CN216881631U - Continuous casting automatic casting device based on sensor - Google Patents
Continuous casting automatic casting device based on sensor Download PDFInfo
- Publication number
- CN216881631U CN216881631U CN202122393055.1U CN202122393055U CN216881631U CN 216881631 U CN216881631 U CN 216881631U CN 202122393055 U CN202122393055 U CN 202122393055U CN 216881631 U CN216881631 U CN 216881631U
- Authority
- CN
- China
- Prior art keywords
- support arm
- sensor
- power mechanism
- rotating shaft
- base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to the field of metal continuous casting, in particular to a continuous casting automatic casting device based on a sensor. The utility model provides a device is pour in automation of continuous casting based on sensor, characterized by: the steel ladle manipulator comprises a manipulator and a sensor, wherein the manipulator comprises a first support arm, a second support arm, a third support arm, a holding claw, a first power mechanism and a second power mechanism, the second support arm is hinged between the first support arm and the third support arm, the third support arm is connected with the holding claw, the sensor is opposite to a steel ladle, and the sensor is in communication connection with a controller. The utility model has high automation degree and high working efficiency.
Description
Technical Field
The utility model relates to the field of metal continuous casting, in particular to a continuous casting automatic casting device based on a sensor.
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.
At present, continuous casting machines mostly adopt modes such as a rotary table or a transverse moving trolley for realizing continuous production, specifically, a bale is transferred to the rotary table or the transverse moving trolley through a travelling crane, and the positioning is mainly determined by habits and levels of field operators, so that errors exist, and a lot of obstacles are caused to the operation of the bale.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a continuous casting automatic casting device based on a sensor, aiming at overcoming the defects of the prior art and providing continuous casting equipment with high automation degree and high working efficiency.
The utility model achieves the purpose by the following technical scheme:
the utility model provides an automatic casting device of continuous casting based on sensor which characterized by: the manipulator comprises a manipulator and a sensor, the manipulator comprises a first support arm, a second support arm, a third support arm, a holding claw, a first power mechanism and a second power mechanism, the second support arm is hinged between the first support arm and the third support arm, the third support arm is connected with the holding claw, the first power mechanism is in transmission connection with the second support arm and used for driving the second support arm to rotate, the second power mechanism is in transmission connection with the third support arm to drive the third support arm to rotate, the sensor is right opposite to a steel ladle, the sensor is in communication connection with a controller, and the controller is in communication connection with the first power mechanism and the second power mechanism respectively so that the holding claw can position the steel ladle.
The sensor-based continuous casting automatic casting device is characterized in that: the manipulator further comprises a third power mechanism, the third power mechanism is in transmission connection with the first support arm so as to drive the first support arm to rotate, and the third power mechanism is in communication connection with the controller;
the end, connected with the base, of the first support arm opposite to the end, connected with the base, of the first support arm is connected with a first rotating shaft, the second support arm is sleeved on the first rotating shaft, one end, away from the first support arm, of the second support arm is connected with a second rotating shaft, and the third support arm is sleeved on the second rotating shaft;
the first power mechanism is positioned on one side of the second support arm, which is far away from the holding claw;
the sensor is a laser sensor and/or a visual sensor.
The sensor-based continuous casting automatic casting device is characterized in that: the manipulator further comprises a base, and the third power mechanism is arranged in the base;
the first rotating shaft and the second rotating shaft are parallel;
the second power mechanism is connected with the second rotating shaft.
The sensor-based continuous casting automatic casting device is characterized in that: the included angle between the first support arm and the base is 15-30 degrees; the first power mechanism is arranged on the base and is in transmission connection with the second support arm.
The use method of the sensor-based continuous casting automatic casting device is characterized by comprising the following steps: the method is implemented in sequence according to the following steps:
the controller controls the first power mechanism and the second power mechanism according to the position information to realize the rotation of the second support arm and the third support arm so as to enable the holding claw to perform positioning operation on the steel ladle, and the manipulator is controlled by the first power mechanism and the second power mechanism.
The utility model has the following beneficial effects: degree of automation is high, effectively improves work efficiency, effectively promotes positioning accuracy and operation scope.
Drawings
Figure 1 is a front view of a robot hand according to the present invention,
figure 2 is a top view of the robot of the present invention,
figure 3 is a schematic diagram of the structure of the sensor of the present invention,
fig. 4 is a left side view of the sensor of the present invention.
Detailed Description
The utility model is further illustrated by the following specific examples.
Example 1
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular orientation, and thus the above terms are not to be construed as limiting the present invention.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
As shown in fig. 1 to 4, the automatic casting device for continuous casting based on a sensor comprises a manipulator 100 and a sensor 200, wherein the manipulator 100 comprises a first support arm 110, a second support arm 120, a third support arm 130, a holding claw 140, a first power mechanism 150 and a second power mechanism 160, the second support arm 120 is hinged between the first support arm 110 and the third support arm 130, the third support arm 130 is connected with the holding claw 140, the first power mechanism 150 is in transmission connection with the second support arm 120 and is used for driving the second support arm 120 to rotate, the second power mechanism 160 is in transmission connection with the third support arm 130 so as to drive the third support arm 130 to rotate, the sensor 200 faces a ladle, and the sensor 200 is in communication connection with a controller, the controller is in communication connection with the first power mechanism 150 and the second power mechanism 160 respectively, so that the gripping claws 140 perform a positioning operation on the ladle.
The sensor 200 is configured to detect a position of the ladle and generate position information, and the controller controls the first power mechanism 150 and the second power mechanism 160 according to the position information to rotate the second support arm 120 and the third support arm 130, so that the holding claw 140 performs positioning operations on the ladle, including operations performed on molten iron in the ladle, such as nozzle assembly and disassembly operations, temperature measurement operations, and sampling operations. The automation degree is high, the working efficiency is effectively improved, the manipulator is controlled by the first power mechanism 150 and the second power mechanism 160, namely, two control stations exist, and the positioning precision and the operation range are effectively improved.
As shown in fig. 1, the manipulator 100 further includes a third power mechanism, the third power mechanism is in transmission connection with the first support arm 110 to drive the first support arm 110 to rotate, and the third power mechanism is in communication connection with the controller to enable the controller to control the first support arm 110 to rotate. The working range of the gripper 140 is further increased by adding the third power mechanism.
With continued reference to fig. 1, the robot 100 further includes a base 170, and the third power mechanism may be installed inside the base 170 and be in transmission connection with the first arm 110 on the base 170.
The third power mechanism may be a motor, the motor is embedded in the base 170, and an output shaft of the motor penetrates through the base 170 and is in transmission connection with the first support arm 110. The motor is vertically disposed so as to rotate the first arm 110, i.e., to drive the gripper 140 to rotate around the motor axis.
As shown in fig. 1, a first rotating shaft 181 is connected to an opposite end of the first support arm 110 connected to the base 170, the second support arm 120 is sleeved on the first rotating shaft 181, so that the second support arm 120 can rotate around the first rotating shaft 181, a second rotating shaft 182 is connected to an end of the second support arm 120 away from the first support arm 110, and the third support arm 130 is sleeved on the second rotating shaft 182, so that the third support arm 130 rotates around the second rotating shaft 182.
The first rotating shaft 181 is parallel to the second rotating shaft 182, and both are axially perpendicular to the third power mechanism, that is, the third power mechanism is vertically disposed, and the first rotating shaft 181 and the second rotating shaft 182 are transversely disposed.
The first power mechanism 150 may be mounted on the base 170 and is in transmission connection with the second support arm 120. Specifically, the first power mechanism 150 is hinged to the base 170 and the second support arm 120, and the first power mechanism 150 can drive the second support arm 120 to rotate around the first rotation axis 181 by hydraulic pressure or pneumatic pressure, referring to fig. 1.
Referring to fig. 1, the first power mechanism 150 is located on a side of the second arm 120 away from the grip 140.
As shown in fig. 1 and 2, the second power mechanism 160 is connected to the second rotating shaft 182, so that the third support arm 130 sleeved on the second rotating shaft 182 rotates. Specifically, the second power mechanism 160 may be a motor, which is installed on the second support arm 120 and connected to the second rotating shaft 182 to drive the second rotating shaft 182 to rotate, so as to rotate the third support arm 130.
As shown in fig. 1, the first arm 110, the second arm 120, and the third arm 130 may have a cylindrical structure, wherein the first arm 110 is mainly used to connect the base 170 and the second arm 120, and has a shorter length, so that the center of gravity of the robot 100 is located at a lower portion, and the structure is more stable, thereby preventing the robot from turning over. And the first arm 110 is obliquely arranged relative to the base 170, and the included angle between the two can be 15-30 °.
In summary, the controller controls the first power mechanism 150, the second power mechanism 160, and the third power mechanism to complete the positioning operation of the holding claw 140 on the ladle.
The sensor 200 may be mounted on the robot 100, such as on the third arm 130, the first arm 110, or the base 170. Of course, the sensor 200 may be mounted in other fixed positions as long as the transmitter of the sensor 200 is capable of facing the ladle.
As shown in fig. 3 and 4, the sensor 200 includes a housing 210 and a transmitter disposed on the housing 210. The transmitter can be in communication connection with the controller through a line or wirelessly to transmit signals.
The housing 210 may be a rectangular parallelepiped, but is not limited thereto, such as a cylinder or a prism. The housing 210 is provided with a first heat dissipation part 211 and a second heat dissipation part 212, the first heat dissipation part 211 and the second heat dissipation part 212 are respectively located on adjacent sides of the housing 210, the number of the first heat dissipation part 211 and the second heat dissipation part 212 is multiple, the first heat dissipation parts 211 are sequentially arranged at intervals, and the adjacent first heat dissipation parts 211 are in arc transition connection, referring to fig. 3. The plurality of second heat sink members 212 are sequentially arranged at intervals, and the second heat sink members 212 are perpendicular to the first heat sink members 211, as shown in fig. 2, thereby effectively improving heat dissipation efficiency.
Taking the case that the housing 210 is a rectangular parallelepiped, the emitter is located on the front end surface of the housing 210, the circuit is located on the rear end surface of the housing 210, and the first heat dissipation portion 211 and the second heat dissipation portion 212 are located on four side surfaces of the housing 210, specifically, the first heat dissipation portion 211 is disposed on two opposite side surfaces of the housing 210, the second heat dissipation portion 212 is disposed on two opposite side surfaces of the housing 210, and it is seen that the first heat dissipation portion 211 and the second heat dissipation portion 212 are disposed on two adjacent and perpendicular side surfaces of the housing 210 respectively.
The first heat sink member 211 has an elongated triangular shape, and the second heat sink member 212 has a linear shape.
As shown in fig. 3 and 4, the sensor 200 is fixed by a bracket 220, and specifically, the bracket 220 has an L shape, one end of which is connected to the housing 210 by a fastener 230, and the other end of which is connected to a place where the sensor 200 is to be fixed. The bracket 220 may also be connected to the sensor 200 by a fastener, or may be screwed or fastened.
Referring to fig. 4, the bracket 220 is provided with a sliding hole 221 through which the fastening member 230 passes, the sliding hole 221 is arc-shaped, and the fastening member 230 is matched with the sliding hole 221, so that the installation angle of the housing 210 can be adjusted, and further, the angle of the transmitter can be adjusted.
Specifically, the bracket 220 is connected to the housing 210 by two fasteners 230, and only one sliding hole 221 is formed in the bracket 220, when assembling, the bracket 220 may be pre-connected to the housing 210 by one fastener 230, then another fastener 230 is connected to the housing 210 by the sliding hole 221, and after adjusting the angle, the fastener 230 is locked to the housing 210, where the fastener 230 may be a bolt or a screw.
As shown in fig. 3, the number of the brackets 220 is two, and the brackets are respectively disposed on two opposite sides of the housing 210.
It should be noted that the number of the sensors 200 may be plural, and the sensors may be installed at different positions, for example, one sensor 200 is installed on the robot arm 100, and another sensor 200 is installed at another fixed position.
The sensor 200 may be a laser sensor and/or a vision sensor.
To sum up, the sensor 200 is used for detecting the position of the steel ladle and generating position information, the controller controls the first power mechanism 150 and the second power mechanism 160 according to the position information to realize the rotation of the second support arm 120 and the third support arm 130, so that the holding claw 140 can perform positioning operation on the steel ladle, the automation degree is high, the working efficiency is effectively improved, and the manipulator is controlled by the first power mechanism 150 and the second power mechanism 160 to effectively improve the positioning precision and the operation range.
Claims (10)
1. The utility model provides an automatic casting device of continuous casting based on sensor which characterized by: the manipulator comprises a manipulator and a sensor, the manipulator comprises a first support arm, a second support arm, a third support arm, a holding claw, a first power mechanism and a second power mechanism, the second support arm is hinged between the first support arm and the third support arm, the third support arm is connected with the holding claw, the first power mechanism is in transmission connection with the second support arm and used for driving the second support arm to rotate, the second power mechanism is in transmission connection with the third support arm to drive the third support arm to rotate, the sensor is right opposite to a steel ladle, the sensor is in communication connection with a controller, and the controller is in communication connection with the first power mechanism and the second power mechanism respectively so that the holding claw can position the steel ladle.
2. The sensor-based automated casting unit of claim 1, wherein: the manipulator further comprises a third power mechanism, the third power mechanism is in transmission connection with the first supporting arm so as to drive the first supporting arm to rotate, and the third power mechanism is in communication connection with the controller.
3. The sensor-based automated casting unit of claim 1, wherein: the first power mechanism is positioned on one side of the second support arm, which is far away from the holding claw.
4. The sensor-based automated casting unit of claim 1, wherein: the sensor is a laser sensor and/or a visual sensor.
5. The sensor-based automated casting unit of claim 2, wherein: the manipulator further comprises a base, and the third power mechanism is installed inside the base.
6. The sensor-based automated casting unit of claim 5, wherein: the included angle between the first support arm and the base is 15-30 degrees.
7. The sensor-based automated casting unit of claim 5, wherein: the first power mechanism is arranged on the base and is in transmission connection with the second support arm.
8. The sensor-based automated casting unit of claim 5, wherein: the first support arm is connected with a first rotating shaft on the opposite end of the base, the second support arm is sleeved on the first rotating shaft, one end of the second support arm, which deviates from the first support arm, is connected with a second rotating shaft, and the third support arm is sleeved on the second rotating shaft.
9. The sensor-based automated casting unit of claim 8, wherein: the first rotation axis and the second rotation axis are parallel.
10. The sensor-based automated casting unit of claim 8, wherein: the second power mechanism is connected with the second rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122393055.1U CN216881631U (en) | 2021-09-30 | 2021-09-30 | Continuous casting automatic casting device based on sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122393055.1U CN216881631U (en) | 2021-09-30 | 2021-09-30 | Continuous casting automatic casting device based on sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216881631U true CN216881631U (en) | 2022-07-05 |
Family
ID=82195091
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122393055.1U Active CN216881631U (en) | 2021-09-30 | 2021-09-30 | Continuous casting automatic casting device based on sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216881631U (en) |
-
2021
- 2021-09-30 CN CN202122393055.1U patent/CN216881631U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10668626B2 (en) | Series-parallel movable heavy-load casting robot | |
| CN107253179B (en) | Series-parallel truss type movable heavy-load casting robot | |
| CN107321969B (en) | Omnidirectional wheel type movable heavy-load casting robot | |
| CN110000760B (en) | Series-parallel movable self-balancing heavy-load casting robot | |
| CN210084852U (en) | Pipeline transfer manipulator | |
| CN114211162A (en) | Robot and method for welding rod body and flange of electric power tower | |
| CN111409091B (en) | Mechanical gripper with coaxial visual positioning function | |
| CN216881631U (en) | Continuous casting automatic casting device based on sensor | |
| CN216989838U (en) | Steel ladle positioning device based on sensor | |
| CN205363936U (en) | Reinforcing bar and pipe fitting sharing type machinery tongs | |
| CN115889706A (en) | Continuous casting automatic casting device based on sensor and use method thereof | |
| CN209793724U (en) | Series-parallel movable self-balancing heavy-load casting robot | |
| CN209812119U (en) | Clamping device and wheel detecting system | |
| CN115889743A (en) | Steel ladle positioning device based on sensor and use method thereof | |
| CN110562688B (en) | Quick switching system of positioning fixture | |
| CN219188942U (en) | Welding robot with flip structure | |
| CN215280557U (en) | Robot welding group is to tongs | |
| CN216097485U (en) | Doorframe production line | |
| CN209970224U (en) | Turbocharger clamping jaw | |
| CN211101487U (en) | Movable continuous casting automatic casting device | |
| CN206636877U (en) | Dump ram detection means and forging manipulator | |
| CN213003450U (en) | Mobile welding robot | |
| CN210254638U (en) | Welding tank body of robot | |
| CN218927870U (en) | Drainage sand bag transfer robot | |
| CN105690367B (en) | A kind of multi-spindle machining hand |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |