CN109332621A - A kind of device suitable for intelligent automation operation on continuous casting platform - Google Patents
A kind of device suitable for intelligent automation operation on continuous casting platform Download PDFInfo
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- CN109332621A CN109332621A CN201811197308.4A CN201811197308A CN109332621A CN 109332621 A CN109332621 A CN 109332621A CN 201811197308 A CN201811197308 A CN 201811197308A CN 109332621 A CN109332621 A CN 109332621A
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- Prior art keywords
- long nozzle
- repository
- cylinder
- continuous casting
- sampler
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/14—Plants for continuous casting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/10—Supplying or treating molten metal
- B22D11/108—Feeding additives, powders, or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/16—Controlling or regulating processes or operations
- B22D11/18—Controlling or regulating processes or operations for pouring
- B22D11/181—Controlling or regulating processes or operations for pouring responsive to molten metal level or slag level
- B22D11/182—Controlling or regulating processes or operations for pouring responsive to molten metal level or slag level by measuring temperature
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
- B22D41/50—Pouring-nozzles
- B22D41/56—Means for supporting, manipulating or changing a pouring-nozzle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
A kind of device suitable for intelligent automation operation on continuous casting platform, belong to technical field of metallurgical machinery, the present invention generallys use the manually mode that operates at the scene to solve current continuous casting platform and realizes, this mode large labor intensity, working efficiency are low and are chronically at personnel in severe working environment, the problem of damaging to operator's health.The side of continuous casting platform is successively arranged thermometric sample storer, thermal detector recycling bins, sampler recycling bins, robot and coverture conveying device, and the other side of continuous casting platform is disposed with long nozzle robot and long nozzle access device.A kind of device suitable for intelligent automation operation on continuous casting platform of the invention can the completion thermometric of efficiently and accurately, sampling, addition coverture, replacement long nozzle, oxygen blast burn the processes such as mouth and addition gasket, greatly reduce operating personnel and residence time on continuous casting platform.
Description
Technical field
The present invention relates to a kind of automated job devices, and in particular to one kind is suitable for intelligent automation operation on continuous casting platform
Device, belong to technical field of metallurgical machinery.
Background technique
In steel production enterprise, live many places are in high temperature, environment dusty, coal gas, and molten steel on continuous casting platform
The processes such as thermometric, sampling, addition coverture and replacement long nozzle, generally use the mode manually operated at the scene at present and realize.
This mode large labor intensity, working efficiency are low and are chronically at personnel in severe working environment, to operator's health
It damages.
Summary of the invention
The object of the present invention is to provide a kind of devices suitable for intelligent automation operation on continuous casting platform, to solve tradition even
The work cast between platform each process is manual type, and this mode large labor intensity, working efficiency is low and locates personnel for a long time
In severe working environment, the problem of being damaged to operator's health.
A kind of device suitable for intelligent automation operation on continuous casting platform includes thermometric sample storer, coverture conveying dress
It sets, long nozzle robot, long nozzle access device, gasket storage device, long nozzle recycling bins, thermal detector recycling bins, sampling
Device recycling bins and robot；
Continuous casting platform is equipped with multiple stations, and thermometric sample storer, thermal detector recycling bins, sampler are equipped on each station
Recycling bins, coverture conveying device, long nozzle robot, long nozzle access device, gasket storage device, long nozzle recycling bins
And robot；Wherein thermometric sample storer and robot cooperation complete storage and take out the operating condition of thermal detector and sampler, cover
Lid and conveying device can be completed to replace the operating condition of long nozzle for adding coverture work, long nozzle robot, and long nozzle is deposited
Take device for storing long nozzle, gasket storage device, which is used to cooperate with long nozzle robot, completes long nozzle installation gasket
Operating condition, robot is used to operate the operating condition that thermal detector and sampler complete thermometric and sampling, and by the thermal detector after using
It is recovered in thermal detector recycling bins and sampler recycling bins with sampler
It is preferred: thermometric sample storer include first support, second support, longitudinal moving mechanism, thermal detector repository,
Sampler repository, transverse moving mechanism；
First support (is fixedly connected by connecting rod with second support, thermal detector repository and sampler repository are erected at
In first support, it is each provided with a longitudinal moving mechanism below thermal detector repository and sampler repository, vertically moves
Mechanism is mounted in first support, and longitudinal moving mechanism is for accepting in thermal detector repository or sampler repository by gravity
Transverse shifting machine is symmetrically arranged on the inside of the thermal detector or sampler of free-falling, thermal detector repository and sampler repository
Structure, transverse moving mechanism are used to grabbing and transmitting the thermal detector or sampler on longitudinal moving mechanism.
It is preferred: to be symmetrical arranged in second support there are two handgrip is positioned, the side of two positioning handgrips is symmetrically arranged with
Two groups of positioning seats are separately installed with temperature measurement tool pricker and sampling instrument pricker, temperature measurement tool pricker and sampling instrument on two groups of positioning seats
The side of the remotely located handgrip of pricker is separately installed with the first pneumatic flange and the second pneumatic flange.
Preferred: coverture conveying device includes small hopper lifting device and big hopper component；
Small hopper lifting device includes rotating mechanism, elevating mechanism, telescoping mechanism and small hopper access mechanism；Elevating mechanism
It is mounted on rotating mechanism, one end of telescoping mechanism is mounted on elevating mechanism, and the other end of telescoping mechanism is equipped with small hopper
Access mechanism；
Big hopper component includes the 4th bracket, big hopper and feed screw；Big hopper and feed screw are installed in
On 4th bracket, and the feeding inlet of feed screw is connected with the discharge port of big hopper.
It is preferred: long nozzle robot include pedestal, the first guide rail, rack gear, second gear, the 4th motor, the 5th motor,
Frame body, the second gear ring, third gear, rack, the 6th motor, connecting tube, telescoping tube, hydraulic cylinder and gravity self-balancing handgrip；Bottom
It is symmetrically arranged with the first guide rail on seat, rack gear is installed, frame body is slidably mounted on the first guide rail, frame between two the first guide rails
The side of body is fixedly installed with the 4th motor, and second gear is equipped on the output end of the 4th motor, and second gear is nibbled with rack gear
It closes, the bottom of frame body upper surface is fixedly installed with the 5th motor, and the second gear ring is mounted on the upper surface of frame body by swivel bearing
On, the output end of the 5th motor is engaged by third gear with the second gear ring, and rack is fixedly mounted on the second gear ring, connecting tube
It is hinged on the middle part of rack, one end of connecting tube is connected with one end of telescoping tube, and the other end of connecting tube is fixedly installed with
Six motors, the other end of telescoping tube are equipped with gravity self-balancing handgrip, and hydraulic cylinder is hinged on the top of rack, the output of hydraulic cylinder
End is hinged with connecting tube, and hydraulic cylinder and the mutual out of plumb of connecting tube.
Preferred: long nozzle access device includes long nozzle elevating mechanism and long nozzle clamping device；
Long nozzle clamping device is mounted on long nozzle elevating mechanism.
Preferred: long nozzle elevating mechanism includes the 5th bracket, lifting support, the second guide rail, the 4th chain and the 7th electricity
Machine；
Lifting support is slidably mounted on the 5th bracket by the second guide rail, and the top of the 5th bracket is fixedly installed with the 7th
Motor, the 4th chain one end are fixedly connected with valence bracket is risen, and the other end of the 4th chain is around the chain on the 7th motor output end
Wheel；
Long nozzle clamping device includes fixed frame, hinged seat, grip block, movable plate and third cylinder；
Fixed frame is fixedly mounted on lifting support, and the top of fixed frame is symmetrically arranged with movable plate, one end of movable plate
It is hinged with fixed frame, it is fixedly connected in the middle part of the other end and grip block of movable plate, is provided on the outside of two movable plates
The top of three cylinders, third cylinder and fixed frame is hinged, and the output end and grip block of third cylinder are hinged.
Preferred: gasket storage device includes the 6th bracket, gasket repository, Pneumatic clamping mechanism and Pneumatic clamping
Elevating mechanism；
Gasket repository is fixedly installed at the top of 6th bracket, the left and right sides is symmetrically installed in gasket repository
Pneumatic clamping mechanism, the front and rear sides of gasket repository are symmetrically installed with Pneumatic clamping elevating mechanism.
Preferred: Pneumatic clamping mechanism includes that the first fixed plate, upper cylinder, upper clamping push rod, lower cylinder and lower clamping push away
Bar；
First fixed plate is fixedly mounted on the upper surface of gasket repository, is equipped on the inner sidewall of the first fixed plate
Clamping push rod and lower clamping push rod are separately installed on the output end of upper cylinder and lower cylinder, upper cylinder and lower cylinder；
Pneumatic clamping elevating mechanism includes the second fixed plate, lifting cylinder, gripper cylinder, clamping push rod；
Second fixed plate is fixedly mounted on the upper surface of gasket repository, fixed peace on the lateral wall of the second fixed plate
Equipped with lifting cylinder, gripper cylinder is installed on the output end of lifting cylinder, clamping is installed on the output end of gripper cylinder and is pushed away
Bar.
The present invention has the effect that compared with existing product
Thermometric, sampling, addition coverture, replacement long nozzle, oxygen blast burning mouth and addition gasket etc. can be automatically completed
Process.Reduce execute-in-place worker and reduces labor intensity and the scene residence time of worker.Substantially reduce live thing
Therefore the probability occurred.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram suitable for the device of intelligent automation operation on continuous casting platform of the present invention；
Fig. 2 is the structural schematic diagram of thermometric sample storer；
Fig. 3 is the structural schematic diagram of longitudinal moving mechanism；
Fig. 4 is the structural schematic diagram of transverse moving mechanism；
Fig. 5 is the structural schematic diagram of second support；
Fig. 6 is the position view of temperature measurement tool pricker and sampling instrument pricker；
Fig. 7 is the structural schematic diagram of coverture conveying device；
Fig. 8 is the structural schematic diagram of small hopper lifting device；
Fig. 9 is the structural schematic diagram of telescoping mechanism；
Figure 10 is enlarged drawing at the A of Fig. 9；
Figure 11 is the structural schematic diagram of small hopper access mechanism；
Figure 12 is the structural schematic diagram of long nozzle robot；
Figure 13 is the structural schematic diagram of long nozzle access device；
Figure 14 is the structural schematic diagram of long nozzle elevating mechanism；
Figure 15 is the structural schematic diagram of long nozzle clamping device；
Figure 16 is the structural schematic diagram of gasket storage device；
Figure 17 is the structural schematic diagram of gasket repository；
Figure 18 is the structural schematic diagram of sampler recycling bins.
In figure: 1- thermometric sample storer, 101- first support, 102- second support, 103- longitudinal moving mechanism, 104-
Thermal detector repository, 105- sampler repository, 106- transverse moving mechanism, the first cylinder of 107-, 108- first straight line optical axis,
109- push plate, the first sliding support of 110-, the first support of 111-, the first electric cylinders of 112-, 113- second straight line optical axis, 114- gas
Pawl, the second support of 115-, 116- positioning seat, 117- position handgrip, 118- temperature measurement tool pricker, the pneumatic flange of 119- first, 120-
Sampling instrument pricker, the pneumatic flange of 121- second, 2- coverture conveying device, the small hopper lifting device of 201-, the big hopper group of 202-
The small hopper access mechanism of part, 203- rotating mechanism, 204- elevating mechanism, 205- telescoping mechanism, 206-, the 4th bracket of 207-,
The big hopper of 208-, 209- feed screw, 210- platform, 211- first motor, 212- first gear, the first gear ring of 213-,
214- third bracket, the second motor of 215-, the first track of 216-, 217- vertical lift frame, the first chain of 218-, 219- third electricity
Machine, 220- fixed case, 221- expansion box, 222- hopper transfer gantry, the second track of 223-, the second chain of 224-, 225- first
Connecting plate, 226- third chain, the second connecting plate of 227-, 228- plate valve support, the second cylinder of 229-, the small hopper of 230-,
231- lower hopper, 3- long nozzle robot, 301- pedestal, the first guide rail of 302-, 303- rack gear, 304- second gear, 305-
Four motors, the 5th motor of 306-, 307- frame body, the second gear ring of 308-, 309- third gear, 310- rack, the 6th electricity of 311-
Machine, 312- connecting tube, 313- telescoping tube, 314- hydraulic cylinder, 315- gravity self-balancing handgrip, 4- long nozzle access device, 401-
Long nozzle elevating mechanism, 402- long nozzle clamping device, the 5th bracket of 403-, 404- lifting support, the second guide rail of 405-, 406-
4th chain, the 7th motor of 407-, 408- fixed frame, 409- hinged seat, 410- grip block, 411- movable plate, the storage of 5- gasket
Cryopreservation device, the 6th bracket of 501-, 502- gasket repository, 503- Pneumatic clamping mechanism, 504- Pneumatic clamping elevating mechanism,
The first fixed plate of 505-, 506- upper cylinder clamp on 507- and clamp push rod, 510- second under push rod, 508- lower cylinder, 509-
Fixed plate, 511- lifting cylinder, 512- gripper cylinder, 513- clamping push rod, 6- long nozzle recycling bins, 7- thermal detector recycling bins,
8- sampler recycling bins, 9- blow feeding mouth fusing device, 10- robot.
Specific embodiment
The preferred embodiment of the present invention is elaborated below according to attached drawing.
As shown in Fig. 1 to Figure 17, a kind of device packet suitable for intelligent automation operation on continuous casting platform of the present invention
Include thermometric sample storer 1, coverture conveying device 2, long nozzle robot 3, long nozzle access device 4, gasket storage dress
Set 5, long nozzle recycling bins 6, thermal detector recycling bins 7, sampler recycling bins 8 and robot 10；
Continuous casting platform is equipped with multiple stations, and thermometric sample storer 1, thermal detector recycling bins 7, sampling are equipped on each station
Device recycling bins 8, coverture conveying device 2, long nozzle robot 3, long nozzle access device 4, gasket storage device 5, Chang Shui
Mouth recycling bins 6 and robot 10；Wherein thermometric sample storer 1 cooperates with robot 10 completes storage and takes out thermal detector and take
The operating condition of sample device, covering and conveying device 2 can complete replacement long nozzle for adding coverture work, long nozzle robot 3
Operating condition, long nozzle access device 4 is for storing long nozzle, and gasket storage device 5 with long nozzle robot 3 for having cooperated
Installing the operating condition of gasket additional at long nozzle, robot 10 is used to operate thermal detector and sampler completes the operating condition of thermometric and sampling,
And the thermal detector after using and sampler are recovered in thermal detector recycling bins 7 and sampler recycling bins 8.
Further, model IRB6700-200/2.6.A humanoid robot of the robot 10 for ABB AB's production, and machine
People 10 can be replaced the robot with identical similar functions living of other producers production.
Further, thermometric sample storer 1 includes first support 101, second support 102, longitudinal moving mechanism 103, surveys
Warm device repository 104, sampler repository 105, transverse moving mechanism 106；
First support 101 is fixedly connected by connecting rod with second support 102, thermal detector repository 104 and sampler storage
Library 105 is erected in first support 101, and the lower section of thermal detector repository 104 and sampler repository 105 is each provided with one
Longitudinal moving mechanism 103, longitudinal moving mechanism 103 are mounted in first support, and longitudinal moving mechanism 103 is for accepting thermal detector
The thermal detector or sampler to fall in repository 104 or sampler repository 105 by free gravity, thermal detector repository 104
It is symmetrically arranged with transverse moving mechanism 106 with the inside of sampler repository 105, transverse moving mechanism 106 is for grabbing and passing
Pass the thermal detector or sampler on longitudinal moving mechanism 103.
Further, thermal detector repository 104 is identical with 105 structure of sampler repository, two sides are channel steel upright post, two slots
The bottom face of steel column is opposite, and baffle is symmetrically arranged on the bottom face of two channel steels, multiple thermal detectors or multiple samplers
It is placed sequentially in two baffles, by being gravitationally fallen on longitudinal moving mechanism 103.
Further, longitudinal moving mechanism 103 is sliding including the first cylinder 107, first straight line optical axis 108, push plate 109, first
Dynamic bracket 110 and the first support 111；First cylinder 107 is fixedly mounted in first support 101, the two sides of the first cylinder 107
It is symmetrically arranged with first straight line optical axis 108, first straight line optical axis 108 is fixedly mounted on first support 101 by the first support 111
On, the both ends of the first sliding support 110 are slidably mounted on respectively on two first straight line optical axises 108, the output of the first cylinder 107
End is fixedly connected with the first sliding support 110, and the both ends of the first sliding support 110 are fixedly installed with push plate 109, push plate 109
End be equipped with groove, original state lower groove is opposite with the outlet of thermal detector repository 104 or sampler repository 105, survey
The sampler in thermal detector or sampler repository 105 in warm device repository 104 can be fallen in groove.
Further, transverse moving mechanism 106 includes the first electric cylinders 112, second straight line optical axis 113, pneumatic clamper 114, second
Seat 115 and line slide rail；First electric cylinders 112 are fixedly mounted in first support 101, and two second straight line optical axises 113 pass through the
Two supports 115 are symmetricly set in first support 101, and line slide rail is slidably mounted on two second straight line optical axises 113, the
The output end of one electric cylinders 112 is fixedly connected with line slide rail, and at least two pneumatic clampers 114 are slidably mounted on line slide rail, each gas
It can be connected by fixinig plate between pawl 114, the second electric cylinders are equipped in line slide rail, the second electric cylinders can drive pneumatic clamper 114 to synchronize cunning
It is dynamic.
Further, being symmetrical arranged in second support 102, there are two position handgrip 117, the side pair of two positioning handgrips 117
Title is provided with two groups of positioning seats 116, is separately installed with temperature measurement tool pricker 118 and sampling instrument pricker 120 on two groups of positioning seats 116,
The side of temperature measurement tool pricker 118 and the remotely located handgrip 117 of sampling instrument pricker 120 is separately installed with the first pneumatic 119 He of flange
Second pneumatic flange 121.
Wherein pneumatic clamper 114 is the mutually isostructural model MHF2-16D2 type produced by SMC company with positioning handgrip 117
Manipulator, and pneumatic clamper 114 and positioning handgrip 117 can be replaced the fixed class dress of other companies production with the same function
It sets, the model LEY32C-200BMF-S16P of the first electric cylinders 112, the model LEJB40S6T-1000- of the second electric cylinders
S2B2H is the production of SMC company.
Further, coverture conveying device 2 includes small hopper lifting device 201 and big hopper component 202；
Small hopper lifting device 201 includes rotating mechanism 203, elevating mechanism 204, telescoping mechanism 205 and the access of small hopper
Mechanism 206；Elevating mechanism 204 is mounted on rotating mechanism 203, and one end of telescoping mechanism 205 is mounted on elevating mechanism 204,
The other end of telescoping mechanism 205 is equipped with small hopper access mechanism 206；
Further, rotating mechanism 203 includes platform 210, first motor 211, first gear 212 and the first gear ring 213, the
One motor 211 is fixedly mounted on the lower end surface of platform 210, and the first gear ring 213 is mounted on the upper end of platform 210 by bearing
On face, the output end of first motor 211 passes through platform 210 and is engaged by first gear 212 with the first gear ring 213.
Further, elevating mechanism 204 includes third bracket 214, the second motor 215, the first track 216, vertical lift frame
217 and first chain 218, third bracket 214 be fixedly mounted on the first gear ring 213, the second motor 215 is fixedly mounted on third
The top of bracket 214, vertical lift frame 217 are slidably mounted on third bracket 214 by the first track 216, the first chain
218 one end is fixedly connected with vertical lift frame 217, and the other end bypasses the driving gear on 215 output end of the second motor, and end
End is connected with clump weight, and clump weight makes the other end of the first chain 218 keep down by gravity.
Further, telescoping mechanism 205 includes third motor 219, fixed case 220, expansion box 221, hopper transfer gantry
222, the second track 223, the second chain 224, the first connecting plate 225, third chain 226 and the second connecting plate 227；Third motor
219 are fixedly mounted on the side in fixed case 220, and speed reducer is equipped on third motor 219, and the output end of speed reducer is equipped with
First driving shaft, the first driving shaft and fixed case 220 are rotatablely connected, and it is driven that the other side of fixed case 220 is rotatably equipped with first
Axis, the first driving shaft are connected with first driven shaft by the second chain 224, and the first driving shaft is set respectively in first driven shaft
There are the first driving gear and the first driven gear being meshed with the second chain 224, expansion box 221 is slidably mounted on fixed case
In 220, and fixed case 220 can be skidded off, the second chain 224 is connected by the first connecting plate 225 with expansion box 221, and hopper is defeated
Bracket 222 is sent to be slidably mounted in expansion box 221 by the second track 223, the two sides in expansion box 221 are rotatably equipped with respectively
Second driving shaft and second driven shaft, the second driving shaft and second driven shaft are connected by third chain 226, third chain
226 are connected by the second connecting plate 227 with hopper transfer gantry 222, and third chain 226 passes through fixinig plate and fixed case 220
Right end outer wall be fixedly connected, third motor 219 drive the second chain 224 rotation, the second chain 224 pass through the first connecting plate
225 drive expansion box 221 to slide, and third chain 226 is displaced outwardly therewith while expansion box 221 slides in and out, due to third
Chain 226 is fixedly connected by fixinig plate with fixed case 220, so that third chain 226 rotates, and third chain 226
Hopper transfer gantry 222 is driven to slide in and out by the second connecting plate 227.
Further, small hopper access mechanism 206 includes plate valve support 228, the second cylinder 229, small hopper 230, blanking
Bucket 231 and plate 232, plate valve support 228 are fixedly mounted on the end of hopper carriage 222, small hopper 230 and lower hopper
231 are respectively and fixedly installed to the upper and lower ends of plate valve support 228, and the entrance of the outlet of small hopper 230 and lower hopper 231
It is oppositely arranged, plate 232 is slidably mounted in plate valve support 228 and is located at the outlet of small hopper 230 and entering for lower hopper 231
Between mouthful, the second cylinder 229 is fixedly mounted on side wall of the plate valve support 228 far from small hopper 230 and lower hopper 231, the
The output end of two cylinders 229 passes through plate valve support 228 and is fixedly connected with plate 232.
Big hopper component 202 includes the 4th bracket 207, big hopper 208 and feed screw 209；Big hopper 208 and spiral
Feeder 209 is installed on the 4th bracket 207, and the feeding inlet of feed screw 209 is connected with the discharge port of big hopper 208
It is logical.
Further, long nozzle robot 3 includes pedestal 301, the first guide rail 302, rack gear 303, second gear the 304, the 4th
Motor 305, the 5th motor 306, frame body 307, the second gear ring 308, third gear 309, rack 310, the 6th motor 311, connection
Pipe 312, telescoping tube 313, hydraulic cylinder 314 and gravity self-balancing handgrip 315；The first guide rail 302 is symmetrically arranged on pedestal 301,
Rack gear 303 is installed, frame body 307 is slidably mounted on the first guide rail 302, the side of frame body 307 between two the first guide rails 302
It is fixedly installed with the 4th motor 305, second gear 304, second gear 304 and tooth are installed on the output end of the 4th motor 305
Item 303 engages, and the bottom of 307 upper surface of frame body is fixedly installed with the 5th motor 306, and the second gear ring 308 is pacified by swivel bearing
On the upper surface of frame body 307, the output end of the 5th motor 306 is engaged by third gear 309 with the second gear ring 308, machine
Frame 310 is fixedly mounted on the second gear ring 308, and connecting tube 312 is hinged on the middle part of rack 310, one end of connecting tube 312 with
One end of telescoping tube 313 is connected, and the other end of connecting tube 312 is fixedly installed with the 6th motor 311, telescoping tube 313 it is another
End is equipped with gravity self-balancing handgrip 315, and hydraulic cylinder 314 is hinged on the top of rack 310, the output end of hydraulic cylinder 314 and company
Adapter tube 312 is hinged, and hydraulic cylinder 314 and the mutual out of plumb of connecting tube 312.
Connecting tube 312 is rotatablely connected by bearing and telescoping tube 313, the output end and telescoping tube 313 of the 6th motor 311
It being fixedly connected, the 6th motor 311 can drive telescoping tube 313 to rotate, and self-balancing handgrip 315 is made of grip bracket and U-shaped bracket,
Grip bracket is fixedly connected with telescoping tube 313, and on grip bracket, self-balancing handgrip 315 can pass through U-shaped support for U-shaped bracket handover
Frame holds long nozzle top, and long nozzle can be always maintained at vertically due to self gravity, forms equilibrium state.
Further, long nozzle access device 4 includes long nozzle elevating mechanism 401 and long nozzle clamping device 402；Long nozzle
Elevating mechanism 401 includes the 5th bracket 403, lifting support 404, the second guide rail 405, the 4th chain 406 and the 7th motor 407；
Lifting support 404 is slidably mounted on the 5th bracket 403 by the second guide rail 405, and the top of the 5th bracket 403 is fixedly installed with
7th motor 407,406 one end of the 4th chain are fixedly connected with valence bracket 404 is risen, and the other end of the 4th chain 406 bypasses the 7th
Sprocket wheel on 407 output end of motor, and end is connected with clump weight, clump weight makes the other end of the 4th chain 406 by gravity
It keeps down；Long nozzle clamping device 402 includes fixed frame 408, hinged seat 409, grip block 410, movable plate 411 and third gas
Cylinder 412；Fixed frame 408 is fixedly mounted on lifting support 404, and the top of fixed frame 408 is symmetrically arranged with movable plate 411, living
One end of movable plate 411 and fixed frame 408 are hinged, and the other end of movable plate 411 is fixedly connected with the middle part of grip block 410, and two
The outside of movable plate 411 is provided with third cylinder 412, and third cylinder 412 and the top of fixed frame 408 are hinged, third cylinder
412 output end and grip block 410 is hinged.
Further, gasket storage device 5 includes the 6th bracket 501, gasket repository 502, Pneumatic clamping mechanism 503
With Pneumatic clamping elevating mechanism 504；The top of 6th bracket 501 is fixedly installed with gasket repository 502, gasket repository
The left and right sides is symmetrically installed with Pneumatic clamping mechanism 502 in 502, and the front and rear sides of gasket repository 502 are symmetrically installed with gas
Dynamic clamping elevating mechanism 504.
Further, Pneumatic clamping mechanism 503 includes the first fixed plate 505, upper cylinder 506, upper clamping push rod 507, lower gas
Cylinder 508 and lower clamping push rod 509；First fixed plate 505 is fixedly mounted on the upper surface of gasket repository 502, and first is solid
Upper cylinder 506 and lower cylinder 508 be installed, on the output end of upper cylinder 506 and lower cylinder 508 point on the inner sidewall of fixed board 505
Clamping push rod 507 and lower clamping push rod 509 are not installed.
Further, Pneumatic clamping elevating mechanism 504 include the second fixed plate 510, lifting cylinder 511, gripper cylinder 512,
Clamp push rod 513；Second fixed plate 510 is fixedly mounted on the upper surface of gasket repository 502, the second fixed plate 510
It is fixedly installed with lifting cylinder 511 on lateral wall, gripper cylinder 512, gripper cylinder are installed on the output end of lifting cylinder 511
Clamping push rod 513 is installed on 512 output end.
Further, upper cylinder 506, lower cylinder 508 and gripper cylinder 512 are horizontally disposed, and the extended line of output end is handed over
In the center of gasket repository 502.
Long nozzle moves to the designated position under gasket storage device 5, at this time the gasket in gasket repository 502
In the lower clamping push rod 509 for leaning on lower cylinder 508 to push that gravity falls into clamping；Then it is clamped on 506 Work Promote of upper cylinder
The gasket on the clamping of push rod 507 top；The movement of lower cylinder 508 drives lower clamping push rod 509 to return to initial bit；Gripper cylinder 512
Clamping push rod 513 is driven to move to the edge upper part of a bottom gasket；Last lifting cylinder 511 drives gripper cylinder
512 move downward with 513 entirety of clamping push rod, to scrape next gasket.
Further, long nozzle recycling bins 6 and thermal detector recycling bins 7 are rectangle collecting box, long nozzle and thermometric can be stored
Device.
Further, sampler recycling bins 8, which include 801, first, pipeline, moves back the 802, second supporting leg 803, funnel 804 and scraper plate
805, pipeline 801 is fixedly mounted on continuous casting platform by first leg 802 and the second supporting leg 803, and the bottom end of pipeline 801 is equipped with
Funnel 804, the tube wall on 801 top of pipeline are equipped with U-shaped opening, scraper plate 805 are equipped at U-shaped opening, robot 10 is with useless
The sampler of abandoning turns at U-shaped opening, and discarded sampler reaches in pipeline 801, the sampler that will be discarded by scraper plate 805
It scrapes, is then slided into funnel 804 by pipeline 801, lower collecting process is finally escaped to by funnel 804.
Further, the side of long nozzle access device 4, which is equipped with, blows feeding mouth fusing device 9 including fixing bracket and oxygen hose, oxygen
Tracheae is fixed on fixed bracket, and oxygen hose is connected to gas source, and output end can convey oxygen to long nozzle.
Working principle: it a) when the steel flow in big packet is complete needs replacing big packet without replacing long nozzle, wraps greatly
It lifts and rotates, after lifting to certain altitude on the hydraulic cylinder drive telescoping tube of long nozzle robot at this time, it is made by the 5th motor
On device rotation, so that it is rotated to designated position under oxygen blast mouth fusing device, mouth valve pair is burnt in the oxygen blast for opening oxygen blast mouth fusing device
Oxygen blast is carried out in long nozzle burns mouth operation.Make the rotation such as self-balancing handgrip to gasket storage device then through the 5th motor
Gasket is pressed by underface, the gasket in gasket library by the effect of Pneumatic clamping mechanism and Pneumatic clamping elevating mechanism
In long nozzle.Then make to contact long nozzle with big packet mouth in long nozzle insertion tundish mouth.To complete entire oxygen blast
Burn mouth and addition gasket process.
B) when the steel flow in big packet is complete need replacing wrap greatly and need replacing long nozzle when, wrap lift greatly and rotate, this
When long nozzle robot hydraulic cylinder drive telescopic rod on lift to certain altitude after, the 5th motor drive thereon device rotation,
Rotate to it above long nozzle recycling bins, then long nozzle robot drives long nozzle sharp downward movement to make its long nozzle bottom
Portion and long nozzle recycling bins bottom of cylinder collide, so that long nozzle and the gravity self-balancing handgrip of bar front end be made to be detached from, then transport
Dynamic long nozzle robot, to complete to abandon useless long nozzle process.Then it causes it to move at long nozzle access device.Then make
The gravity self-balancing handgrip of its bar front end of long nozzle robot enters from the middle part path of long nozzle, then mouth of a river access device
It moves downward, makes the gravity self-balancing handgrip upper-end contact of long nozzle Yu bar front end, open the aid machine of long nozzle access device
Structure, then long nozzle access device continues to move downward, and so that long nozzle baseplane is detached from the positioning on long nozzle access device, most
Long nozzle robot is retreated along guide rail afterwards, and completion takes long nozzle process.Then it is added gasket process, later process again
It is same a).
According to field condition, that not timing carries out thermometric, sampling and 3-4 tundish mouth addition covering to molten steel
The work such as agent.The sampler of thermal detector and sampler repository in thermal detector repository should be set to temperature measurement tool respectively first
On pricker and sampling instrument pricker.This course of work is longitudinal moving mechanism respectively by the thermal detector and sampler in thermal detector repository
Sampler in repository is pushed into the clamp system of its front end, then makes thermometric in clamp system by the movement of vertical direction
Device, sampler are in same axis with tool pricker in clamped condition respectively, then make thermal detector, sampler by horizontal movement
It is set on its corresponding tool pricker respectively, last longitudinal moving mechanism and clamp system return to initial bit, wait subsequent cycle
It carries out.Pneumatic flange in robot can be matched with the flange on the flange and sampling instrument pricker on temperature measurement tool pricker respectively to be connected
It connects, the transmission of temperature signal can be carried out.
When needing thermometric, robot moves to the front of temperature measurement tool pricker, two methods in space according to setting track
Orchid connection, opens gas source, makes its clamping, then moves to above tundish, is inserted at specified tundish packet mouth, shows on display screen
Temperature displaying function, robot extracts temperature measurement tool pricker and moves at thermal detector recycling bins after a period of time, passes through the scraper plate on recycling bins
Thermal detector is scraped, then robot drives temperature measurement tool pricker to move to thermometric, at sample storer storing tools pricker, disconnects gas
Source, to complete thermometric process.Sampling process is consistent with thermometric process progress, and discarded sampler is put into sampler recycling bins,
And it is slided on one layer of ground by elephant trunk.
When adding coverture, the small hopper access mechanism on hopper lifting device small first moves to the spiral shell of big hopper component
The underface of feeding mechanism discharge port is revolved, this position is detected and positioned by detection switch.When screw feed mechanism passes through
Between control coverture be transported in the small hopper access mechanism on small hopper lifting device.Then being detected according to detection switch
Coverture is transported at the position specified tundish Bao Kou with positioning.
This embodiment is just an exemplary description of this patent, does not limit its protection scope, those skilled in the art
Member can also be changed its part, as long as it does not exceed the essence of this patent, within the protection scope of the present patent.
Claims (9)
1. a kind of device suitable for intelligent automation operation on continuous casting platform, it is characterised in that: including thermometric sample storer
(1), coverture conveying device (2), long nozzle robot (3), long nozzle access device (4), gasket storage device (5), length
Mouth of a river recycling bins (6), thermal detector recycling bins (7), sampler recycling bins (8) and robot (10)；
Continuous casting platform is equipped with multiple stations, and thermometric sample storer (1), thermal detector recycling bins (7), sampling are equipped on each station
Device recycling bins (8), coverture conveying device (2), long nozzle robot (3), long nozzle access device (4), gasket storage dress
Set (5), long nozzle recycling bins (6) and robot (10)；Wherein thermometric sample storer (1) is completed to deposit with robot (10) cooperation
Storage and the operating condition for taking out thermal detector and sampler, covering and conveying device (2) are for adding coverture work, long nozzle robot
(3) operating condition of replacement long nozzle can be completed, long nozzle access device (4) is for storing long nozzle, gasket storage device (5)
For cooperating the operating condition completed long nozzle and install gasket additional with long nozzle robot (3), robot (10) is for operating thermal detector
The operating condition of thermometric and sampling is completed with sampler, and the thermal detector after using and sampler are recovered to thermal detector recycling bins
(7) and in sampler recycling bins (8).
2. a kind of device suitable for intelligent automation operation on continuous casting platform according to claim 1, it is characterised in that: institute
Stating thermometric sample storer (1) includes that first support (101), second support (102), longitudinal moving mechanism (103), thermal detector are deposited
Storage cavern (104), sampler repository (105), transverse moving mechanism (106)；
The first support (101) is fixedly connected by connecting rod with second support (102), thermal detector repository (104) and sampling
Device repository (105) is erected on first support (101), the lower section of thermal detector repository (104) and sampler repository (105)
It is each provided with a longitudinal moving mechanism (103), longitudinal moving mechanism (103) is mounted in first support, longitudinal moving mechanism
(103) for accept the thermal detector to fall in thermal detector repository (104) or sampler repository (105) by free gravity or
Transverse moving mechanism (106) are symmetrically arranged on the inside of sampler, thermal detector repository (104) and sampler repository (105),
Transverse moving mechanism (106) is used to grabbing and transmitting the thermal detector or sampler on longitudinal moving mechanism (103).
3. a kind of device suitable for intelligent automation operation on continuous casting platform according to claim 2, it is characterised in that: institute
It states and is symmetrical arranged on second support (102) there are two handgrip (117) are positioned, the side of two positioning handgrips (117) is symmetrical arranged
There are two groups of positioning seats (116), is separately installed with temperature measurement tool pricker (118) and sampling instrument pricker on two groups of positioning seats (116)
(120), the side of temperature measurement tool pricker (118) and sampling instrument pricker (120) remotely located handgrip (117) is separately installed with the first gas
Dynamic flange (119) and the second pneumatic flange (121).
4. a kind of device suitable for intelligent automation operation on continuous casting platform according to claim 1, it is characterised in that: institute
Stating coverture conveying device (2) includes small hopper lifting device (201) and big hopper component (202)；
The small hopper lifting device (201) includes rotating mechanism (203), elevating mechanism (204), telescoping mechanism (205) and small
Hopper access mechanism (206)；Elevating mechanism (204) is mounted on rotating mechanism (203), one end installation of telescoping mechanism (205)
On elevating mechanism (204), the other end of telescoping mechanism (205) is equipped with small hopper access mechanism (206)；
The big hopper component (202) includes the 4th bracket (207), big hopper (208) and feed screw (209)；It is described big
Hopper (208) and feed screw (209) are installed on the 4th bracket (207), and the feeding inlet of feed screw (209) with
The discharge port of big hopper (208) is connected.
5. a kind of device suitable for intelligent automation operation on continuous casting platform according to claim 1, it is characterised in that: institute
Stating long nozzle robot (3) includes pedestal (301), the first guide rail (302), rack gear (303), second gear (304), the 4th motor
(305), the 5th motor (306), frame body (307), the second gear ring (308), third gear (309), rack (310), the 6th motor
(311), connecting tube (312), telescoping tube (313), hydraulic cylinder (314) and gravity self-balancing handgrip (315)；Pedestal (301) on pair
Title is provided with the first guide rail (302), is equipped with rack gear (303) between two the first guide rails (302), frame body (307) is slidably installed
On the first guide rail (302), the side of frame body (307) is fixedly installed with the 4th motor (305), the output of the 4th motor (305)
It is equipped on end second gear (304), second gear (304) is engaged with rack gear (303), and the bottom of frame body (307) upper surface is solid
Dingan County is equipped with the 5th motor (306), and the second gear ring (308) is mounted on the upper surface of frame body (307) by swivel bearing, and the 5th
The output end of motor (306) is engaged by third gear (309) with the second gear ring (308), and rack (310) is fixedly mounted on second
On gear ring (308), connecting tube (312) is hinged on the middle part of rack (310), one end and telescoping tube (313) of connecting tube (312)
One end is connected, and the other end of connecting tube (312) is fixedly installed with the 6th motor (311), the other end installation of telescoping tube (313)
Have gravity self-balancing handgrip (315), hydraulic cylinder (314) is hinged on the top of rack (310), the output end of hydraulic cylinder (314) with
Connecting tube (312) hingedly, and hydraulic cylinder (314) and connecting tube (312) mutual out of plumb.
6. a kind of device suitable for intelligent automation operation on continuous casting platform according to claim 1, it is characterised in that: institute
Stating long nozzle access device (4) includes long nozzle elevating mechanism (401) and long nozzle clamping device (402)；
The long nozzle clamping device (402) is mounted on long nozzle elevating mechanism (401).
7. a kind of device suitable for intelligent automation operation on continuous casting platform according to claim 6, it is characterised in that: institute
Stating long nozzle elevating mechanism (401) includes the 5th bracket (403), lifting support (404), the second guide rail (405), the 4th chain
(406) and the 7th motor (407)；
The lifting support (404) is slidably mounted on the 5th bracket (403) by the second guide rail (405), the 5th bracket (403)
Top be fixedly installed with the 7th motor (407), the 4th chain (406) one end is fixedly connected with valence bracket (404) are risen, the 4th chain
The other end of article (406) is around the sprocket wheel on the 7th motor (407) output end；
The long nozzle clamping device (402) includes fixed frame (408), hinged seat (409), grip block (410), movable plate
(411) and third cylinder (412)；
The fixed frame (408) is fixedly mounted on lifting support (404), and the top of fixed frame (408) is symmetrically arranged with activity
Plate (411), one end of movable plate (411) and fixed frame (408) hingedly, the other end of movable plate (411) and grip block (410)
Middle part is fixedly connected, and is provided with third cylinder (412) on the outside of two movable plates (411), third cylinder (412) and fixed frame
(408) top is hinged, and the output end of third cylinder (412) and grip block (410) are hinged.
8. a kind of device suitable for intelligent automation operation on continuous casting platform according to claim 1, it is characterised in that: institute
It is gentle including the 6th bracket (501), gasket repository (502), Pneumatic clamping mechanism (503) to state gasket storage device (5)
Dynamic clamping elevating mechanism (504)；
It is fixedly installed with gasket repository (502) at the top of 6th bracket (501), it is left in gasket repository (502)
Right two sides are symmetrically installed with Pneumatic clamping mechanism (502), and the front and rear sides of gasket repository (502) are symmetrically installed with pneumatic clamps
Hold elevating mechanism (504).
9. a kind of device suitable for intelligent automation operation on continuous casting platform according to claim 8, it is characterised in that: institute
Stating Pneumatic clamping mechanism (503) includes the first fixed plate (505), upper cylinder (506), upper clamping push rod (507), lower cylinder
(508) and lower clamping push rod (509)；
First fixed plate (505) is fixedly mounted on the upper surface of gasket repository (502), the first fixed plate (505)
Inner sidewall on upper cylinder (506) and lower cylinder (508) be installed, on the output end of upper cylinder (506) and lower cylinder (508) point
Clamping push rod (507) and lower clamping push rod (509) are not installed；
The Pneumatic clamping elevating mechanism (504) include the second fixed plate (510), lifting cylinder (511), gripper cylinder (512),
It clamps push rod (513)；
Second fixed plate (510) is fixedly mounted on the upper surface of gasket repository (502), the second fixed plate (510)
Lateral wall on be fixedly installed with lifting cylinder (511), gripper cylinder (512) are installed on the output end of lifting cylinder (511),
Clamping push rod (513) is installed on the output end of gripper cylinder (512).
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|---|---|---|---|
| CN201811197308.4A CN109332621B (en) | 2018-10-15 | 2018-10-15 | Device suitable for intelligent automatic operation on continuous casting table |
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|---|---|---|---|
| CN201811197308.4A CN109332621B (en) | 2018-10-15 | 2018-10-15 | Device suitable for intelligent automatic operation on continuous casting table |
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| CN109332621B CN109332621B (en) | 2023-08-04 |
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| CN110695638A (en) * | 2019-10-11 | 2020-01-17 | 宝钢工程技术集团有限公司 | Automatic installation device of ladle oil cylinder and use method thereof |
| CN110625106A (en) * | 2019-10-11 | 2019-12-31 | 宝钢工程技术集团有限公司 | Robot-guided automatic continuous casting steel device and using method thereof |
| CN111168051A (en) * | 2020-01-04 | 2020-05-19 | 鞍钢股份有限公司 | Unmanned system for ladle pouring area and operation method thereof |
| CN113828744A (en) * | 2021-09-08 | 2021-12-24 | 湖州金钛导体技术有限公司 | Intelligent continuous casting system and continuous casting method |
| CN115255345A (en) * | 2022-07-29 | 2022-11-01 | 中冶赛迪技术研究中心有限公司 | Automatic sealing ring adding device for long nozzle |
| CN115255345B (en) * | 2022-07-29 | 2024-06-11 | 中冶赛迪技术研究中心有限公司 | Automatic sealing ring adding device for long nozzle |
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| CN109332621B (en) | 2023-08-04 |
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