 224 is connected with the telescopic box 221 through a first connecting plate 225, a hopper conveying support 222 is slidably arranged in the telescopic box 221 through a second track 223, a second driving shaft and a second driven shaft are rotationally arranged at two sides in the telescopic box 221 respectively and are connected with the second driving shaft and the second driven shaft through a third chain 226, the third chain 226 is connected with the hopper conveying support 222 through a second chain 227, the third chain 226 is fixedly connected with the outer wall of the right end of the fixed box 220 through a fixing piece, the third motor 219 is rotationally connected with the second chain 226, the second chain 226 is rotationally driven by the third motor 226, the second chain 226 is rotationally connected with the telescopic box 221 through the second connecting plate 225, and the third chain 226 is simultaneously fixedly connected with the telescopic box 222 through the third connecting plate 224, and the telescopic box 222 is slidingly moves outwards through the second connecting plate 224, and the third chain is fixedly connected with the telescopic box 220.
Further: the small hopper accessing mechanism 206 comprises a gate valve bracket 228, a second cylinder 229, a small hopper 230, a lower hopper 231 and a plugboard 232, wherein the gate valve bracket 228 is fixedly installed at the tail end of the hopper conveying frame 222, the small hopper 230 and the lower hopper 231 are respectively fixedly installed at the upper end and the lower end of the gate valve bracket 228, an outlet of the small hopper 230 is opposite to an inlet of the lower hopper 231, the plugboard 232 is slidably installed in the gate valve bracket 228 and located between an outlet of the small hopper 230 and an inlet of the lower hopper 231, the second cylinder 229 is fixedly installed on the side wall, far away from the small hopper 230 and the lower hopper 231, of the gate valve bracket 228, and an output end of the second cylinder 229 penetrates through the gate valve bracket 228 to be fixedly connected with the plugboard 232.
The large hopper assembly 202 includes a fourth bracket 207, a large hopper 208, and a screw feeder 209; the big hopper 208 and the screw feeder 209 are both installed on the fourth bracket 207, and the feed inlet of the screw feeder 209 is communicated with the discharge outlet of the big hopper 208.
Further: the long nozzle robot 3 comprises a base 301, a first guide rail 302, a rack 303, a second gear 304, a fourth motor 305, a fifth motor 306, a frame 307, a second gear ring 308, a third gear 309, a frame 310, a sixth motor 311, a connecting pipe 312, a telescopic pipe 313, a hydraulic cylinder 314 and a gravity self-balancing grip 315; the base 301 is symmetrically provided with first guide rails 302, a rack 303 is installed between the two first guide rails 302, a frame 307 is slidably installed on the first guide rails 302, one side of the frame 307 is fixedly provided with a fourth motor 305, the output end of the fourth motor 305 is provided with a second gear 304, the second gear 304 is meshed with the rack 303, the bottom of the upper end face of the frame 307 is fixedly provided with a fifth motor 306, the second gear 308 is installed on the upper end face of the frame 307 through a rotating bearing, the output end of the fifth motor 306 is meshed with the second gear 308 through a third gear 309, a frame 310 is fixedly installed on the second gear 308, a connecting pipe 312 is hinged to the middle of the frame 310, one end of the connecting pipe 312 is connected with one end of a telescopic pipe 313, the other end of the connecting pipe 312 is fixedly provided with a sixth motor 311, the other end of the telescopic pipe 313 is provided with a gravity self-balancing grip, the hydraulic cylinder 314 is hinged to the top end of the frame 310, the output end of the hydraulic cylinder 314 is hinged to the connecting pipe 312, and the hydraulic cylinder 314 is not perpendicular to the connecting pipe 312.
The connecting pipe 312 is rotationally connected with the telescopic pipe 313 through a bearing, the output end of the sixth motor 311 is fixedly connected with the telescopic pipe 313, the sixth motor 311 can drive the telescopic pipe 313 to rotate, the self-balancing gripper 315 consists of a gripper bracket and a U-shaped bracket, the gripper bracket is fixedly connected with the telescopic pipe 313, the U-shaped bracket is connected to the gripper bracket, the self-balancing gripper 315 can drag the upper part of the long water gap through the U-shaped bracket, and the long water gap can be always vertical due to self gravity to form a balanced state.
Further: the long nozzle access device 4 comprises a long nozzle lifting mechanism 401 and a long nozzle clamping mechanism 402; the long nozzle lifting mechanism 401 comprises a fifth bracket 403, a lifting bracket 404, a second guide rail 405, a fourth chain 406 and a seventh motor 407; the lifting bracket 404 is slidably mounted on the fifth bracket 403 through a second guide rail 405, a seventh motor 407 is fixedly mounted at the top end of the fifth bracket 403, one end of a fourth chain 406 is fixedly connected with the lifting bracket 404, the other end of the fourth chain 406 bypasses a chain wheel on the output end of the seventh motor 407, and the tail end of the fourth chain 406 is connected with a balancing weight which enables the other end of the fourth chain 406 to be downward by means of gravity; the long nozzle clamping mechanism 402 comprises a fixed frame 408, a hinge seat 409, a clamping plate 410, a movable plate 411 and a third cylinder 412; the fixed mount 408 is fixedly mounted on the lifting support 404, the top of the fixed mount 408 is symmetrically provided with a movable plate 411, one end of the movable plate 411 is hinged with the fixed mount 408, the other end of the movable plate 411 is fixedly connected with the middle part of the clamping plate 410, the outer sides of the two movable plates 411 are respectively provided with a third cylinder 412, the third cylinders 412 are hinged with the top of the fixed mount 408, and the output ends of the third cylinders 412 are hinged with the clamping plate 410.
Further: the gasket storage device 5 includes a sixth bracket 501, a gasket storage reservoir 502, a pneumatic gripping mechanism 503, and a pneumatic gripping lifting mechanism 504; the top of the sixth bracket 501 is fixedly provided with a sealing gasket storage warehouse 502, pneumatic clamping mechanisms 502 are symmetrically arranged on the left side and the right side in the sealing gasket storage warehouse 502, and pneumatic clamping lifting mechanisms 504 are symmetrically arranged on the front side and the rear side of the sealing gasket storage warehouse 502.
Further: the pneumatic clamping mechanism 503 comprises a first fixed plate 505, an upper cylinder 506, an upper clamping pushrod 507, a lower cylinder 508 and a lower clamping pushrod 509; the first fixing plate 505 is fixedly installed on the upper end face of the sealing gasket storage warehouse 502, an upper cylinder 506 and a lower cylinder 508 are installed on the inner side wall of the first fixing plate 505, and an upper clamping push rod 507 and a lower clamping push rod 509 are respectively installed on the output ends of the upper cylinder 506 and the lower cylinder 508.
Further: the pneumatic clamping lifting mechanism 504 comprises a second fixed plate 510, a lifting cylinder 511, a clamping cylinder 512 and a clamping push rod 513; the second fixed plate 510 is fixedly installed on the upper end surface of the sealing gasket storage warehouse 502, the lifting cylinder 511 is fixedly installed on the outer side wall of the second fixed plate 510, the clamping cylinder 512 is installed on the output end of the lifting cylinder 511, and the clamping push rod 513 is installed on the output end of the clamping cylinder 512.
Further: the upper cylinder 506, the lower cylinder 508, and the clamping cylinder 512 are all horizontally disposed, and the extension lines of the output ends intersect at the center of the gasket storage reservoir 502.
The long water gap moves to a designated position under the sealing gasket storage device 5, at the moment, the sealing gasket in the sealing gasket storage warehouse 502 falls into a lower clamping push rod 509 which is clamped and pushed by a lower cylinder 508 by gravity; then the upper cylinder 506 works to push the upper clamping push rod 507 to clamp the sealing gasket at the upper part; the lower cylinder 508 moves to drive the lower clamping push rod 509 to return to the initial position; the clamping cylinder 512 drives the clamping push rod 513 to move to the upper part of the edge of the lowest sealing gasket; finally, the lifting cylinder 511 drives the clamping cylinder 512 and the clamping push rod 513 to integrally move downwards, so that the next sealing gasket is scraped.
Further: the long water gap recovery box 6 and the temperature measurer recovery box 7 are rectangular collection boxes, and can store long water gaps and temperature measurers.
Further: the sampler recovery box 8 comprises a pipeline 801, a first supporting leg 802, a second supporting leg 803, a funnel 804 and a scraper 805, wherein the pipeline 801 is fixedly installed on a continuous casting table through the first supporting leg 802 and the second supporting leg 803, the funnel 804 is installed at the bottom end of the pipeline 801, a U-shaped opening is formed in the pipe wall at the top end of the pipeline 801, the scraper 805 is installed at the U-shaped opening, the robot 10 rotates to the U-shaped opening with the waste sampler, the waste sampler extends into the pipeline 801, the waste sampler is scraped by the scraper 805, then the waste sampler slides into the funnel 804 through the pipeline 801, and finally the waste sampler leaks out from the funnel 804 to a lower collecting procedure.
Further: one side of the long water gap access device 4 is provided with a blowing and raising mouth burning device 9 which comprises a fixed bracket and an oxygen pipe, wherein the oxygen pipe is fixed on the fixed bracket and communicated with an air source, and the output end can convey oxygen to the long water gap.
Working principle: a) When the ladle is completely replaced without replacing the long nozzle, the ladle is lifted and rotated, and the hydraulic cylinder of the long nozzle robot drives the telescopic pipe to be lifted to a certain height, the device on the telescopic pipe is rotated through the fifth motor, the telescopic pipe is rotated to a designated position below the oxygen blowing nozzle device, and the oxygen blowing nozzle valve of the oxygen blowing nozzle device is opened to perform oxygen blowing nozzle operation in the long nozzle. And then the self-balancing grippers and the like are rotated to the position right below the sealing gasket storage device through a fifth motor, and the sealing gasket in the sealing gasket warehouse is pressed into the long water gap through the pneumatic clamping mechanism and the pneumatic clamping lifting mechanism. And then the long water gap is inserted into the tundish mouth, and finally the long water gap is contacted with the ladle mouth. Thereby completing the whole process of blowing oxygen to burn the mouth and adding the sealing gasket.
b) When the ladle is required to be replaced and the long water gap is required to be replaced, the ladle is lifted and rotated, the hydraulic cylinder of the long water gap robot drives the telescopic rod to be lifted to a certain height, the fifth motor drives the device on the telescopic rod to rotate, the telescopic rod is rotated to the upper part of the long water gap recovery box, the long water gap robot drives the long water gap to rapidly move downwards, the bottom of the long water gap collides with the bottom of the long water gap recovery box cylinder, so that the long water gap is separated from the gravity self-balancing grip at the front end of the rod, and then the long water gap robot is moved, so that the process of discarding the waste long water gap is completed. And then moves it to the long nozzle access device. Then the gravity self-balancing handle at the front end of the rod of the long water gap robot enters from the middle small diameter of the long water gap, then the water gap access device moves downwards, the long water gap contacts with the upper end of the gravity self-balancing handle at the front end of the rod, the holding mechanism of the long water gap access device is opened, then the long water gap access device continues to move downwards, the bottom plane of the long water gap is separated from the positioning on the long water gap access device, and finally the long water gap robot retreats along the guide rail, so that the long water gap taking procedure is completed. Then, the sealing gasket adding process is carried out, and the following process is the same as a).
According to the site conditions, the molten steel is subjected to temperature measurement and sampling at random, and covering agents are added into 3-4 tundish openings. Firstly, a temperature detector in a temperature detector storage library and a sampler of a sampler storage library are sleeved on a temperature measuring tool pin and a sampling tool pin respectively. The working process is that the longitudinal moving mechanism pushes the temperature detector in the temperature detector storage library and the sampler in the sampler storage library to the clamping mechanism at the front end of the longitudinal moving mechanism, then the temperature detector and the sampler in the clamping mechanism are respectively positioned on the same axis with the tool bit in the clamping state through the movement in the vertical direction, then the temperature detector and the sampler are respectively sleeved on the corresponding tool bit through the horizontal movement, and finally the longitudinal moving mechanism and the clamping mechanism return to the initial position to wait for the next circulation. The pneumatic flange on the robot can be respectively connected with the flange on the temperature measuring tool bit and the flange on the sampling tool bit in a pairing manner, and temperature signals can be transmitted.
When the temperature measurement is needed, the robot moves to the right front of the temperature measurement tool drill rod in the space according to the set track, the two flanges are connected, the air source is opened to clamp the temperature measurement tool drill rod, then the robot moves to the upper part of the tundish, the specified tundish opening is inserted, the temperature is displayed on the display screen, after a period of time, the robot pulls out the temperature measurement tool drill rod to move to the recovery box of the temperature measurement device, the temperature measurement device is scraped by the scraper on the recovery box, then the robot drives the temperature measurement tool drill rod to move to the position where the temperature measurement and sampling memory are stored, and the air source is disconnected, so that the temperature measurement process is completed. The sampling process is consistent with the progress of the temperature measuring process, and the waste sampler is put into a sampler recovery box and slides to the ground through a chute.
When the covering agent is added, the small hopper storing and taking mechanism on the small hopper lifting device moves to the position right below the discharge hole of the spiral feeding mechanism of the large hopper assembly, and the position is detected and positioned through the detection switch. The spiral feeding mechanism conveys the covering agent to a small hopper storing and taking mechanism on the small hopper lifting device through time control. The covering agent is then delivered to the designated tundish nozzle location based on the detection and positioning of the detection switch.
The present embodiment is only exemplary of the present patent, and does not limit the scope of protection thereof, and those skilled in the art may also change the part thereof, so long as the spirit of the present patent is not exceeded, and the present patent is within the scope of protection thereof.
Claims (4)
1. Device suitable for intelligent automatic operation on continuous casting bench, its characterized in that: the device comprises a temperature measurement sampling memory (1), a covering agent conveying device (2), a long water gap robot (3), a long water gap access device (4), a sealing gasket storage device (5), a long water gap recovery box (6), a temperature measurement device recovery box (7), a sampler recovery box (8) and a robot (10);
the continuous casting table is provided with a plurality of stations, and each station is provided with a temperature measurement sampling memory (1), a temperature measurer recovery box (7), a sampler recovery box (8), a covering agent conveying device (2), a long water gap robot (3), a long water gap access device (4), a sealing gasket storage device (5), a long water gap recovery box (6) and a robot (10); the temperature measuring and sampling storage device (1) is matched with the robot (10) to finish the working conditions of storing and taking out the temperature measuring device and the sampler, the covering agent conveying device (2) is used for adding covering agent, the long water gap robot (3) can finish the working condition of replacing the long water gap, the long water gap access device (4) is used for storing the long water gap, the sealing gasket storage device (5) is used for being matched with the long water gap robot (3) to finish the working condition of adding the sealing gasket into the long water gap, the robot (10) is used for operating the temperature measuring device and the sampler to finish the working conditions of measuring temperature and sampling, and the used temperature measuring device and the used sampler are recycled into the temperature measuring device recycling box (7) and the sampler recycling box (8);
the temperature measurement sampling memory (1) comprises a first bracket (101), a second bracket (102), a longitudinal moving mechanism (103), a temperature measurement device storage library (104), a sampler storage library (105) and a transverse moving mechanism (106);
the first support (101) is fixedly connected with the second support (102) through a connecting rod, a temperature detector storage library (104) and a sampler storage library (105) are erected on the first support (101), a longitudinal moving mechanism (103) is arranged below the temperature detector storage library (104) and the sampler storage library (105), the longitudinal moving mechanism (103) is arranged on the first support, the longitudinal moving mechanism (103) is used for receiving a temperature detector or a sampler freely falling by gravity in the temperature detector storage library (104) or the sampler storage library (105), transverse moving mechanisms (106) are symmetrically arranged on the inner sides of the temperature detector storage library (104) and the sampler storage library (105), and the transverse moving mechanisms (106) are used for grabbing and transferring the temperature detector or the sampler on the longitudinal moving mechanism (103);
the covering agent conveying device (2) comprises a small hopper lifting device (201) and a large hopper assembly (202);
the small hopper lifting device (201) comprises a rotating mechanism (203), a lifting mechanism (204), a telescopic mechanism (205) and a small hopper storing and taking mechanism (206); the lifting mechanism (204) is arranged on the rotating mechanism (203), one end of the telescopic mechanism (205) is arranged on the lifting mechanism (204), and the other end of the telescopic mechanism (205) is provided with the small hopper storing and taking mechanism (206);
the large hopper assembly (202) comprises a fourth bracket (207), a large hopper (208) and a screw feeder (209); the large hopper (208) and the spiral feeder (209) are both arranged on the fourth bracket (207), and a feed inlet of the spiral feeder (209) is communicated with a discharge outlet of the large hopper (208);
the long nozzle robot (3) comprises a base (301), a first guide rail (302), a rack (303), a second gear (304), a fourth motor (305), a fifth motor (306), a frame body (307), a second gear ring (308), a third gear (309), a frame (310), a sixth motor (311), a connecting pipe (312), a telescopic pipe (313), a hydraulic cylinder (314) and a gravity self-balancing grip (315); the base (301) is symmetrically provided with first guide rails (302), racks (303) are arranged between the two first guide rails (302), a frame body (307) is slidably arranged on the first guide rails (302), one side of the frame body (307) is fixedly provided with a fourth motor (305), the output end of the fourth motor (305) is provided with a second gear (304), the second gear (304) is meshed with the racks (303), the bottom of the upper end face of the frame body (307) is fixedly provided with a fifth motor (306), a second gear ring (308) is arranged on the upper end face of the frame body (307) through a rotary bearing, the output end of the fifth motor (306) is meshed with the second gear ring (308) through a third gear (309), a frame (310) is fixedly arranged on the second gear ring (308), a connecting pipe (312) is hinged to the middle part of the frame (310), one end of the connecting pipe (312) is connected with one end of a telescopic pipe (313), the other end of the connecting pipe (312) is fixedly provided with a sixth motor (311), the other end of the telescopic pipe (313) is provided with a gravity self-balancing gripper (315), and the output ends of the fifth motor (306) are hinged to the hydraulic cylinders (314) and the hydraulic cylinders (314 ) are not hinged to the hydraulic cylinders (314, and the hydraulic cylinders (314) are not hinged to the hydraulic cylinders (314 are perpendicular to each other;
the long nozzle access device (4) comprises a long nozzle lifting mechanism (401) and a long nozzle clamping mechanism (402);
the long nozzle clamping mechanism (402) is arranged on the long nozzle lifting mechanism (401);
the sealing gasket storage device (5) comprises a sixth bracket (501), a sealing gasket storage warehouse (502), a pneumatic clamping mechanism (503) and a pneumatic clamping lifting mechanism (504);
the top of sixth support (501) fixed mounting has sealed pad storage storehouse (502), and pneumatic fixture (503) are installed to the left and right sides symmetry in sealed pad storage storehouse (502), and pneumatic fixture elevating system (504) are installed to the front and back both sides symmetry in sealed pad storage storehouse (502).
2. The apparatus for intelligent automated operation on a continuous casting table according to claim 1, wherein: two positioning grippers (117) are symmetrically arranged on the second support (102), two groups of positioning seats (116) are symmetrically arranged on one side of each positioning gripper (117), a temperature measuring tool drill rod (118) and a sampling tool drill rod (120) are respectively arranged on the two groups of positioning seats (116), and a first pneumatic flange (119) and a second pneumatic flange (121) are respectively arranged on one side, away from the positioning grippers (117), of each temperature measuring tool drill rod (118) and each sampling tool drill rod (120).
3. The apparatus for intelligent automated operation on a continuous casting table according to claim 1, wherein: the long nozzle lifting mechanism (401) comprises a fifth bracket (403), a lifting bracket (404), a second guide rail (405), a fourth chain (406) and a seventh motor (407);
the lifting support (404) is slidably arranged on the fifth support (403) through a second guide rail (405), a seventh motor (407) is fixedly arranged at the top end of the fifth support (403), one end of a fourth chain (406) is fixedly connected with the lifting support (404), and the other end of the fourth chain (406) bypasses a chain wheel on the output end of the seventh motor (407);
the long nozzle clamping mechanism (402) comprises a fixed frame (408), a hinge seat (409), a clamping plate (410), a movable plate (411) and a third cylinder (412);
the fixed frame (408) is fixedly mounted on the lifting support (404), movable plates (411) are symmetrically arranged at the top ends of the fixed frames (408), one ends of the movable plates (411) are hinged to the fixed frames (408), the other ends of the movable plates (411) are fixedly connected with the middle parts of the clamping plates (410), third air cylinders (412) are arranged on the outer sides of the two movable plates (411), the third air cylinders (412) are hinged to the top ends of the fixed frames (408), and the output ends of the third air cylinders (412) are hinged to the clamping plates (410).
4. The apparatus for intelligent automated operation on a continuous casting table according to claim 1, wherein: the pneumatic clamping mechanism (503) comprises a first fixed plate (505), an upper cylinder (506), an upper clamping push rod (507), a lower cylinder (508) and a lower clamping push rod (509);
the first fixing plate (505) is fixedly arranged on the upper end face of the sealing gasket storage warehouse (502), an upper air cylinder (506) and a lower air cylinder (508) are arranged on the inner side wall of the first fixing plate (505), and an upper clamping push rod (507) and a lower clamping push rod (509) are respectively arranged on the output ends of the upper air cylinder (506) and the lower air cylinder (508);
the pneumatic clamping lifting mechanism (504) comprises a second fixed plate (510), a lifting cylinder (511), a clamping cylinder (512) and a clamping push rod (513);
the second fixed plate (510) is fixedly arranged on the upper end face of the sealing gasket storage warehouse (502), the lifting cylinder (511) is fixedly arranged on the outer side wall of the second fixed plate (510), the clamping cylinder (512) is arranged at the output end of the lifting cylinder (511), and the clamping push rod (513) is arranged at the output end of the clamping cylinder (512).
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