CN211679991U - Automatic continuous casting steel device guided by robot - Google Patents
Automatic continuous casting steel device guided by robot Download PDFInfo
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- CN211679991U CN211679991U CN201921698432.9U CN201921698432U CN211679991U CN 211679991 U CN211679991 U CN 211679991U CN 201921698432 U CN201921698432 U CN 201921698432U CN 211679991 U CN211679991 U CN 211679991U
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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 adopt automatic steel device of watering of continuous casting of robot guide. The utility model provides an adopt automatic steel device of watering of continuous casting of robot guide, includes ladle (1) and platform truck (2), characterized by: the ladle drawing device is characterized by further comprising a robot (4) and a manipulator (5), wherein 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 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 adopt automatic steel device of watering of continuous casting of robot guide.
Background
As robots are used more and more, more and more robots are also used to carry heavy production work in continuous casting production sites, and thus operators are replaced from harsh and dangerous 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. In continuous casting, 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. Therefore, a robot is additionally arranged in the area, the auxiliary manipulator completes the corresponding water gap installation work, and meanwhile, the robot can independently complete the work of temperature measurement, sampling, covering agent adding and the like.
SUMMERY OF THE UTILITY MODEL
In order to overcome prior art's defect, provide a casting auxiliary assembly that degree of automation is high, strong adaptability, the utility model discloses an adopt the automatic steel device of watering of continuous casting of robot guide.
The utility model discloses a following technical scheme reaches the invention purpose:
the utility model provides an adopt automatic steel device of watering of continuous casting of robot guide, includes ladle and platform truck, on the platform truck was located to the ladle, the ladle bottom was equipped with the long mouth of a river end of connecting long mouth of a river, and casting platform locates 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 steel device guided by the robot 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 use method of the robot-guided automatic continuous casting steel device is characterized by comprising the following steps: the method is implemented in sequence according to the following steps:
carrying: the trolley conveys the ladle to the casting platform, and the robot is over against the long water port end at the bottom of the ladle through the guide device;
grabbing: if the long nozzle is not installed on the ladle, the robot controls the manipulator to grab the long nozzle from a fixed position and sleeve the long nozzle to the end of the long nozzle at the bottom 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 rod to rotate.
The use method of the robot-guided automatic continuous casting steel device is characterized by comprising the following steps:
secondly, an optical guide device is selected as a guide device of the robot, the robot firstly positions the lower water port end of the steel ladle through the guide device, and after the robot obtains the position deviation of the lower water port end of the steel ladle, the robot controls a manipulator to grasp and position the steel ladle, and the optical guide device of the robot can adopt an image method, a laser method and a similar method in consideration of the factors of the field environment, but no matter what detection elements are adopted, the calibration is needed, and the calibration mainly aims to unify the relationship between the position coordinate system of the optical guide device and the tail end joint coordinate system of the robot; the guiding device of the robot obtains pixel coordinates of a space through shooting, the space coordinates are arranged in the manipulator, the guiding device of the robot obtains the pixel coordinates of a target in an image and then converts the pixel coordinates into the corresponding space coordinates through calibrating or jacking the one-to-one corresponding relation between the pixel coordinates and the space coordinates, the robot calculates the motion mode of each shaft reaching the target position, then the robot controls the manipulator to move to the target position, the manipulator moves to the position below the water outlet end of the ladle and then automatically jacks up, and the installation or the removal of the long water outlet is completed.
The use method of the robot-guided automatic continuous casting steel device is characterized by comprising the following steps:
and step two, the robot performs various operations of temperature measurement, sampling, TOS, hydrogen determination, oxygen determination, covering agent addition, oxygen burning and the like on the steel ladle.
The utility model discloses increase a robot and a manipulator in continuous casting region, through the guide of robot, the automatic installation that has long the mouth of a river of supplementary manipulator can realize the unmanned of continuous casting region, and the robot still can accomplish corresponding function alone.
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
The utility model provides an adopt robot-guided automatic steel device that waters of continuous casting, includes ladle 1, platform truck 2, robot 4 and manipulator 5, as shown in figure 1, the concrete structure is:
the ladle 1 is arranged on the trolley 2, the bottom of the ladle 1 is provided with a long nozzle end connected with the long nozzle 11, the casting platform 3 is arranged on the 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 the guide device of the robot 4 is over against the long nozzle 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 the method is used, the steps are implemented in sequence as follows:
carrying: the trolley 2 conveys the ladle 1 to the casting platform 3, and the robot 4 is over against the long water port end at the bottom of the ladle 1 through a guide device;
grabbing: 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;
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 swinging rod 54 to rotate;
the guiding device of the robot 4 selects an optical guiding device, the robot 4 firstly positions the lower water gap end of the steel ladle 1 through the guiding device, the robot 4 controls the mechanical arm 5 to grab and position after the robot 4 obtains the position deviation of the lower water gap end of the steel ladle 1, and the optical guiding device of the robot 4 can adopt an image method, a laser method and a similar mode in consideration of the factors of the field environment, but no matter what detection elements are adopted, the calibration is needed, and the main purpose of the calibration is to unify the position coordinate system of the optical guiding device and the terminal joint coordinate system of the robot 4; the guiding device of the robot 4 obtains a pixel coordinate of a space through shooting, the manipulator 5 is internally provided with a space coordinate, the guiding device of the robot 4 obtains the pixel coordinate of a target in an image and then converts the pixel coordinate into the corresponding space coordinate through calibrating or jacking the one-to-one corresponding relation between the pixel coordinate and the space coordinate, the robot 4 calculates the motion mode of each shaft reaching the target position, then the robot 4 controls the manipulator 5 to move to the target position, the manipulator 5 moves to the position below the water outlet end of the ladle 1 and then automatically lifts up, and the installation or the removal of the long water outlet 11 is completed.
The robot 4 can simultaneously perform various operations such as temperature measurement, sampling, TOS, hydrogen determination, oxygen determination, covering agent addition, oxygen burning and the like on the ladle 1.
Claims (2)
1. The utility model provides an adopt automatic steel device of watering of continuous casting of robot guide, 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), and on the operation route 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 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 bottom of;
the robot (4) and the manipulator (5) are connected through a signal line or wirelessly.
2. The automatic steel casting apparatus for continuous casting guided by robot 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 |
|---|---|---|---|
| CN201921698432.9U CN211679991U (en) | 2019-10-11 | 2019-10-11 | Automatic continuous casting steel device guided by robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921698432.9U CN211679991U (en) | 2019-10-11 | 2019-10-11 | Automatic continuous casting steel device guided by robot |
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| CN211679991U true CN211679991U (en) | 2020-10-16 |
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| CN201921698432.9U Active CN211679991U (en) | 2019-10-11 | 2019-10-11 | Automatic continuous casting steel device guided by robot |
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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 CN201921698432.9U patent/CN211679991U/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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