JPS61126952A - Automatic handling device of immersion nozzle - Google Patents

Abstract

PURPOSE:To permit the safe exchange of a necessary immersion nozzle with lessened manpower by providing a turntable having a lifting guide on a stand, assembling a hand arm provided with a chucking part to the lifting guide and automating the driving thereof. CONSTITUTION:The stand 1 which can be accurately positioned to a tundish is assembled onto a base frame into a stationary or portable type. The lifting guide 2 is erected to the turntable provided on the stand 1 and a lifting machine frame 3 is assembled to the guide 2. The hand arm 4 which extends and contracts in the horizontal direction is assembled to the frame 3 and the chucking part 5 which can be vertically rotated is provided to the top end of the arm 4. The guide 2, the mechanism 3 and the hand part of the arm 4, etc. are horizontally rotated by a horizontally rotating mechanism A. The base plate of the hand part is slid by the function B relative to the immersion nozzle. The arm 4 is actuated by the function C, the part 5 by the functions D and E and the frame 3 by the function F, respectively. The respective operations are executed by sequential control, etc.

Description

[Detailed Description of the Invention] "Industrial Application Field" This invention is directed to continuous casting equipment, in which a plurality of molten metal castings are installed on the bottom shell of a tandy nosh used between a tandy nosh and a mold. The present invention relates to an automatic handling device having a function of automatically replacing only necessary nozzles of a continuous casting immersion nozzle connected to an outlet without moving or lifting a tandy nozzle.

``Prior Art'' As is well known, in continuous casting equipment, the immersion nozzle used as one of the most important parts has to be replaced during continuous casting because it performs continuous casting many times.

Conventionally, the tundish was lifted up and the nozzle was removed by hand or by using a handling device that horizontally extended and retracted the nozzle from a submerged nozzle support device attached to the bottom of the tundish. In addition, when the tundish is not raised or lowered, a person has to crawl into the bottom of the tundish to replace the nozzle.

``Problem to be solved by the invention'' However, with the former handling device, it is necessary to raise and lower the tundish to prevent the nozzle from colliding with the mold, so it is necessary to raise and lower the tundish to prevent the nozzle from colliding with the mold. However, there is the inconvenience of having to temporarily stop casting and also having to replace the immersion nozzle.

In the latter case, the above-mentioned disadvantages do not exist, but the work is very dangerous and cannot be done calmly in a harsh environment, and the new immersion nozzle may come into contact with the tundish or mold cover, leading to destruction. It could also happen.

``Means for Solving the Problems'' and ``Operations'' The present invention has been made in view of the above circumstances, and its gist is to provide a stand-alone device that can be accurately positioned with respect to the tanditsh on the base frame. Assemble a portable or portable platform, install a turntable with an up-down guide on the platform, attach a horizontally extendable hand arm to the elevator frame attached to the lift guide, and then attach a vertically extendable hand arm to the end of the hand arm. By attaching a rotatable grip to the molten metal outlet and automating the drive equipment of each mechanism, the molten metal outlet, which does not require replacement of other immersion nozzles, can be used without interrupting the casting operation. The point is that replacing only the immersion nozzle that requires replacement can save labor, improve safety, and improve the efficiency of use of the immersion nozzle.

"Example" This will be explained in detail below based on the drawings.

FIGS. 1a and 1b are schematic diagrams for explaining various functions of the device of the present invention, with FIG. 1 being a side view of the device and FIG. 1B being a plan view of the device.

In the figure, number 1 is a mount that can be accurately positioned with respect to the tundish on the base frame, 2 is a lift guide installed on the turntable provided on the mount 1, and 3 is an elevator frame assembled to the lift guide 2. , 4 indicates a horizontally extendable hand arm assembled to the elevator frame 3, and 5 indicates a vertically rotatable grip portion attached to the tip of the hand arm 4.

The basic functions of the apparatus of the present invention described above are shown in the figure as follows: a horizontal rotation function A for horizontally rotating the hand parts such as the elevating guide 2, the elevator frame 3, and the hand arm 4; a base for the hand part; A slide function B that slides the part horizontally with respect to the immersion nozzle, a telescopic function 01 of the hand arm 4, a vertical rotation function D of the grip part 5, a grip function E of the grip part 5, a lifting function F of the elevator frame 3, etc. has.

The order of each operation is determined in advance based on a sequence or the like, and the robot is automatically operated with a single button operation, which is a so-called variable sequence type or fixed sequence type robot, or a playback type robot using a teaching method. Hydraulic pressure, pneumatic pressure, electric power, or a combination thereof can be considered as respective driving sources.

As for the gripping part 5 at the tip, as shown in FIG. 2, since the object is at a high temperature, the thermal problem is solved by using a laminated heat insulating material 6 or by using a material such as fine ceramic.

In addition, the problem can also be solved by gripping the gripping part through a heat insulating material such as hardware instead of using the immersion nozzle directly.

An example of the basic operation when exchanging a submerged nozzle using the handling device of the present invention having the above-mentioned functions without raising or lowering the tandy nozzle is shown in FIG. 3.

i) First, grip the used immersion nozzle 7 with the grip part 5 (8 functions) (Figure a). Note that 8 in the figure indicates a mold.

ii) Lower the elevator frame 3 and remove the immersion nozzle 7 from the molten metal outlet 9 (F function) (Figure b).

In addition, 10 in the figure shows a tandish.

iii) Using the grip part 5, while rotating (tilting sideways) the immersion nozzle 7 (D function), raising the elevator frame 3 (F function), and simultaneously sliding the base part of the hand part (8 function). This is a so-called D+F+B composite operation or continuous step operation of each function (Figure 0).

iv) The immersion nozzle 7 taken out from the mold 8 as described above is horizontally rotated and retracted to the position of the operator 11 (Function A), and the immersion nozzle 7 is erected by rotating the grip part 5 in the vertical direction. Posture (D function)
(Figure d).

-v) Release the grip of the immersion nozzle 7 by the grip part 5 (
8 function).

To install a new submerged nozzle at the molten metal outlet, reverse the above steps.

yi) After such replacement and installation, the grip part 5 is released, the hand arm 4 is retracted and rotated, and is placed on standby at a predetermined position (0
figure).

Furthermore, if the handling device 12 of the present invention is configured to move parallel to the tundish 10 by using a rail 13 or the like, it is also possible to replace the submerged nozzles 7 of the molten metal outlets 9 with one handling device. Yes (figure f)
.

Alternatively, as shown in FIG. 4, a method of moving using a hand lifter 14 or the like may be considered. In this case the handling device 12
The positioning is performed using a positioning pin 15 or the like.

Next, a general example of the device 12 of the present invention is shown in FIG. 5a.

Shown in b and c.

Figure a is a plan view, figure b is a side view, figure 0 is a detailed view of the main parts,
In the figure, 50 is a base frame, 51 is a guide rail disposed on the upper surface of the base frame 50, 52 is a trolley that runs on the rail 51, and 53
54 is a turntable installed on the trolley 52, and 54 is a motor installed in the base frame 50, which rotates a screw shaft 55 and connects the trolley 52 via an arm 56 hanging down from the threaded shaft 55. 52 along the guide rail 51 (8 functions).

Reference numeral 57 denotes a motor installed on the trolley 52, which rotates a worm 58, and horizontally rotates the turntable 53 via a shaft 59 hanging down from the turntable 53 meshed with the motor (A function).

60 is a lifting guide installed on the turntable 53, 61
62 is a motor installed on the top plate part 60a of the elevator guide 60, which rotates a vertical screw shaft 63 and lifts and lowers the elevator frame 61 attached to it. Change (F function).

Reference numeral 64 indicates a telescopic hand arm which is attached horizontally through the elevator frame 61, and 65 indicates an extended floor portion 61a of the elevator frame 61.
A motor installed in the motor rotates a transmission mechanism consisting of a gear 66 and a threaded shaft 67, which causes the hand arm 64 to move forward and backward (Function C).

Reference numeral 68 is a link mechanism 69 attached to the tip of the hand arm 64 with the base pivoted, and 71 is a grip consisting of ash amounts 70, 70 for opening and closing operations. Reference numeral 71 is a motor installed in the elevator frame 61, which horizontally penetrates the elevator frame 61. The transmission shaft 72 of the gear 7 is rotated, and the gear 7
3 to rotate the base of the gripping portion 68 (D function).

74 is a cylinder fixed to the back of the base of the grip part 68;
The ash amount To at the piston port 75 penetrating the base,
The link mechanism 69 of 70 is operated to open and close the ash amount of 70.70 (8 functions).

The above functions are basically the same in hydraulic and pneumatic systems; for example, in the case of a hydraulic system, it can be handled by replacing the drive unit with a hydraulic motor or a hydraulic cylinder.

Note that the position of each function is detected using a potentiometer, rotary encoder, or the like.

Also, a possible use of the device of the present invention is to use it in conjunction with a sliding nozzle device for retandish.

i) Use in conjunction with a submerged nozzle holding device in a tundish using a stopper.

iii) Can also be used to hold the immersion nozzle.

iv) Full automation of the above related sequence of submerged nozzle preheating, installation and replacement.

etc. are possible.

"Effects of the Invention" However, if the device of the present invention having the above configuration is used,
The various effects listed below are achieved.

i) Product yield increases.

In other words, there is no need to raise the tandish,
There is no need to interrupt casting operations at other molten steel outlets, and it is possible to eliminate defective slabs caused by stopping casting.

ii) Since it is a labor-saving automatic handling device, it can be operated by at least one operator.

iii) There is no need for the safety operator to enter the bottom of or be close to the tundish.

iv) The effectiveness of using the immersion nozzle is improved.

Only the necessary nozzles can be replaced.

[Brief explanation of drawings]

Figures 1a and b are functional explanatory diagrams of the device of the present invention, Figure 2 is an explanatory diagram of the configuration of the main parts, Figures 3a-f are diagrams that explain how to use the device of the present invention, and Figure 4 is an explanatory diagram of the method of use of the device of the present invention. A diagram explaining how to move the device,
FIGS. 5a, 5b, and 5c are a plan view, a side view, and a detailed view of the main parts of a general example of the apparatus of the present invention. DESCRIPTION OF SYMBOLS 1... Frame, 2... Lifting guide, 3... Lifting machine frame, 4... Hand arm, 5... Grip part, 6...
Heat insulating material, 7... Immersion nozzle, 8... Mold, 9...
...Outlet for molten metal, 10...Tandish, 11
... Operator, 12 ... Hand link device, 1
3...Rail, 14...Hand lifter, 15...
・Positioning pin, 50... Base frame, 51... Guide rail, 52... Dolly, 53... Turntable, 5
4... Motor, 55... Screw shaft, 56... Arm, 57... Motor, 58... Worm, 59...
... Axis, 60... Lifting guide, 60a... Top plate part,
61... Elevator frame, 61a... Extrusion floor part, 62
...Motor, 63...Vertical threaded shaft, 64...Telescopic hand arm, 65...Motor, 66...Gear, 67...Threaded shaft, 68...Gripping portion , 69...
・Link mechanism, 70... Between stations, 71... Motor,
72...Transmission shaft, 73...Gear, 74...Cylinder, 75...Piston rod. ; Chiku At O. Window layer a. January 2, 1985 (January 2, 1985) Patent Application No. 249399 2, Name of the invention: Submerged nozzle automatic handling device 3, Relationship with the person making the amendment: Name of the patent applicant Kurosaki Ceramics Co., Ltd. 4, Detailed explanation of the invention in the agent's specification, column for brief explanation of drawings, attached drawing 6, contents of amendment (1) Added the following sentence at the end of line 7 on page 9 do. [Figures 6a and 6b show a modification of this device in which the longitudinal direction of the mold is different. That is, the immersion nozzle rotates in the longitudinal direction of the mold to take it out, but in the case shown in Fig. 3 a mentioned above, it rotates in the horizontal and longitudinal directions, whereas in the case shown in Fig. 6 a, it rotates in the vertical direction in the drawing. . Therefore, in relation to the main body of the apparatus, it is necessary that the gripping part be configured at right angles to the hand arm part, as shown in FIG. 6a. 6b shows an example thereof, and FIG. 6a is shown in comparison with FIG. 3a, and FIG. 6 is shown in comparison with FIG. 5C, and the same figure numbers are used. (2) In the fourth line of page 11, it says, "This is a detailed view of the main parts." This is a detailed diagram of the main parts.'' (3) Add attached figures 6 a and b to the attached drawings.

Claims (1)

[Claims] A stationary or portable pedestal that can be accurately positioned relative to the tundish is installed on the base frame, a turntable with an up-down guide is installed on the trestle, and the elevator frame attached to the up-down guide is expanded and contracted in the horizontal direction. 1. An automatic submerged nozzle handling device, comprising: a hand arm assembled therein; a vertically rotatable grip portion attached to the tip of the hand arm; and each of these mechanisms automated with a drive device.