CN112620623A - Disassembling and assembling equipment for ladle long nozzle, disassembling and assembling device, disassembling and assembling system and disassembling and assembling method thereof - Google Patents
Disassembling and assembling equipment for ladle long nozzle, disassembling and assembling device, disassembling and assembling system and disassembling and assembling method thereof Download PDFInfo
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- CN112620623A CN112620623A CN202011465502.3A CN202011465502A CN112620623A CN 112620623 A CN112620623 A CN 112620623A CN 202011465502 A CN202011465502 A CN 202011465502A CN 112620623 A CN112620623 A CN 112620623A
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- ladle
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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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Abstract
The invention discloses a dismounting device of a ladle long nozzle, a dismounting device, a dismounting system and a dismounting method thereof, wherein the dismounting method of the ladle long nozzle comprises the following steps: acquiring position information of a target positioned on one side of a ladle drain; obtaining coordinate information of the ladle drainage nozzle according to the position information; converting the coordinate information into position coordinates in a coordinate system of the robot; and controlling the robot to realize the installation and the disassembly of the ladle long nozzle compared with the ladle down nozzle according to the position coordinate. According to the method for assembling and disassembling the ladle long nozzle, the installation and the disassembly of the ladle long nozzle compared with the ladle lower nozzle can be realized by using a robot, so that the manual operation is avoided, and the operation safety is improved.
Description
Technical Field
The invention relates to the technical field of automation equipment, in particular to a steel ladle long nozzle dismounting device, a dismounting system and a dismounting method.
Background
In the steelmaking process, in order to ensure the quality of molten steel, when a steel ladle needs to be grabbed by using a crown block and the steel ladle is placed on a pouring platform, a steel ladle long nozzle needs to be sleeved on a steel ladle lower nozzle for protective pouring, the position of the steel ladle lower nozzle is hidden, the steel ladle long nozzle is required to be assembled and disassembled with high precision, and meanwhile, the steel ladle long nozzle is extremely dangerous due to the fact that the temperature of the molten steel in the steel ladle is up to 1500 ℃ and the manual assembly and disassembly of the steel ladle long nozzle are carried.
In view of this, how to realize the safe assembly and disassembly of the ladle long nozzle is a technical problem that needs to be considered by those skilled in the art.
Disclosure of Invention
The invention aims to provide a disassembling and assembling device, a disassembling and assembling system and a disassembling and assembling method for a long ladle nozzle, which can realize the assembling and disassembling of the long ladle nozzle compared with a ladle drain nozzle by using a robot, avoid manual operation and contribute to improving the operation safety.
In order to achieve the aim, the invention provides a method for disassembling and assembling a ladle long nozzle, which comprises the following steps:
acquiring position information of a target positioned on one side of a ladle drain;
obtaining coordinate information of the ladle drainage nozzle according to the position information;
converting the coordinate information into position coordinates in a coordinate system of the robot;
and controlling the robot to realize the installation and the disassembly of the ladle long nozzle compared with the ladle down nozzle according to the position coordinate.
Optionally, the step of acquiring position information of a target located on one side of a ladle drain includes:
controlling a three-dimensional laser scanner to scan a target positioned on one side of a ladle drainage port to obtain point cloud data of the target under a coordinate system of the three-dimensional laser scanner;
and calculating the position information of the target according to the point cloud data.
Optionally, the step of converting the coordinate information into position coordinates in a coordinate system of the robot includes:
controlling the three-dimensional laser scanner to scan the identifier on the flange of the robot so as to respectively obtain the coordinate of the identifier in a scanner coordinate system of the three-dimensional laser scanner and the coordinate of the robot coordinate system of the robot in the coordinate system of the robot;
calculating according to the coordinate of the scanner coordinate system and the coordinate of the robot coordinate system to obtain a transformation matrix of the coordinate system of the three-dimensional laser scanner and the coordinate system of the robot;
and converting the coordinate information into position coordinates in a coordinate system of the robot according to the conversion matrix.
Optionally, the center of the flange plate is parallel to the coordinate system of the robot; and/or the marks are specifically mark balls, and the number of the mark balls is three.
The invention also provides a system for disassembling and assembling the ladle long nozzle, which comprises:
the device comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring the position information of a target positioned on one side of a ladle drain;
the computing unit is used for obtaining the coordinate information of the ladle drainage nozzle according to the position information;
the conversion unit is used for converting the coordinate information into position coordinates in a coordinate system of the robot;
and the execution unit is used for controlling the robot to realize the installation and the disassembly of the ladle long nozzle compared with the ladle down nozzle according to the position coordinate.
The invention also provides a device for disassembling and assembling the ladle long nozzle, which comprises:
a memory for storing a computer program;
a processor for implementing the steps of the method for assembling and disassembling the ladle shroud as claimed in any one of the above claims when executing the computer program.
The invention also provides a device for disassembling and assembling the ladle long nozzle, which comprises the device for disassembling and assembling the ladle long nozzle.
Optionally, the method further comprises: the target and the robot.
Optionally, the target is specifically a target ball, and the surface of the target ball is subjected to sand blasting treatment to roughen the surface of the target ball.
Optionally, the number of target balls is two.
Compared with the background art, the method for dismounting the ladle long nozzle provided by the embodiment of the invention comprises the steps of firstly obtaining the position information of the target positioned on one side of the ladle nozzle, then obtaining the coordinate information of the ladle nozzle according to the position information, then converting the coordinate information into the position coordinate under the coordinate system of the robot, and finally controlling the robot according to the position coordinate to realize the mounting and dismounting of the ladle nozzle compared with the ladle nozzle.
The method for disassembling and assembling the long ladle nozzle has the advantages that:
one, in view of the comparatively concealed characteristic of mouth of a river under the ladle, this paper is through the positional information who acquires the mark target, and then the indirect coordinate information who acquires the mouth of a river under the ladle, has just so solved the inconvenient problem that directly acquires of the coordinate information of the mouth of a river under the ladle, provides reliable guarantee for the dismouting of the long mouth of a river of ladle.
And secondly, the coordinate information of the ladle drainage nozzle is converted into a position coordinate under a coordinate system of the robot, so that the robot can accurately know the position of the ladle drainage nozzle in the operation process, and the robot can smoothly disassemble and assemble the ladle long drainage nozzle.
Thirdly, the method for dismounting the long ladle nozzle utilizes a robot to mount the long ladle nozzle at the position of the lower ladle nozzle or dismount the long ladle nozzle at the position of the lower ladle nozzle, thereby avoiding manual participation, effectively avoiding accidents and improving the safety and reliability.
The dismounting device for the ladle long nozzle, the dismounting device for the ladle long nozzle and the dismounting system for the ladle long nozzle provided by the invention have the beneficial effects, and are not repeated herein.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flow chart of a method for assembling and disassembling a ladle long nozzle according to an embodiment of the invention;
fig. 2 is a structural block diagram of a system for dismounting a ladle long nozzle according to an embodiment of the invention;
fig. 3 is a structural diagram of a robot for assembling and disassembling the ladle shroud according to an embodiment of the present invention;
fig. 4 is a structural diagram of a three-dimensional laser scanner of a device for assembling and disassembling a ladle shroud nozzle according to an embodiment of the invention;
fig. 5 is a structural diagram of a quick-change clamp used by a robot of a device for assembling and disassembling a ladle long nozzle according to an embodiment of the present invention;
FIG. 6 is a schematic view illustrating a movable clamp operated by a robot of a ladle shroud disassembling and assembling apparatus according to an embodiment of the present invention when the movable clamp is coupled to a ladle shroud;
FIG. 7 is a schematic view of a target and a ladle shroud of the ladle shroud dismounting device provided by the embodiment of the invention;
wherein:
1-target, 2-ladle down nozzle, 3-ladle long nozzle, 4-movable clamp, 5-robot, 6-three-dimensional laser scanner and 7-quick change clamp;
101-acquisition unit, 102-calculation unit, 103-conversion unit and 104-execution unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The method for disassembling and assembling the ladle long nozzle provided by the embodiment of the invention is shown in the attached figure 1 in the specification, and comprises the following steps:
s1, acquiring the position information of the target 1 positioned on one side of the ladle drain 2;
s2, obtaining coordinate information of the ladle nozzle 2 according to the position information;
s3, converting the coordinate information into position coordinates in the coordinate system of the robot 5;
and S4, controlling the robot 5 according to the position coordinates to realize the installation and the disassembly of the ladle long nozzle 3 compared with the ladle down nozzle 2.
In step S1, the target 1 is disposed on one side of the ladle nozzle 2, and the position of the target 1 relative to the ladle nozzle 2 is fixed without relative movement therebetween, as shown in fig. 7 in the specification; the target may be embodied as a target ball, the surface of which is grit blasted to roughen the surface of the target ball.
In order to further ensure the authenticity and reliability of the coordinate information of the subsequent ladle nozzle 2, the number of the targets 1 can be specifically two, that is, the position information of the two targets 1 is obtained, so that the authenticity of the coordinate information of the ladle nozzle 2 is improved.
In step S2, coordinate information of the ladle nozzle 2 is obtained according to the position information of the target 1, that is, since the position relationship between the target 1 and the ladle nozzle 2 is fixed, the coordinate information of the ladle nozzle 2 can be obtained by calculation based on the position relationship between the target 1 and the ladle nozzle 2 after the position information of the target 1 is obtained.
Aiming at the step S3, converting the coordinate information of the ladle nozzle 2 into position coordinates in the coordinate system of the robot 5; that is, since the coordinate system in which the position information of the target 1 is located and the coordinate system of the robot 5 may belong to different coordinate systems, the coordinate system in which the coordinate information of the ladle nozzle 2 is obtained from the position information of the target 1 and the coordinate system of the robot 5 do not belong to the same coordinate system.
In other words, in step S1, when the position information of the target 1 is acquired, if the acquisition operation is performed using the three-dimensional laser scanner 6, the position information of the target 1 is coordinates under the coordinate system of the three-dimensional laser scanner 6, and the coordinate information of the ladle nozzle 2 is also obtained with reference to the coordinate system of the three-dimensional laser scanner 6.
However, in the method for dismounting and mounting the ladle shroud, final mounting and dismounting are performed by the robot 5, and the robot 5 has functions of grabbing and rotating, so that coordinate information of the ladle shroud 2 needs to be converted into position coordinates in a coordinate system of the robot 5, and thus the robot 5 can accurately mount the ladle shroud 3 below the ladle shroud 2 or accurately dismount the ladle shroud 3 at the ladle shroud 2.
For the robot 5, which may be embodied as a custody robot in the prior art, etc., fig. 3 of the specification shows a 6-axis robot for realizing the installation and the detachment of the ladle nozzle 3.
Description of the drawings fig. 5 shows a quick-change gripper 7, the robot being mountable on a platform, the quick-change gripper 7 being placed on a stationary carrier; description figure 6 shows a state where the movable jig 4 is coupled to the ladle shroud 3, the movable jig 4 is placed on the movable nozzle placement frame, and the ladle shroud 3 is placed in the movable nozzle, it is considered that the movable jig 4 is coupled to the ladle shroud 3.
When the robot receives the position coordinate of the ladle nozzle 2, the robot firstly grabs the quick-change clamp 7, then moves to the storage position of the movable clamp 4, grabs the movable clamp 4, and drives the ladle nozzle 3 to move to the ladle nozzle 2 for installation.
That is to say, the robot can first grab the quick-change clamp 7, then grab the ladle long nozzle 3 provided with the movable clamp 4, and through operating the quick-change clamp 7, the quick-change clamp 7 acts on the movable clamp 4, so that the ladle long nozzle 3 is fixed on the ladle lower nozzle 2, and the connection between the ladle lower nozzle 2 and the ladle long nozzle 3 is realized.
When the ladle long nozzle 3 needs to be detached from the ladle lower nozzle 2, the quick-change clamp 7 is firstly grabbed, the quick-change clamp 7 is moved to the position in contact with the movable clamp 4, then the movable clamp 4 is moved by controlling the movement of the quick-change clamp 7, the movable clamp 4 and the ladle lower nozzle 2 are loosened, and the movable clamp 4 and the ladle long nozzle 3 can be separated from the ladle lower nozzle 2, so that the ladle long nozzle 3 is detached.
Therefore, in step S4, the robot 5 can be used to attach and detach the ladle shroud 3.
The step of acquiring the position information of the target located on the side of the ladle drain port in step S1 includes:
controlling the three-dimensional laser scanner 6 to scan the target 1 positioned on one side of the ladle drain to obtain point cloud data of the target 1 under a coordinate system of the three-dimensional laser scanner 6;
and calculating the position information of the target 1 according to the point cloud data.
The three-dimensional laser scanner 6 can be specifically arranged in a manner that reference is made to the attached figure 4 in the specification, and the three-dimensional laser scanner 6 can be arranged on a platform which is higher than the steel ladle 4m in the left and right direction so as to prevent molten steel from touching the three-dimensional laser scanner 6. Specifically, the three-dimensional laser scanner 6 may be fixedly installed at a position 5m or so from the casting machine, and when the ladle is suspended by the crown block on the casting machine, the three-dimensional laser scanner 6 scans the target 1 to obtain the point cloud data of the target 1.
Aiming at the situation that the target 1 is specifically two target balls, the surface of the target ball is rough by performing sand blasting treatment on the surface of the target ball, so that a mirror surface is avoided, and laser emitted by the three-dimensional laser scanner 6 in the scanning process is irradiated on the target ball and cannot receive laser signals due to the fact that the mirror surface reflection is not formed due to the smooth surface.
Then, algorithms such as noise point removal, segmentation, fitting and the like can be performed on the point cloud data to calculate coordinates of the centers of two target balls, that is, position information of the target 1, and obviously, the position information of the target 1 is represented by position information in a coordinate system of the three-dimensional laser scanner 6.
In step S3 described above: the step of converting the coordinate information into position coordinates in the coordinate system of the robot 5 includes:
controlling the three-dimensional laser scanner 6 to scan the identifier on the flange of the robot 5 so as to respectively obtain the coordinate of a scanner coordinate system of the identifier under the coordinate system of the three-dimensional laser scanner 6 and the coordinate of a robot coordinate system of the robot 5 under the coordinate system;
calculating to obtain a transformation matrix of a coordinate system of the three-dimensional laser scanner 6 and a coordinate system of the robot 5 according to the coordinate of the scanner coordinate system and the coordinate of the robot coordinate system;
the coordinate information is converted into position coordinates in the coordinate system of the robot 5 according to the conversion matrix.
For convenience, the center of the flange plate and the coordinate system of the robot 5 may be set to be parallel, that is, the center of the flange plate is moved to a position parallel to the coordinate system of the robot 5; the mark can be specifically a mark ball, and the number of the mark balls is three. Obviously, the relative positions of the marker ball and the flange should be fixed, and the marker ball is not movable relative to the flange.
And controlling the three-dimensional laser scanner 6 to scan the three identification balls, and respectively calculating the center coordinates of the three identification balls, wherein the center coordinates can be regarded as the coordinates of the scanner coordinate system under the coordinate system of the three-dimensional laser scanner 6.
Based on the position relationship between the sphere center and the flange plate, the coordinates of the sphere center and the coordinates of the robot 5 in the coordinate system, that is, the coordinates of the robot coordinate system, can be calculated respectively through the relative positions of the sphere center and the flange plate.
In short, the robot coordinate system coordinates of the identification ball under the coordinate system of the robot 5 can be calculated through the physical positions of the flange plate and the identification ball; and the three identification balls are scanned by the three-dimensional laser scanner 6, so that the coordinates of the scanner coordinate system of the identification balls under the coordinate system of the three-dimensional laser scanner 6 are obtained.
Through the two coordinates under different coordinate systems, a conversion matrix can be obtained, namely, the coordinate system of the three-dimensional laser scanner 6 and the coordinate system of the robot 5 can be converted through the conversion matrix, and the coordinate information of the ladle nozzle 2 is converted into the position coordinate under the coordinate system of the robot 5 through the conversion matrix.
Since the coordinate system of the three-dimensional laser scanner 6 and the coordinate system of the robot 5 are both in mm, the scaling ratio K is 1, and thus only the rotation and translation relationships exist for the conversion relationship between the two coordinate systems, and the specific calculation manner of the conversion matrix can refer to the prior art and is not expanded herein.
As can be seen from the above description, according to the method for dismounting and mounting the ladle shroud 3, since the position of the ladle shroud 2 cannot be directly scanned, the target 1 is used as a reference object to be scanned, the coordinate information of the ladle shroud 2 is obtained according to the position information of the target 1, the position coordinates of the ladle shroud 2 in the coordinate system of the robot are obtained through the conversion relationship among different coordinate systems, and the ladle shroud 3 is dismounted by the robot.
The embodiment of the invention also provides a system for dismounting and mounting the ladle long nozzle, the operation process and principle of which can refer to the method for dismounting and mounting the ladle long nozzle, the structural block diagram of the system for dismounting and mounting the ladle long nozzle is shown in the attached figure 2 of the specification and comprises the following components:
the device comprises an acquisition unit 101, a detection unit and a control unit, wherein the acquisition unit 101 is used for acquiring the position information of a target positioned on one side of a ladle drain;
the calculating unit 102 is used for obtaining coordinate information of a ladle drainage nozzle according to the position information;
a conversion unit 103 for converting the coordinate information into position coordinates in the coordinate system of the robot 5;
and the execution unit 104 is used for controlling the robot 5 to realize the installation and the disassembly of the ladle long nozzle compared with the ladle down nozzle according to the position coordinate.
The system for assembling and disassembling the ladle long nozzle can be applied to the method for assembling and disassembling the ladle long nozzle, and other functions of the system for assembling and disassembling the ladle long nozzle, such as the method for assembling and disassembling the ladle long nozzle, are not expanded.
The embodiment of the invention also provides a device for disassembling and assembling the ladle long nozzle, which comprises:
a memory for storing a computer program;
and the processor is used for realizing the steps of the method for assembling and disassembling the ladle nozzle when executing the computer program.
The embodiment of the invention also provides a device for disassembling and assembling the ladle long nozzle, which comprises the device for disassembling and assembling the ladle long nozzle. The dismounting device for the ladle long nozzle also comprises the target 1, the robot 5 and the like, and other parts of the dismounting device for the ladle long nozzle can refer to the prior art and are not expanded herein.
The assembling and disassembling device, the assembling and disassembling system and the assembling and disassembling method for the ladle long nozzle provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A method for dismounting a ladle long nozzle is characterized by comprising the following steps:
acquiring position information of a target positioned on one side of a ladle drain;
obtaining coordinate information of the ladle drainage nozzle according to the position information;
converting the coordinate information into position coordinates in a coordinate system of the robot;
and controlling the robot to realize the installation and the disassembly of the ladle long nozzle compared with the ladle down nozzle according to the position coordinate.
2. The method for assembling and disassembling the ladle shroud according to claim 1, wherein the step of obtaining positional information of the target located on the side of the ladle shroud includes:
controlling a three-dimensional laser scanner to scan a target positioned on one side of a ladle drainage port to obtain point cloud data of the target under a coordinate system of the three-dimensional laser scanner;
and calculating the position information of the target according to the point cloud data.
3. The method for assembling and disassembling the ladle shroud according to claim 2, wherein the step of converting the coordinate information into position coordinates in a robot coordinate system includes:
controlling the three-dimensional laser scanner to scan the identifier on the flange of the robot so as to respectively obtain the coordinate of the identifier in a scanner coordinate system of the three-dimensional laser scanner and the coordinate of the robot coordinate system of the robot in the coordinate system of the robot;
calculating according to the coordinate of the scanner coordinate system and the coordinate of the robot coordinate system to obtain a transformation matrix of the coordinate system of the three-dimensional laser scanner and the coordinate system of the robot;
and converting the coordinate information into position coordinates in a coordinate system of the robot according to the conversion matrix.
4. The method for assembling and disassembling the ladle shroud according to claim 3, wherein the center of the flange plate is parallel to the coordinate system of the robot; and/or the marks are specifically mark balls, and the number of the mark balls is three.
5. The utility model provides a dismouting system of ladle long nozzle which characterized in that includes:
the device comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring the position information of a target positioned on one side of a ladle drain;
the computing unit is used for obtaining the coordinate information of the ladle drainage nozzle according to the position information;
the conversion unit is used for converting the coordinate information into position coordinates in a coordinate system of the robot;
and the execution unit is used for controlling the robot to realize the installation and the disassembly of the ladle long nozzle compared with the ladle down nozzle according to the position coordinate.
6. The utility model provides a dismouting device of ladle long nozzle which characterized in that includes:
a memory for storing a computer program;
a processor for implementing the steps of the method of disassembling a ladle shroud as claimed in any one of claims 1 to 4 when executing the computer program.
7. An assembling and disassembling device for a ladle shroud, comprising the assembling and disassembling device for a ladle shroud according to claim 6.
8. The ladle shroud dismounting device of claim 7, further comprising: the target and the robot.
9. The ladle shroud assembly and disassembly equipment of claim 7, wherein the target is specifically a target ball, and the surface of the target ball is subjected to sand blasting treatment so as to roughen the surface of the target ball.
10. The ladle shroud dismounting device according to claim 9, wherein the number of target balls is two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011465502.3A CN112620623A (en) | 2020-12-14 | 2020-12-14 | Disassembling and assembling equipment for ladle long nozzle, disassembling and assembling device, disassembling and assembling system and disassembling and assembling method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011465502.3A CN112620623A (en) | 2020-12-14 | 2020-12-14 | Disassembling and assembling equipment for ladle long nozzle, disassembling and assembling device, disassembling and assembling system and disassembling and assembling method thereof |
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| CN112620623A true CN112620623A (en) | 2021-04-09 |
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| CN202011465502.3A Pending CN112620623A (en) | 2020-12-14 | 2020-12-14 | Disassembling and assembling equipment for ladle long nozzle, disassembling and assembling device, disassembling and assembling system and disassembling and assembling method thereof |
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Cited By (1)
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| 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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| 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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Application publication date: 20210409 |