CN211101586U - Automatic casting device for continuous casting - Google Patents
Automatic casting device for continuous casting Download PDFInfo
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- CN211101586U CN211101586U CN201921698430.XU CN201921698430U CN211101586U CN 211101586 U CN211101586 U CN 211101586U CN 201921698430 U CN201921698430 U CN 201921698430U CN 211101586 U CN211101586 U CN 211101586U
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Abstract
The utility model relates to a supporting, control or change casting melt container pouring nozzle's device field specifically is an automatic casting device of continuous casting. The utility model provides an automatic casting device of continuous casting, includes ladle (1) and platform truck (2), characterized by: the casting platform is characterized by further comprising a robot (4) and a manipulator (5), wherein a position mark (31) is arranged on the casting platform (3); the robot (4) and the manipulator (5) are arranged at the lower part of the ladle (1), and a guide device of the robot (4) is over against the long water port end at the bottom of the ladle (1); the robot (4) and the manipulator (5) are connected through a signal line or wirelessly. The utility model discloses degree of automation is high, strong adaptability.
Description
Technical Field
The utility model relates to a supporting, control or change casting melt container pouring nozzle's device field specifically is an automatic casting device of continuous casting.
Background
With the advancement of automation technology, there is an increasing need to replace operators from harsh and hazardous environments. Modern continuous casting machines mostly adopt modes such as a rotary table or a transverse moving trolley for realizing continuous production, and under general conditions, a bale is transferred to the rotary table or the transverse moving trolley through a travelling crane, the positioning precision at the moment is mainly determined by the operation habit and the operation level of field operators, and errors are inevitable. The long nozzle is used between a ladle and a tundish to protect molten steel from secondary oxidation and prevent molten steel from splashing. The existing production process adopts a long nozzle manipulator, and an operator performs field operation to complete corresponding long nozzle installation work, but the area is in a high-temperature, high-dust and high-electromagnetic environment and is very dangerous.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defect of the prior art, the utility model provides a continuous casting equipment with high automation degree, safety and reliability, which discloses an automatic casting device for continuous casting.
The utility model discloses a following technical scheme reaches the invention purpose:
the utility model provides an automatic casting device of continuous casting, includes ladle and platform truck, and on the platform truck was located to the ladle, the ladle bottom was equipped with the long mouth of a river end of connecting the long mouth of a river, was equipped with the lower mouth of a river end of connecting down on the lateral wall of ladle, and casting platform located on the operation line of platform truck, characterized by: also comprises a robot and a manipulator,
the robot and the manipulator are arranged at the lower part of the ladle, and the guide device of the robot is over against the long water port end at the bottom of the ladle;
the manipulator comprises a base, a lifting cylinder, a swinging rod and a holding claw, wherein the base is fixed at the lower part of the ladle, a cylinder body of the lifting cylinder is rotatably arranged on the base, the cylinder body of the swinging cylinder is fixed at the moving end of a piston rod of the lifting cylinder, one end of the swinging rod is rotatably arranged at the moving end of the piston rod of the lifting cylinder, the moving end of the piston rod of the swinging cylinder is connected with the outer side wall of the swinging rod, the holding claw is fixed at the swinging end of the swinging rod, and the holding claw is over;
the robot and the manipulator are connected through a signal line or wirelessly.
The automatic continuous casting device is characterized in that: the lifting cylinder, the swinging cylinder and the holding claws are all electric cylinders or hydraulic cylinders driven by a servo motor;
the guiding device of the robot is an optical guiding device;
the robot and the manipulator are both arranged at the same side or two sides of the inner arc or the outer arc of the ladle casting platform.
The using method of the continuous casting automatic casting device is characterized in that: the method is implemented in sequence according to the following steps:
① conveying, namely conveying the ladle to the casting platform by the trolley, and judging the positions of the long water port end and the lower water port end of the ladle by the guiding device of the robot according to the position mark on the casting platform;
in consideration of the factors of the field environment, the optical guiding device of the robot can adopt an image method, a laser method and the like, but no matter what detection element is adopted, calibration is needed, and the main purpose of calibration is to unify the relationship between the position coordinate system of the optical guiding device and the end joint coordinate system of the manipulator; the optical guiding device of the robot obtains the space pixel coordinate of the sewage port through shooting or scanning, the mechanical arm is internally provided with the space coordinate, the one-to-one correspondence between the pixel coordinate and the space coordinate is obtained through calibration, the optical guiding device of the robot obtains the pixel coordinate of a target in an image and then converts the pixel coordinate into the corresponding space coordinate, the mechanical arm calculates the motion mode of each axis reaching the target position, and then the mechanical arm moves to the target position;
② grabbing, wherein if the ladle is not provided with a long nozzle, the robot controls the manipulator to grab the long nozzle from a fixed position and sleeve the long nozzle to the long nozzle end at the bottom of the ladle;
if the ladle is not provided with the water outlet, the robot control manipulator grabs the water outlet from a fixed position and sleeves the water outlet on the side wall of the ladle; if the ladle is provided with the drain, the robot controls the manipulator to grab the drain from the drain end on the side wall of the ladle;
when the robot controls the manipulator, the lifting cylinder rotates around the central axis of the lifting cylinder, the swinging cylinder is driven by the expansion of the piston rod of the lifting cylinder to move up and down, the swinging rod is driven by the expansion of the piston rod of the swinging cylinder to swing, and the holding claw is driven by the swinging of the swinging rod to move back and forth;
③ oxygen burning, when casting fails, oxygen burning is needed, the robot and the manipulator are matched, the robot clamps the oxygen lance to burn the molten steel in the ladle, when oxygen burning is completed, the manipulator immediately installs a long nozzle at the bottom of the ladle.
The using method of the continuous casting automatic casting device is characterized in that:
in steps ② and ③, the guiding device of the robot is an optical guiding device, the robot firstly positions the long water gap end or the lower water gap end of the ladle through the guiding device, after the robot obtains the position deviation of the long water gap end or the lower water gap end of the ladle, the robot controls the manipulator to grasp and position, the robot controls the manipulator to be below the long water gap end or the lower water gap end of the ladle, and then the manipulator automatically lifts up to complete the installation or the removal of the long water gap or the lower water gap.
The using method of the continuous casting automatic casting device is characterized in that:
in steps ② and ③, the robot performs related operations such as temperature measurement, sampling, TOS, hydrogen determination, oxygen determination, covering agent addition, oxygen burning and the like on the ladle according to the requirements of the site.
The utility model discloses increase a robot and a full-automatic manipulator in continuous casting area, the robot is used for carrying detection device and fixes a position the mouth of a river under the bale, detection device marks through with automatic manipulator, can realize all functions such as automatic manipulator's long mouth of a river dismouting, make the automatic casting work of continuous casting all decompose and accomplish to two equipment, the reliability of system has been improved, the robot can also realize the temperature measurement in process of production, take a sample, add all functions such as covering agent, finally realize the continuous casting platform unmanned.
The utility model has the advantages that: high automation degree and strong adaptability.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Detailed Description
The invention is further illustrated by the following specific examples.
Example 1
An automatic continuous casting device comprises a ladle 1, a trolley 2, a robot 4 and a manipulator 5, and as shown in figure 1, the automatic continuous casting device has the following specific structure:
the ladle 1 is arranged on the trolley 2, the bottom of the ladle 1 is provided with a long nozzle end connected with a long nozzle 11, the side wall of the ladle 1 is provided with a lower nozzle end connected with a lower nozzle 12, and the casting platform 3 is arranged on an operation line of the trolley 2;
the robot 4 and the manipulator 5 are both arranged at the lower part of the ladle 1, and a guide device of the robot 4 is over against the long water port end at the bottom of the ladle 1;
the manipulator 5 comprises a base 51, a lifting cylinder 52, a swinging cylinder 53, a swinging rod 54 and a holding claw 55, wherein the base 51 is fixed at the lower part of the ladle 1, a cylinder body of the lifting cylinder 52 is rotatably arranged on the base 51, a cylinder body of the swinging cylinder 53 is fixed on the moving end of a piston rod of the lifting cylinder 52, one end of the swinging rod 54 is rotatably arranged on the moving end of the piston rod of the lifting cylinder 52, the moving end of the piston rod of the swinging cylinder 53 is connected with the outer side wall of the swinging rod 54, the holding claw 55 is fixed on the swinging end of the swinging rod 54, and the holding claw 55 is over against the;
the robot 4 and the hand 5 are connected by a signal line or wirelessly.
In this embodiment: the lifting cylinder 52, the swinging cylinder 53 and the holding claws 55 are all electric cylinders or hydraulic cylinders driven by a servo motor;
the guiding device of the robot 4 is an optical guiding device;
the robot 4 and the manipulator 5 are both arranged on the same side or two sides of the inner arc or the outer arc of the casting platform 3 of the steel ladle 1.
When used in this embodiment, the method is implemented in sequence as follows:
① conveying, namely conveying the ladle 1 to the casting platform 3 by the trolley 2, and judging the positions of the long water opening end and the lower water opening end of the ladle 1 by the guiding device of the robot 4 according to the position mark on the casting platform 3;
in consideration of the field environment, the optical guidance device of the robot 4 may adopt an image method, a laser method and the like, but no matter what detection element is adopted, calibration is required, and the main purpose of calibration is to unify the relationship between the position coordinate system of the optical guidance device and the end joint coordinate system of the manipulator 5; the optical guiding device of the robot 4 obtains pixel coordinates of a space through shooting or scanning, the manipulator 5 is internally provided with the space coordinates, the one-to-one correspondence between the pixel coordinates and the space coordinates is obtained through calibration, the optical guiding device of the robot 4 obtains the pixel coordinates of a target in an image and then converts the pixel coordinates into the corresponding space coordinates, the manipulator 5 calculates the motion mode of each axis to reach a target position, and then the manipulator 5 moves to the target position;
②, grabbing, namely if the ladle 1 is not provided with the long nozzle 11, the robot 4 controls the manipulator 5 to grab the long nozzle 11 from a fixed position and sleeve the long nozzle end at the bottom of the ladle 1, and if the ladle 1 is provided with the long nozzle 11, the robot 4 controls the manipulator 5 to grab the long nozzle 11 from the long nozzle end at the bottom of the ladle 1;
if the ladle 1 is not provided with the drain 12, the robot 4 controls the manipulator 5 to grab the drain 12 from a fixed position and sleeve the drain on the side wall of the ladle 1; if the ladle 1 is provided with the drain 12, the robot 4 controls the manipulator 5 to grab the drain 12 from the drain end on the side wall of the ladle 1;
when the robot 4 controls the manipulator 5, the lifting cylinder 52 rotates around the central axis of the lifting cylinder 52, the swinging cylinder 53 is driven by the expansion of the piston rod of the lifting cylinder 52 to move up and down, the swinging rod 54 is driven by the expansion of the piston rod of the swinging cylinder 53 to swing, and the holding claw 55 is driven by the expansion of the piston rod of the swinging rod 54 to move back and forth;
③ oxygen burning, when casting fails, oxygen burning is needed, the robot 4 and the manipulator 5 are matched, the robot 4 clamps the oxygen lance to carry out oxygen burning operation on the molten steel in the ladle 1, and after the oxygen burning operation is finished, the manipulator 5 immediately installs the long nozzle 11 at the bottom of the ladle 1.
In steps ② and ③, the guiding device of the robot 4 is an optical guiding device, the robot 4 first positions the long water port end or the lower water port end of the ladle 1 through the guiding device, after the robot 4 obtains the position deviation of the long water port end or the lower water port end of the ladle 1, the robot 4 controls the manipulator 5 to grab and position, the robot 4 controls the manipulator 5 to be below the long water port end or the lower water port end of the ladle 1, and then the manipulator 5 automatically lifts up to complete the installation or the removal of the long water port 11 or the lower water port 12.
In steps ② and ③, the robot 4 performs related operations such as temperature measurement, sampling, TOS, hydrogen determination, oxygen determination, covering agent addition, oxygen burning and the like on the ladle 1 according to the requirements of the site.
Claims (2)
1. The utility model provides an automatic casting device of continuous casting, includes ladle (1) and platform truck (2), on platform truck (2) was located in ladle (1), ladle (1) bottom was equipped with the long mouth of a river end of connecting long mouth of a river (11), was equipped with the lower mouth of a river end of connecting lower mouth of a river (12) on the lateral wall of ladle (1), and on the operation line of platform truck (2) was located in casting platform (3), characterized by: also comprises a robot (4) and a manipulator (5),
the robot (4) and the manipulator (5) are arranged at the lower part of the ladle (1), and a guide device of the robot (4) is over against the long water port end at the bottom of the ladle (1);
the manipulator (5) comprises a base (51), a lifting cylinder (52), a swinging cylinder (53), a swinging rod (54) and a holding claw (55), wherein the base (51) is fixed at the lower part of the ladle (1), a cylinder body of the lifting cylinder (52) is rotatably arranged on the base (51), the cylinder body of the swinging cylinder (53) is fixed at the moving end of a piston rod of the lifting cylinder (52), one end of the swinging rod (54) is rotatably arranged at the moving end of the piston rod of the lifting cylinder (52), the moving end of the piston rod of the swinging cylinder (53) is connected with the outer side wall of the cylinder body of the swinging rod (54), the holding claw (55) is fixed at the swinging end of the swinging rod (54), and the holding claw (55) is over against the long nozzle (11) at;
the robot (4) and the manipulator (5) are connected through a signal line or wirelessly.
2. The automatic continuous casting device according to claim 1, wherein: the lifting cylinder (52), the swinging cylinder (53) and the holding claw (55) are all electric cylinders or hydraulic cylinders driven by a servo motor;
the guiding device of the robot (4) is an optical guiding device;
the robot (4) and the manipulator (5) are both arranged on the same side or two sides of the inner arc or the outer arc of the casting platform (3) of the ladle (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921698430.XU CN211101586U (en) | 2019-10-11 | 2019-10-11 | Automatic casting device for continuous casting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921698430.XU CN211101586U (en) | 2019-10-11 | 2019-10-11 | Automatic casting device for continuous casting |
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| Publication Number | Publication Date |
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| CN211101586U true CN211101586U (en) | 2020-07-28 |
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| CN201921698430.XU Active CN211101586U (en) | 2019-10-11 | 2019-10-11 | Automatic casting device for continuous casting |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
-
2019
- 2019-10-11 CN CN201921698430.XU patent/CN211101586U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
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