CN111168051B - Unmanned system for ladle pouring area and operation method thereof - Google Patents
Unmanned system for ladle pouring area and operation method thereof Download PDFInfo
- Publication number
- CN111168051B CN111168051B CN202010007278.7A CN202010007278A CN111168051B CN 111168051 B CN111168051 B CN 111168051B CN 202010007278 A CN202010007278 A CN 202010007278A CN 111168051 B CN111168051 B CN 111168051B
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- manipulator
- long nozzle
- robot
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- nozzle
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D1/00—Treatment of fused masses in the ladle or the supply runners before casting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D2/00—Arrangement of indicating or measuring devices, e.g. for temperature or viscosity of the fused mass
- B22D2/006—Arrangement of indicating or measuring devices, e.g. for temperature or viscosity of the fused mass for the temperature of the molten metal
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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
- B22D41/001—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like devices for cleaning ladles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Casting Support Devices, Ladles, And Melt Control Thereby (AREA)
Abstract
The invention relates to a steel ladle pouring area unmanned system and an operation method thereof, wherein a manipulator is prepared: the robot grabs the manipulator from the manipulator standby position, puts into the fixed bayonet of the positioning pile and releases the manipulator; preparing a long nozzle: the robot takes out the long nozzle from the long nozzle storage device, approaches the manipulator long nozzle backing ring according to a set position, finely adjusts the position of the long nozzle through a robot visual identification system and a manipulator identification mark, and then puts the long nozzle backing ring into the robot visual identification system and the manipulator identification mark; and (3) installing a sealing element: the robot grabs the sealing element from the sealing element storage device and puts the sealing element into the long water opening; and (3) long nozzle loading: after the ladle rotates to the position, the robot snatchs the manipulator and drives long mouth of a river and lower mouth of a river counterpoint, packs into, and the robot withdraws from, and the manipulator holds the long mouth of a river and compresses tightly the lower mouth of a river all the time. The advantages are that: the manipulator is matched with the robot to replace manual operation, and the operations of long nozzle replacement, tundish molten steel temperature measurement sampling, tundish covering agent adding, ladle oxygen burning pipe adding and the like are completed.
Description
Technical Field
The invention belongs to the field of ladle pouring, and particularly relates to an unmanned system for a ladle pouring area and an operation method thereof.
Background
The process flow for casting the molten steel into the casting blank comprises the following steps: ladle → long nozzle → tundish → immersion nozzle → crystallizer → segment; the ladle pouring area is positioned above the tundish, and the main operations comprise long nozzle replacement, tundish molten steel temperature measurement sampling and tundish covering agent addition.
The replacement of the long nozzle is the most complicated, firstly, the safety is ensured, namely, the long nozzle always supports against the ladle discharging nozzle, and the steel spraying is avoided; secondly, the quality is ensured, namely the sealing between the long nozzle and the lower nozzle ensures that no air suction is generated in the pouring process; moreover, the efficiency is ensured, the requirement on replacement time is shortest, and the production can be continuous under the conditions of no self-starting and the like. The commonly applied spring compression type long nozzle supporting mechanism has a complex structure, the steel ladle sliding machinery needs to be updated, the driving mechanism is complex, the equipment change amount is large, the production interference is large, the investment is high, the risk is high, and the manual intervention is difficult. The manipulator controlled by the lever principle is used as a long nozzle supporting mechanism, is the most simple and reliable mode, does not need to change a ladle sliding machine, and is small in production interference, low in investment, low in risk and convenient in human intervention.
The robot is increasingly mature in application, and the robot can replace operators of tundish platforms, and can replace the operators of tundish to complete long nozzle replacement, tundish molten steel temperature measurement sampling, tundish covering agent adding and the like.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide an unmanned system for a ladle pouring area and an operation method thereof, wherein a robot is adopted to replace the manpower, so that the system is safe and healthy; the use mode of the long nozzle is not changed, and the sliding mechanical structure is not changed.
In order to achieve the purpose, the invention is realized by the following technical scheme:
an unmanned system of a ladle pouring zone, comprising:
the robot comprises: the device is used for finishing the replacement of the clamp, the replacement of the long nozzle, the temperature measurement sampling of the tundish molten steel and the addition of a tundish covering agent;
a mechanical arm: one end is provided with a long water gap backing ring, and the other end is provided with a counterweight; the device comprises a Z1 shaft-Z5 shaft, an elongated arm, a big arm and a front arm, wherein a Z1 shaft is a supporting center and is fixedly connected with one end of the elongated arm; the Z2 shaft is connected with the other end of the lengthening arm and can rotate relative to the lengthening arm; the Z3 shaft is used for supporting the large arm and is used as a hinged shaft of the large arm; the Z4 shaft is a supporting shaft of the long nozzle trunnion ring and can automatically adapt to a drainage port; the Z5 shaft drives the front arm to rotate, so that the long nozzle is turned over, and the long nozzle can conveniently enter and exit the tundish cover; one end of the large arm is connected with the front arm, the other end of the large arm is connected with a balance weight, and the balance weight is adjustable according to the contact pressure of the down nozzle and the long nozzle, so that the long nozzle is guaranteed to be always pressed against the down nozzle; the long nozzle backing ring is arranged at one end of the front arm;
pile positioning: the positioning pile is positioned at a manipulator waiting position, a fixing bayonet is arranged on the positioning pile, the manipulator is placed into the fixing bayonet by the robot, and the manipulator is locked; the robot drives the manipulator to unwind and separate from the fixed bayonet, and the manipulator moves along with the clamping of the robot;
a water gap cleaning gun: the manipulator is fixed on the positioning pile, when the manipulator is arranged on the positioning pile, the nozzle cleaning gun is arranged above the long nozzle, and the sealing element and the residual steel are cleaned by conveying oxygen;
robot clamp strorage device: the gripping tool is used for storing the long nozzle, the temperature measuring probe, the covering agent, the mechanical arm and the sealing element;
long mouth of a river strorage device: used for storing a new long nozzle;
long mouth of a river collection device: the device is used for collecting and storing the old long nozzle;
sealing member strorage device: the device is used for storing the sealing elements between the drainage port and the long drainage port;
the oxygen burning pipe is stored in the box: the device is used for storing the special steel ladle oxygen burning pipe;
temperature probe strorage device: the temperature measuring probe is used for storing the temperature measuring probe;
temperature probe collection device: the device is used for collecting and storing the waste temperature measuring probes;
covering agent storage device: the pouring basket is used for storing the tundish covering agent.
An unmanned operation method for a ladle pouring area comprises the following steps:
1) preparing a manipulator: the robot grabs the manipulator from the manipulator standby position, puts into the fixed bayonet of the positioning pile and releases the manipulator;
2) preparing a long nozzle: the robot takes out the long nozzle from the long nozzle storage device, approaches the manipulator long nozzle backing ring according to a set position, finely adjusts the position of the long nozzle through a robot visual identification system and a manipulator identification mark, and then puts the long nozzle backing ring into the robot visual identification system and the manipulator identification mark;
3) and (3) installing a sealing element: the robot grabs the sealing element from the sealing element storage device and puts the sealing element into the long water opening;
4) installing a long nozzle: after the ladle rotates to the position, the robot grabbing manipulator drives the long nozzle to align with the lower nozzle, the ladle is loaded, the robot withdraws, and the manipulator holds the long nozzle and compresses the lower nozzle all the time;
5) and (3) casting the steel ladle: if the casting is started, the steps are carried out in sequence; if the casting is not started, inserting and executing oxygen burning operation;
6) temperature measurement and sampling: the robot grabs the temperature measuring probe, completes temperature measurement and sampling, and then sends the temperature measuring probe into the temperature measuring probe collecting device;
7) adding a covering agent: a robot grabs the covering agent and puts the covering agent into a tundish;
8) moving out the long water gap: the sliding plate is automatically closed during slag discharge detection, a steel ladle is positioned at an upper position, the robot grabbing manipulator drives the long nozzle to be separated from the discharge nozzle, the manipulator is moved to the positioning pile, and the long nozzle is positioned in the long nozzle supporting ring;
9) long nozzle replacement instruction: if not, the replacement is carried out in sequence; if the replacement is carried out, the operation of 'replacement' is inserted and executed;
10) cleaning a long nozzle: when the manipulator enters the positioning pile, the cleaning gun automatically cleans;
11) a packet change instruction: if not, circularly executing the steps 3) to 10); if the packet is changed, performing step 12);
12) standby of the manipulator: the robot grabbing manipulator is put back to the standby position;
13) stopping pouring; if the casting is not stopped, circularly executing the steps 3) to 12); and if the pouring is stopped, the robot grabs the long nozzle and puts the long nozzle into the long nozzle collecting device.
The oxygen burning operation in the step 5) is as follows: the robot grabs the manipulator to the preparation position, then the robot grabs the oxygen burning pipe to the mouth of a river to oxygen burning pipe strorage device, then burns oxygen.
The operation of replacing in the step 9) is as follows: and (3) grabbing the long nozzle to a long nozzle collecting device by the robot, putting down the long nozzle, and then performing the step 2) and the step 3).
Compared with the prior art, the invention has the beneficial effects that:
the invention replaces manual operation with a manipulator and a robot, completes the operations of replacing a long nozzle, measuring temperature and sampling of tundish molten steel, adding tundish covering agent, heating oxygen tube of a ladle and the like, and the robot can replace corresponding clamps according to different operations, thereby ensuring the safety of field operation and the health and safety of field operating personnel. The invention does not change the use mode of the long nozzle and ensures the process effect; the operation is convenient and quick: the steel ladle and the sliding machine do not need to move, the transformation is convenient, and the steel ladle and the sliding machine can be put into production quickly. The equipment change amount is relatively very small, and the capital investment is greatly reduced. The robot can keep manual operation and is convenient to execute, production cannot be influenced under the abnormal condition of the robot, and the reliability is high.
Drawings
Fig. 1 is a schematic front view of the structure of an unmanned system of a ladle pouring zone.
Fig. 2 is a schematic top view of the structure of an unmanned system of a ladle pouring zone.
Fig. 3 is a flow chart of unmanned operation of a ladle pouring zone.
In the figure: 1-robot 2-manipulator 3-positioning pile 4-nozzle cleaning gun 5-counterweight 6-nozzle 7-upright post 8-robot clamp storage device 9-covering agent storage device 10-temperature probe storage device 11-temperature probe collection device 12-long nozzle storage device 13-long nozzle collection device 14-oxygen burning tube storage box 15-sealing piece storage device
21-Z1 Axis 22-Z2 Axis 23-Z3 Axis 24-Z4 Axis 25-Z5 Axis 26-elongated arm 27-big arm 28-forearm
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings, but it should be noted that the present invention is not limited to the following embodiments.
Referring to fig. 1 and 2, an unmanned system for a ladle pouring area comprises:
the robot 1: the robot 1 is a 6-axis robot hand with the weight of 750 kg; the device is used for finishing the replacement of the clamp, the replacement of the long nozzle, the temperature measurement sampling of the tundish molten steel and the addition of a tundish covering agent; the robot 1 can replace manual work to complete the relevant operation of the long nozzle, namely the long nozzle is assembled, disassembled and replaced, and the long nozzle and the lower nozzle 6 are installed with sealing elements; oxygen burning when the ladle pouring is abnormal; adding a covering agent into the middle bag; measuring temperature and sampling of the tundish and the like.
A mechanical arm: the structure is a 5-shaft structure, one end of the structure is a long nozzle backing ring, and the other end of the structure is a counterweight 5; comprises a Z1 shaft 21-Z5 shaft 25, an elongated arm 26, a big arm 27 and a front arm 28, wherein the Z1 shaft 21 is a supporting center and is fixedly connected with one end of the elongated arm 26; the Z2 shaft 22 is connected with the other end of the elongated arm 26 and can rotate relative to the elongated arm 26; the Z3 shaft 23 is used for supporting the large arm 27 and as a hinge shaft of the large arm 27; the Z4 shaft 24 is a supporting shaft of the long nozzle trunnion ring and can automatically adapt to the sewage outlet 6; the Z5 shaft 25 drives the front arm 28 to rotate, so that the long nozzle is turned over, and the long nozzle can conveniently enter and exit the tundish cover; one end of the large arm 27 is connected with the front arm 28, the other end of the large arm is connected with the counterweight 5, and the counterweight 5 is adjustable according to the contact pressure of the lower nozzle 6 and the long nozzle, so that the long nozzle is guaranteed to be always pressed against the lower nozzle 6; the long nozzle backing ring is arranged at one end of the front arm 28; the manipulator 2 is used for supporting the long nozzle, and the auxiliary robot 1 is used for operating the long nozzle and is used as a long nozzle power tool to enable the long nozzle to always abut against the lower nozzle 6, so that the pouring safety and the sealing effect are ensured; the long nozzle cleaning mechanism of the manipulator 2 is provided with a nozzle cleaning gun 4 for cleaning a sealing piece and removing residual steel.
And (3) positioning piles: the positioning pile 3 is arranged at a waiting position of the manipulator 2, a fixing bayonet is arranged on the positioning pile 3, the manipulator 2 is placed into the fixing bayonet by the robot 1, and the manipulator 2 is locked; the robot 1 drives the manipulator 2 to unwind and separate from the fixed bayonet, and the manipulator 2 moves along with the clamping of the robot 1;
nozzle cleaning gun 4: the manipulator 2 is fixed on the positioning pile 3, and when the manipulator is arranged on the positioning pile 3, the nozzle cleaning gun 4 is automatically arranged at a proper position above the long nozzle, and oxygen is conveyed to clean the sealing element and the residual steel;
robot gripper storage device 8: a gripping tool for storing the long nozzle, the temperature measuring part, the covering agent, the manipulator 2 and the sealing part;
long nozzle storage device 12: the robot is used for storing a new long nozzle, and is convenient for the robot 1 to automatically grab;
long nozzle collecting device 13: the device is used for collecting and storing the old long nozzle;
seal storage device 15: the robot is used for storing the sealing element between the drainage port 6 and the long drainage port, and is convenient for the robot 1 to automatically grab;
oxygen tube storage box 14: the device is used for storing the special steel ladle oxygen burning pipe, and is convenient for the robot 1 to automatically grab;
temperature probe strorage device 10: the robot is used for storing the temperature measuring probe, and is convenient for the robot 1 to automatically grab;
temperature probe collection device 11: the device is used for collecting and storing the waste temperature measuring probes;
covering agent storage means 9: the tundish covering agent storage device is used for storing tundish covering agents and facilitates automatic grabbing of the robot 1.
Referring to fig. 1-3, an unmanned operation method for a ladle pouring area comprises the following steps:
1) the robot 2 prepares: the robot 1 grabs the manipulator 2 from the standby position of the manipulator 2, puts the fixing bayonet of the positioning pile 3 into the standby position, and releases the manipulator 2;
2) preparing a long nozzle: the robot 1 takes out the long nozzle from the long nozzle storage device 12, approaches the long nozzle backing ring of the manipulator 2 according to a set position, finely adjusts the position of the long nozzle through a vision recognition system of the robot 1 and a recognition mark of the manipulator 2, and then puts the long nozzle backing ring into the robot;
3) and (3) installing a sealing element: the robot 1 grabs the sealing element from the sealing element storage device 15 and puts the sealing element into the long water opening;
4) installing a long nozzle: after the ladle rotates to the position, the robot 1 grabs the manipulator 2 to drive the long nozzle to align with the lower nozzle 6, the ladle is loaded, the robot 1 withdraws, and the manipulator 2 holds the long nozzle and compresses the lower nozzle 6 all the time;
5) and (3) casting the steel ladle: if the casting is started, the steps are carried out in sequence; if the casting is not started, inserting and executing oxygen burning operation;
the operation of oxygen burning is as follows: the robot 1 grabs the manipulator 2 to the preparation position, and then the robot 1 grabs the oxygen burning pipe to the sewage port 6 to the oxygen burning pipe storage device, and then oxygen burning is carried out.
6) Temperature measurement and sampling: the robot 1 grabs the temperature measuring probe, finishes temperature measuring and sampling, and then sends the temperature measuring probe into the temperature measuring probe collecting device 11;
7) adding a covering agent: the robot 1 grabs the covering agent and puts the covering agent into a tundish;
8) moving out the long water gap: the sliding plate is automatically closed in the slag discharge detection, the steel ladle is positioned at the upper position, the robot 1 grabs the manipulator 2 to drive the long nozzle to be separated from the discharge nozzle 6, the manipulator 2 is moved to the positioning pile 3, and the long nozzle is positioned in the long nozzle supporting ring;
9) long nozzle replacement instruction: if not, the replacement is carried out in sequence; if the replacement is carried out, the operation of 'replacement' is inserted and executed;
the operation of the replacement operation is as follows: the robot 1 grabs the long nozzle to the long nozzle collecting device 13, puts down the long nozzle, and then performs the step 2) and the step 3).
10) Cleaning a long nozzle: when the manipulator 2 enters the positioning pile 3, the cleaning gun automatically cleans;
11) a packet change instruction: if not, circularly executing the steps 3) to 10); if the packet is changed, performing step 12);
12) the manipulator 2 stands by: the robot 1 grabs the manipulator 2 and puts back to the standby position;
13) stopping pouring; if the casting is not stopped, circularly executing the steps 3) to 12); if the pouring is stopped, the robot 1 grabs the long nozzle and puts the long nozzle into the long nozzle collecting device 13.
Claims (3)
1. An unmanned operation method for a ladle pouring area is characterized in that an unmanned system for the ladle pouring area for realizing the unmanned operation method comprises the following steps:
the robot comprises: the device is used for finishing the replacement of the clamp, the replacement of the long nozzle, the temperature measurement sampling of the tundish molten steel and the addition of a tundish covering agent;
a mechanical arm: one end is provided with a long water gap backing ring, and the other end is provided with a counterweight; the device comprises a Z1 shaft-Z5 shaft, an elongated arm, a big arm and a front arm, wherein a Z1 shaft is a supporting center and is fixedly connected with one end of the elongated arm; the Z2 shaft is connected with the other end of the lengthening arm and can rotate relative to the lengthening arm; the Z3 shaft is used for supporting the large arm and is used as a hinged shaft of the large arm; the Z4 shaft is a supporting shaft of the long nozzle trunnion ring and can automatically adapt to a drainage port; the Z5 shaft drives the front arm to rotate, so that the long nozzle is turned over, and the long nozzle can conveniently enter and exit the tundish cover; one end of the large arm is connected with the front arm, the other end of the large arm is connected with a balance weight, and the balance weight is adjustable according to the contact pressure of the down nozzle and the long nozzle, so that the long nozzle is guaranteed to be always pressed against the down nozzle; the long nozzle backing ring is arranged at one end of the front arm;
pile positioning: the positioning pile is positioned at a manipulator waiting position, a fixing bayonet is arranged on the positioning pile, the manipulator is placed into the fixing bayonet by the robot, and the manipulator is locked; the robot drives the manipulator to unwind and separate from the fixed bayonet, and the manipulator moves along with the clamping of the robot;
a water gap cleaning gun: the manipulator is fixed on the positioning pile, when the manipulator is arranged on the positioning pile, the nozzle cleaning gun is arranged above the long nozzle, and the sealing element and the residual steel are cleaned by conveying oxygen;
robot clamp strorage device: the gripping tool is used for storing the long nozzle, the temperature measuring probe, the covering agent, the mechanical arm and the sealing element;
long mouth of a river strorage device: used for storing a new long nozzle;
long mouth of a river collection device: the device is used for collecting and storing the old long nozzle;
sealing member strorage device: the device is used for storing the sealing elements between the drainage port and the long drainage port;
the oxygen burning pipe is stored in the box: the device is used for storing the special steel ladle oxygen burning pipe;
temperature probe strorage device: the temperature measuring probe is used for storing the temperature measuring probe;
temperature probe collection device: the device is used for collecting and storing the waste temperature measuring probes;
covering agent storage device: for storage of tundish covering agent;
the unmanned operation method comprises the following steps:
1) preparing a manipulator: the robot grabs the manipulator from the manipulator standby position, puts into the fixed bayonet of the positioning pile and releases the manipulator;
2) preparing a long nozzle: the robot takes out the long nozzle from the long nozzle storage device, approaches the manipulator long nozzle backing ring according to a set position, finely adjusts the position of the long nozzle through a robot visual identification system and a manipulator identification mark, and then puts the long nozzle backing ring into the robot visual identification system and the manipulator identification mark;
3) and (3) installing a sealing element: the robot grabs the sealing element from the sealing element storage device and puts the sealing element into the long water opening;
4) installing a long nozzle: after the ladle rotates to the position, the robot grabbing manipulator drives the long nozzle to align with the lower nozzle, the ladle is loaded, the robot withdraws, and the manipulator holds the long nozzle and compresses the lower nozzle all the time;
5) and (3) casting the steel ladle: if the casting is started, the steps are carried out in sequence; if the casting is not started, inserting and executing oxygen burning operation;
6) temperature measurement and sampling: the robot grabs the temperature measuring probe, completes temperature measurement and sampling, and then sends the temperature measuring probe into the temperature measuring probe collecting device;
7) adding a covering agent: a robot grabs the covering agent and puts the covering agent into a tundish;
8) moving out the long water gap: the sliding plate is automatically closed during slag discharge detection, a steel ladle is positioned at an upper position, the robot grabbing manipulator drives the long nozzle to be separated from the discharge nozzle, the manipulator is moved to the positioning pile, and the long nozzle is positioned in the long nozzle supporting ring;
9) long nozzle replacement instruction: if not, the replacement is carried out in sequence; if the replacement is carried out, the operation of 'replacement' is inserted and executed;
10) cleaning a long nozzle: when the manipulator enters the positioning pile, the cleaning gun automatically cleans;
11) a packet change instruction: if not, circularly executing the steps 3) to 10); if the packet is changed, performing step 12);
12) standby of the manipulator: the robot grabbing manipulator is put back to the standby position;
13) stopping pouring; if the casting is not stopped, circularly executing the steps 3) to 12); and if the pouring is stopped, the robot grabs the long nozzle and puts the long nozzle into the long nozzle collecting device.
2. The unmanned operation method for the ladle pouring area according to claim 1, wherein the oxygen burning operation in step 5) is: the robot grabs the manipulator to the preparation position, then the robot grabs the oxygen burning pipe to the mouth of a river to oxygen burning pipe strorage device, then burns oxygen.
3. The unmanned ladle pouring area operation method as claimed in claim 1, wherein the replacing operation in step 9) is: and (3) grabbing the long nozzle to a long nozzle collecting device by the robot, putting down the long nozzle, and then performing the step 2) and the step 3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010007278.7A CN111168051B (en) | 2020-01-04 | 2020-01-04 | Unmanned system for ladle pouring area and operation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010007278.7A CN111168051B (en) | 2020-01-04 | 2020-01-04 | Unmanned system for ladle pouring area and operation method thereof |
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| CN111168051B true CN111168051B (en) | 2021-05-28 |
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| CN112170825B (en) * | 2020-10-09 | 2022-07-12 | 中冶赛迪工程技术股份有限公司 | Long nozzle replacing method, equipment, terminal and medium based on visual servo |
| CN112247134B (en) * | 2020-10-30 | 2022-06-28 | 首要金属科技奥地利有限责任公司 | Device and method for operating a shielding tube |
| CN114535560A (en) * | 2020-11-26 | 2022-05-27 | 上海梅山钢铁股份有限公司 | Method for automatically cleaning long nozzle by continuous casting bale robot |
| CN113399661A (en) * | 2021-06-17 | 2021-09-17 | 中冶赛迪技术研究中心有限公司 | Installation system and method for ladle long nozzle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009113108A (en) * | 2007-11-09 | 2009-05-28 | Jfe Steel Corp | Ladle nozzle control device |
| CN201823908U (en) * | 2010-10-18 | 2011-05-11 | 武汉钢铁(集团)公司 | Ladle long-nozzle positioning device |
| CN205629362U (en) * | 2016-03-04 | 2016-10-12 | 莱芜钢铁集团有限公司 | Long mouth of a river operating means of conticaster and conticaster |
| CN109332621B (en) * | 2018-10-15 | 2023-08-04 | 哈尔滨博实自动化股份有限公司 | Device suitable for intelligent automatic operation on continuous casting table |
| CN110625106A (en) * | 2019-10-11 | 2019-12-31 | 宝钢工程技术集团有限公司 | Robot-guided automatic continuous casting steel device and using method thereof |
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Application publication date: 20200519 Assignee: BEIJING TONGCHUANG XINTONG TECHNOLOGY Co.,Ltd. Assignor: ANGANG STEEL Co.,Ltd. Contract record no.: X2022210000046 Denomination of invention: An unmanned system for ladle pouring area and its operation method Granted publication date: 20210528 License type: Common License Record date: 20220928 |
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