201114565 六、發明說明： 【發明所屬之技術領域】 本發明關於一種擴展工作空間的裝置，它可在製鋼生 產線中的工作地點的危險區域中作各種不同的操作方式的 人為工作。 【先前技術】 在冶金工程（hiittentechnisch )與滾壓機工程設備中的 工作活動的特點為高負#、極端的輻射熱、以及需在具有 炫融金屬《成形户斤需之高溫纟的環境中所作的危險的活 動0 【發明内容】 本發明的目的在將工作區域針對以上特點變得有利且 可達成所有需要的措施以將工作過程儘量自動化。 • 1=1 Η- ^ f 服1更户 具^工作區域的位置^式（_i。恤，英·· Stati〇nary 幾益人匕們在冶金及滾麼工程裝置中準確地作持續重名 的'舌動°舉例而言’在國際專利wo 2008/025562 A1提至， 一種位置居定的機器人系統，它在—盛桶⑺贿，英：1邊 :維修架上的一用圍籬圍住的工作區域〔機器人小室 (心广心’英:一叫〕内將-盛桶的⑽ 器人：ί上：在這種解決方案有一有限的工作空間與各機 =二如此’當—機器人故障時，其工作不能由其他 。妾手’此因此需要操作人員用手動方式介入。 201114565 整體上，大量的機器人會使投資及操作成本大大增 加，而不能使機器人的工作空間的可利用性改善。 在這方面的習知解決方案（例如WO 2005 1 18182 A1與 曰本專利JP-A-3-071959 )中，係使用轨條路徑 (Schienenweg ’ 英：rail profile path )或行駛路徑（Fahrweg， 英：driving path)，俾能抵達在一機器人的單一使用範圍 的可達距離之外的各種不同的工作位置或能使機器人由危 險區域中移動出來。 廷些先則技術的缺點為：由於上述系統的地板結合， 對於操作人員有失足（Stolper )之虞及意外之虞。此外， 與地板結合的行駛系統在冶金工程備中由於液體鋼非可能 依計劃地流出因此很容易故障。 此外，這些習知之與地板結合的解決方案，當突然故 障時（例如在轉爐V炫融鑄造操作中）會造成妨礙，且 1得=將操作人員很難迅速及針對問題作密集地調度。此 古k& 7的機械人系統在操作故障時（例如溶融金屬 ^出），有很大的受損壞的危險。 因此本發明的目的在避免上述的缺點，並提供 有至少一機器人系統的裝 的衮置邊裝置可提供大得多的j a間。這種目的也利用一 ^ 種具有申請專利範圍第1項白 ·’、的裝置達成。本發明的赫古201114565 VI. Description of the Invention: [Technical Field] The present invention relates to an apparatus for expanding a work space which can be artificially operated in various different modes of operation in a hazardous area of a work place in a steel production line. [Prior Art] The work activities in the metallurgical engineering (hiittentechnisch) and the rolling mill engineering equipment are characterized by high negative #, extreme radiant heat, and the need to do in an environment with a smouldering metal Dangerous Activity 0 [Disclosure] The object of the invention is to make the work area advantageous for the above features and to achieve all the measures required to automate the work process. • 1=1 Η- ^ f service 1 more households ^ location of the work area ^ (_i. shirt, English · Stati〇nary several people in the metallurgy and rolling engineering equipment accurately continue to re-name The 'tongue movement' is exemplified in the international patent WO 2008/025562 A1, a robot system with a fixed position, which is in a barrel (7) bribe, English: 1 side: a fence on the maintenance rack Living area (robot room) (heart-hearted 'British: a call' inside the general - Sheng barrel (10): 上上: In this solution there is a limited working space with each machine = two so 'when - robot In the event of a failure, the work cannot be done by others. This requires the operator to intervene manually. 201114565 Overall, a large number of robots will greatly increase the investment and operating costs, and will not improve the availability of the robot's workspace. In the conventional solution in this respect (for example, WO 2005 1 18182 A1 and the Japanese patent JP-A-3-071959), a rail path (Schienenweg '英:rail profile path) or a travel path (Fahrweg, English: driving path), you can arrive in one The various working positions outside the reachable range of the person's single use range can make the robot move out of the dangerous area. The disadvantages of the prior art are: due to the floor combination of the above system, the operator has a footstep (Stolper) 虞 意外 意外 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞 虞In the event of a failure (for example, in a converter V smelting and casting operation), it is a hindrance, and it is difficult for the operator to dispatch it in a rapid and problem-oriented manner. The robot system of this ancient k& 7 is malfunctioning (for example The molten metal has a great risk of being damaged. It is therefore an object of the present invention to avoid the above disadvantages and to provide a mounting device for at least one robotic system that provides a much larger ja. The purpose of the invention is also achieved by using a device having the patent term 1st white, '.
附屬項巾。 &有利的設計見於申請專利I 依本發明提供一種擴展 有不同構造、軸數、承載能 別是機器人）。舉例而言， 工作空間的裝置，在此裝置上 力及控制類型的使用器具（特 對於這些使用器具的構造類型 4 201114565 與實施例，可使用拉索機器人（Seilzugn>b()te〇、水平多 關節機器手臂（Scararoboter，英：scara r〇b〇t)及折臂機器 人（Klickarmroboter)、或平行運動機構（paraUelkinamatik) 及其組合。 舉例而5 ’將該（機器人）工作空間擴展的裝置可設 計成橋式吊車（Brtickenkran，英：c削e )形式或門 ^ ( II Π ^ ' Η ^ ^ ^ 4 ( Portalkran > ^ : portal crane ) 形式及/、，’且0如此，將工業機器人的移動運動組合，可 以抵達任意的平面座標或空間座標。 在此，特殊構造方式，例如由工業機器人與一門式吊 車或橋式吊車構成的組合將一擴展工作空間的門座式吊 車或橋式吊車的優點與現代機器人的巨大潛力合而為一， 特別是在使用有變通性的自動化解決方案的場合時。 备叹3十成橋式吊車時，在一個各包含數個工作位置的 區域的上方設有放在支架上方式（aufgestandert，英： on-stand )(亦即攜帶結構——如鷹架或支持件與地板連接） 或不著地（flurfrei)(亦即固定在天花板或壁上者）的「跑 動軌道」（Lanfbahn，英：running track)，在該跑動軌道 上設有至少一個設有行駛機（Fahrwerk)的吊車橋件，該吊 車橋件上又有一同樣設有行駛機的「跑動鉸車」 (Laufkatze，英：running crab )，該跑動鉸車又有一個具 驅動器的導引柱以作垂直運動，且其末端上固定者一個「使 用器具」（Handhabungsgerat)，特別是一折臂機器人，此 使用器具可為垂直豎立著，也可裝在頭頂上方，也可設在 側邊者，各依該使用器具的運動軸與關節的類型而定，造 201114565 成不同形狀的工作空間（從方形、圓柱形'到空間不受制 的形狀者，例如在拉索機器人的場合）。 在橋式吊車構造方式的場合，可使用各種不同的實施 例.叹计成直線橋式吊車。它跨越過其工作範圍，例如一 條線（線式門座）（Linienp〇rtal)，設成懸臂橋式吊車形 式，對於小的距離，另外可垂直於吊車縱軸作附加的運動 〔心 # 門座（Auslegerportal，英：cantilever portal),以 及做成平垣橋式吊車的實施例〕，其中該使用器具可在很 大面積範圍作任意定位（平面橋件）。 在相同的吊車構件上，可有利地將一傳統的升降絞車 (Hubwinde )設到此使用器具。 在設計成門式吊車的構形的場合，在一個包含各數個 乍4置的區域上方设有與地板結合的跑動軌道以供攜帶 結構/鷹架之用。這種方式可做成二種變更例：㈧在地板 上延伸的轨條跑動執道/轨跑動軌道，或（B)設計成無轨道 的輪式/履帶式變更例。另外的構造對應於橋式吊車構造 者。 各依所選設的擴展空間的裝置的實施例（直線懸臂與 平面門座），對應地產生直線形或平面式或立體式的工作 空間擴展作用。 在此（機械人式）工作空間擴展裝置，當其構造呈橋 式吊車與門式吊車的構造時，跑動轨道設在攜帶結構上（放 在支架上的構造方式）以及另外設在地板上’以將攜帶結 構及/或鷹架移行。這種方式也可做成二種變更例，如上 述0 6 201114565 由於該裝置的造形跨越數個工作位置，故在與轨條 (schiene ’ 英：rail pr〇file)及鋼轨（⑴仏，英：steei ’、、° s的構造方式的場合，該跑動執道可設在受流出之液態 鋼威脅的危險區域之外。 然而，上述裝置用於冶金及滾壓工程裝置的應用（熱 區域、數百公斤到以噸計算的重部件在大形及重機械的場 合的應用中的操作及運送）的要求，比起一般的機械構造 的領域更複雜。所述之結構係對應地穩定及強度。 每種有利地選設的實施例可使得在該由擴展工作空間 的裝置造成的工作區域之内的各個點都能到達，且因此可 和任意多的數目的工作位置相關聯。 如果此所選設的實施方式另外與一種動態的安全構想 結合，則一種自動化系統的所有優點（就經濟性、工作安 全性、程序最佳化及產量提高方面而言）可完全達到。 如此有利地選設的實施方式可使該利用該門座所給予Subsidiary towel. An advantageous design is found in the patent application I. According to the invention, an extension is provided with different configurations, the number of axes, and the carrying capacity is a robot). For example, a device for a work space, a device for use on a force and a control type of the device (specifically for the type of construction of the device 4 201114565 and the embodiment, a cable robot (Seilzugn>b() te〇, level can be used) Multi-joint robotic arm (Scararoboter, English: scara r〇b〇t) and knuckle arm robot (Klickarmroboter), or parallel movement mechanism (paraUelkinamatik) and their combinations. For example, the device for expanding the (robot) workspace can be Designed as a bridge crane (Brtickenkran, English: c-cut e) form or door ^ ( II Π ^ ' Η ^ ^ ^ 4 (Portalkran > ^ : portal crane ) form and /,, and 0, so industrial robot The combination of mobile motions can reach any plane coordinates or space coordinates. Here, special construction methods, such as the combination of industrial robots and a gantry crane or overhead crane, will be a portal crane or bridge that expands the working space. The advantages of the crane are combined with the enormous potential of modern robots, especially when using flexible automation solutions. In the case of a bridge crane, there is a bracket on top of an area containing several working positions (aufgestandert, English: on-stand) (ie carrying structure - such as a scaffold or support to the floor) Or "runffrahn" (also known as the "running track"), which has at least one running gear (Fahrwerk) on the running track. a crane bridge member, which also has a "Laufkatze" (running crab) with a driving machine, and the running hinge has a guide post with a drive for vertical Exercise, and the end of the fixed one "Handhabungsgerat" (Handhabungsgerat), especially a folding arm robot, the device can be vertically erected, can also be placed above the head, can also be placed on the side, each relying Depending on the type of motion axis of the appliance and the type of joint, the 201114565 can be made into different shapes of work space (from square, cylindrical 'to the shape of the space, such as in the case of cable robots). In the case of the vehicle construction, various embodiments can be used. The sigh is a straight-line bridge crane. It spans its working range, for example, a line (lined door seat) (Linienp〇rtal), set as a cantilever bridge crane Form, for small distances, additionally for additional movement perpendicular to the longitudinal axis of the crane (Auslegerportal, cantilever portal, and an embodiment of a flat bridge crane), wherein the appliance can be used A large area is used for arbitrary positioning (planar bridge). On the same crane component, a conventional lift winch (Hubwinde) can advantageously be provided to the appliance. In the case of a gantry crane configuration, a running track combined with the floor is provided above the area containing each of the plurality of rafts 4 for carrying the structure/eagle. This can be done in two variants: (8) a track running on the floor or a track running track, or (B) a wheel/track type change designed as a trackless. The other configuration corresponds to the bridge crane constructor. Embodiments of the device according to the selected expansion space (linear cantilever and planar door base) correspondingly produce a linear or planar or three-dimensional working space expansion. In this (mechanical) work space expansion device, when it is constructed in the form of a bridge crane and a gantry crane, the running track is provided on the carrying structure (the configuration on the bracket) and additionally on the floor. 'To move the carrying structure and / or the scaffold. This method can also be made into two kinds of modifications, such as the above 0 6 201114565. Since the shape of the device spans several working positions, it is in the schiene 's: rail pr〇 file and the rail ((1)仏, English: Where the structure of steei ', ° s, the running way can be set outside the dangerous area threatened by the outflow of liquid steel. However, the above device is used in metallurgy and rolling engineering applications (heat The requirements for the operation and transportation of heavy components in areas ranging from hundreds of kilograms to tons in large and heavy machinery applications are more complex than in the field of general mechanical construction. The structures are correspondingly stable. And each of the advantageously selected embodiments can be achieved at various points within the working area caused by the device that extends the workspace, and thus can be associated with any number of working locations. The chosen implementation is additionally combined with a dynamic safety concept, all the advantages of an automation system (in terms of economy, work safety, program optimization and yield improvement) It can be fully achieved. Advantageously so selected from the embodiments provided to enable the use of the given portal
使工場地板與工作平台沒有障礙。 在該使用器具的可變通性的 實施方式（ 自動化的解決方案的一種There are no obstacles to the floor and work platform of the workshop. An embodiment of the flexibility of the use of the appliance (a type of automated solution)
展空間的裝置還有另一優點，因 人的活動空間儘量遠之處（工 因為該使用器具可保持在離 作者在工場地板位面，使用 201114565 器具在該位面上方）。 也可視需要，除了該系統外，還做連線接到該程序引 導系統’因此實際上的操作模 <、工4乍進度以及感測器的 觀察情形可另外被通知。 此外本發明還包含一種方法，用於將至少一使用器具 (Handhabungsgeit，英：appliance)結合在該擴展工作空 間的裝置上以在該設備的區域作操作，其特徵在：由一程 序電腦或由一中央引導裝置將控制信號送到該擴展工作空 間的裝置及/或該使用器具。 圖式中顯示在一連續铸造設備的鑄造平台上的各種不 同圖之實施例。 【實施方式】 圖1的示意上視圖顯示一鑄造機（73)，其中可看到該擴 展工作空間的裝置設計成橋式吊車形式。在此，該橋式吊 車涵蓋签個鑄造平台的寬度，因此機器人（R7)可移到不同的 工作位置。在此，機器人設在一跑動車具（Laufkatze) (71) 上，可利用一伸縮裝置（72)垂直運動，該跑動車具（71)再以 可運動的方式設在一吊車橋件（76)上，該吊車橋件再以可動 方式設在二個牢設的吊車轨道（Kranbahn，英：crane ) /跑動轨條（Lanfschiene，英：running ⑽ pr〇fUe) (7〇) 上。吊車轨道（70)設在一攜帶器/鷹架（85)上。因此該三條 互相垂直設置的軸造成一種三度空間之立體運動空間，除 了—個可如此行駛的機器人（R7)(它對於各種要執行的工作 活動而言係充分足夠者）外’還可如圖示設二個工業機器 8 201114565 人（R7)，它們在共同的吊車執道（7〇)上運動。如果在鑄造位 置有「分配流槽」（75)，則圖1中右邊之具有跑動車具（71) 與機器人（R7)的吊車橋件（86)與該分配流槽（75)配合，而在 圖中左邊的吊車橋件、跑動車具及機器人則與左邊的分配 流槽配合，舉例而言，用於作維修目的。 如此說明了所作之工作空間擴展的原理，在此例中， 工作範圍甚至有一部分在被擴展工作空間的裝置所圍住的 空間之外，利用一種呈折臂機器人形式的實施例，在此例 中，機器人（R7)也在該利用攜帶結構界定的區域之外作活 動。 在此，該機器人可與一「感測器機器人」（圖未示） 耦合，該感測器機器人可使機器人（R7)的工作活動的地點與 範圍準確地檢出，且如有必要，可在一螢幕上顯示給操作 人員看。此設在一「分配流槽車」（圖未示）i的分配流 槽（7 5 )則除了和該鑄造機器人（R 7 )外也如此感測機器人配 合。 在一種門式吊車或構式吊車的實施例，該工業機器人 係D又在頭上方以及設在側面。此機器人可從一工具位置移 行到另一工作位置（其機器人臂可為活化或去活化者）。 門式吊車或橋式帝車的實施例的特點優點，舉例而古，係 在於該鑄造機⑼或那些要由各工業機器（R7)操作的冶金 及滾壓機刼作工作區域保持地板淨空狀態而可自由地到 達。因為機器人係可由上放人此卫作區域進去，這點特別 =就要執行的準備（Riist)過程以及監視活動而言以及在故 障的情形而言都很有利。 9 201114565 如此所示的鑄造機器人（R7)可在該「鋼铸造盛桶 後，在鑄造平台上及上方的不同位置作不同的活動 的，這些活動有：將鑄造套筒（Gie_lse)放置，將隱 管（Schatt刪hr)(78m合及_ (圖2)，將盛桶移^ 封閉件活化’如有必要’利用-氧吹氣搶將盛桶作吹二 (Aufbrennen)或將該隱藏管（78)清洗。在分配器區域中: 鑄造機器人（R7)作測量活動，例如測量分配器流槽（75)中的 槽液位面高度、測量分配器流槽(75)中熔融物的溫度從分 配器流槽（75) _將熔融物的檢體取出，如要必要，將「覆蓋 粉末」（Abdeckpulver)施到分配流槽（75)中的熔融物上。 為此，該鑄造機器人（R7)如有必要，可設以一測量工具及取 檢體（取樣）工具，且可設有一施加覆蓋粉末的工具。在 錠模的區域，一鑄造機器人（R7)可在分配流槽（75)下方作將 鑄造粉末施到鑄造位面上的活動，以及將鑄造粉末烘著 (Anbackung)的情形檢出及排除。在此情形，鑄造機器人 (R7)再設以一工具以施鑄造粉末’或設以一工具以除去烘著 渣。鑄造機器人（R7)可在錠模區域作另外之活動，以在鑄造 時，更換浸管（Tauchrohr)(圖未示）。同樣地，在錠模 區域中，鑄造機器人（R7)執行檻（Korb，英：cage)或隔離 板的設置工作，以供不同鋼品質的鑄造之用，其中該工業 機器人（R7)可在該處將複合檻（verbundk〇rb)或一隔離板 設置》 請看圖3 ’該呈橋式吊車構形（4)的擴展工作空間的裝 置涵蓋了鑄造平台的整個寬度範圍。在此實施例中，宜設 有二個吊車橋件’它們呈轨條（5a)(5b)形式，各具有一跑動 10 201114565 車具（6a)(6b)及各-個通用機器人（ri)(r2)。如果分配流槽 (vi)位在鑄造位置，則該具有跑動車具（6a)及機器人⑻）的 吊車橋件⑽與它配合。如此該吊車橋件⑼）就隨跑動車且 ⑽)及機器人（R2)在分配流槽（V2)作需要的工作。 '、 3顯示該機器人的運動空間藉著將機器人工作 的垂直移動而擴展。在此可看 理。 你此』看到所作之工作空間擴展的原 的另一例子係為設有數個傾轉枱 。在此處要作煉鋼廠中的鑄造盛 本發明的裝置的應用 (Kippstuhl )的盛桶位置 桶的維修工作。 L鬩式簡單說明】 在-鎮造機中的-橋式吊車的上視圖； 圖 係在一禱造機上的一門式吊車/橋式吊車的側視 圖 視圖 係—與一鑄造機相關的門式或橋式吊車的另 側 【主要 (5a) (5b) (6a) (6b) (70) (71) 元件符號說明】 吊車橋件 吊車橋件 跑動車具 跑動車具 跑動軌條 跑動車具 (軌條） (軌條） 201114565 (72) ' 伸縮管裝置 (73) 鎮造機 (74) 鋼鑄造盛桶 (75) 分配流槽 (76) 吊車橋件 (78) 隱藏管 (85) 攜帶器/鷹架 (86) 吊車橋件 (R1)〜（R7) 機器人 (VI) 分配流槽 (V2) 分配流槽 12There is another advantage to the space-expanding device, because the person's activity space is as far as possible (worker because the device can be kept away from the author's floor in the workshop floor, using the 201114565 appliance above the plane). It is also possible to connect to the program guidance system in addition to the system as needed. Therefore, the actual operation mode, the progress of the work, and the observation of the sensor can be additionally notified. Furthermore, the invention also comprises a method for incorporating at least one device for use in the device of the extended workspace for operation in the region of the device, characterized by: a computer or by A central guiding device sends control signals to the device and/or the instrument for use in the extended workspace. The figures show various embodiments of different figures on a casting platform of a continuous casting apparatus. [Embodiment] The schematic top view of Fig. 1 shows a casting machine (73) in which the device for expanding the working space is designed in the form of a bridge crane. Here, the overhead crane covers the width of the casting platform, so the robot (R7) can be moved to different working positions. Here, the robot is arranged on a running vehicle (Laufkatze) (71), which can be vertically moved by a telescopic device (72), which is then movably arranged in a crane bridge member (76). On the other hand, the crane bridge is movably placed on two fixed crane tracks (Kranbahn, English: crane) / running rails (Lanfschiene, English: running (10) pr〇fUe) (7〇). The crane track (70) is placed on a carrier/rack (85). Therefore, the three axes arranged perpendicularly to each other create a three-dimensional space of three-dimensional motion, except for a robot (R7) that can be driven in this way (it is sufficient for various work activities to be performed) The picture shows two industrial machines 8 201114565 people (R7), they move on the common crane road (7 〇). If there is a "distribution flow channel" (75) in the casting position, the crane bridge member (86) having the running vehicle (71) and the robot (R7) on the right side in Fig. 1 cooperates with the distribution flow channel (75), and The crane bridges, running gear and robots on the left in the figure are matched with the distribution chute on the left, for example for maintenance purposes. This explains the principle of the working space expansion, in this case, even a part of the working area is outside the space enclosed by the device of the extended working space, using an embodiment in the form of a folding arm robot, in this case In the middle, the robot (R7) also acts outside the area defined by the carrying structure. Here, the robot can be coupled to a "sensor robot" (not shown) that can accurately detect the location and range of the robot's (R7) work activity, and if necessary, Displayed on the screen for the operator to see. The distribution flow (75), which is provided in a "distribution flow car" (not shown) i, senses the robot engagement in addition to the casting robot (R 7 ). In an embodiment of a gantry crane or a construction crane, the industrial robot D is again above the head and on the side. This robot can be moved from one tool position to another (its robot arm can be activated or deactivated). The characteristic advantages of the embodiment of the gantry crane or the bridge-type trolley are, for example, the casting machine (9) or the metallurgical and rolling machine to be operated by each industrial machine (R7) to maintain the floor clearance state. It is free to arrive. Since the robot can be moved in by this person, it is particularly advantageous in terms of the Riist process and the monitoring activities as well as in the case of failure. 9 201114565 The casting robot (R7) thus shown can perform different activities on the casting platform and at different positions above the steel casting barrel. These activities include: placing the casting sleeve (Gie_lse), Hidden tube (Schatt cut hr) (78m combined with _ (Fig. 2), the barrel is moved ^ the closure is activated 'if necessary' with - oxygen blowing to grab the barrel as the second (Aufbrennen) or the hidden tube (78) Cleaning. In the distributor area: The casting robot (R7) is used for measuring activities, such as measuring the tank level in the distributor chute (75) and measuring the temperature of the melt in the distributor chute (75). The sample of the melt is taken out from the distributor chute (75), and if necessary, "Abdeckpulver" is applied to the melt in the distribution chute (75). To this end, the casting robot ( R7) If necessary, a measuring tool and a sample taking (sampling) tool may be provided, and a tool for applying the covering powder may be provided. In the area of the ingot mold, a casting robot (R7) may be in the distribution flow cell (75). Underneath the activity of applying the cast powder to the casting plane, and casting the powder The case of the Anbackung is detected and eliminated. In this case, the casting robot (R7) is further provided with a tool to cast the powder 'or a tool to remove the baking residue. The casting robot (R7) can be The ingot mold area is additionally acted upon to replace the dip tube (not shown) during casting. Similarly, in the ingot mold area, the casting robot (R7) performs 槛 (Korb, English: cage) or isolation The board is set up for casting of different steel qualities, where the industrial robot (R7) can be used to set the composite 槛 (verbundk〇rb) or a spacer. See Figure 3 'The bridge crane The device for expanding the working space of configuration (4) covers the entire width range of the casting platform. In this embodiment, two crane bridge members are preferably provided, which are in the form of rails (5a) (5b), each having a Run 10 201114565 Vehicle (6a) (6b) and each general robot (ri) (r2). If the distribution chute (vi) is in the casting position, the running vehicle (6a) and the robot (8) The crane bridge (10) is fitted with it. Thus, the crane bridge member (9)) follows the running vehicle and (10)) and the robot (R2) performs the required work in the distribution flow channel (V2). ', 3 shows that the robot's motion space is expanded by moving the robot's vertical movement. It can be seen here. Another example of the original work space that you see here is that there are several tilting stations. Here, it is necessary to make a casting in the steelmaking plant. The application of the device of the present invention (Kippstuhl) is in the position of the barrel. A simple view of the L阋 type] a top view of a bridge crane in a town-making machine; a side view view of a gantry/bridge crane on a prayer machine - a door type associated with a casting machine or The other side of the overhead crane [Main (5a) (5b) (6a) (6b) (70) (71) Component symbol description] Crane bridge crane bridge running gear running gear running track running gear ( Rails) (rails) 201114565 (72) ' Telescopic tube installations (73) Town making machines (74) Steel casting barrels (75) Distribution flow channels (76) Crane bridges (78) Concealed tubes (85) Carriers / Eagle (86) Crane Bridge (R1) ~ (R7) Robot (VI) Distribution Flow (V2) Distribution Flow 12