KR102453105B1 - Cleaning apparatus for submerged entry nozzle - Google Patents

Abstract

The present invention relates to an immersion nozzle cleaning device for continuous loading and unloading equipment. It is inserted into the inside of the nozzle and is installed in the crushing part and the traveling part for crushing foreign substances, and characterized in that it includes an injection part for removing the foreign substances by injecting an inert gas into the immersion nozzle.

Description

Immersion nozzle cleaning device {CLEANING APPARATUS FOR SUBMERGED ENTRY NOZZLE}

The present invention relates to an immersion nozzle cleaning apparatus, and more particularly, to an immersion nozzle cleaning apparatus installed in a continuous casting facility.

In general, in general, continuous casting operation is a process in which liquid iron becomes solid. Molten steel, which is still in a liquid state, is injected into a mold and cooled and solidified while passing through a continuous casting machine. made of material

Submerged Entry Nozzle (S.E.N) used during continuous casting is a refractory material and is used for cleanliness and heat preservation when pouring molten steel between the tundish and the mold.

Background art for the present invention is disclosed in Republic of Korea Patent Publication No. 10-0237083 (registered Oct. 6, 1999, title of invention: replacement device for immersion nozzle for molten steel injection).

According to one embodiment of the present invention, it is to provide an immersion nozzle cleaning apparatus capable of solving the clogging phenomenon of the immersion nozzle by foreign substances such as refractory materials.

In addition, according to an embodiment of the present invention, it is to provide an immersion nozzle cleaning apparatus that can perform the work remotely.

An apparatus for cleaning a submerged nozzle according to the present invention includes: a traveling unit provided to be able to travel; a gripper part installed on the traveling part and separating the immersion nozzle from the tundish by gripping it; a crushing unit installed in the traveling unit and inserted into the immersion nozzle to crush foreign substances; and an injection unit installed in the traveling unit and configured to inject an inert gas into the immersion nozzle to remove the foreign material; includes

In addition, the gripper part may include a gripper member having a first gripper for gripping a periphery of one side of the immersion nozzle and a second gripper rotatably coupled to the first gripper and gripping the periphery of the other side of the immersion nozzle; a position adjusting unit connected to the first holding unit to change a position of the gripper member; and a holding control unit connected to the second holding unit and configured to open and close the gripper member by relatively rotating the second holding unit with respect to the first holding unit.

In addition, the position adjusting unit may include: a first position adjusting unit installed in the traveling unit and configured to adjust a height of the gripper member; and a second position adjusting unit connected to the first position adjusting unit and adjusting an extended length of the gripper member.

In addition, the crushing unit, the frame portion fixed to the traveling unit; and a crushing member coupled to the frame, inserted into one side of the immersion nozzle, and crushing foreign substances by reciprocating movement.

In addition, the width of the crushing member toward the end becomes narrower.

In addition, it extends from the traveling part, the separation preventing part for supporting the other side of the immersion nozzle; further includes.

In addition, the injection unit is installed in the traveling unit, the storage unit for storing the inert gas; and an injection unit communicating with the storage unit and injecting the inert gas through a discharge port provided in the immersion nozzle.

In addition, the driving unit, the gripper unit, a control unit for controlling the operation of the injection unit and the crushing unit; further includes.

As the submerged nozzle cleaning apparatus according to the present invention can actively remove foreign substances inside the submerged nozzle, it is possible to prevent damage to equipment due to clogging of the submerged nozzle.

In addition, since the submerged nozzle cleaning apparatus according to the present invention can firmly grip the submerged nozzle by the gripper unit, the submerged nozzle can be separated from the tundish without extinguishing the tundish preheater.

In addition, the submerged nozzle cleaning apparatus according to the present invention can efficiently and quickly remove foreign substances by directly applying a physical impact to the foreign substances accumulated inside the submerged nozzle by the crushing unit.

In addition, the submerged nozzle cleaning apparatus according to the present invention can discharge foreign substances to the outside of the submerged nozzle by injecting an inert gas into the submerged nozzle by the injection unit and at the same time prevent oxidation of the submerged nozzle by contact with external air. have.

In addition, the submerged nozzle cleaning apparatus according to the present invention can prevent the submerged nozzle from being separated from the gripper part by firmly supporting the submerged nozzle during the crushing operation of the crushing part by the separation preventing part.

In addition, the immersion nozzle cleaning apparatus according to the present invention can prevent the operator from directly contacting the high temperature immersion nozzle as it can remotely perform the foreign matter removal operation of the immersion nozzle by the control unit, thereby preventing a safety accident. .

1 is an installation state diagram schematically showing an installation state of an immersion nozzle cleaning apparatus according to an embodiment of the present invention.
2 is a side view schematically showing the configuration of an immersion nozzle cleaning apparatus according to an embodiment of the present invention.
3 is a perspective view schematically showing the configuration of an immersion nozzle cleaning apparatus according to an embodiment of the present invention.
4 is an exploded perspective view schematically showing the configuration of an immersion nozzle cleaning apparatus according to an embodiment of the present invention.
5 is an enlarged view schematically illustrating a configuration of a gripper unit according to an embodiment of the present invention.
6 is an enlarged view schematically illustrating the configuration of an injection unit according to an embodiment of the present invention.
7 is an enlarged view schematically showing the configuration of a crusher according to an embodiment of the present invention.
8 is a flowchart schematically illustrating an operation process of a control unit according to an embodiment of the present invention.
9 to 12 are operational diagrams schematically showing the operating state of the immersion nozzle cleaning apparatus according to an embodiment of the present invention.

Hereinafter, an embodiment of an immersion nozzle cleaning apparatus according to the present invention will be described with reference to the accompanying drawings.

In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to intentions or customs of users and operators. Therefore, definitions of these terms should be made based on the content throughout this specification.

In addition, in this specification, when it is said that a certain part is "connected (or connected)" with another part, it is not only "directly connected (or connected)", but also "directly connected (or connected)" with another member interposed therebetween. Indirectly connected (or connected)” is included. In this specification, when a part "includes (or includes)" a certain component, it does not exclude other components unless otherwise stated, but further "includes (or includes)" other components. means you can

Also, like reference numerals may refer to like elements throughout this specification. Even if the same or similar reference signs are not mentioned or described in a particular drawing, the reference signs may be described based on different drawings. In addition, even if there are parts to which reference numerals are not indicated in specific drawings, those parts may be described based on other drawings. In addition, the relative differences in the number, shape, size, and size of detailed components included in the drawings of the present application are set for convenience of understanding, and do not limit the embodiments and may be implemented in various forms.

1 is an installation state diagram schematically showing an installation state of an immersion nozzle cleaning apparatus according to an embodiment of the present invention.

Referring to FIG. 1 , a tundish 3 for receiving and temporarily storing molten steel from the ladle 4 is installed at the lower portion of the ladle 4 for accommodating the molten steel generated in the steelmaking furnace (not shown). .

A submerged entry nozzle 2 for directly injecting the molten steel stored in the tundish 3 into a mold (not shown) without contact with the atmosphere is connected to the lower portion of the tundish 3 .

The immersion nozzle 2 is formed in a substantially cylindrical shape, and the upper end communicates with the tundish 3 . A discharge port 2a for discharging the molten steel supplied from the tundish 3 into the mold is disposed on the lower side of the submerged nozzle 2 in the circumferential direction of the submerged nozzle 2 . The immersion nozzle 2 may include a refractory material such as Al2O3, SiO2, B2O3, zirconia (ZrO2), graphite, and quicklime (CaO) to prevent damage due to high-temperature molten steel.

The immersion nozzle cleaning apparatus 1 according to an embodiment of the present invention is blocked by the immersion nozzle 2 by foreign substances such as foreign substances due to cracks in the immersion nozzle 2 or refractory materials dropped from the inside of the tundish 3 When this occurs, the immersion nozzle 2 is separated from the tundish 3 and the immersion nozzle 2 is provided to remove foreign substances from the inside.

2 is a side view schematically showing the configuration of an immersion nozzle cleaning apparatus according to an embodiment of the present invention, and FIG. 3 is a perspective view schematically showing the configuration of an immersion nozzle cleaning apparatus according to an embodiment of the present invention, FIG. 4 is an exploded perspective view schematically showing the configuration of an immersion nozzle cleaning apparatus according to an embodiment of the present invention.

1 to 4 , the submerged nozzle cleaning apparatus 1 according to an embodiment of the present invention includes a traveling unit 100 , a gripper unit 200 , an injection unit 300 , a crushing unit 400 , and a detachment. It includes a prevention unit 500 and a control unit 600 .

The driving unit 100 is provided to be able to travel on the ground. The traveling unit 100 according to an embodiment of the present invention may include a body 110 and a traveling member 120 .

The body part 110 forms the overall appearance of the traveling part 100, and the configuration of the gripper part 200, the injection part 300, the crushing part 400, the separation prevention part 500, etc. can be installed. make space The body portion 110 may include a material having high rigidity, such as metal, to sufficiently well withstand the load caused by the installed configuration. The body part 100 according to an embodiment of the present invention may be formed in a box shape with an empty interior. The upper portion of the body 110 is provided with a coupling portion 111 that is formed to be connectable to the crushing unit 400 to be described later to fix the crushing unit 400 to the body 110 . A hole-shaped opening 112 may be formed in the front of the body 110 so that the gripper 200 to be described later can extend to the outside of the body 110 .

The traveling member 120 is provided in the shape of a wheel rotatably connected to the lower portion of the body 110 . The traveling member 110 is connected to an actuator that may be exemplified by an electric motor installed inside the body 110 . The traveling member 110 may move the body 110 on the ground as it is rotated by receiving power from the actuator.

The gripper unit 200 is installed on the traveling unit 100 , and extends forward of the traveling unit 100 to grip the immersion nozzle 2 . The gripper part 200 is provided so that the position can be changed. Accordingly, the gripper unit 200 separates the immersion nozzle 2 from the tundish 3 in a state of gripping the immersion nozzle 2, or separates the immersion nozzle 2 from the injection unit 300 and the crushing unit 400. It is possible to perform an operation of placing it to the working position of

5 is an enlarged view schematically illustrating a configuration of a gripper unit according to an embodiment of the present invention.

3 and 5 , the gripper unit 200 according to an embodiment of the present invention includes a gripper member 210 , a position adjusting unit 220 , and a gripping adjusting unit 230 .

The gripper member 210 is brought into contact with the outer periphery of the submerged nozzle 2 to grip the submerged nozzle 2 . The gripper member 210 may include a fire-resistant material to prevent thermal damage caused by direct contact with the high-temperature immersion nozzle 2 . The gripper member 210 according to an embodiment of the present invention includes a first gripper 211 and a second gripper 212 .

The first gripper 211 is formed to have a substantially semicircular cross-section, and grips the circumference of one side of the submerged nozzle 2 as the inner circumferential surface is in contact with the outer circumferential surface of the submerged nozzle 2 . The first gripper 211 may be formed so that the curvature of the inner circumferential surface corresponds to the curvature of the outer circumferential surface of the submerged nozzle 2 so as to stably grip the submerged nozzle 2 .

The second gripping part 212 is formed to have a substantially semicircular cross-section, and as the inner circumferential surface of the submerged nozzle 2 comes into contact with the remaining outer circumferential surface to which the first gripping part 211 of the submerged nozzle 2 is not in contact, the other side of the submerged nozzle 2 Grip around The second gripper 212 is rotatably coupled to the end of one side (the left side of FIG. 5 ) by a hinge connection, etc. Accordingly, the second gripper 212 rotates about one end of the axis and opens and closes a space in which the immersion nozzle 2 formed by the inner peripheral surfaces of the first gripper 211 and the second gripper 212 is gripped. can

The positioning unit 220 supports the gripper member 210 with respect to the traveling unit 100 , and is connected to the first gripper 211 to change the position of the gripper member 210 . The position adjusting unit 220 according to an embodiment of the present invention may include a first position adjusting unit 221 and a second position adjusting unit 222 .

The first position adjusting unit 221 is installed in the traveling unit 100 and adjusts the height of the gripper member 210 as it expands and contracts in a direction perpendicular to the ground. The first position adjusting unit 221 is indirectly connected to the first holding unit 211 by a second position adjusting unit 221 to be described later. The first position adjusting unit 221 according to an embodiment of the present invention is disposed inside the body portion 110 and includes a first driving unit 221a that generates power by an electric motor, hydraulic pressure, pneumatic pressure, and the like, and the first The first cylinder 221b may be expanded and contracted by receiving power from the driving unit 221a and disposed in a direction perpendicular to the ground.

One side of the second position adjusting unit 222 is connected to the first position adjusting unit 221 , and the length of the gripper member 210 extending forward of the traveling unit 100 is adjusted. The second position adjusting unit 222 has the other side connected to the first gripping unit 211 to interconnect the first position adjusting unit 221 and the gripper unit 210 . The second position adjusting unit 222 according to an embodiment of the present invention is connected to the end of the first cylinder 221b, and a second driving unit 222a for generating power by an electric motor, hydraulic pressure, pneumatic, etc.; It may include a second cylinder 222b that is stretched and contracted by receiving power from the second driving unit 222a.

The second cylinder 222b is disposed in a direction horizontal to the ground. The end of the second cylinder 222b protrudes forward of the body 110 through the opening 112 and is integrally connected to the outer surface of the first gripper 211 by welding, bolting, or the like.

The holding control unit 230 is connected to the second holding unit 212 , and rotates the second holding unit 212 relative to the first holding unit 211 to open and close the gripper member 210 . The grip control unit 230 according to an embodiment of the present invention is connected to the side surface of the second cylinder 222b by welding, bolting, etc., and a gripping drive unit 231 for generating power by an electric motor, hydraulic pressure, pneumatic pressure, etc. , may include a gripping cylinder 232 that is stretched and contracted by receiving power from the first gripping driving unit 231 .

The gripping cylinder 232 is disposed in a direction parallel to the second cylinder 222b. The gripping cylinder 232 has an end rotatably coupled to the outer surface of the second gripping part 212 by hinge coupling or the like. Accordingly, the holding cylinder 232 can smoothly convert the linear motion caused by the expansion and contraction into the rotational motion of the second holding unit 212 .

The injection unit 300 is installed in the traveling unit 100 , and injects an inert gas into the interior of the submerged nozzle 2 , more specifically, the discharge port 2a at the bottom of the submerged nozzle 2 . Accordingly, the injection unit 300 can remove foreign substances that have been crushed by the crushing unit 400 to be described later by the injection pressure of the inert gas or accumulated in the immersion nozzle 2, and the immersion nozzle 2 by the inert gas ) or oxidation of the tundish 3 can be prevented. In this case, the inert gas may be exemplified as argon (Ar) gas.

6 is an enlarged view schematically illustrating the configuration of an injection unit according to an embodiment of the present invention.

3 and 6 , the injection unit 300 according to an embodiment of the present invention includes a storage unit 310 and an injection unit 320 .

The storage unit 310 is installed in the traveling unit 100 , and an inert gas is stored therein. The storage unit 310 according to an embodiment of the present invention may be formed in the form of a storage tank disposed at the rear of the body unit 110 . The inert gas is stored in the storage unit 310 to form a predetermined pressure, so that it can smoothly flow to the injection unit 320 to be described later. Accordingly, the storage unit 310 may include a material such as metal that can withstand high pressure.

The injection unit 320 communicates with the storage unit 310 and injects an inert gas into the discharge port 2a provided at the lower end of the immersion nozzle 2 . The injection unit 320 according to an embodiment of the present invention is formed so that one side has the shape of a tube communicating with the storage unit 310 , is provided as a pair, and is disposed on both sides of the lower end of the body unit 110 . The end of the injection unit 320 is disposed to face the discharge port 2a when the immersion nozzle 2 is gripped by the gripper unit 200 . The end of the injection unit 320 may be provided in the form of a nozzle to inject the inert gas to the discharge port 2a. An electromagnetic on/off valve (not shown) connected to the control unit 600 to be described later to control the injection operation of the injection unit 320 may be installed in the injection unit 320 .

The crushing unit 400 is installed in the traveling unit 100 , and the gripper unit 200 is inserted into the submerged nozzle 2 while gripping the submerged nozzle 2 to crush foreign substances. More specifically, the crushing unit 400 removes the foreign material from the submerged nozzle 2 by directly applying a physical impact to the foreign material accumulated inside the submerged nozzle (2).

7 is an enlarged view schematically showing the configuration of a crusher according to an embodiment of the present invention.

3 and 7 , the crushing unit 400 according to an embodiment of the present invention includes a frame unit 410 and a crushing member 420 .

The frame part 410 is fixed to the traveling part 100 and supports the crushing member 420 which will be described later. The frame unit 410 may be detachably coupled to the driving unit 100 to facilitate replacement and management of the crushing unit 400 . The frame portion 410 may include a material with high rigidity, such as metal, to sufficiently well withstand the vibration and load caused by the operation of the crushing member 420 . The frame portion 410 according to an embodiment of the present invention is disposed on the upper portion of the body portion 110 and extends to the outside of the body portion (110). The frame part 410 may be fixed to the body part 110 as one end is fastened to the coupling part 411 provided on the upper part of the body part 110 by bolting or the like. The specific shape of the frame part 410 is not limited to the shape shown in FIG. 7 , and various design changes are possible within the technical idea of a shape capable of supporting the crushing member 420 .

The crushing member 420 is coupled to the frame portion 410 and is inserted into one side of the immersion nozzle 2 to crush foreign substances. The crushing member 420 may reciprocate while being inserted into the immersion nozzle 2 . Accordingly, the crushing member 420 can more effectively remove foreign substances remaining inside the immersion nozzle (2). The crushing member 420 may be formed to have a narrower width toward the end. Accordingly, the crushing member 420 can increase the crushing force applied to the foreign material by reducing the area of the end.

The crushing member 420 according to an embodiment of the present invention receives the driving force from the crushing driving unit 421 that generates a driving force by a motor, inflow, pneumatic, etc., and the crushing driving unit 421, the inside of the submerged nozzle 2 It may include a crushing cylinder 422 that reciprocates and crushes foreign substances. In this case, the end of the crushing cylinder 422 may be provided in the form of a hemisphere, a drill, etc. whose diameter becomes narrower as it goes downward as shown in FIG. 7 . The crushing cylinder 422 has a maximum diameter that corresponds to the inner diameter of the submerged nozzle 2 or has a small value so that insertion into the submerged nozzle 2 is made smoothly.

The separation prevention part 500 extends from the traveling part 100, and supports the other side of the submerged nozzle 2 during the crushing operation of the crushing unit 400, that is, the opposite side of the side into which the crushing unit 400 is inserted. (2) is prevented from being separated from the gripper part 200 . Referring to FIG. 6 , the separation prevention part 500 according to an embodiment of the present invention is disposed at the lower end of the body part 110 , and is formed to have a plate shape extending forward of the body part 110 . The separation preventing part 500 is disposed to face the end of the crushing cylinder 422 , and comes in contact with the lower surface of the submerged nozzle 2 to support the submerged nozzle 2 . The separation prevention unit 500 is disposed at a height at which the discharge port 2a provided in the immersion nozzle 2 can be disposed at a position facing the injection unit 320 .

8 is a flowchart schematically illustrating an operation process of a control unit according to an embodiment of the present invention.

Referring to FIG. 8 , the control unit 600 independently controls the operation of the traveling unit 100 , the gripper unit 200 , the injection unit 300 , and the crushing unit 400 . More specifically, the controller 600 is connected to the driving unit 100 by wire or wirelessly to control the driving direction, speed, and the like of the driving unit 100 . In addition, the control unit 600 is connected to the first position adjusting unit 221 , the second position adjusting unit 222 , and the gripping adjusting unit 230 of the gripper unit 200 by wire or wirelessly, and the first position adjusting unit ( 221), the second position control unit 222, and control the extension length of the grip control unit (230). In addition, the control unit 600 is connected to the electromagnetic on-off valve of the injection unit 300 by wire or wirelessly to control the flow rate of the inert gas flowing inside the injection unit 320 . In addition, the control unit 600 is connected to the crushing member 420 of the crushing unit 400 by wire or wirelessly to control the extension length, the frequency, and the like of the crushing member 420 . Accordingly, the control unit 600 may cause the immersion nozzle cleaning apparatus 1 according to an embodiment of the present invention to remotely perform the foreign matter removal operation of the immersion nozzle 2 . The control unit 600 according to an embodiment of the present invention allows the user to independently control the operation of the driving unit 100 , the gripper unit 200 , the injection unit 300 , and the crushing unit 400 by a switch or a display. It may be exemplified by a remote controller that can be used.

Hereinafter, the operating state of the immersion nozzle cleaning apparatus 1 according to an embodiment of the present invention will be described.

9 to 12 are operational diagrams schematically showing the operating state of the immersion nozzle cleaning apparatus according to an embodiment of the present invention.

1 to 11, foreign substances are accumulated inside the immersion nozzle 3 due to the refractory material falling out from the crack inside the tundish 3 or the immersion nozzle 2, and the immersion nozzle 2 is clogged. In this case, the user drives the driving unit 100 to a position close to the immersion nozzle 2 .

Thereafter, the gripper member 200 is operated in a state in which the communication between the tundish 3 and the immersion nozzle 2 is blocked to separate the immersion nozzle 2 from the tundish 3 . More specifically, the gripping cylinder 232 provided in the gripping control unit 230 is retracted to rotate the second gripper 212 in a clockwise direction (refer to FIG. 5 ) to open the gripper member 210 . After that, the first cylinder 221b and the second cylinder 222b respectively provided in the first position adjusting unit 221 and the second position adjusting unit 222 are stretched and operated to grip the immersion nozzle 2 . Position the gripper member 210 in the position. Thereafter, the gripping cylinder 232 is moved forward again to close the gripper member 210 by rotating the second gripping part 212 in a counterclockwise direction (refer to FIG. 5 ). Accordingly, the first gripper 211 and the second gripper 212 may grip the outer peripheral surface of the immersion nozzle 2 . Thereafter, the first cylinder 221b and the second cylinder 222b are stretched and contracted again to place the immersion nozzle 2 in the working position. That is, as shown in FIG. 12 , the upper end of the immersion nozzle 2 faces and spaced apart from the end of the crushing cylinder 422 , and the lower end is disposed at a position supported by the separation preventing unit 500 .

Thereafter, the crushing unit 400 is operated to crush foreign substances accumulated in the immersion nozzle 2 . More specifically, the crushing drive unit 421 generates a driving force to insert the crushing cylinder 422 into the immersion nozzle (2). Thereafter, the crushing cylinder 422 is stretched and contracted in the longitudinal direction, and the foreign material is separated from the immersion nozzle 2 by repeatedly striking the foreign material by reciprocating movement. In this case, as the end of the crushing cylinder 422 is formed to become narrower as the end thereof is directed downward, it is possible to crush foreign substances with a stronger force. In addition, since the lower end of the submerged nozzle 2 is firmly supported by the separation preventing unit 500 during the crushing operation of the crushing unit 400 , the submerged nozzle 2 may be prevented from being separated from the gripper unit 200 . have.

Thereafter, the injection unit 300 is operated to inject the inert gas into the immersion nozzle 2 through the discharge port 2a. More specifically, the inert gas stored in the storage unit 310 flows into the injection unit 320 as the injection unit 320 is opened by the electromagnetic on/off valve. Thereafter, the inert gas flowing through the injection unit 320 is injected toward the discharge port 2a by a nozzle formed at an end of the injection unit 320 . Accordingly, the foreign substances crushed by the crusher 400 and accumulated at the lower end of the submerged nozzle 2 are discharged to the outside of the submerged nozzle 2 through the discharge port 2a. In addition, oxidation inside the immersion nozzle 2 is prevented by the inert gas.

The above-described operation may be performed remotely by the user independently controlling the driving unit 100 , the gripper unit 200 , the injection unit 300 , and the crushing unit 400 by the control unit 600 .

Although the present invention has been described with reference to the embodiment shown in the drawings, this is merely exemplary, and those of ordinary skill in the art to which various modifications and equivalent other embodiments are possible. will understand

Therefore, the technical protection scope of the present invention should be defined by the following claims.

1: immersion nozzle cleaning device 2: immersion nozzle
3: Tundish 4: Ladle
100: running part 110: body part
111: coupling portion 112: opening
120: traveling member 200: gripper part
210: gripper member 211: first gripping part
212: second gripping unit 220: positioning unit
221: first position adjusting unit 221a: first driving unit
221b: first cylinder 222: second position adjustment unit
222a: second driving part 222b: second cylinder
230: grip control part 231: grip drive part
232: grip cylinder 300: injection part
310: storage unit 320: injection unit
400: crushing part 410: frame part
420: crushing member 421: crushing drive part
422: crushing cylinder 500: separation prevention part
600: control unit

Claims (8)

a driving unit provided to be drivable;
a gripper part installed on the traveling part and separating the immersion nozzle from the tundish by gripping it;
a crushing unit installed in the traveling unit and inserted into the immersion nozzle to crush foreign substances; and
an injection unit installed in the traveling unit and injecting an inert gas into the immersion nozzle to remove the foreign material; and
The gripper unit may include: a gripper member having a first gripper for gripping a periphery of one side of the immersion nozzle and a second gripper rotatably coupled to the first gripper and gripping the periphery of the other side of the immersion nozzle;
a position adjusting unit connected to the first holding unit to change a position of the gripper member; and
and a holding control unit connected to the second holding unit and configured to open and close the gripper member by relatively rotating the second holding unit with respect to the first holding unit;
The grip control unit, the grip driving unit for generating power; and
Including; and a gripping cylinder that is contracted and operated by receiving power from the gripping drive unit.
The gripping cylinder has an end hinge-coupled to the outer surface of the second gripping part to convert a linear motion by expansion and contraction into a rotational motion of the second gripping part,
The crushing unit may include: a frame unit fixed to the traveling unit; and
a crushing member coupled to the frame, inserted into the upper end of the immersion nozzle, and crushing foreign substances by reciprocating movement;
The injection unit may include: a storage unit installed in the traveling unit and storing the inert gas; and
and a spraying unit communicating with the storage unit and injecting the inert gas through a discharge port provided in the immersion nozzle;
The submerged nozzle cleaning apparatus further comprising a; a separation preventing part extending from the traveling part and supporting the lower end of the submerged nozzle.
delete The method of claim 1,
The positioning unit,
a first position adjusting unit installed on the traveling unit and configured to adjust a height of the gripper member; and
a second position adjusting unit connected to the first position adjusting unit and adjusting an extended length of the gripper member;
An immersion nozzle cleaning device comprising a.
delete The method of claim 1,
The submerged nozzle cleaning device, characterized in that the width of the crushing member becomes narrower toward the end.
delete delete 6. The method according to any one of claims 1 to 3, 5,
The submerged nozzle cleaning apparatus further comprising a; a control unit for controlling the operation of the driving unit, the gripper unit, the injection unit, and the crushing unit.

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