JP2020142247A - Plate holding device, plate removal device and plate fitting device - Google Patents

Abstract

To provide a plate holding device which can reliably attach/detach a plate to/from a plate storage metal frame, a plate removal device and a plate fitting device.SOLUTION: A plate holding device 101 is fitted to a tip of a robot arm 15. The plate holding device has: plural holding parts 4 which hold a plate for a sliding nozzle device; expansion/contraction means for expanding/contracting an interval between the plural holding parts 4; a pressing part 9 which presses a central part of the plate when holding the plate by the plural holding parts 4; and a force sensor 10 which detects a force which the holding part 4 and/or the pressing part 9 receive from the plate.SELECTED DRAWING: Figure 2

Description

The present invention relates to a plate holding device for holding a plate for a sliding nozzle device, and a plate removing device and a plate mounting device including the plate holding device.

Two or three refractory plates are used in the sliding nozzle device used in continuous casting of molten steel, and each plate is attached to each plate storage metal frame. When this plate is worn and has reached the end of its life, the sliding nozzle device must be opened to remove the old plate from each plate storage frame and replace it with a new plate. This replacement work must be performed at a high temperature, and if the weight of the plate is heavy, it is close to 30 kg, which imposes a heavy burden on the operator.

Therefore, in order to reduce the labor of plate replacement work, the present inventors have disclosed in Patent Document 1 a plate holding device that can be attached to a balancer or a robot arm to hold a plate.

As shown in FIG. 4, the plate holding device 1 includes a parallel hand 3 as an scaling means, a pair (two) holding portions 4 attached to the parallel claws 31 of the parallel hand 3, and a front portion of the parallel hand. It has a pressing portion 5 provided in. It should be noted that the tip portions on both sides of the holding portion 4 have engaging grooves 41, respectively.

As shown in FIGS. 5 and 6, the plate 2 held by the plate holding device has a metal back plate 203 on the back surface, and the side surface is covered with a metal band 205, which is longitudinal from the back plate 203. Plate-shaped fixing portions 209 are provided so as to extend in the direction. Further, as the held portion of the plate, two plate-shaped engaging projections 210 extending from the back plate 203 of the plate are provided on one side, for a total of four.

The pair of holding portions 4 are brought close to and separated from each other in the longitudinal direction (sliding direction) of the plate 2 by the operation of the parallel hand 3, but when the plate 2 is held, they are engaged as shown in FIGS. 6 and 7. A gap is secured between the protrusion 210 and the contactable portion which is the inner wall surface of the engaging groove 41. Specifically, the gap between the longitudinal contactable portion 42 of the engaging groove 41 and the engaging protrusion 210 (the gap in the longitudinal direction of the plate), and the widthwise contactable portion 43 of the engaging groove 41 and the engaging protrusion A gap (gap in the width direction of the plate) with 210 and a gap (gap in the thickness direction of the plate) between the engagement grooves 41 and the contactable portions 44 and 45 in the thickness direction and the engagement protrusion 210 are provided, respectively. A gap of 5 mm on one side is set.

Further, the plate 2 is attached to the plate storage metal frame 6 of the sliding nozzle device in the state as shown in FIG. When removing the plate using the plate holding device, the holding portion 4 of the plate holding device is inserted into the gap between the plate 2 and the plate storage metal frame 6.

On the other hand, since the sliding nozzle device is attached to the bottom of the molten steel pan at the steelworks, when removing the plate after use, it is attached to the sliding nozzle device from the bottom side of the molten steel pan with the molten steel pan tilted sideways. The plate must be removed. At this time, the molten steel pan is tilted sideways by the operation of the crane, but since the crane is operated by a person, the position where the molten steel pan is tilted changes every time.

Therefore, in order to remove the plate by controlling the position of the robot arm, the position of the sliding nozzle device must be accurately measured every time. In recent years, in the position measurement of an object when using a robot arm, a method of correcting the position coordinates by photographing the object with a camera and performing image processing is generally used. However, regarding the sludging nozzle device, it was found that in this image processing, although the measurement accuracy in the vertical and horizontal directions is at a practical level, there is a problem that the measurement accuracy in the front-rear direction (distance) deteriorates.

This is because the image is taken while the temperature of the sliding nozzle device is low immediately after being used at a high temperature, and the size of the imaging reference part of the sliding nozzle device changes due to thermal expansion. This is because an error is likely to occur in the position coordinates of (distance). Further, unevenness, scratches, adhesion of foreign matter, etc. occur on the photographing reference portion during use, which also causes an error due to image processing.

When a measurement error occurs in the distance between the sliding nozzle device and the robot arm, when the plate holding device attached to the robot arm is moved to the position obtained by image processing and the plate holding device tries to hold the plate. In addition, there arises a problem that the engaging groove 41 of the holding portion and the engaging projection 210 of the plate are misaligned and cannot be engaged.

In this way, the sludging nozzle device is used under extremely harsh conditions in which it receives the radiant heat of molten steel of 1500 ° C. or higher, holds a plate through which high-temperature molten steel passes, and is further exposed to the splash and dust of molten steel. Therefore, it has been found that the conventional position measurement method has a problem that the measurement accuracy of the distance is deteriorated.

International Publication No. 2018/074424

An object to be solved by the present invention is to provide a plate holding device, a plate removing device, and a plate mounting device capable of reliably attaching and detaching a plate to and from a plate storage metal frame.

The present inventors have provided a force sensor for detecting the force received from the plate by the pressing portion and / or the holding portion that pushes the central portion of the plate when the plate is held by the holding portion of the plate holding device. It was found that the plate can be reliably attached to and detached from the plate storage metal frame by operating (expanding / contracting) the holding portion of the plate holding device when the force detected in the above reaches a predetermined threshold value.

That is, according to the present invention, the following plate holding device, plate removing device, and plate mounting device are provided.
1. 1.
A plurality of holding portions for holding a plate for a sliding nozzle device, a scaling means for expanding or contracting the distance between the plurality of holding portions, and a central portion of the plate when the plate is held by the plurality of holding portions. A plate holding device having a pressing portion and a force sensor for detecting a force received by the holding portion and / or the pressing portion from the plate.
2. 2.
A plate removing device in which the plate holding device according to 1 is attached to the tip of a robot arm and the plate is removed from the plate storage metal frame of the sliding nozzle device.
It has a control unit that controls the operation of the plate holding device and the robot arm.
The control unit moves the plate holding device toward the plate attached to the plate storage metal frame by controlling the operation of the robot arm, and when the force detected by the force sensor reaches a predetermined threshold value, the plate holding device While stopping the movement, the distance between the plurality of holding portions is reduced by controlling the operation of the expansion / contraction means to hold the plate, and the held plate is removed from the plate storage metal frame by controlling the movement of the robot arm. apparatus.
3. 3.
A plate mounting device in which the plate holding device according to 1 is attached to the tip of a robot arm and a plate is attached to a plate storage metal frame of a sliding nozzle device.
It has a control unit that controls the operation of the plate holding device and the robot arm.
The control unit moves the plate held by the plate holding device toward the plate storage metal frame by controlling the operation of the robot arm, and when the force detected by the force sensor reaches a predetermined threshold value, the plate holding device A plate mounting device that stops movement, expands the distance between the plurality of holding portions by controlling the operation of the scaling means, opens the plate, and mounts the plate on the plate storage metal frame.

According to the present invention, the plate can be reliably attached to and detached from the plate storage metal frame.

A side view (cross-sectional view of only the holding portion) of a state in which the plate holding device according to the first embodiment of the present invention holds a plate. An explanatory view showing a usage state of the plate removing device of the present invention including the plate holding device of FIG. A side view (cross-sectional view of only the holding portion) in a state where the plate holding device according to the second embodiment of the present invention holds the plate. The perspective view of the plate holding device disclosed in Patent Document 1. FIG. FIG. 3 is a perspective view of a state in which the plate is held by the plate holding device of FIG. The explanatory view of the gap between the holding part and the held part of a plate in the plate holding device of FIG. FIG. 4 is a partially enlarged cross-sectional view of a holding portion in the plate holding device of FIG. A perspective view of the plate attached to the plate storage metal frame.

(First Embodiment)
FIG. 1 shows a plate holding device 101 according to a first embodiment of the present invention. Note that FIG. 1 is a side view (cross-sectional view of only the holding portion 4 portion) in a state where the plate holding device 101 holds the plate 2.

In the plate holding device 101 shown in FIG. 1, in the plate holding device 1 of Patent Document 1 shown in FIGS. 4 and 5, the pressing portion 5 is a pressing portion 9 without a coil spring, and the pressing portion of the parallel hand 3 as an expansion / contraction means. The force sensor 10 is provided on the opposite side to the 9.

As shown in FIG. 1, the pressing portion 9 includes a holding plate 91, and the holding plate 91 is attached to the main body portion 32 of the parallel hand 3 by a bolt 93. A pressing plate 92 is fixed to the holding plate 91, and the holding plate 91 and the pressing plate 92 are integrated. The position of the pressing plate 92 is the engagement groove 41 and the plate 2 of the pair (two) holding portions 4 attached to the parallel claws 31 of the parallel hand 3 when the pressing plate 92 pushes the central portion of the plate 2. The engaging projection 210 is set at a position where it can be engaged. That is, the pressing portion 9 (pressing plate 92) is provided at a position where the central portion of the plate 2 is pushed when the plate 2 is held by the pair of holding portions 4. In other words, the plate 2 can be held by reducing the distance between the pair of holding portions 4 at the position where the plate 2 abuts on the pressing portion 9 (pressing plate 92).

The scaling means is not limited to the parallel hand 3, and for example, a parallel chuck can be used, and a hydraulic cylinder, an air cylinder, or the like can also be manufactured. Further, the expansion / contraction means is not necessarily limited to a configuration in which the pair of holding portions 4 are expanded / contracted while remaining parallel, and for example, the pair of holding portions is held by a rotational operation about a base end portion (intersection point) of the pair of holding portions. It is also possible to expand or contract the distance between the tip portions of the portions.

The force sensor 10 is bolted to the flange portion 102 on the side opposite to the pressing portion 9 of the main body portion 32 of the parallel hand 3. That is, the force sensor 10 is a force sensor that detects the force received by the holding portion 4 and / or the pressing portion 9 from the plate 2. As the force sensor that detects the force in this way, a force sensor that is also called a force sensor and is generally used for a robot arm or the like can be used. In this embodiment, a 6-axis force sensor is used as the force sensor 10.

FIG. 2 shows a plate removing device including a plate holding device 101.
In FIG. 2, the ladle 11 immediately after the casting is finished is laid down sideways on the ladle receiving portion 13 installed on the floor 12. A sliding nozzle device 14 is attached to the bottom 111 of the ladle. On the other hand, the base end of the robot arm 15 is fixed to a pedestal (not shown) for the robot arm installed on the floor 12, and a flange portion of the force sensor 10 of the plate holding device 101 is attached to the tip of the robot arm 15. It is attached with bolts. At this time, the force sensor 10 and the tip of the robot arm 15 are arranged in series so that their central axes coincide with each other. The robot arm 15 is a 6-axis vertical articulated robot arm, and the posture and position of the plate holding device 101 attached to the tip thereof can be freely moved.

A three-dimensional sensor 16 having a camera 16a and a laser irradiator 16b is attached to the tip of the robot arm 15. The image taken by the camera 16a is input to the image processing device, and the three-dimensional position coordinates are corrected by the image processing method. By inputting this coordinate information to the control unit 17, the robot arm 15 can move the plate holding device 101 to a position where the plate 2 can hold the plate holding device 101. On the other hand, the information of the force sensor 10 is always input to the control unit 17. Then, the control unit 17 controls the operation of the plate holding device 101 based on the information of the force sensor 10 and the like.

Next, a method of taking out the plate from the plate storage metal frame will be described.
First, the sliding nozzle device 14 is opened, and a laser is irradiated from the laser irradiator 16b toward the imaging reference portions (markers) provided at two locations, the upper end portion and the lower end portion of the plate storage metal frame 6, with the camera 16a. By taking a picture and processing the image, the deviation from the reference position of the plate storage metal frame 6 is calculated, and the three-dimensional position coordinates of the plate storage metal frame 6 are corrected. By inputting the correction position of the plate storage metal frame 6 to the control unit 17, the robot arm 15 operates and the plate holding device 101 attached to the robot arm 15 is moved to the correction position. At this time, the holding portion 4 of the plate holding device is separated so as not to come into contact with the plate 2 and the plate storage metal frame 6. Further, in the present embodiment, the above-mentioned correction position is set to a position, for example, about 1 cm before the position where the plate 2 in the plate storage metal frame 6 is held by the holding portion 4 of the plate holding device.

In the present embodiment, the control unit 17 is further attached to the plate storage metal frame 6 after moving the plate holding device 101 to the above-mentioned correction position by controlling the operation of the robot arm 15 and temporarily stopping the plate holding device 101 at the correction position. Move toward the plate 2. During this movement, the pressing portion 9 of the plate holding device comes into contact with the plate 2. Then, the holding portion 4 and / or the pressing portion 9 receives a force as a reaction force from the plate 2, and the force is detected by the force sensor 10. Then, when the force detected by the force sensor 10 reaches a predetermined threshold value (for example, 300 N), the control unit 17 stops the movement of the plate holding device 101 by the operation control of the robot arm 15 and controls the operation of the parallel hand 3. The space between the pair of holding portions 4 is reduced to hold the plate 2. After holding the plate 2, the plate 2 can be removed from the plate storage metal frame 6 by retracting the plate holding device 101 by controlling the operation of the robot arm 15. In the present embodiment, the plate holding device 101 is temporarily stopped at the above-mentioned correction position, but it is not necessary to temporarily stop at the above-mentioned correction position.

As described above, in the present embodiment, when the force detected by the force sensor 10 reaches a predetermined threshold value, the movement of the plate holding device 101 is stopped, and the distance between the pair of holding portions 4 is reduced at the stop position. By holding the plate, the plate 2 housed in the plate storage metal frame 6 can be securely held and removed. That is, in the present embodiment, when the force detected by the force sensor 10 reaches a predetermined threshold value, the holding portion 4 is aligned with the held portion (engagement projection 210) of the plate.

The plate removing device of this embodiment can also be used as a plate mounting device. When used as a plate removing device, the control unit 17 moves the plate 2 held by the plate holding device 101 toward the plate storage metal frame 6 by controlling the operation of the robot arm 15, and the force sensor 10 detects it. When the force to be applied reaches a predetermined threshold value (for example, 500 N), the movement of the plate holding device 101 is stopped, and the distance between the pair of holding portions 4 is expanded by controlling the operation of the parallel hand 3 to open the plate 2. The plate 2 is attached to the plate storage metal frame 6.

(Second Embodiment)
FIG. 3 shows a plate holding device 101A according to a second embodiment of the present invention. Note that FIG. 3 is a side view (cross-sectional view of only the holding portion 4 portion) of the plate holding device 101A holding the plate 2.

In the plate holding device 101A shown in FIG. 3, the pressing portion 9 of the plate holding device 101 according to the first embodiment shown in FIG. 1 is a pressing portion 9A using a coil spring as in Patent Document 1. Although four coil springs are used in Patent Document 1, seven coil springs 94 are used in the pressing portion 9A of the present embodiment.
That is, as shown in FIG. 3, seven bolts 93 penetrate the seven through holes of the holding plate 91 and the seven coil springs 94, respectively, and are fixed to the substrate 95. The board 95 is attached to the main body 32 of the parallel hand 3. The pressing plate 92 is fixed to the holding plate 91 with a gap, and the holding plate 91 and the pressing plate 92 are integrated. Then, the pressing plate 92 can move to the substrate 95 side to bend the coil spring 94. At this time, by providing a gap between the through hole of the holding plate 91 and the bolt 93, the pressing plate 92 can move even in an inclined state. The position of the pressing plate 92 is set to a position where the coil spring 94 bends when the plate 2 is held by the holding portion 4 (engagement groove 41), and as a result, the plate is set to the plate storage metal of the engagement groove 41. It will be pressed against the inner wall surface on the frame side.

As described above, since the plate holding device 101A having the pressing portion 9A using the coil spring also includes the force sensor 10 like the above-mentioned plate holding device 101, the same action and effect can be obtained. Further, by attaching the plate holding device 101A to the tip of the robot arm 15 as shown in FIG. 2, it can be used as a plate removing device or a plate attaching device.

1,101,101A Plate holding device 102 Flange part 2 Plate 202 Nozzle hole 203 Back plate 205 Metal strip 210 Engagement protrusion 211 Corner part 212 Fitting recess 3 Parallel hand (expansion / contraction means)
31 Parallel claw 32 Main body 4 Holding part 41 Engaging groove 42 Longitudinal contactable part of engaging groove 5 Pressing part 6 Plate storage metal frame 61 Guide protrusion 7 Lock mechanism 9, 9A Pressing part 91 Holding plate 92 Pressing plate 93 Bolt 94 Coil spring 95 Board 10 Force sensor 11 Ladle 111 Ladle bottom 12 Floor 13 Ladle receiving part 14 Sliding nozzle device 15 Robot arm 16 Solid sensor 16a Camera 16b Laser irradiator 17 Control unit

Claims (3)

A plurality of holding portions for holding a plate for a sliding nozzle device, a scaling means for expanding or contracting the distance between the plurality of holding portions, and a central portion of the plate when the plate is held by the plurality of holding portions. A plate holding device having a pressing portion and a force sensor that detects a force received by the holding portion and / or the pressing portion from the plate. A plate removing device in which the plate holding device according to claim 1 is attached to the tip of a robot arm and the plate is removed from the plate storage metal frame of the sliding nozzle device.
It has a control unit that controls the operation of the plate holding device and the robot arm.
The control unit moves the plate holding device toward the plate attached to the plate storage metal frame by controlling the operation of the robot arm, and when the force detected by the force sensor reaches a predetermined threshold value, the plate holding device While stopping the movement, the distance between the plurality of holding portions is reduced by controlling the operation of the expansion / contraction means to hold the plate, and the held plate is removed from the plate storage metal frame by controlling the movement of the robot arm. apparatus. A plate attachment device in which the plate holding device according to claim 1 is attached to the tip of a robot arm, and a plate is attached to a plate storage metal frame of a sliding nozzle device.
It has a control unit that controls the operation of the plate holding device and the robot arm.
The control unit moves the plate held by the plate holding device toward the plate storage metal frame by controlling the operation of the robot arm, and when the force detected by the force sensor reaches a predetermined threshold value, the plate holding device A plate mounting device that stops movement, expands the distance between the plurality of holding portions by controlling the operation of the scaling means, opens the plate, and mounts the plate on the plate storage metal frame.