JP6335803B2 - Standing up slab using manipulator - Google Patents

Description

The present invention relates to a method for raising a slab using a manipulator (manipulator) that raises the slab from a horizontal state.

Conventionally, the width rolling of a slab obtained by continuous casting is performed by bringing a slab laid in a horizontal state into an upright state, and then reciprocating the slab between a pair of horizontal rolls arranged vertically opposite to each other. (For example, refer to Patent Document 1). Thus, a manipulator is used as a means for raising the slab.
For example, as shown in FIG. 5, the manipulator 80 is disposed on both sides in the width direction of the slab 82 on the table roller 81 group, and can be moved in the width direction of the slab 82 by moving means and a fixed frame carriage (illustrated). Not). A drive side guide 83 and a fixed side guide 84 arranged along the length direction of the slab 82 are attached and fixed to the arm drive carriage and the fixed frame carriage, respectively.

Further, a crank driving means is attached and fixed to the arm driving carriage, and a finger member 87 for lifting the slab 82 via a finger arm 86 is attached to a rotating shaft 85 connected thereto in a suspended state. In addition, the number 88 in FIG. 5 is a guide when the finger member 87 moves up and down, and this guide 88 is also fixedly attached to the arm drive carriage.
With this configuration, when the slab 82 is raised from the horizontal state using the manipulator 80, the inclination angle θ1 of the horizontal slab 82 is first set to 55 degrees only by the upward movement of the finger member 87. Tilt to a degree. Then, after the slab 82 is supported by the drive side guide 83, the arm drive carriage is moved to the fixed frame carriage by the moving means, and the drive side guide 83 is brought close to the fixed side guide 84 to raise the slab 82. I am letting.

JP-A-9-1202

However, when the slab is raised from the horizontal state using the manipulator, there is no problem if the slab has a narrow width (less than 1500 mm), but if the slab has a wide width (1500 mm or more), the following problems occur. Occurs. This will be described with reference to FIG. FIG. 6 is an explanatory diagram showing the relationship between the finger arm rotation angle θ2 and the slab width when the length of the finger arm is 850 mm. Further, the rotation angle θ2 of the finger arm in FIG. 6 being 0 degree means a reference angle when the finger member is at the lowermost position (that is, a standby state before lifting the slab) (indicated by a solid line in FIG. 5). position).

As shown in FIG. 6, when the finger member 87 is raised to set the inclination angle θ <b> 1 of the slab 82 to 25 degrees (♦ mark in FIG. 6), as a matter of course, as the width of the slab 82 increases, It can be seen that the rotation angle θ2 of the finger arm 86 also increases.
When the slab 82 is raised, if the width of the slab 82 is up to about 1400 mm, the slab 82 in the horizontal state has an inclination angle θ1 of 55 by only the ascending operation of the finger member 87 as described above. It can be tilted to a degree. However, when it becomes wider, the position where the finger member 87 can be raised approaches its upper limit value (upper limit value of the rotation angle θ2 of the finger arm 86: about 68 degrees), and the inclination angle θ1 of the slab 82 is set to 55 degrees. Cannot be made (marked with ▲ in FIG. 6).

In the case of the wide slab 82, for example, when the length (equivalent to the turning radius) of the conventional finger arm is increased from 850 mm to 1300 to 1500 mm, the height position at which the finger member 87 can be raised is further increased. The inclination angle θ1 of the slab 82 can be set to 55 degrees. However, since the above-mentioned finger arm length of 850 mm is the conventional maximum value, if it is too long, the manipulator device scale and the weight of the finger member are increased, which is not economical due to equipment costs.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a method for raising a slab using a manipulator that can raise a wide slab from a horizontal state without making a new capital investment.

A method for raising a slab using the manipulator according to the present invention that meets the above-described object is provided by arranging a plurality of one side in the width direction of a slab having a width of 1500 mm or more and 2500 mm or less with an interval in the length direction of the slab. A slab standing method using a manipulator that lifts with a hook-shaped finger member that is lifted and rotated around a lower corner on the other side in the width direction of the slab to bring the slab into a standing state from a horizontal state. ,
A tilting preliminary step of hooking each finger member to the lower surface on one side in the width direction of the slab and raising the slab in a horizontal state until the slab is tilted within a range of 20 degrees to 30 degrees,
Wherein each finger member, is further moved to the rotation center side of the slab with increasing until said slab are inclined in a range of 60 degrees or less than 50 degrees, under the slab in the width direction the other side of the slab A slab tilting process that tilts around the side corners;
A slab standing step for moving the finger members further toward the center of rotation of the slab to bring the slab into a standing state.

In the slab rising method using the manipulator according to the present invention, it is preferable that the slab tilting step simultaneously raises the finger members and moves the slab toward the rotation center.

In the slab standup method using the manipulator according to the present invention, the finger member has a base portion that is rotatable in a suspended state on a tip portion of a finger arm attached to a rotation shaft provided in a driving means. It is preferable that the length of the finger arm is 700 mm or more and 1000 mm or less.

Since the slab standing method using the manipulator according to the present invention includes a tilt preliminary step of raising each finger member until the slab is tilted within a range of 20 degrees or more and 30 degrees or less, in the subsequent slab tilting process, When each finger member is further raised and moved toward the center of rotation of the slab, the slab can be prevented from skidding.
In the slab tilting process, each finger member is further raised and moved toward the center of rotation of the slab, so that the slab is tilted to a target angle without excessively increasing the height position of each finger member. Can be made.
Further, in the slab tilting process, the slab tilt angle θ1 is set in the range of 50 degrees or more and 60 degrees or less. Therefore, in the subsequent slab standing process, the rising of each finger member is stopped or continued. Furthermore, when it moves to the rotation center side of a slab, a slab can be made into a standing state easily.
Therefore, even if it is a wide slab with a width of 1500 mm or more and 2500 mm or less, the slab can be raised from a horizontal state using a conventionally used manipulator without making a new capital investment.

In addition, in the slab tilting process, when each finger member is lifted and the slab is moved to the center of rotation at the same time, the slab can be smoothly tilted. For example, the slab is tilted. The risk of shifting the position of the corners can be reduced.

When the finger member is provided on a finger arm having a length of 700 mm or more and 1000 mm or less, the manipulator can be used as it is without changing the equipment specifications of the manipulator that has been used in the past or at all. Can be used to erect wide slabs.

(A)-(C) are explanatory drawings of the preparation process of the slab standing-up method using the manipulator which concerns on one embodiment of this invention, respectively. (A) is explanatory drawing of the tilt preliminary process of the standing method of the slab, (B) is explanatory drawing of a slab tilting process, (C) is explanatory drawing of a slab standing process. It is explanatory drawing which shows a series of motion of the finger member and a slab from a tilt preliminary process to a slab standing process. (A)-(C) is explanatory drawing of the slab position adjustment process of the standing method of the same slab, respectively. It is explanatory drawing of the use condition of the manipulator which concerns on a prior art example. It is explanatory drawing which shows the relationship between the rotation angle of the finger arm to which the finger member was attached, and the width | variety of the slab to stand up.

Next, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention.
As shown in FIG. 1 to FIG. 4, the slab standing method using the manipulator according to the embodiment of the present invention has an interval on one side in the width direction of the slab 10 over the length direction of the slab 10. A plurality of bowl-shaped finger members 11 arranged and rotated around the corner 12 on the other side in the width direction of the slab 10 to bring the slab 10 upright from a horizontal state, A tilt preliminary process, a slab tilt process, a slab standing process, and a slab position adjusting process are included. In addition, the manipulator 13 which has the several finger member 11 which makes the slab 10 stand up is a conventionally well-known thing (refer FIG. 5). This will be described in detail below.

First, the preparation process will be described.
As shown in FIG. 1 (A), the slab 10 is transported to the manipulator 13 in a horizontal state (in a laid state) by a plurality of table rollers 14 arranged at intervals in the transport direction of the slab 10, The slab 10 is stopped between the driving side guide 15 and the fixed side guide 16 that are arranged opposite to each other in the width direction. The drive side guide 15 and the fixed side guide 16 are attached and fixed to an arm drive carriage and a fixed frame carriage (not shown) that can be moved in the width direction of the slab 10 by moving means.

The target slab 10 has a width of 1500 mm to 2500 mm and a thickness of 100 mm to 500 mm.
Here, when the width of the slab is less than 1500 mm, since the slab is narrow, it can be dealt with without changing the facility specifications of the conventional manipulator. On the other hand, since the slab whose width exceeds 2500 mm does not exist in actual operation, the upper limit is set to 2500 mm.

At this time, when the hook portion 17 of each finger member 11 is above the height level of the table roller 14 (above the slab 10), the rotating shaft 18 provided in the crank driving means (not shown). To turn each finger arm 19 (in this case, turn clockwise) (from the position of the two-dot chain line shown in FIG. 1A to the position of the solid line). Since each finger arm 19 has a base attached to one rotating shaft 18, each finger arm 19 can be driven synchronously by rotating the rotating shaft 18 by crank driving means.

Thereby, the hook part 17 of the finger member 11 provided rotatably at the tip part of each finger arm 19 is arranged below the height level of the table roller 14. Each finger member 11 performs an ascending operation and a descending operation along a guide 20 provided on the back side of the finger member 11.
The crank driving means, the rotating shaft 18 and the guide 22 are fixedly attached to the arm driving carriage.

Next, as shown in FIG. 1B, the arm drive carriage and the fixed frame carriage are moved, and the slab 10 stopped by the drive side guide 15 and the fixed side guide 16 is sandwiched, and the centering of the slab 10 is performed. (Positioning) is performed.
Thus, after the centering of the slab 10 is completed, the fixed frame carriage is moved, and as shown in FIG. 1C, the side surface 21 on the other side in the width direction of the slab 10 and the fixed side guide 16 In the meantime, the fixed side guide 16 is separated from the side surface 21 of the slab 10 so that the gap 22 is formed by the thickness of the slab 10. In addition, you may make the above-mentioned clearance gap 22 slightly wider than the thickness of the slab 10 (for example, the range of more than 0 and 50 mm or less).

Next, the tilt preliminary process will be described.
As shown in FIG. 2 (A), by rotating the rotation shaft 18 (here, rotating counterclockwise) by the crank driving means, each finger member 11 is connected to the hook portion 17 of the slab 10. It is hooked on the lower surface 23 on one side in the width direction and is raised until the inclination angle θ1 of the slab 10 in the horizontal state falls within the range of 20 degrees or more and 30 degrees or less.
At this time, since the hook portion 17 of each finger member 11 slides on the lower surface 23 of the slab 10, the slab 10 is centered on the corner portion 12 without shifting the position of the corner portion 12 on the other side in the width direction of the slab 10. Tilt as.

Here, when the inclination angle θ1 of the slab is less than 20 degrees, the inclination angle of the slab is too small. Therefore, in the subsequent slab inclination process, the slab slides when the finger member is further raised and moved to the rotation center side. However, it becomes impossible to rotate around the corner. On the other hand, when the inclination angle θ1 exceeds 30 degrees, the height position of the finger member must be further increased, and for example, the equipment specifications of the manipulator may need to be changed.
From the above, the inclination angle θ1 of the slab 10 in the tilt preliminary process is set in the range of 20 degrees or more and 30 degrees or less, but it is further preferable that the lower limit is 22 degrees and the upper limit is 28 degrees.

Next, the slab tilting process will be described.
As shown in FIG. 2 (B), the rotation shaft 18 is further rotated by the crank driving means to further raise each finger member 11 and move the arm drive carriage to move each finger member 11 to the rotation of the slab 10. The slab 10 is tilted around the corner 12 on the other side in the width direction of the slab 10 by moving to the moving center side (fixed side guide 16 side). Thereby, it is not necessary to incline the slab 10 to the target angle only by the raising operation of each finger member 11 as in the prior art.
The operation of each finger member 11 is performed until the inclination angle θ1 of the slab 10 falls within the range of 50 degrees to 60 degrees.

Here, when the inclination angle θ1 of the slab is less than 50 degrees, the inclination angle of the slab is too small. Therefore, in the subsequent slab standing process, the raising of each finger member is stopped, and this is further moved to the rotation center side of the slab. When it is moved, the slab slides sideways and cannot turn around the corner. On the other hand, if the inclination angle θ1 exceeds 60 degrees, it takes a long time to incline the slab, so that the work efficiency decreases.
From the above, the inclination angle θ1 of the slab 10 in the slab tilting step is set in the range of 50 degrees or more and 60 degrees or less, but it is further preferable that the lower limit is 52 degrees and the upper limit is 58 degrees.

In this slab tilting step, it is preferable to raise each finger member 11 and move the slab 10 toward the rotation center at the same time. However, ascend each finger member 11 and move the slab 10 toward the rotation center. May be alternately performed in a short cycle.

Next, the slab standing process will be described.
As shown in FIG. 2 (C), the rotation of the rotation shaft 18 by the crank driving means is stopped, the ascending of each finger member 11 is stopped (or continued), and each finger member 11 is further moved by the arm drive carriage. The slab 10 is moved to the rotation center side. As a result, the slab 10 comes into contact with the fixed side guide 16 or stands up with a slight gap.
Here, a series of movements (afterimages) of the finger member 11 and the slab 10 from the tilt preliminary process to the slab standing process described above are shown in FIG.

As illustrated in FIG. 3, by sequentially performing the tilt preliminary process, the slab tilt process, and the slab standing process, the one end in the width direction of the slab 10 is centered on the corner 12 on the other side in the width direction of the slab 10. The horizontal slab 10 can be placed upright so as to draw a locus of rotational movement with the width dimension of the slab 10 as the rotational radius.
Thereby, the horizontal slab 10 can be raised without raising the finger member 11 excessively high. Therefore, the length (turning radius) of the finger arm 19 that raises the finger member 11 may be the same length as the conventional one (for example, 700 mm or more and 1000 mm or less), and it is not necessary to change the facility specifications.

Then, a slab position adjustment process is demonstrated.
After the slab 10 is raised in the slab standing step, as shown in FIG. 4 (A), by rotating the rotation shaft 18 by the crank driving means (here, rotating clockwise), The hook portion 17 of each finger member 11 is disposed below the height level of the table roller 14 (from the position of the two-dot chain line shown in FIG. 4A to the position of the solid line).
Then, as shown in FIG. 4B, the drive side guide 15 is moved by the arm drive carriage toward the slab 10 in the standing state, and the drive side guide 15 and the drive side guide 15 are The slab 10 is sandwiched between the fixed side guides 16.

As described above, after the slab 10 is sandwiched between the drive side guide 15 and the fixed side guide 16, the arm drive carriage and the fixed frame carriage are moved, and as shown in FIG. 4C, the drive side guide 15 and the fixed side guide 16 are moved toward the center position in the width direction of the table roller 14.
Then, the arm drive carriage and the fixed frame carriage are moved so that a gap is formed between the drive side guide 15 and the fixed side guide 16 and the slab 10, and the drive side guide 15 and the fixed side guide. 16 is removed from the slab 10. And this slab 10 is made to bite between the horizontal rolls (not shown) used as the pair facing up and down, and the slab 10 is width-rolled.
From the above, by using the slab rising method using the manipulator of the present invention, a wide slab can be raised from a horizontal state without making a new capital investment.

As described above, the present invention has been described with reference to the embodiment. However, the present invention is not limited to the configuration described in the above embodiment, and the matters described in the scope of claims. Other embodiments and modifications conceivable within the scope are also included. For example, a case where a method for raising a slab using the manipulator of the present invention is configured by combining some or all of the above-described embodiments and modifications is also included in the scope of the right of the present invention.

10: Slab, 11: Finger member, 12: Corner part, 13: Manipulator, 14: Table roller, 15: Driving side guide, 16: Fixed side guide, 17: Hook part, 18: Rotating shaft, 19: Finger arm, 20: guide, 21: side, 22: gap, 23: bottom

Claims (3)

One side in the width direction of the slab having a width of 1500 mm or more and 2500 mm or less is lifted by a plurality of hook-shaped finger members arranged at intervals along the length direction of the slab, and the other side in the width direction of the slab is lifted A method for raising a slab using a manipulator that rotates around a lower corner to bring the slab into a standing state from a horizontal state,
A tilting preliminary step of hooking each finger member to the lower surface on one side in the width direction of the slab and raising the slab in a horizontal state until the slab is tilted within a range of 20 degrees to 30 degrees,
Wherein each finger member, is further moved to the rotation center side of the slab with increasing until said slab are inclined in a range of 60 degrees or less than 50 degrees, under the slab in the width direction the other side of the slab A slab tilting process that tilts around the side corners;
A slab standup method using a manipulator, further comprising a slab standup step for moving each finger member further toward the rotation center side of the slab to bring the slab upright. The slab standing-up method using the manipulator according to claim 1, wherein the slab tilting step simultaneously raises the finger members and moves the slab toward the rotation center side. How to stand up the slab. The slab standup method using the manipulator according to claim 1 or 2, wherein the finger member is rotated in a suspended state at a tip portion of a finger arm attached to a rotating shaft provided in a driving means. A method for erecting a slab using a manipulator, wherein the slab is provided so as to be movable, and the length of the finger arms is 700 mm to 1000 mm.

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