CN112453380A - Automatic ladle casting system and method - Google Patents
Automatic ladle casting system and method Download PDFInfo
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- CN112453380A CN112453380A CN202011339057.6A CN202011339057A CN112453380A CN 112453380 A CN112453380 A CN 112453380A CN 202011339057 A CN202011339057 A CN 202011339057A CN 112453380 A CN112453380 A CN 112453380A
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- casting
- robot
- mechanical arm
- water gap
- cooperative mechanical
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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
- B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
- B22D41/12—Travelling ladles or similar containers; Cars for ladles
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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
- B22D46/00—Controlling, supervising, not restricted to casting covered by a single main group, e.g. for safety reasons
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a steel ladle automatic casting system and a method, wherein a steel receiving robot can drive a 3D scanner to scan to obtain coordinates of a positioning plate at a steel receiving position and a water gap mechanism and obtain a relative position relation of the positioning plate and the water gap mechanism, the 3D scanner can be driven to scan to obtain the coordinates of a water gap oil cylinder at the steel receiving position and then grab the water gap oil cylinder to be installed on the water gap mechanism, a casting position robot can drive the 3D scanner to scan to obtain an initial position of a locked cooperative mechanical arm and then place a long water gap on the cooperative mechanical arm, the 3D scanner can be driven to scan to obtain the coordinates of the positioning plate at the casting position and obtain the coordinates of the water gap mechanism at the casting position through the relative position relation, the cooperative mechanical arm in an unlocked state can be pulled to enable the long water gap to be positioned right below the water gap mechanism, and a lifting device can drive the locked cooperative mechanical arm to ascend to enable the long. The invention has high safety, high positioning precision, high success rate, long service life, short loading and unloading time of the long water gap and high production efficiency.
Description
Technical Field
The invention belongs to the technical field of ferrous metallurgy, and particularly relates to a steel ladle automatic casting system and a steel ladle automatic casting method.
Background
When continuous casting is carried out, after the casting of a ladle of molten steel is finished, a second ladle of molten steel needs to be quickly poured into a tundish, and meanwhile, the molten steel is required to be prevented from being oxidized in the casting process. The current continuous casting operation process comprises the following steps: after a ladle filled with molten steel reaches a steel receiving position of a rotary table, an operator installs a nozzle oil cylinder for opening the ladle on a nozzle mechanism at the lower part of the ladle, then the rotary table rotates the ladle to the position above a middle tank of a casting position, the operator installs a long nozzle for isolating oxygen on the nozzle mechanism to prevent the molten steel from being oxidized in the casting process, then the nozzle mechanism is opened through the nozzle oil cylinder to start casting through the long nozzle, after the casting is finished, the operator closes the nozzle mechanism through the nozzle oil cylinder, then takes off the long nozzle, and the rotary table rotates a new ladle with the molten steel to the position above the middle tank of the casting position while rotating an empty ladle to the steel receiving position, and the continuous casting is realized by repeating the operations.
At present, operations such as installing a water gap oil cylinder, installing a long water gap, taking down the long water gap and the like in the continuous casting process are all manually operated, the field environment is severe, the working strength is high, the manual operation accuracy is low, and accidents are easy to occur. In order to reduce the working strength of operators and reduce potential safety hazards, the scheme of replacing manual work with a robot to complete operation in high-risk areas is gradually popularized, but the continuous casting area has the factors of overhigh environment temperature (more than 150 ℃, the temperature of the long nozzle sleeve installation part even more than 800 ℃), much air smoke and dust and the like, if the robot is directly used for operation, the success rate is low, the service life is short, and when the robot directly installs the long nozzle, the long nozzle needs to be disassembled again after the casting is completed, so that the production efficiency is low, and the continuous production is not facilitated.
Disclosure of Invention
The invention aims to provide a ladle automatic casting system and a ladle automatic casting method, which can automatically complete the operation of assembling and disassembling a water gap oil cylinder and a long water gap, and have the advantages of high safety, high positioning precision, high success rate, long service life, short assembling and disassembling time of the long water gap and high production efficiency.
The technical scheme adopted by the invention is as follows:
an automatic ladle casting system comprises a positioning plate fixed on a fork arm of a rotary table, a water gap oil cylinder arranged on the fork arm of the rotary table, a steel receiving position robot positioned near a steel receiving position, a casting position robot and a cooperative mechanical arm, wherein the casting position robot and the cooperative mechanical arm are positioned near the casting position, 3D scanners are arranged on the steel receiving position robot and the casting position robot, and the cooperative mechanical arm is driven to lift by a lifting device; the steel receiving robot can drive the 3D scanner to scan to obtain coordinates of the positioning plate at the steel receiving position and the water gap mechanism and obtain a relative position relation between the positioning plate and the water gap mechanism, and the steel receiving robot can drive the 3D scanner to scan to obtain coordinates of the water gap oil cylinder at the steel receiving position and then grab the water gap oil cylinder to be installed on the water gap mechanism with known coordinates; the cooperative mechanical arm can be pulled by external force to move on a horizontal plane and can be locked on the horizontal plane, the casting position robot can drive the 3D scanner to scan to obtain the initial position of the locked cooperative mechanical arm and then place the long nozzle on the cooperative mechanical arm, the casting position robot can drive the 3D scanner to scan to obtain the coordinate of the positioning plate at the casting position and obtain the coordinate of the nozzle mechanism at the casting position through the relative position relation between the positioning plate and the nozzle mechanism, the casting position robot can pull the unlocked cooperative mechanical arm to enable the long nozzle to be positioned under the nozzle mechanism with known coordinates, and the lifting device can drive the locked cooperative mechanical arm to ascend to enable the long nozzle to be in contact sealing with the nozzle mechanism.
Further, the cooperative mechanical arm comprises two cantilevers capable of swinging in a horizontal plane and a locking mechanism arranged on the cantilevers.
Further, the lifting device is a hydraulic cylinder.
Further, the nozzle oil cylinder is placed on the side face of the fork arm of the rotary table.
Further, the 3D scanner is installed at the sixth axis of the steel receiving robot and the casting robot.
An automatic casting method of a steel ladle adopts the automatic casting system of the steel ladle,
after a new ladle is placed on a steel receiving position of a rotary table, a steel receiving position robot receives an instruction to start working, the steel receiving position robot drives a 3D scanner to scan to obtain coordinates of a positioning plate at the steel receiving position and a water gap mechanism and obtain a relative position relation between the positioning plate and the water gap mechanism, after data is uploaded, the steel receiving position robot drives the 3D scanner to scan to obtain coordinates of a water gap oil cylinder at the steel receiving position, then the water gap oil cylinder is grabbed and installed on the water gap mechanism with known coordinates, and then the steel receiving position robot returns to a safety waiting area to wait for the new ladle to be in place and repeats operation;
before the rotary table rotates, the casting position robot drives the 3D scanner to scan and obtain an initial position of a locked cooperative mechanical arm, then a long nozzle is placed on the cooperative mechanical arm, after the rotary table rotates and stops stably, the casting position robot drives the 3D scanner to scan and obtain a coordinate of a positioning plate at the casting position and obtain a coordinate of a nozzle mechanism at the casting position through a relative position relation between the positioning plate and the nozzle mechanism, then the cooperative mechanical arm is unlocked, the casting position robot pulls the cooperative mechanical arm to enable the long nozzle to be positioned under the nozzle mechanism with known coordinates, then the cooperative mechanical arm is locked and a lifting device drives the cooperative mechanical arm to ascend to enable the long nozzle to be in contact with the nozzle mechanism for sealing, and then the casting position robot returns to a safe waiting area to wait for a new ladle to reach the casting position and then repeats operation;
after the molten steel is cast, the lifting device drives the cooperative mechanical arm to descend to separate the long nozzle from the nozzle mechanism, then the rotary table rotates, and the empty ladle reaches the steel receiving position and the new ladle reaches the casting position.
Further, when the casting position robot returns to a safe waiting area, the temperature measurement of the tundish and the slag adding work are executed.
The invention has the beneficial effects that:
the invention can replace manual work to automatically complete the operation of dismounting the water gap oil cylinder and the long water gap, and has high safety; according to the invention, the coordinates of the positioning plate, the nozzle oil cylinder and the nozzle mechanism are obtained through scanning of the 3D scanner, so that the positioning precision is high and the success rate is high; according to the invention, the coordinate of the nozzle mechanism at the casting position is obtained through the relative position relationship between the positioning plate and the nozzle mechanism, the coordinated mechanical arm is pulled by the casting position robot to enable the long nozzle to be positioned under the nozzle mechanism with known coordinates, and the coordinated mechanical arm is driven by the lifting device to ascend to enable the long nozzle to be in contact with the nozzle mechanism for sealing, so that the vision recognition of a 3D scanner in a high-temperature area of a tundish is avoided, the high-temperature operation of the casting position robot in the high-temperature area of the tundish is avoided, and the service life is long; the invention completes the contact sealing and the separation of the long nozzle and the nozzle mechanism through the casting position robot, the cooperative mechanical arm and the lifting device, and has short loading and unloading time of the long nozzle and high production efficiency.
Drawings
Fig. 1 is a first layout view of an automatic ladle casting system according to an embodiment of the present invention.
Fig. 2 is a second layout view of the automatic ladle casting system according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a steel receiving position robot driving a 3D scanner to scan at a steel receiving position in the embodiment of the present invention.
Fig. 4 is a schematic view of a casting position robot placing a long nozzle onto a cooperating robotic arm at a casting position in an embodiment of the present invention.
In the figure: 1-a rotary table; 2-steel ladle; 3-a steel position robot is connected; 4-casting position robot; 5-a cooperative mechanical arm; 6-long water gap; 7-water gap oil cylinder; 8, positioning a plate; 9-3D scanner; 10-a nozzle mechanism; 11-intermediate tank.
Detailed Description
The invention is further illustrated by the following figures and examples.
As shown in fig. 1 to 4, the automatic ladle casting system comprises a positioning plate 8 fixed on a fork arm of a rotary table 1, a nozzle oil cylinder 7 arranged on the fork arm of the rotary table 1, a steel receiving position robot 3 positioned near a steel receiving position, a casting position robot 4 positioned near the casting position and a cooperative mechanical arm 5, wherein both the steel receiving position robot 3 and the casting position robot 4 are provided with 3D scanners 9, and the cooperative mechanical arm 5 is driven to lift by a lifting device; the steel receiving robot 3 can drive the 3D scanner 9 to scan to obtain the coordinates of the steel receiving position positioning plate 8 and the water gap mechanism 10 and obtain the relative position relation of the steel receiving position positioning plate and the water gap mechanism 10, and the steel receiving robot 3 can drive the 3D scanner 9 to scan to obtain the coordinates of the steel receiving position water gap oil cylinder 7 and then grab the water gap oil cylinder 7 to be installed on the water gap mechanism 10 with known coordinates; the coordinated mechanical arm 5 can be pulled by external force to move on a horizontal plane and can be locked on the horizontal plane, the casting position robot 4 can drive the 3D scanner 9 to scan to obtain an initial position of the locked coordinated mechanical arm 5 and then place the long nozzle 6 on the coordinated mechanical arm 5, the casting position robot 4 can drive the 3D scanner 9 to scan to obtain a coordinate of the positioning plate 8 at the casting position and obtain a coordinate of the nozzle mechanism 10 at the casting position according to a relative position relation between the positioning plate 8 and the nozzle mechanism 10, the casting position robot 4 can pull the unlocked coordinated mechanical arm 5 to enable the long nozzle 6 to be located right below the nozzle mechanism 10 with known coordinates, and the lifting device can drive the locked coordinated mechanical arm 5 to ascend to enable the long nozzle 6 to be in contact sealing with the nozzle mechanism 10.
In the present embodiment, the cooperative mechanical arm 5 includes two cantilevers that can swing in a horizontal plane and a locking mechanism provided on the cantilevers.
In this embodiment, the lifting device is a hydraulic cylinder.
In this embodiment, the nozzle cylinder 7 is placed on the side of the yoke of the turret 1.
In the present embodiment, the 3D scanner 9 is installed at the sixth axis of the steel receiving station robot 3 and the casting station robot 4.
A ladle automatic casting method adopts the ladle automatic casting system:
after a new ladle 2 is placed on a steel receiving position of the rotary table 1, the steel receiving robot 3 receives an instruction to start working, as shown in fig. 3, the steel receiving robot 3 drives a 3D scanner 9 to scan to obtain coordinates of a positioning plate 8 at the steel receiving position and a nozzle mechanism 10 and obtain a relative position relation between the positioning plate and the nozzle mechanism, after data is uploaded, the steel receiving robot 3 drives the 3D scanner 9 to scan to obtain coordinates of a nozzle oil cylinder 7 at the steel receiving position, then the nozzle oil cylinder 7 is grabbed to be installed on the nozzle mechanism 10 with known coordinates, and then the steel receiving robot returns to a safety waiting area to wait for the new ladle 2 to be in place and then to repeat operation;
before the rotary table 1 rotates, the casting position robot 4 drives the 3D scanner 9 to scan and acquire the initial position of the locked cooperative mechanical arm 5, as shown in FIG. 4, then the long nozzle 6 is placed on the cooperative mechanical arm 5, after the rotary table 1 rotates and stops stably, the casting position robot 4 drives the 3D scanner 9 to scan to obtain the coordinates of the positioning plate 8 at the casting position and obtain the coordinates of the nozzle mechanism 10 at the casting position through the relative position relationship between the positioning plate 8 and the nozzle mechanism 10, then the cooperative mechanical arm 5 is unlocked, the casting position robot 4 pulls the cooperative mechanical arm 5 to enable the long nozzle 6 to be positioned right below the nozzle mechanism 10 with known coordinates, then the cooperative mechanical arm 5 is locked and the lifting device drives the cooperative mechanical arm 5 to ascend to enable the long nozzle 6 to be in contact with the nozzle mechanism 10 for sealing, then the casting position robot 4 returns to the safe waiting area to wait for the new ladle 2 to reach the casting position and then repeats the operation;
after the molten steel is cast, the lifting device drives the cooperative mechanical arm 5 to descend to separate the long nozzle 6 from the nozzle mechanism 10, then the rotary table 1 rotates, the empty ladle 2 reaches a steel receiving position, and the new ladle 2 reaches a casting position.
In this embodiment, the casting position robot 4 can perform tundish temperature measurement and slag adding work when returning to the safe waiting area.
The invention can replace manual work to automatically complete the operation of disassembling and assembling the water port oil cylinder 7 and the long water port 6, and has high safety; the coordinates of the positioning plate 8, the nozzle oil cylinder 7 and the nozzle mechanism 10 are obtained by scanning through the 3D scanner 9, so that the positioning accuracy and the success rate are high; according to the invention, the coordinate of the nozzle mechanism 10 at the casting position is obtained through the relative position relationship between the positioning plate 8 and the nozzle mechanism 10, the coordinated mechanical arm 5 is pulled by the casting position robot 4 to enable the long nozzle 6 to be positioned under the nozzle mechanism 10 with known coordinates, and the coordinated mechanical arm 5 is driven by the lifting device to ascend to enable the long nozzle 6 to be in contact with the nozzle mechanism 10 for sealing, so that the vision recognition of the 3D scanner 9 in the high-temperature area of the tundish 11 is avoided, the high-temperature operation of the casting position robot 4 in the high-temperature area of the tundish 11 is avoided, and the service life is long; according to the invention, the long nozzle 6 is contacted, sealed and separated with the nozzle mechanism 10 through the casting position robot 4, the cooperative mechanical arm 5 and the lifting device, the long nozzle 6 is short in loading and unloading time, and the production efficiency is high.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (7)
1. The automatic casting system for the steel ladle is characterized in that: the automatic steel receiving and casting device comprises a positioning plate fixed on a fork arm of a rotary table, a water gap oil cylinder arranged on the fork arm of the rotary table, a steel receiving position robot positioned near a steel receiving position, a casting position robot and a cooperative mechanical arm, wherein the casting position robot and the cooperative mechanical arm are positioned near the casting position, 3D scanners are arranged on the steel receiving position robot and the casting position robot, and the cooperative mechanical arm is driven to lift by a lifting device; the steel receiving robot can drive the 3D scanner to scan to obtain coordinates of the positioning plate at the steel receiving position and the water gap mechanism and obtain a relative position relation between the positioning plate and the water gap mechanism, and the steel receiving robot can drive the 3D scanner to scan to obtain coordinates of the water gap oil cylinder at the steel receiving position and then grab the water gap oil cylinder to be installed on the water gap mechanism with known coordinates; the cooperative mechanical arm can be pulled by external force to move on a horizontal plane and can be locked on the horizontal plane, the casting position robot can drive the 3D scanner to scan to obtain the initial position of the locked cooperative mechanical arm and then place the long nozzle on the cooperative mechanical arm, the casting position robot can drive the 3D scanner to scan to obtain the coordinate of the positioning plate at the casting position and obtain the coordinate of the nozzle mechanism at the casting position through the relative position relation between the positioning plate and the nozzle mechanism, the casting position robot can pull the unlocked cooperative mechanical arm to enable the long nozzle to be positioned under the nozzle mechanism with known coordinates, and the lifting device can drive the locked cooperative mechanical arm to ascend to enable the long nozzle to be in contact sealing with the nozzle mechanism.
2. The ladle automatic casting system of claim 1, wherein: the cooperative mechanical arm comprises two cantilevers which can swing in the horizontal plane and a locking mechanism arranged on the cantilevers.
3. The ladle automatic casting system of claim 1, wherein: the lifting device is a hydraulic cylinder.
4. The ladle automatic casting system of claim 1, wherein: the water gap oil cylinder is arranged on the side surface of the fork arm of the rotary table.
5. The ladle automatic casting system of claim 1, wherein: the 3D scanner is installed at the sixth axis of the steel position receiving robot and the casting position robot.
6. An automatic casting method of a ladle is characterized in that: with the ladle automatic casting system as claimed in any one of claims 1 to 5,
after a new ladle is placed on a steel receiving position of a rotary table, a steel receiving position robot receives an instruction to start working, the steel receiving position robot drives a 3D scanner to scan to obtain coordinates of a positioning plate at the steel receiving position and a water gap mechanism and obtain a relative position relation between the positioning plate and the water gap mechanism, after data is uploaded, the steel receiving position robot drives the 3D scanner to scan to obtain coordinates of a water gap oil cylinder at the steel receiving position, then the water gap oil cylinder is grabbed and installed on the water gap mechanism with known coordinates, and then the steel receiving position robot returns to a safety waiting area to wait for the new ladle to be in place and repeats operation;
before the rotary table rotates, the casting position robot drives the 3D scanner to scan and obtain an initial position of a locked cooperative mechanical arm, then a long nozzle is placed on the cooperative mechanical arm, after the rotary table rotates and stops stably, the casting position robot drives the 3D scanner to scan and obtain a coordinate of a positioning plate at the casting position and obtain a coordinate of a nozzle mechanism at the casting position through a relative position relation between the positioning plate and the nozzle mechanism, then the cooperative mechanical arm is unlocked, the casting position robot pulls the cooperative mechanical arm to enable the long nozzle to be positioned under the nozzle mechanism with known coordinates, then the cooperative mechanical arm is locked and a lifting device drives the cooperative mechanical arm to ascend to enable the long nozzle to be in contact with the nozzle mechanism for sealing, and then the casting position robot returns to a safe waiting area to wait for a new ladle to reach the casting position and then repeats operation;
after the molten steel is cast, the lifting device drives the cooperative mechanical arm to descend to separate the long nozzle from the nozzle mechanism, then the rotary table rotates, and the empty ladle reaches the steel receiving position and the new ladle reaches the casting position.
7. The ladle automatic casting method according to claim 6, wherein: when the casting position robot returns to the safe waiting area, the temperature measurement of the tundish and the slag adding work are executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011339057.6A CN112453380B (en) | 2020-11-25 | 2020-11-25 | Automatic ladle casting system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011339057.6A CN112453380B (en) | 2020-11-25 | 2020-11-25 | Automatic ladle casting system and method |
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| CN112453380A true CN112453380A (en) | 2021-03-09 |
| CN112453380B CN112453380B (en) | 2022-03-01 |
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| CN202011339057.6A Active CN112453380B (en) | 2020-11-25 | 2020-11-25 | Automatic ladle casting system and method |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206065401U (en) * | 2016-10-13 | 2017-04-05 | 武汉钢铁股份有限公司 | A kind of mechanical hand changed for the big water-coating port of continuous casting |
| CN110270680A (en) * | 2019-07-31 | 2019-09-24 | 湖南镭目科技有限公司 | Big packet automatic steel-pouring technological system platform |
| CN110653365A (en) * | 2019-10-11 | 2020-01-07 | 宝钢工程技术集团有限公司 | Automatic continuous casting device and using method thereof |
| CN110976839A (en) * | 2019-12-24 | 2020-04-10 | 中冶南方工程技术有限公司 | Upper structure of continuous casting machine and automatic loading and unloading method of long nozzle |
-
2020
- 2020-11-25 CN CN202011339057.6A patent/CN112453380B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206065401U (en) * | 2016-10-13 | 2017-04-05 | 武汉钢铁股份有限公司 | A kind of mechanical hand changed for the big water-coating port of continuous casting |
| CN110270680A (en) * | 2019-07-31 | 2019-09-24 | 湖南镭目科技有限公司 | Big packet automatic steel-pouring technological system platform |
| CN110653365A (en) * | 2019-10-11 | 2020-01-07 | 宝钢工程技术集团有限公司 | Automatic continuous casting device and using method thereof |
| CN110976839A (en) * | 2019-12-24 | 2020-04-10 | 中冶南方工程技术有限公司 | Upper structure of continuous casting machine and automatic loading and unloading method of long nozzle |
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| CN112453380B (en) | 2022-03-01 |
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