阅读说明：本技术 可移动式连铸自动化浇铸装置及其使用方法 (Movable continuous casting automatic casting device and using method thereof ) 是由 盛建华 林小琴 王明安 张青 朱丽业 于 2019-10-11 设计创作，主要内容包括：本发明涉及用于金属连续铸造的操作或运行的控制或调节领域,具体为一种可移动式连铸自动化浇铸装置及其使用方法。一种可移动式连铸自动化浇铸装置,包括中间包车(1),其特征是：还包括机器人(2)和机械手(3),机器人(2)和机械手(3)分别固定在中间包车(1)的两侧；机械手(3)通过所述三个旋转轴的转动和顶升装置的升降以实现使所述握爪在浇铸区域空间上至任意位置的移动；机器人(2)和机械手(3)通过信号线连接或无线连接。一种可移动式连铸自动化浇铸装置的使用方法,其特征是：按如下步骤依次实施：①导引；②抓取；③烧氧。本发明自动化程度高,适应性强。(The invention relates to the field of control or regulation of operation or running of metal continuous casting, in particular to a movable continuous casting automatic casting device and a using method thereof. The utility model provides an automatic casting device of movable continuous casting, includes tundish car (1), characterized by: the tundish car is characterized by further comprising a robot (2) and a manipulator (3), wherein the robot (2) and the manipulator (3) are respectively fixed on two sides of the tundish car (1); the manipulator (3) realizes the movement of the gripper to any position on the casting area space through the rotation of the three rotating shafts and the lifting of the jacking device; the robot (2) and the manipulator (3) are connected through a signal line or wirelessly. A use method of a movable continuous casting automatic casting device is characterized by comprising the following steps: the method is implemented in sequence according to the following steps: guiding; grabbing; thirdly, oxygen is burnt. The invention has high automation degree and strong adaptability.)

1. The utility model provides an automatic casting device of movable continuous casting, includes tundish car (1), tundish car (1) is used for placing the ladle, the bottom of ladle is equipped with the long mouth of a river end of connecting long mouth of a river, characterized by: also comprises a robot (2) and a manipulator (3),

an optical position mark is arranged on the tundish car (1), an optical guide device is arranged in the robot (2), and the robot (2) and the manipulator (3) are respectively fixed on two sides of the tundish car (1);

the manipulator (3) comprises three rotating shafts, a jacking device and a gripper, the rotating shafts are driven by a servo motor to rotate, and the manipulator (3) realizes the movement of the gripper to any position in the casting area space through the rotation of the three rotating shafts and the lifting of the jacking device;

the robot (2) and the manipulator (3) are connected through a signal line or wirelessly.

2. The portable continuous casting automated casting apparatus of claim 1, wherein: the jacking device of the manipulator (3) is an electric cylinder or a hydraulic cylinder.

3. The use method of the mobile continuous casting automatic casting device according to claim 1 or 2, which is characterized in that: the method is implemented in sequence according to the following steps:

guiding: placing a steel ladle on a tundish car (1), and judging the position of a long water port end at the bottom of the steel ladle by an optical guiding device of a robot (2) according to an optical position mark on the tundish car (1);

grabbing: the robot (2) controls the manipulator (3) to rotate through the three rotating shafts and lift up and down of the jacking device to enable a holding claw of the manipulator (3) to move on the casting area space, an optical guide device of the robot (2) obtains pixel coordinates of a visual space through shooting or scanning, space coordinates are arranged in the manipulator (3), obtaining a one-to-one correspondence between the pixel coordinates and the visual space coordinates through calibration, converting the pixel coordinates of a target in an image into corresponding space coordinates by an optical guiding device of the robot (2), calculating the motion mode of each axis of the robot (2) to reach the target position, controlling the manipulator (3) to move to the target position by the robot (2), and if the ladle is not provided with a long nozzle, the robot (2) controls the manipulator (3) to grab the long nozzle from a fixed position and sleeve the long nozzle end at the bottom of the ladle; if the long nozzle is installed on the ladle, the robot (2) controls the manipulator (3) to grab the long nozzle from the long nozzle end at the bottom of the ladle;

③ oxygen burning: when the casting fails, oxygen is required to be burnt, the robot (2) and the manipulator (3) are matched with each other, the robot (2) clamps the oxygen lance to carry out oxygen burning operation on the molten steel in the ladle, and after the oxygen burning operation is finished, the manipulator (3) immediately installs the long nozzle at the bottom of the ladle.

4. The use method of the movable automatic continuous casting device according to claim 3, is characterized in that: and in the second step and the third step, the robot (2) carries out temperature measurement, sampling, hydrogen determination, oxygen determination and covering agent adding operations on the ladle.

Technical Field

The invention relates to the field of control or regulation of operation or running of metal continuous casting, in particular to a movable continuous casting automatic casting device and a using method thereof.

Background

With the advancement of automation technology, there is an increasing need to replace operators from harsh and hazardous environments. Modern continuous casting machines mostly adopt modes such as a rotary table or a transverse moving trolley for realizing continuous production, and under general conditions, a bale is transferred to the rotary table or the transverse moving trolley through a travelling crane, the positioning precision at the moment is mainly determined by the operation habit and the operation level of field operators, and errors are inevitable. The long nozzle is used between a ladle and a tundish to protect molten steel from secondary oxidation and prevent molten steel from splashing. The existing production process adopts a long nozzle manipulator, and an operator performs field operation to complete corresponding long nozzle installation work, but the area is in a high-temperature, high-dust and high-electromagnetic environment and is very dangerous.

Disclosure of Invention

The invention discloses a movable continuous casting automatic casting device and a using method thereof, and aims to overcome the defects of the prior art and provide a continuous casting device with high automation degree, safety and reliability.

The invention achieves the purpose by the following technical scheme:

the utility model provides an automatic casting device of movable continuous casting, includes the tundish car, the tundish car is used for placing the ladle, the bottom of ladle is equipped with the long mouth of a river end of connecting long mouth of a river, characterized by: also comprises a robot and a manipulator,

the tundish car can be provided with an optical position mark, the robot is internally provided with an optical guide device, and the robot and the manipulator are respectively fixed at two sides of the tundish car;

the manipulator comprises three rotating shafts, a jacking device and a gripper jaw, wherein the rotating shafts are driven by a servo motor to rotate, and the gripper jaw can move to any position on the casting area space through the rotation of the three rotating shafts and the lifting of the jacking device;

the robot and the manipulator are connected through a signal line or wirelessly.

The movable continuous casting automatic casting device is characterized in that: the jacking device of the manipulator is an electric cylinder or a hydraulic cylinder.

The use method of the movable continuous casting automatic casting device is characterized by comprising the following steps: the method is implemented in sequence according to the following steps:

guiding: placing the steel ladle on a tundish car, and judging the position of the long water port end at the bottom of the steel ladle by an optical guiding device of the robot according to an optical position mark on the tundish car;

the tundish car is a bearing device for supporting, transporting and replacing the tundish. In the production preparation stage, the tundish car needs to be preheated, after the production is started, the tundish car moves from a preheating position to a production casting position, and in the production process, a tundish on the tundish car ensures that molten steel cast from a ladle is distributed to subsequent equipment by the tundish;

grabbing: the robot control manipulator enables a gripper of the manipulator to move on a casting area space through rotation of the three rotating shafts and lifting of the jacking device, and the optical guide device of the robot can adopt an image method, a laser method and a similar method in consideration of factors of a field environment, but needs to be calibrated no matter what detection elements are adopted, and the main purpose of calibration is to unify the relationship between the position coordinate system of the optical guide device and the tail end joint coordinate system of the manipulator; the method comprises the steps that an optical guiding device of a robot obtains pixel coordinates of a visual space through shooting or scanning, space coordinates are arranged in a manipulator, a one-to-one correspondence relation between the pixel coordinates and the visual space coordinates is obtained through calibration, the optical guiding device of the robot obtains the pixel coordinates of a target in an image and then converts the pixel coordinates into the corresponding space coordinates, the robot calculates the motion mode of each shaft reaching the target position, then the robot controls the manipulator to move to the target position, and if a long nozzle is not installed on a steel ladle, the robot controls the manipulator to grab the long nozzle from a fixed position and to be sleeved on the long nozzle end of the bottom of the steel ladle; if the long nozzle is installed on the ladle, the robot controls the manipulator to grab the long nozzle from the long nozzle end at the bottom of the ladle;

the servo mechanisms of the manipulator are respectively used for controlling the large arm swing, the small arm rotation and the small arm jacking of the manipulator;

③ oxygen burning: when the casting fails, oxygen needs to be burnt, the robot and the manipulator are matched with each other, the robot clamps the oxygen lance to carry out oxygen burning operation on the molten steel in the ladle, and after the oxygen burning operation is finished, the manipulator immediately installs the long nozzle at the bottom of the ladle.

The use method of the movable continuous casting automatic casting device is characterized by comprising the following steps: and in the second step and the third step, the robot performs related operations of temperature measurement, sampling, hydrogen determination, oxygen determination, covering agent addition and the like on the ladle according to the requirements on the site.

The invention adds a robot and a full-automatic manipulator in the continuous casting area, and installs the robot and the manipulator on the tundish car, thus shortening the distance between the equipment and the final working point, the robot and the manipulator are installed on each tundish car, and the robot and the manipulator are matched with each other to complete related functions, such as water gap disassembly, temperature measurement, sampling, tundish covering and covering agent adding, and the like, so that the continuous casting automatic casting work is decomposed to be completed by two equipment, the reliability of the system is improved, and finally the unmanned continuous casting platform is realized.

The invention has the beneficial effects that: high automation degree and strong adaptability.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Detailed Description

The invention is further illustrated by the following specific examples.